1、RTKLIB provide the following general purpose C- functions callable from user AP (application program).(2)User can use these function to develop user original positioning APs.(1) Matrix and vector functions矩陣與向量函數(shù)(2) Time and string functions時間和字符串函數(shù)(3) Coordinates transformation and geoid model坐標(biāo)變換和

2、大地水準(zhǔn)面模型(4) Navigation processing導(dǎo)航處理(5) Positioning models (troposphere, ionosphere, antenna PCV)定位模型（對流層，電離層，天線PCV）(6) SBAS DGP S/DGNSS correctionDGPS / SBAS DGNS取正(7) Single point positioning單點(diǎn)定位(8) Carrier - based and code - based relative positioning基于載波-和代碼-基礎(chǔ)相對定位(9) OTF integer ambiguity resol

3、ution OTF求解整周模糊度(10) Receiver raw binary data input接收原始二進(jìn)制數(shù)據(jù)輸入(11) Positioning solution/NMEA input/output輸入/輸出的 NMEA /定位解決方案(12) RINEX observation data/navigation message input/output RINEX觀測數(shù)據(jù)和導(dǎo)航信息的輸入 / 輸出(13) Precise ephemeris input精密星歷的輸入(14) Stream data communication library流數(shù)據(jù)通信庫(15) NTRIP (Net

4、worked Transport of RTCM via Internet Protocol) library NTRIP網(wǎng)絡(luò)傳輸協(xié)議通過 Internet 協(xié)議）庫(16) RTK - GPS/GNSS positioning server rtk- gps / GNSS 定位服務(wù)器(17) RTCM and message handling RTCM 和 3 / / 信息處理(18) Downloader functions下載功能The following instructions shows the way to utilize the library of RTKLIB in use

5、r AP.面的說明顯示在用戶 rtklib AP 利用庫的方式(1)Add the following include directive to the source program of user AP.#include ""(3)Set the following compiler option to add RTKLIB source directory path to compiler include paths.(4)-I rtklib_<ver>src(5)(6)Add the necessary RTKLIB library source file

6、s to source programs set for the AP build. Refer AppendixC Library APIs for the library function list and source programs provided by RTKLIB.Appen dix A CUI Comma nd Refere ncesRTKRCVSYN OP SIS 簡介rtkrcv -s-p port|-d dev-o file-t levelDESCR IP TIONA command line version of the real-time positioning A

7、P by RTKLIB. To start or stop RTK server, toconfigure op tions or to p rint solution/status, login a console and input commands. As default, stdin/stdoutare used for the console. Use-p option for network login with telnet protocol. To show the availablecommands, type or help on the console. The init

8、ial p rocessing op tions are loaded from defaultconfiguration file . To change the file, use-o option. To configure the processing options, editthe configuration file or use set, load or save command on the console. To shutdown the p rogram, useshutdown command on the console or send the USR2 signal

9、 to the p rocess. For configuration file, refer .通過rtklib的實(shí)時-時間定位命令行版本，啟動或停止RTK服務(wù)器，配置選項(xiàng)或打印解決方案/狀態(tài)，登錄控制臺,輸入命令。作為默認(rèn)使用的是標(biāo)準(zhǔn)輸入/輸出，為控制臺。使用-P選項(xiàng)為Telnet協(xié)議的網(wǎng)絡(luò)登錄。要顯示可用的命令，輸入“”或在控制臺上的幫助。最初的處理選項(xiàng)從默認(rèn)的配置文件加載。更改文件，使用-O選項(xiàng)。要配置處理選項(xiàng)，編輯配置文件或使用集，加載或保存在控制臺上的命令。關(guān)機(jī)程序，使用shutdown命令在控制臺上或發(fā)送給進(jìn)程的 usr2信號。配置文件，是指B4。OP TIONS-s start

10、RTK server on p rogram start up-S 啟動，啟動RTK服務(wù)器程序-p portport number for telnet console-P，端口號，指定用telnet控制臺端口-m portport number for monitor stream-m端口號，監(jiān)視器流的端口號-d devterminal device for console控制臺終端-o fileconfiguration file配置文件-r levelout put solution status file (0:off,1:states,2:residuals)輸出解決方案狀態(tài)文件（0

11、:關(guān)閉，1:狀態(tài)，2 :殘差）-t leveldebug trace level (0:off,1-5:on)調(diào)試跟蹤級別（0 off ，1-5 : ONCOMMANDSstartStart RTK server. No need the command if the p rogram runs with -s op tion.RTKB務(wù)器啟動。如果程序運(yùn)行與選項(xiàng)的選項(xiàng)，不需要命令。sto PStop RTK server.restartthe changes.Restart RTK server. If the p rocessing op tions are set, execute th

12、e command to enableRTK服務(wù)器重啟。如果設(shè)置了處理選項(xiàng)，則執(zhí)行命令以啟用更改顯示錯誤/警告消息。停止消息，發(fā)送中斷（ctr-c )。solution cycle解決方案周期Show solutions. Without op tion, only one solution is shown. With op tion, the(ctr-C).solution is dis pl ayed at intervals of cycle (s). To stop cyclic dis pl ay, send breakS）。要停止循環(huán)顯示，發(fā)顯示解決方案。沒有選項(xiàng)，只有一個解決方

13、案。與選項(xiàng)，該解決方案是顯示在周期的周期（送中斷(ctr-C).status cycle狀態(tài)周期Show RTK status. Use op tion cycle for cyclic dis pl ay. RTK狀態(tài)顯示。循環(huán)顯示的使用選項(xiàng)循環(huán)。satellite cycle衛(wèi)星周期顯示衛(wèi)星狀態(tài)。循環(huán)顯示的使用選項(xiàng)循環(huán)。observ cycle 觀察循環(huán)Show observation data. Use op tion cycle for cyclic dis play.顯示觀測數(shù)據(jù)。循環(huán)顯示的使用選項(xiàng)循環(huán)。navidata cycle 導(dǎo)航數(shù)據(jù)循環(huán)Show navigation dat

14、a. Use op tion cycle for cyclic dis play.顯示導(dǎo)航數(shù)據(jù)。循環(huán)顯示的使用選項(xiàng)循環(huán)。stream cycle 流周期Show stream status. Use op tion cycle for cyclic dis play.顯示流狀態(tài)。循環(huán)顯示的使用選項(xiàng)循環(huán)。errorShow error/warning messages. To stop messages, send break (ctr-C).op tion optShow the values of p rocessing op tions. Without op tion, all op t

15、ions are dis pl ayed.With op tion, only p attern-matched op tions are dis pl ayed.顯示處理選項(xiàng)的值。沒有選項(xiàng)，所有選項(xiàng)都顯示出來。有了選項(xiàng)，只顯示模式匹配選項(xiàng)。set opt valSet the value of a p rocessing op tion to val. Without op tion val, prompt message is shown to input the value. The change of the p rocessing op tion is not enabled在RTK

16、服務(wù)器重啟。顯示處理選項(xiàng)的值。沒有選項(xiàng)，所有選項(xiàng)都顯示出來。有了選項(xiàng)，只顯示模式匹配選項(xiàng)。before RTK server is restarted.load file 加載文件Load p rocessing op tions from file. Without op tion, default file is used.To enable the changes, restart RTK server.RTK服務(wù)器。從文件中加載處理選項(xiàng)。無選項(xiàng)，默認(rèn)的文件使用。使變化，重啟save fileSave current p rocessing op tions to file. Witho

17、ut op tion, default file is used.保存當(dāng)前處理選項(xiàng)到文件。無選項(xiàng)，默認(rèn)的文件使用。log file|offRecord console log to file. To stop recording the log, use op tion off.記錄控制臺日志到文件。要停止記錄日志，使用選項(xiàng)關(guān)閉。hel Pl pathShow the command list. With op tion p ath, the stream p ath op tions are shown.顯示命令列表。隨著選項(xiàng)路徑，流路徑選項(xiàng)顯示。exitExit and logout co

18、nsole. The status of RTK server is not affected by the command.shutdownShutdown RTK server and exit the p rogram.Command arg.Execute command by the op erating system shell. Do not use the interactive command.執(zhí)行操作系統(tǒng)外殼的命令。不要使用交互式命令。NOTESShort form of a command is allowed. In case of the short form, th

19、e command is distinguished according to header characters.允許一個命令的短形式。在短形式的情況下，命令是根據(jù)標(biāo)題字符區(qū)別RNX2RTKPSYN OP SISrnx2rtk p o ption . file file .DESCR IP TIONRead RINEX OBS/NAV/GNAV/HNAV/CLK, SP3, SBAS message log files and comp ute receiver (rover) po sitions and out put p osition solutions.讀Rinex OBS /導(dǎo)航

20、/ / / CLK hnav咬，SP3, SBAS消息日志文件和計(jì)算接收機(jī)（ Rover）和輸出位置的定位方案。The first RINEX OBS file shall contain receiver (rover) observations. For the relative mode, the secondRINEX OBS file shall contain reference (base station) receiver observations. At least one RINEXNAV/GNAV/HNAV file shall be included in input

21、files. To use SP3 precise ep hemeris, sp ecify the p ath in configuration file. In this case, command line op tions p recede op tions in the configuration file. For the configuration file, refer .the files. The extension of the SP3 file shall be.sp3 or .eph . All of the input file paths can includew

22、ild - cards ( *). To avoid command line deployment of wild-cards, use.? for paths with wild-cards.Command line op tions are as follows (:default). With-k option, the processing options are input from the第一個RINEX OBS文件包含（Rover）觀測接收機(jī)。對于相對模式，第二RINEX文件應(yīng)包含參考 OBS（基站）接收機(jī)的觀測。至少一個RINEX導(dǎo)航/ gnav / hnav文件應(yīng)包括在輸入

23、文件。使用SP3精密星歷，在文件指定的路徑。擴(kuò)展名SP3文件的應(yīng).SP3或.eph所有的輸入文件路徑可以包括野生-卡（*）為了避免野生-卡命令行部署，使用？?用野生-卡路徑。命令行選項(xiàng)如下（:默認(rèn)）。-K的選擇，加工的選項(xiàng)是從配置文件輸入。在這種情況下，命令行選項(xiàng)在配置文件中的選項(xiàng)之前。為配置文件參考B4。0P TIONS-P rint help-k file input op tions from configuration file off配置文件的輸入選項(xiàng)關(guān)閉-o file set out put file stdout文件輸出（stdout）-ts ds ts start day/ti

24、me (ds=y/m/d ts=h:m:s) obs start time 起始日/小時(DS = Y M / D / H : TS = m s )注的開始時-te de te end day/time (de=y/m/d te=h:m:s) obs end time-ti tint time interval (sec) all-p mode mode (0:single,1:dg ps,2:kinematic,3:static,4:moving-base,5:fixed,6:ppp-kinematic,7:ppp-static) 20:單，1: DGPS 2:運(yùn)動、3:靜態(tài)，4 :基地移動

25、，5:固定，6: PPP-動態(tài)7 : PPP -靜態(tài)，）-m mask elevation mask angle (deg) 15高度角-f freq number of frequencies for relative mode (1:L1,2:L1+L2,3:L1+L2+L5) 2相對模式的頻率數(shù)-v thres validation threshold for integer ambiguity :no AR)整周模糊度的驗(yàn)證閾值-b backward solutions off向后解決方案-c forward/backward combined solutions off向前/向后組合

26、的解決方案-i instantaneous integer ambiguity resolution off瞬時整周模糊度-h fix and hold for integer ambiguity resolution off整周模糊度的固定和保持-e out put x/y/z-ecef p osition latitude/longitude/height 輸出的X / Y / z-ecef 位置緯度/經(jīng)度/高-a out put e/n/u-baseline latitude/longitude/height輸出 E / N / u-baseline 緯度/經(jīng)度/高-n out put

27、NMEA-0183 GGA sentence off輸出NMEA-0183 GGA勺句子-g out put latitude/longitude in the form of ddd mm 在DDD毫米DDD形式輸出緯度/經(jīng)度DDD 。-t out put time in the form of yyyy/mm/dd hh:mm: 在 YYYY/MM/DD HH式輸出時間： MM sssss SS -uout put time in utc gp stUTC時間在輸出GPST-d colnumber of decimals in time 3時間的小數(shù)位數(shù)-s sepfield sep ar

28、ator ''字段分隔符參考（基準(zhǔn)）接收機(jī) ECEF POS（ M 單平均-r x y z reference (base) receiver ecef pos (m) average of single posPOS參考（基準(zhǔn)）接收機(jī)的緯度/經(jīng)度/高度（度/-l lat lon hgt reference (base) receiver latitude/longitude/height (deg/m)米）-y level out put solution status (0:off,1:states,2:residuals) 0輸出解決方案狀態(tài)（0:關(guān)閉，1:狀態(tài)，2 :殘

29、差）-x level debug trace level (0:off) 0調(diào)試跟蹤級別（0:關(guān)閉）0 EXA MP LESExam pie 1. Kinematic Positioning, L1+L2, out put Latitude/Longitude/Height to STDOUT.動態(tài)定位，L1 + L2，輸出緯度/經(jīng)度/身高標(biāo)準(zhǔn)。> rnx2rtk p .05o .05nExam pie 2. Single Point P ositioning. El Mask=15deg, out put NMEA GGA to file單點(diǎn)定位，E1 mask= 15deg，輸出 N

30、MEA GGA文件> rnx2rtkp -p 0 -m 15 -n -o .05nExample 3. Static Positioning, L1, time form yyyy/mm/dd hh:mm:ss, out put X/Y/Z-ECEF positions> rnx2rtkp -p 3 -f 1 -t -e .05o .05n例3。靜態(tài)定位，L1，時間形式Y(jié)YYY/MM/DD HH毫米：SS,輸出X、Y、Z-地心坐標(biāo)系的位置Exa mp le 4. Kinematic P ositioning. Instantaneous AR, validation threshold=2, comma sep arator> rnx2rtkp -i -v 2 -s , .05o .05n例4。運(yùn)動定位，瞬時值，驗(yàn)證閾值 =2，逗號分隔符Appen dix B File FormatsPositi oning Soluti on FileDESCR IP TIONA p ositioning solution file is just a tex