RTKLIB MANUAL 之 Instructions 第二部分

我会带着你远行 2023-02-14 06:59 7阅读 0赞

## 3.6 Convert Receiver Raw Data to RINEX with RTKCONV ##

利用RTKCONV将接收机原始数据转换为RINEX格式：

RTKCONV, which translates receiver raw, RTCM and BINEX messages to RINEX OBS (observation data),  
RINEX NAV (GNSS navigation messages).

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70][]

如果选择Format为Auto,则RTKCONV根据如下进行转换：

![20200601171759329.png][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 1][]

> RINEX OBS (observation data),
> 
> RINEX NAV (GPS navigation messages),
> 
> RINEX GNAV (GLONASS navigation messages), GLONASS导航电文
> 
> RINEX HNAV (GEO satellite navigation messages),
> 
> RINEX QNAV (QZSS navigation messages),
> 
> RINEX LNAV (Galileo navigation messages) 伽利略导航电文
> 
> SBAS Log files.

RINEX GNAV, HNAV, QNAV and LNAV are supported only in RINEX version 2. If selecting version 3 as the output RINEX, all  
navigation data are output to a combined (mixed) NAV type RINEX file.  
![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 2][]

## 3.7 View and Plot Solutions with RTKPLOT ##

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 3][]

> **File-Open Solution-1 : RTKLIB接收两种结果数据：**
> 
> 1、rtklib自己输出的.pos文件
> 
> 2、NMEA0183语句，但是必须要有 GPRMC and GPGGA 语句；

在RTKPLOT中，可以通过按住鼠标左键移动轨迹，按住鼠标右键实现放大/缩小比例尺。

如果在“Output Solution Status”中选择“Residuals”;在RTKPLOT画图中，能够看到“Residuals”这一项：

Pseudorange Residuals(m) Carrier-Phase Residuals(m) Elevation Angle(deg) /Signal Strength(dbHZ)

其中，载波相位残差中，红线代表周跳.

**If you set the ʺOutput Solution Statusʺ option to ʺResidualsʺ, you can show a residuals plot. You can switch the frequency by selecting L1/LC, L2 or L5. In the residuals plot mode, you can select a satellite with right pull down menu as well as all satellites. In the residuals plot of carrier‐phases, the red lines indicate cycle slips and gray lines indicate parity unknown flags (That mean the half‐cycle ambiguities in carrier‐phase are not resolved).**  
![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 4][]

**1、配置RTKPLOT**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 5][]

**（1） show statistics 如下：**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 6][]

**（2） Cycle-Slip**

在卫星可视图中，周跳用红色垂直线表示；

> 周跳探测方式：
> 
> 1、LG 几何无关方式
> 
> 2、LLI Flag 在Rinex观测文件中，文件中一般没有此标识

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 7][]

![20200602085538603.png][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 8][]

**（3） Receiver Position**

在卫星能见图/visibility和天空图/skyplot中，设置接收机位置。

> “Single Solution” 通过观测文件和导航文件计算接收机单点定位位置；对于移动的接收机，一般设置此选项；
> 
> “Lat/Lon/Hgt” 用于设置静止的接收机；
> 
> “RINEX Header” 用Rinex观测文件，文件头的APPROX POSITION XYZ作为接收机位置；

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 9][]

**（4）Error Bar/Circle**

显示误差Circle; 计算原理尚未得知？

![20200602091511811.png][]

## ![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 10][] ##

对比：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 11][]

**（5） Direction Arrow**

在轨迹图/Gnd Trk中，打开：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 12][]

**（6）Grid/Grid Label**

选项为：OFF、Grid、Grid/Label、Circles、Circles/Label

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 13][]

圆形，标签

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 14][]

网格，标签

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 15][]

**（7） Compass**

在ground track plot中，显示“北”向标志

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 16][]

**（8）Coordinate Origin 坐标初值**

目的是为了计算：AVE、STD、RMS、

选项：

> Start Pos:以第一个点的坐标进行后续的计算；
> 
> End Pos:以最后一个点的坐标进行后续的计算；
> 
> Average Pos:以解算过程中，全部解的平均值作为基准；
> 
> Linear Fit Pos: 线性插值？
> 
> Base Station: 基准站位置作为基准；
> 
> Lat/Lon/Hgt:人为设定 LLH坐标；

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 17][]

图示：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 18][]

## 3.8 View and Plot Observation Data with RTKPLOT    ##

RTKPLOT is also used to view and plot the RINEX observation data as well as satellite visbility analysis

输入观测数据和导航电文，进行卫星可视化分析；

> File-Open Obs Data…
> 
> File-Open Nav Data…

一般，观测文件和导航文件位于一个文件夹中，打开观测文件，RTKPLOT会自动导入导航文件；

**（1）PLOT的种类**

**Sat Vis/可视卫星： 可以选择频点，卫星号进行单独显示**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 19][]

**skyplot/天空图： 可以选择频点，卫星号进行单独显示**

![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][]

**DOP/Nsat: dop值以及卫星数**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 22][]

**SNR/MP/EL : 载噪比、多路径、高度角**

> SNR：需要在观测数据里面包含C/N0；
> 
> multipath：需要包含GPS的双频载波和伪距(L1‐L2 for GPS, GLONASS andQZSS, L1‐L5 for Galileo, L2‐L7 for BeiDou)；

RTKPLOT内部采用LC组合画出多路径；

计算高度角，需要知道计算卫星位置，两种方式：1、利用卫星星历/需要导入导航文件；2、需要在Option里面，输入用户位置，然后If the RINEX NAV files are not available, RTKPLOT alternatively uses NORAD TLE (two line element) data set for satellite positions.

**SNR/MP/EL : 横坐标为时间**  
![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 23][]

**SNR/MP-EL : 横坐标为高度角：**  
![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 24][]

## 3.9 Download GNSS Products and Data with RTKGET    ##

对于PPP定位，需要在IGS网站下载精密星历、钟差等产品；另一方面，你也可以在网络上下载存储在网络上的，关于CORS站的观测/导航数据等；因此，RTKGET是一个强大的GUI，首次在2.4.2版本中出现。

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 25][]

**以下载2020年5月1号的IGS的精密星历为例：**

左上角设置"IGS"，下拉框设置“IGS-EPH”

中间靠上设置：Time Span/时间跨度；起点、终点、Intv;

中间部分设置：

> Skip Existing Files:/跳过现有文件：设置是否在本地文件存在的情况下跳过下载；
> 
> Unizip/Uncompact Files/ 解压缩/解压缩文件：设置是否解压缩下载文件（如果已压缩）；
> 
> Local Directory: 设置本地路径；

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 26][]

## 3.10 NTRIP Browser    ##

NTRIP(通过Internet协议的RTCM的网络传输)是一种通信协议，用于DGPS或RTK-GPS中，例如接收机原始观测数据，星历、改正数。 NTRIP指定所谓的“源表”的表格式，它表示NTRIP服务器提供的数据的内容列表。 RTKLIB包含一个用于NTRIP源表的简单浏览器。  
![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 27][]

## 3.11 Use CUI APs of RTKLIB    ##

RTKLIB包括以下CUI AP。 这些CUI AP仅使用标准ANSI C（C89）功能和少量标准C库来确保可移植性。 因此，您可以在LINUX，UNIX，MAC OS X等非Windows环境上构建这些CUI AP。 您还可以在嵌入式CPU（如ARM）上构建和执行这些AP。 有关这些AP（包括命令行选项）的信息，请参阅附录A CUI命令参考。 有关构建这些AP的过程，请参阅4.2生成RTKLIB的CUI AP。 请注意，您可能必须修改makefile才能调整构建环境，但是程序本身无需修改即可在大多数环境下移植。

（1）RTKRCV  
Real‐time Positioning. The console AP version of RTKNAVI。  
（2）RNX2RTKP  
Post‐Processing Analysis. The console AP version of RTKPOST.  
（3）POS2KML  
Google Earth KML converter for solution files  
（4）CONVBIN  
RINEX Converter of receiver raw data. The console AP version of RTKCONV.  
（5）STR2STR  
Stream Server. Console AP version of STRSVR.

## 参考： ##

1、RTKLIB MANUAL

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