RTCM Data Format

(Radio Technical Commission for Maritime Services)

Overview of Common GPS Data Format

RINEX Raw GPS static data format for data processing and archive NMEA Standard related to data communication between marine electronic devices. Transmission of GPS position from GPS receiver to other devices (e.g. GPS receiver to PDA) For real time positioning RTCM SC-104 Transmission of GPS correction from GPS reference station to GPS Rover For DGPS/RTK surveys

Outline

Example of using RTCM Data Format About RTCM

RTCM Data Structure

RTCM Message Types

RTCM using in SatRef

SatRef System DGPS Single-RTK Network-RTK

All GPS corrections from SatRef are in RTCM-2.1 data format.

About RTCM

Radio Technical Commission for Maritime Services

Various Special Committees set the standards for International maritime radionavigation and radiocommunication

Examples: 1. GPS Applications 2. Electronic Charts..

What is RTCM SC-104 ?

RTCM Special Committee (SC) 104 is the one concerned GPS correction signal.

RTCM data format related to GPS corrections is called RTCM SC-104 data format.

Compact binary data

good for real-time processing

What is RTCM SC-104 ?

Different versions

RTCM-2.0 (Code correction ->DGPS) RTCM-2.1 (Code + Phase correction -> RTK) RTCM 2.2 ( + GLONASS ) RTCM 2.3 ( .+ GPS Antenna Definition) RTCM 3.0 (.+ Network RTK & GNSS)

RTCM Data Structure (Versions 2.0-2.3)

RTCM Data Structure

Each data record contains several message types for various contents. Message 1, Message2. Message N
Each message comprises header and body Header: message type, time, length of message, Body: data for every data type

RTCM Message Types (Versions 2.0-2.3)

RTCM Message Types

RTCM Message Type 1 Description Differential GPS Corrections

2
3 4 5 6 7 8 9 10 11 12 13 14 15

Delta Differential GPS Corrections

GPS Reference Station Parameters Reference Station Datum GPS Constellation Health GPS Null Name DGPS Beacon Almanac Pseudolite Almanac GPS Partial Correction Set P-Code Differential Correction C/A Code, L1, L2 Delta Corrections Pseudolite Station Parameter Ground Transmitter Parameter GPS Time of Week Ionospheric Delay Message

RTCM Message Types

16 17 GPS Special Message GPS Ephemerides RTK Uncorrected Carrier Phases RTK Uncorrected Pseudorange RTK Carrier Phase Corrections RTK Pseudorange Corrections Extended Reference Station Parameters Antenna Type Defination Reference Station: Antenna Reference Point (ARP) Parameter Undefined Extended DGPS Radiobeacon Almanac Undefined Differential GLONASS Corrections Differential GLONASS Reference Station GLONASS Constellation Health GLONASS Partial Differential Correction Set GLONASS Null Name (N<=1)

18-21 messages added in RTCM2.1

18 19 20 21 22

23-24 messages added in RTCM2.3

23 24 25, 26 27 2830 31

31-36 messages
added in RTCM2.2

32 33 34

RTCM Message Types

31-36 messages
added in RTCM2.2
35
36

GLONASS Radiobeacon Almanac

GLONASS Special Message

37

GNSS System Time Offset

38..58
59

Undefined
Proprietary Message

60..63

Multipurpose Usage

RTCM Raw Data

Binary data

RTCM Message Type 1

1. Pseudorange Corr. 2. Range Rate Corr.

RTCM Message Type 3+22

RTCM Message Type 20

RTCM Message Type 21

RTCM version 3.0

RTCM version 3.0

RTCM 3.0 New data structure developed for network RTK applications.

new signals L2C and L5 GNSS system data

Compact 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 / sec

Four Groups of RTCM 3.0 GNSS RTK messages (RTCM 2004)

Group Name
Observations

Message Type
1001 1002 1003 1004 1005 1006 1007 1008

Message Description
L1-only GPS RTK Observables Extended L1-Only GPS RTK Observables L1 & L2 GPS RTK Observables Extended L1 & L2 GPS RTK Observables L1 Only GLONASS RTK Observables ExtendedL1-Only GLONASS RTK Observables L1 & L2 GLONASS RTK Observables Extended L1 & L2 GPS RTK Observables Stationary RTK Reference Station ARP Stationary RTK Reference ARP with Antenna Height Antenna Descriptor Antenna Descriptor & Serial Number System Parameters

Station Coordinates

1009 1010

Antenna Description

1011 1012

Auxiliary Operation Information

1013

References

RTCM Recommended Standards for Differential NAVSTAR GPS service

www.navcen.uscg.gov/pubs/dgps/rctm104/Default.htm

RTCM Official Website

http://www.rtcm.org/

DGPS Data Formats 2.0

www.geopp.de/download/DGPS-data-formats2.pdf

Reference Station Network Information Distribution

http://www.network-rtk.info/euler/euler.html

The End Thank you!