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Overview

RTKLIB is an open source program package for RTK-GPS/GNSS. RTKLIB consists of a simple and portable program library and several application programs (APs) utilizing the library. The program library of RTKLIB provides:

(1) Matrix and vector functions
(2) Time and string functions
(3) Coordinates transformation and geoid model
(4) Navigation processing
(5) Positioning models (troposphere, ionosphere, antenna PCV)
(6) SBAS DGPS/DGNSS correction
(7) Single point positioning
(8) Carrier-based and code-based relative positioning
(9) OTF integer ambiguity resolution
(10) Receiver raw binary data input
(11) Positioning solution/NMEA input/output
(12) RINEX observation data/navigation message input/output
(13) Precise ephemeris input
(14) Stream data communication library
(15) NTRIP (Networked Transport of RTCM via Internet Protocol) library
(16) RTK-GPS/GNSS positioning server
(17) RTCM 2.3 and 3.0/3.1 message handling

The GUI and console (command line) APs of RTKLIB include:

(1) Real-time positioning (RTKNAVI, RTKRCV)
(2) Post-processing baseline analysis (RTKPOST, RNX2RTKP)
(3) Communication utility (STRSVR, STR2STR)
(4) Plot graph of positioning solution and observation data (RTKPLOT)
(5) RINEX converter of receiver raw data log (RTKCONV, CONVBIN)
(6) Other positioning utilities

All of the executable binary APs for Windows are included in the package as well as whole source programs of the library and the APs.

The receiver has to output raw measurement data of pseudorange/carrier-phase and satellite ephemerides. NRTK (Network RTK) service supporting RTCM 2 or 3 can also be used for the base-station. Please refer Release Notes for supported receivers and data messages. The post-processing baseline analysis can process RINEX 2.10 or 2.11 observation data and navigation messages supported by many receivers. Current version supports GPS and GLONASS. Future version will support other GNSSs such as Galileo and QZSS.

License

RTKLIB is distributed under GPLv3 license. (http://gplv3.fsf.org/)

Environment

The library and its APIs use standard ANSI C (89) functions. The library internally uses standard socket and pthread APIs for Linux/UNIX or winsock and WIN32 thread for Windows. By setting compiler option -DLAPACK or -DMKL, the library uses LAPACK/BLAS or Intel MKL for fast matrix computation. The console APs are also written in standard C. They can be built on many environments like gcc on Linux. The GUI APs are written in C++ and utilize Borland VCL for the GUI library. All of the binary (console and GUI) APs in the package were built by free edition Borland Turbo C++ (http://www.turboexplorer.com) * on Windows. The binary APs were tested on Windows XP pro SP3 32bit and Windows Vista Home 64bit.

* Free edition Turbo C++ 2006 is no longer availabile. We plan to change the GUI toolkit for RTKLIB GUI APs to open source one in future versions.

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