Rtklib aceinna version modified rtknavi and strsvr supporting aceinna data format (Aceinna-raw,Aceinna-user, Ins2000).
Document for rtknavi and strsvr.
https://ins2000.readthedocs.io/en/latest/data_logging/RTK_navi.html
https://ins2000.readthedocs.io/en/latest/data_logging/RTK_strsvr.html