RTCM报文详细介绍

1、 RTCM Data Format (Radio Technical Commission for Maritime Services) lRINEX lRaw GPS static data format for data processing and archive lNMEA lStandard related to data communication between marine electronic devices. lTransmission of GPS position from GPS receiver to other devices (e.g. GPS receiver

2、 to PDA) lFor real time positioninglRTCM SC-104 lTransmission of GPS correction from GPS reference station to GPS RoverlFor DGPS/RTK surveysOverview of Common GPS Data Format OutlinelExample of using RTCM Data FormatlAbout RTCM lRTCM Data StructurelRTCM Message TypesRTCM using in SatReflSatRef Syste

3、mlDGPSlSingle-RTKlNetwork-RTKAll GPS corrections from SatRef are in RTCM-2.1 data format. Radio Technical Commission for Maritime ServiceslVarious Special Committees set the standards for International maritime radionavigation and radiocommunication Examples:1.GPS Applications2.Electronic Charts.Wha

4、t is RTCM SC-104 ?lRTCM Special Committee (SC) 104 is the one concerned GPS correction signal.lRTCM data format related to GPS corrections is called RTCM SC-104 data format.lCompact binary datalgood for real-time processingWhat is RTCM SC-104 ?Different versions lRTCM-2.0 (Code correction -DGPS)lRTC

5、M-2.1 (Code + Phase correction - RTK)lRTCM 2.2 ( + GLONASS )lRTCM 2.3 ( .+ GPS Antenna Definition)lRTCM 3.0 (.+ Network RTK & GNSS)RTCM Data StructurelEach data record contains several message types for various contents.lMessage 1, Message2. Message NlEach message comprises header and bodylHeader: m

6、essage type, time, length of message, lBody: data for every data type RTCM Message Types(Versions 2.0-2.3) RTCM Message TypesRTCM Message TypeDescription1Differential GPS Corrections2Delta Differential GPS Corrections3GPS Reference Station Parameters4Reference Station Datum5GPS Constellation Health6

7、GPS Null Name7DGPS Beacon Almanac8Pseudolite Almanac9GPS Partial Correction Set10P-Code Differential Correction11C/A Code, L1, L2 Delta Corrections12Pseudolite Station Parameter13Ground Transmitter Parameter14GPS Time of Week15Ionospheric Delay MessageRTCM Message Types18-21 messagesadded in RTCM2.1

8、23-24 messagesadded in RTCM2.331-36 messagesadded in RTCM2.216GPS Special Message17GPS Ephemerides18RTK Uncorrected Carrier Phases19RTK Uncorrected Pseudorange20RTK Carrier Phase Corrections21RTK Pseudorange Corrections22Extended Reference Station Parameters23Antenna Type Defination24Reference Stati

9、on: Antenna Reference Point (ARP) Parameter25, 26Undefined27Extended DGPS Radiobeacon Almanac2830Undefined31Differential GLONASS Corrections32Differential GLONASS Reference Station33GLONASS Constellation Health34GLONASS Partial Differential Correction SetGLONASS Null Name (N=1)RTCM Message Types31-3

10、6 messagesadded in RTCM2.235GLONASS Radiobeacon Almanac36GLONASS Special Message37GNSS System Time Offset38.58Undefined59Proprietary Message60.63Multipurpose UsageRTCM Raw DataBinary dataRTCM Message Type 11. Pseudorange Corr. 2. Range Rate Corr.RTCM Message Type 3+22RTCM Message Type 20RTCM Message

11、 Type 21RTCM version 3.0lRTCM 3.0 lNew data structure developed for network RTK applications. lnew signals L2C and L5lGNSS system dataCompact Data Structure RTCM 2.0 0.5 kbit / sec. (DGPS)RTCM 2.1-2.3 requires 5 kbit / sec (DGPS+RTK)RTCM 3.0.requires 2 kbit / secRTCM version 3.0Four Groups of RTCM 3

12、.0 GNSS RTK messages (RTCM 2004)Group NameMessage TypeMessage DescriptionObservations1001L1-only GPS RTK Observables1002Extended L1-Only GPS RTK Observables1003L1 & L2 GPS RTK Observables1004Extended L1 & L2 GPS RTK Observables1005L1 Only GLONASS RTK Observables1006ExtendedL1-Only GLONASS RTK Observ

13、ables1007L1 & L2 GLONASS RTK Observables1008Extended L1 & L2 GPS RTK ObservablesStation Coordinates1009Stationary RTK Reference Station ARP1010Stationary RTK Reference ARP with Antenna HeightAntenna Description1011Antenna Descriptor1012Antenna Descriptor & Serial NumberAuxiliary Operation Information1013System ParametersReferenceslRTCM Recommended Standards for Differential NAVSTAR GPS service /pubs/dgps/rctm104/Default.html