[FOSS-GPS] Fwd: RTKLib Kinematic

Nidhi Satish nidhi at qdnet.com
Wed Mar 13 03:41:20 PDT 2013


Hi,
I am trying to get <10cm accuracy GPS position with the help of RTKLib
in kinematic mode.I have set up a rover  using Trimble Bullet III
antenna.Both the rover and the base station use Skytraq S1315F-Raw
module at 10Hz.
As soon as I start RTKNavi the plot moves around for some time and then
stabilizes with a fix solution at a fixed point(within 20 cm).Now,if I
move the rover around,I get a corresponding respose from RtkLib too.So
far,so good.
However,if I stop and start rtknavi again,it stabilizes with a fix at a
new position even if the rover is at the same place.I have
attached herewith my configuration file that I am currently using.
Can anyone please tell me what I am doing wrong?

Regards
Nidhi



-------------- next part --------------
# RTKNAVI options (2013/03/13 10:05:10, v.2.4.1)

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        =15         # (deg)
pos1-snrmask       =0          # (dBHz)
pos1-dynamics      =off        # (0:off,1:on)
pos1-tidecorr      =off        # (0:off,1:on)
pos1-ionoopt       =brdc       # (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       =saas       # (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)
out-solformat      =llh        # (0:llh,1:xyz,2:enu,3:nmea)
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)
stats-eratio1      =100
stats-eratio2      =100
stats-errphase     =0.015      # (m)
stats-errphaseel   =0.015      # (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       =llh        # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm)
ant1-pos1          =90         # (deg|m)
ant1-pos2          =0          # (deg|m)
ant1-pos3          =-6335367.6285 # (m|m)
ant1-anttype       =
ant1-antdele       =0          # (m)
ant1-antdeln       =0          # (m)
ant1-antdelu       =0          # (m)
ant2-postype       =llh        # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm)
ant2-pos1          =19.1140522499991 # (deg|m)
ant2-pos2          =72.88069805 # (deg|m)
ant2-pos3          =-42.5100000006114 # (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       =C:\Temp
file-geexefile     =
file-solstatfile   =
file-tracefile     =
# 

inpstr1-type       =serial     # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
inpstr2-type       =serial     # (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)
inpstr1-path       =COM5:115200:8:n:1:off
inpstr2-path       =COM13:115200:8:n:1:off
inpstr3-path       =
inpstr1-format     =skytraq    # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,15:sp3)
inpstr2-format     =skytraq    # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,15:sp3)
inpstr3-format     =rtcm2      # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,15:sp3)
inpstr2-nmeareq    =off        # (0:off,1:latlon,2:single)
inpstr2-nmealat    =0          # (deg)
inpstr2-nmealon    =0          # (deg)
outstr1-type       =off        # (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       =
outstr2-path       =
outstr1-format     =llh        # (0:llh,1:xyz,2:enu,3:nmea)
outstr2-format     =llh        # (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)


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