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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 and SBAS (Galileo and QZSS are supported but disabled in current versions)

(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 * and PPP-Static *

(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, RINEX 3.00 CLK, RTCM v.2.3, RTCM v.3.1, NTRIP 1.0, RTCA/DO-229C, NMEA 0183, SP3-c, 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, LEA-5T and SkyTraq: S1315F (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 for GNSS data processing:

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.

* For real-time PPP, EUREF and IGS have already started to distribute real-time satellite orbit and clock as RTCM v.3 SSR messages via NTRIP. To receive the real-time satellite orbit and clock, users have to make registration and get an account to access the NTRIP broadcasters. Refer BKG GDC site http://igs.bkg.bund.de/ntrip/index for details.

License

RTKLIB is distributed under GPLv3 license. (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.

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