Hi, I am trying to get <10cm accuracy GPS position with the help of RTKLib in kinematic mode.I have set up a rover using Trimble Bullet III antenna.Both the rover and the base station use Skytraq S1315F-Raw module at 10Hz. As soon as I start RTKNavi the plot moves around for some time and then stabilizes with a fix solution at a fixed point(within 20 cm).Now,if I move the rover around,I get a corresponding respose from RtkLib too.So far,so good. However,if I stop and start rtknavi again,it stabilizes with a fix at a new position even if the rover is at the same place.I have attached herewith my configuration file that I am currently using. Can anyone please tell me what I am doing wrong?
Regards Nidhi
# RTKNAVI options (2013/03/13 10:05:10, v.2.4.1) pos1-posmode =kinematic # (0:single,1:dgps,2:kinematic,3:static,4:movingbase,5:fixed,6:ppp-kine,7:ppp-static) pos1-frequency =l1 # (1:l1,2:l1+l2,3:l1+l2+l5,4:l1+l2+l5+l6,5:l1+l2+l5+l6+l7) pos1-soltype =forward # (0:forward,1:backward,2:combined) pos1-elmask =15 # (deg) pos1-snrmask =0 # (dBHz) pos1-dynamics =off # (0:off,1:on) pos1-tidecorr =off # (0:off,1:on) pos1-ionoopt =brdc # (0:off,1:brdc,2:sbas,3:dual-freq,4:est-stec,5:ionex-tec,6:qzs-brdc,7:qzs-lex,8:vtec_sf,9:vtec_ef,10:gtec) pos1-tropopt =saas # (0:off,1:saas,2:sbas,3:est-ztd,4:est-ztdgrad) pos1-sateph =brdc # (0:brdc,1:precise,2:brdc+sbas,3:brdc+ssrapc,4:brdc+ssrcom) pos1-exclsats = # (prn ...) pos1-navsys =1 # (1:gps+2:sbas+4:glo+8:gal+16:qzs+32:comp) pos2-armode =fix-and-hold # (0:off,1:continuous,2:instantaneous,3:fix-and-hold) pos2-gloarmode =off # (0:off,1:on,2:autocal) pos2-arthres =3 pos2-arlockcnt =0 pos2-arelmask =0 # (deg) pos2-arminfix =10 pos2-elmaskhold =0 # (deg) pos2-aroutcnt =5 pos2-maxage =30 # (s) pos2-slipthres =0.05 # (m) pos2-rejionno =30 # (m) pos2-rejgdop =30 pos2-niter =1 pos2-baselen =0 # (m) pos2-basesig =0 # (m) out-solformat =llh # (0:llh,1:xyz,2:enu,3:nmea) out-outhead =off # (0:off,1:on) out-outopt =off # (0:off,1:on) out-timesys =gpst # (0:gpst,1:utc,2:jst) out-timeform =hms # (0:tow,1:hms) out-timendec =3 out-degform =deg # (0:deg,1:dms) out-fieldsep = out-height =ellipsoidal # (0:ellipsoidal,1:geodetic) out-geoid =internal # (0:internal,1:egm96,2:egm08_2.5,3:egm08_1,4:gsi2000) out-solstatic =all # (0:all,1:single) out-nmeaintv1 =0 # (s) out-nmeaintv2 =0 # (s) out-outstat =off # (0:off,1:state,2:residual) stats-eratio1 =100 stats-eratio2 =100 stats-errphase =0.015 # (m) stats-errphaseel =0.015 # (m) stats-errphasebl =0 # (m/10km) stats-errdoppler =1 # (Hz) stats-stdbias =30 # (m) stats-stdiono =0.03 # (m) stats-stdtrop =0.3 # (m) stats-prnaccelh =10 # (m/s^2) stats-prnaccelv =10 # (m/s^2) stats-prnbias =0.0001 # (m) stats-prniono =0.001 # (m) stats-prntrop =0.0001 # (m) stats-clkstab =5e-12 # (s/s) ant1-postype =llh # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm) ant1-pos1 =90 # (deg|m) ant1-pos2 =0 # (deg|m) ant1-pos3 =-6335367.6285 # (m|m) ant1-anttype = ant1-antdele =0 # (m) ant1-antdeln =0 # (m) ant1-antdelu =0 # (m) ant2-postype =llh # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm) ant2-pos1 =19.1140522499991 # (deg|m) ant2-pos2 =72.88069805 # (deg|m) ant2-pos3 =-42.5100000006114 # (m|m) ant2-anttype = ant2-antdele =0 # (m) ant2-antdeln =0 # (m) ant2-antdelu =0 # (m) misc-timeinterp =off # (0:off,1:on) misc-sbasatsel =0 # (0:all) file-satantfile = file-rcvantfile = file-staposfile = file-geoidfile = file-ionofile = file-dcbfile = file-tempdir =C:\Temp file-geexefile = file-solstatfile = file-tracefile = # inpstr1-type =serial # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http) inpstr2-type =serial # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http) inpstr3-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http) inpstr1-path =COM5:115200:8:n:1:off inpstr2-path =COM13:115200:8:n:1:off inpstr3-path = inpstr1-format =skytraq # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,15:sp3) inpstr2-format =skytraq # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,15:sp3) inpstr3-format =rtcm2 # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,15:sp3) inpstr2-nmeareq =off # (0:off,1:latlon,2:single) inpstr2-nmealat =0 # (deg) inpstr2-nmealon =0 # (deg) outstr1-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr) outstr2-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr) outstr1-path = outstr2-path = outstr1-format =llh # (0:llh,1:xyz,2:enu,3:nmea) outstr2-format =llh # (0:llh,1:xyz,2:enu,3:nmea) logstr1-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr) logstr2-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr) logstr3-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr) logstr1-path = logstr2-path = logstr3-path = misc-svrcycle =10 # (ms) misc-timeout =10000 # (ms) misc-reconnect =10000 # (ms) misc-nmeacycle =5000 # (ms) misc-buffsize =32768 # (bytes) misc-navmsgsel =all # (0:all,1:rover,2:base,3:corr) misc-proxyaddr = misc-fswapmargin =30 # (s)
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