MGA Webinar 1st June

How to use free RTK Software?

Tokyo Univ. of Marine Science and Technology : Nobuaki Kubo

Receiver used in this training
1. u-blox GNSS receiver (M8P or M8T)
2. Trimble NetR9

u-blox M8T

u-blox M8P

Trimble NetR9

You can purchase M8T• http://www.csgshop.com/product.php?id_product=205

Some Data used in Practice
Static raw data set (24h)- u-blox M8T (ref/rover) + Trimble/NovAtel ant.
- Trimble NetR9 (ref) Trimble ant.
Static raw data set (1h)- u-blox M8P (ref/rover) + Trimble/NovAtel ant.
- Trimble NetR9 (ref/rover) + Trimble/NovAtel ant.
Kinematic raw data set (0.5h)- u-blox M8T (ref/rover) + Trimble/NovAtel ant.
- Trimble NetR9 (ref/rover) + Trimble/NovAtel ant.

You will learn…
• Using the “RTKLIB” and “internet(smart-phone)” +Ntrip server, you can check RTK.
• Through this webinar, you will learn how to process
RTKLIB in the post-processing or real-timeprocessing.
• You need to decide which is more important for yourpurpose.
• Please keep in mind that there are specific terms in
GNSS.

RTK tells you not absolute position but
vector from base station

Rover station

Base station

Once you determine the precise position at base station, you will know
the precise vector from base antenna to rover antenna.
Then you can know your precise position : (X,Y,Z) = (Xref,Yref,Zref) + (dX,dY,dZ)
If the position at base station deviates 1m, your RTK position will be deviates 1m

RTK performance
12h, rooftop, our building

RTK : mm level

Same scale

Recent Test : RTK on the wall
E,N series

Monitoring forstructure deformations
Moves antenna close to the wall
Horizontal

Recent Test : Running
Height series

Horizontal

Japanese GEONET(http://terras.gsi.go.jp/ja/index.htm)

Difference between expensive andlow-cost receiver
Survey-grade receiverLow-cost receiver

Cost＄100,00～$100～

Multiple GNSS

Perfect

BeiDou or Glonass
Other are OK

Multiple Frequency

Perfect

L1/B1/E1/G1 only

Number of channel

400-500--100

RTK (short baseline) + open sky

Perfect

Almost perfect

RTK (over 20 km baseline) + open sky

Almost perfect up to
100 km or more

Impossible

RTK under mid obstructed area (short)

Almost perfect

May be difficult

RTK under dense obstructed area(short)Sometimes not good

DifficultAccuracy of fixed position + openmm→

Accuracy of code position + open

Deci-meter

1-2 meter

Error source mitigation (Typical)
Source/Error

SPP

DGNSS

RTK

PPP

Satellite clock model
1 m (rms)

→

0.0 m

0.0 m

0.01 – 0.1 m

Satellite ephemeris
1 m (rms)

→

0.0 m

0.0 m

0.01 - 0.1 m

Ionospheric delay
2-10 m (zenith)×3 at 5°

1 - 2 m (zenith)0.1 - 0.2 m

0.01 m0.01 mTropospheric delay
2.3-2.5m (zenith)×10 at 5°

0.1 - 0.5 m(zenith)0.1 - 0.2 m

0.01 m0.01 mMultipath (open sky)
Code : 0.5-1 m
Carrier : -1 cm→ Code→ Code→ Carrier→ CarrierReceiver Noise
Code : 0.1-0.5 m
Carrier : 1-2 mm→ Code→ Code→ Carrier→ CarrierFinally…

2-3 m

-1m

- 1 cm- 10 cm

RTKLIB Practice (1)RTKLIB• An Open Source Software
Package for GNSS Positioning– Has been developed since 2006
– The latest version 2.4.2 p12
distributed under BSD license• Portable APIs and Useful APs– "All-in-one" package for Windows– CLI APs for any environments

http://www.rtklib.com or
https://github.com/tomojitakasu/RTKLIBRTKLIB: Application

Reference
StationY. Ohta et al., Quasi real-time fault model estimation for near-field tsunami forecasting base on
RTK-GPS analysis: Application to the 2011 Tohoku-Oki earthquake (Mw 9.0), JGR-solid earth, 2012

RTKLIB: History••••

2006/4 v.0.0.0
2007/1 v.1.0.0
2008/7 v.2.1.0
2009/1 v.2.2.0• 2009/5 v.2.2.1• 2009/12 v.2.3.0• 2010/8 v.2.4.0• 2011/6 v.2.4.1• 2013/4 v.2.4.2• 2016/12 v.2.4.3

First version for RTK+C program lecture
Simple post processing AP
Add APs, support medium-range
Add real-time AP, support NTRIP,
start to distribute as Open Source S/W
Support RTCM, NRTK, many receivers
Support GLONASS, several receivers
Support PPP Real-time/Post-processing
PPP and Long-baseline RTK (<1000 km)
Support QZSS, JAVAD receiver, …
Support Galileo, Enable BeiDou, …
TBD

RTKLIB: Features• Standard and precise positioning algorithms with:– GPS, GLONASS, QZSS, Galileo, BeiDou and SBAS

• Real-time and post-processing by various modes:– Single, SBAS, DGPS, RTK, Static, Moving-base and PPP• Supports many formats/protocols and receivers:– RINEX 2/3, RTCM 2/3, BINEX, NTRIP 1.0, NMEA0183, SP3,RINEX CLK, ANTEX, NGS PCV, IONEX, RTCA-DO-229, EMS,
– NovAtel, JAVAD, Hemisphere, u-blox, SkyTraq, NVS, …

• Supports real-time communication via:
– Serial, TCP/IP, NTRIP and file streams

RTKLIB: GUI APs
RTKNAVI
RTKPLOTSTRSVRNTRIPSRCBROWSRTKPOST

RTKGETRTKCONVRTKLIB: CLI APs• RNX2RTKP (rnx2rtkp)
Post-processing Positioning• RTKRCV (rtkrcv)
Real-time Positioning• CONVBIN (convbin)
RINEX Translator• STR2STR (str2str)
Stream Server• POS2KML (pos2kml)
Google Earth Converter
CLI Command Reference

RTKLIB: Package Structure
rtklib_2.4.2.zip
/src
/rcv
/bin
/data
/app
/rtknavi/strsvr/rtkpost/rtkpost_mkl/rtkplot/rtkconv/srctblbrows/rtkrcv/rnx2rtkp/pos2kml/convbin/str2str/appcmn
/icon
/mkl
/test
/util
/doc

: Source programs of RTKLIB libraries: Source programs depending on GPS/GNSS receiv.
: Executable binary APs and DLLs for Windows: Sample data for APs: Build environment for APs: RTKNAVI (GUI): STRSVR (GUI): RTKPOST (GUI): RTKPOST_MKL (GUI): RTKPLOT (GUI): RTKCONV (GUI): NTRIP source table browser (GUI): RTKRCV (console): RNX2RTKP (console): POS2KML (console): CONVBIN (console): STR2STR (console): Common routines for GUI APs: Icon data for GUI APs: Intel MKL libraries for Borland environment: Test program and data
: Utilities: Document files

RTKLIB: APIs/* matrix and vector functions */mat(),imat(),zeros(),eye(),dot(),norm(),matcpy(),matmul(),matinv(),solve(),lsq(),filter(),smoother(),matprint(),matfprint()/* time and string functions */str2num(),str2time(),time2str(),epoch2time(),time2epoch(),gpst2time(),time2gpst(),timeadd(),timediff(),gpst2utc(),utc2gpst(),timeget(),time2doy(),adjgpsweek(),tickget(),sleepms()/* coordinates functions */ecef2pos(),pos2ecef(),ecef2enu(),enu2ecef(),covenu(),covecef(),xyz2enu(),geoidh(),loaddatump(),tokyo2jgd(),jgd2tokyo()/* input/output functions */readpcv(),readpos(),sortobs(),uniqeph(),screent()/* positioning models */eph2pos(),geph2pos(),satpos(),satposv(),satposiode(),satazel(),geodist(),dops(),ionmodel(),ionmapf(),tropmodel(),tropmapf(),
antmodel(),csmooth()/* single-point positioning */pntpos(),pntvel()/* rinex functions */readrnx(),readrnxt(),outrnxobsh(),outrnxnavh(),outrnxnavb(),uncompress(),convrnx()/* precise ephemeris functions */readsp3(),readsap(),eph2posp(),satposp()/* receiver raw data functions */getbitu(),getbits(),crc32(),crc24q(),decode_word(),decode_frame(),init_raw(),free_raw(),input_raw(),input_rawf(),input_oem4(),
input_oem3(),input_ubx(),input_ss2(),input_cres(),input_oem4f(),input_oem3f(),input_ubxf(),input_ss2f(),input_cresf()/* rtcm functions */init_rtcm(),free_rtcm(),input_rtcm2(),input_rtcm3(),input_rtcm2f(),input_rtcm3f()/* solution functions */readsol(),readsolt(),outsolheads(),outsols(),outsolexs(),outsolhead(),outsol(),outsolex(),setsolopt(),setsolformat(),outnmea_rmc(),outnmea_gga(),outnmea_gsa(),outnmea_gsv(),/* SBAS functions */sbsreadmsg(),sbsreadmsgt(),sbsoutmsg(),sbsupdatestat(),sbsdecodemsg(),sbssatpos(),sbspntpos()/* integer least-square estimation */lambda()/* realtime kinematic positioning */rtkinit(),rtkfree(),rtkpos()/* post-processing positioning */postpos(),postposopt(),readopts(),writeopts()/* stream data input/output */strinitcom(),strinit(),strlock(),strunlock(),stropen(),strclose(),strread(),strwrite(),strsync(),strstat(),strsum(), strsetopt(),
strgettime()/* stream server functions */strsvrinit(),strsvrstart(),strsvrstop(),strsvrstat()/* rtk server functions */rtksvrinit(),rtksvrstart(),rtksvrstop(),rtksvrlock(),rtksvrunlock(),rtksvrostat(),rtksvrsstat() ...

RTKLIB: Supported Receivers
Data Message Types
GLONASS
ION/UTC
Ephemeris Parameters

Format

GPS Raw
Meas Data

GLONASS
Raw Meas

GPS
Ephemeris

RTCM v.2.3

Type 18, 19

Type 18, 19

Type 17-

RTCM v.3.1

Type 1002,
1004

Type 1010,
1012

Type 1019

Type 1020

NovAtelOEM4/V,
OEMStar
NovAtelOEM3

RANGEB,RANGEB,
GLORANGECMPB RANGECMPB RAWEPHEMB EPHEMERISB

NovAtelSuperstar II
u-blox
LEA-4T,
LEA-5T
Hemisphere
Crescent,
EclipseSkyTraq
S1315F

Antenna
Info

SBAS
Messages

Others-Type 3, 22-

Type 1, 9,
14, 16-

Type 1005,
1006, 1007,
1008, 1033-

SSR
corrections

IONUTCB-

RAWWAASFRAMEB

-

RGEB,
RGED

-

REPB

-

IONB, UTCB

-

FRMB

-

ID#23

-

ID#22

-

-

-

ID#67

ID#20,#21

UBX
RXM-RAW-UBXRXM-SFRB-UBX
RXM-SFRB-UBX
RXM-SFRB-bin 96-bin 95-bin 94-bin 80--

msg 0xE0
(224)

-

-

[NE],[LD][IO],[UO],
[GD]

-

[WD]

msg 0xDC(220)[~~],[::],[RD],[SI],[NN],[TC],QZSS Data,
Galileo Data-

msg 0x26-

msg 0x03

msg 0xDD
msg 0xE0
(221)
(224)
[R*],[r*],[*R], [R*],[r*],[*R],JAVAD[*r],[P*],[p*], [*r],[P*],[p*], [GE],[GD],(GRIL/GREIS) [*p],[D*],[*d], [*p],[D*],[*d],[gd][E*],[*E],[F*] [E*],[*E],[F*]Furunomsg 0x08
msg 0x24
GW10 II

msg 0x20

Multi-GNSS Support
GPS (12)
GLONASS (8)Galileo (4)QZSS (1)BeiDou (10)SBAS (4)2013-06-12 10:20 GPST
Visibility at Tokyo by RTKPLOT# Total (39)
(El>10deg)

RTKLIB: References

rtklib_2.4.2/doc/manual_2.4.2.pdf

http://www.rtklib.com

RTKLIB Practice (1)• Install RTKLIB• Setup Receivers and Antennas• Use RTKLIB in Post Processing Mode
• RTKLIB in Real-Time Mode

RTK Practice
Reference
StationCommunication Link

Rover
Receiver• Post processing: Observation and Navigation
data are required (RINEX).
• Real-Time: Communication link anddifferential data reception are required(RTCM/NTRIP).

What if you can’t receive correction datafor 1 minutes ?
• RTK requires the robust communication link.
This is demerit of RTK because continuous
data link is sometimes troublesome…
• How long can RTK keep their fixed solutions
without correction data ? We can’t answer.
Some receivers give up 10 seconds or 30
seconds…
• It also depends on the environment.

RTCM• The standard for differential global navigation
satellite system was defined in RTCM Special
Committee 104 and its current version is
Version 3. RTCM standard for differential global
navigation satellite services are communication
protocols between reference stations andmobile receivers which allow very high accurate
positioning, when compared with positioning
system without augmentation.

NTRIP• The NTRIP was also defined in the RTCM
Special Committee 104. NTRIP stands for“Networked Transport for RTCM via Internet
Protocol”. It is based on Hypertext transfer
Protocol version 1.1 and the intention is todisseminate differential correction data
through the internet.

https://igs.bkg.bund.de/index/index

Download• http://www.denshi.e.kaiyodai.ac.jp/kubo/kubo_data.html• rtklib.zip• 1h.zip• 24h.zip• car.zip
If you need the raw-data used in this presentation,please download the following 4 files.

Install RTKLIBYou just download rtklib.zip and unzip it.

You can refer to the latest update : https://github.com/tomojitakasu/RTKLIB

u-blox NEO-M8P

https://www.u-blox.com/en/product/neo-m8p

Setup u-blox Receiver/u-center• Install Support S/W to your laptop PC– u-blox u-center(u-centersetup_v8.2*.zip)
u-bloxu-center v8.26

u-blox NEO-M8P-2
Mini-EVK Card + antenna
micro
USB

your Laptop PC

Which is good ?

Connection• Start u-center and select Receiver->Port• You will see COM*. You can check your COM port inyour laptop’s devise manager• If you have any difficulties(win10), please catch us.

Firmware Check• View->Message View->UBX->MON->VER

Baud rate Check• View->Message View->UBX->CFG->PRT• Please change from 9600 to 115200

If you want to change the rate…
• View->Message View->UBX->CFG->RATE• Please change the measurement periodIf you want to save the raw-data…
• View->Message View->UBX->RXM->”RAWX”
and “SFRBX”• Right click->Enable Message

RTKCONV• When you post-process of GNSS raw data, RINEX format isquite popular.
• You can convert other receiver’s raw data to RINEX format
using rtkconv.exe.
• In the case of Trimble T02 file, you can use “Convert To RINEX”
which is available in the Trimble website.

Use RTKLIB (1)• Execute RTKLAUNCH.
RTKLIB_bin-master¥bin¥rtklaunch.exe

RTKPLOT STRSVR NTRIPBRS RTEGETRTKCONV RTKPOST RTKNAVI

Use RTKLIB (2)• Execute RTKPOST by
RTKLAUNCH• Execute Menu of RTKPLOT:
rawdata¥rooftop¥
netr9_ref.17o and netr9_ref.nav• Click here

1h data was obtained on 20th July 2017 using NetR9 on the rooftop.
2017/7/20 5:00:00-5:59:59 (GPST)

Use RTKLIB (3)Satellite ID
G: GPS
R: GLO
E: GAL
J: QZS
C: BEI

Use RTKLIB (4)Skyplot# of Visible Satellites and DOPUse RTKLIB (5)RTKPLOT - Options

OBS Data Options

Solution Data Options

Common Options

Use RTKLIB (6)RTKPOST - Options
Setting1

OutputSingle Point Positioning

Coordinate Origin
If you change the coordinate origin
as a precise reference position,(35.66633461, 139.7922008, 59.741)
you see bias like below.

DGNSS• Precise rover position(LAT/LON/HGT):
35.66627025 139.79226723 59.33

RTK-GNSS