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Installation

Prerequisites

Requirement Version Notes
C compiler C11 support GCC 7+, Clang 5+, Apple Clang
CMake 3.15+ Build system
LAPACK any Hardware-accelerated matrix operations

Platform-Specific Dependencies

Bash
sudo apt-get update
sudo apt-get install -y cmake build-essential liblapack-dev
Bash
# Xcode command line tools provide Apple Clang + Accelerate (LAPACK)
xcode-select --install
brew install cmake

No additional LAPACK installation needed — macOS ships with the Accelerate framework which provides LAPACK.

Build from Source

Bash
git clone https://github.com/h-shiono/MRTKLIB.git
cd MRTKLIB

# Configure
cmake --preset default

# Build
cmake --build build

The build produces a single binary build/mrtk with all subcommands.

Verify Installation

Bash
# Check version
build/mrtk --version

# Show available subcommands
build/mrtk --help

Expected output:

Text Only
mrtk: MRTKLIB unified CLI (MRTKLIB ver.0.6.2)

Usage: mrtk [COMMAND] [OPTIONS]

Core Commands:
  run         Run real-time positioning pipeline (rtkrcv)
  post        Run post-processing positioning (rnx2rtkp)

Data & Streaming:
  relay       Relay and split data streams (str2str)
  convert     Convert receiver raw data to RINEX (convbin)

Format Translation:
  ssr2obs     Convert SSR corrections to pseudo-observations
  ssr2osr     Convert SSR corrections to OSR

Utilities:
  bias        Estimate receiver fractional biases
  dump        Dump stream data to human-readable format (e.g., 'mrtk dump cssr')

Run Tests

Bash
cd build
ctest --output-on-failure

Real-time tests

Tests labeled realtime use file-stream replay (ranging from ~90 seconds to several minutes) and are excluded from CI. To run them locally:

Bash
ctest --output-on-failure -L realtime

Next Steps