RTKLIB MANUAL 之 Instructions 第一部分

太过爱你忘了你带给我的痛 2023-02-13 11:13 7阅读 0赞

> **本部分用RTKLIB version 2.4.2为例进行介绍：**

## 3.1 文件目录介绍 ##

3.1.1 首先去官网下载RTKLIB压缩包：[RTKLIB 开源代码之科普&快速入门&网络资料&产品/数据下载][RTKLIB]；解析、可以看到如下的文件目录结构：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70][]

> 要执行GUI AP，在<安装目录> \\ rtklib\_ <ver> \\ bin中查找对应的执行文件；
> 
> 要执行CUI AP，请在命令路径中添加<install dir> \\ rtklib\_ <ver> \\ bin。

3.1.3 RTKLIB中的GUI和CUI AP从不使用Windows注册表。 要卸载软件包，只需删除安装目录中的整个文件和目录。

3.1.4 GUI AP的可选设置保存在INI文件（\* .ini）中，该文件通常位于目录<install dir> \\ rtklib\_ <ver> \\ bin中。 请注意，INI文件的目录在版本中已更改。 2.4.2。 要成功完成旧版本RTKLIB AP的可选设置，请将c：\\ Windows中的INI文件（\* .ini）复制到<安装目录> \\ rtklib\_ <ver> \\ bin目录中。以RTKPOST为例，rtkpost.ini只是将界面的内容保存下来，并且不能够修改界面的内容。

3.1.5 某些GUI AP（RTKCONV，RTKPOST，RTKNAVI，RTKGET和STRSVR）可以通过命令行选项-i <inifile> .ini执行，以为其他可选设置选择替代的INI文件。  
您可以使用命令行选项以及选项-t <title>来更改窗口标题，从而切换此类AP的选项。 因此，您可以为同一GUI AP配置多个快捷方式通过设置这些快捷方式的属性使用不同的选项。

3.1.6 要使用RTKPOST\_MKL或RTKNAVI\_MKL（内部嵌有MLK库链接的版本RTKPOST或RTKNAVI）在多核CPU或多处理器PC上更快地进行矩阵计算，请根据CPU核数，将Windows环境变量OMP\_NUM\_THREADS设置为2、4或8。 这样可以进行多线程矩阵计算，从而缩短处理时间。

3.1.7 为了轻松执行GUI AP，在版本2.4.2中添加了AP启动应用程序RTKLAUNCH。要运行RTKLAUNCH，请执行<安装目录> \\ rtklib\_ <ver> \\ bin \\ rtklaunch.exe。 您可以单击AP RTKLAUNCH窗口中的图标或在任务托盘图标中选择弹出菜单以执行 RTKLIB AP。 RTKLAUNCH接受-mkl选项来启动RTKPOST\_MKL和RTKNAVI\_MKL，而不是RTKPOST和RTKNAVI，并带有-tray选项以启动启动器作为任务托盘图标。

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 1][]

## 3.2 RTKNAVI 实时定位 ##

应用程序RTNAVI，必须输入原始观测数据、导航信息才能够进行实时处理。设置定位模式为Kinematic ,并将基准站和移动站数据输入到RTKNAVI，将会进行整周模糊度解算，并输出高质量的定位结果。

**3.2.1 执行rtknavi或rtknavi\_mkl**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 2][]

**3.2.2 RTKNAVI输入数据流，Input Streams, Output Streams (optional) and Log Streams (optional) 输入/输出/记录**  
![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 3][]

**3.2.3 要想进行实时定位，必须输入原始观测信息和星历信息；**

点击RTKNAVI窗口中的上部，"I"；如下所示：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 4][]

**3.2.4 为每一个”流“进行配置；如果只是单点定位，只需要配置“Rover”即可。**

数据流的类型/来源：

**Serial : 通过RS232C或USB接入rtknavi；**

**TCP Client : 通过TCP协议，连接TCP Server；TCP Server将数据送给RTKLIB；**

**TCP Server: 通过TCP协议，RTKLIB拿TCP Client的数据；**

**Ntrip Client : 通过NTRIP协议，连接Ntrip Caster;**

**File ：通过记录文件输入RTKLIB；**

**FTP : 仅支持Correction, 通过FTP下载输入，导入RTKLIB；**

**FTTP : 仅支持Correction, 通过FTTP下载输入，导入RTKLIB；**  
**流数据格式：**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 5][]

**3.2.5 串口模式**

设置以下参数：

串口号、波特率、字节大小、停止位、奇偶校验、停止位、流控制

![20200528171201753.png][]

**3.2.6 流类型中的CMD：**ʺSerialʺ, ʺTCP Clientʺ or ʺTCP Serverʺ  
可以通过RTKLIB配置接收机 startup 和shutdown 指令。

两种方式：

1、写入

2、导入

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 6][]

RTKLIB中自带了几种接收机的相关指令；此处以UBLOX接收机为例，如下：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 7][]

**3.2.7 流类型中的Opt：** ʺTCP Clientʺ or ʺTCP Serverʺ

1、TCP Client,需要输入TCP Server的地址和端口号（数据由Server发到Client）

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 8][]

2、TCP Server, 设置端口号，TCP Server去拿数据

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 9][]

**3.2.8 流类型中的Opt：** ʺNTRIP Clientʺ

需要配置：

NTRIP Caster Host、Port、 Mount‐point、User‐ID、Password

If you keep the ʺPortʺ field blank, the default port number (2101) of NTRIP is used.Note that ʺUser‐IDʺ cannot contain ʺ:ʺ.

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 10][]

**3.2.9 Type：** ʺFileʺ

输入为原始数据；如果想要更改回放速度或时间偏移，那么必须有.tag的关于时间的文件。

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 11][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 12][]

**3.2.10 Format后面的Opt：**

如果某一个频点有多个信号，可以在此处设置优先级；通过“空格”进行区分。

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 13][]

**3.2.11** NRTK (network RTK) service**：**

如果基准站为以下服务类型：“serial”,"Tcp Client","Tcp Server","Ntrip Client"；需要选择“Transmit NMEA GPGGA to Base Station”;

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 14][]

有两种发送移动站坐标到基准站的方式：

1、如果知道当前移动站的坐标，选择“Latitude/Longitude”；

2、选择“Single Solution”，将移动站坐标传送到基准站；

注意：负号表示南纬、西经。

**3.2.12 改正项Correction ,数据流为“FTP”,"HTTP"**

1、FTP：<server address>/<file path>

示例： cddis.gsfc.nasa.gov/gps/products/%W/igu%W%D\_%hb.sp3.Z

Download Interval ： 下载间隔  
Download Offset ： 下载时间  
Retry Interval :每隔多长时间重新下载

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 15][]

2、HTTP：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 16][]

**3.2.13 输出流/Output Streams**

最多支持两路输出，配置和输入流大体一致！

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 17][]

**3.2.14 RTKNAVI 主界面**

Gray/灰色：代表不能用；

Orange/橙色 ：代表等待连接；

Deep-Green/深绿色：代表连接、正在运行；

Light-Green/亮绿色： 代表数据激活；

Red/红色：代表通信错误；

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 18][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 19][]

**3.2.15 定位方式**

FIX, FLOAT, DGPS, SBAS, SINGLE or PPP  
在纬度/经度/高度模式下，标签ʺHʺ和ʺHeʺ分别表示大地和椭圆高度。

**3.2.16 RTK Monitor**

实时检测窗口，给出的信息比较多，对于了解整个RTK系统的运行有很直观的认知。

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 20][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 21][]

## 3.3 Configure Input, Output and Log Streams for RTKNAVI 配置RTKNAVI的输入、输出和日志流 ##

在RTK-GPS/GNSS相对定位中，移动站和基准站通常位于不同的地方，这就需要一个通讯链，STRSVR可以作为一个通讯中转，支持分发、多路信号。

例如，在移动站接收基准站的观测信息/Observation Data以得到差分解/固定解；用户需要在基准站将带有STRSVR的电脑连接到基准站接收机，然后通过STRSVR将数据发送到移动站，如下是通过RTKNAVI和STRSVR的配合使用的几个应用场景：

**1、移动站单点定位、输出结果保存到文件/file**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 22][]

**2、单点定位输出结果到串口/serial，日志流保存到文件**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 23][]

**3、RTK-GPS/GNSS中，移动站和基准站数据来自串口/serial，结果保存到文件**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 24][]

**4、RTK-GPS/GNSS中，移动站数据通过串口/serial,基准站数据通过WIFI-NETWORK传过来；**

**基准站接收机数据通过串口连接到STRSVR，数据通过网络发送到移动站，移动站通过TCP Client接收基准站数据：**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 25][]

**5、RTK-GPS/GNSS中，移动站数据通过串口/serial,基准站数据通过Mobile-Phone N/W 传过来；**

**基准站接收机数据通过串口连接到STRSVR，数据通过网络发送到移动站，移动站通过TCP Client接收基准站数据：**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 26][]

**6、RTK-GPS/GNSS中，移动站数据通过串口/serial,基准站数据通过NTRIP Client 传过来；**

**基准站接收机数据通过串口连接到STRSVR，数据通过Ntrip Caster发送到网络，移动站通过TCP Client接收基准站数据：**

**目前还不支持此种操作！**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 27][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 28][]

**7、RTK-GPS/GNSS中，网络RTK/Network RTK 服务**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 29][]

**8、Multiple RTK‐GPS/GNSS with single NRTK service 多移动站的网络RTK服务**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 30][]

**9、Real‐time PPP with real‐time satellite orbit and clock provided as a NTRIP stream 通过Ntrip流发送卫星轨道、钟差的实时PPP服务**  
![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 31][]

**10、Long‐baseline RTK with FTP download of precise ephemeris 采用FTP下载精密星历的长基线RTK**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 32][]

**11、STRSVR 2.4.2使用及配置**

**（1）输入、输出：**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 33][]

一个输入源；其具体配置和RTKNAVI中的输入流一致；

三个输出流，其具体配置和RTKNAVI中的输出流一致；

**（2）Convert/格式转换：**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 34][]

目前支持的输入、输出转换格式为：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 35][]![2020060111015784.png][]

## 3.4 Post-Processing Analysis with RTKPOST ##

RTKLIB包含一个RTKPOST应用程序，能够处理RINEX 2.10、2.11、2.12、3.00、3.01、3.02观测数据和导航电文(GPS, GLONASS, Galileo, QZSS,BeiDou and SBAS),并且包含多种定位方式：Single‐point, DGPS/DGNSS, Kinematic, Static, PPP‐Kinematic and PPP‐Static。

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 36][]

**在Options中，Output Solution Status/ Debug Trace 中，State和Residuals的区别在于：**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 37][]

Residuals:

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 38][]

State:

![20200601115648544.png][]

详情参考：[RTKLIB Manual 之 Appendix B File Formats][RTKLIB Manual _ Appendix B File Formats]

**同时，如果 Level设置为5，则会在.trace文件中，输出小于等于5以下的调试信息。**

![2020060112012123.png][]

如下所示：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 39][]

## 3.5 Configure Positioning Options for RTKNAVI and RTKPOST 配置RTKNAVI和RTKPOST的Options选项 ##

**Options页面的介绍和配置：**

### 1、Setting1: ###

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 40][]

**（1）Positioning Mode:定位模式**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 41][]

**（2）Frenquencies/Filter Type**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 42][]

**（3）Elevation Mask(°) /SNR Mask(dbHZ) 截至高度角、信噪比:不同信噪比对应不同的高度角**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 43][]

根据高度角5°-85°共9个挡位，设置对应的SNR

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 44][]

**（4）Rec Dynamics / Earth Tides Correction**

> OTL/Ocean tide loading: 对应FILE中的 OTL BLQ File
> 
> pole tide correction:对应 EOP Data File

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 45][]

**（5）Ionosphere Correction**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 46][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 47][]

**（6）Troposphere Correction**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 48][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 49][]

**(7) Satellite Ephemeris /Clock**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 50][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 51][]

**(8) Sat PCV、Rec PCV、phWindup、Reject Ed、Raim Fde**

![2020060113514221.png][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 52][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 53][]配置文件中，对应如下：

> pos1-posopt1 =off \# (0:off,1:on) **Sat PCV、**  
> pos1-posopt2 =off \# (0:off,1:on) **Rec PCV、**  
> pos1-posopt3 =off \# (0:off,1:on) **phWindup、**  
> pos1-posopt4 =off \# (0:off,1:on) **Reject Ed、**  
> pos1-posopt5 =on \# (0:off,1:on) **Raim Fde**

**（9） Excluded Satllites(+PRN:Inluded)**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 54][]

**(10) Navigation Systems**

![20200601135342666.png][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 55][]

Options中，设置的内容，可以通过Load选项导入配置，后缀名为：**.conf ，第一页内容如下：**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 56][]

### 2、Setting2: ###

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 57][]

**（1） Integer Ambiguity Resolution (GPS/GLO)**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 58][]

**(2) Min Ratio to Fix Ambiguity**

ratio-test 默认值为3

![20200601140119542.png][]

**(3) Min Confidence /Max Fcb to Fix Ambiguity**

![20200601140307650.png][]

**(4) Min Lock /Elevation to Fix Ambiguity**

默认值为：0，0

![20200601141618200.png][]

**（5）Min Fix / Elevation to hold Ambiguity**

默认值为：10，0

![20200601141735664.png][]

**(6) Outage to Reset Ambiguity /Slip Thres(m)**

默认值为：5，0.05m

> Outage to Reset Ambiguity: 观测数据丢失超过5个，模糊度重置为初始值；
> 
> Slip Thres: 历元间采用载波相位几何无关方式，进行周跳探测的阈值为：0.05米；

![20200601141942287.png][]

**（7） Max Age of Diff(s) /Sync Solution**

> 差分龄期：默认值是30秒；移动站和基准站之间的数据差，最大时间；
> 
> Sync Solution:
> 
> OFF模式为：最小延迟模式，即移动站数据到了之后，接着进行定位求解；基准站和改正项数据要外插到移动站数据；
> 
> ON模式为：当移动站、基准站、改正项数据准备好之后，才进行定位求解。

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 59][]

**（8） Reject Threshold of GDOP /Innov(m)**

GDOP=30; 最大GDOP阈值；

Innovation:新息，残差超过30米，丢掉此观测值；

![20200601142938277.png][]

**（9） Number of Filter Iteration**

EKF中，测量更新迭代次数，默认次数为1；

![20200601143207316.png][]

**（10） Baseline Length Constraint**

动基线模式下，输入基线长度和基线标准差/单位米

![20200601143340691.png][]

Options中，设置的内容，可以通过Load选项导入配置，后缀名为：**.conf ，第二页内容如下：**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 60][]

### 3、Output: ###

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 61][]

**（1） Solution Format:**

**LLH、ECEF下\[xyz\]、基线向量\[enu\]、NMEA0183**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 62][]

**（2） Output Header、Processing Options**

![20200601145906187.png][]

**（3） Time Format、\#Of Decimals**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 63][]

**（4） Latitude /Longitude Format**

![20200601150242388.png][]

**（5）Field Separator**

默认为空

![20200601150530981.png][]

**（6）Datum / Height**

> Datum:参考基准，一般为WGS-84框架
> 
> Height:高度：
> 
> ellipsoidal:椭球高
> 
> geodetic:大地高

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 64][]

**（7） Geoid Model 大地水准面模型**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 65][]

**（8）Solution for Static mode**

输出处理阶段的所有结果：仅适用于RTKPOST；

> **out-solstatic =all \# (0:all,1:single)**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 66][]

**（9）NMEA Interval(s) rmc/gga ,gsa/gsv**

**仅适用于RTKNAVI**

![20200601151726525.png][]

**（10）Output Solution Status /Debug Trace**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 67][]

**配置如下：**

1、

![20200601152116206.png][]

输出为：$POS,$VELACC,$CLK,$SAT,

2、

![20200601152203922.png][]

输出为：$POS,$VELACC,$CLK,

Options中，设置的内容，可以通过Load选项导入配置，后缀名为：**.conf ，第三页内容如下：**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 68][]

### 4、Statistics: ###

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 69][]

Options中，设置的内容，可以通过Load选项导入配置，后缀名为：**.conf ，第四页内容如下：**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 70][]

**（1）Measurement Errors (1-Sigma)**

> 设置伪距与载波相位误差的比例系数，默认值为100；
> 
> 设置基准站载波相位的标准差，默认值为0.003米；
> 
> 设置载波相位与高度角有关的标准差，默认值为0.003米；
> 
> 设置载波相位与基线长度（每10km）有关的标准差，默认值为0；
> 
> 设置多普勒标准差，默认值为10HZ；

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 71][]

**（2）Process Noises (1-Sigma/sqrt(s)) 角度随机游走**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 72][]

![2020060115485727.png][]

### 5、Positions: ###

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 73][]

Options中，设置的内容，可以通过Load选项导入配置，后缀名为：**.conf ，第五页内容如下：**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 74][]

**（1）Rover 移动站**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 75][]

**（2）Base 基准站**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 76][]

从文件导入基准站坐标：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 77][]

示例如下：一行记录分别为：纬度 经度 椭球高 基站ID 基站NAME

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 78][]

### 6、Files: ###

仅适用于RTKNAVI和RTKPOST

### ![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 79][] ###

Options中，设置的内容，可以通过Load选项导入配置，后缀名为：**.conf ，第六页内容如下：**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 80][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 81][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 82][]

### 7、Misc: ###

**1、RTKPOST中：**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 83][]

Options中，设置的内容，可以通过Load选项导入配置，后缀名为：**.conf ，第七页内容如下：**

![20200601162401951.png][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 84][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 85][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 86][]

**2、RTKNAVI中，配置：**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 87][]

## 参考： ##

RTKLIB MANUAL

[RTKLIB]: https://blog.csdn.net/wuwuku123/article/details/106300701
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70]: https://img-blog.csdnimg.cn/20200528155128689.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw==,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 1]: https://img-blog.csdnimg.cn/20200528163138111.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw==,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 2]: https://img-blog.csdnimg.cn/20200528164254254.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw==,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 3]: https://img-blog.csdnimg.cn/20200528164430919.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw==,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 4]: https://img-blog.csdnimg.cn/20200528164700821.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw==,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 5]: https://img-blog.csdnimg.cn/20200528170840209.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw==,size_16,color_FFFFFF,t_70
[20200528171201753.png]: https://img-blog.csdnimg.cn/20200528171201753.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 6]: https://img-blog.csdnimg.cn/20200528172003539.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw==,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 7]: https://img-blog.csdnimg.cn/20200528172105195.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw==,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 8]: https://img-blog.csdnimg.cn/20200528172543155.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw==,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 9]: https://img-blog.csdnimg.cn/20200528172708401.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw==,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 10]: https://img-blog.csdnimg.cn/20200528173449906.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw==,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 11]: https://img-blog.csdnimg.cn/202005281739379.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw==,size_16,color_FFFFFF,t_70
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[20200601115648544.png]: https://img-blog.csdnimg.cn/20200601115648544.png
[RTKLIB Manual _ Appendix B File Formats]: https://blog.csdn.net/wuwuku123/article/details/106397009
[2020060112012123.png]: https://img-blog.csdnimg.cn/2020060112012123.png
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