1. options file
option file can be saved from rtknavi.exe 
modify the options file to fit for ubuntu system,remember to change owner and permission of the files：
2.execute rtkrcv in ubuntu
$rtkrcv -o *.conf -s 
3. execute commands
4. command list
/* rtkrcv main -----------------------------------------------------------------
* sysnopsis
* rtkrcv [-s][-p port][-d dev][-o file][-r level][-t level][-sta sta]
*
* description
* A command line version of the real-time positioning AP by rtklib. To start
* or stop RTK server, to configure options or to print solution/status,
* login a console and input commands. As default, /dev/tty is used for the
* console. Use -p option for network login with telnet protocol. To show
* the available commands, type ? or help on the console. With -p option,
* multiple telnet console logins are allowed. The initial processing options
* are loaded from default file rtkrcv.conf. To change the file, use -o
* option. To configure the processing options, edit the options file or use
* set, load or save command on the console. To shutdown the program, use
* shutdown command on the console or send USR2 signal to the process.
*
* option
* -s start RTK server on program startup
* -p port port number for telnet console
* -m port port number for monitor stream
* -d dev terminal device for console
* -o file processing options file
* -w pwd login password for remote console ("": no password)
* -r level output solution status file (0:off,1:states,2:residuals)
* -t level debug trace level (0:off,1-5:on)
* -sta sta station name for receiver dcb
*
* command
* start
* Start RTK server. No need the command if the program runs with -s
* option.
*
* stop
* Stop RTK server.
*
* restart
* Restart RTK server. If the processing options are set, execute the
* command to enable the changes.
*
* solution [cycle]
* Show solutions. Without option, only one solution is shown. With
* option, the soluiton is displayed at intervals of cycle (s). To stop
* cyclic display, send break (ctr-C).
*
* status [cycle]
* Show RTK status. Use option cycle for cyclic display.
*
* satellite [-n] [cycle]
* Show satellite status. Use option cycle for cyclic display. Option -n
* specify number of frequencies.
*
* observ [-n] [cycle]
* Show observation data. Use option cycle for cyclic display. Option -n
* specify number of frequencies.
*
* navidata [cycle]
* Show navigation data. Use option cycle for cyclic display.
*
* stream [cycle]
* Show stream status. Use option cycle for cyclic display.
*
* error
* Show error/warning messages. To stop messages, send break (ctr-C).
*
* option [opt]
* Show the values of processing options. Without option, all options are
* displayed. With option, only pattern-matched options are displayed.
*
* set opt [val]
* Set the value of a processing option to val. With out option val,
* prompt message is shown to input the value. The change of the
* processing option is not enabled before RTK server is restarted.
*
* load [file]
* Load processing options from file. Without option, default file
* rtkrcv.conf is used. To enable the changes, restart RTK server.
*
* save [file]
* Save current processing optons to file. Without option, default file
* rtkrcv.conf is used.
*
* log [file|off]
* Record console log to file. To stop recording the log, use option off.
*
* help|? [path]
* Show the command list. With option path, the stream path options are
* shown.
*
* exit
* Exit and logout console. The status of RTK server is not affected by
* the command.
*
* shutdown
* Shutdown RTK server and exit the program.
*
* !command [arg...]
* Execute command by the operating system shell. Do not use the
* interactive command.
*
* notes
* Short form of a command is allowed. In case of the short form, the
* command is distinguished according to header characters.
*
*-----------------------------------------------------------------------------*/
