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Precise poitioning using GOOSE with RTKLIB
Muhammad Saad edited this page Mar 19, 2020
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1 revision
- Checkout RTKLIB
cd
git clone https://github.com/Fraunhofer-IIS/RTKLIB.git
cd RTKLIB
git checkout rtklib_2.4.3
- Build and install RTKLIB
mkdir build
cd build
cmake ..
make
make install
# NTRIP client address and protocol
inpstr2-path =USERNAME:PASSWORD@IP_ADDRESS:PORT/MOUNTPOINT:
inpstr2-format =rtcm3 # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,15:sp3)
# Send required antenna position of base station (depends on the NTRIP service)
inpstr2-nmeareq =latlon # (0:off,1:latlon,2:single)
inpstr2-nmealat =49.486392555 # (deg)
inpstr2-nmealon =11.128562726 # (deg)
pos1-posmode =kinematic # (0:single,1:dgps,2:kinematic,3:static,4:movingbase,5:fixed,6:ppp-kine,7:ppp-static)
pos1-frequency =l1 # (1:l1,2:l1+l2,3:l1+l2+l5,4:l1+l2+l5+l6,5:l1+l2+l5+l6+l7)
pos1-soltype =forward # (0:forward,1:backward,2:combined)
pos1-elmask =10 # (deg)
pos1-dynamics =off # (0:off,1:on)
pos1-tidecorr =off # (0:off,1:on)
pos1-ionoopt =off # (0:off,1:brdc,2:sbas,3:dual-freq,4:est-stec,5:ionex-tec,6:qzs-brdc,7:qzs-lex,8:vtec_sf,9:vtec_ef,10:gtec)
pos1-tropopt =off # (0:off,1:saas,2:sbas,3:est-ztd,4:est-ztdgrad)
pos1-sateph =brdc # (0:brdc,1:precise,2:brdc+sbas,3:brdc+ssrapc,4:brdc+ssrcom)
pos1-exclsats = # (prn ...)
pos1-navsys =1 # (1:gps+2:sbas+4:glo+8:gal+16:qzs+32:comp)
pos2-armode =fix-and-hold # (0:off,1:continuous,2:instantaneous,3:fix-and-hold)
pos2-gloarmode =off # (0:off,1:on,2:autocal)
pos2-arthres =3
pos2-arlockcnt =0
pos2-arelmask =0 # (deg)
pos2-arminfix =10
pos2-elmaskhold =0 # (deg)
pos2-aroutcnt =5
pos2-maxage =30 # (s)
pos2-slipthres =0.05 # (m)
pos2-rejionno =30 # (m)
pos2-rejgdop =30
pos2-niter =1
pos2-baselen =0 # (m)
pos2-basesig =0 # (m)
pos2-syncsol =on
out-solformat =llh
out-outhead =off # (0:off,1:on)
out-outopt =off # (0:off,1:on)
out-timesys =gpst # (0:gpst,1:utc,2:jst)
out-timeform =hms # (0:tow,1:hms)
out-timendec =3
out-degform =deg # (0:deg,1:dms)
out-fieldsep =
out-height =ellipsoidal # (0:ellipsoidal,1:geodetic)
out-geoid =internal # (0:internal,1:egm96,2:egm08_2.5,3:egm08_1,4:gsi2000)
out-solstatic =all # (0:all,1:single)
out-nmeaintv1 =0 # (s)
out-nmeaintv2 =0 # (s)
out-outstat =off # (0:off,1:state,2:residual)
out-outsingle =on
stats-eratio1 =150
stats-eratio2 =100
stats-errphase =0.01 # (m)
stats-errphaseel =0.006 # (m)
stats-errphasebl =0 # (m/10km)
stats-errdoppler =1 # (Hz)
stats-stdbias =30 # (m)
stats-stdiono =0.03 # (m)
stats-stdtrop =0.3 # (m)
stats-prnaccelh =10 # (m/s^2)
stats-prnaccelv =10 # (m/s^2)
stats-prnbias =0.0001 # (m)
stats-prniono =0.001 # (m)
stats-prntrop =0.0001 # (m)
stats-clkstab =5e-12 # (s/s)
ant1-postype =xyz # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm)
ant1-pos1 = # (deg|m)
ant1-pos2 = # (deg|m)
ant1-pos3 = # (m|m)
ant1-anttype =
ant1-antdele =0 # (m)
ant1-antdeln =0 # (m)
ant1-antdelu =0 # (m)
ant2-postype =rtcm # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm)
ant2-pos1 = # (deg|m)
ant2-pos2 = # (deg|m)
ant2-pos3 = # (m|m)
ant2-anttype =
ant2-antdele =0 # (m)
ant2-antdeln =0 # (m)
ant2-antdelu =0 # (m)
misc-timeinterp =off # (0:off,1:on)
misc-sbasatsel =0 # (0:all)
file-satantfile =
file-rcvantfile =
file-staposfile =
file-geoidfile =
file-ionofile =
file-dcbfile =
file-tempdir =
file-geexefile =
file-solstatfile =
file-tracefile =
inpstr1-type =tcpcli # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
inpstr1-path =:@localhost:8000/:
inpstr1-format =ogrp # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,15:sp3)
inpstr2-type =ntripcli # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
inpstr3-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
inpstr3-path =
inpstr3-format =rtcm3 # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,15:sp3)
outstr1-type =tcpsvr # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
outstr2-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
outstr1-path =:@*:9000/:
outstr2-path =
outstr1-format =nmea # (0:llh,1:xyz,2:enu,3:nmea)
outstr2-format = # (0:llh,1:xyz,2:enu,3:nmea)
logstr1-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
logstr2-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
logstr3-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
logstr1-path =
logstr2-path =
logstr3-path =
misc-svrcycle =10 # (ms)
misc-timeout =10000 # (ms)
misc-reconnect =10000 # (ms)
misc-nmeacycle =5000 # (ms)
misc-buffsize =32768 # (bytes)
misc-navmsgsel =all # (0:all,1:rover,2:base,3:corr)
misc-proxyaddr =
misc-fswapmargin =30 # (s)
- Start
ogre_console --gnss-gps --ogrp-output=1 - Start
rtkrcv -o ntrip.conf - Type
start - RTK position is available at TCP port 9000