CLI Reference¶

MRTKLIB provides a single unified binary mrtk with subcommands (BusyBox/Git pattern).

Text Only

mrtk [COMMAND] [OPTIONS]

Every subcommand accepts both the original short flags (-k, -o, -ts, …) and GNU-style long aliases (--config, --output, --start, …). Run mrtk <subcommand> --help to see the full set, including any subcommand-specific flags. Two subcommands intentionally do not bind -h to help, because -h was already reserved for an existing flag — see the notes on mrtk post and mrtk convert.

Core Commands¶

mrtk post¶

Run post-processing positioning (formerly rnx2rtkp).

Bash

mrtk post [options] obsfile navfile [navfile...] [l6file...]

Option	Description
`-k`, `--config FILE`	Configuration file (TOML)
`-o`, `--output FILE`	Output position file
`-ts`, `--start Y/M/D H:M:S`	Start time
`-te`, `--end Y/M/D H:M:S`	End time
`-ti`, `--interval SEC`	Processing interval (seconds)
`-p MODE`	Positioning mode (0:single, 1:dgps, …, 9:ppp-rtk)
`-f`, `--freq N`	Number of frequencies (1, 2, or 3)
`-x`, `--trace LEVEL`	Debug trace level (0-5)
`-?`, `--help`	Show help (`-h` is the fix-and-hold AR flag here, not help)

L6E/L6D correction files are passed as additional positional inputs after the navigation file(s).

Examples:

Bash

# MADOCA PPP
mrtk post --config conf/madocalib/rnx2rtkp.toml obs.obs nav.nav l6e.l6

# MADOCA PPP-AR
mrtk post --config conf/madocalib/rnx2rtkp_pppar.toml obs.obs nav.nav l6e.l6

# CLAS PPP-RTK (single channel)
mrtk post --config conf/claslib/rnx2rtkp.toml obs.obs nav.nav clas.l6

# CLAS PPP-RTK (dual channel)
mrtk post --config conf/claslib/rnx2rtkp.toml obs.obs nav.nav \
  clas_ch1.l6 clas_ch2.l6

mrtk run¶

Run real-time positioning pipeline (formerly rtkrcv).

Bash

mrtk run [options]

Option	Description
`-s`	Start processing immediately
`-o`, `--config FILE`	Processing options / configuration file (TOML)
`-p`, `--port PORT`	Telnet console port
`-m PORT`	Monitor stream port
`-d`, `--device DEV`	Terminal device for the interactive console
`-t LEVEL`, `--trace LEVEL`	Debug trace level
`-h`, `--help`	Show help

Examples:

Bash

# CLAS PPP-RTK (single channel, auto-start)
mrtk run -s --config conf/claslib/rtkrcv.toml

# CLAS PPP-RTK (dual channel)
mrtk run -s --config conf/claslib/rtkrcv_2ch.toml

# MADOCA PPP with console
mrtk run -s --config conf/malib/rtkrcv.toml --port 2105

Data & Streaming¶

mrtk relay¶

Relay and split data streams (formerly str2str).

Bash

mrtk relay [options]

Option	Description
`-in`, `--input STREAM[#FORMAT]`	Input stream path and format
`-out`, `--output STREAM[#FORMAT]`	Output stream path(s) and format
`-msg TYPE`	RTCM message types to relay
`-t`, `--trace LEVEL`	Debug trace level
`-h`, `--help`	Show help

Example:

Bash

mrtk relay --input ntrip://user:pass@caster:2101/mount \
           --output tcpsvr://:2102

mrtk convert¶

Convert receiver raw data to RINEX (formerly convbin).

Bash

mrtk convert [options] rawfile

Option	Description
`-o`, `--output FILE`	Output observation file
`-n`, `--nav FILE`	Output navigation file
`-r FORMAT`	Receiver raw format
`-v VER`	RINEX version (2.11, 3.03, 3.04, 4.00)
`-ts`, `--start Y/M/D H:M:S`	Start time
`-te`, `--end Y/M/D H:M:S`	End time
`-ti`, `--interval SEC`	Observation interval
`-f`, `--freq N`	Number of frequencies
`-trace LEVEL`, `--trace LEVEL`	Trace level
`--help`	Show help (`-h` is the HNAV-output flag here, not help)

Example:

Bash

mrtk convert -r ubx -v 3.04 --output obs.obs --nav nav.nav raw.ubx

Format Translation¶

mrtk ssr2obs¶

Convert SSR corrections to pseudo-observations.

Bash

mrtk ssr2obs [options] obsfile navfile [navfile...] [l6file...]

Option	Description
`-k`, `--config FILE`	Configuration file
`-o`, `--output FILE`	Output observation file
`-ts`, `--start Y/M/D H:M:S`	Start time
`-te`, `--end Y/M/D H:M:S`	End time
`-ti`, `--interval SEC`	Interval
`-x`, `--trace LEVEL`	Trace level
`-h`, `--help`	Show help

mrtk ssr2osr¶

Convert SSR corrections to Observation Space Representation (OSR).

Bash

mrtk ssr2osr [options] obsfile navfile [navfile...] [l6file...]

Option	Description
`-k`, `--config FILE`	Configuration file
`-o`, `--output FILE`	Output OSR file (default: stdout)
`-ts`, `--start Y/M/D H:M:S`	Start time
`-te`, `--end Y/M/D H:M:S`	End time
`-ti`, `--interval SEC`	Interval
`-x`, `--trace LEVEL`	Trace level
`-h`, `--help`	Show help

mrtk cssr2rtcm3¶

Convert CLAS CSSR corrections to RTCM3 MSM messages in real time, enabling CLAS-incompatible receivers to use CLAS as a VRS source. The MSM message type is configurable via TOML (default: MSM7; MSM4 / MSM5 also supported).

Bash

mrtk cssr2rtcm3 [options] [-nav file ...]

Option	Description
`-k`, `--config FILE`	Configuration file (TOML or legacy `.conf`)
`-in`, `--input URI`	L6 CSSR input stream; use `sbf://…` for single-stream SBF (auto-extracts L6D, PVT, NAV)
`-2ch URI`	Second L6 input stream (channel 2)
`-out`, `--output URI`	Output RTCM3 stream (e.g. `tcpsvr://:2101`)
`-pos URI`	NMEA GGA input stream for rover position (optional)
`-p LAT,LON,HGT`	Fixed user position (deg, m)
`-nav`, `--nav FILE…`	Navigation file(s) (RINEX NAV)
`-d`, `--trace LEVEL`	Trace level (0-5)
`-t`, `--interval SEC`	Output interval in seconds (default: 1)
`-h`, `--help`	Show help

Stream URI formats:

Serial: serial://ttyACM0:115200
TCP server: tcpsvr://:port
TCP client: tcpcli://host:port
NTRIP client: ntripcli://user:pass@host:port/mount
File: file://path

Utilities¶

mrtk bias¶

Estimate receiver fractional cycle biases (formerly recvbias).

Bash

mrtk bias [options] obsfile navfile [l6file...]

Option	Description
`-nav`, `--nav FILE`	RINEX NAV file (required)
`-out`, `--output FILE`	Output bias file (default: stdout)
`-td Y/M/D`	Date (GPST, required)
`-ts TSPAN`	Time span in days (not a start time)
`-t`, `--trace LEVEL`	Trace level
`-h`, `--help`	Show help

Note: in mrtk bias the short flag -ts is the time-span value (tspan in days), not a start-time. There is intentionally no --start long alias here.

mrtk dump¶

Dump stream data to human-readable format (formerly dumpcssr).

Bash

mrtk dump [options] l6file [navfile...]

Option	Description
`-k`, `--config FILE`	Configuration file
`-o`, `--output FILE`	Output dump file (default: stdout)
`-ts`, `--start Y/M/D H:M:S`	Start time
`-te`, `--end Y/M/D H:M:S`	End time
`-ch N`	L6 channel (0 or 1)
`-x`, `--trace LEVEL`	Trace level
`-h`, `--help`	Show help

mrtk l6extract¶

Extract QZSS L6 frames from SBF or UBX binary logs into per-PRN .l6 files.

Bash

mrtk l6extract [options]

Option	Description
`-in`, `--input FILE`	Input SBF or UBX binary file (required)
`-r FORMAT`	Receiver format: `sbf`, `ubx` (auto-detected from extension by default)
`-o`, `--output PREFIX`	Output file prefix (default: `l6`)
`-l6d`	Extract L6D frames only (CLAS)
`-l6e`	Extract L6E frames only (MADOCA)
`-h`, `--help`	Show help

Global Options¶

Option	Description
`--help`, `-h`	Show help message (top-level dispatcher)
`--version`, `-v`	Show version

Inside a subcommand, the help-flag policy is per-subcommand. -h is the help flag in eight of the ten subcommands; the exceptions are mrtk post (where -h means fix-and-hold AR) and mrtk convert (where -h is the HNAV output file). In those two subcommands, use --help (or -? in mrtk post).