Changeset 4201 in ntrip


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Timestamp:
May 22, 2012, 8:46:45 AM (12 years ago)
Author:
weber
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Documentation completed

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  • trunk/BNC/bnchelp.html

    r4197 r4201  
    33
    44<p>
    5 The BKG Ntrip Client (BNC) is a program for simultaneously retrieving, decoding, converting and processing real-time GNSS data streams from NTRIP Broadcasters like
     5The BKG Ntrip Client (BNC) is a program for simultaneously retrieving, decoding, converting and processing real-time GNSS data streams. It has been developed within the framework of the IAG subcommission for Europe (EUREF) and the International GNSS Service (IGS). Although meant as a real-time tool, it comes with some Post Processing functionality. You may like to use it for data coming from NTRIP Broadcasters like
    66</p>
    77<p>
     
    1111<u>http://mgex.igs-ip.net/home</u>.
    1212</p>
    13 <p>
    14 Although actually meant as a real-time tool, it comes with some limited  Post Processing functionality.
    15 </p>
    16 
    17 <p>
    18 BNC has been developed for the Federal Agency for Cartography and Geodesy (BKG) within the framework of the IAG subcommission for Europe (EUREF) and the International GNSS Service (IGS).
    19 </p>
    20 
    21 <p>
    22 BNC has been written under GNU General Public License (GPL). Source code is available from Subversion software archive <u>http://software.rtcm-ntrip.org/svn/trunk/BNC.</u> Binaries for BNC are available for Windows, 32-bit Linux, 64-bit Linux (compiled under -m32 32-bit compatibility mode), Solaris, and Mac systems. We used the MinGW Version 4.4.0 compiler to create the Windows binary. It is likely that BNC can be compiled on other systems where a GNU compiler and Qt Version 4.7.3 are installed.
    23 </p>
    24 
    25 <p>
    26 Please ensure that you have installed the latest version of BNC available from <u>http://igs.bkg.bund.de/ntrip/download</u>. Feel free to send us comments, suggestions, or bug reports to [euref-ip@bkg.bund.de] or [igs-ip@bkg.bund.de].
     13
     14<p>
     15BNC has been written under GNU General Public License (GPL). Source code is available from Subversion software archive <u>http://software.rtcm-ntrip.org/svn/trunk/BNC.</u> Binaries for BNC are available for Windows, 32-bit Linux, 64-bit Linux (compiled under -m32 32-bit compatibility mode), Solaris, and Mac systems. We used the MinGW Version 4.4.0 compiler to create the Windows binary. It is likely that BNC can be compiled on other systems where a GNU compiler and Qt Version 4.7.3 are installed. Please ensure that you have installed the latest version of BNC available from <u>http://igs.bkg.bund.de/ntrip/download</u> and feel free to send us your comments, suggestions or bug reports.
    2716</p>
    2817
     
    3726<p>
    3827<b><a name="authors">Authors</b><br>
    39 The BKG Ntrip Client (BNC) Qt Graphic User Interface (GUI) has been developed for the Federal Agency for Cartography and Geodesy (BKG) by
    40 </p>
    41 <p>
     28The BKG Ntrip Client (BNC) and its Qt Graphic User Interface (GUI) has been developed for
     29</p>
     30<p>
     31Federal Agency for Cartography and Geodesy (BKG)<br>
     32Georg Weber<br>
     33Department of Geodesy<br>
     34Frankfurt, Germany<br>
     35[euref-ip@bkg.bund.de] or [igs-ip@bkg.bund.de]
     36</p>
     37
     38<p>
     39by
     40</p>
     41
     42<p>
     43Czech Technical University (CTU)<br>
    4244Leos Mervart<br>
    43 Czech Technical University (CTU)<br>
    4445Department of Geodesy<br>
    4546Prague, Czech Republic
     
    5253</ul>
    5354</p>
    54 <p>
    55 Georg Weber<br>
    56 Federal Agency for Cartography and Geodesy (BKG)<br>
    57 Department of Geodesy<br>
    58 Frankfurt, Germany<br>
    59 [euref-ip@bkg.bund.de] or<br>
    60 [igs-ip@bkg.bund.de]
    6155</p>
    6256
     
    13701364
    13711365<p>
    1372 Note that BNC's 'PPP' option can also be used offline either for for debugging or for Post Processing purposes.
     1366Note that for debugging or Post Processing purposes BNC's 'PPP' functionality option can also be used offline.
    13731367<ul>
    13741368<li>
     
    13861380<ul>
    13871381<li>BNC does correct for Solid Earth Tides and Phase Windup.</li>
    1388 <li>Satellite Antenna Phase Center Offsets are not corrected because applied orbit/clock corrections are referred to the satellite's antenna phase center.</li>
    1389 <li>Satellite Antenna Phase Center Variations are neglected because this is a small effect usually less than 2 centimeters.</li>
     1382<li>Satellite antenna phase center offsets are not corrected because applied orbit/clock corrections are referred to the satellite's antenna phase center.</li>
     1383<li>Satellite antenna phase center variations are neglected because this is a small effect usually less than 2 centimeters.</li>
    13901384<li>Observations can be corrected for a Receiver Antenna Offset. Depending on whether or not this correction is applied, the estimated position is either that of the receiver's antenna phase center or that of the receiver's Antenna Reference Point.</li>
    1391 <li>Receiver Antenna Phase Center Variations are not included in the model. The bias caused by this neglect depends on the receiver antenna type. For most antennas it is smaller than a few centimeters.</li>
     1385<li>Receiver antenna phase center variations are not included in the model. The bias caused by this neglect depends on the receiver antenna type. For most antennas it is smaller than a few centimeters.</li>
    13921386<li>Ocean and atmospheric loading is neglected. Atmospheric loading is pretty small. Ocean loading is usually also a small effect but may reach up to about 10 centimeters for coastal stations.</li>
    13931387<li>Rotational deformation due to polar motion (Polar Tides) is not corrected because this is a small effect usually less than 2 centimeters.</li>
     
    13971391<p><a name="pppmode"><h4>3.12.1 Mode & Mountpoints - optional</h4></p>
    13981392<p>
    1399 Specify the Point Positioning mode you want to apply and the mountpoints for observations and Broadcast Corrections. Options are 'Realtime-PPP', 'Realtime-SPP', and 'Post-Processing'.
     1393Specify the Point Positioning mode you want to apply and the mountpoints for observations and Broadcast Corrections.
    14001394</p>
    14011395
    14021396<p><a name="pppmodus"><h4>3.12.1.1 Mode - optional</h4></p>
    1403 <p>Choose between plain Single Point Positioning (SPP) and Precise Point Positioning (PPP) in 'Realtime' or 'Post-Processing' mode.</p>
     1397<p>
     1398Choose between plain Single Point Positioning (SPP) and Precise Point Positioning (PPP) in 'Realtime' or 'Post-Processing' mode. Options are 'Realtime-PPP', 'Realtime-SPP', and 'Post-Processing'.
     1399</p>
    14041400
    14051401<p><a name="pppobsmount"><h4>3.12.1.2 Obs Mountpoint - optional</h4></p>
     
    14151411<p><a name="pppxyz"><h4>3.12.2 Marker Coordinates - optional</h4></p>
    14161412<p>
    1417 Enter the reference coordinate components X,Y,Z of the receiver's position in meters if known. This option makes only sense for static observations. Default are empty option fields, meaning that the antenna's XYZ position is unknown.
     1413Enter the reference coordinate XYZ of the receiver's position in meters if known. This option makes only sense for static observations. Default are empty option fields, meaning that the antenna's XYZ position is unknown.
    14181414</p>
    14191415<p>
     
    14291425<p><a name="pppneu"><h4>3.12.3 Antenna Excentricity - optional</h4></p>
    14301426<p>
    1431 You may like to specify North, East and Up components of an antenna eccentricity which is the difference between a nearby marker position and the antenna phase center. If you do so BNC will produce coordinates referring to the marker position and not referring to the antenna phase center..
     1427You may like to specify North, East and Up components of an antenna eccentricity which is the difference between a nearby marker position and the antenna phase center. If you do so BNC will produce coordinates referring to the marker position and not referring to the antenna phase center.
    14321428</p>
    14331429
    14341430<p><a name="pppoutput"><h4>3.12.4 NMEA & Plot Output - optional</h4></p>
    14351431<p>
    1436 BNC allows to output results from Precise Point Positioning in NMEA format. It can also plot a time series of North, East and UP displacements of coordinate components.
     1432BNC allows to output results from Precise Point Positioning in NMEA format. It can also plot a time series of North, East and UP displacements.
    14371433</p>
    14381434
     
    14491445</p>
    14501446<p>
    1451 Note that Tomoji Takasu has written a program called RTKPlot for visualizing NMEA strings. It is available from <u>http://gpspp.sakura.ne.jp/rtklib/rtklib.htm</u> and compatible with the NMEA output of BNC's 'PPP Client' option.
     1447Note that Tomoji Takasu has written a program called RTKPlot for visualizing NMEA strings. It is available from <u>http://gpspp.sakura.ne.jp/rtklib/rtklib.htm</u> and compatible with the NMEA file and port output of BNC's 'PPP' client option.
    14521448</p>
    14531449
     
    14571453</p>
    14581454<p>
    1459 NASA's 'World Wind' software (see <u>http://worldwindcentral.com/wiki/NASA_World_Wind_Download</u>) can be used for real-time visualization of positions provided through BNC's NMEA IP output port. You need the 'GPS Tracker' plug-in available from <u>http://worldwindcentral.com/wiki/GPS_Tracker</u> for that. The 'Word Wind' is not meant for showing centimeter level details.
     1455NASA's 'World Wind' software (see <u>http://worldwindcentral.com/wiki/NASA_World_Wind_Download</u>) can be used for real-time visualization of positions provided through BNC's NMEA IP output port. You need the 'GPS Tracker' plug-in available from <u>http://worldwindcentral.com/wiki/GPS_Tracker</u> for that. The 'Word Wind' map resolution is not meant for showing centimeter level details.
    14601456</p>
    14611457
     
    14691465
    14701466<p><a name="ppppost"><h4>3.12.5 Post Processing - optional</h4></p>
    1471         <p>When in 'Post-Processing mode<ul><li>specifying a RINEX Observation, a RINEX Navigation and a Broadcast Corrections file leads to a PPP solution.</li><li>specifying only a RINEX Observation and a RINEX Navigation file and no Broadcast Corrections file leads to a SPP solution.</ul></p>
    1472 <p>BNC accepts RINEX Version 2 as well as RINEX Version 3 Observation or Navigation file formats. Files carrying Broadcast Corrections must have the format produced by BNC in the 'Broadcast Corrections' tab.
     1467<p>When in 'Post-Processing' mode
     1468<ul>
     1469<li>specifying a RINEX Observation, a RINEX Navigation and a Broadcast Corrections file leads to a PPP solution.</li>
     1470<li>specifying only a RINEX Observation and a RINEX Navigation file and no Broadcast Corrections file leads to a SPP solution.</li>
     1471</ul>
     1472</p>
     1473<p>BNC accepts RINEX Version 2 as well as RINEX Version 3 Observation or Navigation file formats. Files carrying Broadcast Corrections must have the format produced by BNC through the 'Broadcast Corrections' tab.
    14731474<p>
    14741475Post Processing PPP results can be saved in a specific output file.
     
    15291530</p>
    15301531<p>
    1531 By default BNC does not estimate troposphere parameters. Tick 'Estimate tropo' to estimate troposphere parameters together with the coordinates and save T_apr and dT in BNC's log file.
     1532By default BNC does not estimate troposphere parameters. Tick 'Estimate tropo' to estimate troposphere parameters together with the coordinates and save T_apr and dT/cos(z) in BNC's log file.
    15321533</p>
    15331534
     
    15441545<p><a name="pppsync"><h4>3.12.7.5 Sync Corr - optional</h4></p>
    15451546<p>
    1546 Zero value (or empty field) means that BNC processes each epoch of data immediately after its arrival using satellite clock corrections available at that time. Non-zero value 'Sync Corr' means that the epochs of data are buffered and the processing of each epoch is postponed till the satellite clock corrections not older than 'Sync Corr' are available. Specifying a value of half the update rate of the clock corrections as 'Sync Corr' (i.e. 5 sec) may be appropriate. Note that this causes an additional delay of the PPP solutions in the amount of the update rate.
     1547Zero value (or empty field) means that BNC processes each epoch of data immediately after its arrival using satellite clock corrections available at that time. Non-zero value 'Sync Corr' means that the epochs of data are buffered and the processing of each epoch is postponed till the satellite clock corrections not older than 'Sync Corr' are available. Specifying a value of half the update rate of the clock corrections as 'Sync Corr' (i.e. 5 sec) may be appropriate. Note that this causes an additional delay of the PPP solutions in the amount of half of the update rate.
    15471548</p>
    15481549<p>
     
    15551556<p><a name="pppaverage"><h4>3.12.7.6 Averaging - optional if XYZ is set</h4></p>
    15561557<p>
    1557 Enter the length of a sliding time window in minutes. BNC will continuously output moving average values ns and their RMS as computed from those individual values obtained most recently throughout this period. RMS values presented for XYZ coordinates and tropospheric zenit path delays are bias reduced while RMS values for Nort/East/Up (NEU) displacements are not. Averaged values for XYZ coordinates and their RMS are marked with string &quot;AVE-XYZ&quot; in BNC's log file and 'Log' section while averaged values for NEU displacements and their RMS are marked with string &quot;AVE-NEU&quot; and averaged values for the tropospheric delays and their RMS are marked with string &quot;AVE-TRP&quot;. Example:
     1558Enter the length of a sliding time window in minutes. BNC will continuously output moving average values and their RMS as computed from those individual values obtained most recently throughout this period. RMS values presented for XYZ coordinates and tropospheric zenit path delays are bias reduced while RMS values for Nort/East/Up (NEU) displacements are not. Averaged values for XYZ coordinates and their RMS are marked with string &quot;AVE-XYZ&quot; in BNC's log file and 'Log' section while averaged values for NEU displacements and their RMS are marked with string &quot;AVE-NEU&quot; and averaged values for the tropospheric delays and their RMS are marked with string &quot;AVE-TRP&quot;. Example:
    15581559</p>
    15591560<pre>
     
    17601761Then, epoch by epoch:
    17611762<ul>
    1762 <li>Continuously receive the best available clock and orbit estimates for all satellites in X,Y,Z Earth-Centered-Earth-Fixed IGS08 reference system. Receive them every epoch in plain ASCII format as provided by a real-time GNSS engine such as RTNet or generate them following a combination approach. </li>
    1763 <li>Calculate X,Y,Z coordinates from Broadcast Ephemeris orbits. </li>
     1763<li>Continuously receive the best available clock and orbit estimates for all satellites in XYZ Earth-Centered-Earth-Fixed IGS08 reference system. Receive them every epoch in plain ASCII format as provided by a real-time GNSS engine such as RTNet or generate them following a combination approach. </li>
     1764<li>Calculate XYZ coordinates from Broadcast Ephemeris orbits. </li>
    17641765<li>Calculate differences dX,dY,dZ between Broadcast Ephemeris and IGS08 orbits. </li>
    17651766<li>Transform these differences into radial, along-track and cross-track corrections to Broadcast Ephemeris orbits. </li>
     
    17881789<ul>
    17891790<li>GNSS Indicator and Satellite Vehicle Pseudo Random Number</li>
    1790 <li>X,Y,Z coordinates in Earth-Centered-Earth-Fixed system [km] at epoch T</li>
     1791<li>XYZ coordinates in Earth-Centered-Earth-Fixed system [km] at epoch T</li>
    17911792<li>Satellite clock error [microsecond]</li>
    17921793<li>Conventional periodic relativistic effect [microsecond]</li>
     
    17951796<li>Differential Code Bias P1P2 [m]</li>
    17961797<li>Time increment dT [second]</li>
    1797 <li>X,Y,Z coordinates in Earth-Centered-Earth-Fixed system [km] at epoch T+dT</li>
     1798<li>XYZ coordinates in Earth-Centered-Earth-Fixed system [km] at epoch T+dT</li>
    17981799</ul>
    17991800</p>
     
    20072008</p>
    20082009<p>
    2009 As an SP3 file contents should be referred to the satellites Center of Mass (CoM) while Broadcast Corrections are referred to the satellites Antenna Phase Center (APC), an offset has to be applied which is available from an IGS ANTEX file (see section 'ANTEX File'). You should therefore specify the 'ANTEX File' path under tab 'PPP (2)' if you want to save the stream contents in SP3 format. If you don't specify an 'ANTEX File' path there, the SP3 file contents will be referred to the satellites APCs.
     2010As an SP3 file contents should be referred to the satellites Center of Mass (CoM) while Broadcast Corrections are referred to the satellites APC, an offset has to be applied which is available from an IGS ANTEX file (see section 'ANTEX File'). You should therefore specify the 'ANTEX File' path under tab 'PPP (2)' if you want to save the stream contents in SP3 format. If you don't specify an 'ANTEX File' path there, the SP3 file contents will be referred to the satellites APCs.
    20102011</p>
    20112012<p>
     
    27302731</p>
    27312732<p>
    2732 Some BNC options require Antenna Phase Center variations as made available from IGS through so-called ANTEX files in directory <u>ftp://igs.org/pub/station/general</u>. An example ANTEX file is also part of the BNC package for convenience.
     2733Some BNC options require antenna phase center variations as made available from IGS through so-called ANTEX files in directory <u>ftp://igs.org/pub/station/general</u>. An example ANTEX file is also part of the BNC package for convenience.
    27332734</p>
    27342735<p>
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