RTK real-time surveying + PPK post-processing in a single web app
Runs on Android (Termux) and Raspberry Pi. No internet required in the field.

RilievoPY is an open-source web application for RTK real-time GNSS surveying and PPK post-processing. It runs entirely on a smartphone (via Termux) or a Raspberry Pi, with no cloud dependency, no subscription, and no proprietary software. The interface is accessible from any browser on the same network.

Designed and field-tested as the software companion to RTKino — a low-cost open-source RTK/PPK GNSS receiver based on ESP32-S3 and u-blox ZED-F9P.

RilievoPY was built from real-world surveying needs, not from a software-first approach.

It has been shaped through practical use in the field, with AI-assisted tools used to support development and speed up implementation.

The focus of this project is function, reliability, and real usability in difficult field conditions.

At the moment the interface is still in Italian language and evolving in its functionalities. I'm working on a i18n UI.

• Live GNSS status with fix type (No Fix / Float / Fixed), position, accuracy, and DOP values
• Real-time satellite count and signal quality monitoring
• SSE-based updates — no page refresh needed, data streams continuously
• RTKino integration — connects directly to RTKino's TCP streamer (port 7856) over WiFi
• TCP Relay — forwards the incoming NMEA/UBX stream to other clients on the same LAN (e.g. GNSS Master, external loggers)
• mDNS for easy access via http://rilievopy.local/ without knowing the IP address

• Create, manage, and export surveys with full point metadata
• Timed point measurement with configurable duration and sampling interval
• Robust averaging with three selectable modes: sigma-clipping, trimmed mean, median
• RTK quality gate with configurable thresholds for horizontal accuracy, PDOP, and satellite count
• Full GNSS snapshot per point: coordinates, accuracy, DOP, covariance, fix type
• Point codes — customizable categories for field annotation (compatible with Italian surveying conventions)
• Export formats: GeoJSON, CSV, DXF, GeoPackage (GPKG), Excel (XLSX)
• Import: CSV, TXT, GeoJSON
• Backup & Restore of surveys and PPK configuration as ZIP archive

Complete set of coordinate geometry calculations:

• Navigate to design points with real-time guidance
• Live distance and azimuth to target, updated via SSE
• Import target points from CSV, GeoJSON, or existing surveys
• Point list management with survey-based organization

• CAD Web — 2D topographic drawing with snap, layers, dimensions, DXF export
• DTM Analysis — TIN Delaunay triangulation, contour lines, volume computation, cross-section profiles
• Traverses — open and closed traverse computation, leveling, area division

Full PPK workflow integrated in the web UI, powered by RTKLIB (RTKLIBExplorer demo5):

PPK features require convbin and rnx2rtkp compiled from RTKLIB. The installer handles this automatically — see Installation.

• Configurable workspace directory — store surveys and PPK data anywhere, including shared storage visible to Android File Manager (~/storage/shared/RilievoPY)
• Copy / migrate data between workspaces without data loss
• Backup and restore surveys + PPK configs as a single ZIP file with manifest

RilievoPY is designed to work with RTKino — an open-source RTK/PPK GNSS receiver built on ESP32-S3 and u-blox ZED-F9P.

Together, RTKino + RilievoPY form a complete, low-cost, open-source RTK surveying system.

Prima di installare RilievoPY su Android, installa le seguenti app da F-Droid (non da Google Play — le versioni Play sono obsolete):

⚠️ Installa sempre da F-Droid, non dal Play Store. Le versioni Play Store di Termux sono vecchie e incompatibili.

ℹ️ Livella digitale IMU — nessuna dipendenza da Termux:API

La livella digitale usa i sensori del browser (DeviceOrientation API) — funziona su Android Chrome, iOS Safari, e anche quando il server è su Raspberry Pi. Non richiede Termux:API per il sensore.

Termux:API è necessaria solo per le notifiche push Android e la vibrazione.

pkg install -y git && git clone https://github.com/flyingsurveyor/rilievopy.git && cd rilievopy && bash install.sh

Lo script install.sh si occupa di tutto in modo interattivo:

• installa le dipendenze Python
• installa gli script widget (se Termux:Widget è presente)

git clone https://github.com/flyingsurveyor/rilievopy.git
cd rilievopy
chmod +x install.sh
./install.sh

The installer is interactive and handles everything:

./install.sh                # Interactive (recommended)
./install.sh --skip-build   # Skip RTKLIB compilation
./install.sh --force-build  # Rebuild RTKLIB without asking

Termux:Widget and Termux:API are not required to use RilievoPY. The app runs and is fully usable via the browser at http://127.0.0.1:8000 (or http://localhost:8000) without them.

Starting without a widget:

cd ~/rilievopy && python app.py

Then open http://127.0.0.1:8000 in any browser on the device.

One-tap start with Termux:Widget (optional convenience):

1. Install Termux:Widget from F-Droid
2. Long-press an empty area on the home screen → Widget → Termux
3. Add rilievo_avvia (start) and rilievo_ferma (stop)

The start widget checks if the app is already running — if yes, it opens the browser directly without restarting.

Push notifications with Termux:API (optional):

Install Termux:API from F-Droid to enable Android push notifications (RTK fix loss alerts), vibration, and text-to-speech. The app works fully without it.

ℹ️ Digital level (IMU) is browser-based — no Termux:API needed for the tilt sensor. It uses the browser's DeviceOrientation API, which works on Android Chrome, iOS Safari, and also when the server runs on Raspberry Pi (the phone is the client with sensors).

The installer offers to install a systemd service for automatic start on boot:

sudo systemctl status rilievo
sudo systemctl restart rilievo
journalctl -u rilievo -f

1. Install from F-Droid (not Google Play — the Play Store versions are outdated):

   • Termux — required
   • Termux:API — recommended (enables push notifications, vibration)
   • Termux:Widget — optional (one-tap start from home screen)

2. Install RilievoPY — paste in Termux:

   pkg install -y git && git clone https://github.com/flyingsurveyor/rilievopy.git && cd rilievopy && bash install.sh

   install.sh will:

   • install Python dependencies
   • install widget scripts (if Termux:Widget is present)

3. During installation:

   • RTKLIB tools: needed only for PPK. Choose Skip for RTK-only field use.
   • geopandas: optional, skip on low-RAM devices.

4. Start the app — either:

   • From Termux: cd ~/rilievopy && python app.py
   • Or with the widget: install Termux:Widget (optional) and tap rilievo_avvia

5. Open the browser at http://127.0.0.1:8000 (or http://localhost:8000).

6. First time only: go to /rtkino and enter the IP address of your RTKino receiver.

1. Start from a fresh Raspberry Pi OS Lite (64-bit).

2. Clone and install:

   git clone https://github.com/flyingsurveyor/rilievopy.git
   cd rilievopy
   chmod +x install.sh
   ./install.sh

3. During installation, choose Build for RTKLIB if you need PPK (takes ~10–15 min on RPi Zero 2W). Choose Yes for systemd service.

4. Find the Pi's IP:

   hostname -I

5. Open http://<rpi-ip>:8000 or http://rilievopy.local/ from any device on the same network.

6. First time only: go to /rtkino and configure the RTKino connection.

RilievoPY supports mDNS for easy access on LAN without knowing the IP address:

• Default: http://rilievopy.local/ (port 8000)
• Configurable from /settings → mDNS Hostname
• Works on Termux and Raspberry Pi — accessible from any device on the same WiFi network

Pair with RTKino:

• http://rtkino.local/ → GNSS receiver
• http://rilievopy.local/ → surveying app

rilievopy/
├── app.py                          # Entry point (Flask + Waitress)
├── install.sh                      # Interactive installer
├── requirements.txt                # flask, pyubx2, waitress, openpyxl, zeroconf
│
├── modules/                        # Business logic (no Flask deps)
│   ├── utils.py                    # Conversions, robust averaging
│   ├── geodesy.py                  # WGS84, ECEF ↔ ENU ↔ Geodetic
│   ├── cogo.py                     # COGO: trilateration, intersections, Helmert
│   ├── dtm.py                      # DTM: TIN Delaunay, contours, volumes, profiles
│   ├── traverses.py                # Traverses: open/closed, leveling, area division
│   ├── state.py                    # Shared state, BytePipe, TCPRelay
│   ├── ubx_parser.py               # UBX parser + upstream TCP
│   ├── connection.py               # GNSS connection manager
│   ├── settings.py                 # Persistent settings (JSON)
│   ├── survey.py                   # Survey CRUD (GeoJSON)
│   ├── exports.py                  # DXF, GeoPackage, XLSX, CSV
│   ├── mdns_service.py             # mDNS via zeroconf
│   ├── ppk_config.py               # PPK paths + binary discovery
│   ├── convbin.py                  # convbin wrapper
│   ├── rnx2rtkp.py                 # rnx2rtkp wrapper
│   ├── rinex_parser.py             # RINEX observation parser
│   ├── pos_parser.py               # .pos solution parser
│   ├── conf_manager.py             # RTKLIB .conf editor
│   └── workspace.py                # Workspace management
│
├── routes/                         # Flask blueprints
│   ├── dashboard.py                # / + /events (SSE)
│   ├── settings.py                 # /settings + workspace + mDNS APIs
│   ├── surveys.py                  # /surveys, exports
│   ├── cogo.py                     # /cogo/*
│   ├── stakeout.py                 # /stakeout
│   ├── compare.py                  # /compare
│   ├── import_export.py            # /import
│   ├── rtkino.py                   # /rtkino (RTKino integration)
│   ├── topo_tools.py               # /cad, /dtm, /traverses
│   └── ppk.py                      # All PPK routes
│
├── templates/                      # Jinja2 HTML templates
├── static/                         # CSS, JS assets
├── conf/                           # Default RTKLIB configs
├── tools/                          # RTKLIB binaries (compiled by installer)
├── scripts/                        # Termux:Widget scripts
│   ├── termux_widget_start.sh      # Start app + open browser
│   └── termux_widget_stop.sh       # Stop app
├── data/                           # PPK working data (gitignored)
└── surveys/                        # RTK surveys + settings (gitignored)

• Without widget: run cd ~/rilievopy && python app.py in Termux, then open http://127.0.0.1:8000 in any browser.
• With Termux:Widget (optional): tap rilievo_avvia to start. The app checks if Flask is already running — if yes, opens the browser directly.
• Tap rilievo_ferma widget (or Ctrl+C in Termux) to stop.
• Log file: rilievopy/rilievo.log

• If systemd service is installed: app starts automatically on every boot.
• Check status: sudo systemctl status rilievo
• View live logs: journalctl -u rilievo -f
• Access from any device on the network: http://<rpi-ip>:8000 or http://rilievopy.local/

Contributions are welcome. Please open an issue before submitting a pull request for significant changes.

This project is licensed under the GNU Affero General Public License v3.0 (AGPL-3.0).

You are free to use, modify, and distribute this software. If you modify it and deploy it as a network service, you must release your source code under the same license.

See LICENSE for the full text.

RilievoPY is not a commercial product. It is provided as-is, without warranty of any kind. The user is solely responsible for validating all measurements and ensuring fitness for their intended application. Do not use this software for safety-critical or legally binding surveys without independent verification.

• Tim Everett / RTKLIBExplorer for maintaining and evolving RTKLIB
• u-blox for the ZED-F9P and its documentation
• pyubx2 by semuconsulting
• Flask and the Pallets project
• Termux for making Linux on Android a reality
• The open-source GNSS community

Made with ❤️ for land surveying

FlyingSurveyor · Italy