CLI Reference¶

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

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).

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

L6E/L6D correction files are passed as additional positional inputs after the navigation file(s). They are recognised by extension:

The extensions are case-insensitive (.L6, .L6D, .L6E). L6 files are never read as RINEX.

Examples:

# 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

# CLAS PPP-RTK with claslib-style .l6d input
mrtk post --config conf/claslib/rnx2rtkp.toml obs.bnx 2023044J.l6d

mrtk run¶

Run real-time positioning pipeline (formerly rtkrcv).

mrtk run [options]

Examples:

# 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).

mrtk relay [options]

Example:

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

mrtk convert¶

Convert receiver raw data to RINEX (formerly convbin).

mrtk convert [options] rawfile

Example:

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

Frequency ordering and -f / --freq N. Observation types are written in the library's obsdef band order — the same order the positioning engines use — so the N-th band selected by -f N (--freq N) matches what mrtk post / mrtk run would use. Per constellation that order is:

So mrtk convert -f 2 keeps the first two bands of each system (e.g. Galileo E1 + E5a). All bands above are emitted at the default (-f 5).

Format Translation¶

mrtk ssr2obs¶

Convert SSR corrections to pseudo-observations.

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

mrtk ssr2osr¶

Convert SSR corrections to Observation Space Representation (OSR).

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

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).

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

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).

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

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).

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

mrtk l6extract¶

Extract QZSS L6 frames from SBF or UBX binary logs into per-PRN .l6d / .l6e files, and Galileo HAS pages from SBF into a .has file.

mrtk l6extract [options] [FILE]

Output files:

The signal (L6D/L6E) and PRN come from the L6 frame header (IS-QZSS-L6), not from the SBF block ID, Source field or SVID, or the UBX svId. For example, a QZS-3 capture gives l6.199.l6d (CLAS) and l6.209.l6e (MADOCA-PPP and QZNMA). Both are mrtk post inputs: a .l6d file is routed by its content (CLAS, or MADOCA iono for PRN 200/201), and a .l6e file is MADOCA-PPP input (in CLAS mode it is reserved for CLAS CMA and ignored with a warning).

Global Options¶

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).