[FOSS-GPS] Reading rtkrcv under GNU/Linux rtklib: PPP-static precision mode
Jean-Michel Pouré
jm at poure.com
Thu Mar 3 02:11:41 PST 2016
Dear friends,
For learning purpose, I am trying to set a single receiver in PPP mode
in real time with fast corrections downloaded from Internet. This an
indoor test so don't expect high accuracy ...
Could you help me improve the settings and understand rtkrcv output.
Mes questions are:
1) How can I understand which satellites are received: Glonass, GPS or
SPS. This is not clear to me.
2) Where can I read PPP precision?
3) Why am I rover and not "base" as I use only one static PPP? Why is
rover seen moving? vel enu (m/s) rover?
4) How can I log ublog raw output AND in real time run rtkrcv? This
will allow me to make more precise PPP analysis afterwards.
5) What additional correction data can I load except
cddis.gsfc.nasa.gov/gps/products/%W/igu%W%D_%hb.sp3.Z::T=-
10800,21600,10800,600.
Thank you for your help. This will allow me in reply to modify
OpenStreetMap wiki with more details about RTKlib.
Here are my settings:
# standalone. for NTRIP set type and path. yours are off
inpstr1-type =serial # serial
inpstr2-type =off # off || ntripcli
inpstr3-type =ftp # off || ntripcli
# ublox baudrate =ttyACM0:115200:8:n:1:off i guess
inpstr1-path =ttyACM0:115200:8:n:1:off
inpstr3-
path =anonymous:user@@cddis.gsfc.nasa.gov/gps/products/%W/igu%W%D
_%hb.sp3.Z::T=-10800,21600,10800,600
#
inpstr1-format =ubx
inpstr3-format =sp3
# here path and permissions
misc-startcmd =/etc/rtklib/rtkstart.sh
misc-stopcmd =/etc/rtklib/rtkshut.sh
file-cmdfile1 =/etc/rtklib/data/ubx_m8t_glo_raw_1hz.cmd
file-cmdfile2 =/etc/rtklib/data/ubx_m8t_bds_raw_1hz.cmd
pos1-posmode =ppp-static
#pos1-posmode =single
# needed under GNU/Linux
file-tempdir =/tmp
*************************************************
Status output:
rtkrcv> status
Parameter : Value
rtklib version : 2.4.2
rtk server thread : -430520576
rtk server state : run
processing cycle (ms) : 10
positioning mode : PPP-static
frequencies : L1+L2
accumulated time to run : 00:39:18.6
cpu time for a cycle (ms) : 1
missing obs data count : 0
bytes in input buffer : 0,0
# of input data rover :
obs(2358),nav(17),gnav(8),ion(348),sbs(0),pos(0),dgps(0),ssr(0),err(0)
# of input data base :
obs(0),nav(0),gnav(0),ion(0),sbs(0),pos(0),dgps(0),ssr(0),err(0)
# of input data corr :
obs(0),nav(0),gnav(0),ion(0),sbs(0),pos(0),dgps(0),ssr(0),err(0)
# of rtcm messages rover :
# of rtcm messages base :
# of rtcm messages corr :
solution status : PPP
time of receiver clock rover: 2016/03/03 10:04:55.000370322
time sys offset (glo-gps)(s): -19.668099106
solution interval (s) : 1.000
age of differential (s) : 0.000
ratio for ar validation : 0.000
# of satellites rover : 9
# of satellites base : 0
# of valid satellites : 4
GDOP/PDOP/HDOP/VDOP : 7.9,6.4,3.6,5.3
# of real estimated states : 0
# of all estimated states : 128
pos xyz single (m) rover : 4134911.121,224181.642,4835004.481
pos llh single (deg,m) rover: 49.61132865,3.10335536,151.405
vel enu (m/s) rover : 0.006,0.032,0.056
pos xyz float (m) rover : 4134911.121,224181.642,4835004.481
pos xyz float std (m) rover : 0.692,0.333,0.712
pos xyz fixed (m) rover : 0.000,0.000,0.000
pos xyz fixed std (m) rover : 0.000,0.000,0.000
pos xyz (m) base : 6378137.000,0.000,0.000
ant type rover :
ant delta rover : 0.000 0.000 0.000
ant type base :
ant delta base : 0.000 0.000 0.000
pos llh (deg,m) base : 0.00000000,0.00000000,0.000
vel enu (m/s) base : 0.000,0.000,0.000
baseline length float (m) : 5334752.861
baseline length fixed (m) : 0.000
monitor port : 0
**********************************************************************
Satellites:
rtkrcv> satellite
SAT C1 L1 L2 Fix1 Fix2 Sl1 Sl2 Lock1 Lock2 Rj1 Rj2 P1Res
P2Res L1Res L2Res Az El
G02 OK OK - - - 204 0 534 0 87 0 -0.604 0.000
0.9855 0.0000 251.7 41.4
G05 OK OK - - - 215 0 585 0 125 0 -7.719 0.000-
0.0808 0.0000 300.8 39.2
G06 OK OK - - - 26 0 1806 0 385 0 2.914 0.000
2.5904 0.0000 200.5 24.9
G09 OK - - - - 112 0 1233 0 255 0 3.051 0.000
0.0000 0.0000 72.5 48.7
G16 - - - - - 281 0 0 0 0 0 0.000 0.000
0.0000 0.0000 33.2 12.9
G23 OK - - - - 200 0 509 0 36 0 -2.000 0.000
0.0000 0.0000 77.1 16.4
G30 OK OK - - - 177 0 997 0 250 0 -0.765 0.000
2.8371 0.0000 180.6 48.2
**********************************************************************
observ
TIME(GPST) SAT
R P1(m) P2(m) L1(cyc) L2(cyc) D1(Hz) D2(Hz) S1
S2 LLI
10:07:07.0 G02 1 21630936.86 0.00 113671329.91 0.00 -
897.9 0.0 27 0 2 0
10:07:07.0 G05 1
21868006.91 0.00 0.00 0.00 2831.3 0.0 25 0
0 0
10:07:07.0 G06 1 23113786.87 0.00 121463738.26 0.00
-3264.9 0.0 40 0 0 0
10:07:07.0 G07 1
20486023.57 0.00 0.00 0.00 749.9 0.0 25 0
0 0
10:07:07.0 G09 1 21309039.46 0.00 0.00 0.00
-2005.6 0.0 26 0 0 0
10:07:07.0 G13 1
24590699.26 0.00 0.00 0.00 3564.1 0.0 26 0
0 0
10:07:07.0 G16 1 24206487.19 0.00 0.00 0.00
-1146.2 0.0 20 0 0 0
10:07:07.0 G23 1 23919284.28 0.00 0.00 0.00
-2820.0 0.0 21 0 0 0
10:07:07.0 G30 1 21293199.55 0.00
111896467.82 0.00 2763.1 0.0 31 0 0 0
**********************************************************************
rtkrcv> navidata
SAT S IOD IOC FRQ A/A
SVH Toe Toc Ttr/Tof L2C L2P
G02 OK 28 28 0 0 00 2016/03/03 12:00:00 2016/03/03 12:00:00
2016/03/03 10:02:06 1 0
G03 OK 45 45 0 0 00 2016/03/03 10:00:00 2016/03/03
10:00:00 - 1 0
G05 OK 98 98 0 0 00 2016/03/03 12:00:00 2016/03/03 12:00:00
2016/03/03 10:00:06 1 0
G06 OK 59 59 0 0 00 2016/03/03 12:00:00 2016/03/03 12:00:00
2016/03/03 10:00:06 1 0
G07 OK 37 37 0 0 00 2016/03/03 12:00:00 2016/03/03 12:00:00
2016/03/03 10:00:36 1 0
G09 OK 15 15 0 0 00 2016/03/03 12:00:00 2016/03/03 12:00:00
2016/03/03 10:06:36 1 0
G13 OK 74 74 0 0 00 2016/03/03 12:00:00 2016/03/03 12:00:00
2016/03/03 10:00:06 1 0
G16 OK 43 43 0 0 00 2016/03/03 12:00:00 2016/03/03 12:00:00
2016/03/03 10:00:06 1 0
G19 OK 25 25 0 0 00 2016/03/03 10:00:00 2016/03/03
10:00:00 - 1 0
G23 OK 59 59 0 0 00 2016/03/03 12:00:00 2016/03/03 12:00:00
2016/03/03 10:01:36 1 0
G30 OK 60 60 0 0 00 2016/03/03 12:00:00 2016/03/03 12:00:00
2016/03/03 10:00:06 1 0
R05 OK 51 0 1 0 00 2016/03/03 09:45:17 -
2016/03/03 09:31:47 0 0
R06 OK 53 0 -4 0 00 2016/03/03 10:15:17 -
2016/03/03 10:05:17 0 0
R15 OK 53 0 0 0 00 2016/03/03 10:15:17 -
2016/03/03 10:04:17 0 0
R20 OK 51 0 2 0 00 2016/03/03 09:45:17 -
2016/03/03 09:30:17 0 0
R21 OK 53 0 4 0 00 2016/03/03 10:15:17 -
2016/03/03 10:06:47 0 0
R22 OK 53 0 -3 0 00 2016/03/03 10:15:17 -
2016/03/03 10:01:47 0 0
ION: 1.58E-08 0.00E+00 -1.19E-07 0.00E+00 1.13E+05 -1.64E+04
-2.62E+05 6.55E+04
UTC: -9.31E-10 -3.55E-15 5.04E+05 1.89E+03 LEAPS: 17
**********************************************************rtkrcv>
stream
Stream Type Fmt S In-byte In-bps Out-byte Out-bps Message
input rover serial ubx C 2865592 8614 72 0
input base - rtcm3 - 0 0 0 0
input corr ftp sp3 C 22 0 0 0
output sol1 - llh - 0 0 0 0
output sol2 - nmea - 0 0 0 0
log rover - - - 0 0 0 0
log base - - - 0 0 0 0
log corr - - - 0 0 0 0
monitor - llh - 0 0 0 0
More information about the FOSS-GPS
mailing list