-
Notifications
You must be signed in to change notification settings - Fork 0
/
readme.txt
139 lines (103 loc) · 6.12 KB
/
readme.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
--------------------------------------------------------------------------------
RTKLIB: An Open Source Program Package for GNSS Positioning
--------------------------------------------------------------------------------
OVERVIEW
RTKLIB is an open source program package for standard and precise positioning
with GNSS. RTKLIB consists of a portable program library and several application
programs (APs) utilizing the library. The features of RTKLIB are:
(1) Supports standard and precise positioning algorithms with:
GPS, GLONASS, Galileo, QZSS and SBAS (Galileo is not yet formally supported)
(2) Supports various positioning modes with GNSS for both real-time and
post-processing:
Single-point, DGPS/DGNSS, Kinematic, Static, Moving-baseline, Fixed,
PPP-Kinematic, PPP-Static and PPP-Fixed
(3) Supports many standard formats and protocols for GNSS:
RINEX 2.10,2.11,2.12 OBS/NAV/GNAV/HNAV, RINEX 3.00 OBS/NAV/CLK, RTCM v.2.3,
RTCM v.3.1, NTRIP 1.0, NMEA 0183,SP3-c, IONEX 1.0, ANTEX 1.3, NGS PCV and
EMS 2.0 (see Release Notes for supported RTCM messages)
(4) Supports several GNSS receivers' proprietary messages:
NovAtel: OEM4/V, OEM3, OEMStar, Superstar II, Hemisphere: Eclipse,
Crescent, u-blox: LEA-4T, 5T, 6T and SkyTraq: S1315F, JAVAD and Furuno
GW-10-II/III (see Release Notes for supported messages)
(6) Supports external communication via:
Serial, TCP/IP, NTRIP, local log file (record and playback) and FTP/HTTP
(automatic download)
(7) Provides many library functions and APIs:
Satellite and navigation system functions, matrix and vector functions,
time and string functions, coordinates transformation, input and output
functions, debug trace functions, platform dependent functions, positioning
models, atmosphere models, antenna models, earth tides models, geoid models,
datum transformation, RINEX functions, ephemeris and clock functions,
precise ephemeris and clock functions, receiver raw data functions, RTCM
functions, solution functions, Google Earth KML converter, SBAS functions,
options functions, stream data input and output functions, integer ambiguity
resolution, standard positioning, precise positioning, post-processing
positioning, stream server functions, RTK server functions
(8) Provides GUI and console (command line) APs:
- RTKNAVI, RTKRCV : real-time positioning
- RTKPOST, RNX2RTKP : post-processing analysis
- RTKPLOT : visualization of solutions and observation data
- RTKCONV, CONVBIN : RINEX translator for RTCM and receiver raw data log
- STRSVR, STR2STR : communication utility
- NTRIPSRCBROWS : NTRIP source table browser
- Other positioning utilities
All of the executable binary APs for Windows are included in the package as well
as whole source programs of the library and the APs.
--------------------------------------------------------------------------------
LICENSE
RTKLIB is distributed under GPLv3. (http://gplv3.fsf.org/)
--------------------------------------------------------------------------------
ENVIRONMENT/PORTABILITY
All of the library functions and APIs are written in ANSI C (C89). The
library internally uses standard socket and pthread for Linux/UNIX or
winsock and WIN32 thread for Windows. By setting compiler option -DLAPACK
or -DMKL, the library uses LAPACK/BLAS or Intel MKL for fast matrix
computation. The console APs are also written in standard C. The library
and console APs can be built on many environments like gcc on Linux. The GUI
APs are written in C++ and utilize Borland VCL for the GUI toolkit. All of
the executable binary APs in the package were built by free edition Borland
Turbo C++ 2006 (http://www.turboexplorer.com) * on Windows. The binary APs
were tested on Windows XP SP3 32bit and Windows 7 64bit. The console APs
are also built and tested on Ubuntu 9.04 Linux.
* Free edition Turbo C++ 2006 is no longer availabile. We plan to change
the GUI toolkit for RTKLIB GUI APs to open source one in future versions.
--------------------------------------------------------------------------------
PACKAGE
rtklib_{ver}.zip
./src source programs
./bin application binary programs
./app application source programs and make environments
./rtkrcv realtime rtk positioning (console)
./rnx2rtkp rinex to rtk positioning (console)
./str2str stream server (console)
./pos2kml convert position to google earth kml (console)
./convbin convert receiver log file to rinex (console)
./rtkpost post-positioning (gui)
./rtkpost_mkl post-positioning with intel mkl (gui)
./rtkplot plot solutions or observation data (gui)
./rtkconv receiver log converter (gui)
./rtknavi realtime rtk positioning (gui)
./rtknavi_mkl realtime rtk positioning (gui)
./strsvr stream server (gui)
./srctblbrows ntrip source table browser
./appcmn common application routines
./icon common application icons
./util utilities
./test test programs and data
./doc documents
./lib library genration environment
--------------------------------------------------------------------------------
HISTORY
ver.1.0 2007/01/25 new release
ver.1.1 2007/03/20 add rnx2rtkp_gui, fix bugs, improve performance
ver.2.1.0 2008/07/15 refactored, add applications
ver.2.1.1 2008/10/19 fix bugs
ver.2.2.0 2009/01/20 add stream.c,rtksvr.c,preceph.c in src
add rtknavi,rtkpost_mkl,srctblbrows,strsvr,str2str in app
ver.2.2.1 2009/05/17 see relnotes_2.2.1.txt
ver.2.2.2 2009/09/07 see relnotes_2.2.2.txt
ver.2.3.0 2009/12/17 see relnotes_2.3.0.txt
ver.2.4.0 2010/08/08 see relnotes_2.4.0.pdf
ver.2.4.1 2011/06/01 see relnotes_2.4.1.htm
--------------------------------------------------------------------------------
Copyright (C) 2007-2011 by T.TAKASU, All rights reserved.