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First Run

This guide walks you through running your first GNSS positioning solution with MRTKLIB.

Post-Processing (mrtk post)

Post-processing computes positions from recorded observation and navigation files.

PPP (Precise Point Positioning)

Bash
mrtk post -k conf/madocalib/rnx2rtkp.toml \
  obs.obs nav.nav correction.l6
  • -k — Configuration file (TOML format)
  • Positional arguments — Observation file, navigation file, and optionally L6 correction file(s)

PPP-RTK (CLAS)

Bash
mrtk post -k conf/claslib/rnx2rtkp.toml \
  obs.obs nav.nav clas.l6

Output Format

Results are written in NMEA-like position format (.pos file):

Text Only
% GPST            latitude(deg)  longitude(deg)  height(m)  Q  ns  ...
2019/08/27 00:01:00.000   39.13515051  141.13287141   117.427  1   8  ...
  • Q=1 — Fixed solution (ambiguities resolved)
  • Q=2 — Float solution
  • Q=5 — Single point positioning

Real-Time Processing (mrtk run)

Real-time processing receives live GNSS data streams and computes positions continuously.

CLAS PPP-RTK (Single Channel)

Bash
mrtk run -s -o conf/claslib/rtkrcv.toml
  • -s — Start processing immediately
  • -o — Configuration file

CLAS PPP-RTK (Dual Channel)

Bash
mrtk run -s -o conf/claslib/rtkrcv_2ch.toml

Stream Configuration

Real-time stream inputs are configured in the TOML file under [streams]:

  • inpstr1 — Rover receiver (BINEX, UBX, or RTCM3)
  • inpstr2 — Base station or L6 ch2 (repurposed for CLAS dual-channel)
  • inpstr3 — Correction stream (L6 ch1 or SSR)

Other Subcommands

Command Description Example
mrtk relay Relay data streams mrtk relay -in ntrip://... -out tcpsvr://:2101
mrtk convert Convert raw data to RINEX mrtk convert raw.ubx -o output.obs
mrtk ssr2obs SSR to pseudo-observations mrtk ssr2obs -k conf/claslib/ssr2obs.toml ...
mrtk bias Estimate receiver biases mrtk bias -k conf/madocalib/recvbias.toml ...
mrtk cssr2rtcm3 CLAS CSSR to RTCM3 MSM (VRS) mrtk cssr2rtcm3 -k conf/cssr2rtcm3.toml -in serial://...

Next Steps