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MRTKLIB: Modernized RTKLIB for Next-Generation GNSS

MRTKLIB is a modern, thread-safe C11 GNSS positioning library built on RTKLIB, covering the open PPP / PPP-RTK correction services — QZSS CLAS and MADOCA-PPP, Galileo HAS, and IGS products and real-time streams — for both post-processing and real-time processing.

In the spirit of RTKLIB, it aims to be both a readable reference for how each service is applied and practical software for day-to-day and production use.

  • Getting Started

    Build from source and run your first positioning solution in minutes.

    Installation

  • CLI Reference

    Learn the mrtk unified command-line interface and its subcommands.

    CLI Guide

  • Configuration

    Configure positioning modes, constellations, and correction sources via TOML.

    Configuration Guide

  • Reference

    Full configuration options reference with all available parameters.

    Config Options

Key Features

Architectural Overhauls

  • Thread-Safe Design — mrtk_ctx_t context structure replaces global variables, enabling parallel processing
  • POSIX & C11 Pure — No Win32 API; fully portable across Linux, macOS (Apple Silicon), and embedded ARM/RISC-V
  • Modern Build System — Unified CMake with find_package(LAPACK) for hardware-accelerated matrix operations
  • Domain-Driven Layout — Source organized into src/core/, src/pos/, src/rtcm/, src/models/, etc.

Supported Correction Services

Service Delivery Modes Post-Processing Real-Time
QZSS CLAS L6D (CSSR) PPP-RTK, VRS-RTK ✅ ✅
QZSS MADOCA-PPP L6E + L6D wide-area iono PPP, PPP-AR, PPP-AR + iono ✅ ✅
Galileo HAS E6-B C/NAV Float PPP ✅ ✅
IGS products SP3 / CLK / Bias-SINEX Float PPP, PPP-AR ✅ —
IGS-RTS RTCM-SSR over NTRIP Float PPP ✅ ✅
BeiDou PPP-B2b BDS-3 GEO B2b PPP planned planned
SouthPAN PVS SouthPAN SBAS GEO PPP under evaluation under evaluation

Lineage

MRTKLIB began by unifying the QZSS augmentation libraries into one code base on a modernized RTKLIB core; that integration is complete:

Component Description Status
MALIB MADOCA-PPP structural base (directory layout, threading, streams) ✅ Integrated
MADOCALIB PPP/PPP-AR engine, L6E SSR decoder, L6D ionospheric decoder ✅ Integrated
CLASLIB CLAS PPP-RTK, VRS-RTK, CSSR decoder ✅ Integrated

Positioning Modes

Mode Post-Processing Real-Time
SPP (Single Point) ✅ ✅
PPP (Precise Point) ✅ ✅
PPP-AR (Ambiguity Resolution) ✅ ✅
PPP-AR + Ionosphere ✅ ✅
PPP-RTK (CLAS) ✅ ✅
VRS-RTK (CLAS) ✅ —

Ready-to-use packages for trying MRTKLIB without building it from source:

Project Description
mrtklib-docker-ui Web UI for MRTKLIB in a Docker container — post-processing (mrtk post) and real-time positioning (mrtk run) from the browser, with TOML import / export and result visualization. No compilation required: docker compose up.
mrtklib-quickstart (docs, 日本語 / English) One-script quickstart for real-time MADOCA-PPP with a Septentrio mosaic-G5 receiver — configures the receiver, launches the Docker web UI, and includes teaching material for Windows / macOS / Linux.

Quick Start

Bash
# Build
cmake --preset default
cmake --build build

# Post-processing (PPP)
mrtk post -k conf/madocalib/rnx2rtkp.toml obs.obs nav.nav correction.l6

# Real-time positioning (CLAS PPP-RTK)
mrtk run -s -o conf/claslib/rtkrcv.toml

See the Installation Guide for detailed build instructions.

License

MRTKLIB is licensed under the BSD 2-Clause License.

Upstream components (MALIB, MADOCALIB, CLASLIB, GSILIB) are each licensed under BSD 2-Clause by their respective authors (JAXA, TOSHIBA, Cabinet Office, Lighthouse Technology & Consulting, Mitsubishi Electric, and the Geospatial Information Authority of Japan).