Configuration (TOML)¶

Since v0.5.0, MRTKLIB uses TOML for all configuration files, replacing the legacy RTKLIB key=value .conf format.

File Structure¶

A TOML configuration file is organized into sections:

[positioning]
mode = "ppp-rtk"
elevation_mask = 15.0
systems = ["GPS", "Galileo", "QZSS"]

[positioning.corrections]
satellite_antenna = false
receiver_antenna = true
phase_windup = "on"
tidal_correction = "solid+otl-clasgrid+pole"

[positioning.atmosphere]
ionosphere = "est-adaptive"
troposphere = "off"

[ambiguity_resolution]
mode = "fix-and-hold"

[kalman_filter]
# ...

[output]
format = "llh"
# ...

Key Sections¶

Constellation Selection¶

Use the systems string list for human-readable constellation selection:

[positioning]
systems = ["GPS", "Galileo", "QZSS"]

Supported constellation names (case-insensitive):

constellations = 25  # GPS(1) + Galileo(8) + QZSS(16) = 25

Satellite Exclusion¶

Exclude specific satellites using a string list:

[positioning]
excluded_sats = ["G01", "G02", "+E05"]

A + prefix means "include only this satellite" (whitelist mode).

Bundled Configuration Files¶

MRTKLIB ships with ready-to-use configuration files for common use cases:

MADOCALIB (PPP / PPP-AR)¶

CLASLIB (PPP-RTK / VRS-RTK)¶

MALIB (General)¶

IGS Products (correction = "igs" / "igs-rts")¶

Integer PPP-AR with IGS products¶

Resolving integer ambiguities from IGS precise products needs a satellite phase-bias product and the uncombined measurement model:

[positioning]
correction = "igs"

[positioning.atmosphere]
ionosphere = "est-stec"     # uncombined -- per-frequency ambiguity states

[ambiguity_resolution]
mode = "continuous"

[files]
# COD MGEX IAR Bias-SINEX (carries L* phase + C* code OSB). Use bias_sinex=,
# NOT dcb= (the legacy CODE-DCB parser ignores Bias-SINEX files).
bias_sinex = "COD0MGXFIN_<yyyyddd>0000_01D_01D_OSB.BIA"

The float iono-free config (ionosphere = "dual-freq") cannot resolve integers — it carries a single ambiguity per satellite, not per frequency, so ambiguity_resolution is a no-op there. Galileo (or more constellations) is recommended: GPS-only often has too few satellites for reliable narrow-lane fixing on short sessions, though the wide-lane still fixes.

The float solution itself is cross-validated against RTKLIB 2.4.3: on the GEONET FUJISAWA dataset both reach ≈8.4 cm 3D (1σ) versus the GSI F5 coordinate — i.e. MRTKLIB's IGS float PPP shows no meaningful degradation relative to RTKLIB. (RTKLIB has no integer PPP-AR, so the fixed solution has no upstream counterpart to compare against.)

Constellations. Ambiguity resolution covers GPS, Galileo, QZSS and BeiDou (BDS-2/BDS-3), selected with the [ambiguity_resolution].systems bitmask (GPS=1, Galileo=8, QZSS=16, BeiDou=32). GLONASS is float-only (FDMA has no integer AR). Whether a constellation actually fixes also depends on the OSB product carrying phase biases for the signals you process: the COD MGEX OSB provides GPS and Galileo phase biases on the nominal l1+2 pair, but its QZSS phase biases are L1/L5 only (no L2) and it carries no BeiDou phase biases — so GPS+Galileo is the dependable combination with that product today.

Migration from .conf¶

Use the included conversion script to migrate legacy .conf files:

python scripts/tools/conf2toml.py old_config.conf -o new_config.toml

The script maps legacy key=value pairs to their TOML equivalents. After conversion, format the output with taplo:

taplo format new_config.toml

Full Reference¶

See Configuration Options for a complete list of all available options.