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RTKLIB: Release Notes | 2011/06/10 |

RTKLIB ver.2.4.1 Release Notes

New Features in ver.2.4.1

> (1) Support Javad (JNS) receiver, Furuno GW10 receiver
> (2) Support QZSS and enable Galileo (Galileo is not yet formally supported)
> (3) Support background image overlay for solution plots in RTKPLOT
> (4) Support IONEX TEC grid for ionosphere correction
> (5) Support multiple-session RINEX conversion in RTKCONV

Supported RTCM and Receivers' Proprietary Messages

RTCM version /Receiver | Data Message Types
GPS/QZS Raw Meas Data | GLONASS Raw Meas | GPS/QZS Ephemeris | GLONASS Ephemeris | ION/UTC Parameters | Antenna Info | SBAS Messages | Others
RTCM v.2.3 (1) | Type 18, 19 | Type 18, 19 | Type 17 | - | - | Type 3, 22 | - | Type 1, 9, 14, 16
RTCM v.3.1 (1) | Type 1002, 1004 | Type 1010, 1012 | Type 1019 | Type 1020 | - | Type 1005, 1006, 1007, 1008, 1033 | - | SSR corrections (9)
NovAtel OEM4/V, OEMStar (2) | RANGEB, RANGECMPB | RANGEB, RANGECMPB | RAWEPHEMB | GLO- EPHEMERISB | IONUTCB | - | RAWWAAS- FRAMEB | -
NovAtel OEM3 (2) | RGEB, RGED | - | REPB | - | IONB, UTCB | - | FRMB | -
NovAtel Superstar II (2) | ID#23 | - | ID#22 | - | - | - | ID#67 | ID#20, #21 (8)
JAVAD (10) GRIL/GRIES | [rc][cp][DC][CE][TC] [1r][1p][1E] [2r][2p][2d][2E] [5r][5p][5d][5E] [3r][3p][c3] | [rc][cp][DC][CE][TC] [1r][1p][1E] [2r][2p][2d][2E] | [GE][QE] | [NE] | - | - | [WD] | [~~][RD] [ST][NN]
u-blox LEA-4T, (3) 5T, 6T(3) (5) | UBX RXM-RAW | - | UBX RXM-SFRB | - | UBX RXM-SFRB | - | UBX RXM-SFRB | -
Hemisphere Crescent, Eclipse (4) | bin 96, bin 76 | - | bin 95 | - | bin 94 | - | bin 80 | -
Furuno (11) GW-10-II/III | msg 0x08 | - | msg 0x27 | - | msg 0x27 | - | msg 0x27 | msg 0x20 (8)
SkyTraq S1315F (6) (7) | msg 0xDD (221) | - | msg 0xE0 (224) | - | msg 0xE0 (224) | - | - | msg 0xDC (220) (8)

(1) http://www.rtcm.org/ (2) http://www.novatel.com/ (3) http://u-blox.com/ (4) http://www.hemispheregps.com/ (5) F/W 6.02
(6) http://www.skytraq.com.tw/ (7) F/W 1.8.23-091106 or later (8) need the messages to get the measurement time for other messages
(9) Type 1057, 1058, 1059, 1060, 1061, 1062, 1063, 1064, 1065, 1066, 1067, 1068 (based on 2010-4-12 version draft)(10) http://www.javad.com
(11) http://www.furuno.com

Supported RINEX Files

RINEX Version | Observation Data | Navigation Messages | Met. | Clock
GPS | GLO | GAL | QZSS | CMP | SBAS | GPS | GLO | GAL | QZSS | CMP | SBAS
2.10, 2.11, 2.12 | O | O | O | O* | - | O | N | G | L* | J* | - | H | - | -
3.00 | O | O | O | O* | - | O | N | N | N | N* | - | N | - | C**

O, N, G, H, C, L: RINEX file type, GLO: GLONASS, GAL: Galileo, CMP: Compass, * extension, ** read only, - not supported
RINEX QZSS Extensions are based on JAXA proposal (2010-8-4 version draft)

Changes: ver.2.4.0 -> ver.2.4.1

(1) The following patches for ver.2.4.0 are included.

> rtklib_2.4.0_p1, rtklib_2.4.0_p2, rtklib_2.4.0_p3, rtklib_2.4.0_p4, rtklib_2.4.0_p5, rtklib_2.4.0_p6, rtklib_2.4.0_p7, rtklib_2.4.0_p8, rtklib_2.4.0_p9

(2) The following problems are fixed.

> (a) No.50 Program freezes with BeagleBoard and u-blox receiver
> (b) No.53 Time synchronization problem between the rover and the base station
> (c) No.55 Real-time PPP is not enabled with products.igs-ip.net/CLK80
> (d) No.58 RTKNAVI crashes due to MKL library
> (e) No.59 NMEA solution data can not be read and displayed
> (f) No.60 50 Hz or higher rate observation date are not properly analyzed
> (g) No.61 AP running as a TCP server stops if a TCP client stops
> (h) No.62 Sol1-Sol2 difference mode plot does not indicate proper values
> (i) No. 64 A half hour offset of time-tag in converted RINEX OBS files

(3) The following APIs are added, deleted or changed.

> (a) added
> uniqnav(), freeobs(), freenav(), ionppp(), iontec(), readtec(), ionocorr(), tropcorr(), outrnxhnavh(), outrnxlnavh(),
> outrnxqnavh(), outrnxhnavb(), alm2pos(), input_gw10(), input_javad(), input_gw10f(), input_javadf(), freesolstatbuff(),
> strsetproxy()

> (b) deleted
> none

> (c) changed
> readrnx(), readrnxt(), outrnxnavh(), outrnxgnavh(), satpos(), satposs(), decode_frame(), strsvrstart(), rtksvrstart(),
> rtksvrostat()

(4) The following source codes for the library are added.

> ionex.c, rcv/javad.c, rcv/gw10.c

(5) RTKNAVI/RTKNAVI_MKL

> (a) RTKNAVI_MKL AP is added.
> (b) wide-mode satellite signal plots are added
> (c) GW10 and Javad receiver are supported as input stream format
> (d) Input stream receiver option setting is added
> (e) PPP-Fixed mode is added for Positioning Mode option
> (f) Triple frequency (L1+L2+L5) is supported as Frequency option
> (g) IONEX TEC and QZSS Broadcast is supported as Ionosphere Correction
> (h) Inclusion of unhealthy satellite options are supported
> (i) QZSS is supported and Galileo is enabled
> (j) Min Elevation to Hold Ambiguity option is added
> (k) Reject Threshold of GDOP option is added
> (l) HTTP/NTRIP Proxy is supported
> (m) Overlapped file swap is supported
> (n) The following RTK monitor displays are supported: Time/Iono, Iono Correction
> (o) Command line option to select INI file is added

(6) RTKRCV

> (a) The same as (c), (e) - (m) for RTKNAVI

(7) RTKPOST/RTKPOST_MKL

> (a) Output solution directory option is added
> (b) The same as (c), (e) (k), (o) for RTKNAVI

(8) RTKCONV

> (a) QZSS is supported and Galileo is enabled
> (b) Keyword replacement in input file path is supported
> (c) Multiple-session RINEX conversion is supported
> (d) Furuno GW10 and Javad are supported as Input Format
> (e) Output directory option is added
> (f) RINEX file name convention is supported
> (f) "Process..." button to launch RTKPOST is added
> (g) Command line option to select INI file is added

(9) RTKPLOT

> (a) Image map overlay in "Gnd Trk" plot is supported
> (b) Multiple inputs is supported in real-time plot mode
> (c) The following options are supported: Receiver Position, Marker Color 2

(10) STRSVR

> (a) HTTP/NTRIP Proxy is supported
> (b) File swap margin option is added
> (c) Command line option to select INI file is added

(11) CONVBIN

> (a) The following options are added: -ro -hc -hm -hn -ht -ho -hr -ha -hp -hd -y -c -q
> (b) Furuno GW10 and Javad receivers are supported
> (c) QZSS is supported and Galileo is enabled
> (d) Triple frequency (L1+L2+L5) is supported
> (e) RINEX file name convention is supported

(12) RNX2RTKP

> (a) QZSS is supported and Galileo is enabled
> (b) Triple frequency (L1+L2+L5) is supported

(13) STR2STR

> (a) Command line option -f, -l and -x are added

RTKLIB ver.2.4.0 Relase Notes

RTKLIB ver.2.3.0 Release Notes

RTKLIB ver.2.2.2 Release Notes

RTKLIB ver.2.2.1 Release Notes

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