Configuration Options Reference¶

TOML configuration options available in MRTKLIB. Options are grouped by their TOML section.

Auto-generated

This page is auto-generated from the internal option mapping table. Run python scripts/docs/gen_config_ref.py > docs/reference/config-options.md to regenerate.

Mode Abbreviations¶

Abbreviation	Positioning Mode(s)
All	All modes
SPP	Single Point Positioning (`single`)
DGPS	Differential GPS (`dgps`)
RTK	`kinematic` · `static` · `movingbase` · `fixed`
PPP	`ppp-kine` · `ppp-static` · `ppp-fixed`
PPP-RTK	`ppp-rtk` (CLAS PPP-RTK)
SSR2OSR	`ssr2osr` · `ssr2osr-fixed`
VRS	`vrs-rtk` — a CLAS-only mode: it builds CLAS-derived OSR and double-differences it like RTK (`correction = qzs-clas`, not a generic RTK base station).
RT	Real-time only (`mrtk run` / `rtkrcv`)
PP	Post-processing only (`mrtk post` / `rnx2rtkp`)

Positioning¶

TOML section: [positioning]

TOML Key	Type	Modes	Description
`mode`	enum	All	Positioning mode selector. `single` · `dgps` · `kinematic` · `static` · `movingbase` · `fixed` · `ppp-kine` · `ppp-static` · `ppp-fixed` · `ppp-rtk` · `ssr2osr` · `ssr2osr-fixed` · `vrs-rtk`
`correction`	enum	PPP, PPP-RTK, VRS	Correction source (lowercase; parsing is case-sensitive). Decouples the augmentation source from `mode`. `none` · `igs` (precise SP3/CLK files) · `igs-rts` (real-time RTCM-SSR / IGS-SSR MT4076; float PPP) · `qzs-madoca` · `qzs-clas` · `gal-has`† · `bds-b2b`† (†reserved/not yet implemented). Optional: when omitted it is inferred from `mode` + `satellite_ephemeris` for backward compatibility. `igs-rts` is never inferred and must be set explicitly (it shares `satellite_ephemeris = "brdc+ssrapc"` with `qzs-madoca`); it requires `satellite_ephemeris = "brdc+ssrapc"` or `"brdc+ssrcom"`. See Positioning Configuration Model. Note: `igs` enables conventional IGS-products float PPP for both geodetic receivers (e.g. GPS L1+L2, Galileo E1+E5a) and receivers that provide the 2nd frequency only as Galileo E5b / BeiDou B2I (no E5a/B3I, e.g. u-blox F9P) — the iono-free pair is selected from the available observations (fixed in v0.6.7, see #135).
`frequency`	enum	All	Number of carrier frequencies to use. CLAS PPP-RTK requires `l1+2` (nf=2). `l1` · `l1+2` · `l1+2+3` · `l1+2+3+4` · `l1+2+3+4+5`
`solution_type`	enum	PP	Filter direction for post-processing. `forward` · `backward` · `combined`
`elevation_mask`	float	All	Minimum satellite elevation angle (degrees). Satellites below this are excluded.
`dynamics`	boolean	All	Enable receiver dynamics model (velocity/acceleration state estimation).
`satellite_ephemeris`	enum	All	Satellite ephemeris source. SSR modes (`brdc+ssrapc`, `brdc+ssrcom`) are used for PPP and PPP-RTK. `brdc` · `precise` · `brdc+sbas` · `brdc+ssrapc` · `brdc+ssrcom`
`systems`	string[]	All	GNSS constellations to use. Accepts a human-readable string list like `["GPS", "Galileo"]`. The low-level `constellations` key (integer/string bitmask, legacy `pos1-navsys` form) is also accepted for backward compatibility; `systems` supersedes it when both are present.
`excluded_sats`	string[]	All	Satellites to exclude, as a PRN list (e.g. `["G01", "G02"]`). Prefix a PRN with `+` to force inclusion instead, overriding the health and URA checks (a satellite with no ephemeris is still dropped). The legacy space-separated string form (`"G01 G02"`) is also accepted.
`signals`	string[]	All	Explicit RINEX3-style signal code list (`{sys}{freq}{attr}`, e.g. `["G1C", "G2W", "R1C", "R2C", "E1C", "E7Q", "J1C", "J2L"]`). When set it is the authoritative signal selection: it overrides `frequency` / the `[signals]` presets, derives the number of frequencies, and selects which observation code occupies each band's slot during real-time raw decoding (so e.g. GLONASS L2C/A can be used as the iono-free 2nd frequency without the legacy `-RL2C` receiver option — see #189). List every band you want, for every constellation you want to constrain — `signals = ["R2C"]` alone derives nf=1 (single-frequency). A constellation you omit entirely keeps its default signal selection.
`robust`	enum	SPP	Robust estimation strategy for single-point positioning (down-weights outliers via M-estimation). `off` · `igg3`
`robust_k0`	float	SPP	IGG-III robust weighting lower threshold k0 (standardized residual). Residuals below k0 keep full weight.
`robust_k1`	float	SPP	IGG-III robust weighting upper threshold k1 (standardized residual). Residuals above k1 are rejected; between k0 and k1 the weight is tapered.
`tdcp`	enum	SPP	Time-differenced carrier phase (TDCP) velocity estimation and carrier-phase-based cycle-slip / jump QC. `off` · `on`
`tdcp_jump`	float	SPP	TDCP position-jump rejection threshold (m). Epoch-to-epoch jumps exceeding this are rejected as outliers.

Recommended surface. [positioning].signals is the preferred way to select signals. The [signals] section (gps/qzs/galileo/bds2/bds3 presets) and frequency are the older, coarser mechanism (no per-code control, and no GLONASS entry, which is why GLONASS L2 code selection requires signals). When signals is set it takes precedence.

Frequency Index Mapping¶

The frequency option selects how many frequency slots to use (l1 = 1, l1+2 = 2, etc.). Each slot maps to a different signal depending on the constellation:

	L1 (idx 0)	L2 (idx 1)	L3 (idx 2)	L4 (idx 3)	L5 (idx 4)
GPS	L1	L2	L5	—	—
GLONASS	G1	G2	G3	—	—
Galileo	E1	E5a	E5b	E6	E5a+b
QZSS	L1	L5	L2	L6	—
BDS	B1I/B1C/B1A	B3I/B3A	B2I/B2b	B2a	B2a+b
SBAS	L1	L5	—	—	—
NavIC	L5	S	—	—	—

CLAS PPP-RTK: Use l1+2 (nf=2)

With l1+2, GPS uses L1+L2 and Galileo uses E1+E5a. CLAS does not provide E5b bias corrections. Using l1+2+3 (nf=3) adds the E5b slot without valid bias, causing false cycle slips on Galileo and degrading fix rate from >99% to ~67%.

Positioning — SNR Mask¶

TOML section: [positioning.snr_mask]

TOML Key	Type	Modes	Description
`rover_enabled`	boolean	All	Enable elevation-dependent SNR mask for the rover receiver.
`base_enabled`	boolean	RTK	Enable elevation-dependent SNR mask for the base station.
`L1`	array[int]	All	L1 SNR mask values per elevation bin (dBHz). 9-element array (0–45 dBHz per 5° elevation bin).
`L2`	array[int]	All	L2 SNR mask values per elevation bin (dBHz). 9-element array (0–45 dBHz per 5° elevation bin).
`L5`	array[int]	All	L5 SNR mask values per elevation bin (dBHz). 9-element array (0–45 dBHz per 5° elevation bin).

Positioning — Atmosphere¶

TOML section: [positioning.atmosphere]

TOML Key	Type	Modes	Description
`ionosphere`	enum	All	Ionospheric correction model. PPP uses `dual-freq` or `est-stec`. PPP-RTK uses `est-stec` or `est-adaptive`. RTK typically uses `dual-freq`. `off` · `brdc` · `sbas` · `dual-freq` · `est-stec` · `ionex-tec` · `qzs-brdc` · `est-adaptive`
`troposphere`	enum	All	Tropospheric correction model. PPP/PPP-RTK use `est-ztd` or `est-ztdgrad`. SPP/RTK typically use `saas`. `off` · `saas` · `sbas` · `est-ztd` · `est-ztdgrad`

Positioning — Corrections¶

TOML section: [positioning.corrections]

TOML Key	Type	Modes	Description
`satellite_antenna`	boolean	All	Apply satellite antenna phase center offset correction using ANTEX file.
`receiver_antenna`	boolean	All	Apply receiver antenna phase center offset/variation correction.
`phase_windup`	enum	PPP	Phase wind-up correction. `off` · `on` · `precise`
`exclude_eclipse`	boolean	PPP, PPP-RTK	Exclude satellites in eclipse (yaw maneuver period) to avoid degraded orbit/clock.
`raim_fde`	boolean	SPP	RAIM fault detection and exclusion for single-point positioning.
`iono_compensation`	enum	PPP-RTK, VRS, SSR2OSR	Ionospheric compensation method for SSR-based processing. `off` · `ssr` · `meas`
`partial_ar`	boolean	PPP-RTK, VRS	Enable partial ambiguity resolution (fix a satellite subset).
`shapiro_delay`	boolean	PPP-RTK, VRS	Apply relativistic Shapiro time delay correction.
`exclude_qzs_ref`	boolean	PPP-RTK, VRS	Exclude QZS satellites from reference satellite selection in DD processing.
`no_phase_bias_adj`	boolean	PPP-RTK, VRS	Disable phase bias adjustment. Used when phase bias is already applied by SSR corrections.
`gps_frequency`	enum	PPP-RTK, VRS	GPS frequency pair selection for CLAS processing. `l1` · `l1+l2` · `l1+l5` · `l1+l2+l5` · `l1+l5(l2)`
`snr_fixed`	integer	SSR2OSR	Fixed output SNR (integer dB-Hz). 0 uses the elevation-dependent SNR model.
`qzs_frequency`	enum	PPP-RTK, VRS	QZS frequency pair selection for CLAS processing. `l1` · `l1+l2` · `l1+l5` · `l1+l2+l5` · `l1+l5(l2)`
`tidal_correction`	enum	PPP, PPP-RTK, VRS	Tidal displacement correction. Option `solid+otl-clasgrid+pole` uses CLAS grid-based ocean tide loading. `off` · `on` · `otl` · `solid+otl-clasgrid+pole`

Positioning — SPP¶

TOML section: [positioning.spp]

TOML Key	Type	Modes	Description
`ignore_chi_error`	boolean	SPP	Ignore chi-square test errors in SPP solution validation.

Positioning — Relative¶

TOML section: [positioning.relative]

TOML Key	Type	Modes	Description
`max_age`	float	RTK, VRS	Maximum age of differential correction (s).
`baseline_length`	float	RTK	Baseline length constraint (m). 0 = no constraint.
`baseline_sigma`	float	RTK	Standard deviation of baseline length constraint (m).
`time_interpolation`	boolean	RTK, VRS, PP	Enable time interpolation between observation epochs.

Positioning — PPP¶

TOML section: [positioning.ppp]

TOML Key	Type	Modes	Description
`satellite_clock_bias`	integer	PPP	PPP satellite code bias source selection.
`satellite_phase_bias`	integer	PPP	PPP satellite phase bias source selection.
`drop_uncorrected_code`	boolean	PPP	In uncombined IGS PPP, discard a pseudorange measurement when its satellite or receiver code bias is unavailable.
`clock_jump`	boolean	PPP	Reset PPP phase-bias states at a GPS day boundary.
`max_bias_dt`	integer	PPP	Maximum age of bias correction data (s) before invalidation.
`options`	string	PPP	PPP processing option string (passed to PPP engine).

Positioning — Signal Selection¶

TOML section: [signals]

Legacy preset form. These per-constellation presets are the older, coarser signal-selection surface (no per-code control, no GLONASS entry). Prefer [positioning].signals for new configurations; when signals is set it overrides this section. GLONASS L2 code selection (e.g. L2C/A vs L2P) can only be expressed via [positioning].signals.

TOML Key	Type	Modes	Description
`gps`	enum	PPP, PPP-RTK, VRS	GPS frequency pair selection for the SSR-corrected measurement model. Applied via `apply_pppsig()` for every correction source except `igs`, so it also reshapes the observation set used by CLAS PPP-RTK / VRS. `L1/L2` · `L1/L5` · `L1/L2/L5`
`qzs`	enum	PPP, PPP-RTK, VRS	QZS frequency pair selection. `L1/L5` · `L1/L2` · `L1/L5/L2`
`galileo`	enum	PPP, PPP-RTK, VRS	Galileo frequency pair selection. `E1/E5a` · `E1/E5b` · `E1/E6` · `E1/E5a/E5b/E6` · `E1/E5a/E6/E5b`
`bds2`	enum	PPP, PPP-RTK, VRS	BDS-2 frequency pair selection. `B1I/B3I` · `B1I/B2I` · `B1I/B3I/B2I`
`bds3`	enum	PPP, PPP-RTK, VRS	BDS-3 frequency pair selection. `B1I/B3I` · `B1I/B2a` · `B1I/B3I/B2a`

Positioning — MADOCA¶

TOML section: [positioning.madoca]

TOML Key	Type	Modes	Description
`iono_correction`	boolean	PPP	Enable ionospheric correction in MADOCA-PPP processing.

Positioning — CLAS¶

TOML section: [positioning.clas]

TOML Key	Type	Modes	Description
`grid_selection_radius`	integer	PPP-RTK, VRS	CLAS grid search radius (m). Controls how far from the rover to search for grid-based tropospheric/ionospheric corrections.
`receiver_type`	string	PPP-RTK, VRS	Rover receiver type identifier. Used for ISB (inter-system bias) table lookup.
`enhanced_spp_seed`	enum	PPP-RTK	Enhanced SPP seed for CLAS PPP-RTK reconvergence. Selects the code / Doppler QC stack used to seed the float filter after outages (opt-in; the default base seed uses C/N0 + TDCP). `off` · `cn0+tdcp` · `cn0+tdcp+robust`

Positioning — CLAS Ambiguities¶

TOML section: [positioning.clas.ambiguities]

TOML Key	Type	Modes	Description
`phase_shift`	enum	PPP-RTK, VRS	Phase cycle shift correction. Corrects quarter-cycle shifts between systems. `off` · `table`
`isb`	boolean	PPP-RTK, VRS	Inter-system bias estimation mode.
`reference_type`	string	PPP-RTK, VRS	Reference station receiver type for ISB table lookup.

Positioning — CLAS Resilience¶

TOML section: [positioning.clas.resilience]

TOML Key	Type	Modes	Description
`max_obs_loss`	float	PPP-RTK	Maximum observation gap duration before filter reset (s).
`float_count`	integer	PPP-RTK, VRS	Number of float epochs before triggering filter reset.
`l6_merge`	integer	PPP-RTK, VRS	L6 message merge mode for CLAS corrections.
`reset_interval`	integer	PPP-RTK, VRS	Regular filter reset interval (s). 0 = disabled.

Positioning — CLAS Adaptive Filter¶

TOML section: [positioning.clas.adaptive_filter]

TOML Key	Type	Modes	Description
`enabled`	boolean	PPP-RTK, VRS	Enable adaptive Kalman filter process noise scaling.
`iono_forgetting`	float	PPP-RTK, VRS	Forgetting factor for ionospheric state (0–1). Lower = faster adaptation.
`iono_gain`	float	PPP-RTK, VRS	Adaptive gain for ionospheric process noise adjustment.
`pva_forgetting`	float	PPP-RTK, VRS	Forgetting factor for position/velocity/acceleration states (0–1).
`pva_gain`	float	PPP-RTK, VRS	Adaptive gain for PVA process noise adjustment.

Ambiguity Resolution¶

TOML section: [ambiguity_resolution]

TOML Key	Type	Modes	Description
`mode`	enum	RTK, PPP, PPP-RTK, VRS	Ambiguity resolution strategy. `off` · `continuous` · `instantaneous` · `fix-and-hold`
`gps_ar`	boolean	RTK	GPS AR mode for GLONASS fix-and-hold second pass.
`glonass_ar`	enum	RTK	GLONASS ambiguity resolution mode. `off` · `on`
`bds_ar`	boolean	RTK, PPP-RTK	BDS ambiguity resolution enable/disable.
`qzs_ar`	boolean	PPP-RTK, VRS	QZS ambiguity resolution mode.
`systems`	integer	PPP	Constellation bitmask for AR. Limits which systems participate in integer ambiguity resolution.

Ambiguity Resolution — Thresholds¶

TOML section: [ambiguity_resolution.thresholds]

TOML Key	Type	Modes	Description
`ratio`	float	RTK, PPP, PPP-RTK, VRS	LAMBDA ratio test threshold (2nd-best / best). Typical value: 3.0.
`ratio1`	float	RTK, PPP, PPP-RTK	Secondary AR threshold. In MADOCA-PPP: max 3D position std-dev to start narrow-lane AR.
`ratio5`	float	RTK	Adaptive lower clamp for the AR ratio threshold.
`ratio6`	float	RTK	Adaptive upper clamp for the AR ratio threshold.
`alpha`	enum	PPP-RTK, VRS	AR significance level (ILS success rate). `0.1%` · `0.5%` · `1%` · `5%` · `10%` · `20%`
`elevation_mask`	float	RTK, PPP-RTK, VRS	Minimum satellite elevation for AR participation (degrees).
`hold_elevation`	float	RTK, PPP-RTK, VRS	Minimum satellite elevation for fix-and-hold constraint application (degrees).
`max_pdop_ar`	float	PPP-RTK, VRS	Maximum PDOP for attempting ambiguity resolution. 0 = no limit.
`max_pdop_hold`	float	PPP-RTK, VRS	Maximum PDOP for applying the fix-and-hold constraint. 0 = no limit.
`reference_dop`	enum	PPP-RTK, VRS	Reference DOP formulation used for AR validation. `zd` · `sd`

Ambiguity Resolution — Counters¶

TOML section: [ambiguity_resolution.counters]

TOML Key	Type	Modes	Description
`lock_count`	integer	RTK, PPP-RTK, VRS	Minimum continuous lock count before a satellite participates in AR.
`min_fix`	integer	RTK, PPP-RTK	Minimum fix epochs before applying fix-and-hold constraint.
`max_iterations`	integer	PPP	Maximum LAMBDA search iterations per epoch.
`out_count`	integer	RTK, PPP-RTK, VRS	Reset ambiguity after this many continuous outage epochs.

Ambiguity Resolution — Partial AR¶

TOML section: [ambiguity_resolution.partial_ar]

TOML Key	Type	Modes	Description
`min_ambiguities`	integer	PPP-RTK, VRS	Minimum number of ambiguities required for partial AR attempt.
`max_excluded_sats`	integer	PPP-RTK, VRS	Maximum satellites to exclude during partial AR satellite rotation.
`min_fix_sats`	integer	RTK, PPP-RTK	Minimum DD pairs required for a valid fix. 0 = disabled.
`min_drop_sats`	integer	RTK	Minimum DD pairs before excluding the weakest satellite in partial AR. 0 = disabled.
`min_hold_sats`	integer	RTK	Minimum DD pairs for fix-and-hold mode activation. 0 = no minimum.
`ar_filter`	boolean	RTK, PPP-RTK	Exclude newly-locked satellites that degrade the AR ratio.

Ambiguity Resolution — Hold¶

TOML section: [ambiguity_resolution.hold]

TOML Key	Type	Modes	Description
`variance`	float	PPP-RTK, VRS	Variance of held ambiguity pseudo-observation (cyc²). Controls how tightly held ambiguities constrain the filter.

Rejection Criteria¶

TOML section: [rejection]

TOML Key	Type	Modes	Description
`innovation`	float	RTK, PPP	Innovation (pre-fit residual) threshold (m). Observations exceeding this are rejected.
`l1_l2_residual`	float	PPP-RTK, VRS	L1/L2 residual rejection threshold (σ).
`dispersive`	float	PPP-RTK, VRS	Dispersive (ionospheric) residual rejection threshold (σ).
`non_dispersive`	float	PPP-RTK, VRS	Non-dispersive (geometric) residual rejection threshold (σ).
`hold_chi_square`	float	PPP-RTK, VRS	Chi-square threshold for hold-mode outlier detection.
`fix_chi_square`	float	PPP-RTK, VRS	Chi-square threshold for fix-mode outlier detection.
`spp_residual`	float	SPP	SPP pseudorange residual rejection threshold (m) used by RAIM FDE.
`spp_min_sats`	integer	SPP	Minimum number of satellites SPP RAIM FDE retains before it stops excluding outliers.
`gdop`	float	All	Maximum GDOP for valid solution output.
`pseudorange_diff`	float	VRS	Pseudorange consistency check threshold (m). Rejects satellites with large code-phase disagreement.
`position_error_count`	integer	VRS	Number of consecutive position error epochs before filter reset.

Slip Detection¶

TOML section: [slip_detection]

TOML Key	Type	Modes	Description
`threshold`	float	RTK, PPP, PPP-RTK, VRS	Geometry-free (LG) cycle slip detection threshold (m).
`doppler`	float	RTK, PPP, PPP-RTK	Doppler-phase rate cycle slip detection threshold (cyc/s). 0 = disabled.

Kalman Filter¶

TOML section: [kalman_filter]

TOML Key	Type	Modes	Description
`iterations`	integer	RTK, PPP, PPP-RTK, VRS	Number of measurement update iterations per epoch. More iterations improve linearization accuracy.

Kalman Filter — Measurement Error¶

TOML section: [kalman_filter.measurement_error]

TOML Key	Type	Modes	Description
`code_phase_ratio_L1`	float	All	Code/phase measurement error ratio for L1. Code error = phase error × ratio. Typical: 100.
`code_phase_ratio_L2`	float	All	Code/phase measurement error ratio for L2.
`code_phase_ratio_L5`	float	All	Code/phase measurement error ratio for L5.
`phase`	float	All	Base carrier phase measurement error (m). Used in elevation-dependent weighting: error = phase + phase_elevation / sin(el).
`phase_elevation`	float	All	Elevation-dependent carrier phase error coefficient (m).
`phase_baseline`	float	RTK	Baseline-length-dependent phase error (m/10km). Proportional to rover–base distance.
`doppler`	float	All	Doppler measurement error (Hz).
`snr_max`	float	SPP, RTK	C/N0 at which the SNR-based measurement weighting model saturates (dBHz). Used when C/N0 weighting is enabled.
`snr_error`	float	SPP, RTK	Carrier phase measurement error at the SNR-weighting reference level (m).
`ionosphere`	float	PPP-RTK	Additional ionosphere estimation-error term in the CLAS measurement variance model (m). Active when ionosphere estimation is enabled.
`troposphere`	float	PPP-RTK	Additional troposphere estimation-error term in the CLAS measurement variance model (m). Active when troposphere estimation is enabled.
`ura_ratio`	float	PPP	User Range Accuracy scaling ratio. Adjusts satellite-specific weighting based on broadcast URA.

Kalman Filter — Initial Std. Deviation¶

TOML section: [kalman_filter.initial_std]

TOML Key	Type	Modes	Description
`bias`	float	RTK, PPP, PPP-RTK, VRS	Initial standard deviation for carrier phase bias states (m).
`ionosphere`	float	PPP-RTK, VRS	Initial standard deviation for ionospheric delay states (m).
`troposphere`	float	RTK, PPP-RTK, VRS	Initial standard deviation for tropospheric delay states (m).

Kalman Filter — Process Noise¶

TOML section: [kalman_filter.process_noise]

TOML Key	Type	Modes	Description
`bias`	float	RTK, PPP, PPP-RTK, VRS	Process noise for carrier phase bias states (m/√s).
`ionosphere`	float	PPP-RTK, VRS	Process noise for ionospheric delay states (m/√s).
`iono_max`	float	PPP-RTK, VRS	Maximum ionospheric process noise clamp (m). Prevents excessive iono state growth.
`troposphere`	float	PPP, PPP-RTK, VRS	Process noise for tropospheric delay states (m/√s).
`accel_h`	float	All	Horizontal acceleration process noise (m/s²). Active when `dynamics = true`.
`accel_v`	float	All	Vertical acceleration process noise (m/s²). Active when `dynamics = true`.
`position_h`	float	PPP-RTK, VRS	Horizontal position process noise (m).
`position_v`	float	PPP-RTK, VRS	Vertical position process noise (m).
`position`	float	PPP	General position process noise for static PPP states (m).
`ifb`	float	PPP	Inter-frequency bias process noise (m). For multi-frequency PPP bias estimation.
`iono_time_const`	float	PPP-RTK, VRS	Ionospheric time constant (s). Controls iono state temporal correlation in the adaptive filter.
`clock_stability`	float	RTK, VRS	Receiver clock stability (s/s). Used in clock state prediction.

Input — RINEX¶

TOML section: [input.rinex]

TOML Key	Type	Modes	Description
`option_1`	string	All	RINEX conversion option string for rover stream.
`option_2`	string	All	RINEX conversion option string for base stream.

Input — RTCM¶

TOML section: [input.rtcm]

TOML Key	Type	Modes	Description
`options`	string	RT, PP	RTCM decoder option string.

Input — SBAS¶

TOML section: [input.sbas]

TOML Key	Type	Modes	Description
`satellite`	integer	RT, PP	SBAS satellite selection.

Antenna — Rover¶

TOML section: [antenna.rover]

TOML Key	Type	Modes	Description
`position_type`	enum	All	Rover position input type. `llh` · `xyz` · `single` · `posfile` · `rinexhead` · `rtcm` · `raw`
`position_1`	float	All	Rover position coordinate 1 (latitude or X, depending on `position_type`).
`position_2`	float	All	Rover position coordinate 2 (longitude or Y).
`position_3`	float	All	Rover position coordinate 3 (height or Z).
`type`	string	RTK, PPP, PPP-RTK, VRS	Rover antenna type (must match ANTEX file entry). `*` = use RINEX header.
`delta_e`	float	RTK, PPP, PPP-RTK, VRS	Rover antenna delta East offset (m).
`delta_n`	float	RTK, PPP, PPP-RTK, VRS	Rover antenna delta North offset (m).
`delta_u`	float	RTK, PPP, PPP-RTK, VRS	Rover antenna delta Up offset (m).

Antenna — Base¶

TOML section: [antenna.base]

TOML Key	Type	Modes	Description
`position_type`	enum	RTK, VRS	Base station position input type. `llh` · `xyz` · `single` · `posfile` · `rinexhead` · `rtcm` · `raw`
`position_1`	float	RTK, VRS	Base position coordinate 1.
`position_2`	float	RTK, VRS	Base position coordinate 2.
`position_3`	float	RTK, VRS	Base position coordinate 3.
`type`	string	RTK, VRS	Base antenna type.
`delta_e`	float	RTK, VRS	Base antenna delta East offset (m).
`delta_n`	float	RTK, VRS	Base antenna delta North offset (m).
`delta_u`	float	RTK, VRS	Base antenna delta Up offset (m).
`max_average_epochs`	integer	RT	Maximum epochs for base position averaging in real-time mode.
`init_reset`	boolean	RT	Reset base position averaging on restart.

Output¶

TOML section: [output]

TOML Key	Type	Modes	Description
`format`	enum	All	Solution output format. `llh` · `xyz` · `enu` · `nmea`
`header`	boolean	All	Output header line with option summary.
`options`	boolean	All	Output processing options in header.
`velocity`	boolean	All	Include velocity in solution output.
`time_system`	enum	All	Time system for output. `gpst` · `utc` · `jst`
`time_format`	enum	All	Time format. `tow` · `hms`
`time_decimals`	integer	All	Number of decimal digits for time output.
`coordinate_format`	enum	All	Coordinate format. `deg` · `dms`
`field_separator`	string	All	Field separator character for output.
`single_output`	boolean	All	Output SPP solution alongside fixed solution.
`max_solution_std`	float	All	Maximum solution standard deviation for output (m). Solutions exceeding this are suppressed.
`height_type`	enum	All	Height output type. `ellipsoidal` · `geodetic`
`geoid_model`	enum	All	Geoid model for geodetic height conversion. `internal` · `egm96` · `egm08_2.5` · `egm08_1` · `gsi2000`
`static_solution`	enum	PP	Static mode output control. `all` · `single`
`nmea_interval_1`	float	All	NMEA GGA/RMC output interval (s).
`nmea_interval_2`	float	All	NMEA GSA/GSV output interval (s).
`solution_status`	enum	PP	Solution status output level. `off` · `state` · `residual`

Files¶

TOML section: [files]

TOML Key	Type	Modes	Description
`satellite_atx`	string	All	Satellite antenna ANTEX file. Required for satellite antenna PCV correction.
`receiver_atx`	string	RTK, PPP, PPP-RTK, VRS	Receiver antenna ANTEX file. Required for receiver antenna PCV correction.
`station_pos`	string	All	Station position file for fixed/known positions.
`geoid`	string	All	Geoid data file for geodetic height conversion.
`ionosphere`	string	All	IONEX ionosphere map file. Used when `ionosphere = ionex-tec`.
`dcb`	string	PPP	Differential code bias file.
`eop`	string	PPP, PPP-RTK	Earth orientation parameter file for precise coordinate frame.
`ocean_loading`	string	PPP, PPP-RTK	BLQ ocean tide loading file. Required when `tidal_correction` includes OTL.
`temp_dir`	string	All	Temporary directory for intermediate files.
`trace`	string	All	Debug trace output file path.
`fcb`	string	PPP	Fractional cycle bias file for PPP-AR.
`bias_sinex`	string	PPP	Bias SINEX file for PPP satellite bias correction.
`cssr_grid`	string	PPP-RTK, VRS	CLAS CSSR grid definition file. Required for CLAS grid-based corrections.
`isb_table`	string	PPP-RTK, VRS	Inter-system bias correction table file.
`phase_cycle`	string	PPP-RTK, VRS	Phase cycle shift correction table file.
`cmd_file_1`	string	RT	Receiver command file for input stream 1.
`cmd_file_2`	string	RT	Receiver command file for input stream 2.
`cmd_file_3`	string	RT	Receiver command file for input stream 3.

Server Runtime (rtkrcv)¶

TOML section: [server]

TOML Key	Type	Modes	Description
`cycle_ms`	integer	RT	Server main loop cycle interval (ms). Controls processing rate.
`timeout_ms`	integer	RT	Stream read timeout (ms). After timeout, stream is considered disconnected.
`reconnect_ms`	integer	RT	Stream reconnection interval (ms) after disconnect.
`nmea_cycle_ms`	integer	RT	NMEA request transmission cycle (ms) for NTRIP caster position updates.
`buffer_size`	integer	RT	Stream input buffer size (bytes).
`nav_msg_select`	string	RT	Navigation message type selection for multi-source environments.
`proxy`	string	RT	HTTP proxy address for NTRIP connections.
`swap_margin`	integer	RT	File swap margin (s) for continuous logging across file boundaries.
`start_cmd`	string	RT	Shell command executed on server start.
`stop_cmd`	string	RT	Shell command executed on server stop.

Streams¶

TOML section: [streams] — Real-time only (mrtk run / rtkrcv)

Stream configuration uses a hierarchical structure:

TOML

[streams.input.rover]
type = "serial"
path = "ttyACM0:115200"
format = "ubx"

[streams.input.correction]
type = "file"
path = "correction.l6::T::+1"
format = "clas"

[streams.output.stream1]
type = "file"
path = "output.pos"

[streams.log.stream1]
type = "file"
path = "rover.log"

Key	Type	Description
`type`	string	Stream type: `serial` · `file` · `tcpsvr` · `tcpcli` · `ntrip` · `off`
`path`	string	Stream path (serial device, file path, or URL)
`format`	string	Data format: `rtcm3` · `ubx` · `sbf` · `binex` · `rinex` · `clas` · `l6e`
`nmeareq`	boolean	Send NMEA position request to stream
`nmealat`	float	NMEA request latitude (degrees)
`nmealon`	float	NMEA request longitude (degrees)
`nmeahgt`	float	NMEA request height (m)

Console (rtkrcv)¶

TOML section: [console] — Real-time only (mrtk run / rtkrcv)

Interactive rtkrcv console (telnet) settings.

TOML Key	Type	Modes	Description
`passwd`	string	RT	Console login password.
`timetype`	enum	RT	Console time display. `gpst` · `utc` · `jst` · `tow`
`soltype`	enum	RT	Console solution display format. `dms` · `deg` · `xyz` · `enu` · `pyl`
`solflag`	flag	RT	Console solution status flags (std / age / ratio / ns).