How to Access GNSS Receiver and GNSS Data at UTokyo? Dinesh Manandhar Center for Spatial Information Science The University of Tokyo Contact Information: dinesh@csis.u-tokyo.ac.jp
• DATA • STATIC DATA • DYNAMIC DATA • Software • RTKLIB • U-center • MAD-WIN/MAD-PI/MADROID enter for Spatial Information Science The University of Tokyo for Spatial Information Science he University of Tokyo

•   Download RTKLIB software
. Version 2.4.3b34 . Main Page: http://www.rtklib.com/ . Windows Binary Files: https://github.com/tomojitakasu/RTKLIB  bin/tre e/rtklib  2.4.3 . Download the ZIP file to a PC •    Unzip the folder to a working directory in the PC •  Now go to unzipped folder It may be something like rtklib_2.4.3 . •  Go to “bin” folder Select “Download ZIP” e University of Tokyo
Windows (C:)  >  GNSS  >  RTKLIB  >  RTKLIB_bin-rtklib_2.4.3  >  bin
al Information Science
RTKLIB v.2.4.3 b33 STRSVR ver.2.4.3 2021/12/05 06:47:48 GPST Connect Time: 0d 00:00:00 Bps 0 0 ... Exit STRSVR ver.2.4.3 b33 Exit STRSVR ver.2.4.3 b33 NTRIP IP Address, User ID and Password will be provided during the lecture. NTRIP Client Options X Port 2101
String Ntrip... ok Cancel Th  Input Stream Monitor × Obse HIVTG,22,2,7, M,0,0,N,0,0,X,D*24 ROGA,072447,00,3554,1824,N.13554,3503,Z.2,09,1.2,54,4,N.39,3,N.,*56 I.1.03.03.02.300.30.12.03.051..16.00.227.24.22.10.207..0"$2 5V,3,2,09,26,35,046,42,26,44,254,45,29,48,086,46,31,60,332,47,0*60 ,3,09,32,61,179,51,.,.,.,.,.,.,.0"51 QOSV,2,1,05,56,96,291,49,01,44,190,44,02,96,291,46,03,23,167,42,0*60 05,07,46,201,39,,,,,,,,,,,,,,,,,,,0*5D INFORC, 072447.00, X, 2254.1024, K, 12956.2502, K, 0.0,22.2,051221, , TO, 22, 2, T , M 0,0 N,0,0,K,D*24 072440.00,3554.1024,31,13956.3503,1,2,09,1.2,54.4,M,39.3,M, , *59 05V,3.1,09,03,09,308,39,12,03,051,,16,08,237,34,22,10,287,,0*63 PC5Y,3,2,09,25,35,046,42,26,44,254,44,29,48,086,46,31,60,332,46,0"c0 POSV,2,3,09,22,61,179,51, 57,2,1,05,56,86,281,48,01,44,190,44,02,86,281,47,03,23,167,42,0"€ IGSY,2,2,05,07,46,201,39,.,.,.,.,.,,,,,,,,0*5D NRNC,072448.00,A,3554.1824,N,13956.3583,E,0.0,22.2,061221, IGNVTG, 22.2, T, , M, 0.0,N, 0.0,X, D*24 ,66%,66,9AAD56145400060C9EA2F0546E3AA1F964406A98AC90000000000011F85FDF4*70 ZDCM, Message  Type, 14 GA,072449.00,2554.1024,91,12956.2502,5,2,09,1.2,54.4,K,29.3,M,,*50 #,03,061,,16,08,237,34,22,10,287,,0*63 SPOSY, 3, 2, 09, 25, 35, 046, 42, 26, 44, 254, 44, 29, 40, 086, 46, 31, 60, 232, 46, 0* 0 #GPGSV,3,3,09,32,61,179,61,..............0*51 File name can be generated automatically %Y%m%d%h%M%s generates filename with current date and time such as 20220526170000 Example: %Y%m%d%h%M%s.ubx → 20220526170000.ubx %Y%m%d%h%M%s_Static.ubx ➔ 20220526170000_Static.ubx KASH_%Y%m%d%h%M%s.ubx → KASH_20220526170000.rtcm File Options X Output File Path 0d 00:00:00 %Y%mm%d%h%M D:¥MGA¥RPD  2021¥SampleData¥Spresense¥DCR OK Cancel Keyword Replacement in File Path X : Year (yyyy) %m  : Month (mm) : Day of Month (dd) %n ：Day of Year (ddd) %W : GPS Week No (www) %D ：Day of Week (0-6) %ah  : Hour (00-23) %M  : Minute (00-59) %S  : Second (00:59) %H ：Hour Code (a,b,...,x) %ha: 3H Hour (00,03,...,21) %hb: 6H Hour (00,06,12,18) %hc：12H Hour (00,12) OK Select Correct File Format It may be ublox, SBF, RTCM3 or other Center for Spatial Information Science RTKLIB v.2.4.3 b33 Options X Setting2  Output  Staustics | Positions   Files Setting1 > Integer Ambiguity Res (GPS/GLO/BDS) Continu  > Min Ratio to Fix Ambiguity 3.0 0.9999 0 > 10 > 5 > 30.0 30.0 1 <口☑ GPS  ☑ GLONASS  ☑ Galileo  ☑ QZSS  ☑ BDS  ☑ NavIC _ SBAS 0.000 Save... ok Cancel Load…. Save... ok Options X ROVER Setting X ok Cancel Base Station RTCM/Raw Antenna Posi 90.000000000 0.000000000 -6335367.6285 ] Antenna Type (*: Auto)
Station Position File El
Min Confidence / Max FCB to Fix Amb Min Lock / Elevation (°) to Fix Amb Min Fix / Elevation (°) to Hold Amb Outage to Reset Amb / Slip Thres (m) Max Age of Diff (s) / Sync Solution Reject Threshold of GDOP/Innov (m) Max # of AR Iter/# of Filter Iter Baseline Length Constraint (m) Password ••••••••••••• X Base Setting 2101 Port tial Information Science The University of Tokyo enter for Spatial Information Science RTKLIB v.2.4.3 b33 RTKNAVI ver.2.4.3 b34 2000/01/01 00:00:00.0   GPST !! Lat/Lon/Height Input Streams Input Stream Type 12 (1) Rover NTRIP Client Opt Cmd > Septentrio SBF 2 : Opt Select Correct File Format It may be ublox, SBF, RTCM3 or other 3 (2) Base Station Serial RTCM 2 : NTRIP Client Options X □ (3) Correction Serial . RTC NTRIP Caster Address Port 2101 Reset Cmd Input File Paths X Transmit NMEA GGA to Base Station 0.0000000 0.0000000 0.0 123.45.678.900 Max Base Mountpoint User ID Password utuser .............. Solution: --- [ N: 0° 00' 00.0000" 0° 00' 00.0000" 0.000 m He: N: 0.000 E: 0.000 U: 0.000 m Age: 0.0 s Ratio: 0.0 #Sat: 0 < > […]口▷ Start ● Mark... ⊕ Plot $ Options EXIT SNR (dEHz) > Saastamoinen Troposphere Correction Satellite Ephemeris/Clock Broadcast > ■ Sat PCV ■ Rec PCV ■ PhWU ■ Rej Ed ■ RAIM FDE ■ DBCorr Excluded Satellites (+PRN: Included) ☑ GPS ☑ GLONASS ☑ Galileo ☑ QZSS ☑ BDS ☑ NavIC ☑ SBAS Load… Save… OK Cancel Click these buttons to change display types Setting1 Setting2 Output Statistics Positions Files Misc It may be DGPS, Kinematic, PPP or ot Positioning Mode Single 6 L1+2 Forward Frequencies / Filter Type Elevation Mask (°) / SNR Mask (dbHz) Rec Dynamics / Earth Tides Correction Ionosphere Correction Broadcast S RTKNAVI ver.2.4.3 b34 (2) 922/05/26 12:50:55.0   GPST ■ Lat/La Solution: N ici He: N: 1.307 E: 1.365 U: 2.738 m Age: 0.0 s Ratio: 0.0 #Sat:40 Use these buttons to select Output streams and Log Data files if required ■■■ o SINGLE ■ 28° 15' 18.3614" $3° 5$' 35.0$76" 940.740 m Options Select Single : OFF NHeight Get Mountp Browse… OK ok Cancel ic WRC021SB > Cancel l Information Science
RTKLIB v.2.4.3 b33 STRSVR ver.2.4.3 2021/12/05 06:47:41 GPST 0d 00:00:00 STRSVR ver.2.4.3 b33 Bps NTRIP IP Address, User ID and Password will be provided during the lecture. NTRIP Client Options X Port
String Ntrip... ok Cancel 5  Input Stream Monitor × Chac RVTG.22.2.T.,M.0.0.N.0.0.X.D*24 CROSA,072447,00,3554,1824,N,13554,3593,2,2,09,1,2,54,4,M,39,3,M,,*56 2057.2.1.02.02.02.208.20.12.02.051..16.00.237.24.22.10.207..0"$2 8V,3,2,09,25,35,046,42,26,44,254,45,29,48,086,46,31,60,332,47,0*60 W,3,3,09,32,61,179,51 1900SV,2,1,05,56,96,291,49,01,44,190,44,02,86,291,46,03,23,167,42,0*60 05,07,46,201,39 IGNR95,072447.00,X,2554.1024,N,12956.2502,X,0.0,22.2,051221,,,D,V*07 /TG, 32.3.T., M.0.0.N.0.0.K.D*24 072440.00,3554.1024,31,13956.3503,1,2,09,1.2,54.4,14,39.3,14,,159 POSY,3,1,09,03,09,308,39,12,03,061,,16,08,237,34,22,10,287,,0*63 IGPG57,3,2,09,25,35,046,42,26,44,254,44,29,40,056,46,31,60,332,46,0*60 POSY, 2, 3, 09, 22, 61, 179, 61, 057,2,1,05,56,86,281,48,01,44,190,44,03,86,281,47,03,23,167,42,076, 2057,2,2,05,07,46,201,29, IGNI29C,072448.00,A,3554.1824,N,13966.3583,E,0.0,22.2,061221,, IGNVTG, 22.2, T, , M, O.O, N, O.O, X, D*24 COSH, 66, 9AAD76146400050C9EA2F0546E3AA1F964406A98AC900000000011F85FDF4+70 (EDCM,Meanage   Type, 14 000,072449.00,3554.1024,81,12956.2502,81,2,09,1.2,54.4,81,29.2,81,,*20 #,03,061,,16,08,237,34,22,10,287,,0*63 GPGS7,3,2,09,25,35,046,42,26,44,254,44,29,40,086,46,31,60,232,46,0*60 #GPGSV,3,3,09,32,61,179,61,,,,,,,,,,,,,,,,0*51 File name can be generated automatically %Y%m%d%h%M%s generates filename with current date and time such as 20220526170000 Example: %Y%m%d%h%M%s.ubx → 20220526170000.ubx %Y%m%d%h%M%s_Static.ubx → 20220526170000_Static.ubx KASH_%Y%m%d%h%M%s.ubx → KASH_20220526170000.rtcm . Exit STRSVR ver.2.4.3 b33 File Options X 0d 00:00:00 Output File Path %Y%mm%d%h%M D:¥MGA¥RPD 2021¥SampleData¥Spresense¥DCR Exit : Year (yyy) %m  : Month (mm) : Day of Month (dd) %n  : Day of Year (ddd) %W : GPS Week No (www) %D ：Day of Week (0-6) %h  : Hour (00-23) %M  : Minute (00-59) %S  : Second (00:59) %H  : Hour Code (a,b,...,x) %ha: 3H Hour (00,03,...,21) %hb: 6H Hour (00,06,12,18) %hc: 12H Hour (00,12) ok OK Cancel Keyword Replacement in File Path X l1
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MsgType: 44 for Overseas use X
$GPGSV,3,1,11,03,07,280,36,04,14,319,39,16,32,257,43,18,10,124,38,0*69 If you would like to get GNSS data from our lab, please send a request e-mail to dinesh@csis.u-tokyo.ac.jp Note: This is subject to approval of the request and it will be dealt case by case.