[FOSS-GPS] RTKlib help pls

drwho drwho at infidigm.net
Tue Nov 19 17:59:23 PST 2019


My setup is two OemStar receivers.  One is connected via serial port, 
the other is through a relay server and a 3g modem.  I removed the IP 
address of my server from the file and replaced it with ip_of_server.  
The OemStars only support gps + glonass (pos1-navsys=5).  I think these 
are the only changes from the stock conf file.

On 2019-11-19 8:45 p.m., Bud Asterisk wrote:
> I can take mine outside tomorrow if the weather holds and see how long 
> it takes. IIRC it was 4 birds in the sky and took a minute. I should 
> have  taken better notes on my trials and tribulations to get it 
> working since I am still learning lots. I know at some point I had to 
> set an approx start location for the base station otherwise it would 
> never get to FIX from FLOAT. Even though conceptually it should. My 
> $0.02 is to use RTKNAVI first till you can get a FIX as it is much 
> easier to see what is going on. And then take your working conf and 
> use rtkrcv.
>
> Oh also I used 2 pots from the kitchen as ground planes under the 
> antenna. Need to get to WMT for something cheap this weekend.
>
> Can you post your *.conf file you used?
>
> On Tue, Nov 19, 2019 at 8:38 PM drwho <drwho at infidigm.net 
> <mailto:drwho at infidigm.net>> wrote:
>
>     I gave rtkrcv a try from https://github.com/rtklibexplorer/RTKLIB
>     demo5 branch and voila, I get a float solution now!  No more no
>     double-differenced residual after 7 weeks of struggling!  Thank
>     you so much for pointing out rtklibexplorer.  Now onto getting a
>     fixed solution.  Any idea about how many valid satellites are
>     required for a fixed solution?  I'm getting 7 right now in the
>     city, overcast....
>
>     # of satellites rover       : 11
>     # of satellites base        : 10
>     # of valid satellites       : 7
>
>     2019/11/20 01:37:22.00 G07 1 23543275.469        0.000
>     123720746.574         0.000 2914.1     0.0 37  064 0
>     2019/11/20 01:37:22.00 G08 1 22171781.133        0.000
>     116513507.383         0.000  3244.9     0.0 45  0 0 0
>     2019/11/20 01:37:22.00 G09 1 21126139.602        0.000
>     111018592.926         0.000   448.3     0.0 38  064 0
>     2019/11/20 01:37:22.00 G16 1 20963946.320        0.000
>     110166281.117         0.000 -2187.3     0.0 46  0 0 0
>     2019/11/20 01:37:22.00 G21 1 25155113.438        0.000
>     132191029.602         0.000   141.0     0.0 31  064 0
>     2019/11/20 01:37:22.00 G23 1 20989052.875        0.000
>     110298206.492         0.000 -1256.4     0.0 35  0 0 0
>     2019/11/20 01:37:22.00 G26 1 22904042.680        0.000
>     120361516.371         0.000 -2944.8     0.0 46  064 0
>     2019/11/20 01:37:22.00 G27 1 20758214.352        0.000
>     109085174.746         0.000  1349.3     0.0 47  064 0
>     2019/11/20 01:37:22.00 R14 1 20121058.617        0.000
>     107256576.695         0.000 -1320.0     0.0 44  0 0 0
>     2019/11/20 01:37:22.00 R15 1 20369659.602        0.000
>     108849285.676         0.000  1616.6     0.0 38  0 0 0
>     2019/11/20 01:37:22.00 R23 1 21825182.789        0.000
>     116750015.395         0.000 -1661.8     0.0 46  0 0 0
>     2019/11/20 01:37:22.00 G08 2 22171770.695        0.000
>     116513422.930         0.000  3245.4     0.0 30  064 0
>     2019/11/20 01:37:22.00 G09 2 21126127.297        0.000
>     111018526.246         0.000   448.2     0.0 39  0 0 0
>     2019/11/20 01:37:22.00 G16 2 20963933.781        0.000
>     110166180.230         0.000 -2187.4     0.0 47  0 0 0
>     2019/11/20 01:37:22.00 G21 2 25155108.125        0.000
>     132190973.727         0.000   140.0     0.0 42  0 0 0
>     2019/11/20 01:37:22.00 G23 2 20989045.883        0.000
>     110298167.875         0.000 -1256.6     0.0 36  0 0 0
>     2019/11/20 01:37:22.00 G26 2 22904033.281        0.000
>     120361469.652         0.000 -2944.8     0.0 44  064 0
>     2019/11/20 01:37:22.00 G27 2 20758202.812        0.000
>     109085095.344         0.000  1349.2     0.0 48  0 0 0
>     2019/11/20 01:37:22.00 R05 2 20871721.062        0.000
>     111571326.961         0.000 -1165.9     0.0 33  0 0 0
>     2019/11/20 01:37:22.00 R14 2 20121049.281        0.000
>     107256486.191         0.000 -1319.6     0.0 47  064 0
>     2019/11/20 01:37:22.00 R24 2 20960371.930        0.000
>     112084524.137         0.000  1858.1     0.0 40  064 0
>
>     Jon
>
>     On 2019-11-19 5:13 p.m., Bud Asterisk wrote:
>>     OK gang.....good news!
>>
>>     I used the latest source for rtkrcv from rtklibexplorer's repo
>>     and compiled it on my google cloud instance. Also used my conf
>>     file I had working in rtknavi since it had been tweaked for me.
>>     Here is my setup. 2 CSG M8T boards, each connected to a Raspberry
>>     Pi Zero W. They have str2str compiled and streaming the data to
>>     the google VM of rtkrcv. Attached is a screencapture of 3
>>     terminals, 2 of the PI and one of the rtksrv output stream of the
>>     rover location. Sorry I blacked out the IP and location info for
>>     security reasons. Right now the antennas are in my window facing
>>     south so it is only a float solution that comes and and goes. Not
>>     sure it attachments will make it through the list....
>>
>>     Bud
>>
>>     Oh here is a cut and paste of the output stream. IP and location
>>     info has been fudged
>>
>>     2019/11/19 22:12:40.000   21.134425586  -42.963204887   452.7045
>>       2   4   0.2230   0.1686 0.5208  -0.1212  -0.1373  -0.1447  
>>     1.00    0.0
>>
>>     Right after the elevation of 452 you can see the "2" as solution
>>     type which is enumated as float.
>>
>>
>>     On Tue, Nov 19, 2019 at 9:13 AM drwho <drwho at infidigm.net
>>     <mailto:drwho at infidigm.net>> wrote:
>>
>>         On 2019-11-19 8:35 a.m., Bud Asterisk wrote:
>>         > I will try the CUI code from here:
>>         >
>>         > https://github.com/rtklibexplorer/RTKLIB
>>         >
>>         > Is this what you are using as well? His binaries on windows
>>         work for
>>         > me to get FIX.
>>
>>         The rtkrcv I have been using is from
>>
>>         https://github.com/tomojitakasu/RTKLIB.git
>>
>>         branch = 2.4.3b33
>>
>>         http://www.rtklib.com/ points to this git repo.
>>
>>         I'll try the rtkrcv from rtklibexplorer tonight
>>
>>         Jon
>>
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# rtkrcv options (2010/08/12 07:12:16, v.2.4.0)

console-passwd     =admin
console-timetype   =gpst       # (0:gpst,1:utc,2:jst,3:tow)
console-soltype    =dms        # (0:dms,1:deg,2:xyz,3:enu,4:pyl)
console-solflag    =1          # (0:off,1:std+2:age/ratio/ns)
inpstr1-type       =tcpcli     # (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       =ftp        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
inpstr1-path       =ip_of_server:11451
inpstr2-path       =ttyUSB1:57600:8:n:1:off
inpstr3-path       =anonymous:passwd at cddis.gsfc.nasa.gov/gps/products/%W/igu%W%D_%hb.sp3.Z::T=-14400,21600,7200,600
inpstr1-format     =oem4       # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,14:sp3)
inpstr2-format     =oem4       # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,14:sp3)
inpstr3-format     =sp3        # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,14:sp3)
inpstr2-nmeareq    =off        # (0:off,1:latlon,2:single)
inpstr2-nmealat    =0          # (deg)
inpstr2-nmealon    =0          # (deg)
outstr1-type       =file        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
outstr2-type       =tcpcli        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
outstr1-path       =sol1_%Y%m%d%h%M.pos
outstr2-path       =ip_of_server:11453
outstr1-format     =xyz        # (0:llh,1:xyz,2:enu,3:nmea)
outstr2-format     =xyz       # (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       =rov_%Y%m%d%h%M.log
logstr2-path       =ref_%Y%m%d%h%M.log
logstr3-path       =cor_%Y%m%d%h%M.log
misc-svrcycle      =10         # (ms)
misc-timeout       =30000      # (ms)
misc-reconnect     =30000      # (ms)
misc-nmeacycle     =5000       # (ms)
misc-buffsize      =32768      # (bytes)
misc-navmsgsel     =rover      # (0:all,1:rover,1:base,2:corr)
misc-startcmd      =
misc-stopcmd       =
file-cmdfile1      =../../../data/oem4_raw_1hz.cmd
file-cmdfile2      =../../../data/oem4_raw_1hz.cmd
file-cmdfile3      =
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)
pos1-soltype       =forward    # (0:forward,1:backward,2:combined)
pos1-elmask        =15         # (deg)
pos1-snrmask       =off          # (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)
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        =5          # (1:gps+2:sbas+4:glo+8:gal+16:qzs+32:comp)
pos2-armode        =off        # (0:off,1:continuous,2:instantaneous,3:fix-and-hold)
pos2-gloarmode     =off        # (0:off,1:on,2:autocal)
pos2-arthres       =5
pos2-arlockcnt     =0
pos2-arelmask      =0          # (deg)
pos2-aroutcnt      =5
pos2-arminfix      =10
pos2-slipthres     =0.05       # (m)
pos2-maxage        =30         # (s)
pos2-rejionno      =30         # (m)
pos2-niter         =1
pos2-baselen       =0          # (m)
pos2-basesig       =0          # (m)
out-solformat      =llh        # (0:llh,1:xyz,2:enu,3:nmea)
out-outhead        =on         # (0:off,1:on)
out-outopt         =off        # (0:off,1:on)
out-timesys        =gpst       # (0:gpst,1:utc,2:jst)
out-timeform       =tow        # (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-outvel         =on
stats-errratio     =300
stats-errphase     =0.003      # (m)
stats-errphaseel   =0.003      # (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    =1          # (m/s^2)
stats-prnaccelv    =0.1        # (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          =0          # (deg|m)
ant1-pos2          =0          # (deg|m)
ant1-pos3          =0          # (m|m)
ant1-anttype       =
ant1-antdele       =0          # (m)
ant1-antdeln       =0          # (m)
ant1-antdelu       =0          # (m)
ant2-postype       =single        # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm)
ant2-pos1          =0          # (deg|m)
ant2-pos2          =0          # (deg|m)
ant2-pos3          =0          # (m|m)
ant2-anttype       =
ant2-antdele       =0          # (m)
ant2-antdeln       =0          # (m)
ant2-antdelu       =0          # (m)
ant2-maxaveep      =1
ant2-initrst       =on        # (0:off,1:on)
misc-timeinterp    =off        # (0:off,1:on)
misc-sbasatsel     =0          # (0:all)
file-satantfile    =#../../../data/igs05.atx
file-rcvantfile    =#../../../data/igs05.atx
file-staposfile    =#../../../data/station.pos
file-geoidfile     =
file-dcbfile       =#../../../data/P1C1_ALL.DCB
file-tempdir       =/tmp
file-geexefile     =
file-solstatfile   =
file-tracefile     =


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