RTKLIB: ver.2.3.0 Release Notes
                                                                      2009/12/17
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Supported Receivers and Data Messages


(1) RTCM 2.3 (http://www.rtcm.org/)

  Type 1, 3, 9, 14, 16, 17, 18, 19, 22

(2) RTCM 3.0/3.1 (http://www.rtcm.org/)

  Type 1002, 1004, 1005, 1006, 1010, 1012, 1019, 1020

(3) NovAtel OEM4/V (http://www.novatel.com/)

  RANGEB, RANGECMPB, RAWEPHEMB, IONUTCB, RAWWAASFRAMEB, GLOEPHEMERISB

(4) NovAtel OEM3 (Millennium) (http://www.novatel.com/)

  RGEB, RGED, REPB, IONB, UTCB, FRMB

(5) u-blox LEA-4T (AEK-4T)/LEA-5T (EVK-5T) (http://u-blox.com/)

  RXMRAW, RXMSFRB

(6) NovAtel Superstar II (http://www.novatel.com/)

  ID#20, ID#21, ID#22, ID#23, ID#67

(7) Hemisphere Crescent (http://www.hemispheregps.com/)

  bin 80, bin 94, bin 95, bin 96

(8) SkyTraq S1315F (http://www.hemispheregps.com/)

  msg 0xDD, 0xE0, 0xDC

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Changes: ver.2.2.2 -> ver.2.3.0

(1) The following patches for ver.2.2.2 are included.
  (a) rtklib_2.2.2_p1
  (b) rtklib_2.2.2_p2
  (c) rtklib_2.2.2_p3

(2) The following problems are fixed.
  (a) No.25 Improper row height of string-grid with non-standard DPI font scale
  (b) No.26 Improper antenna correction when Antenna Type is blank
  (c) No.30 Inverted Polarity of Doppler Frequency in NovAtel OEM3 REGD

(3) The following APIs are added, deleted or changed.
  (a) added
    readnav(), savenav(), tracegnav(), tracepeph(), satwavelen(), opengeoid(),
    closegeoid(), outrnxgnavh(), outrnxgnavb(), input_stq(), input_stqf(),
    gen_ubx(), gen_stq(), rtkopenstat(), rtkclosestat(), readsolstat(),
    strsendnmea(), strsendcmd() 
  
  (b) deleted
    none
  
  (c) changed
    pntpos(), convrnx()

(4) The following source codes are added.
  rcv/skytraq.c

(5) RTKNAVI
  (a) GLONASS and GPS/GLONASS combined RTK are supported
  (b) "Baseline" display mode is added
  (c) Multiple TCP client connection is supported for TCP server of Output/Log stream
  (d) Keyword replacement is supported for File of Output/Log stream
  (e) Vertical solution plot is added to RTK Map
  (f) "GLONASS Nav" is adde to RTK Monitor
  (g) "Fix and Hold" mode for ambiguity resolution is supported
  (h) Receiver Dyamics is supported
  (i) "Fixed" selection as "Positioning Mode" is added in "Options"-"Setting1" dialog
  (j) "Receiver Dynamics" option is added in "Options"-"Setting1" dialog
  (k) "Navi Sys" option is added in "Options"-"Setting1" dialog
  (l) "Fix and Hold" selection as "Integer Ambiguity Resolution" is added in "Options"-"Setting2" dialog
  (m) "GLONASS Ambiguity Resolution" option is added in "Options"-"Setting2" dialog
  (o) "Baseline Length Constraint" options are added in "Options"-"Setting2" dialog
  (p) "# of Decimals" option is added in "Options"-"Output" dialog
  (q) "Geoid Model" options are added in "Options"-"Output" dialog
  (r) "Output Solution Status" option is added in "Options"-"Output" dialog
  (s) "Meas Errors of Doppler Frequency" option is added in "Options"-"Statistics" dialog
  (t) "Process Noise of Receiver Accel Horiz/Vertical" option is added in "Options"-"Statistics" dialog
  (u) "Rover Position" can be set in "Options"-"Postions" dialog if "Fixed" is selected as "Positioning Mode"
  (v) "Geoid Data File" option is added in "Options"-"Files"
  (w) SkyTraq S1315F receiver is supported.
  (x) Hemisphere Eclipse receiver is supported.
  (y) Binary commands for ublox and SkyTraq are supported for startup/shutdown commands.
  (z) RTCM 3.1 type 1010, 1012, 1020 messages are supported.
  (aa) NovAtel OEMV GLOEPHEMERISB message is supported.
  (ab) GLONASS measurement data in NovAtel OEMV RANGEB and RANGECMPB are supported.

(6) RTKRCV
  (a) A console version real-time positining AP is added for Linux or other environments.

(7) RTKPOST/RTKPOST_MKL
  (a) GLONASS and GPS/GLONASS combined positioning are supported
  (b) "Fix and Hold" mode for ambiguity resolution is supported
  (c) Receiver Dyamics is supported
  (d) A Field for GLONASS navigation data is added
  (e) Buttons to view solution status and debug trace are added
  (f) "Fixed" selection as "Positioning Mode" is added in "Options"-"Setting1" dialog
  (g) "Receiver Dynamics" option is added in "Options"-"Setting1" dialog
  (h) "Navi Sys" option is added in "Options"-"Setting1" dialog
  (i) "Fix and Hold" selection as "Integer Ambiguity Resolution" is added in "Options"-"Setting2" dialog
  (j) "GLONASS Ambiguity Resolution" option is added in "Options"-"Setting2" dialog
  (k) "Baseline Length Constraint" options are added in "Options"-"Setting2" dialog
  (l) "# of Decimals" option is added in "Options"-"Output" dialog
  (m) "Geoid Model" options are added in "Options"-"Output" dialog
  (n) "Output Solution Status" option is added in "Options"-"Output" dialog
  (o) "Meas Errors of Doppler Frequency" option is added in "Options"-"Statistics" dialog
  (p) "Process Noise of Receiver Accel Horiz/Vertical" option is added in "Options"-"Statistics" dialog
  (q) "Rover Position" can be set in "Options"-"Postions" dialog if "Fixed" is selected as "Positioning Mode"
  (r) "Geoid Data File" option is added in "Options"-"Files"
  (s) '#' can be used for comment in "Rover List" or "Base Station List" in Options-"Misc" dialog
  (t) Wild-cards in file path of precise ephemeris (SP3) are supported.

(8) RTKCONV
  (a) "RINEX GNAV file" field is added as an output file path
  (b) "Crescent" selection as "Format" option is chaned to "Hemisphere"
  (c) "Receiver Options" field is added in "Options" dialog instead of "Flip Sign (ublox)" option
  (d) SkyTraq S1315F receiver is supported.
  (e) Hemisphere Eclipse receiver is supported.
  (f) RTCM 3.1 type 1010, 1012, 1020 messages are supported.
  (g) NovAtel OEMV GLOEPHEMERISB message is supported.
  (h) GLONASS measurement data in NovAtel OEMV RANGEB and RANGECMPB are supported.

(9) RTKPLOT
  (a) GLONASS observation data plot is supported
  (b) NSat/Age/Ratio plot mode is added for solution plot
  (c) L1/L2 residuals plot mode is added for solution plot
  (d) "Maximum DOP", "Navigation System" and "Excluded Sats" options are added to "Options" dialog.

(10) STRSVR
  (a) Multiple TCP client connection is supported for TCP server of Output stream
  (b) Binary commands for ublox and SkyTraq are supported for startup/shutdown commands.

(11) CONVBIN
  (a) command line options -r stq, -g, are added.
  (b) command line option -r cres is changed to -r hemis
  (c) GLONASS data and RINEX GNAV file are supported.

(12) RNX2RTKP
  (a) GLONASS is supported.
  (b) Command line options -p 4, -h, -a, -l, -x are added.

(13) STR2STR
  (a) A console version stream server AP is supported for Linux or other environments.



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