Appendix: Solution Output¶

Overview¶

MRTKLIB's positioning solution can be output externally in various forms for use elsewhere. This chapter explains how to configure each output method.

Output is configured in Output 1 (Solution) under Output & Log Streams in the UI. If you want to configure multiple outputs, click the + on the right side of Output & Log Streams to add more output configurations.

Selecting the output method¶

Click Type to select the output method from the dropdown.

Once you select Type, you can enter Path and Format. The Path format differs by output method, so refer to the sections below. You can also view the list of Path formats from the ? icon to the right of the Output & Log Streams heading.

Selecting the output format¶

For Format, select NMEA. The positioning solution is output as NMEA sentences (such as $GPGGA), which most applications can interpret as-is.

File output¶

To output to a file, set Type and Path as follows.

/workspace is mounted from the host's {path to mrtklib-quickstart}/mrtklib-quickstart-data/workspace. In the example filename G5P6%n%H.nmea, G5P6 is the receiver name, %n is the day of year, and %H is the hour code (a=0, b=1, ..., x=23).

Time specifiers¶

In addition to %n and %H, the following specifiers are available.

File splitting¶

The ::S= appended to the end of the path specifies the interval at which the file is split, in hours.

When using splitting, be sure to include a time specifier in the file name. If you don't, each switch will overwrite the file of the same name.

TCP/IP Server output¶

Run MRTKLIB as a TCP server, and connect from another application or device to receive the positioning solution.

For Path, write the port number after :.

Verifying the connection¶

To verify from the same PC, run the following command in PowerShell. If TcpTestSucceeded : True is displayed, the port is reachable.

Test-NetConnection localhost -Port 2101

To connect from another device, specify the IP address of the PC running MRTKLIB instead of localhost. You can check the IP address with the following command.

ipconfig

Note on the scope of exposure¶

Writing an address in Path does not change the scope of exposure. MRTKLIB's TCP Server always listens on all interfaces, regardless of what is written in the path. If you want to restrict it to the same PC only, rewrite the publish setting in scripts\windows\lib\run-container.ps1 as follows.

'-p', "127.0.0.1:${OutPort}:${OutPort}"

Serial (USB) output¶

Stream the positioning solution to an external device via a USB serial converter or similar.

Attaching the output device¶

Just like the receiver, the output device also needs to be attached to WSL.

Connect the output device via USB, then, in an administrator PowerShell (Run PowerShell as administrator), list the connected USB devices.

usbipd list

Check the BUSID of the output device, then share it and attach it to WSL. Replace X-Y with the BUSID you checked.

usbipd bind --busid X-Y
usbipd attach --wsl --busid X-Y

Check the device name on the WSL side.

wsl ls /dev/ttyUSB* /dev/ttyACM*

Common USB serial converters such as FTDI, CP210x, and CH340 appear as something like /dev/ttyUSB0. Use the name you confirmed here in the next step and in the UI configuration.

Adding the device to the container¶

start.bat passes only the single port carrying the receiver's SBF to the container. To pass the output device as well, edit the following line in scripts\windows\lib\run-container.ps1.

$deviceArgs = @('--device', "${sbfDevice}:${ContainerDevice}",
                '--device', '/dev/ttyUSB0:/dev/ttyUSB0')

Replace /dev/ttyUSB0 with the name you confirmed in the previous step.

After editing, run stop.bat, then run start.bat again. The container is recreated, and the added device is passed through.

UI configuration¶

Specify Path in the format device name:baud rate. The leading /dev/ is not needed. Set the baud rate to match the configuration on the output device side.

Detaching at shutdown¶

stop.bat only detaches the receiver (mosaic-G5). The output device you added remains attached to WSL, and stays invisible from Windows.

After running stop.bat, manually detach it in an administrator PowerShell.

usbipd detach --busid X-Y

NTRIP / TCP Client output¶

Send the positioning solution to an external server. Since MRTKLIB initiates the outbound connection, no port publishing is needed.

NTRIP¶

Send the positioning solution to an NTRIP caster.

Example: :mypassword@rtk2go.com:2101/MYMOUNT

TCP Client¶

Connect to any TCP server to send the positioning solution.

Example: 192.168.1.100:2101

If it doesn't work¶

• Troubleshooting