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1、精选优质文档-倾情为你奉上RTKLIB provide the following general purpose Cfunctions callable from user AP (application program).User can use these function to develop user original positioning APs.(1) Matrix and vector functions 矩阵与向量函数(2) Time and string functions 时间和字符串函数(3) Coordinates transformation and geoid
2、model坐标变换和大地水准面模型(4) Navigation processing 导航处理(5) Positioning models (troposphere, ionosphere, antenna PCV) 定位模型（对流层，电离层，天线PCV）(6) SBAS DGPS/DGNSS correction DGPS / SBAS DGNSS校正(7) Single point positioning 单点定位(8) Carrierbased and codebased relative positioning 基于载波和代码基础相对定位(9) OTF integer ambiguit
3、y resolution OTF求解整周模糊度(10) Receiver raw binary data input 接收原始二进制数据输入(11) Positioning solution/NMEA input/output输入/输出的NMEA /定位解决方案(12) RINEX observation data/navigation message input/output RINEX观测数据和导航信息的输入/输出(13) Precise ephemeris input 精密星历的输入(14) Stream data communication library流数据通信库(15) NTRI
4、P (Networked Transport of RTCM via Internet Protocol) library NTRIP（网络传输协议通过Internet协议）库(16) RTKGPS/GNSS positioning server rtkgps / GNSS定位服务器(17) RTCM 2.3 and 3.0/3.1/3.2 message handling RTCM 2.3和3 / 3.1 / 3.2信息处理(18) Downloader functions 下载功能The following instructions shows the way to utilize the
5、 library of RTKLIB in user AP.下面的说明显示在用户rtklib AP利用库的方式(1) Add the following include directive to the source program of user AP.#include rtklib.h(2) Set the following compiler option to add RTKLIB source directory path to compiler include paths.-I rtklib_src(3) Add the necessary RTKLIB library sourc
6、e files to source programs set for the AP build. Refer AppendixC Library APIs for the library function list and source programs provided by RTKLIB.Appendix A CUI Command ReferencesA.1 RTKRCVSYNOPSIS 简介rtkrcv -s-p port|-d dev-o file-t levelDESCRIPTIONA command line version of the realtime positioning
7、 AP by RTKLIB. To start or stop RTK server, toconfigure options or to print 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 in
8、itial processing options are loaded from defaultconfiguration file rtkrcv.conf. 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 program, useshutdown command on the console or send the U
9、SR2 signal to the process. For configuration file, refer B.4.通过rtklib的实时时间定位命令行版本，启动或停止RTK服务器，配置选项或打印解决方案/状态，登录控制台，输入命令。作为默认使用的是标准输入/输出，为控制台。使用P选项为Telnet协议的网络登录。要显示可用的命令，输入“？”或在控制台上的帮助。最初的处理选项从默认的配置文件加载rtkrcv.conf。更改文件，使用O选项。要配置处理选项，编辑配置文件或使用集，加载或保存在控制台上的命令。关机程序，使用shutdown命令在控制台上或发送给进程的usr2信号。配置文件，是
10、指B4。OPTIONS-s start RTK server on program startup -S 启动，启动RTK服务器程序-p port port number for telnet console -P，端口号，指定用telnet控制台端口-m port port number for monitor stream -m 端口号, 监视器流的端口号-d dev terminal device for console 控制台终端-o file configuration file 配置文件-r level output solution status file (0:off,1:st
11、ates,2:residuals) 输出解决方案状态文件（0：关闭，1：状态，2：残差）-t level debug trace level (0:off,1-5:on) 调试跟踪级别（0 off，1-5：ON）COMMANDSstartStart RTK server. No need the command if the program runs with -s option.RTK服务器启动。如果程序运行与选项的选项，不需要命令。stopStop RTK server.restartRestart RTK server. If the processing options are set
12、, execute the command to enable the changes.RTK服务器重启。如果设置了处理选项，则执行命令以启用更改solution cycle 解决方案周期Show solutions. Without option, only one solution is shown. With option, thesolution is displayed at intervals of cycle (s). To stop cyclic display, send break (ctr-C).显示解决方案。没有选项，只有一个解决方案。与选项，该解决方案是显示在周期的周
13、期（S）。要停止循环显示，发送中断(ctr-C).status cycle 状态周期Show RTK status. Use option cycle for cyclic display. RTK状态显示。循环显示的使用选项循环。satellite cycle 卫星周期显示卫星状态。循环显示的使用选项循环。observ cycle 观察循环Show observation data. Use option cycle for cyclic display.显示观测数据。循环显示的使用选项循环。navidata cycle 导航数据循环Show navigation data. Use opt
14、ion cycle for cyclic display.显示导航数据。循环显示的使用选项循环。stream cycle 流周期Show stream status. Use option cycle for cyclic display.显示流状态。循环显示的使用选项循环。errorShow error/warning messages. To stop messages, send break (ctr-C).显示错误/警告消息。停止消息，发送中断（ctr-c）。option optShow the values of processing options. Without option,
15、 all options are displayed.With option, only pattern-matched options are displayed.显示处理选项的值。没有选项，所有选项都显示出来。有了选项，只显示模式匹配选项。set opt valSet the value of a processing option to val. Without option val, prompt messageis shown to input the value. The change of the processing option is not enabled显示处理选项的值。
16、没有选项，所有选项都显示出来。有了选项，只显示模式匹配选项。before RTK server is restarted. 在RTK服务器重启。load file 加载文件Load processing options from file. Without option, default file rtkrcv.conf is used.To enable the changes, restart RTK server.从文件中加载处理选项。无选项，默认的文件rtkrcv.conf使用。使变化，重启RTK服务器。save fileSave current processing options
17、to file. Without option, default file rtkrcv.confis used.保存当前处理选项到文件。无选项，默认的文件rtkrcv.conf使用。log file|offRecord console log to file. To stop recording the log, use option off.记录控制台日志到文件。要停止记录日志，使用选项关闭。help|? pathShow the command list. With option path, the stream path options are shown.显示命令列表。随着选项路径，
18、流路径选项显示。exitExit and logout console. The status of RTK server is not affected by the command.shutdownShutdown RTK server and exit the program.!command arg.Execute command by the operating system shell. Do not use the interactive command.执行操作系统外壳的命令。不要使用交互式命令。NOTESShort form of a command is allowed.
19、In case of the short form, the command isdistinguished according to header characters.允许一个命令的短形式。在短形式的情况下，命令是根据标题字符区别A.2 RNX2RTKPSYNOPSISrnx2rtkp option . file file .DESCRIPTIONRead RINEX OBS/NAV/GNAV/HNAV/CLK, SP3, SBAS message log files and compute receiver (rover)positions and output position sol
20、utions.读Rinex OBS /导航/ / / CLK hnav咬，SP3，SBAS消息日志文件和计算接收机（Rover）和输出位置的定位方案。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
21、 included in input files. To use SP3 precise ephemeris, specify the path inthe files. The extension of the SP3 file shall be .sp3 or .eph. All of the input file paths can includewildcards (*). To avoid command line deployment of wildcards, use . for paths with wildcards.Command line options are as f
22、ollows (:default). With k option, the processing options are input from theconfiguration file. In this case, command line options precede options in the configuration file. For theconfiguration file, refer B.4.第一个RINEX OBS文件包含（Rover）观测接收机。对于相对模式，第二RINEX文件应包含参考OBS（基站）接收机的观测。至少一个RINEX导航/ gnav / hnav文件
23、应包括在输入文件。使用SP3精密星历，在文件指定的路径。扩展名SP3文件的应 .SP3或 .eph所有的输入文件路径可以包括野生卡（*）。为了避免野生卡命令行部署，使用用野生卡路径。命令行选项如下（ ：默认）。K的选择，加工的选项是从配置文件输入。在这种情况下，命令行选项在配置文件中的选项之前。为配置文件参考B4。OPTIONS-? print help-k file input options from configuration file off 配置文件的输入选项关闭-o file set output file stdout 文件输出（stdout）-ts ds ts start da
24、y/time (ds=y/m/d ts=h:m:s) obs start time 起始日/小时（DS = Y M / D / H：TS = m s）注的开始时间-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:dgps,2:kinematic,3:static,4:moving-base,5:fixed,6:ppp-kinematic,7:ppp-static) 20：单，1：DGPS、2：运动、3：静态，4：基地移动
25、，5：固定，6：PPP-动态 7：PPP -静态，）-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 相对模式的频率数-v thres validation threshold for integer ambiguity (0.0:no AR) 3.0 整周模糊度的验证阈值-b backward solutions off 向后解决方案-c forward/backward combined solutions
26、off 向前/向后组合的解决方案-i instantaneous integer ambiguity resolution off 瞬时整周模糊度-h fix and hold for integer ambiguity resolution off 整周模糊度的固定和保持-e output x/y/z-ecef position latitude/longitude/height 输出的X / Y / z-ecef位置纬度/经度/高-a output e/n/u-baseline latitude/longitude/height 输出E / N / u-baseline 纬度/经度/高-n
27、 output NMEA-0183 GGA sentence off 输出NMEA-0183 GGA的句子-g output latitude/longitude in the form of ddd mm ss.ss ddd.ddd 在DDD毫米ss.ss DDD形式输出纬度/经度DDD 。-t output time in the form of yyyy/mm/dd hh:mm:ss.ss sssss.ss 在YYYY/MM/DD HH形式输出时间：MM：ss.ss sssss SS 。-u output time in utc gpst UTC时间在输出 GPST-d col numb
28、er of decimals in time 3 时间的小数位数-s sep field separator 字段分隔符-r x y z reference (base) receiver ecef pos (m) average of single pos 参考（基准）接收机ECEF POS（M）单平均POS-l lat lon hgt reference (base) receiver latitude/longitude/height (deg/m) 参考（基准）接收机的纬度/经度/高度（度/米）-y level output solution status (0:off,1:state
29、s,2:residuals) 0 输出解决方案状态（0：关闭，1：状态，2：残差）-x level debug trace level (0:off) 0 调试跟踪级别（0：关闭） 0 EXAMPLESExample 1. Kinematic Positioning, L1+L2, output Latitude/Longitude/Height to STDOUT. 动态定位，L1 + L2，输出纬度/经度/身高标准。 rnx2rtkp .05o .05o .05nExample 2. Single Point Positioning, El Mask=15deg, output NMEA
30、GGA to file out.pos单点定位，E1 mask= 15deg，输出NMEA GGA文件out.pos rnx2rtkp -p 0 -m 15 -n -o out.pos .05o .05nExample 3. Static Positioning, L1, time form yyyy/mm/dd hh:mm:ss, output X/Y/ZECEF positions rnx2rtkp -p 3 -f 1 -t -e .05o .05o .05n例3。静态定位，L1，时间形式YYYY/MM/DD HH:毫米：SS，输出X、Y、Z地心坐标系的位置Example 4. Kinem
31、atic Positioning, Instantaneous AR, validation threshold=2, comma separator rnx2rtkp -i -v 2 -s , .05o .05o .05n例4。运动定位，瞬时值，验证阈值= 2，逗号分隔符Appendix B File FormatsB.1 Positioning Solution FileDESCRIPTIONA positioning solution file is just a text file as output of RTKNAVI or RTKPOST. The file is separat
32、ed to records or lines by CR/LF. Each records consists of fields. The following table shows the format of the positioning solution file.定位解决方案文件就是一个文本文件作为rtknavi或rtkpost输出。该文件被分离到记录或行的文件/低频。每个记录都由字段组成。下表显示定位解决方案文件的格式。B.4 Configuration FileDESCRIPTIONA configuration file containing processing options
33、, solution options and file options for RTKNAVI, RTKPOST, RTKRCV and RNX2RTKP. That is a text file which contains the Keyword = Value form records indicating the various options. For enumeration values, the selectable value is either of a number (0,1,2,.) or an enumeration label (off, on, .). The li
34、ne starting with # and the texts after # in a line are treated as comments. For the contents of the configuration file, refer 3.5 Configure Positioning Options for RTKNAVI and RTKPOST.RTKNAVI, RTKPOST, RTKRCV and RNX2RTKP配置文件包含处理选项，解决方案选项和文件选项。这是一个文本文件，其中包含的关键字=值表记录显示的各种选项。枚举值，可选值是一号（0,1,2，）或枚举标签（off，on，）。从#和文本#在线后处理为注释。对于配置文件的内容，参考3.5 rtkpost、rtknavi配置位置选项。专心-专注-专业