(1)add3-panelandveritical-panelmodesforRTKNAVI (2)addskyimageoverlaytoskyplotforRTKPLOT (3)addpos2-bdsarmodeforbeidouamb-resoptionforRTKRCVandRNX2RTKP (4)addbeidouamb-resoptionforRTKNAVIandRTKPOST (5)addoption-a,-iand-otoSTR2STR (6)supportstdin/stdoutif-i