Index: /trunk/BNC/docs/sphinx/Makefile =================================================================== --- /trunk/BNC/docs/sphinx/Makefile (revision 8039) +++ /trunk/BNC/docs/sphinx/Makefile (revision 8039) @@ -0,0 +1,230 @@ +# Makefile for Sphinx documentation +# + +# You can set these variables from the command line. +SPHINXOPTS = +SPHINXBUILD = sphinx-build +PAPER = +BUILDDIR = build + +# User-friendly check for sphinx-build +ifeq ($(shell which $(SPHINXBUILD) >/dev/null 2>&1; echo $$?), 1) + $(error The '$(SPHINXBUILD)' command was not found. Make sure you have Sphinx installed, then set the SPHINXBUILD environment variable to point to the full path of the '$(SPHINXBUILD)' executable. Alternatively you can add the directory with the executable to your PATH. If you don\'t have Sphinx installed, grab it from http://sphinx-doc.org/) +endif + +# Internal variables. +PAPEROPT_a4 = -D latex_paper_size=a4 +PAPEROPT_letter = -D latex_paper_size=letter +ALLSPHINXOPTS = -d $(BUILDDIR)/doctrees $(PAPEROPT_$(PAPER)) $(SPHINXOPTS) source +# the i18n builder cannot share the environment and doctrees with the others +I18NSPHINXOPTS = $(PAPEROPT_$(PAPER)) $(SPHINXOPTS) source + +.PHONY: help +help: + @echo "Please use \`make ' where is one of" + @echo " html to make standalone HTML files" + @echo " dirhtml to make HTML files named index.html in directories" + @echo " singlehtml to make a single large HTML file" + @echo " pickle to make pickle files" + @echo " json to make JSON files" + @echo " htmlhelp to make HTML files and a HTML help project" + @echo " qthelp to make HTML files and a qthelp project" + @echo " applehelp to make an Apple Help Book" + @echo " devhelp to make HTML files and a Devhelp project" + @echo " epub to make an epub" + @echo " epub3 to make an epub3" + @echo " latex to make LaTeX files, you can set PAPER=a4 or PAPER=letter" + @echo " latexpdf to make LaTeX files and run them through pdflatex" + @echo " latexpdfja to make LaTeX files and run them through platex/dvipdfmx" + @echo " text to make text files" + @echo " man to make manual pages" + @echo " texinfo to make Texinfo files" + @echo " info to make Texinfo files and run them through makeinfo" + @echo " gettext to make PO message catalogs" + @echo " changes to make an overview of all changed/added/deprecated items" + @echo " xml to make Docutils-native XML files" + @echo " pseudoxml to make pseudoxml-XML files for display purposes" + @echo " linkcheck to check all external links for integrity" + @echo " doctest to run all doctests embedded in the documentation (if enabled)" + @echo " coverage to run coverage check of the documentation (if enabled)" + @echo " dummy to check syntax errors of document sources" + +.PHONY: clean +clean: + rm -rf $(BUILDDIR)/* + +.PHONY: html +html: + $(SPHINXBUILD) -b html $(ALLSPHINXOPTS) $(BUILDDIR)/html + @echo + @echo "Build finished. The HTML pages are in $(BUILDDIR)/html." + +.PHONY: dirhtml +dirhtml: + $(SPHINXBUILD) -b dirhtml $(ALLSPHINXOPTS) $(BUILDDIR)/dirhtml + @echo + @echo "Build finished. The HTML pages are in $(BUILDDIR)/dirhtml." + +.PHONY: singlehtml +singlehtml: + $(SPHINXBUILD) -b singlehtml $(ALLSPHINXOPTS) $(BUILDDIR)/singlehtml + @echo + @echo "Build finished. The HTML page is in $(BUILDDIR)/singlehtml." + +.PHONY: pickle +pickle: + $(SPHINXBUILD) -b pickle $(ALLSPHINXOPTS) $(BUILDDIR)/pickle + @echo + @echo "Build finished; now you can process the pickle files." + +.PHONY: json +json: + $(SPHINXBUILD) -b json $(ALLSPHINXOPTS) $(BUILDDIR)/json + @echo + @echo "Build finished; now you can process the JSON files." + +.PHONY: htmlhelp +htmlhelp: + $(SPHINXBUILD) -b htmlhelp $(ALLSPHINXOPTS) $(BUILDDIR)/htmlhelp + @echo + @echo "Build finished; now you can run HTML Help Workshop with the" \ + ".hhp project file in $(BUILDDIR)/htmlhelp." + +.PHONY: qthelp +qthelp: + $(SPHINXBUILD) -b qthelp $(ALLSPHINXOPTS) $(BUILDDIR)/qthelp + @echo + @echo "Build finished; now you can run "qcollectiongenerator" with the" \ + ".qhcp project file in $(BUILDDIR)/qthelp, like this:" + @echo "# qcollectiongenerator $(BUILDDIR)/qthelp/bnc.qhcp" + @echo "To view the help file:" + @echo "# assistant -collectionFile $(BUILDDIR)/qthelp/bnc.qhc" + +.PHONY: applehelp +applehelp: + $(SPHINXBUILD) -b applehelp $(ALLSPHINXOPTS) $(BUILDDIR)/applehelp + @echo + @echo "Build finished. The help book is in $(BUILDDIR)/applehelp." + @echo "N.B. You won't be able to view it unless you put it in" \ + "~/Library/Documentation/Help or install it in your application" \ + "bundle." + +.PHONY: devhelp +devhelp: + $(SPHINXBUILD) -b devhelp $(ALLSPHINXOPTS) $(BUILDDIR)/devhelp + @echo + @echo "Build finished." + @echo "To view the help file:" + @echo "# mkdir -p $$HOME/.local/share/devhelp/bnc" + @echo "# ln -s $(BUILDDIR)/devhelp $$HOME/.local/share/devhelp/bnc" + @echo "# devhelp" + +.PHONY: epub +epub: + $(SPHINXBUILD) -b epub $(ALLSPHINXOPTS) $(BUILDDIR)/epub + @echo + @echo "Build finished. The epub file is in $(BUILDDIR)/epub." + +.PHONY: epub3 +epub3: + $(SPHINXBUILD) -b epub3 $(ALLSPHINXOPTS) $(BUILDDIR)/epub3 + @echo + @echo "Build finished. The epub3 file is in $(BUILDDIR)/epub3." + +.PHONY: latex +latex: + $(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex + @echo + @echo "Build finished; the LaTeX files are in $(BUILDDIR)/latex." + @echo "Run \`make' in that directory to run these through (pdf)latex" \ + "(use \`make latexpdf' here to do that automatically)." + +.PHONY: latexpdf +latexpdf: + $(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex + @echo "Running LaTeX files through pdflatex..." + $(MAKE) -C $(BUILDDIR)/latex all-pdf + @echo "pdflatex finished; the PDF files are in $(BUILDDIR)/latex." + +.PHONY: latexpdfja +latexpdfja: + $(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex + @echo "Running LaTeX files through platex and dvipdfmx..." + $(MAKE) -C $(BUILDDIR)/latex all-pdf-ja + @echo "pdflatex finished; the PDF files are in $(BUILDDIR)/latex." + +.PHONY: text +text: + $(SPHINXBUILD) -b text $(ALLSPHINXOPTS) $(BUILDDIR)/text + @echo + @echo "Build finished. The text files are in $(BUILDDIR)/text." + +.PHONY: man +man: + $(SPHINXBUILD) -b man $(ALLSPHINXOPTS) $(BUILDDIR)/man + @echo + @echo "Build finished. The manual pages are in $(BUILDDIR)/man." + +.PHONY: texinfo +texinfo: + $(SPHINXBUILD) -b texinfo $(ALLSPHINXOPTS) $(BUILDDIR)/texinfo + @echo + @echo "Build finished. The Texinfo files are in $(BUILDDIR)/texinfo." + @echo "Run \`make' in that directory to run these through makeinfo" \ + "(use \`make info' here to do that automatically)." + +.PHONY: info +info: + $(SPHINXBUILD) -b texinfo $(ALLSPHINXOPTS) $(BUILDDIR)/texinfo + @echo "Running Texinfo files through makeinfo..." + make -C $(BUILDDIR)/texinfo info + @echo "makeinfo finished; the Info files are in $(BUILDDIR)/texinfo." + +.PHONY: gettext +gettext: + $(SPHINXBUILD) -b gettext $(I18NSPHINXOPTS) $(BUILDDIR)/locale + @echo + @echo "Build finished. The message catalogs are in $(BUILDDIR)/locale." + +.PHONY: changes +changes: + $(SPHINXBUILD) -b changes $(ALLSPHINXOPTS) $(BUILDDIR)/changes + @echo + @echo "The overview file is in $(BUILDDIR)/changes." + +.PHONY: linkcheck +linkcheck: + $(SPHINXBUILD) -b linkcheck $(ALLSPHINXOPTS) $(BUILDDIR)/linkcheck + @echo + @echo "Link check complete; look for any errors in the above output " \ + "or in $(BUILDDIR)/linkcheck/output.txt." + +.PHONY: doctest +doctest: + $(SPHINXBUILD) -b doctest $(ALLSPHINXOPTS) $(BUILDDIR)/doctest + @echo "Testing of doctests in the sources finished, look at the " \ + "results in $(BUILDDIR)/doctest/output.txt." + +.PHONY: coverage +coverage: + $(SPHINXBUILD) -b coverage $(ALLSPHINXOPTS) $(BUILDDIR)/coverage + @echo "Testing of coverage in the sources finished, look at the " \ + "results in $(BUILDDIR)/coverage/python.txt." + +.PHONY: xml +xml: + $(SPHINXBUILD) -b xml $(ALLSPHINXOPTS) $(BUILDDIR)/xml + @echo + @echo "Build finished. The XML files are in $(BUILDDIR)/xml." + +.PHONY: pseudoxml +pseudoxml: + $(SPHINXBUILD) -b pseudoxml $(ALLSPHINXOPTS) $(BUILDDIR)/pseudoxml + @echo + @echo "Build finished. The pseudo-XML files are in $(BUILDDIR)/pseudoxml." + +.PHONY: dummy +dummy: + $(SPHINXBUILD) -b dummy $(ALLSPHINXOPTS) $(BUILDDIR)/dummy + @echo + @echo "Build finished. Dummy builder generates no files." Index: /trunk/BNC/docs/sphinx/make.bat =================================================================== --- /trunk/BNC/docs/sphinx/make.bat (revision 8039) +++ /trunk/BNC/docs/sphinx/make.bat (revision 8039) @@ -0,0 +1,281 @@ +@ECHO OFF + +REM Command file for Sphinx documentation + +if "%SPHINXBUILD%" == "" ( + set SPHINXBUILD=sphinx-build +) +set BUILDDIR=build +set ALLSPHINXOPTS=-d %BUILDDIR%/doctrees %SPHINXOPTS% source +set I18NSPHINXOPTS=%SPHINXOPTS% source +if NOT "%PAPER%" == "" ( + set ALLSPHINXOPTS=-D latex_paper_size=%PAPER% %ALLSPHINXOPTS% + set I18NSPHINXOPTS=-D latex_paper_size=%PAPER% %I18NSPHINXOPTS% +) + +if "%1" == "" goto help + +if "%1" == "help" ( + :help + echo.Please use `make ^` where ^ is one of + echo. html to make standalone HTML files + echo. dirhtml to make HTML files named index.html in directories + echo. singlehtml to make a single large HTML file + echo. pickle to make pickle files + echo. json to make JSON files + echo. htmlhelp to make HTML files and a HTML help project + echo. qthelp to make HTML files and a qthelp project + echo. devhelp to make HTML files and a Devhelp project + echo. epub to make an epub + echo. epub3 to make an epub3 + echo. latex to make LaTeX files, you can set PAPER=a4 or PAPER=letter + echo. text to make text files + echo. man to make manual pages + echo. texinfo to make Texinfo files + echo. gettext to make PO message catalogs + echo. changes to make an overview over all changed/added/deprecated items + echo. xml to make Docutils-native XML files + echo. pseudoxml to make pseudoxml-XML files for display purposes + echo. linkcheck to check all external links for integrity + echo. doctest to run all doctests embedded in the documentation if enabled + echo. coverage to run coverage check of the documentation if enabled + echo. dummy to check syntax errors of document sources + goto end +) + +if "%1" == "clean" ( + for /d %%i in (%BUILDDIR%\*) do rmdir /q /s %%i + del /q /s %BUILDDIR%\* + goto end +) + + +REM Check if sphinx-build is available and fallback to Python version if any +%SPHINXBUILD% 1>NUL 2>NUL +if errorlevel 9009 goto sphinx_python +goto sphinx_ok + +:sphinx_python + +set SPHINXBUILD=python -m sphinx.__init__ +%SPHINXBUILD% 2> nul +if errorlevel 9009 ( + echo. + echo.The 'sphinx-build' command was not found. Make sure you have Sphinx + echo.installed, then set the SPHINXBUILD environment variable to point + echo.to the full path of the 'sphinx-build' executable. Alternatively you + echo.may add the Sphinx directory to PATH. + echo. + echo.If you don't have Sphinx installed, grab it from + echo.http://sphinx-doc.org/ + exit /b 1 +) + +:sphinx_ok + + +if "%1" == "html" ( + %SPHINXBUILD% -b html %ALLSPHINXOPTS% %BUILDDIR%/html + if errorlevel 1 exit /b 1 + echo. + echo.Build finished. The HTML pages are in %BUILDDIR%/html. + goto end +) + +if "%1" == "dirhtml" ( + %SPHINXBUILD% -b dirhtml %ALLSPHINXOPTS% %BUILDDIR%/dirhtml + if errorlevel 1 exit /b 1 + echo. + echo.Build finished. The HTML pages are in %BUILDDIR%/dirhtml. + goto end +) + +if "%1" == "singlehtml" ( + %SPHINXBUILD% -b singlehtml %ALLSPHINXOPTS% %BUILDDIR%/singlehtml + if errorlevel 1 exit /b 1 + echo. + echo.Build finished. The HTML pages are in %BUILDDIR%/singlehtml. + goto end +) + +if "%1" == "pickle" ( + %SPHINXBUILD% -b pickle %ALLSPHINXOPTS% %BUILDDIR%/pickle + if errorlevel 1 exit /b 1 + echo. + echo.Build finished; now you can process the pickle files. + goto end +) + +if "%1" == "json" ( + %SPHINXBUILD% -b json %ALLSPHINXOPTS% %BUILDDIR%/json + if errorlevel 1 exit /b 1 + echo. + echo.Build finished; now you can process the JSON files. + goto end +) + +if "%1" == "htmlhelp" ( + %SPHINXBUILD% -b htmlhelp %ALLSPHINXOPTS% %BUILDDIR%/htmlhelp + if errorlevel 1 exit /b 1 + echo. + echo.Build finished; now you can run HTML Help Workshop with the ^ +.hhp project file in %BUILDDIR%/htmlhelp. + goto end +) + +if "%1" == "qthelp" ( + %SPHINXBUILD% -b qthelp %ALLSPHINXOPTS% %BUILDDIR%/qthelp + if errorlevel 1 exit /b 1 + echo. + echo.Build finished; now you can run "qcollectiongenerator" with the ^ +.qhcp project file in %BUILDDIR%/qthelp, like this: + echo.^> qcollectiongenerator %BUILDDIR%\qthelp\bnc.qhcp + echo.To view the help file: + echo.^> assistant -collectionFile %BUILDDIR%\qthelp\bnc.ghc + goto end +) + +if "%1" == "devhelp" ( + %SPHINXBUILD% -b devhelp %ALLSPHINXOPTS% %BUILDDIR%/devhelp + if errorlevel 1 exit /b 1 + echo. + echo.Build finished. + goto end +) + +if "%1" == "epub" ( + %SPHINXBUILD% -b epub %ALLSPHINXOPTS% %BUILDDIR%/epub + if errorlevel 1 exit /b 1 + echo. + echo.Build finished. The epub file is in %BUILDDIR%/epub. + goto end +) + +if "%1" == "epub3" ( + %SPHINXBUILD% -b epub3 %ALLSPHINXOPTS% %BUILDDIR%/epub3 + if errorlevel 1 exit /b 1 + echo. + echo.Build finished. The epub3 file is in %BUILDDIR%/epub3. + goto end +) + +if "%1" == "latex" ( + %SPHINXBUILD% -b latex %ALLSPHINXOPTS% %BUILDDIR%/latex + if errorlevel 1 exit /b 1 + echo. + echo.Build finished; the LaTeX files are in %BUILDDIR%/latex. + goto end +) + +if "%1" == "latexpdf" ( + %SPHINXBUILD% -b latex %ALLSPHINXOPTS% %BUILDDIR%/latex + cd %BUILDDIR%/latex + make all-pdf + cd %~dp0 + echo. + echo.Build finished; the PDF files are in %BUILDDIR%/latex. + goto end +) + +if "%1" == "latexpdfja" ( + %SPHINXBUILD% -b latex %ALLSPHINXOPTS% %BUILDDIR%/latex + cd %BUILDDIR%/latex + make all-pdf-ja + cd %~dp0 + echo. + echo.Build finished; the PDF files are in %BUILDDIR%/latex. + goto end +) + +if "%1" == "text" ( + %SPHINXBUILD% -b text %ALLSPHINXOPTS% %BUILDDIR%/text + if errorlevel 1 exit /b 1 + echo. + echo.Build finished. The text files are in %BUILDDIR%/text. + goto end +) + +if "%1" == "man" ( + %SPHINXBUILD% -b man %ALLSPHINXOPTS% %BUILDDIR%/man + if errorlevel 1 exit /b 1 + echo. + echo.Build finished. The manual pages are in %BUILDDIR%/man. + goto end +) + +if "%1" == "texinfo" ( + %SPHINXBUILD% -b texinfo %ALLSPHINXOPTS% %BUILDDIR%/texinfo + if errorlevel 1 exit /b 1 + echo. + echo.Build finished. The Texinfo files are in %BUILDDIR%/texinfo. + goto end +) + +if "%1" == "gettext" ( + %SPHINXBUILD% -b gettext %I18NSPHINXOPTS% %BUILDDIR%/locale + if errorlevel 1 exit /b 1 + echo. + echo.Build finished. The message catalogs are in %BUILDDIR%/locale. + goto end +) + +if "%1" == "changes" ( + %SPHINXBUILD% -b changes %ALLSPHINXOPTS% %BUILDDIR%/changes + if errorlevel 1 exit /b 1 + echo. + echo.The overview file is in %BUILDDIR%/changes. + goto end +) + +if "%1" == "linkcheck" ( + %SPHINXBUILD% -b linkcheck %ALLSPHINXOPTS% %BUILDDIR%/linkcheck + if errorlevel 1 exit /b 1 + echo. + echo.Link check complete; look for any errors in the above output ^ +or in %BUILDDIR%/linkcheck/output.txt. + goto end +) + +if "%1" == "doctest" ( + %SPHINXBUILD% -b doctest %ALLSPHINXOPTS% %BUILDDIR%/doctest + if errorlevel 1 exit /b 1 + echo. + echo.Testing of doctests in the sources finished, look at the ^ +results in %BUILDDIR%/doctest/output.txt. + goto end +) + +if "%1" == "coverage" ( + %SPHINXBUILD% -b coverage %ALLSPHINXOPTS% %BUILDDIR%/coverage + if errorlevel 1 exit /b 1 + echo. + echo.Testing of coverage in the sources finished, look at the ^ +results in %BUILDDIR%/coverage/python.txt. + goto end +) + +if "%1" == "xml" ( + %SPHINXBUILD% -b xml %ALLSPHINXOPTS% %BUILDDIR%/xml + if errorlevel 1 exit /b 1 + echo. + echo.Build finished. The XML files are in %BUILDDIR%/xml. + goto end +) + +if "%1" == "pseudoxml" ( + %SPHINXBUILD% -b pseudoxml %ALLSPHINXOPTS% %BUILDDIR%/pseudoxml + if errorlevel 1 exit /b 1 + echo. + echo.Build finished. The pseudo-XML files are in %BUILDDIR%/pseudoxml. + goto end +) + +if "%1" == "dummy" ( + %SPHINXBUILD% -b dummy %ALLSPHINXOPTS% %BUILDDIR%/dummy + if errorlevel 1 exit /b 1 + echo. + echo.Build finished. Dummy builder generates no files. + goto end +) + +:end Index: /trunk/BNC/docs/sphinx/source/abbreviations.rst =================================================================== --- /trunk/BNC/docs/sphinx/source/abbreviations.rst (revision 8039) +++ /trunk/BNC/docs/sphinx/source/abbreviations.rst (revision 8039) @@ -0,0 +1,192 @@ +.. only:: html + + .. index:: AC + .. index:: AFREF + .. index:: ANTEX + .. index:: APC + .. index:: APREF + .. index:: ARP + .. index:: BKG + .. index:: BNC + .. index:: BSW + .. index:: CC + .. index:: CLI + .. index:: CoM + .. index:: DGNSS + .. index:: DGPS-IP + .. index:: DMG + .. index:: DREF91 + .. index:: ECEF + .. index:: EDGE + .. index:: ETRF2000 + .. index:: EUREF + .. index:: EoE + .. index:: FKP + .. index:: FTP + .. index:: GDA94 + .. index:: GM + .. index:: GNSS + .. index:: GNU + .. index:: GPL + .. index:: GPRS + .. index:: GPSWD + .. index:: GSM + .. index:: GUI + .. index:: HP MSM + .. index:: HR URA + .. index:: HTTP + .. index:: HTTPS + .. index:: IAG + .. index:: ICECAST + .. index:: IGS08 + .. index:: IGS + .. index:: IOD + .. index:: IP + .. index:: ITRF2008 + .. index:: L3 + .. index:: LAN + .. index:: LC + .. index:: M-GEX + .. index:: MAC + .. index:: MJD + .. index:: MSI + .. index:: MSM + .. index:: MW + .. index:: NAD83 + .. index:: NAREF + .. index:: NMEA + .. index:: Ntrip + .. index:: OSM + .. index:: OSR + .. index:: P3 + .. index:: PDOP + .. index:: PNG + .. index:: PPP + .. index:: Qt + .. index:: REQC + .. index:: RINEX + .. index:: RTCM SC-104 + .. index:: RTK + .. index:: RTKPLOT + .. index:: RTNET + .. index:: RTP + .. index:: RTSP + .. index:: SBAS + .. index:: SINEX TRO + .. index:: SINEX + .. index:: SIRGAS2000 + .. index:: SIRGAS95 + .. index:: SIRGAS + .. index:: SP3 + .. index:: SPP + .. index:: SSL + .. index:: SSR + .. index:: SVN + .. index:: TCP + .. index:: TEQC + .. index:: TLS + .. index:: UDP + .. index:: UMTS + .. index:: URA + .. index:: VRS + .. index:: VTEC + + Abbreviations + ************* + + =========== ========================================================== + AC Analysis Center + AFREF IAG Reference Frame Sub-Commission for Africa + ANTEX Antenna Exchange Format + APC Antenna Phase Center + APREF IAG Reference Frame Sub-Commission for Asia and Pacific + ARP Antenna Reference Point + BKG Bundesamt für Kartographie und Geodäsie + BNC BNK Ntrip Client + BSW Bernese GNSS Software + CC Combination Center + CLI Command Line Interface + CoM Center Of Mass + DGNSS Differential GNSS + DGPS-IP Differential GPS via Internet Protocol + DMG Disk Image, File + DREF91 Geodetic Datum for Germany 1991 + ECEF Earth-Centred-Earth-Fixed + EDGE Enhanced Data Rates for GSM Evolution + ETRF2000 European Terrestrial Reference Frame 2000 + EUREF IAG Reference Frame Sub-Commission for Europe + EoE End of Epoch + FKP Flächen-Korrektur-Parameter + FTP File Transfer Protocol + GDA94 Geodetic Datum Australia 1994 + GM Google Maps + GNSS Global Navigation Satellite System + GNU GNU's Not Unix + GPL General Public License + GPRS General Packet Radio Service + GPSWD GPS Week and Day + GSM Global System for Mobile Communications + GUI Graphical User Interface + HP MSM High Precision Multiple Signal Messages + HR URA High Rate User Range Accuracy + HTTP Hypertext Transfer Protocol + HTTPS Hypertext Transfer Protocol Secure + IAG International Association of Geodesy + ICECAST Streaming Media Server + IGS08 IGS Reference Frame 2008 + IGS International GNSS Service + IOD Issue of Data + IP Internet Protocol + ITRF2008 International Terrestrial Reference Frame 2008 + L3 Ionosphere-Free Linear Combination Of Phase Observations + LAN Local Area Network + LC Linea Combination + M-GEX Multi GNSS-Experiment + MAC Master Auxiliary Concept + MJD Modified Julian Date + MSI Microsoft Installer, File + MSM Multiple Signal Messages + MW Melbourne W\"ubbena Linear Combination + NAD83 North American Datum 1983 + NAREF IAG Reference Frame Sub-Commission for North America + NMEA National Marine Electronics Association Format + Ntrip Networked Transport of RTCM via Internet Protocol + OSM OpenStreetMap + OSR Observation Space Representation + P3 Ionosphere-Free Linear Combination Of Code Observations + PDOP Positional Dilution Of Precision + PNG Portable Network Graphics + PPP Precise Point Positioning + Qt Cross-Platform Application Framework + REQC RINEX Editing and Quality Checking + RINEX Receiver Independent Exchange Format + RTCM SC-104 Radio Technical Commission for Maritime Services, Special Committee 104 + RTK Real Time Kinematic + RTKPLOT View and Plot Positioning Solutions Software, Part of RTKLIB + RTNET Real-Time Network Format + RTP Real-Time Transport Protocol + RTSP Real-Time Streaming Protocol + SBAS Space Based Augmentation System + SINEX TRO Troposphere Solution Independent Exchange Format + SINEX Solution Independent Exchange Format + SIRGAS2000 Geodetic Datum for Latin America and Caribbean 2000 + SIRGAS95 Geodetic Datum for Latin America and Caribbean 1995 + SIRGAS IAG Reference Frame Sub-Commission for Latin America and Caribbean + SP3 Standard Product # 3 + SPP Single Point Positioning + SSL Secure Sockets Layer + SSR State Space Representation + SVN Subversion, Revision Control System + TCP Transmission Control Protocol + TEQC Translation, Editing and Quality Checking + TLS Transport Layer Security + UDP User Datagram Protocol + UMTS Universal Mobile Telecommunications System + URA User Range Accuracy + VRS Virtual Reference Station + VTEC Vertical Total Electron Content + =========== ========================================================== + + + + Index: /trunk/BNC/docs/sphinx/source/acronyms._tex =================================================================== --- /trunk/BNC/docs/sphinx/source/acronyms._tex (revision 8039) +++ /trunk/BNC/docs/sphinx/source/acronyms._tex (revision 8039) @@ -0,0 +1,95 @@ +% Make gloassary and list of abbreviations (Latex only) + +\glssetwidest{RTCM SC-104\quad} % widest name +\newacronym{ac}{AC}{Analysis Center} +\newacronym{afref}{AFREF}{IAG Reference Frame Sub-Commission for Africa} +\newacronym{antex}{ANTEX}{Antenna Exchange Format} +\newacronym{apc}{APC}{Antenna Phase Center} +\newacronym{apref}{APREF}{IAG Reference Frame Sub-Commission for Asia and Pacific} +\newacronym{arp}{ARP}{Antenna Reference Point} +\newacronym{bkg}{BKG}{Bundesamt für Kartographie und Geodäsie} +\newacronym{bnc}{BNC}{BNK Ntrip Client} +\newacronym{bsw}{BSW}{Bernese GNSS Software} +\newacronym{cc}{CC}{Combination Center} +\newacronym{cli}{CLI}{Command Line Interface} +\newacronym{com}{CoM}{Center Of Mass} +\newacronym{dgnss}{DGNSS}{Differential GNSS} +\newacronym{dgps-ip}{DGPS-IP}{Differential GPS via Internet Protocol} +\newacronym{dmg}{DMG}{Disk Image File} +\newacronym{dref91}{DREF91}{Geodetic Datum for Germany 1991} +\newacronym{ecef}{ECEF}{Earth-Centred-Earth-Fixed} +\newacronym{edge}{EDGE}{Enhanced Data Rates for GSM Evolution} +\newacronym{etrf2000}{ETRF2000}{European Terrestrial Reference Frame 2000} +\newacronym{euref}{EUREF}{IAG Reference Frame Sub-Commission for Europe} +\newacronym{eoe}{EoE}{End of Epoch} +\newacronym{fkp}{FKP}{Flächen-Korrektur-Parameter} +\newacronym{ftp}{FTP}{File Transfer Protocol} +\newacronym{gda94}{GDA94}{Geodetic Datum Australia 1994} +\newacronym{gm}{GM}{Google Maps} +\newacronym{gnss}{GNSS}{Global Navigation Satellite System} +\newacronym{gnu}{GNU}{GNU's Not Unix} +\newacronym{gpl}{GPL}{General Public License} +\newacronym{gprs}{GPRS}{General Packet Radio Service} +\newacronym{gpswd}{GPSWD}{GPS Week and Day} +\newacronym{gsm}{GSM}{Global System for Mobile Communications} +\newacronym{gui}{GUI}{Graphical User Interface} +\newacronym{hp_msm}{HP MSM}{High Precision Multiple Signal Messages} +\newacronym{hr_ura}{HR URA}{High Rate User Range Accuracy} +\newacronym{http}{HTTP}{Hypertext Transfer Protocol} +\newacronym{https}{HTTPS}{Hypertext Transfer Protocol Secure} +\newacronym{iag}{IAG}{International Association of Geodesy} +\newacronym{icecast}{ICECAST}{Streaming Media Server} +\newacronym{igs08}{IGS08}{IGS Reference Frame 2008} +\newacronym{igs}{IGS}{International GNSS Service} +\newacronym{iod}{IOD}{Issue of Data} +\newacronym{ip}{IP}{Internet Protocol} +\newacronym{itrf2008}{ITRF2008}{International Terrestrial Reference Frame 2008} +\newacronym{l3}{L3}{Ionosphere-Free Linear Combination Of Phase Observations} +\newacronym{lan}{LAN}{Local Area Network} +\newacronym{lc}{LC}{Linea Combination} +\newacronym{m-gex}{M-GEX}{Multi GNSS-Experiment} +\newacronym{mac}{MAC}{Master Auxiliary Concept} +\newacronym{mjd}{MJD}{Modified Julian Date} +\newacronym{msi}{MSI}{Microsoft Installer, File} +\newacronym{msm}{MSM}{Multiple Signal Messages} +\newacronym{mw}{MW}{Melbourne W\"ubbena Linear Combination} +\newacronym{nad83}{NAD83}{North American Datum 1983} +\newacronym{naref}{NAREF}{IAG Reference Frame Sub-Commission for North America} +\newacronym{nmea}{NMEA}{National Marine Electronics Association Format} +\newacronym{ntrip}{Ntrip}{Networked Transport of RTCM via Internet Protocol} +\newacronym{osm}{OSM}{OpenStreetMap} +\newacronym{osr}{OSR}{Observation Space Representation} +\newacronym{p3}{P3}{Ionosphere-Free Linear Combination Of Code Observations} +\newacronym{pdop}{PDOP}{Positional Dilution Of Precision} +\newacronym{png}{PNG}{Portable Network Graphics} +\newacronym{ppp}{PPP}{Precise Point Positioning} +\newacronym{qt}{Qt}{Cross-Platform Application Framework} +\newacronym{reqc}{REQC}{RINEX Editing and Quality Checking} +\newacronym{rinex}{RINEX}{Receiver Independent Exchange Format} +\newacronym{rtcm_sc104}{RTCM SC-104}{Radio Technical Commission for Maritime Services, Special Committee 104} +\newacronym{rtk}{RTK}{Real Time Kinematic} +\newacronym{rtkplot}{RTKPLOT}{View and Plot Positioning Solutions Software, Part of RTKLIB} +\newacronym{rtnet}{RTNET}{Real-Time Network Format} +\newacronym{rtp}{RTP}{Real-Time Transport Protocol} +\newacronym{rtsp}{RTSP}{Real-Time Streaming Protocol} +\newacronym{sbas}{SBAS}{Space Based Augmentation System} +\newacronym{sinex_tro}{SINEX TRO}{Troposphere Solution Independent Exchange Format} +\newacronym{sinex}{SINEX}{Solution Independent Exchange Format} +\newacronym{sirgas2000}{SIRGAS2000}{Geodetic Datum for Latin America and Caribbean 2000} +\newacronym{sirgas95}{SIRGAS95}{Geodetic Datum for Latin America and Caribbean 1995} +\newacronym{sirgas}{SIRGAS}{IAG Reference Frame Sub-Commission for Latin America and Caribbean} +\newacronym{sp3}{SP3}{Standard Product \# 3} +\newacronym{spp}{SPP}{Single Point Positioning} +\newacronym{ssl}{SSL}{Secure Sockets Layer} +\newacronym{ssr}{SSR}{State Space Representation} +\newacronym{svn}{SVN}{Subversion, Revision Control System} +\newacronym{tcp}{TCP}{Transmission Control Protocol} +\newacronym{teqc}{TEQC}{Translation, Editing and Quality Checking} +\newacronym{tls}{TLS}{Transport Layer Security} +\newacronym{udp}{UDP}{User Datagram Protocol} +\newacronym{umts}{UMTS}{Universal Mobile Telecommunications System} +\newacronym{ura}{URA}{User Range Accuracy} +\newacronym{vrs}{VRS}{Virtual Reference Station} +\newacronym{vtec}{VTEC}{Vertical Total Electron Content} +% Generate Glossaries +\makeglossaries Index: /trunk/BNC/docs/sphinx/source/annex.rst =================================================================== --- /trunk/BNC/docs/sphinx/source/annex.rst (revision 8039) +++ /trunk/BNC/docs/sphinx/source/annex.rst (revision 8039) @@ -0,0 +1,970 @@ +.. index:: Annex + +.. + for html + + .. |G:CWPX_?PP| replace:: G:CWPX_? + +.. + for latex + +.. |G:CWPX_?| replace:: G:CWPX\_\? + +Annex +***** + +.. index:: Revision History + +Revision History +================ + +.. tabularcolumns:: |p{0.1\linewidth}|p{0.15\linewidth}|p{0.67\linewidth}| + +======== ============= ============================================================= +Dec 2006 Version 1.0b [Add] First Beta Binaries published based on Qt 4.2.3. +Jan 2007 Version 1.1b [Add] Observables C2, S1, and S2 +\ [Add] Virtual reference station access +\ [Bug] RTCM2 decoder time tag fixed +\ [Mod] Small letters for public RINEX skeleton files +\ [Add] Online help through Shift+F1 +Apr 2007 Version 1.2b [Bug] Output only through IP port +\ [Bug] Method 'reconnecting' now thread-save +\ [Add] ZERO decoder added +\ [Mod] Download public RINEX skeletons once per day +\ [Mod] Upgrade to Qt Version 4.2.3 +\ [Mod] Replace 'system' call for RINEX script by 'QProcess' +\ [Add] HTTP Host directive for skeleton file download +\ [Add] Percent encoding for user IDs and passwords +\ [Bug] Exit execution of calling thread for RTCM3 streams +\ [Bug] Signal-slot mechanism for threads +May 2007 Version 1.3 [Add] Source code published. +Jul 2007 Version 1.4 [Bug] Skip messages from proxy server +\ [Bug] Call RINEX script through 'nohup' +Apr 2008 Version 1.5 [Add] Handle ephemeris from RTCM Version 3 streams +\ [Add] Upgrade to Qt Version 4.3.2 +\ [Add] Optional RINEX v3 output +\ [Add] SBAS support +\ [Bug] RINEX skeleton download following stream outage +\ [Add] Handle ephemeris from RTIGS streams +\ [Add] Monitor stream failure/recovery and latency +\ [Mod] Redesign of main window +\ [Bug] Freezing of About window on Mac OS X +\ [Bug] Fixed problem with PRN 32 in RTCM v2 decoder +\ [Bug] Fix for Trimble 4000SSI receivers in RTCM v2 decoder +\ [Mod] Major revision of input buffer in RTCM v2 decoder +Dec 2008 Version 1.6 [Mod] Fill blank columns in RINEX v3 with 0.000 +\ [Add] RTCM v3 decoder for orbit and clock corrections +\ [Add] Check RTCM v3 streams for incoming message types +\ [Add] Decode RTCM v2 message types 3, 20, 21, and 22 +\ [Add] Loss of lock and lock time indicator +\ [Bug] Rounding error in RTCM v3 decoder concerning GLONASS height +\ [Mod] Accept GLONASS in RTCM v3 when transmitted first +\ [Add] Leap second 1 January 2009 +\ [Add] Offline mode, read data from file +\ [Add] Output antenna descriptor, coordinates and eccentricities from RTCM v3 +\ [Add] Reconfiguration on-the-fly +\ [Mod] Binary output of synchronized observations +\ [Add] Binary output of unsynchronized observations +\ [Bug] Fixed problem with joined RTCM v3 blocks +Dec 2008 Version 1.6.1 [Mod] HTTP GET when no proxy in front +Nov 2009 Version 1.7 [Bug] RINEX Navigation file format +\ [Add] Upgrade to Qt Version 4.5.2 +\ [Add] Support of Ntrip v2 +\ [Add] Rover support via serial port +\ [Add] Show broadcaster table from www.rtcm-ntrip.org +\ [Add] Enable/disable panel widgets +\ [Add] User defined configuration filename +\ [Mod] Switch to configuration files in ini-Format +\ [Add] Daily logfile rotation +\ [Add] Read from TCP/IP port, by-pass Ntrip transport protocol +\ [Add] Save NMEA sentences coming from rover +\ [Add] Auto start +\ [Add] Drag and drop ini files +\ [Add] Read from serial port, by-pass Ntrip transport protocol +\ [Mod] Update of SSR messages following RTCM 091-2009-SC104-542 +\ [Add] Read from UPD port, by-pass Ntrip transport protocol +\ [Mod] Output format of Broadcast Corrections +\ [Add] Throughput plot +\ [Add] Latency plot +Nov 2009 Version 1.8 [Mod] On-the-fly reconfiguration of latency and throughput plots +Feb 2010 Version 2.0 [Mod] Change sign of Broadcast Corrections +\ [Add] Real-time PPP option +Jun 2010 Version 2.1 [Bug] SSR GLONASS message generation +\ [Add] PPP in post processing mode +\ [Mod] Update of SSR messages following draft dated 2010-04-12 +\ [Mod] Generating error message when observation epoch is wrong +Jul 2010 Version 2.2 [Bug] GLONASS ephemeris time +Aug 2010 Version 2.3 [Mod] Internal format for saving raw streams +\ [Bug] Outlier detection in GLONASS ambiguity resolution +\ [Mod] Format of PPP logs in logfile +\ [Bug] Complete acceleration terms for GLONASS ephemeris +\ [Bug] Handling ephemeris IOD's in PPP mode +Dec 2010 Version 2.4 [Add] Output of averaged positions when in PPP mode +\ [Mod] Use always the latest received set of Broadcast Ephemeris +\ [Add] QuickStart PPP option +\ [Mod] Improvement of data sharing efficiency among different threads +\ [Mod] Design of PPP panel section +\ [Add] Sigmas for observations and parameters +\ [Add] Stream distribution map +\ [Bug] GPS Ephemeris in RINEX v3 format +Feb 2011 Version 2.5 [Add] PPP option for sync of clock observations and corrections +\ [Add] Drafted RTCM v3 Galileo ephemeris messages 1045 +\ [Add] Drafted RTCM v3 Multiple Signal Messages +\ [Add] Optional specification of sigmas for coordinates and troposphere in PPP +\ [Add] Include Galileo in SPP +\ [Add] Include Galileo observations in output via IP port +\ [Add] Include Galileo observations in output via RINEX v3 files +\ [Mod] Interface format for feeding a real-time engine with observations +\ [Add] Correct observations for Antenna Phase Center offsets +\ [Add] Combine orbit/clock correction streams +\ [Add] Specify corrections mountpoint in PPP panel +Apr 2011 Version 2.6 [Add] Complete integration of BNS in BNC +\ [Add] SP3 and Clock RINEX output +\ [Add] PPP in post processing Mode +\ [Add] Some RINEX editing & QC functionality +\ [Add] Threshold for orbit outliers in combination solution +\ [Add] Real-time engine becomes orbit/clock server instead of client +\ [Mod] 'EOE' added to orbit/clock stream from engine +\ [Add] Correction for antenna eccentricities +\ [Add] Quick start mode for PPP +\ [Mod] Design of format for feeding engine changed to follow RINEX v3 +\ [Mod] Implementation of SSR message encoding modified according to standard +\ [Add] SSL/TLS Support of Ntrip Version 2 +\ [Mod] Switch to Qt version 4.7.3 +\ [Add] RINEX editing, concatenation and quality check +\ [Add] Reading all configuration options from command line +\ [Mod] RTCM v3 Galileo Broadcast Ephemeris message 1045 +\ [Mod] Change default configuration file suffix from 'ini' to 'bnc' +\ [Add] Specific rates for orbits and clocks in streams and SP3/RNX files +\ [Add] Version 2.6 published, May 2012 +Sep 2012 Version 2.7 [Bug] Bug in L5 decoding fixed +\ [Bug] Bug in on-the-fly configuration fixed +\ [Add] Clock RINEX file header extended +\ [Add] Decoding/converting BeiDou and QZSS added +\ [Add] Work on RINEX v2 and v3 quality check started +\ [Mod] Source code completely re-arranged +\ [Add] QWT and QWTPOLAR graphics libraries added +\ [Add] RINEX QC through multipath analysis sky plot +\ [Add] RINEX QC through signal-to-noise ratio sky plot +\ [Add] RINEX QC through satellite availability plot +\ [Add] RINEX QC through satellite elevation plot +\ [Add] RINEX QC through PDOP plot +\ [Bug] Short periodic outages in PPP time series when 'Sync Corr' set to zero +\ |Add] Log observation types contained in RTCM Version 3 MSM streams +\ [Add] Reading RINEX v3 observation type header records from RINEX skeleton +\ [Add] Logfile for RINEX file editing and concatenation +\ [Add] Save PNG plot files on disk +\ [Mod] Plot stream distribution map from Ntrip Broadcaster source-table +\ [Add] Plot stream distribution map from selected sources +\ [Add] Version 2.7 published +Sep 2012 Version 2.8 [Mod] Started work on new version in Sep 2012 +\ [Bug] Epoch special event flag in RINEX concatenation +\ [Bug] Limit RINEX v2 records length to 80 characters +\ [Bug] SSR message update interval indicator +\ [Bug] Fixed SSR stream encoding and upload +\ [Add] Concatenate RINEX v3 navigation files containing Galileo ephemeris +\ [Mod] Plausibility check of GLONASS ephemeris +\ [Add] Correcting clocks for scale factor involved in transformation +\ [Mod] Orbit/clock interpolation in SSR stream encoding and upload to caster +\ [Add] Version 2.8 published, Mar 2013 +Mar 2013 Version 2.9 [Add] Started work on new version in Mar 2013 +\ [Bug] SSR stream upload buffering disabled +\ [Mod] Format for feeding a connected GNSS engine +\ [Mod] RTNET format for receiving data from a connected GNSS engine +\ [Add] Include Galileo in SPP +\ [Add] RINEX QC multipath an SNR sky plots for GLONASS and Galileo +\ [Add] Bias estimation for GLONASS clocks in PPP +\ [Add] Trace positions on GM or OSM maps +\ [Add] Version 2.9 published, Jul 2013 +Aug 2013 Version 2.10 [Add] Started work on new version in Aug 2013 +\ [Bug] Clock RINEX und SP3 file generation on Windows systems +\ [Bug] Broadcast Ephemeris generation +\ [Add] Transformation ITRF2008 to NAD83 and DREF91 +\ [Add] CodeBias added to RTNET stream format +\ [Bug] GPS L2 in 'Feed Engine' output +\ [Mod] Made C1 in BeiDou default observation type instead of C2 +\ [Add] Feed engine output sorted per stream +\ [Add] Feed engine output filename change on-the-fly +\ [Add] 'Append files' option for RINEX observation files +\ [Mod] Broadcast Correction ASCII file output for message 1058 & 1064 modified +\ [Bug] GPS L2 phase data in RINEX2 +\ [Bug] GLONASS frequency numbers +\ [Add] RTCM v3 Galileo Broadcast Ephemeris message 1046 +\ [Add] Reset ambiguities in PPP when orbit/clock correction IDs change +\ [Add] Satellite clock offsets are reset in adjustment for combination when orbit/clock correction IDs change +\ [Add] Version 2.10 published in Dec 2013 +Dec 2013 Version 2.11 [Add] Started work on new version in Dec 2013 +\ [Mod] SIRGAS transformation parameters adjusted +\ [Mod] ANTEX file updated +\ [Mod] RTCM SSR messages updated +\ [Bug] GLONASS code biases +\ [Mod] Maximum number of GNSS observations increased +\ [Mod] Loss of lock handling changed +\ [Add] Raw stream output through TCP/IP port +\ [Add] Version 2.11.0 published in Sep 2014 +Sep 2014 Version 2.12 [Add] Started work on new version in Sep 2014 +\ [Mod] RINEX file concatenation +\ [Add] Observation code selection in RINEX file editing +\ [Mod] Routine handling of data input and output in RINEX format re-written +\ [Mod] QC routines re-written with the goal of handling all signal types +\ [Add] Machine-readable output of RINEX QC +\ [Add] PPP client functionality for parallel processing of an arbitrary number of stations in separate threads +\ [Bug] Receiver antenna PCO in ionosphere-free PPP mode +\ [Add] NMEA output for any station processed in PPP mode +\ [Add] PPP processing of any number of linear combinations of GNSS measurements selected by user +\ [Add] Encoding/Decoding RTCM SSR I messages for Galileo, BDS, SBAS and QZSS +\ [Add] Encoding/Decoding RTCM SSR phase bias messages +\ [Add] Encoding/Decoding RTCM SSR ionospheric model messages, single-layer model for total electron content +\ [Add] RTCM SSR I messages for Galileo, BDS, SBAS and QZSS support from RTNET interface +\ [Add] RTCM SSR II messages (phase biases and SSR ionospheric model) support from RTNET interface +\ [Add] Computation of VTEC and STEC from SSR ionospheric model messages for usage in PPP mode +\ [Add] Handle old-fashioned SNR values in RINEX +\ [Mod] SNR and MP visualization depending on RINEX observation attribute +\ [Bug] Saastamoinen tropospheric correction for very high elevation receivers +\ [Add] Comparison of SP3 files +\ [Add] Encoding/Decoding of RTCM v3 proposal for Galileo Broadcast Ephemeris message 1046 +\ [Add] Encoding/Decoding of RTCM v3 QZSS Broadcast Ephemeris message 1044 +\ [Add] Encoding/Decoding of RTCM v3 SBAS Broadcast Ephemeris message 1043 +\ [Add] Encoding/Decoding of RTCM v3 BDS Broadcast Ephemeris message 63 +\ [Add] RINEX v3 support of Galileo, BDS, SBAS and QZSS Broadcast Ephemerides +\ [Add] Consideration of the aspect that Galileo NAV message can be provided for the same epoch but with different flags (I/NAV, F/NAV, DVS) +\ [Bug] VRS support in sending NMEA in Auto/Manual mode to Ntrip Broadcaster +\ [Add] Forwarding NMEA GNGGA to Ntrip Broadcaster +\ [Bug] Stream failure/recovery reports +\ [Add] Compute IODs for BDS and SBAS from CRC over Broadcast Ephemeris and clock parameters +\ [Mod] PPP default options +\ [Add] Example configuration for SP3 file comparison +\ [Add] Choose between code and phase observations when in PPP SSR I mode +\ [Bug] Reset time series plot when restarting PPP in post processing mode +\ [Add] Broadcast ephemeris check regarding allowed age of data sets +\ [Add] Code bias usage for PPP SSR I mode +\ [Add] Code bias, phase bias and VTEC usage in extended PPP mode +\ [Mod] Consideration of the full antenna PCO vector in all PPP modes +\ [Add] Allow GPS-only and GLONASS-only RINEX v2 Navigation files +\ [Mod] SSR clock correction converted to seconds to be consistent with broadcast values +\ [Add] Support Galileo I/NAV Broadcast Ephemeris +\ [Add] Extended RINEX v3 filenames +\ [Add] Stream's country added to configuration string 'mountPoints' +\ [Add] Distinction of GEO/MEO satellites during BDS velocity determination +\ [Bug] Velocity determination for geostationary BDS satellites +\ [Add] Set TOE from BDS week and second +\ [Add] Use BDS observations and ephemerides in PPP SSR I mode +\ [Add] Considering that yaw angle restricted to -180 to +180 deg +\ [Mod] Read local RINEX skeleton files +\ [Add] Update interval for VTEC in RTNET stream format +\ [Bug] SBAS IODN +\ [Bug] Galileo week number +\ [Add] Phase shift records in RINEX v3 headers +\ [Add] Output GLONASS slot numbers from scanning stream content +\ [Add] Decoder interface for PPP SSR I+II messages for Galileo/QZSS/SBAS/BDS +\ [Mod] Renaming BDS first frequency from '1' to '2' +\ [Add] RINEX QC, receiver/antenna information editable +\ [Add] Support of new RINEX header lines regarding phase shifts, GLONAQSS slots and GLONASS biases during file merging +\ [Add] Switch to port 443 for skeleton file download from https website +\ [Mod] Default observation types for RINEX v3 files +\ [Bug] RTCM v2 decoder +\ [Add] SINEX Troposphere file output +\ [Add] Comments with respect to RINEX v3 to RINEX v2 observation file conversion [Add] String for Operating System in logfile output +\ [Add] Full integration of 'rtcm3torinex' +\ [Add] Extended command line help +\ [Add] Version 2.12.0 published in April 2016 +Apr 2016 Version 2.13 [Add] Started work on new version in Apr 2016 +======== ============= ============================================================= + +.. index:: RTCM standards overview + + +RTCM Standards +============== + +The Radio Technical Commission for Maritime Services (RTCM) is an international non-profit scientific, professional and educational organization. Special Committees provide a forum in which governmental and non-governmental members work together to develop technical standards and consensus recommendations in regard to issues of particular concern. RTCM is engaged in the development of international standards for maritime radionavigation and radiocommunication systems. The output documents and reports prepared by RTCM Committees are published as RTCM Recommended Standards. Topics concerning Differential Global Navigation Satellite Systems (DGNSS) are handled by the Special Committee SC 104. + +Personal copies of RTCM Recommended Standards can be ordered through http://www.rtcm.org/orderinfo.php. + +.. index:: Ntrip Version 1 + +Ntrip Version 1 +--------------- + +'Networked Transport of RTCM via Internet Protocol' Version 1.0 (Ntrip) stands for an application-level protocol streaming Global Navigation Satellite System (GNSS) data over the Internet. Ntrip is a generic, stateless protocol based on the Hypertext Transfer Protocol HTTP/1.1. The HTTP objects are enhanced to GNSS data streams. + +Ntrip Version 1 is an RTCM standard designed for disseminating differential correction data (e.g. in the RTCM-104 format) or other kinds of GNSS streaming data to stationary or mobile users over the Internet, allowing simultaneous PC, Laptop, PDA, or receiver connections to a broadcasting host. Ntrip supports wireless Internet access through Mobile IP Networks like GSM, GPRS, EDGE, or UMTS. + +Ntrip is implemented in three system software components: Ntrip Clients, Ntrip Servers and Ntrip Broadcasters. The Ntrip Broadcaster is the actual HTTP server program whereas Ntrip Client and Ntrip Server are acting as HTTP clients. + + +Ntrip is an open none-proprietary protocol. Major characteristics of Ntrip's dissemination technique are: + +* Based on the popular HTTP streaming standard; comparatively easy to implement when having limited client and server platform resources available; +* Application not limited to one particular plain or coded stream content; ability to distribute any kind of GNSS data; +* Potential to support mass usage; disseminating hundreds of streams simultaneously for thousands of users possible when applying modified Internet Radio broadcasting software; +* Considering security needs; stream providers and users do not necessarily get into contact, streams often not blocked by firewalls or proxy servers protecting Local Area Networks; +* Enables streaming over mobile IP networks because of using TCP/IP. + +The Ntrip Broadcaster maintains a source-table containing information on available Ntrip streams, networks of Ntrip streams and Ntrip Broadcasters. The source-table is sent to an Ntrip Client on request. Source-table records are dedicated to one of the following: Data Streams (record type STR), Casters (record type CAS), or Networks of streams (record type NET). + +Source-table records of type STR contain the following data fields: 'mountpoint', 'identifier', 'format', 'format-details', 'carrier', 'nav-system', 'network', 'country', 'latitude', 'longitude', 'nmea', 'solution', 'generator', 'compr-encryp', 'authentication', 'fee', 'bitrate', 'misc'. + +Source-table records of type NET contain the following data fields: 'identifier', 'operator', 'authentication', 'fee', 'web-net', 'web-str', 'web-reg', 'misc'. + +Source-table records of type CAS contain the following data fields: 'host', 'port', 'identifier', 'operator', 'nmea', 'country', 'latitude', 'longitude', 'misc'. + +.. index:: Ntrip Version 2 + +Ntrip Version 2 +--------------- + +The major changes of Ntrip Version 2 compared to Version 1.0 are: + +* Cleared and fixed design problems and HTTP protocol violations; +* Replaced nonstandard directives; +* Chunked transfer encoding; +* Improvements in header records; +* Source-table filtering; +* RTSP communication. + +Ntrip Version 2 allows to communicate either in TCP/IP mode or in RTSP/RTP mode or in UDP mode whereas Version 1 is limited to TCP/IP only. It furthermore allows using the Transport Layer Security (TLS) and its predecessor, Secure Sockets Layer (SSL) cryptographic protocols for secure Ntrip communication over the Internet. + +.. index:: RTCM Version 2 + +RTCM Version 2 +-------------- + +Transmitting GNSS carrier phase data can be done through RTCM Version 2 messages. Please note that only RTCM Version 2.2 and 2.3 streams may include GLONASS data. Messages that may be of interest here are: + +* Type 1 message is the range correction message and is the primary message in code-phase differential positioning (DGPS). It is computed in the base receiver by computing the error in the range measurement for each tracked SV. +* Type 2 message is automatically generated when a new set of satellite ephemeris is downloaded to the base receiver. It is the computed difference between the old ephemeris and the new ephemeris. Type 2 messages are used when the base station is transmitting Type 1 messages. +* Type 3 and 22 messages are the base station position and the antenna offset. Type 3 and 22 are used in RTK processing to perform antenna reduction. +* Type 6 message is a null frame filler message that is provided for data links that require continuous transmission of data, even if there are no corrections to send. As many Type 6 messages are sent as required to fill in the gap between two correction messages (type 1). Message 6 is not sent in burst mode. +* Type 9 message serves the same purpose as Type 1, but does not require a complete satellite set. As a result, Type 9 messages require a more stable clock than a station transmitting Type 1 's, because the satellite corrections have different time references. +* Type 16 message is simply a text message entered by the user that is transmitted from the base station to the rover. It is used with code-phase differential. +* Type 18 and 20 messages are RTK uncorrected carrier phase data and carrier phase corrections. +* Type 19 and 21 messages are the uncorrected pseudo-range measurements and pseudo-range corrections used in RTK. +* Type 23 message provides the information on the antenna type used on the reference station. +* Type 24 message carries the coordinates of the installed antenna's ARP in the GNSS coordinate system coordinates. + +.. index:: RTCM Version 3 + +RTCM Version 3 +-------------- + +RTCM Version 3 has been developed as a more efficient alternative to RTCM Version 2. Service providers and vendors have asked for a standard that would be more efficient, easy to use, and more easily adaptable to new situations. The main complaint was that the Version 2 parity scheme was wasteful of bandwidth. Another complaint was that the parity is not independent from word to word. Still another was that even with so many bits devoted to parity, the actual integrity of the message was not as high as it should be. Plus, 30-bit words are awkward to handle. The Version 3 standard is intended to correct these weaknesses. + +RTCM Version 3 defines a number of message types. Messages that may be of interest here are: + +* Type 1001, GPS L1 code and phase. +* Type 1002, GPS L1 code and phase and ambiguities and carrier-to-noise ratio. +* Type 1003, GPS L1 and L2 code and phase. +* Type 1004, GPS L1 and L2 code and phase and ambiguities and carrier-to-noise ratio. +* Type 1005, Station coordinates XYZ for antenna reference point. +* Type 1006, Station coordinates XYZ for antenna reference point and antenna height. +* Type 1007, Antenna descriptor and ID. +* Type 1008, Antenna serial number. +* Type 1009, GLONASS L1 code and phase. +* Type 1010, GLONASS L1 code and phase and ambiguities and carrier-to-noise ratio. +* Type 1011, GLONASS L1 and L2 code and phase. +* Type 1012, GLONASS L1 and L2 code and phase and ambiguities and carrier-to-noise ratio. +* Type 1013, Modified Julian Date, leap second, configured message types and interval. +* Type 1014 and 1017, Network RTK (MAK) messages. +* Type 1019, GPS ephemeris. +* Type 1020, GLONASS ephemeris. +* Type 1043, SBAS ephemeris. +* Type 1044, QZSS ephemeris. +* Type 1045, Galileo F/NAV ephemeris. +* Type 1046, Galileo I/NAV ephemeris. +* Type 63, BeiDou ephemeris, tentative. +* Type 4088 and 4095, Proprietary messages. + +The following are so-called 'State Space Representation' (SSR) messages: + +* Type 1057, GPS orbit corrections to Broadcast Ephemeris +* Type 1058, GPS clock corrections to Broadcast Ephemeris +* Type 1059, GPS code biases +* Type 1060, Combined orbit and clock corrections to GPS Broadcast Ephemeris +* Type 1061, GPS User Range Accuracy (URA) +* Type 1062, High-rate GPS clock corrections to Broadcast Ephemeris +* Type 1063, GLONASS orbit corrections to Broadcast Ephemeris +* Type 1064, GLONASS clock corrections to Broadcast Ephemeris +* Type 1065, GLONASS code biases +* Type 1066, Combined orbit and clock corrections to GLONASS Broadcast Ephemeris +* Type 1067, GLONASS User Range Accuracy (URA) +* Type 1068, High-rate GLONASS clock corrections to Broadcast Ephemeris + +* Type 1240, Galileo orbit corrections to Broadcast Ephemeris +* Type 1241, Galileo clock corrections to Broadcast Ephemeris +* Type 1242, Galileo code biases +* Type 1243, Combined orbit and clock corrections to Galileo Broadcast Ephemeris +* Type 1244, Galileo User Range Accuracy (URA) +* Type 1245, High-rate Galileo clock corrections to Broadcast Ephemeris + +* Type 1246, QZSS orbit corrections to Broadcast Ephemeris +* Type 1247, QZSS clock corrections to Broadcast Ephemeris +* Type 1248, QZSS code biases +* Type 1249, Combined orbit and clock corrections to QZSS Broadcast Ephemeris +* Type 1250, QZSS User Range Accuracy (URA) +* Type 1251, High-rate QZSS clock corrections to Broadcast Ephemeris + +* Type 1252, SBAS orbit corrections to Broadcast Ephemeris +* Type 1253, SBAS clock corrections to Broadcast Ephemeris +* Type 1254, SBAS code biases +* Type 1255, Combined orbit and clock corrections to SBAS Broadcast Ephemeris +* Type 1256, SBAS User Range Accuracy (URA) +* Type 1257, High-rate SBAS clock corrections to Broadcast Ephemeris + +* Type 1258, BDS orbit corrections to Broadcast Ephemeris +* Type 1259, BDS clock corrections to Broadcast Ephemeris +* Type 1260, BDS code biases +* Type 1261, Combined orbit and clock corrections to BDS Broadcast Ephemeris +* Type 1262, BDS User Range Accuracy (URA) +* Type 1263, High-rate BDS clock corrections to Broadcast Ephemeris\\ + +* Type 1264 SSR Ionosphere VTEC Spherical Harmonics +* Type 1265 SSR GPS Satellite Phase Bias +* Type 1266 SSR Satellite GLONASS Phase Bias +* Type 1267 SSR Satellite Galileo Phase Bias +* Type 1268 SSR Satellite QZSS Phase Bias +* Type 1269 SSR Satellite SBAS Phase Bias +* Type 1270 SSR Satellite BDS Phase Bias + +The following are so-called 'Multiple Signal Messages' (MSM): + +* Type 1071, Compact GPS pseudo-ranges +* Type 1072, Compact GPS carrier phases +* Type 1073, Compact GPS pseudo-ranges and carrier phases +* Type 1074, Full GPS pseudo-ranges and carrier phases plus signal strength +* Type 1075, Full GPS pseudo-ranges, carrier phases, Doppler and signal strength +* Type 1076, Full GPS pseudo-ranges and carrier phases plus signal strength (high resolution) +* Type 1077, Full GPS pseudo-ranges, carrier phases, Doppler and signal strength (high resolution) + +* Type 1081, Compact GLONASS pseudo-ranges +* Type 1082, Compact GLONASS carrier phases +* Type 1083, Compact GLONASS pseudo-ranges and carrier phases +* Type 1084, Full GLONASS pseudo-ranges and carrier phases plus signal strength +* Type 1085, Full GLONASS pseudo-ranges, carrier phases, Doppler and signal strength +* Type 1086, Full GLONASS pseudo-ranges and carrier phases plus signal strength (high resolution) +* Type 1087, Full GLONASS pseudo-ranges, carrier phases, Doppler and signal strength (high resolution) + +* Type 1091, Compact Galileo pseudo-ranges +* Type 1092, Compact Galileo carrier phases +* Type 1093, Compact Galileo pseudo-ranges and carrier phases +* Type 1094, Full Galileo pseudo-ranges and carrier phases plus signal strength +* Type 1095, Full Galileo pseudo-ranges, carrier phases, Doppler and signal strength +* Type 1096, Full Galileo pseudo-ranges and carrier phases plus signal strength (high resolution) +* Type 1097, Full Galileo pseudo-ranges, carrier phases, Doppler and signal strength (high resolution) + +* Type 1121, Compact BeiDou pseudo-ranges +* Type 1122, Compact BeiDou carrier phases +* Type 1123, Compact BeiDou pseudo-ranges and carrier phases +* Type 1124, Full BeiDou pseudo-ranges and carrier phases plus signal strength +* Type 1125, Full BeiDou pseudo-ranges, carrier phases, Doppler and signal strength +* Type 1126, Full BeiDou pseudo-ranges and carrier phases plus signal strength (high resolution) +* Type 1127, Full BeiDou pseudo-ranges, carrier phases, Doppler and signal strength (high resolution) + +* Type 1111, Compact QZSS pseudo-ranges +* Type 1112, Compact QZSS carrier phases +* Type 1113, Compact QZSS pseudo-ranges and carrier phases +* Type 1114, Full QZSS pseudo-ranges and carrier phases plus signal strength +* Type 1115, Full QZSS pseudo-ranges, carrier phases, Doppler and signal strength +* Type 1116, Full QZSS pseudo-ranges and carrier phases plus signal strength (high resolution) +* Type 1117, Full QZSS pseudo-ranges, carrier phases, Doppler and signal strength (high resolution) + +The following are proposed 'Multiple Signal Messages' (MSM) under discussion for standardization: + +* Type 1101, Compact SBAS pseudo-ranges +* Type 1102, Compact SBAS carrier phases +* Type 1103, Compact SBAS pseudo-ranges and carrier phases +* Type 1104, Full SBAS pseudo-ranges and carrier phases plus signal strength +* Type 1105, Full SBAS pseudo-ranges, carrier phases, Doppler and signal strength +* Type 1106, Full SBAS pseudo-ranges and carrier phases plus signal strength (high resolution) +* Type 1107, Full SBAS pseudo-ranges, carrier phases, Doppler and signal strength (high resolution)\\ + +.. index:: Command Line Help + +Command Line Help +================= + +Command line option ``--help`` provides a complete list of all configuration parameters which can be specified via BNC's Command Line Interface (CLI). Note that command line options overrule configuration options specified in the configuration file. The following is the output produced when running BNC with command line option '--help': + +Usage +----- + +.. code-block:: bash + + bnc --help (MS Windows: bnc.exe --help | more) + --nw + --version (MS Windows: bnc.exe --version | more) + --display {name} + --conf {confFileName} + --file {rawFileName} + --key {keyName} {keyValue} + +.. index:: Command Line Help - Network Panel keys + +Network Panel keys +------------------ + +.. tabularcolumns:: |p{0.3\linewidth}|p{0.62\linewidth}| + +======================== ================================================================================================================ +**KeyName** **Meaning** +======================== ================================================================================================================ +proxyHost Proxy host, name or IP address [character string] +proxyPort Proxy port [integer number] +sslCaCertPath Full path to SSL certificates [character string] +sslIgnoreErrors Ignore SSL authorization errors [integer number: 0=no,2=yes] +======================== ================================================================================================================ + +.. index:: Command Line Help - General Panel keys + +General Panel keys +------------------ + +.. tabularcolumns:: |p{0.3\linewidth}|p{0.62\linewidth}| + +======================== ================================================================================================================ +**KeyName** **Meaning** +======================== ================================================================================================================ +logFile Logfile, full path [character string] +rnxAppend Append files [integer number: 0=no,2=yes] +onTheFlyInterval Configuration reload interval [character string: 1 day|1 hour|5 min|1 min] +autoStart Auto start [integer number: 0=no,2=yes] +rawOutFile Raw output file, full path [character string] +======================== ================================================================================================================ + +.. index:: Command Line Help - RINEX Observations Panel keys + +RINEX Observations Panel keys +----------------------------- + +.. tabularcolumns:: |p{0.3\linewidth}|p{0.62\linewidth}| + +======================== ================================================================================================================ +**KeyName** **Meaning** +======================== ================================================================================================================ +rnxPath Directory [character string] +rnxIntr File interval [character string: 1 min|2 min|5 min|10 min|15 min|30 min|1 hour|1 day] +rnxSampl File sampling rate [integer number of seconds: 0,5|10|15|20|25|30|35|40|45|50|55|60] +rnxSkel RINEX skeleton file extension [character string] +rnxOnlyWithSKL Using RINEX skeleton file is mandatory [integer number: 0=no,2=yes] +rnxScript File upload script, full path [character string] +rnxV2Priority Priority of signal attributes [character string, list separated by blank character, example: |G:CWPX_?| R:CP] +rnxV3 Produce version 3 file content [integer number: 0=no,2=yes] +rnxV3filenames Produce version 3 filenames [integer number: 0=no,2=yes] +======================== ================================================================================================================ + +.. index:: Command Line Help - Ephemeris Panel keys + +RINEX Ephemeris Panel keys +-------------------------- + +.. tabularcolumns:: |p{0.3\linewidth}|p{0.62\linewidth}| + +======================== ================================================================================================================ +**KeyName** **Meaning** +======================== ================================================================================================================ +ephPath Directory [character string] +ephIntr File interval [character string: 1 min|2 min|5 min|10 min|15 min|30 min|1 hour|1 day] +ephOutPort Output port [integer number] +ephV3 Produce version 3 file content [integer number: 0=no,2=yes] +ephV3filenames Produce version 3 filenames [integer number: 0=no,2=yes] +======================== ================================================================================================================ + +.. index:: Command Line Help - RINEX Editing and QC Panel keys + +RINEX Editing and QC Panel keys +------------------------------- + +.. tabularcolumns:: |p{0.3\linewidth}|p{0.62\linewidth}| + +======================== ================================================================================================================ +**KeyName** **Meaning** +======================== ================================================================================================================ +reqcAction Action specification [character string: Blank|Edit/Concatenate|Analyze] +reqcObsFile Input observations file(s), full path [character string, comma separated list in quotation marks] +reqcNavFile Input navigation file(s), full path [character string, comma separated list in quotation marks] +reqcOutObsFile Output observations file, full path [character string] +reqcOutNavFile Output navigation file, full path [character string] +reqcOutLogFile Output logfile, full path [character string] +reqcLogSummaryOnly Output only summary of logfile [integer number: 0=no,2=yes] +reqcSkyPlotSignals Observation signals [character string, list separated by blank character, example: C:2&7 E:1&5 G:1&2 J:1&2 R:1&2 S:1&5] +reqcPlotDir QC plots directory [character string] +reqcRnxVersion RINEX version [integer number: 2|3] +reqcSampling RINEX output file sampling rate [integer number of seconds: 0|5|10|15|20|25|30|35|40|45|50|55|60] +reqcV2Priority Version 2 priority of signal attributes [character string, list separated by blank character, example: |G:CWPX_?| R:CP] +reqcStartDateTime Start time [character string, example: 1967-11-02T00:00:00] +reqcEndDateTime Stop time [character string, example: 2099-01-01T00:00:00] +reqcRunBy Operators name [character string] +eqcUseObsTypes Use observation types [character string, list separated by blank character, example: G:C1C G:L1C R:C1C RC1P] +reqcComment Additional comments [character string] +reqcOldMarkerName Old marker name [character string] +reqcNewMarkerName New marker name [character string] +reqcOldAntennaName Old antenna name [character string] +reqcNewAntennaName New antenna name [character string] +reqcOldAntennaNumber Old antenna number [character string] +reqcNewAntennaNumber New antenna number [character string] +reqcOldAntennadN Old north eccentricity [character string] +reqcNewAntennadN New north eccentricity [character string] +reqcOldAntennadE Old east eccentricity [character string] +reqcNewAntennadE New east eccentricity [character string] +reqcOldAntennadU Old up eccentricity [character string] +reqcNewAntennadU New up eccentricity [character string] +reqcOldReceiverName Old receiver name [character string] +reqcNewReceiverName New receiver name [character string] +reqcOldReceiverNumber Old receiver number [character string] +reqcNewReceiverNumber New receiver number [character string] +======================== ================================================================================================================ + +.. index:: Command Line Help - SP3 Comparison Panel keys + +SP3 Comparison Panel keys +------------------------- + +.. tabularcolumns:: |p{0.3\linewidth}|p{0.62\linewidth}| + +======================== ================================================================================================================ +**KeyName** **Meaning** +======================== ================================================================================================================ +sp3CompFile SP3 input files, full path [character string, comma separated list in quotation marks] +sp3CompExclude Satellite exclusion list [character string, comma separated list in quotation marks, example: G04,G31,R] +sp3CompOutLogFile Output logfile, full path [character string] +======================== ================================================================================================================ + +.. index:: Command Line Help - Broadcast Corrections Panel keys + +Broadcast Corrections Panel keys +-------------------------------- + +.. tabularcolumns:: |p{0.3\linewidth}|p{0.62\linewidth}| + +======================== ================================================================================================================ +**KeyName** **Meaning** +======================== ================================================================================================================ +corrPath Directory for saving files in ASCII format [character string] +corrIntr File interval [character string: 1 min|2 min|5 min|10 min|15 min|30 min|1 hour|1 day] +corrPort Output port [integer number] +======================== ================================================================================================================ + +.. index:: Command Line Help - Feed Engine Panel keys + +Feed Engine Panel keys +---------------------- + +.. tabularcolumns:: |p{0.3\linewidth}|p{0.62\linewidth}| + +======================== ================================================================================================================ +**KeyName** **Meaning** +======================== ================================================================================================================ +outPort Output port, synchronized [integer number] +outWait Wait for full observation epoch [integer number of seconds: 1-30] +outSampl Sampling rate [integer number of seconds: 0|5|10|15|20|25|30|35|40|45|50|55|60] +outFile Output file, full path [character string] +outUPort Output port, unsynchronized [integer number] +======================== ================================================================================================================ + +.. index:: Command Line Help - Serial Output Panel keys + +Serial Output Panel keys +------------------------ + +.. tabularcolumns:: |p{0.3\linewidth}|p{0.62\linewidth}| + +======================== ================================================================================================================ +**KeyName** **Meaning** +======================== ================================================================================================================ +serialMountPoint Mountpoint [character string] +serialPortName Port name [character string] +serialBaudRate Baud rate [integer number: 110|300|600|1200|2400|4800|9600|19200|38400|57600|115200] +serialFlowControl Flow control [character string: OFF|XONXOFF|HARDWARE +serialDataBits Data bits [integer number: 5|6|7|8] +serialParity Parity [character string: NONE|ODD|EVEN|SPACE] +serialStopBits Stop bits [integer number: 1|2] +serialAutoNMEA NMEA specification [character string: no|Auto|Manual GPGGA|Manual GNGGA] +serialFileNMEA NMEA filename, full path [character string] +serialHeightNMEA Height [floating-point number] +serialHeightNMEASampling Sampling rate [integer number of seconds: 0|10|20|30|...|280|290|300] +======================== ================================================================================================================ + +.. index:: Command Line Help - Outages Panel keys + +Outages Panel keys +------------------ + +.. tabularcolumns:: |p{0.3\linewidth}|p{0.62\linewidth}| + +======================== ================================================================================================================ +**KeyName** **Meaning** +======================== ================================================================================================================ +adviseObsRate Stream observation rate [character string: 0.1 Hz|0.2 Hz|0.5 Hz|1 Hz|5 Hz] +adviseFail Failure threshold [integer number of minutes: 0-60] +adviseReco Recovery threshold [integer number of minutes: 0-60] +adviseScript Advisory script, full path [character string] +======================== ================================================================================================================ + +.. index:: Command Line Help - Miscellaneous Panel keys + +Miscellaneous Panel keys +------------------------ + +.. tabularcolumns:: |p{0.3\linewidth}|p{0.62\linewidth}| + +======================== ================================================================================================================ +**KeyName** **Meaning** +======================== ================================================================================================================ +miscMount Mountpoint [character string] +miscIntr Interval for logging latency [character string: Blank|2 sec|10 sec|1 min|5 min|15 min|1 hour|6 hours|1 day] +miscScanRTCM Scan for RTCM message numbers [integer number: 0=no,2=yes] +miscPort Output port [integer number] +======================== ================================================================================================================ + +.. index:: Command Line Help - PPP Client Panel 1 keys + +PPP Client Panel 1 keys +----------------------- + +.. tabularcolumns:: |p{0.3\linewidth}|p{0.62\linewidth}| + +======================== ================================================================================================================ +**KeyName** **Meaning** +======================== ================================================================================================================ +PPP/dataSource Data source [character string: Blank|Real-Time Streams|RINEX Files] +PPP/rinexObs RINEX observation file, full path [character string] +PPP/rinexNav RINEX navigation file, full path [character string] +PPP/corrMount Corrections mountpoint [character string] +PPP/corrFile Corrections file, full path [character string] +PPP/antexFile ANTEX file, full path [character string] +PPP/crdFile Coordinates file, full path [character string] +PPP/v3filenames Produce version 3 filenames, [integer number: 0=no,2=yes] +PPP/logPath Directory for PPP log files [character string] +PPP/nmeaPath Directory for NMEA output files [character string] +PPP/snxtroPath Directory for SINEX troposphere output files [character string] +PPP/snxtroIntr SINEX troposphere file interval [character string: 1 min|2 min|5 min|10 min|15 min|30 min|1 hour|1 day] +PPP/snxtroSampl SINEX troposphere file sampling rate [integer number of seconds: 0|30|60|90|120|150|180|210|240|270|300] +PPP/snxtroAc SINEX troposphere Analysis Center [character string] +PPP/snxtroSol SINEX troposphere solution ID [character string] +======================== ================================================================================================================ + +.. index:: Command Line Help - PPP Client Panel 2 keys + +PPP Client Panel 2 keys +----------------------- + +.. tabularcolumns:: |p{0.3\linewidth}|p{0.62\linewidth}| + +======================== ================================================================================================================ +**KeyName** **Meaning** +======================== ================================================================================================================ +PPP/staTable Station specifications table [character string, semicolon separated list, each element in quotation marks, example:"FFMJ1,100.0,100.0,100.0,100.0,100.0,100.0,0.1,3e-6,7777;CUT07,100.0,100.0,100.0,100.0,100.0,100.0,0.1,3e-6,7778"] +======================== ================================================================================================================ + +.. index:: Command Line Help - PPP Client Panel 3 keys + +PPP Client Panel 3 keys +----------------------- + +.. tabularcolumns:: |p{0.3\linewidth}|p{0.62\linewidth}| + +======================== ================================================================================================================ +**KeyName** **Meaning** +======================== ================================================================================================================ +PPP/lcGPS Select linear combination from GPS code or phase data [character string; P3|P3&L3] +PPP/lcGLONASS Select linear combination from GLONASS code or phase data [character string: no|P3|L3|P3&L3] +PPP/lcGalileo elect linear combination from Galileo code or phase data [character string: no|P3|L3|P3&L3] +PPP/lcBDS Select linear combination from BDS code or phase data [character string: no|P3|L3|P3&L3] +PPP/sigmaC1 Sigma for code observations in meters [floating-point number] +PPP/sigmaL1 Sigma for phase observations in meters [floating-point number] +PPP/maxResC1 Maximal residuum for code observations in meters [floating-point number] +PPP/maxResL1 Maximal residuum for phase observations in meters [floating-point number] +PPP/eleWgtCode Elevation dependent waiting of code observations [integer number: 0=no,2=yes] +PPP/eleWgtPhase Elevation dependent waiting of phase observations [integer number: 0=no,2=yes] +PPP/minObs Minimum number of observations [integer number: 4|5|6] +PPP/minEle Minimum satellite elevation in degrees [integer number: 0-20] +PPP/corrWaitTime Wait for clock corrections [integer number of seconds: no|1-20] +PPP/seedingTime Seeding time span for Quick Start [integer number of seconds] +======================== ================================================================================================================ + +.. index:: Command Line Help - PPP Client Panel 4 keys + +PPP Client Panel 4 keys +----------------------- + +.. tabularcolumns:: |p{0.3\linewidth}|p{0.62\linewidth}| + +======================== ================================================================================================================ +**KeyName** **Meaning** +======================== ================================================================================================================ +PPP/plotCoordinates Mountpoint for time series plot [character string] +PPP/audioResponse Audio response threshold in meters [floating-point number] +PPP/useOpenStreetMap OSM track map [character string: true|false] +PPP/useGoogleMap Google track map [character string: true|false] +PPP/mapWinDotSize Size of dots on map [integer number: 0-10] +PPP/mapWinDotColor Color of dots and cross hair on map [character string: red|yellow] +PPP/mapSpeedSlider Offline processing speed for mapping [integer number: 1-100] +======================== ================================================================================================================ + +.. index:: Command Line Help - Combine Corrections Panel keys + +Combine Corrections Panel keys +------------------------------ + +.. tabularcolumns:: |p{0.3\linewidth}|p{0.62\linewidth}| + +======================== ================================================================================================================ +**KeyName** **Meaning** +======================== ================================================================================================================ +cmbStreams Correction streams table [character string, semicolon separated list, each element in quotation marks, example:"IGS01 ESA 1.0;IGS03 BKG 1.0"] +cmbMethodFilter Combination approach [character string: Single-Epoch|Filter] +cmbMaxres Clock outlier residuum threshold in meters [floating-point number] +cmbSampl Clock sampling rate [integer number of seconds: 10|20|30|40|50|60] +cmbUseGlonass Use GLONASS in combination [integer number: 0=no,2=yes] +======================== ================================================================================================================ + +.. index:: Command Line Help - Upload Corrections Panel keys + +Upload Corrections Panel keys +----------------------------- + +.. tabularcolumns:: |p{0.3\linewidth}|p{0.62\linewidth}| + +======================== ================================================================================================================ +**KeyName** **Meaning** +======================== ================================================================================================================ +uploadMountpointsOut Upload corrections table [character string, semicolon separated list, each element in quotation marks, example: "www.igs-ip.net,2101,IGS01,pass,IGS08,0, /home/user/BNC$[GPSWD}.sp3, /home/user/BNC$[GPSWD}.clk,258,1,0; www.euref-ip.net,2101,EUREF01,pass,ETRF2000,0,,,258,2,0"] +uploadIntr Length of SP3 and Clock RINEX file interval [character string: 1 min|2 min|5 min|10 min|15 min|30 min|1 hour|1 day] +uploadSamplRtcmEphCorr Orbit corrections stream sampling rate [integer number of seconds: 0|5|10|15|20|25|30|35|40|45|50|55|60] +uploadSamplSp3 SP3 file sampling rate [integer number of minutes: 0-15] +uploadSamplClkRnx Clock RINEX file sampling rate [integer number of seconds: 0|5|10|15|20|25|30|35|40|45|50|55|60] +======================== ================================================================================================================ + +.. index:: Command Line Help - Custom Trafo keys + +Custom Trafo keys +----------------- + +.. tabularcolumns:: |p{0.3\linewidth}|p{0.62\linewidth}| + +======================== ================================================================================================================ +**KeyName** **Meaning** +======================== ================================================================================================================ +trafo_dx Translation X in meters [floating-point number] +trafo_dy Translation Y in meters [floating-point number] +trafo_dz Translation Z in meters [floating-point number] +trafo_dxr Translation change X in meters per year [floating-point number] +trafo_dyr Translation change Y in meters per year [floating-point number] +trafo_dzr Translation change Z in meters per year [floating-point number] +trafo_ox Rotation X in arcsec [floating-point number] +trafo_oy Rotation Y in arcsec [floating-point number] +trafo_oz Rotation Z in arcsec [floating-point number] +trafo_oxr Rotation change X in arcsec per year [floating-point number] +trafo_oyr Rotation change Y in arcsec per year [floating-point number] +trafo_ozr Rotation change Z in arcsec per year [floating-point number] +trafo_sc Scale [10^-9, floating-point number] +trafo_scr Scale change [10^-9 per year, floating-point number] +trafo_t0 Reference year [integer number] +======================== ================================================================================================================ + +.. index:: Command Line Help - Upload Ephemeris Panel keys + +Upload Ephemeris Panel keys +--------------------------- + +.. tabularcolumns:: |p{0.3\linewidth}|p{0.62\linewidth}| + +======================== ================================================================================================================ +**KeyName** **Meaning** +======================== ================================================================================================================ +uploadEphHost Broadcaster host, name or IP address [character string] +uploadEphPort Broadcaster port [integer number] +uploadEphMountpoint Mountpoint [character string] +uploadEphPassword Stream upload password [character string] +uploadEphSample Stream upload sampling rate [integer number of seconds: 5|10|15|20|25|30|35|40|45|50|55|60] +======================== ================================================================================================================ + +.. index:: Command Line Help - Add Stream keys + +Add Stream keys +--------------- + +.. tabularcolumns:: |p{0.3\linewidth}|p{0.62\linewidth}| + +======================== ================================================================================================================ +**KeyName** **Meaning** +======================== ================================================================================================================ +mountPoints Mountpoints [character string, semicolon separated list, example: +| "//user:pass@www.igs-ip.net:2101/FFMJ1 RTCM_3.1 DEU 50.09 8.66 no 2; +| //user:pass@www.igs-ip.net:2101/FFMJ2 RTCM_3.1 DEU 50.09 8.66 no 2" +ntripVersion Ntrip Version [character string: 1|2|2s|R|U] +casterUrlList Visited Broadcasters [character string, comma separated list] +======================== ================================================================================================================ + +.. index:: Command Line Help - Appearance keys + +Appearance keys +--------------- + +.. tabularcolumns:: |p{0.3\linewidth}|p{0.62\linewidth}| + +======================== ================================================================================================================ +**KeyName** **Meaning** +======================== ================================================================================================================ +startTab Index of top panel to be presented at start time [integer number: 0-17] +statusTab Index of bottom panel to be presented at start time [integer number: 0-3] +font Font specification [character string in quotation marks, example: "Helvetica,14,-1,5,50,0,0,0,0,0"] +======================== ================================================================================================================ + +Example command lines +--------------------- + +The syntax of some command line configuration options slightly differs from that +used in configuration files: Configuration file options which contain one or more +blank characters or contain a semicolon separated parameter list must be enclosed +by quotation marks when specified on command line. + +.. index: Command lines - Examples +.. index: Example command lines + +1. ``/home/weber/bin/bnc`` +2. ``/Applications/bnc.app/Contents/MacOS/bnc`` +3. ``/home/weber/bin/bnc --conf /home/weber/MyConfigFile.bnc`` +4. ``bnc --conf /Users/weber/.config/BKG/BNC.bnc -nw`` +5. ``bnc --conf /dev/null --key startTab 4 --key reqcAction Edit/Concatenate --key reqcObsFile AGAR.15O --key reqcOutObsFile AGAR_X.15O --key reqcRnxVersion 2 --key reqcSampling 30 --key reqcV2Priority CWPX_?`` +6. ``bnc --key mountPoints "//user:pass@mgex.igs-ip.net:2101/CUT07 RTCM_3.0 ETH 9.03 38.74 no 2;//user:pass@www.igs-ip.net:2101/FFMJ1 RTCM_3.1 DEU 50.09 8.66 no 2"`` +7. ``bnc --key cmbStreams "CLK11 BLG 1.0;CLK93 CNES 1.0"`` +8. ``bnc --key uploadMountpointsOut "products.igs-ip.net,98756,TEST, letmein,IGS08,2,/Users/weber/BNC${GPSWD}.clk,,33,3,2; www.euref-ip.net,333,TEST2,aaaaa,NAD83,2,,,33,5,5"`` +9. ``bnc --key PPP/staTable "FFMJ1,100.0,100.0,100.0,100.0,100.0,100.0, 0.1,3e-6,7777;CUT07,100.0,100.0,100.0,100.0,100.0,100.0,0.1,3e-6, 7778"`` + +.. index:: Further Reading + +Further Reading +=============== + +.. tabularcolumns:: |p{0.46\textwidth}|p{0.46\textwidth}| + ++---------------------------------------+-----------------------------------+ +|Ntrip |http://igs.bkg.bund.de/ntrip/index | ++---------------------------------------+-----------------------------------+ +|EUREF-IP Ntrip Broadcaster |http://www.euref-ip.net/home | ++---------------------------------------+-----------------------------------+ +|IGS-IP Ntrip Broadcaster |http://www.igs-ip.net/home | ++---------------------------------------+-----------------------------------+ +|IGS products Ntrip Broadcaster |http://products.igs-ip.net/home | ++---------------------------------------+-----------------------------------+ +|IGS M-GEX Ntrip Broadcaster |http://mgex.igs-ip.net/home | ++---------------------------------------+-----------------------------------+ +|IGS Central Bureau Ntrip Broadcaster |http://rt.igs.org | ++---------------------------------------+-----------------------------------+ +|IGS Real-time Service |http://rts.igs.org | ++---------------------------------------+-----------------------------------+ +|Distribution of IGS-IP streams |http://www.igs.oma.be/real_time | ++---------------------------------------+-----------------------------------+ +|Completeness and latency of IGS-IP data|http://www.igs.oma.be/highrate/ | ++---------------------------------------+-----------------------------------+ +|Ntrip Broadcaster overview |http://www.rtcm-ntrip.org/home | ++---------------------------------------+-----------------------------------+ +|Ntrip Open Source software code |http://software.rtcm-ntrip.org | ++---------------------------------------+-----------------------------------+ +|EUREF-IP Project |http://www.epncb.oma.be/euref_IP | ++---------------------------------------+-----------------------------------+ +|Radio Technical Commission for Maritime|http://www.rtcm.org | +|Services | | ++---------------------------------------+-----------------------------------+ + Index: /trunk/BNC/docs/sphinx/source/bnchelp.rst =================================================================== --- /trunk/BNC/docs/sphinx/source/bnchelp.rst (revision 8039) +++ /trunk/BNC/docs/sphinx/source/bnchelp.rst (revision 8039) @@ -0,0 +1,24 @@ +.. bnc documentation master file, created by + sphinx-quickstart on Mon Apr 18 10:30:43 2016. + You can adapt this file completely to your liking, but it should at least + contain the root `toctree` directive. + +Welcome to BNC's documentation! +=============================== + +Contents: + +.. toctree:: + :maxdepth: 2 + :caption: Table of Contents + :name: mastertoc + + abbreviations + chapter1 + chapter2 + chapter3 + chapter4 + chapter5 + annex + +.. bibliography:: references.bib Index: /trunk/BNC/docs/sphinx/source/bncmanual.cls =================================================================== --- /trunk/BNC/docs/sphinx/source/bncmanual.cls (revision 8039) +++ /trunk/BNC/docs/sphinx/source/bncmanual.cls (revision 8039) @@ -0,0 +1,148 @@ +% +% sphinxmanual.cls for Sphinx (http://sphinx-doc.org/) +% + +\NeedsTeXFormat{LaTeX2e}[1995/12/01] +\ProvidesClass{sphinxmanual}[2009/06/02 Document class (Sphinx manual)] + +% chapters starting at odd pages (overridden by 'openany' document option) +\PassOptionsToClass{openright}{\sphinxdocclass} + +% 'oneside' option overriding the 'twoside' default +\newif\if@oneside +\DeclareOption{oneside}{\@onesidetrue} +% Pass remaining document options to the parent class. +\DeclareOption*{\PassOptionsToClass{\CurrentOption}{\sphinxdocclass}} +\ProcessOptions\relax + +% Defaults two-side document +\if@oneside +% nothing to do (oneside is the default) +\else +\PassOptionsToClass{twoside}{\sphinxdocclass} +\fi + +\LoadClass{\sphinxdocclass} + +% Set some sane defaults for section numbering depth and TOC depth. You can +% reset these counters in your preamble. +% +\setcounter{secnumdepth}{2} +\setcounter{tocdepth}{1} + +% Change the title page to look a bit better, and fit in with the fncychap +% ``Bjarne'' style a bit better. +% +\renewcommand{\maketitle}{% + \begin{titlepage}% + \let\footnotesize\small + \let\footnoterule\relax + \rule{\textwidth}{1pt}% + \ifsphinxpdfoutput + \begingroup + % These \defs are required to deal with multi-line authors; it + % changes \\ to ', ' (comma-space), making it pass muster for + % generating document info in the PDF file. + \def\\{, } + \def\and{and } + \pdfinfo{ + /Author (\@author) + /Title (\@title) + } + \endgroup + \fi + \begin{flushright}% + \sphinxlogo% + {\rm\Huge\py@HeaderFamily \@title \par}% + {\em\LARGE\py@HeaderFamily \py@release\releaseinfo \par} + \vfill + {\LARGE\py@HeaderFamily + \begin{tabular}[t]{c} + \@author + \end{tabular} + \par} + \vfill\vfill + {\large + \@date \par + \vfill + \py@authoraddress \par + }% + \end{flushright}%\par + \@thanks + \end{titlepage}% + \cleardoublepage% + \setcounter{footnote}{0}% + \let\thanks\relax\let\maketitle\relax + %\gdef\@thanks{}\gdef\@author{}\gdef\@title{} +} + + +% Catch the end of the {abstract} environment, but here make sure the abstract +% is followed by a blank page if the 'openright' option is used. +% +\let\py@OldEndAbstract=\endabstract +\renewcommand{\endabstract}{ + \if@openright + \ifodd\value{page} + \typeout{Adding blank page after the abstract.} + \vfil\pagebreak + \fi + \fi + \py@OldEndAbstract +} + +% This wraps the \tableofcontents macro with all the magic to get the spacing +% right and have the right number of pages if the 'openright' option has been +% used. This eliminates a fair amount of crud in the individual document files. +% +\let\py@OldTableofcontents=\tableofcontents +\renewcommand{\tableofcontents}{% +% \pagenumbering{roman}% + \setcounter{page}{1}% + \pagebreak% + \pagestyle{plain}% + {% + \parskip = 0mm% + \py@OldTableofcontents% + \if@openright% + \ifodd\value{page}% + \typeout{Adding blank page after the table of contents.}% + \pagebreak\hspace{0pt}% + \fi% + \fi% +% \cleardoublepage% + }% +% \pagenumbering{arabic}% + \@ifundefined{fancyhf}{}{\pagestyle{normal}}% +} +\pagenumbering{alph} + +% This is needed to get the width of the section # area wide enough in the +% library reference. Doing it here keeps it the same for all the manuals. +% +\renewcommand*\l@section{\@dottedtocline{1}{1.5em}{2.6em}} +\renewcommand*\l@subsection{\@dottedtocline{2}{4.1em}{3.5em}} + +% Fix the bibliography environment to add an entry to the Table of +% Contents. +% For a report document class this environment is a chapter. +\let\py@OldThebibliography=\thebibliography +\renewcommand{\thebibliography}[1]{ + \cleardoublepage + \phantomsection + \py@OldThebibliography{1} + \addcontentsline{toc}{chapter}{\bibname} +} + +% Same for the indices. +% The memoir class already does this, so we don't duplicate it in that case. +% +\@ifclassloaded{memoir}{}{ + \let\py@OldTheindex=\theindex + \renewcommand{\theindex}{ + \cleardoublepage + \phantomsection + \py@OldTheindex + \addcontentsline{toc}{chapter}{\indexname} + } +} Index: /trunk/BNC/docs/sphinx/source/chapter1.rst =================================================================== --- /trunk/BNC/docs/sphinx/source/chapter1.rst (revision 8039) +++ /trunk/BNC/docs/sphinx/source/chapter1.rst (revision 8039) @@ -0,0 +1,142 @@ +Introduction +************ +Purpose +======= +The BKG Ntrip Client (BNC) is a program for simultaneously retrieving, decoding, converting and processing or analyzing real-time GNSS data streams applying the 'Networked Transport of RTCM via Internet Protocol' (Ntrip) standard. It has been developed within the framework of the IAG sub-commission for Europe (EUREF) and the International GNSS Service (IGS). Although meant to be a real-time tool, it comes with some post processing functionality. It can be used for data coming from Ntrip Broadcasters like + +* http://www.euref-ip.net/home +* http://www.igs-ip.net/home +* http://products.igs-ip.net/home +* http://mgex.igs-ip.net/home + +or similar caster installation. + +BNC has been written under GNU General Public License (GPL). Source code is available from Subversion software archive http://software.rtcm-ntrip.org/svn/trunk/BNC. Precompiled binaries of BNC are available for MS Windows, Linux, and Mac OS X systems. They can be downloaded from http://igs.bkg.bund.de/ntrip/download. + +Promoting Open RTCM Standards for streaming GNSS data over the Internet has been a major aspect in developing BNC as Open Source real-time software. Basically, the tool enables the test, validation and further evolution of new RTCM messages for precise satellite navigation. With high-level source code at hand, it also allows university education to catch up with comprehensive state-of-the-art positioning and potentially contributes fresh ideas which are free from any licensing. + +BNC was designed to serve the following purposes + +* Retrieve real-time GNSS data streams available through Ntrip transport protocol; +* Retrieve real-time GNSS data streams via TCP directly from an IP address without using the Ntrip transport protocol; +* Retrieve real-time GNSS data streams from a local UDP or serial port without using the Ntrip transport protocol; +* Plot stream distribution map from Ntrip Broadcaster source-tables; +* Generate RINEX Observation and Navigation files to support near real-time GNSS post processing applications; +* Edit or concatenate RINEX files or carry out RINEX Quality Checks (QC); +* Convert RINEX Version 2 to RINEX Version 3 and vice versa; +* Compare SP3 files containing satellite orbit and clock data; +* Generate orbit and clock corrections to Broadcast Ephemeris through an IP port to + + * support real-time Precise Point Positioning on GNSS rovers; + * support the (outside) combination of such streams as coming simultaneously from various correction providers; + +* Generate ephemeris and synchronized or unsynchronized observations epoch by epoch through an IP port to support real-time GNSS network engines; +* Feed a stream into a GNSS receiver via serial communication link; +* Monitor the performance of a network of real-time GNSS data streams to generate advisory notes in case of outages or corrupted streams; +* Scan RTCM streams for incoming antenna information, observation types, message types and repetition rates and latencies and GLONASS slot numbers and frequency channels; +* Carry out real-time Precise Point Positioning to determine GNSS rover positions; +* Enable multi-station Precise Point Positioning for simultaneous processing of observations from a whole network of receivers; +* Plot positions derived via PPP from RTCM streams or RINEX files on maps from Google Map or OpenStreetMap; +* Simultaneously process several Broadcast Correction streams to produce, encode and upload combined Broadcast Corrections; +* Estimate real-time tropospheric zenith path delays and save them in SINEX troposphere file format; +* Read GNSS orbits and clocks in a plain ASCII format from an IP port. They can be produced by a real-time GNSS engine such as RTNET and should be referenced to the IGS Earth-Centered-Earth-Fixed (ECEF) reference system. BNC will then + + * Convert the IGS Earth-Centered-Earth-Fixed orbits and clocks into Broadcast Corrections with radial, along-track and out-of-plane components; + * Upload Broadcast Corrections as an RTCM Version 3 stream to an Ntrip Broadcaster; + * Refer the orbit and clock corrections to a specific reference system; + * Log the Broadcast Corrections as Clock RINEX files for further processing using other tools than BNC; + * Log the Broadcast Corrections as SP3 files for further processing using other tools than BNC; + + * Upload a Broadcast Ephemeris stream in RTCM Version 3 format; + +BNC supports the following GNSS stream formats and message types: + +* RTCM Version 2 message types; +* RTCM Version 3 'conventional' message types; +* RTCM Version 3 message types for Broadcast Ephemeris; +* RTCM Version 3 'State Space Representation' (SSR) messages; +* RTCM Version 3 'Multiple Signal Messages' (MSM) and 'High Precision Multiple Signal Messages' (HP MSM); +* RTNET, a plain ASCII format defined within BNC to receive orbits and clocks from a serving GNSS engine. + +BNC supports the following GNSS file formats: + +* RINEX Version 2.11 \& 3.03, Receiver Independent Exchange format for observations, navigation and meteorological data; +* SINEX Version 2.10, Solution Independent Exchange format for station position and velocity solutions; +* SINEX TRO Draft Version 2.00, Troposphere Solution Independent Exchange format for zenith path delay products; +* SP3 Version c format for orbit solutions; +* Clock RINEX Version 3.02 format for station and satellite clock solutions; +* ANTEX Version 1.4, Antenna Exchange format for Antenna Phase Center variations; +* NMEA Version 0813, National Marine Electronics Association format for satellite navigation data; + +Note that BNC allows to by-pass decoding and conversion algorithms for incoming streams, leaves whatever is received untouched to save it in files or output it through local TCP/IP port. + +Authors +======= +The BKG Ntrip Client (BNC) with a Qt Graphical User Interface (GUI) and a Command Line Interface (CLI) has been developed for + + | Federal Agency for Cartography and Geodesy (BKG) + | Department of Geodesy, Section Satellite Navigation + | Frankfurt am Main, Germany + +The software has been written by + + | Prof. Dr. Leos Mervart + | Czech Technical University (CTU) + | Department of Geomatics + | Prague, Czech Republic + +Prof. Mervart started working on BNC in 2005. His sole responsibility for writing the program code ended February 2015. In March 2015, Dipl.-Ing. Andrea Stürze took over the responsibility for maintaining and further developing BNC's source code. + +Documentation +============= +BNC provides context-sensitive help ( *What's This* ) related to specific objects. It furthermore comes with the here presented documentation, available as part of the software and as a PDF file. Responsible for offline documentation as well as online documentation at http://software.rtcm-ntrip.org/export/HEAD/ntrip/trunk/BNC/src/bnchelp.html and example configurations is Dr. Georg Weber. + +Note that some figures presented in this documentation may show screen shots from earlier versions of BNC. If so, there is either no relevant change compared to the current appearance of the program or no change at all. + +Contact +======= +Feel free to send us comments, suggestions or bug reports. Any contribution would be appreciated. + +.. line-block:: + + Federal Agency for Cartography and Geodesy (BKG) + Department of Geodesy, Section Satellite Navigation + Richard-Strauss-Allee 11 + 60598 Frankfurt am Main, Germany + Email: igs-ip@bkg.bund.de + +Acknowledgements +================ +* Oliver Montenbruck, German Space Operations Center, DLR, Oberpfaffenhofen, Germany published a RTCM Version 2 decoder unter GNU GPL which has been integrated in BNC. +* Thomas Yan, Australian NSW Land and Property Information, proofread earlier versions of BNC's Help Contents. Up to Version 2.11 he also provides builds of BNC for Mac OS X systems. +* Scott Glazier, OmniSTAR Australia, has been helpful in finding BNC bugs in version 1.5. +* James Perlt, BKG, helped fixing bugs and redesigned BNC's main window in version 1.5. +* André Hauschild, German Space Operations Center, DLR, revised the RTCM Version 2 decoder. +* Zdenek Lukes, Czech Technical University Prague, Department of Geodesy, extended the RTCM Version 2 decoder to handle message types 3, 20, 21, and 22 and added the loss of lock indicator. +* Jan Dousa, Geodetic Observatory Pecny, Czech Republic, helped with fixing bugs in version 2.5. +* Denis Laurichesse, Centre National d'\'Etudes Spatiales (CNES), suggested synchronizing observations and clock corrections to reduce high frequency noise in PPP solutions. +* Lennard Huisman, Kadaster Netherlands, and Rolf Dach, Astronomical Institute University of Bern, assisted in handling satellite clocks in transformations from ITRF to regional reference frames. + +Looking Back +============ +A basic function of BNC is streaming GNSS data over the open Internet using the Ntrip transport protocol. Employing IP streaming for satellite positioning goes back to the beginning of our century. Wolfgang Rupprecht has been the first person who developed TCP/IP server software under the acronym of DGPS-IP :cite:`rupprecht2000a` and published it under GNU General Public License (GPL). While connecting marine beacon receivers to PCs with permanent access to the Internet he transmitted DGPS corrections in an RTCM format to support Differential GPS positioning over North America. With approximately 200 bits/sec the bandwidth requirement for disseminating beacon data was comparatively small. Each stream was transmitted over a unique combination of IP address and port. Websites informed about existing streams and corresponding receiver positions. + +To cope with an increasing number of transmitting GNSS reference stations, the Federal Agency for Cartography and Geodesy (BKG) together with the Informatik Centrum Dortmund (ICD) in Germany developed a streaming protocol for satellite navigation data called 'Networked Transport of RTCM via Internet Protocol' (Ntrip). The protocol was built on top of the HTTP standard and included the provision of meta data describing the stream content. Any stream could now be globally transmitted over just one IP port: HTTP port 80. Stream availability and content details became part of the transport protocol. The concept was first published in 2003 :cite:`weber2004a`, :cite:`weber2005a` and was based on three software components, namely an NtripServer pushing data from a reference station to an NtripCaster and an NtripClient pulling data from the stream splitting caster to support a rover receiver. (Note that from a socket-programmers perspective NtripServer and NtripClient both act as clients; only the NtripCaster operates as socket-server.) Ntrip could essentially benefit from Internet Radio developments. It was the ICECAST multimedia server, which provided the bases for BKG's 'Professional Ntrip Broadcaster' with software published first in 2003 and of course again as Open Source under GPL. + +For BKG as a governmental agency, making Ntrip an Open Industry Standard has been an objective from the very beginning. The 'Radio Technical Commission for Maritime Services' (RTCM) accepted 'Ntrip Version 1' in 2004 as 'RTCM Recommended Standard' :cite:`weber2005b`. Nowadays there is almost no geodetic GNSS receiver which does not come with integrated NtripClient and NtripServer functionality as part of the firmware. Hundreds of NtripCaster implementations are operated world-wide for highly accurate satellite navigation through RTK networks. Thousands of reference stations upload observations via NtripServer to central computing facilities for any kind of NtripClient application. In 2011 'Ntrip Version 2' was released :cite:`rtcm-sc104_2011a` which cleared and fixed some design problems and HTTP protocol violations. It also supports TCP/IP via SSL and adds optional communication over RTSP/RTP and UDP. + +With the advent of Ntrip as an open streaming standard, BKG's interest turned towards taking advantage from free real-time access to GNSS observations. International Associations such as the IAG Reference Frame Sub Commissions for Africa (AFREF), Asia \& Pacific (APREF), Europe (EUREF), North America (NAREF) Latin America \& Caribbean (SIRGAS), and the International GNSS Service (IGS) maintain continental or even global GNSS networks with the majority of modern receivers supporting Ntrip stream upload. Through operating BKG's NtripCaster software, these networks became extremely valuable sources of real-time GNSS information. In 2005, this was the starting point for developing the 'BKG Ntrip Client' (BNC) as a multi-stream Open Source NtripClient that allows pulling hundreds of streams simultaneously from any number of NtripCaster installations world-wide. Decoding incoming RTCM streams and output observations epoch by epoch via IP port to feed a real-time GNSS network engine became BNC's first and foremost ability :cite:`weber2009a`. Converting decoded streams to short high-rate RINEX files to assist near real-time applications became a welcome by-product right from the start of this development. + +Adding real-time Precise Point Positioning (PPP) support to BNC began in 2010 as an important completion in view of developing an Open RTCM Standard for that. According to the State Space Representation (SSR) model, new Version 3 messages are proposed to provide e.g. satellite orbit and clock corrections and ionospheric corrections as well as biases for code and phase data. The ultimate goal for SSR standardization is to reach centimeter level accuracy within seconds as an alternative to Network RTK methods such as VRS, FKP, and MAC. Because of interoperability aspects, an Open Standard in this area is of particular interest for clients. Regarding stand-alone PPP in BNC, it is worth mentioning that the program is not and can never be in competition with a receiver manufacturer's proprietary solution. Only software or services that are part of a receiver firmware could have the potential of becoming a thread for commercial interests. However, implementing or not implementing an Open PPP approach in a firmware is and will always remain a manufacturer's decision. + +Implementing some post processing capability is essential for debugging real-time software in case of problems. So certain real-time options in BNC were complemented to work offline through reading data from files. Moreover, beginning in 2012, the software was extended to support Galileo, BeiDou, and QZSS besides GPS and GLONASS. With that, the Open Source tool BNC could be used for RINEX Version 3 file editing, concatenation and quality checks, a post processing functionality demanded by the IGS Multi-GNSS Experiment and not really covered at that time by UNAVCO's famous TEQC program with its limitation on GPS. + +Over the years, the BNC Subversion (SVN) software archive received over seven thousand commits made by 11 contributors representing about one hundred thirty thousand lines of code. The well-established, mature codebase is mostly written in C++ language. Its publication under GNU GPL is thought to be well-suited for test, validation and demonstration of new approaches in precise real-time satellite navigation when IP streaming is involved. Commissioned by a German governmental agency, the overall intention has been to push the development of RTCM Recommended Standards to the benefit of IAG institutions and services such as IGS and the interested public in general. + +.. only:: latex + + In February 2014 the overall responsibility at BKG for the concept and realization of BNC was handed over from Georg Weber to Axel Rülke. He is in charge now for guiding the application and further evolution of the software in view of appearing new satellite navigation systems and services. + +.. only:: html + + In February 2014 the overall responsibility at BKG for the concept and realization of BNC was handed over from Georg Weber to Axel R{\"u}lke. He is in charge now for guiding the application and further evolution of the software in view of appearing new satellite navigation systems and services. Index: /trunk/BNC/docs/sphinx/source/chapter2.rst =================================================================== --- /trunk/BNC/docs/sphinx/source/chapter2.rst (revision 8039) +++ /trunk/BNC/docs/sphinx/source/chapter2.rst (revision 8039) @@ -0,0 +1,295 @@ +.. index:: BNC overview + +BNC Overview +************ + +.. index:: GNSS supported + +Supported GNSS and applications +=============================== + +.. only:: latex + + .. raw:: latex + + BNC is permanently completed to finally support all existing GNSS systems throughout all features of the program. Table~\ref{tab:rtcm3_status_bnc} shows in detail which GNSS systems are supported so far by particular applications when using the latest BNC version. Application areas named here are: + +.. only:: html + + BNC is permanently completed to finally support all existing GNSS systems throughout all features of the program. :numref:`Table %s ` shows in detail which GNSS systems are supported so far by particular applications when using the latest BNC version. Application areas named here are: + +* Decoding of RTCM or RTNET [#f_rtnet]_ streams +* RINEX and SP3 file input and output +* Encoding of SSR and ephemeris messages +* Upload of SSR and ephemeris messages +* PPP (Precise Point Positioning) +* Combining/merging SSR or ephemeris messages from various real-time sources + +It is indicated when a message implementation in BNC could so far only be based on a 'RTCM Proposal'. + +.. index:: RTCM Version 3 message implementation + +.. only:: latex + + .. raw:: latex + + \begin{landscape} + \begin{small} + \begin{longtabu} to \linewidth + {p{2.5cm}p{4cm}p{2.5cm}>{\centering}X>{\centering}X>{\centering}X>{\centering}X>{\centering}X>{\centering}X>{\centering\arraybackslash}X} + \caption{Status of RTCM Version 3 message implementations in BNC supporting various GNSS systems.}\\ + \label{tab:rtcm3_status_bnc} + \textbf{Message} &\textbf{Description}&\textbf{GNSS}&\textbf{RTCM}&\textbf{Decoding}&\textbf{RINEX}&\textbf{Encoding}&\textbf{Upload}&\textbf{PPP} &\textbf{Combin.}\\ + \textbf{Type \#} & & & \textbf{Proposal} & & \textbf{SP3} & & & & \\ + \endfirsthead + \textbf{Message} &\textbf{Description} &\textbf{GNSS}&\textbf{RTCM}&\textbf{Decoding}&\textbf{RINEX}&\textbf{Encoding}&\textbf{Upload}&\textbf{PPP} &\textbf{Combin.}\\ + \textbf{Type \#} & & & \textbf{Proposal} & & \textbf{SP3} & & & & \\ + \hline + \endhead + \hline + \multicolumn{10}{r}{Continued at next page}\\ + \endfoot + \endlastfoot + \hline + \multicolumn{10}{l}{\textbf{General}}\\ + \hline + 1005,1006 &Station & & &x & & & & & \\ + 1007,1008 &Antenna & & &x & & & & & \\ + 1033 &Receiver, Antenna & & &x & & & & & \\ + 1013 &System Parameters & & &x & & & & & \\ + \hline + \multicolumn{10}{l}{\textbf{Navigation}}\\ + \hline + 1019 &Ephemeris &GPS & &x &x &x &x &x &x \\ + 1020 &Ephemeris &GLONASS & &x &x &x &x &x &x \\ + 1045 &Ephemeris &Galileo F/Nav & &x &x &x &x & & \\ + 1046 &Ephemeris &Galileo I/Nav &x &x &x &x &x &x & \\ + 1043 &Ephemeris &SBAS &x &x &x &x &x & & \\ + 1044 &Ephemeris &QZSS & &x &x &x &x & & \\ + 63 &Ephemeris &BDS &x &x &x &x &x &x & \\ + \hline + \multicolumn{10}{l}{\textbf{Observation}}\\ + \hline + 1001-4 &Conventional Messages &GPS & &x &x & & &x & \\ + 1009-12 &Conventional Messages &GLONASS & &x &x & & &x & \\ + \hline + \multicolumn{10}{l}{\textbf{Observation}}\\ + \hline + 1071-77 &Multiple Signal Message &GPS & &x &x & & &x & \\ + 1081-87 &Multiple Signal Message &GLONASS & &x &x & & &x & \\ + 1091-97 &Multiple Signal Message &Galileo & &x &x & & &x & \\ + 1101-07 &Multiple Signal Message &SBAS &x &x &x & & & & \\ + 1111-17 &Multiple Signal Message &QZSS & &x &x & & & & \\ + 1121-27 &Multiple Signal Message &BDS & &x &x & & &x & \\ + \hline + \multicolumn{10}{l}{\textbf{SSR I}}\\ + \hline + 1057 &Orbit Corrections &GPS & &x &x &x &x &x &x \\ + 1063 &Orbit Corrections &GLONASS & &x &x &x &x &x &x \\ + 1240 &Orbit Corrections &Galileo &x &x &x &x &x &x & \\ + 1246 &Orbit Corrections &SBAS &x &x &x &x &x & & \\ + 1252 &Orbit Corrections &QZSS &x &x &x &x &x & & \\ + 1258 &Orbit Corrections &BDS &x &x &x &x &x &x & \\ + 1058 &Clock Corrections &GPS & &x &x &x &x &x &x \\ + 1064 &Clock Corrections &GLONASS & &x &x &x &x &x &x \\ + 1241 &Clock Corrections &Galileo &x &x &x &x &x &x & \\ + 1247 &Clock Corrections &SBAS &x &x &x &x &x & & \\ + 1253 &Clock Corrections &QZSS &x &x &x &x &x & & \\ + 1259 &Clock Corrections &BDS &x &x &x &x &x &x & \\ + 1059 &Code Biases &GPS & &x &x &x &x &x & \\ + 1065 &Code Biases &GLONASS & &x &x &x &x &x & \\ + 1242 &Code Biases &Galileo &x &x &x &x &x &x & \\ + 1248 &Code Biases &SBAS &x &x &x &x &x & & \\ + 1254 &Code Biases &QZSS &x &x &x &x &x & & \\ + 1260 &Code Biases &BDS &x &x &x &x &x &x & \\ + 1061, 1062 &User Range Accuracy, HR &GPS & &x & & & & & \\ + 1067, 1068 &User Range Accuracy, HR &GLONASS & &x & & & & & \\ + 1244, 1245 &User Range Accuracy, HR &Galileo &x &x & & & & & \\ + 1250, 1251 &User Range Accuracy, HR &SBAS &x &x & & & & & \\ + 1256, 1257 &User Range Accuracy, HR &QZSS &x &x & & & & & \\ + 1262, 1263 &User Range Accuracy, HR &BDS &x &x & & & & & \\ + 1060 &Comb. Orbits \& Clocks &GPS & &x &x &x &x &x &x \\ + 1066 &Comb. Orbits \& Clocks &GLONASS & &x &x &x &x &x &x \\ + 1243 &Comb. Orbits \& Clocks &Galileo &x &x &x &x &x &x & \\ + 1249 &Comb. Orbits \& Clocks &SBAS &x &x &x &x &x & & \\ + 1255 &Comb. Orbits \& Clocks &QZSS &x &x &x &x &x & & \\ + 1261 &Comb. Orbits \& Clocks &BDS &x &x &x &x &x &x & \\ + \hline + \multicolumn{10}{l}{\textbf{SSR II}}\\ + \hline + 1264 &VTEC &GNSS &x &x &x &x &x & & \\ + 1265 &Phase Biases &GPS &x &x &x &x &x & & \\ + 1266 &Phase Biases &GLONASS &x &x &x &x &x & & \\ + 1267 &Phase Biases &Galileo &x &x &x &x &x & & \\ + 1268 &Phase Biases &SBAS &x &x &x &x &x & & \\ + 1269 &Phase Biases &QZSS &x &x &x &x &x & & \\ + 1270 &Phase Biases &BDS &x &x &x &x &x & & \\ + \hline + \end{longtabu} + \end{small} + \end{landscape} + +.. index:: RTCM Version 3 message implementation + +.. only:: html + + .. _tab_BNC_RTCM: + .. table:: Status of RTCM Version 3 message implementations in BNC supporting various GNSS systems. + + =============== ======================= ============= ============ ============ ============= ============ ============ ============ ============ + **Message #** **Description** **GNSS** **RTCM** **Decoding** **RINEX/SP3** **Encoding** **Upload** **PPP** **Combin.** + **Proposal** + =============== ======================= ============= ============ ============ ============= ============ ============ ============ ============ + **General** + ------------------------------------------------------------------------------------------------------------------------------------------------- + 1005,1006 Station x + 1007,1008 Antenna x + 1033 Receiver, Antenna x + 1013 System Parameters x + **Navigation** + ------------------------------------------------------------------------------------------------------------------------------------------------- + 1019 Ephemeris GPS x x x x x x + 1020 Ephemeris GLONASS x x x x x x + 1045 Ephemeris Galileo F/Nav x x x x + 1046 Ephemeris Galileo I/Nav x x x x x + 1043 Ephemeris SBAS x x x x x + 1044 Ephemeris QZSS x x x x + 63 Ephemeris BDS x x x x x x + **Observation** + ------------------------------------------------------------------------------------------------------------------------------------------------- + 1001-4 Conventional Messages GPS x x x + 1009-12 Conventional Messages GLONASS x x x + **Observation** + ------------------------------------------------------------------------------------------------------------------------------------------------- + 1071-77 Multiple Signal Message GPS x x x + 1081-87 Multiple Signal Message GLONASS x x x + 1091-97 Multiple Signal Message Galileo x x x + 1101-07 Multiple Signal Message SBAS x x x + 1111-17 Multiple Signal Message QZSS x x + 1121-27 Multiple Signal Message BDS x x x + **SSR I** + ------------------------------------------------------------------------------------------------------------------------------------------------- + 1057 Orbit Corrections GPS x x x x x x + 1063 Orbit Corrections GLONASS x x x x x x + 1240 Orbit Corrections Galileo x x x x x x + 1246 Orbit Corrections SBAS x x x x x + 1252 Orbit Corrections QZSS x x x x x + 1258 Orbit Corrections BDS x x x x x x + 1058 Clock Corrections GPS x x x x x x + 1064 Clock Corrections GLONASS x x x x x x + 1241 Clock Corrections Galileo x x x x x x + 1247 Clock Corrections SBAS x x x x x + 1253 Clock Corrections QZSS x x x x x + 1259 Clock Corrections BDS x x x x x x + 1059 Code Biases GPS x x x x x + 1065 Code Biases GLONASS x x x x x + 1242 Code Biases Galileo x x x x x x + 1248 Code Biases SBAS x x x x x + 1254 Code Biases QZSS x x x x x + 1260 Code Biases BDS x x x x x x + 1061, 1062 User Range Accuracy, HR GPS x + 1067, 1068 User Range Accuracy, HR GLONASS x + 1244, 1245 User Range Accuracy, HR Galileo x x + 1250, 1251 User Range Accuracy, HR SBAS x x + 1256, 1257 User Range Accuracy, HR QZSS x x + 1262, 1263 User Range Accuracy, HR BDS x x + 1060 Comb. Orbits & Clocks GPS x x x x x x + 1066 Comb. Orbits & Clocks GLONASS x x x x x x + 1243 Comb. Orbits & Clocks Galileo x x x x x x + 1249 Comb. Orbits & Clocks SBAS x x x x x + 1255 Comb. Orbits & Clocks QZSS x x x x x + 1261 Comb. Orbits & Clocks BDS x x x x x x + **SSR II** + ------------------------------------------------------------------------------------------------------------------------------------------------- + 1264 VTEC GNSS x x x x x + 1265 Phase Biases GPS x x x x x + 1266 Phase Biases GLONASS x x x x x + 1267 Phase Biases Galileo x x x x x + 1268 Phase Biases SBAS x x x x x + 1269 Phase Biases QZSS x x x x x + 1270 Phase Biases BDS x x x x x + =============== ======================= ============= ============ ============ ============= ============ ============ ============ ============ + +.. index:: BNC data flow + +Data Flow +========= + +BNC can be used in different contexts with varying data flows. Typical real-time communication follows the Ntrip protocol over TCP/IP (probably via SSL), RTSP/RTP or UDP, plain TCP/IP protocol, or serial communication links. Stream content could be observations, ephemeris, satellite orbit/clock products or NMEA sentences. + +:numref:`Fig. %s ` shows a flow chart of BNC connected to a GNSS receiver providing observations via serial or TCP communication link for the purpose of Precise Point Positioning. :numref:`Fig. %s ` shows the conversion of RTCM streams to RINEX files. :numref:`Fig. %s ` shows a flow chart of BNC feeding a real-time GNSS engine which estimates precise orbits and clocks. BNC is used in this scenario to encode correctors to RTCM Version 3 and upload them to an Ntrip Broadcaster. :numref:`Fig. %s ` shows BNC combining several Broadcast Correction streams to disseminate the combination product while saving results in SP3 and Clock RINEX files. + +.. _fig_1: +.. figure:: figures/fig_1.png + :scale: 100 % + + Flowchart, BNC connected to a GNSS rover for Precise Point Positioning. + +.. _fig_2: +.. figure:: figures/fig_2.png + :scale: 100 % + + Flowchart, BNC converting RTCM streams to RINEX batches. + +.. _fig_3: +.. figure:: figures/fig_3.png + :scale: 100 % + + Flowchart, BNC feeding a real-time GNSS engine and uploading encoded Broadcast Corrections + +.. _fig_4: +.. figure:: figures/fig_4.png + :scale: 100 % + + Flowchart, BNC combining Broadcast Correction streams. + +.. index:: BNC handling + +Handling +======== + +Although BNC is mainly a real-time tool to be operated online, it can be run offline + +* To simulate real-time observation situations for debugging purposes; +* For post processing purposes. + +Furthermore, apart from its regular window mode, BNC can be run as a batch/background job in a 'no window' mode, using processing options from a previously saved configuration or from command line. + +Unless it runs offline, BNC + +* Requires access to the Internet with a minimum of about 2 to 6 kbits/sec per stream depending on the stream format and the number of visible satellites. You need to make sure that the connection can sustain the required bandwidth; +* Requires the clock of the host computer to be properly synchronized; +* Has the capacity to retrieve hundreds of GNSS data streams simultaneously. Please be aware that such usage may incur a heavy load on the Ntrip Broadcaster side depending on the number of streams requested. We recommend limiting the number of streams where possible to avoid unnecessary workload. + +The main window of BNC shows a 'Top menu bar' section, a 'Settings' sections with panels to set processing options, a 'Streams' section, a section for 'Log' tabs, and a 'Bottom menu bar' section :numref:`(Fig. %s) `. + +.. _fig_5: +.. figure:: figures/fig_5.png + :scale: 100 % + + Sections on BNC's main window. + +Running BNC in interactive mode requires graphics support. This is also required in batch mode when producing plots. Windows and Mac OS X systems always support graphics. However, when using BNC in batch mode on Linux systems for producing plots, you need to make sure that at least a virtual X-Server like 'Xvfb' is installed and the '-display' command line option is used. + +The usual handling of BNC is that you first select a number of streams ('Add Stream'). Any stream configured to BNC shows up on the 'Streams' canvas in the middle of BNC's main window. You then go through BNC's various configuration panels to set a combination of input, processing and output options before you start the program ('Start'). Most configuration panels are dedicated to a certain function of BNC. If the first option field on such a configuration panel is empty, the affected functionality is deactivated. + +Records of BNC's activities are shown in the 'Log' tab which is part of the 'Log' canvas. The bandwidth consumption per stream, the latency of incoming observations, and a PPP time series for coordinate displacements are also part of that canvas and shown in the 'Throughput', 'Latency' and 'PPP Plot' tabs. + +Configuration options are usually first set using BNC's Graphical User Interface (GUI), then saved in a configuration file. For routine operations in batch mode all of BNC's configuration options can be extracted from the configuration file and applied using the program's Command Line Interface (CLI). + +.. index:: BNC limitations + +Limitations +=========== + +* In Qt-based desktop environments (like KDE) on Unix/Linux platforms it may happen that you experience a crash of BNC at startup even when running the program in the background using the '-nw' option. This is a known bug most likely resulting from an incompatibility of Qt libraries in the environment and in BNC. Entering the command ``unset SESSION\MANAGER`` before running BNC may help as a work-around. +* Using RTCM Version 3 to produce RINEX files, BNC will properly handle most message types. However, when handling message types 1001, 1003, 1009 and 1011 where the ambiguity field is not set, the output will be no valid RINEX. All values will be stored modulo 299792.458 (speed of light). +* Using RTCM Version 2, BNC will only handle message types 18 and 19 or 20 and 21 together with position and the antenna offset information carried in types 3 and 22. Note that processing carrier phase corrections and pseudo-range corrections contained in message types 20 and 21 needs access to Broadcast Ephemeris. Hence, whenever dealing with message types 20 and 21, make sure that Broadcast Ephemeris become available for BNC through also retrieving at least one RTCM Version 3 stream carrying message types 1019 (GPS ephemeris) and 1020 (GLONASS ephemeris). +* BNC's 'Get Table' function only shows the STR records of a source-table. You can use an Internet browser to download the full source-table content of any Ntrip Broadcaster by simply entering its URL in the form of http://host:port. Data field number 8 in the NET records may provide information about where to register for an Ntrip Broadcaster account. +* EUREF as well as IGS adhere to an Open Data policy. Streams are made available through Ntrip Broadcasters at www.euref-ip.net, www.igs-ip.net, products.igs-ip.net, and mgex.igs-ip.net free of charge to anyone for any purpose. There is no indication up until now how many users will need to be supported simultaneously. The given situation may develop in such a way that it might become difficult to serve all registered users at the same times. In cases where limited resources on the Ntrip Broadcaster side (software restrictions, bandwidth limitation etc.) dictates, first priority in stream provision will be given to stream providers followed by re-broadcasting activities and real-time analysis centers while access to others might be temporarily denied. +* Once BNC has been started, many of its configuration options cannot be changed as long as it is stopped. See chapter 'Reread Configuration' for on-the-fly configuration exceptions. +* Drag and drop of configuration files is currently not supported on Mac OS X. On such system you have to start BNC via command line. + +.. rubric:: Footnotes + +.. [#f_rtnet] RTNet, GPS Solutions Inc., http://gps-solutions.com Index: /trunk/BNC/docs/sphinx/source/chapter3.rst =================================================================== --- /trunk/BNC/docs/sphinx/source/chapter3.rst (revision 8039) +++ /trunk/BNC/docs/sphinx/source/chapter3.rst (revision 8039) @@ -0,0 +1,162 @@ +.. index: BNC installation + +Installation +************ + +.. index: BNC installation - pre-compiled builds (MS Windows, Linux, Mac OS) + +Pre-compiled builds +=================== + +Precompiled builds of BNC are available for MS Windows, Linux, and Mac OS X systems. They can be downloaded for installation from http://igs.bkg.bund.de/ntrip/download. Please ensure that you always use the latest released version of the program. + +.. rubric:: MS Windows Build + +A dynamically compiled shared library build for Mircrosoft Windows systems is provided as Microsoft Installer (MSI) file. MSI files are used for installation, storage, and removal of programs. The BNC files are contained in a MSI package, which is used with the program's client-side installer service, an .EXE file, to open and install the program. We used the MinGW Version 4.4.0 compiler to create BNC for Windows. After installation your `bnc.exe` file shows up e.g. under 'All Programs'. + +.. rubric:: Linux Build + +Static library and shared library builds for BNC are provided for a selection of Linux distributions. Download the ZIP archive for a version which fits to your Linux system, unzip the archive and run the included BNC binary. A static build would be sufficient in case you do not want BNC to plot PPP results with Google Map (GM) or OpenStreetMap (OSM) maps in the background. GM/OSM usage requires BNC builds from shared libraries. + +.. rubric:: Mac OS X Build + +A shared library ``Disk iMaGe`` (DMG) file is provided for BNC on OS X systems; it also comes in a ZIP archive. The DMG file format is used in the Mac for distributing software. Mac install packages appear as a virtual disk drive. After download, when the DMG file icon is double clicked, the virtual drive is 'mounted' on the desktop. Install BNC by dragging the ``bnc.app`` icon to your ``Applications`` folder. To start BNC, double click on ``Applications/bnc.app``. You could also start BNC via Command Line Interface (CLI) using command ``Applications/bnc.app/Contents/MacOS/bnc``. + +.. index:: BNC compilation + +Compilation +=========== + +BNC has been written as Open Source and published under GNU General Public License (GPL). The latest source code can be checked out from Subversion repository http://software.rtcm-ntrip.org/svn/trunk/BNC. A ZIP archive available from http://igs.bkg.bund.de/ntrip/download provides the source code for BNC Version 2.12, developed using Qt Version 4.8.5. + +The following describes how you can produce your own builds of BNC on MS Windows, Linux, and Mac systems. It is likely that BNC can also be compiled on other systems where a GNU compiler and Qt Version 4.8.5 or any later version is installed. + +.. index:: Static libraries, Shared libraries + +Static versus Shared Libraries +------------------------------ + +You can produce static or shared library builds of BNC. Static builds are sufficient in case you do not want BNC to produce track maps on top of Google Map (GM) or OpenStreetMap (OSM). GM/OSM usage would require the QtWebKit library which can only be part of BNC builds from shared Qt libraries. Hence, having a shared library Qt installation available is a precondition for producing a shared library build of BNC. + +.. index:: BNC installation - MS Windows, MS Windows + +MS Windows Systems, Shared Library +---------------------------------- + +This explains how to install a shared Qt 4.8.5 library on MS Windows systems to then create your own shared build of BNC. + +Supposing that 'Secure Socket Layer (SSL)' is not available on you system, you should install OpenSSL libraries in ``C:\OpenSSL-Win32``. They are available e.g. from http://igs.bkg.bund.de/root_ftp/NTRIP/software/Win32OpenSSL-1_0_1e.exe. See http://slproweb.com/products/Win32OpenSSL.html for other SSL resources. Ignore possibly occurring comments about missing components during installation. + +1. Download MinGW compiler Version 4.4.0 e.g. from http://igs.bkg.bund.de/root_ftp/NTRIP/software/MinGW-gcc440_1.zip. + +2. Unzip the ZIP archive and move its contents to a directory ``C:\MinGW``. Now you can do either (4) or (5, 6, 8, 9, 10). Following (4) is suggested. + +3. Download file ``qt-win-opensource-4.8.5-mingw.exe`` (317 MB) e.g. from https://download.qt.io/archive/qt/4.8/4.8.5/. + +4. Execute this file to install a pre-compiled shared Qt library. + +5. Download file ``qt-everywhere-opensource-src-4.8.5.zip`` (269 MB) e.g. from https://download.qt.io/archive/qt/4.8/4.8.5/. + +6. Unzip the ZIP archive and move the contents of the contained directory into a directory ``C:\Qt\4.8.5``. + +7. Create somewhere a file ``QtEnv.bat`` with the following content + +.. code-block:: console + + set QTDIR=C:\Qt\4.8.5 + set PATH=%PATH%;C:\MinGW\bin;C:\Qt\4.8.5\bin + set QMAKESPEC=C:\Qt\4.8.5\mkspecs\win32-g++ + +8. Open a command line window and execute file ``QtEnv.bat``. + +9. Go to directory Qt directory and configure Qt using command + +.. code-block:: console + + cd Qt\4.8.5 + configure -fast -webkit -release -nomake examples -nomake tutorial + -openssl -I C:\OpenSSL-Win32\include + +10. Compile Qt using command ``mingw32-make``. This may take quite a long time. Don't worry if the compilation process runs into a problem after some time. It is likely that the libraries you require are already generated at that time. Should you want to reconfiguring Qt following steps (8)-(10) you first need to clean the previous configuration using command ``mingw32-make confclean``. Run command ``mingw32-make clean`` to delete previously compiled source code. + +11. Download latest BNC from SVN repository http://software.rtcm-ntrip.org/svn/trunk/BNC. + +12. Open command line window and execute file ``QtEnv.bat``, see (7). + +13. Go to directory BNC and enter command ``qmake bnc.pro``. + +14. Enter command ``mingw32-make``. + +15. Find binary file ``bnc.exe`` in directory named ``src``. + +16. Extend the Windows environment variable PATH by ``C:\Qt\4.8.5\bin``. + +Steps (11)-(15) can be repeated whenever a BNC update becomes available. Running ``bnc.exe`` on a windows system requires (1) when using the NTRIP Version 2s option for stream transfer over TLS/SSL. + +.. index:: BNC installation - Linux systems, Linux + +Linux Systems +------------- + +On Linux systems you may use the following procedure to install a shared Qt version 4.8.5 library: + +Download file ``qt-everywhere-opensource-src-4.8.5.tar.gz`` (230 MB) available from https://download.qt.io/archive/qt/4.8/4.8.5/. Unzip file, extract tar archive and change to directory ``qt-everywhere-opensource-src-4.8.5``. Run commands + +.. code-block:: console + + ./configure -fast -webkit -nomake examples -nomake tutorial + -prefix /usr/local/Trolltech/Qt-4.8.5 + gmake + gmake install + +Qt will be installed into directory ``/usr/local/Trolltech/Qt-4.8.5``. To reconfigure, run ``gmake confclean`` and ``configure``. Note that the ``-prefix`` option allows you to specify a directory for saving the Qt libraries. This ensures that you do not run into conflicts with other Qt installations on your host. Note further that the following two lines + +.. code-block:: console + + export QTDIR="/usr/local/Trolltech/Qt-4.8.5" + export PATH="$QTDIR/bin:$PATH" + +need to be added either to ``$HOME/.bash/profile`` or ``$HOME/.bashrc``. Once that is done, logout/login and start using Qt 4.8.5. + +To compile the BNC program, you first download the source code from SVN repository http://software.rtcm-ntrip.org/svn/trunk/BNC. Go to directory BNC and run the following commands: + +.. code-block:: console + + qmake bnc.pro + make + +You will find a build of BNC in directory BNC. + +.. index:: BNC installation - Mac OS X systems, Mac OS + +Mac OS X Systems +---------------- + +Xcode and Qt installation +^^^^^^^^^^^^^^^^^^^^^^^^^^ +Xcode and Qt are required to compile BNC on OS X. Both tools are freely available. Xcode can be downloaded from the App Store or the Apple Developer Connection website. Once installed, run Xcode, go to 'Preferences->Downloads' and install the Command Line Tools component. Qt can be downloaded from the Qt Project website. We suggest installing version 4.8.4 or higher. The Qt libraries for Mac can be downloaded from http://www.qt.io/download. Once downloaded, mount the disk image, run the Qt.mpkg package and follow instructions from the installation wizard. + +Compilation of bnc +^^^^^^^^^^^^^^^^^^ +The version of qmake supplied in the Qt binary package is configured to use the macx-xcode specification. This can be overridden with the ``-spec macx-g++`` option which makes it possible to use ``qmake`` to create a ``Makefile`` to be used by ``make``. + +From the directory where bnc.pro is located, run ``qmake`` to create the ``Makefile`` and then ``make`` to compile the binary: + +.. code-block:: console + + qmake -spec macx-g++ bnc.pro + make + +Refer to the following webpage for further information: http://doc.qt.io/qt-4.8/qmake-platform-notes.html. + +Bundle Deployment +^^^^^^^^^^^^^^^^^ +When distributing BNC it is necessary to bundle in all related Qt resources in the package. The Mac Deployment Tool has been designed to automate the process of creating a deployable application bundle that contains the Qt libraries as private frameworks. To use it, issue the following commands where ``bnc.app`` is located. + +.. code-block:: console + + macdeployqt bnc.app -dmg + +Refer to the following webpage for further information: http://doc.qt.io/qt-4.8/deployment-mac.html. + +Once a DMG file for BNC is created, you can double click it and install BNC by dragging the ``bnc.app`` icon to your ``Applications`` folder. To start BNC, double click on ``Applications/bnc.app``. Index: /trunk/BNC/docs/sphinx/source/chapter4.rst =================================================================== --- /trunk/BNC/docs/sphinx/source/chapter4.rst (revision 8039) +++ /trunk/BNC/docs/sphinx/source/chapter4.rst (revision 8039) @@ -0,0 +1,266 @@ +Configuration +************* +General procedure +================= +As a default, configuration files for running BNC on Unix/Linux/Mac OS X systems are saved in directory ``$HOME/.config/BKG``. On Windows systems, they are typically saved in directory ``C:/Documents and Settings/Username/.config/BKG``. The default configuration filename is ``BNC.bnc``. + +The default filename ``BNC.bnc`` can be changed and the file content can easily be edited. On Graphical User Interfaces (GUI) it is possible to Drag \& Drop a configuration file icon to start BNC (not on Mac OS X systems). It is also possible to start and configure BNC via command line. Some configuration options can be changed on-the-fly. See annexed Command Line Help for a complete set of configuration options. + +BNC maintains configuration options at three different levels: + +(1) GUI, input fields level +(2) Active configuration level +(3) Configuration file, disk level + +.. only:: html + + .. _fig_6: + .. figure:: figures/fig_6.png + :scale: 100 % + + ====== ============================================================================================================================= + Left BNC in graphics mode; active configuration options are introduced through GUI input fields and finally saved on disk + Middle BNC in 'no window' mode; active configuration options are read from disk + Right BNC in 'no window' mode without configuration file; default configuration options can be overwritten via command line options + ====== ============================================================================================================================= + + Management of configuration options in BNC. + +.. only:: latex + + .. raw:: latex + + \phantomsection + \label{chapter4:fig-6} + \begin{figure}[tbph] + \centering + \includegraphics{fig_6.png} + \label{chapter4:fig-6} + \begin{tabular}{l|l} + \hline + Left & BNC in graphics mode; active configuration options are introduced through GUI input\\ + & fields and finally saved on disk \\ + Middle & BNC in `no window' mode; active configuration options are read from disk\\ + Right & BNC in `no window' mode without configuration file; default configuration options can be\\ + & overwritten via command line options\\ + \hline + \end{tabular} + \caption{Management of configuration options in BNC.} + \end{figure} + +Configuration options are usually specified using GUI input fields 1 after launching BNC. When hitting the 'Start' button, configuration options are transferred one level down to become BNC's active configuration 2, allowing the program to begin its operation. Pushing the 'Stop' button ends data processing so that the user can finally terminate BNC through 'File'->'Quit'->'Save Options' which saves processing options in a configuration file to disk 3. It is important to understand that: + +* Active configuration options (2) are independent from GUI input fields and configuration file content. +* Hence changing configuration options at GUI level (1) while BNC is already processing data does not influence a running job. +* Editing configuration options at disk level (3) while BNC is already processing data does also not influence a running job. However, there are two exceptions which force BNC to update certain active options on-the-fly: + + * Pushing the 'Reread \& Save Configuration' button lets BNC immediately reread its configuration from GUI input fields to make them active configuration options. Then BNC saves them on disk. + * Specifying the 'Reread configuration' option lets BNC reread its configuration from disk at pre-defined intervals. + +* A specific BNC configuration can be started in 'no window' mode from scratch without a configuration file if options for the active configuration level (2) are provided via command line. + +Examples configuration files +============================ +BNC comes with a number of configuration examples which can be used on all operating systems. Copy the complete directory ``Example_Configs`` which comes with the software to your disc. It includes sub-directories ``Input`` and ``Output``. There are several ways to start BNC using one of the example configurations: + +* On graphical systems (except for Mac systems), you may use the computer mouse to 'drag' a configuration file icon and 'drop' it on top of BNC's program icon. +* You could also start BNC using a command line for naming a specific configuration file (suggested e.g. for Mac systems): ``/Applications/bnc.app/Contents/MacOS/bnc --conf `` +* On non-graphical systems or when running BNC in batch mode in the background you may start the program using a command line with a configuration file option in 'no window' mode (example for Windows systems): ``bnc.exe --conf --nw`` + +Although it's not a must, we suggest that you always create BNC configuration files with filename extension ``.bnc``. + +We furthermore suggest for convenience reasons that you configure your system to automatically start BNC when you double-click a file with the filename extension ``.bnc``. The following describes what to do on MS Windows systems to associate the BNC program to such configuration files: + +#. Right-click a file that has the extension ``.bnc`` and then click 'Open'. If the 'Open' command is not available, click 'Open With' or double-click the file. +#. Windows displays a dialog box that says that the system cannot open this file. The dialog box offers several options for selecting a program. +#. Click 'Select the program from a list', and then click 'OK'. +#. The 'Open With' dialog box is displayed. Click 'Browse', locate and then click the BNC program, and then click 'Open'. +#. Click to select the 'Always use the selected program to open this kind of file' check box. +#. Click 'OK'. + +Some of the presented example configurations contain a user ID 'Example' with a password 'Configs' for accessing a few GNSS streams from public Ntrip Broadcasters. This free generic account is arranged for convenience reasons only. Please be so kind as to replace the generic account details as well as the place holder's 'User' and 'Pass' by the personal user ID and password you receive following an online registration through http://register.rtcm-ntrip.org. + +Note that the account for an Ntrip Broadcaster is usually limited to pulling a specified maximum number of streams at the same time. As running some of the example configurations requires pulling several streams, it is suggested to make sure that you do not exceed your account's limits. + +Make also sure that sub-directories 'Input' and 'Output' which are part of the example configurations exist on your system or adjust the affected example configuration options according to your needs. + +Some BNC options require Antenna Phase Center variations as made available from IGS through so-called ANTEX files at ftp://igs.org/pub/station/general. An example ANTEX file ``igs08.atx`` is part of the BNC package for convenience. + +The example configurations assume that no proxy protects your BNC host. Should a proxy be operated in front of BNC then you need to introduce its name or IP and port number in the 'Network' panel. + +List of example configuration files +=================================== +You should be able to run all configuration file examples without changing contained options. However, configuration 'Upload.bnc' is an exception because it requires an input stream from a connected network engine. + +1. Configuration File ``RinexObs.bnc`` + +.. + + Purpose: Convert RTCM streams to RINEX Observation files. The configuration pulls streams from Ntrip Broadcasters using Ntrip Version 1 to generate 15min 1Hz RINEX Version 3 Observation files. See http://igs.bkg.bund.de/ntrip/observations for observation stream resources. + +2. Configuration File ``RinexEph.bnc`` + +.. + + Purpose: Convert a RTCM stream with navigation messages to RINEX Navigation files. The configuration pulls a RTCM Version 3 stream with Broadcast Ephemeris coming from the real-time EUREF and IGS networks and saves hourly RINEX Version 3 Navigation files. See http://igs.bkg.bund.de/ntrip/ephemeris for further real-time Broadcast Ephemeris resources. + +3. Configuration File ``BrdcCorr.bnc`` + +.. + + Purpose: Save Broadcast Corrections from RTCM SSR messages in hourly plain ASCII files. See http://igs.bkg.bund.de/ntrip/orbits for various real-time IGS or EUREF orbit/clock correction products. + +4. Configuration File ``RinexConcat.bnc`` + +.. + + Purpose: Concatenate several RINEX Version 3 files to produce one compiled file and edit the marker name in the file header. The sampling interval is set to 30 seconds. See section 'RINEX Editing \& QC' in the documentation for examples on how to call BNC from command line in 'no window' mode for RINEX file editing, concatenation and quality check. + +5. Configuration File ``RinexQC.bnc`` + +.. + + Purpose: Check the quality of a RINEX Version 3 file by means of a multipath analysis. Results are saved on disk in terms of a plot in PNG format. See section 'RINEX Editing \& QC' in the documentation for examples on how to call BNC from command line in 'no window' mode for RINEX file editing, concatenation and quality check. + +6. Configuration File ``RTK.bnc`` + +.. + + Purpose: Feed a serially connected receiver with observations from a nearby reference station for conventional RTK. The stream is scanned for RTCM messages. Message type numbers and latencies of incoming observations are reported in BNC's logfile. + +7. Configuration File ``FeedEngine.bnc`` + +.. + + Purpose: Feed a real-time GNSS engine with observations from remote reference stations. The configuration pulls a single stream from an Ntrip Broadcaster. You could also pull several streams from different casters. Incoming observations are decoded, synchronized, output through a local IP port and also saved into a file. Failure and recovery thresholds are specified to inform about outages. + +.. raw:: latex + + \newpage + +8. Configuration File ``PPP.bnc`` + +.. + + Purpose: Precise Point Positioning from observations of a rover receiver. The configuration reads RTCM Version 3 observations, a Broadcast Ephemeris stream and a stream with Broadcast Corrections. Positions are saved in the logfile. + +9. Configuration File ``PPPNet.bnc`` + +.. + + Purpose: Precise Point Positioning for several rovers or receivers from an entire network of reference stations in one BNC job. The possible maximum number of PPP solutions per job depends on the processing power of the hosting computer. This example configuration reads two RTCM Version 3 observation streams, a Broadcast Ephemeris stream and a stream with Broadcast Corrections. PPP Results for the two stations are saved in PPP logfiles. + +10. Configuration File ``PPPQuickStart.bnc`` + +.. + + Purpose: Precise Point Positioning in Quick-Start mode from observations of a static receiver with precisely known position. The configuration reads RTCM Version 3 observations, Broadcast Corrections and a Broadcast Ephemeris stream. Positions are saved in NMEA format on disc. They are also output through IP port for real-time visualization with tools like RTKPLOT. Positions are saved in the logfile. + +11. Configuration File ``PPPPostProc.bnc`` + +.. + + Purpose: Precise Point Positioning in post processing mode. BNC reads RINEX Version 3 Observation and Navigation files and a Broadcast Correction file. PPP processing options are set to support the Quick-Start mode. The output is saved in a specific post processing logfile and contains coordinates derived over time following the implemented PPP filter algorithm. + +12. Configuration File ``PPPGoogleMaps.bnc`` + +.. + + Purpose: Track BNC's point positioning solutions using Google Maps or OpenStreetMap as background. BNC reads a RINEX Observation file and a RINEX Navigation file to carry out a 'Standard Point Positioning' solution in post processing mode. Although this is not a real-time application, it requires the BNC host to be connected to the Internet. Specify a computation speed, then hit button 'Open Map' to open the track map, then hit 'Start' to visualize receiver positions on top of GM/OSM maps. + +13. Configuration File ``SPPQuickStartGal.bnc`` + +.. + + Purpose: Single Point Positioning in Quick-Start mode from observations of a static receiver with quite precisely known position. The configuration uses GPS, GLONASS and Galileo observations and a Broadcast Ephemeris stream. + +14. Configuration File ``SaveSp3.bnc`` + +.. + + Purpose: Produces SP3 files from a Broadcast Ephemeris stream and a Broadcast Correction stream. The Broadcast Correction stream is formally introduced in BNC's 'Combine Corrections' table. Note that producing SP3 requires an ANTEX file because SP3 file content should be referred to CoM. + +15. Configuration File ``Sp3ETRF2000PPP.bnc`` + +.. + + Purpose: Produce SP3 files from a Broadcast Ephemeris stream and a stream carrying ETRF2000 Broadcast Corrections. The Broadcast Correction stream is formally introduced in BNC's 'Combine Corrections' table. The configuration leads to a SP3 file containing orbits also referred to ETRF2000. Pulling in addition observations from a reference station at precisely known ETRF2000 position allows comparing an 'INTERNAL' PPP solution with a known ETRF2000 reference coordinate. + +16. Configuration File ``Upload.bnc`` + +.. + + Purpose: Upload orbits and clocks from a real-time GNSS engine to an Ntrip Broadcaster. For that the configuration reads precise orbits and clocks in RTNET format. It also reads a stream carrying Broadcast Ephemeris. BNC converts the orbits and clocks into Broadcast Corrections and encodes them to RTCM Version 3 SSR messages to finally upload them to an Ntrip Broadcaster. The Broadcast Correction stream is referred to satellite Antenna Phase Center (APC) and reference system IGS08. Orbits are saved on disk in SP3 format and clocks are saved in Clock RINEX format. + +17. Configuration File ``Combi.bnc`` + +.. + + Purpose: Pull several streams carrying Broadcast Corrections and a Broadcast Ephemeris stream from an Ntrip Broadcaster to produce a combined Broadcast Correction stream. BNC encodes the combination product in RTCM Version 3 SSR messages and uploads that to an Ntrip Broadcaster. The Broadcast Correction stream is referred to satellite Antenna Phase Center (APC) and not to satellite Center of Mass (CoM). Its reference system is IGS08. Orbits are saved in SP3 format (referred to CoM) and clocks in Clock RINEX format. + +18. Configuration File ``CombiPPP.bnc`` + +.. + + Purpose: This configuration equals the 'Combi.bnc' configuration. However, the combined Broadcast Corrections are in addition used for an 'INTERNAL' PPP solution based on observations from a static reference station with known precise coordinates. This allows a continuous quality check of the combination product through observing coordinate displacements. + +19. Configuration File ``UploadEph.bnc`` + +.. + + Purpose: Pull a number of streams from reference stations to get hold of contained Broadcast Ephemeris messages. They are encoded to RTCM Version 3 format and uploaded for the purpose of providing a Broadcast Ephemeris stream with an update rate of 5 seconds. + +20. Configuration File ``CompareSp3.bnc`` + +.. + + Purpose: Compare two SP3 files to calculate RMS values for orbit and clock differences. GPS satellite G05 and GLONASS satellite R18 are excluded from this comparison. Comparison results are saved in a logfile. + +21. Configuration File ``Empty.bnc`` + +.. + + Purpose: Provide an empty example configuration file for BNC which only contains default settings. + +Command Line configuration options +================================== +The following configuration examples make use of BNC's 'Command Line Interface' (CLI). Configuration options are exclusively specified via command line. No configuration file is used. Examples are provided as shell scripts for a Linux system. They call BNC in 'no window' batch mode (command line option ``-nw``). The scripts expect 'Example\_Configs' to be the current working directory. + +1. Shell Script ``RinexQC.sh`` + +.. + + Purpose: Equals configuration file example ``RinexQC.bnc``, checks the quality of a RINEX Version 3 file by means of a multipath analysis. Virtual X-Server 'Xvfb' is operated while producing plot files in PNG format. BNC is offline. All results are saved on disk. + +2. Shell Script ``RinexConcat.sh`` + +.. + + Purpose: Equals configuration file example ``RinexConcat.bnc``, concatenates several RINEX Version 3 files to produce one compiled file and edit the marker name in the file header. The sampling interval is set to 30 seconds. + +3. Shell Script ``RinexEph.sh`` + +.. + + Purpose: Equals configuration file example ``RinexEph.bnc``, converts a RTCM stream with navigation messages to RINEX Navigation files. The configuration pulls a RTCM Version 3 stream with Broadcast Ephemeris coming from the real-time EUREF and IGS networks and saves hourly RINEX Version 3 Navigation files. BNC runs online until it's terminated after 10 seconds. See http://igs.bkg.bund.de/ntrip/ephemeris for further real-time Broadcast Ephemeris resources. + +4. Shell Script ``ScanLate.sh`` + +.. + + Purpose: Scan an observation stream for contained RTCM message types, print observation latencies. The output is saved in a logfile. Latencies are reported every 10 seconds. BNC runs online until it's terminated after 20 seconds. + +5. Shell Script ``RinexObs.sh`` + +.. + + Purpose: Equals configuration file example ``RinexObs.bnc``, converts RTCM streams to RINEX Observation files. The configuration pulls streams from two Ntrip Broadcasters using Ntrip Version 1 to generate 15min 1Hz RINEX Version 3 Observation files. See http://igs.bkg.bund.de/ntrip/observations for observation stream resources. BNC runs online until it's terminated after 30 seconds. + +Command Line configuration options overwriting Configuration File options +========================================================================= +For specific applications you may like to use your own set of standard configuration options from a configuration file and update some of its content via command line. When using a configuration file together with command line configuration options in one BNC call, the command line configuration options will always overrule options contained in the configuration file: + +Shell script ``CompareSp3.sh``. + +Purpose: Equals configuration file example ``CompareSp3.bnc``, compares two SP3 files to calculate RMS values for orbit and clock differences. However, instead of excluding GPS satellite G05 and GLONASS satellite R18 from the comparison as specified in ``CompareSp3.bnc``, GPS satellite G06 and all GLONASS satellites are excluded via command line option. BNC runs offline. Comparison results are saved in a logfile. + Index: /trunk/BNC/docs/sphinx/source/chapter5.rst =================================================================== --- /trunk/BNC/docs/sphinx/source/chapter5.rst (revision 8039) +++ /trunk/BNC/docs/sphinx/source/chapter5.rst (revision 8039) @@ -0,0 +1,3405 @@ +.. index:: BNC software settings + +.. + for latex + +.. |G:CWPX_?| replace:: G:CWPX\_\? +.. |CWPX_?| replace:: CWPX\_\? +.. |R:PCX_?| replace:: R:PCX\_\? +.. |E:CPX_?| replace:: E:CPX\_\? + +.. + for html + + .. |G:CWPX_?| replace:: `G:CWPX_?` + .. |CWPX_?| replace:: `CWPX_?` + .. |R:PCX_?| replace:: `R:PCX_?` + .. |E:CPX_?| replace:: `E:CPX_?` + +BNC software settings +********************* +The general documentation approach is to create a separate chapter for each processing option in a sequence which follows the layout of BNC's Graphical User Interface (GUI). The advantage is that searching for help by means of the document's Table of Contents (TOC) is quite convenient. + +The following chapters describe how to set BNC program options. They explain the 'Top Menu Bar', the 'Settings Canvas' with the processing options, the content of the 'Streams Canvas' and 'Logging Canvas', and the 'Bottom Menu Bar'. + +.. index:: Top Menu Bar + +Top Menu Bar +============ + +The top menu bar allows selecting a font for the BNC windows, save configured options, or quit the program execution. It also provides access to the program's documentation. + +File +---- +The 'File' button lets you + +* Select an appropriate font. Use smaller font size if the BNC main window exceeds the size of your screen. +* Reread and save selected options in configuration file. When using 'Reread \& Save Configuration' while BNC is already processing data, some configuration options become immediately effective on-the-fly without interrupting uninvolved threads while all of them are saved on disk. See section 'Reread Configuration' for a list of on-the-fly changeable configuration options. +* Quit the BNC program. + +Help +---- +The 'Help' button provides access to + +* Help contents. You may keep the 'Help Contents' window open while configuring BNC. +* A 'Flow Chart' showing BNC linked to a real-time GNSS network engine such as RTNET. +* General information about BNC. Close the 'About BNC' window to continue working with BNC. + +.. index:: Network + +Network +======= + +You may need to specify a proxy when running BNC in a protected network. You may also like to use the Transport Layer Security (TLS) and its predecessor, Secure Sockets Layer (SSL) cryptographic protocols for secure Ntrip communication over the Internet. + +.. index:: Proxy + +Proxy - Usage in a protected LAN +-------------------------------- + +If you are running BNC within a protected Local Area Network (LAN), you might need to use a proxy server to access the Internet. Enter your proxy server IP and port number in case one is operated in front of BNC. If you do not know the IP and port of your proxy server, check the proxy server settings in your Internet browser or ask your network administrator. + +Note that IP streaming is often not allowed in a LAN. In this case you need to ask your network administrator for an appropriate modification of the local security policy or for the installation of a TCP relay to the Ntrip Broadcaster you need to access. If this is not possible, you might need to run BNC outside your LAN on a host that has unobstructed connection to the Internet. + +.. index:: SSL + +SSL - Transport Layer Security +------------------------------ +Communication with an Ntrip Broadcaster over Secure Sockets Layer (SSL) as well as the download of RINEX skeleton files when available from HTTPS websites requires the exchange of client and/or server certificates. Specify the path to a directory where you save certificates on your system. You may like to check out http://software.rtcm-ntrip.org/wiki/Certificates for a list of known Ntrip Server certificates. You may also just try communication via SSL to check out whether this is supported by the involved Ntrip Broadcaster. + +SSL communication may involve queries coming from the Ntrip Broadcaster or from a HTTPS website hosting RINEX skeletons. Such a query could show up under BNC's 'Log' tab especially when self-signed SSL certificates are used. Example:: + + SSL Error + Server Certificate Issued by: + GNSS Data Center + BKG (Bundesamt für Geodäsie und Kartographie) + Cannot be verified + + The issuer certificate of a locally looked up certificate could not be found + The root CA certificate is not trusted for this purpose + No certificates could be verified + + Queries should not be received by a client when a server uses official SSL certificates. + +Tick 'Ignore SSL authorization errors' if you generally trust the server and do not want to be bothered with this. Note that SSL communication is usually done over port 443 :numref:`(Fig. %s) `. + +.. _fig_7: +.. figure:: figures/fig_7.png + :scale: 100 % + + BNC's 'Network' panel configured to ignore eventually occurring SSL error messages. + +.. index:: General settings + +General +======= + +The following defines general settings for BNC's logfile, file handling, reconfiguration on-the-fly, and auto-start :numref:`(Fig. %s) `. + +.. _fig_7b: +.. figure:: figures/fig_7b.png + :scale: 100 % + + General BNC options + +.. index:: Logfile + +Logfile - optional +------------------ + +Records of BNC's activities are shown in the 'Log' tab on the bottom of the main window. These logs can be saved into a file when a valid path is specified in the 'Logfile (full path)' field. The logfile name will automatically be extended by a string '\_YYMMDD' for the current date. This leads to series of daily logfiles when running BNC continuously. Message logs cover the communication status between BNC and the Ntrip Broadcaster as well as problems that may occur in the communication link, stream availability, stream delay, stream conversion etc. All times are given in UTC. The default value for 'Logfile (full path)' is an empty option field, meaning that BNC logs will not be saved into a file. + +The following is an example for the content of a logfile written by BNC when operated in Single Point Positioning (SPP) mode: + +.. code-block:: console + + 15-06-30 11:40:17 ========== Start BNC v2.12 (MAC) ========== + 15-06-30 11:40:17 Panel 'PPP' active + 15-06-30 11:40:17 CUT07: Get data in RTCM 3.x format + 15-06-30 11:40:17 RTCM3EPH: Get data in RTCM 3.x format + 15-06-30 11:40:17 Configuration read: PPP.conf, 2 stream(s) + + 15-06-30 11:40:21 2015-06-30_11:40:19.000 CUT07 X = -2364337.6814 Y = 4870283.8110 Z = -3360808.3085 NEU: -0.0000 -0.0000 -0.0000 TRP: +2.4026 -0.0001 + 15-06-30 11:40:22 2015-06-30_11:40:20.000 CUT07 X = -2364337.6853 Y = 4870283.8130 Z = -3360808.3082 NEU: +1.1639 +0.6988 -2.1178 TRP: +2.4018 +0.0003 + 15-06-30 11:40:23 2015-06-30_11:40:21.000 CUT07 X = -2364337.6862 Y = 4870283.8155 Z = -3360808.3107 NEU: +0.1317 -0.4655 -4.4614 TRP: +2.4009 +0.0009 + 15-06-30 11:40:24 2015-06-30_11:40:22.000 CUT07 X = -2364337.6864 Y = 4870283.8106 Z = -3360808.3099 NEU: +0.1543 +0.2121 -1.0190 TRP: +2.4022 +0.0009 + 15-06-30 11:40:25 2015-06-30_11:40:23.000 CUT07 X = -2364337.6861 Y = 4870283.8111 Z = -3360808.3105 NEU: -0.9782 +0.0916 -2.3544 TRP: +2.4017 +0.0013 + 15-06-30 11:40:26 2015-06-30_11:40:24.000 CUT07 X = -2364337.6884 Y = 4870283.8123 Z = -3360808.3103 NEU: -0.5606 -0.0938 -1.9498 TRP: +2.4018 +0.0016 + 15-06-30 11:40:27 2015-06-30_11:40:25.000 CUT07 X = -2364337.6913 Y = 4870283.8133 Z = -3360808.3122 NEU: -0.1799 -0.1525 -4.8142 TRP: +2.4007 +0.0025 + 15-06-30 11:40:28 2015-06-30_11:40:26.000 CUT07 X = -2364337.6919 Y = 4870283.8171 Z = -3360808.3184 NEU: +0.7497 +0.7994 -2.0363 TRP: +2.4018 +0.0032 + 15-06-30 11:40:29 2015-06-30_11:40:27.000 CUT07 X = -2364337.6923 Y = 4870283.8196 Z = -3360808.3230 NEU: +0.8099 +0.5592 -2.8552 TRP: +2.4015 +0.0039 + 15-06-30 11:40:30 2015-06-30_11:40:28.000 CUT07 X = -2364337.6960 Y = 4870283.8219 Z = -3360808.3222 NEU: -0.2952 +1.9737 -4.5565 TRP: +2.4008 +0.0047 + 15-06-30 11:40:31 2015-06-30_11:40:29.000 CUT07 X = -2364337.6982 Y = 4870283.8209 Z = -3360808.3209 NEU: +0.3563 +2.1067 -5.5327 TRP: +2.4005 +0.0057 + ... + +Append Files - optional +----------------------- +When BNC is started, new files are created by default and existing files with the same name will be overwritten. However, users might want to append existing files following a restart of BNC, a system crash or a BNC crash. Tick 'Append files' to continue with existing files and keep what has been recorded so far. Note that option 'Append files' affects all types of files created by BNC. + +Reread Configuration - optional +------------------------------- +When operating BNC online in 'no window' mode (command line option ``-nw``), some configuration options can nevertheless be changed on-the-fly without interrupting the running process. For that, you force the program to reread parts of its configuration in pre-defined intervals from disk. Select '1 min', '1 hour', or '1 day' to let BNC reread on-the-fly changeable configuration options every full minute, hour, or day. This lets in-between edited options become effective without interrupting uninvolved threads. + +Note that following configuration options saved on disk can be changed/edited on-the-fly while BNC is already processing data: + +* 'mountPoints' to change the selection of streams to be processed, see section 'Streams Canvas'; +* 'outWait' to change the 'Wait for full obs epoch' option, see section 'Feed Engine'; +* 'outSampl' to change the 'Sampling' option, see section 'Feed Engine'; +* 'outFile' to change the 'File' name where synchronized observations are saved in plain ASCII format, see section 'Feed Engine'. + +.. index:: Auto Start + +Auto Start - optional +--------------------- + +You may like to auto-start BNC at startup time in window mode with pre-assigned configuration options. This may be required e.g. immediately after booting your system. Tick 'Auto start' to supersede the usage of the 'Start' button. Make sure that you maintain a link to BNC for that in your Autostart directory (Windows systems) or call BNC in a script below directory ``/etc/init.d`` (Unix/Linux/Mac OS X systems). + +See BNC's command line option ``-nw`` for an auto-start of BNC in 'no window' mode. + +.. index:: Raw output file + +Raw Output File - optional +-------------------------- + +BNC can save all data coming in through various streams in one daily file. The information is recorded in the specified 'Raw output file' in the received order and format. This feature allows a BNC user to run the PPP option offline with observations, Broadcast Corrections, and Broadcast Ephemeris being read from a previously saved file. It supports the offline repetition of a real-time situation for debugging purposes (Record & Replay functionality) and is not meant for post processing. + +Data will be saved in blocks in the received format separated by ASCII time stamps like (example): + +.. code-block:: console + + 2010-08-03T18:05:28 RTCM3EPH RTCM_3 67 + +This example block header tells you that 67 bytes were saved in the data block following this time stamp. The information in this block is encoded in RTCM Version 3 format, comes from mountpoint RTCM3EPH and was received at 18:05:28 UTC on 2010-08-03. BNC adds its own time stamps in order to allow the reconstruction of a recorded real-time situation. + +The default value for 'Raw output file' is an empty option field, meaning that BNC will not save all raw data into one single daily file. + +.. index:: RINEX observations + +RINEX Observations +================== + +Observations will be converted to RINEX if they come in either RTCM Version 2 or RTCM Version 3 format. Depending on the RINEX version and incoming RTCM message types, files generated by BNC may contain data from GPS, GLONASS, Galileo, SBAS, QZSS, and/or BDS (BeiDou). In case an observation type is listed in the RINEX header but the corresponding observation is unavailable, its value is set to zero '0.000' or left blank. Note that the 'RINEX TYPE' field in the RINEX Version 3 Observation file header is always set to 'M(MIXED)' or 'Mixed' even if the file only contains data from one system. + +It is important to understand that converting RTCM streams to RINEX files requires a priori information on observation types for specifying a complete RINEX header. Regarding the RINEX Version 2 file header, BNC simply introduces all observation types defined in the Version 2 standard and later reports '0.000' for observations which are not received. However, following this approach is not possible for RINEX Version 3 files from RTCM Version 3 MSM streams because of the huge number of observation types, which might in principle show up. The solution implemented in BNC is to start with RINEX Version 3 observation type records from skeleton files (see section 'Skeleton Extension' and 'Skeleton Mandatory') and switch to a default selection of observation types when such file is not available or does not contain the required information. The following is the default selection of observation types specified for a RINEX Version 3 file: + +.. code-block:: console + + C 9 C2I L2I S2I C6I L6I S6I C7I L7I S7I SYS / # / OBS TYPES + E 12 C1X L1X SX1 C5X L5X SX5 C7X L7X SX7 C8X L8X SX8 SYS / # / OBS TYPES + G 15 C1C L1C S1C C1W L1W S1W C2X L2X S2X C2W L2W S2W C5X SYS / # / OBS TYPES + L5X S5X SYS / # / OBS TYPES + J 24 C1C L1C S1C C1S L1S S1S C1L L1L S1L C1X L1X S1X C2S SYS / # / OBS TYPES + L2S S2S C2L L2L S2L C2X L2X S2X C5X L5X S5X SYS / # / OBS TYPES + R 12 C1C L1C S1C C1P L1P S1P C2C L2C S2C C2P L2P S2P SYS / # / OBS TYPES + S 9 C1C L1C S1C C5I L5I S5I C5Q L5Q S5Q SYS / # / OBS TYPES + +Please note that RTCM Version 3 messages 1084 for GLONASS observations do not contain the GLONASS channel numbers. These observation messages can only be converted to RINEX when you add messages which include the channel numbers. This could be done by means of an additional stream carrying 1087 GLONASS observation messages or an additional stream carrying 1020 GLONASS ephemeris messages. You could also consider setting up a stream which contains both, the 1084 and the 1020 messages. + +The screenshot below shows an example setup of BNC when converting streams to RINEX. Streams are coming from various Ntrip Broadcasters as well as from a serial communication link. Specifying a decoder string 'ZERO' would mean to not convert the affected stream but save its content as received. The 'SSL Error' recorded in the 'Log' tab is caused by the fact that observation stream downloads from IGS and MGEX Broadcasters initiate the download of RINEX skeleton files from a HTTPS (TLS/SSL) website and BNC has been configured in this example to ignore SSL errors as shown in the preceding 'Network' panel screenshot :numref:`(Fig. %s) `. + +.. _fig_8: +.. figure:: figures/fig_8.png + :scale: 90 % + + BNC translating incoming observation streams to 15 min RINEX Version 3 Observation files. + +.. index:: RINEX filenames + +RINEX Filenames +--------------- + +The default for RINEX filenames in BNC follows the convention of RINEX Version 2. However, the software provides options to alternatively follow the filename convention of RINEX Version 3. RINEX Version 2 filenames are derived by BNC from the first 4 characters of the corresponding stream's mountpoint (4-character Station ID). For example, data from mountpoints FRANKFURT and WETTZELL will have hourly RINEX Observation files named:: + + FRAN{ddd}{h}.{yy}O + WETT{ddd}{h}.{yy}O + +where 'ddd' is the day of year, 'h' is a letter which corresponds to an hour long UTC time block and 'yy' is the year. + +If there is more than one stream with identical 4-character Station ID (same first 4 characters for their mountpoints), the mountpoint strings are split into two sub-strings and both become part of the RINEX filename. For example, when simultaneously retrieving data from mountpoints FRANKFURT and FRANCE, their hourly RINEX Version 2 Observation files are named as:: + + FRAN{ddd}{h}_KFURT.{yy}O + FRAN{ddd}{h}_CE.{yy}O + +If several streams show up with exactly the same mountpoint name (example: BRUS0 from www.euref-ip.net and BRUS0 from www.igs-ip.net), BNC adds an integer number to the filename, leading e.g. to hourly RINEX Version 2 Observation files like:: + + BRUS{ddd}{h}_0.{yy}O + BRUS{ddd}{h}_1.{yy}O + + +Note that RINEX Version 2 filenames for all intervals less than 1 hour follow the filename convention for 15 minutes RINEX Version 2 Observation files e.g.:: + + FRAN{ddd}{h}{mm}.{yy}O + +where 'mm' is the starting minute within the hour. + +In case of RINEX Version 3 filenames, the conventions are summarized in :numref:`Table %s `. + +.. tabularcolumns:: |p{0.35\textwidth}|p{0.22\textwidth}|p{0.35\textwidth}| + +.. _tab_RINEX_FN_CONV: +.. table:: Conventions of RINEX 3 file names. + + ====================== ================ =============================== + **Filename Parameter** **# Characters** **Meaning** + ====================== ================ =============================== + Name 9 Site, station and country code + S 1 Data source + Start Time 11 YYYYDDDHHMM + Period 3 File period + Obs. Freq. 3 Observation frequency + Content 2 Content type + Format 3 File format + Compression 2-3 Compression method (optional) + ====================== ================ =============================== + +Example for Mixed RINEX Version 3 GNSS observation filename, file containing 1 hour of data, one observation every second, 'MO' standing for 'Mixed Observations':: + + ALGO00CAN_R_20121601000_01H_01S_MO.rnx + +Note that filename details are produced from the stream's mountpoint as well as corresponding BNC settings and meta data from the Ntrip Broadcaster source-table. + +.. index:: RINEX observation directory + +Directory - optional +-------------------- + +Here you can specify the path to where the RINEX Observation files will be stored. If the specified directory does not exist, BNC will not create RINEX Observation files. Default value for 'Directory' is an empty option field, meaning that no RINEX Observation files will be written. + +.. index:: RINEX observation file interval + +File Interval - mandatory if 'Directory' is set +----------------------------------------------- + +Select the length of the RINEX Observation file to be generated. The default value is 15 minutes. + +.. index:: RINEX observation file sampling + +Sampling - mandatory if 'Directory' is set +------------------------------------------ + +Select the RINEX Observation sampling interval in seconds. A value of zero '0' tells BNC to store all received epochs into RINEX. This is the default value. + +.. index:: RINEX header skeleton files + +Skeleton Extension - optional +----------------------------- + +Whenever BNC starts to generate RINEX Observation files (and then once every day at midnight), it first tries to retrieve information needed for RINEX headers from so-called fully machine-readable public RINEX header skeleton files which are derived from sitelogs. An HTTP or HTTPS link to a directory containing these skeleton files may be available through data field number 7 of the affected NET record in the source-table. See http://www.epncb.oma.be:80/stations/log/skl/brus.skl for an example of a public RINEX header skeleton file for EPN station Brussels. Note that the download of RINEX skeleton files from HTTPS websites requires the exchange of client and/or server certificates. Clarify 'SSL' options offered through panel 'Network' for details. + +Sometimes public RINEX header skeleton files are not available, their content is not up to date, or you need to put additional/optional records in the RINEX header. For that, BNC allows using personal skeleton files that contain the header records you would like to include. You can derive a personal RINEX header skeleton file from the information given in an up to date sitelog. A file in the RINEX Observations 'Directory' with a 'Skeleton extension' suffix is interpreted by BNC as a personal RINEX header skeleton file for the corresponding stream. + +When producing RINEX Observation files from mountpoints (examples) 'BRUS0', 'FRANKFURT', and 'WETTZELL', the following skeleton filenames would be accepted: + +.. code-block:: console + + brus.skl + fran.skl + wett.skl + +if 'Skeleton extension' is set to 'skl'. + +Note the following regulations regarding personal RINEX header skeleton files: + +* If such a file exists in the 'RINEX directory', the corresponding public RINEX header skeleton file is ignored. The RINEX header is generated solely from the content of the personal skeleton. +* Personal skeletons should contain a complete first header record of type: + +.. code-block:: console + + RINEX VERSION / TYPE + +They should then contain an empty header record of type: + +.. code-block:: console + + PGM / RUN BY / DATE + +BNC will complete this line and include it in the RINEX file header. + +* They should further contain complete header records of type: + +.. code-block:: console + + MARKER NAME + OBSERVER / AGENCY + REC # / TYPE / VERS + ANT # / TYPE + APPROX POSITION XYZ + ANTENNA: DELTA H/E/N + WAVELENGTH FACT L1/2 (RINEX Version 2) + SYS / # / OBS TYPES (for RINEX Version 3 files, will be ignored in Version 2 files) + +* They may contain any other optional complete header record as defined in the RINEX documentation. +* They should also contain an empty header record of type: + + .. code-block:: none + + #/ TYPES OF OBSERV (only RINEX Version 2, will be ignored when in Version 3 files) + +* BNC will include these lines in the final RINEX file header together with an additional + + .. code-block:: console + + COMMENT + + line describing the source of the stream. + +* They should finally contain an empty last header record of type: + + .. code-block:: console + + END OF HEADER + +* They must not contain a header record of type: + + .. code-block:: console + + TIME OF FIRST OBS + +If neither a public nor a personal RINEX header skeleton file is available for BNC, a default header will be used. The following is a skeleton example for a RINEX file: + +.. code-block:: console + + OBSERVATION DATA M (MIXED) RINEX VERSION / TYPE + PGM / RUN BY / DATE + CUT0 MARKER NAME + 59945M001 MARKER NUMBER + 5023K67889 TRIMBLE NETR9 5.01 REC # / TYPE / VERS + 4928353386 TRM59800.00 SCIS ANT # / TYPE + -2364337.2699 4870285.5624 -3360809.8398 APPROX POSITION XYZ + 0.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N + gnss@curtin.edu.au CUT OBSERVER / AGENCY + C 10 C1I L1I D1I S1I C6I L6I S6I C7I L7I S7I SYS / # / OBS TYPES + E 13 C1X L1X D1X S1X C5X L5X S5X C7X L7X S7X C8X L8X S8X SYS / # / OBS TYPES + G 13 C1C L1C D1C S1C C2W L2W S2W C2X L2X S2X C5X L5X S5X SYS / # / OBS TYPES + J 19 C1C L1C D1C S1C C1X L1X S1X C1Z L1Z S1Z C2X L2X S2X SYS / # / OBS TYPES + C5X L5X S5X C6L L6L S6L SYS / # / OBS TYPES + R 13 C1C L1C D1C S1C C1P L1P S1P C2C L2C S2C C2P L2P S2P SYS / # / OBS TYPES + S 7 C1C L1C D1C S1C C5I L5I S5I SYS / # / OBS TYPES + PORTIONS OF THIS HEADER GENERATED BY THE IGS CB FROM COMMENT + SITELOG cut0_20150507.log COMMENT + END OF HEADER + + +.. index:: RINEX header skeleton files + +Skeleton Mandatory - optional +----------------------------- + +Tick check box 'Skeleton mandatory' in case you want that RINEX files are only produced when skeleton files are available for BNC. If no skeleton file is available for a particular source, then no RINEX observation file will be produced from the affected stream. + +Note that a skeleton file contains RINEX header information such as receiver and antenna types. In case of stream conversion to RINEX Version 3, a skeleton file should also contain information on potentially available observation types. A missing skeleton file will force BNC to only save a default set of RINEX 3 observation types. + +Script - optional +----------------- + +Whenever a RINEX Observation file is saved, you might want to compress, copy or upload it immediately via FTP. BNC allows you to execute a script/batch file to carry out these operations. To do that, specify the full path to such script/batch file. BNC will pass the RINEX Observation file path to the script as a command line parameter (\%1 on Windows systems, \$1 on Unix/Linux/Mac OS X systems). + +The triggering event for calling the script or batch file is the end of a RINEX Observation file 'Interval'. If that is overridden by a stream outage, the triggering event is the stream reconnection. + +As an alternative to initiating file uploads through BNC, you may like to call an upload script or batch file through your crontable or Task Scheduler (independent from BNC) once every one or two minutes after the end of each RINEX file 'Interval'. + +Version 2 - optional +-------------------- + +GNSS observation data are generally hold available within BNC according to attributes as defined in RINEX Version 3. These attributes describe the tracking mode or channel when generating the observation signals. Capital letters specifying signal generation attributes are A, B, C, D, I, L, M, N, P, Q, S, W, X, Y, and Z, see RINEX Version 3 documentation. Although RINEX Version 3 with its signal generation attributes is the internal default processing format for BNC, there are two applications where the program is explicitly required to produce data files in RINEX Version 2 format: + +#. When saving the content of incoming observation streams in RINEX Version 2 files as described in this section. +#. When editing or concatenating RINEX 3 files to save them in Version 2 format, see section on 'RINEX Editing & QC'. + +As the Version 2 format ignores signal generation attributes, BNC is forced to somehow map RINEX Version 3 to RINEX Version 2 although this cannot be done in one-to-one correspondence. Hence we introduce a 'Signal priority' list of attributes (characters, forming a string) for mapping Version 3 to Version 2. + +Signal priorities can be specified as equal for all systems, as system specific or as system and frequency specific. For example: + +* 'CWPX_?' (General signal priorities valid for all GNSS) +* 'C:IQX I:ABCX' (System specific signal priorities for BDS and IRNSS) +* 'G:12&PWCSLXYN G:5&IQX R:12&PC R:3&IQX' (System and frequency specific signal priorities) + +The default 'Signal priority' list is defined as follows: 'G:12&PWCSLXYN G:5&IQX R:12&PC R:3&IQX E:16&BCX E:578&IQX J:1&SLXCZ J:26&SLX J:5&IQX C:IQX I:ABCX S:1&C S:5&IQX' + +As an example the 'Signal priority' of 'CWPX_?' is explained in more detail: + +* Signals with attribute 'C' enjoy the highest priority. If such a Version 3 observation becomes available, it is presented as RINEX Version 2 observation if that is the format you wish to see. Observations with other attributes are being ignored. +* If no signal with 'C' attribute is available but we have an observation with 'W' attribute, BNC presents that one as RINEX Version 2 observation and ignores all observations with other attributes. The same applies mutatis mutandis to observations with P and X attributes. +* If no signal with 'C', 'W', 'P', or 'X' attribute is available but a signal with undefined generation attribute (underscore character, '_') exists, BNC presents that one as RINEX Version 2 observation. Note that observation attributes should actually always be available in RINEX Version 3. Hence the underscore character makes only sense in a few very special cases. +* If no signal with 'C', 'W', 'P', 'X', or '_' generation attribute exists then the question mark '?' tells BNC to present the first of any other appearing signal as RINEX Version 2 observation. + +You may like to specify your own 'Signal priority' string(s) for producing RINEX Version 2 files. If you neither convert observation streams to RINEX Version 2 nor concatenate RINEX Version 3 to Version 2 files, then the 'Version 2' option is meaningless. + +Version 3 - optional +-------------------- + +The default format for RINEX Observation files is RINEX Version 2.11. Select RINEX 'Version 3' if you would like to save RTCM Version 3 observation streams in RINEX Version 3.03 format. Note that it is possible to force an RTCM Version 2 stream to be saved in RINEX Version 3 file format. However, this is not recommended because such stream cannot be precisely mapped to RINEX Version 3 as the required information on tracking modes (observation attributes) is not part of RTCM Version 2. + +Version 3 Filenames - optional +------------------------------ + +Tick check box 'Version 3 filenames' to let BNC create so-called extended filenames following the RINEX Version 3 standard. Default is an empty check box, meaning to still use filenames following the RINEX Version 2 standard although the file content is saved in RINEX Version 3 format. + +.. index:: RINEX ephemeris + +RINEX Ephemeris +=============== + +Broadcast Ephemeris can be saved in RINEX Navigation files when received e.g. via RTCM Version 3 message types 1019 (GPS) or 1020 (GLONASS) or 1044 (QZSS) or 1043 (SBAS) or 1045 and 1046 (Galileo) or 63 (BDS/BeiDou, tentative message number). The filename convention follows the details given in section 'RINEX Filenames' except that the first four characters are 'BRDC'. For RINEX Version 2 Navigation files the last character is 'N' or 'G' for GPS or GLONASS ephemeris in two separate files. Regarding RINEX Version 3 you will find all ephemeris data for GPS, GLONASS, Galileo, SBAS, QZSS, and BDS gathered in one Navigation file. + +The following is an example for a RINEX Version 3 Navigation filename. The file contains one day's data. 'MN' stands for 'Multi Constellation Navigation' data. + +.. code-block:: console + + BRDC00DEU_S_20121600000_01D_MN.rnx + +Note that streams dedicated to carry Broadcast Ephemeris messages in RTCM Version 3 format in high repetition rates are listed on http://igs.bkg.bund.de/ntrip/ephemeris. Note further that BNC will ignore incorrect or outdated Broadcast Ephemeris data when necessary, leaving a note 'WRONG EPHEMERIS' or 'OUTDATED EPHEMERIS' in the logfile. + +Directory - optional +-------------------- + +Specify a path for saving Broadcast Ephemeris data in RINEX Navigation files. If the specified directory does not exist, BNC will not create RINEX Navigation files. Default value for Ephemeris 'Directory' is an empty option field, meaning that no RINEX Navigation files will be created. + +Interval - mandatory if 'Directory' is set +------------------------------------------ + +Select the length of RINEX Navigation files. The default value is '1 day'. + +Port - optional +--------------- + +BNC can output Broadcast Ephemeris in RINEX Version 3 format on your local host (IP 127.0.0.1) through an IP 'Port'. Specify an IP port number to activate this function. The default is an empty option field, meaning that no ASCII ephemeris output via IP port is generated. + +The source code for BNC comes with an example Perl script ``test_tcpip_client.pl`` that allows you to read BNC's ephemeris ASCII output from the IP port. + +Version - optional +------------------ + +Default format for RINEX Navigation files containing Broadcast Ephemeris is RINEX Version 2.11. Select 'Version 3' if you want to save the ephemeris data in RINEX Version 3.03 format. Note that this does not concern the Broadcast Ephemeris output through IP port, which is always in RINEX Version 3.03 format. + +Version 3 Filenames - optional +------------------------------ + +Tick check box 'Version 3 filenames' to let BNC create so-called extended filenames following the RINEX Version 3 standard. Default is an empty check box, meaning to still use filenames following the RINEX Version 2 standard although the file content is saved in RINEX Version 3 format :numref:`(Fig. %s) `. + +.. _fig_9: +.. figure:: figures/fig_9.png + :scale: 100 % + + BNC converting Broadcast Ephemeris stream to RINEX Version 3 Navigation files + +.. index:: RINEX editing and quality check + +RINEX Editing & QC +================== + +Besides stream conversion from RTCM to RINEX, BNC allows editing RINEX files or concatenate their content. RINEX Observation and Navigation files can be handled. BNC can also carry out a RINEX file Quality Check. In summary and besides Stream **T**\ ranslation, this functionality in BNC covers + +* File **E**\ diting and concatenation +* File **Q**\ uality **C**\ heck + + * Multipath analysis sky plots + * Signal-to-noise ratio sky plots + * Satellite availability plots + * Satellite elevation plots + * PDOP plots + +and hence follows UNAVCO's famous teqc program (see :cite:`estey1999a`). The remarkable thing about BNC in this context is that it supports RINEX Version 3 under GNU General Public License with full GUI support and graphics output. + +Action - optional +----------------- + +Select an action. Options are 'Edit/Concatenate' and 'Analyze'. + +* Select 'Edit/Concatenate' if you want to edit RINEX file content according to options specified under 'Set Edit Options' or if you want to concatenate several RINEX files. +* Select 'Analyze' if you are interested in a quality check of your RINEX file content. + +Input Files - mandatory +----------------------- + +Specify full path to input RINEX Observation file(s), and specify full path to input RINEX Navigation file(s). When specifying several input files, BNC will concatenate their contents. In case of RINEX Observation input files with different observation type header records, BNC will output only one set of adjusted observation type records in the RINEX header which fits to the whole file content. Note that you may specify several RINEX Version 2 Navigation files for GPS and GLONASS. + +Output Files - optional if 'Action' is set to 'Edit/Concatenate' +---------------------------------------------------------------- + +If 'Edit/Concatenate' is selected, specifying the full path to output RINEX Observation file(s) and specifying the full path to output RINEX Navigation file(s) is optional. Default are empty option fields, meaning that no RINEX files will be saved on disk. + +Logfile - optional +------------------ + +Specify the name of a logfile to save information on RINEX file Editing/Concatenation or Analysis. Default is an empty option field, meaning that no logfile will be saved. Note that logfiles from analyzing RINEX files may become quite large. Hence, BNC provides an option 'Summary only' to limit logfile content to some essential information in case 'Action' is set to 'Analyze'. The following is an example for a RINEX quality check analysis logfile: + +.. code-block:: console + + QC Format Version : 1.1 + + Navigation File(s) : BRDC2520.15P + Ephemeris : 2985 OK 0 BAD + + Observation File : CUT02520.15O + RINEX Version : 3.03 + Marker Name : CUT0 + Marker Number : 59945M001 + Receiver : TRIMBLE NETR9 + Antenna : TRM59800.00 SCIS + Position XYZ : -2364337.2699 4870285.5624 -3360809.8398 + Antenna dH/dE/dN : 0.0000 0.0000 0.0000 + Start Time : 2015-09-09 13.04.50.0 + End Time : 2015-09-09 23.59.58.0 + Interval : 1 + Navigation Systems : 6 C E G J R S + Observation Types C: C2I L2I D2I S2I C6I L6I S6I C7I L7I S7I + Observation Types E: C1X L1X D1X S1X C5X L5X S5X C7X L7X S7X C8X L8X S8X + Observation Types G: C1C L1C D1C S1C C2W L2W S2W C2X L2X S2X C5X L5X S5X + Observation Types J: C1C L1C D1C S1C C1X L1X S1X C1Z L1Z S1Z C2X L2X S2X C5X L5X S5X C6L L6L S6L + Observation Types R: C1C L1C D1C S1C C1P L1P S1P C2C L2C S2C C2P L2P S2P + Observation Types S: C1C L1C D1C S1C C5I L5I S5I + + C: Satellites: 13 + C: Signals : 3 2I 6I 7I + + C: 2I: Observations : 396567 ( 511017) 77.60 % + C: 2I: Slips (file+found): 0 + 0 + C: 2I: Gaps : 8676 + C: 2I: Mean SNR : 41.7 + C: 2I: Mean Multipath : 0.42 + + C: 6I: Observations : 396233 ( 511017) 77.54 % + C: 6I: Slips (file+found): 0 + 0 + C: 6I: Gaps : 8761 + C: 6I: Mean SNR : 44.4 + C: 6I: Mean Multipath : 0.00 + + C: 7I: Observations : 396233 ( 511017) 77.54 % + C: 7I: Slips (file+found): 0 + 0 + C: 7I: Gaps : 8761 + C: 7I: Mean SNR : 43.6 + C: 7I: Mean Multipath : 0.30 + + E: Satellites: 5 + E: Signals : 4 1X 5X 7X 8X + + E: 1X: Observations : 74468 ( 196545) 37.89 % + E: 1X: Slips (file+found): 0 + 2 + E: 1X: Gaps : 2758 + E: 1X: Mean SNR : 45.1 + E: 1X: Mean Multipath : 0.37 + + E: 5X: Observations : 74422 ( 196545) 37.87 % + E: 5X: Slips (file+found): 0 + 2 + E: 5X: Gaps : 2785 + E: 5X: Mean SNR : 45.2 + E: 5X: Mean Multipath : 0.32 + + E: 7X: Observations : 74422 ( 196545) 37.87 % + E: 7X: Slips (file+found): 0 + 0 + E: 7X: Gaps : 2785 + E: 7X: Mean SNR : 44.2 + E: 7X: Mean Multipath : 0.00 + + E: 8X: Observations : 74429 ( 196545) 37.87 % + E: 8X: Slips (file+found): 0 + 0 + E: 8X: Gaps : 2784 + E: 8X: Mean SNR : 49.9 + E: 8X: Mean Multipath : 0.00 + + G: Satellites: 28 + G: Signals : 4 1C 2W 2X 5X + + G: 1C: Observations : 439952 ( 1100652) 39.97 % + G: 1C: Slips (file+found): 0 + 21 + G: 1C: Gaps : 10901 + G: 1C: Mean SNR : 44.0 + G: 1C: Mean Multipath : 0.63 + + G: 2W: Observations : 422560 ( 1100652) 38.39 % + G: 2W: Slips (file+found): 0 + 19 + G: 2W: Gaps : 11133 + G: 2W: Mean SNR : 31.1 + G: 2W: Mean Multipath : 0.42 + + G: 2X: Observations : 205305 ( 1100652) 18.65 % + G: 2X: Slips (file+found): 0 + 10 + G: 2X: Gaps : 7269 + G: 2X: Mean SNR : 43.3 + G: 2X: Mean Multipath : 0.47 + + G: 5X: Observations : 120638 ( 1100652) 10.96 % + G: 5X: Slips (file+found): 0 + 0 + G: 5X: Gaps : 3330 + G: 5X: Mean SNR : 49.9 + G: 5X: Mean Multipath : 0.00 + + J: Satellites: 1 + J: Signals : 6 1C 1X 1Z 2X 5X 6L + + J: 1C: Observations : 38040 ( 39309) 96.77 % + J: 1C: Slips (file+found): 0 + 0 + J: 1C: Gaps : 1003 + J: 1C: Mean SNR : 49.0 + J: 1C: Mean Multipath : 0.33 + + J: 1X: Observations : 38040 ( 39309) 96.77 % + J: 1X: Slips (file+found): 0 + 0 + J: 1X: Gaps : 1003 + J: 1X: Mean SNR : 51.5 + J: 1X: Mean Multipath : 0.32 + + J: 1Z: Observations : 38040 ( 39309) 96.77 % + J: 1Z: Slips (file+found): 0 + 0 + J: 1Z: Gaps : 1003 + J: 1Z: Mean SNR : 48.4 + J: 1Z: Mean Multipath : 0.40 + + J: 2X: Observations : 38040 ( 39309) 96.77 % + J: 2X: Slips (file+found): 0 + 0 + J: 2X: Gaps : 1003 + J: 2X: Mean SNR : 48.7 + J: 2X: Mean Multipath : 0.31 + + J: 5X: Observations : 38040 ( 39309) 96.77 % + J: 5X: Slips (file+found): 0 + 0 + J: 5X: Gaps : 1003 + J: 5X: Mean SNR : 53.0 + J: 5X: Mean Multipath : 0.00 + + J: 6L: Observations : 38040 ( 39309) 96.77 % + J: 6L: Slips (file+found): 0 + 0 + J: 6L: Gaps : 1003 + J: 6L: Mean SNR : 50.6 + J: 6L: Mean Multipath : 0.00 + + R: Satellites: 23 + R: Signals : 4 1C 1P 2C 2P + + R: 1C: Observations : 323918 ( 904107) 35.83 % + R: 1C: Slips (file+found): 0 + 44 + R: 1C: Gaps : 7295 + R: 1C: Mean SNR : 44.9 + R: 1C: Mean Multipath : 0.77 + + R: 1P: Observations : 323761 ( 904107) 35.81 % + R: 1P: Slips (file+found): 0 + 44 + R: 1P: Gaps : 7305 + R: 1P: Mean SNR : 43.4 + R: 1P: Mean Multipath : 0.58 + + R: 2C: Observations : 323521 ( 904107) 35.78 % + R: 2C: Slips (file+found): 0 + 44 + R: 2C: Gaps : 7305 + R: 2C: Mean SNR : 40.8 + R: 2C: Mean Multipath : 0.56 + + R: 2P: Observations : 321751 ( 904107) 35.59 % + R: 2P: Slips (file+found): 0 + 37 + R: 2P: Gaps : 7317 + R: 2P: Mean SNR : 40.3 + R: 2P: Mean Multipath : 0.49 + + S: Satellites: 4 + S: Signals : 2 1C 5I + + S: 1C: Observations : 152158 ( 157236) 96.77 % + S: 1C: Slips (file+found): 0 + 1 + S: 1C: Gaps : 4013 + S: 1C: Mean SNR : 40.4 + S: 1C: Mean Multipath : 0.75 + + S: 5I: Observations : 76078 ( 157236) 48.38 % + S: 5I: Slips (file+found): 0 + 1 + S: 5I: Gaps : 2007 + S: 5I: Mean SNR : 44.1 + S: 5I: Mean Multipath : 0.47 + + > 2015 09 09 13 04 50.0000000 23 1.2 + R09 1.46 36.90 8 L1C s. 34.3 C1C . 0.00 L1P s. 33.2 C1P . 0.00 L2C s. 26.4 C2C . 0.00 L2P s. 22.1 C2P . 0.00 + R10 49.67 46.84 8 L1C .. 52.3 C1C . 0.62 L1P .. 51.2 C1P . 0.52 L2C .. 42.9 C2C . 0.51 L2P .. 42.4 C2P . 0.40 + R11 68.25 -168.71 8 L1C .. 52.1 C1C . 0.32 L1P .. 50.2 C1P . 0.38 L2C .. 44.6 C2C . 0.40 L2P .. 43.4 C2P . 0.36 + R12 15.62 -148.75 8 L1C .. 40.6 C1C . 0.94 L1P .. 38.9 C1P . 0.51 L2C .. 41.1 C2C . 0.61 L2P .. 40.7 C2P . 0.45 + R20 26.26 150.44 8 L1C .. 40.2 C1C . 0.90 L1P .. 38.8 C1P . 0.63 L2C .. 44.8 C2C . 0.57 L2P .. 44.4 C2P . 0.46 + R21 71.53 -163.80 8 L1C .. 53.3 C1C . 0.32 L1P .. 51.6 C1P . 0.40 L2C .. 50.3 C2C . 0.43 L2P .. 49.3 C2P . 0.39 + R22 40.38 -54.63 8 L1C .. 50.0 C1C . 0.44 L1P .. 48.7 C1P . 0.46 L2C .. 47.1 C2C . 0.49 L2P .. 46.7 C2P . 0.44 + E11 68.80 -54.74 8 L1X .. 49.9 C1X . 0.22 L5X .. 49.8 C5X . 0.19 L7X .. 49.1 C7X . 0.00 L8X .. 55.3 C8X . 0.00 + E12 58.84 141.76 8 L1X .. 50.0 C1X . 0.14 L5X .. 49.4 C5X . 0.21 L7X .. 48.2 C7X . 0.00 L8X .. 55.1 C8X . 0.00 + E18 0.00 0.00 8 L1X .. 53.5 C1X . 0.11 L5X .. 51.0 C5X . 0.15 L7X .. 50.1 C7X . 0.00 L8X .. 56.5 C8X . 0.00 + J01 21.34 23.40 12 L1C .. 41.2 C1C . 0.59 L1X .. 43.2 C1X . 0.38 L1Z .. 41.3 C1Z . 0.58 L2X .. 40.0 C2X . 0.47 L5X .. 44.7 C5X . 0.00 L6L .. 41.6 C6L . 0.00 + S27 16.04 -73.53 4 L1C .. 37.8 C1C . 0.81 L5I .. 39.9 C5I . 0.41 + S28 38.63 -50.63 4 L1C .. 45.5 C1C . 0.49 L5I .. 47.4 C5I . 0.48 + S29 41.28 46.44 2 L1C .. 43.2 C1C . 0.00 + S37 41.28 46.44 2 L1C .. 42.1 C1C . 0.00 + C01 45.38 41.07 6 L2I .. 42.1 C2I . 0.20 L6I .. 45.1 C6I . 0.00 L7I .. 46.0 C7I . 0.22 + C02 36.53 -53.83 6 L2I .. 37.1 C2I . 0.31 L6I .. 42.6 C6I . 0.00 L7I .. 41.3 C7I . 0.24 + C03 53.80 -10.40 6 L2I .. 42.8 C2I . 0.19 L6I .. 47.3 C6I . 0.00 L7I .. 46.0 C7I . 0.21 + C04 30.52 62.20 6 L2I .. 37.3 C2I . 0.33 L6I .. 42.4 C6I . 0.00 L7I .. 41.3 C7I . 0.25 + C05 19.48 -71.66 6 L2I .. 36.6 C2I . 0.40 L6I .. 40.0 C6I . 0.00 L7I .. 38.5 C7I . 0.37 + C07 63.30 26.64 6 L2I .. 48.5 C2I . 0.41 L6I .. 49.3 C6I . 0.00 L7I .. 48.1 C7I . 0.25 + C08 76.83 -113.07 6 L2I .. 48.9 C2I . 0.22 L6I .. 50.5 C6I . 0.00 L7I .. 48.7 C7I . 0.24 + C10 83.00 -66.65 6 L2I .. 48.8 C2I . 0.20 L6I .. 50.0 C6I . 0.00 L7I .. 48.1 C7I . 0.23 + > 2015 09 09 13 04 52.0000000 33 0.9 + ... + +Note that in addition to cycle slips recorded in the RINEX 'file', cycle slips identified by BNC are reported as 'found'. + +Plots for Signals - mandatory if 'Action' is set to 'Analyze' +------------------------------------------------------------- + +Multipath and signal-to-noise sky plots as well as plots for satellite availability, elevation and PDOP are produced :numref:`(Fig. %s `, :numref:`%s `, :numref:`%s) ` per GNSS system and frequency with the multipath analysis based on CnC observation types (n = band / frequency). The 'Plots for signals' option lets you exactly specify the observation signals to be used for that and also enables the plot production. You can specify the navigation system (C = BDS, E = Galileo, G = GPS, J = QZSS, R = GLONASS, S = SBAS), the frequency, and the tracking mode or channel as defined in RINEX Version 3. Specifications for frequency and tracking mode or channel must be separated by ampersand character '\&'. Specifications for each navigation systems must be separated by blank character ' '. The following string is an example for option field 'Plots of signals': + +.. code-block:: console + + C:2&7 E:1&5 G:1&2 J:1&2 R:1&2 S:1&5 + +This default configuration will present: + +* BDS plots for L2 and L7, +* Galileo plots for L1 and L5, +* GPS plots for L1 and L2, +* QZSS plots for L1 and L2, +* GLONASS plots for L1 and L2, +* SBAS plots for L1 and L5. + +Directory for Plots - optional if 'Action' is set to 'Analyze' +-------------------------------------------------------------- + +If 'Analyze' :numref:`(see Fig. %s) ` is selected, specifying the path to a directory where plot files will be saved is optional. Filenames will be composed from the RINEX input filename(s) plus suffix 'PNG' to indicate the plot file format in use. Default is an empty option field, meaning that plots will not be saved on disk. + +Set Edit Options - mandatory if 'Action' is set to 'Edit/Concatenate' +--------------------------------------------------------------------- + +Once the 'Edit/Concatenate' action is selected, you have to 'Set Edit Options' :numref:`(see Fig. %s) `. BNC lets you specify the RINEX version, a signal priority list when mapping RINEX Version 3 to Version 2, the sampling interval, begin and end of file, operator, observation types, comment lines, and marker, antenna, receiver details. Note that some of the specifications for editing and concatenation :numref:`(see Fig. %s) ` are only meaningful for RINEX Observation files but not for RINEX Navigation files. + +A note on converting RINEX Version 3 to RINEX Version 2 and vice versa: + +* The RINEX Version 2 format ignores signal generation attributes. Therefore, when converting RINEX Version 3 to Version 2 Observation files, BNC is forced to somehow map signals with attributes to signals without attributes although this cannot be done in one-to-one correspondence. Hence we introduce a 'Version 2 Signal Priority' list of attributes (characters, forming a string) for mapping Version 3 to Version 2, see details in section 'RINEX Observations/Version 2'. Signal priorities can be specified as equal for all systems, as system specific or as system and frequency specific. For example: + + * 'CWPX_?' (General signal priorities valid for all GNSS) + * 'C:IQX I:ABCX' (System specific signal priorities for BDS and IRNSS) + * 'G:12&PWCSLXYN G:5&IQX R:12&PC R:3&IQX' (System and frequency specific signal priorities) + + The default 'Signal priority' list is defined as follows: 'G:12&PWCSLXYN G:5&IQX R:12&PC R:3&IQX E:16&BCX E:578&IQX J:1&SLXCZ J:26&SLX J:5&IQX C:IQX I:ABCX S:1&C S:5&IQX' + +* When converting RINEX Version 2 to Version 3 Observation files, the tracking mode or channel information in the (last character out of the 3-character) observation code is left blank if unknown. This is a compromise, knowing that it is not in accordance with the RINEX Version 3 documentation. + +Optionally you may specify a 'RUN BY' string to be included in the emerging new RINEX file header. Default is an empty option field, meaning the operator's ID is automatically used as 'RUN BY' string. + +You can specify a list of observation codes in field 'Use Obs. Types' to limit the output file content to specific observation codes. GNSS system characters in that list are followed by a colon and a 2- or 3-character observation code. A 2-character observation code would mean that all available tracking modes of the affected observation type and frequency will be accepted as part of the RINEX output file. Observation codes are separated by a blank character. Default is an empty option field, meaning that any input observation code will become part of the RINEX output file. + +Specifying comment line text to be added to the emerging new RINEX file header is another option. Any introduction of a newline through '\\n' in this enforces the beginning of a further comment line. Comment lines will be added to the header immediately after the 'PGM / RUN BY / DATE' record. Default is an empty option field, meaning that no additional comment line will be added to the RINEX header. + +If you specify a 'New' but no 'Old' marker/antenna/receiver name, the corresponding data field in the emerging new RINEX Observation file will be filled accordingly. If you in addition specify an 'Old' marker/antenna/receiver name, the corresponding data field in the emerging new RINEX Observation file will only be filled accordingly where 'Old' specifications match existing file content. + +.. _fig_13: +.. figure:: figures/fig_13.png + :scale: 90 % + + Example for satellite availability, elevation and PDOP plots as a result of a RINEX Quality Check analysis with BNC + +.. _fig_14: +.. figure:: figures/fig_14.png + :scale: 90 % + + Sky plot examples for multipath, part of RINEX quality check analysis with BNC + +.. _fig_15: +.. figure:: figures/fig_15.png + :scale: 90 % + + Sky plot examples for signal-to-noise ratio, part of RINEX quality check analysis with BNC + +.. _fig_10: +.. figure:: figures/fig_10.png + :scale: 90 % + + Example for BNC's 'RINEX Editing Options' window + +.. _fig_11: +.. figure:: figures/fig_11.png + :scale: 90 % + + Example for RINEX file concatenation with BNC + +.. _fig_12: +.. figure:: figures/fig_12.png + :scale: 90 % + + Example for creating RINEX quality check analysis graphics output with BNC + +.. only:: latex + + .. raw:: latex + + \clearpage + +.. index:: SP3 comparison + +Command Line, No Window - optional +---------------------------------- + +BNC applies options from the configuration file but allows updating every one of them on the command line while the content of the configuration file remains unchanged, see section on 'Command Line Options'. Note the following syntax for Command Line Interface (CLI) options: + +.. code-block:: console + + --key + +Parameter stands for the name of an option contained in the configuration file and stands for the value you want to assign to it. This functionality may be helpful in the 'RINEX Editing \& QC' context when running BNC on a routine basis for maintaining a RINEX file archive. The following example for a Linux platform calls BNC in 'no window' mode with a local configuration file 'rnx.conf' for concatenating four 15min RINEX files from station TLSE residing in the working directory to produce an hourly RINEX Version 3 file with 30 seconds sampling interval: + +.. code-block:: console + + ./bnc --nw --conf rnx.conf --key reqcAction Edit/Concatenate --key reqcObsFile "tlse119b00.12o,tlse119b15.12o,tlse119b30.12o,tlse119b45.12o" --key reqcOutObsFile tlse119b.12o --key reqcRnxVersion 3 --key reqcSampling 30 + +You may use asterisk '*' and/or question mark '?' wildcard characters as shown with the following globbing command line option to specify a selection of files in the working directory: + +.. code-block:: console + + --key reqcObsFile "tlse*" + +or + +.. code-block:: console + + --key reqcObsFile tlse\* + +The following Linux command line produces RINEX QC plots (see Estey and Meertens 1999) offline in 'no window' mode and saves them in directory ``/home/user``. Introducing a dummy configuration file ``/dev/null`` makes sure that no configuration options previously saved on disc are used: + +.. code-block:: console + + /home/user/bnc --conf /dev/null --key reqcAction Analyze --key reqcObsFile CUT02070.12O --key reqcNavFile BRDC2070.12P --key reqcOutLogFile CUT0.txt --key reqcPlotDir /home/user --nw + +The following Linux command line produces the same RINEX QC plots in interactive autoStart mode: + +.. code-block:: console + + /home/user/bnc --conf /dev/null --key reqcAction Analyze --key reqcObsFile CUT02070.12O --key reqcNavFile BRDC2070.12P --key reqcOutLogFile CUT0.txt --key startTab 4 --key autoStart 2 + +:numref:`Table %s ` gives a list of available key names for 'RINEX Editing & QC' (short: REQC, pronounced 'rek') options and their meaning, cf. section 'Configuration Examples'. + +.. tabularcolumns:: |p{0.3\textwidth}|p{0.62\textwidth}| + +.. _tab_RINEX_ED_QC_OPT: +.. table:: Key names for 'RINEX Editing & QC' options and their meaning. + + ===================== ============================================ + **Keyname** **Meaning** + ===================== ============================================ + reqcAction RINEX Editing & QC action + reqcObsFile RINEX Observation input file(s) + reqcNavFile RINEX Navigation input files(s) + reqcOutObsFile RINEX Observation output file + reqcOutNavFile RINEX Navigation output file + reqcOutLogFile Logfile + reqcLogSummaryOnly Summary of Logfile + reqcSkyPlotSignals Plots for signals + reqcPlotDir RINEX QC plot directory + reqcRnxVersion RINEX version of emerging new file + reqcSampling Sampling interval of emerging new RINEX file + reqcV2Priority Version 2 Signal Priority + reqcStartDateTime Begin of emerging new RINEX file + reqcEndDateTime End of emerging new RINEX file + reqcRunBy Operator name + reqcUseObsTypes GNSS systems and observation types + reqcComment Additional comment lines + reqcOldMarkerName Old marker name + reqcNewMarkerName New marker name + reqcOldAntennaName Old antenna name + reqcNewAntennaName New antenna name + reqcOldAntennaNumber Old antenna number + reqcNewAntennaNumber New antenna number + reqcOldAntennadN Old component of north eccentricity + reqcOldAntennadE Old component of east eccentricity + reqcOldAntennadU Old component of up eccentricity + reqcNewAntennadN New component of north eccentricity + reqcNewAntennadE New component of east eccentricity + reqcNewAntennadU New component of up eccentricity + reqcOldReceiverName Old receiver name + reqcNewReceiverName New receiver name + reqcOldReceiverNumber Old receiver number + reqcNewReceiverNumber New receiver number + ===================== ============================================ + +SP3 Comparison +============== + +BNC allows to compare the contents of two files with GNSS orbit and clock data in SP3 format :numref:`(Fig. %s) `. SP3 ASCII files basically contain a list of records over a certain period of time. Each record carries a time tag, the XYZ position of the satellite's Center of Mass at that time and the corresponding satellite clock value. Both SP3 files may contain some records for different epochs. If so, then BNC only compares records for identical epochs. BNC accepts that a specific GNSS system or a specific satellite is only available from one of the SP3 files. Note that BNC does not interpolate orbits when comparing SP3 files. + +.. _fig_16: +.. figure:: figures/fig_16.png + :scale: 100 % + + Example for comparing two SP3 files with satellite orbit and clock data using BNC + +To compare satellite clocks provided by the two files, BNC first converts coordinate differences dX,dY,dZ into along track, out-of-plane, and radial components. It then corrects the clock differences for the radial components of coordinate differences. RMS values of clock differences are finally calculated after introducing at first one offset 'per epoch for all satellites' and secondly one offset 'per satellite for all epochs'. + +Input SP3 Files - optional +-------------------------- + +Specify the full paths of two SP3 files, separate them by comma. + +Exclude Satellites - optional +----------------------------- + +You may want to exclude one or more satellites in your SP3 files from the comparison. Or you may like to exclude all satellites of a specific GNSS system from the comparison. The following are example strings to be entered for excluding satellites from the comparison: + +* G05,G31 (excluding GPS satellites with PRN 5 and 31) +* G (excluding all GPS satellites) +* R (excluding all GLONASS satellites) +* R12,R24 (excluding GLONASS satellites with slot number 12 and 24) +* G04,G31,R (excluding GPS satellites with PRN 4 and 31 as well as all GLONASS satellites) + +Default is an empty option field, meaning that no satellite will be excluded from the comparison. + +Logfile - mandatory if 'Input SP3 Files' is set +----------------------------------------------- + +Specify a logfile name to save results of the SP3 file comparison. + +The following is an example for a SP3 Comparison logfile: + +.. code-block:: console + + ! SP3 File 1: esr18283.sp3 + ! SP3 File 2: rt218283.sp3 + ! + ! MJD PRN radial along out clk clkRed iPRN + ! ---------------------------------------------------------------- + 57043.000000 G01 -0.0001 -0.0318 -0.0354 0.0266 0.0267 1 + 57043.000000 G02 -0.0062 -0.0198 0.0111 0.0082 0.0143 2 + 57043.000000 G03 0.0052 0.0060 0.0032 0.0386 0.0334 3 + 57043.000000 G04 -0.0049 -0.0193 -0.0071 -0.1696 -0.1648 4 + 57043.000000 G05 0.0027 0.0154 0.0275 0.0345 0.0318 5 + 57043.000000 G06 0.0247 -0.0398 -0.0111 0.0483 0.0236 6 + 57043.000000 G07 -0.0052 0.2854 -0.0975 -0.0940 -0.0888 7 + 57043.000000 G08 -0.0247 0.0937 -0.0184 -0.1563 -0.1316 8 + 57043.000000 G09 0.0152 0.0583 0.0086 -0.0144 -0.0296 9 + ... + ... + ... + ! + ! RMS[m] + ! + ! PRN radial along out nOrb clk clkRed nClk Offset + ! --------------------------------------------------------------------- + ! G01 0.0151 0.0377 0.0196 96 0.0157 0.0154 96 0.0152 + ! G02 0.0083 0.0278 0.0228 96 0.0097 0.0124 96 -0.0626 + ! G03 0.0105 0.0311 0.0307 96 0.0352 0.0309 96 0.0898 + ! G04 0.0113 0.0334 0.0154 94 0.0725 0.0707 94 -0.5087 + ! G05 0.0103 0.0319 0.0299 96 0.0417 0.0403 96 0.1185 + ! G06 0.0182 0.0509 0.0302 96 0.0218 0.0166 96 0.0040 + ! G07 0.0337 0.1632 0.0463 96 0.0483 0.0435 96 0.3031 + ! G08 0.0228 0.0741 0.0321 88 0.0616 0.0561 88 -0.2232 + ... + ... + ... + ! R20 0.0637 0.2115 0.1131 96 0.1580 0.1345 96 0.7371 + ! R21 0.0475 0.1657 0.0880 96 0.1123 0.0840 96 -0.4133 + ! R22 0.0125 0.1249 0.0646 96 0.0414 0.0444 96 -0.7375 + ! R23 0.0435 0.1503 0.0573 96 0.0987 0.1099 96 0.6620 + ! R24 0.0278 0.2026 0.1186 96 0.1446 0.1303 96 -1.1470 + ! + ! Total 0.0262 0.0938 0.0492 5268 0.0620 0.0561 5268 + +The first part of this output uses the abbreviations in :numref:`Table %s `. + +.. tabularcolumns:: |p{0.3\textwidth}|p{0.62\textwidth}| + +.. _tab_LOG_ABB_1: +.. table:: Abbreviations in first part of BNC log files when comparing SP3 files + + ================ =============================================================================== + **Abbreviation** **Meaning** + ================ =============================================================================== + MJD Modified Julian Date + PRN Satellite specification + radial Radial component of orbit coordinate difference [m] + along Along track component of orbit coordinate difference [m] + out Out-of-plane component of orbit coordinate difference [m] + clk Clock difference [m] + clkRed Clock difference reduced by radial component of orbit coordinate difference [m] + iPRN BNC internal sequence number + ================ =============================================================================== + +The second part following string 'RMS' provides a summary of the comparison using the abbreviations in :numref:`Table %s `. + +.. tabularcolumns:: |p{0.3\textwidth}|p{0.62\textwidth}| + +.. _tab_LOG_ABB_2: +.. table:: Abbreviations in second part of BNC log files when comparing SP3 files + + ================ =============================================================================== + **Abbreviation** **Meaning** + ================ =============================================================================== + PRN Satellite specification + radial RMS of radial component of orbit coordinate differences [m] + along RMS of along track component of orbit coordinate differences [m] + out RMS of out-of-plane component of orbit coordinate differences [m] + nOrb Number of epochs used in in orbit comparison + clk RMS of clock differences [m] + clkRed RMS of clock differences after reduction of radial orbit differences [m] + nClk Number of epochs use in clock comparisons + Offset Clock offset [m] + ================ =============================================================================== + +.. index:: Broadcast corrections + +Broadcast Corrections +===================== + +Differential GNSS and RTK operation using RTCM streams is currently based on corrections and/or raw measurements from single or multiple reference stations. This approach to differential positioning uses 'observation space' information. The representation with the RTCM standard can be called 'Observation Space Representation' (OSR). + +An alternative to the observation space approach is the so-called 'state space' approach. The principle here is to provide information on individual error sources. It can be called 'State Space Representation' (SSR). For a rover position, state space information concerning precise satellite clocks, orbits, ionosphere, troposphere et cetera can be converted into observation space and used to correct the rover observables for more accurate positioning. Alternatively, the state information can be used directly in the rover's processing or adjustment model. + +RTCM is currently developing Version 3 messages to transport SSR corrections in real-time. They refer to satellite Antenna Phase Center (APC). SSR messages adopted or recently proposed concern: + +SSR, Step I: + +* Orbit corrections to Broadcast Ephemeris +* Clock corrections to Broadcast Ephemeris +* High-rate clock corrections to Broadcast Ephemeris +* Combined orbit and clock corrections to Broadcast Ephemeris +* User Range Accuracy (URA) +* High Rate User Range Accuracy (HR URA) +* Code biases + +SSR, Step II: + +* Phase biases +* Vertical Total Electron Content (VTEC) + +RTCM Version 3 streams carrying these messages may be used e.g. to support real-time Precise Point Positioning (PPP) applications. + +When using clocks from Broadcast Ephemeris (with or without applied corrections) or clocks from SP3 files, it may be important to understand that they are not corrected for the conventional periodic relativistic effect. Chapter 10 of the IERS Conventions 2003 mentions that the conventional periodic relativistic correction to the satellite clock (to be added to the broadcast clock) is computed as + +.. math:: + + dt = -2 (R * V) / c^2 + +where :math:`R*V` is the scalar product of the satellite position and velocity and :math:`c` is the speed of light. This can also be found in the GPS Interface Specification, IS-GPS-200, Revision D, 7 March 2006. + +Orbit corrections are provided in along-track, out-of-plane and radial components. These components are defined in the Earth-Centered, Earth-Fixed reference frame of the Broadcast Ephemeris. For an observer in this frame, the along-track component is aligned in both direction and sign with the velocity vector, the out-of-plane component is perpendicular to the plane defined by the satellite position and velocity vectors, and the radial direction is perpendicular to the along track and out-of-plane ones. The three components form a right-handed orthogonal system. + +After applying corrections, the satellite position and clock is referred to the 'ionospheric free' phase center of the antenna which is compatible with the broadcast orbit reference. + +The orbit and clock corrections do not include local effects like Ocean Loading, Solid Earth Tides or tropospheric delays. However, accurate single frequency applications can be corrected for global ionospheric effects using so-call VTEC messages for global ionospheric state parameters. + +While we have a plain ASCII standard for saving Broadcast Ephemeris in RINEX Navigation files, we do not have an equivalent standard for corrections to Broadcast Ephemeris. Hence, BNC saves Broadcast Correction files following its own format definition. The filename convention for Broadcast Correction files follows the convention for RINEX Version 2 files except for the last character of the filename suffix which is set to 'C'. + +Broadcast Correction file format +-------------------------------- + +BNC's Broadcast Correction files contain blocks of records in plain ASCII format. Each block covers information about one specific topic and starts with an 'Epoch Record'. The leading 'Epoch Record' of each block in a Broadcast Correction file contains 11 parameters. Example: + +.. code-block:: console + + > ORBIT 2015 06 17 11 43 35.0 2 53 CLK93 + +Their meaning is as follows: + +1. Special character '>' is the first character in each 'Epoch Record' (as we have it in RINEX Version 3) +2. SSR message or topic descriptor, valid descriptors are: ORBIT, CLOCK, CODE_BIAS, PHASE_BIAS, and VTEC +3. Year, GPS time +4. Month, GPS time +5. Day, GPS time +6. Hour, GPS time +7. Minute, GPS time +8. Second, GPS time +9. SSR message update interval indicator: + + * 0 = 1 sec + * 1 = 2 sec + * 2 = 5 sec + * 3 = 10 sec + * 4 = 15 sec + * 5 = 30 sec + * 6 = 60 sec + * 7 = 120 sec + * 8 = 240 sec + * 9 = 300 sec + * 10 = 600 sec + * 11 = 900 sec + * 12 = 1800 sec + * 13 = 3600 sec + * 14 = 7200 sec + * 15 = 10800 sec + +10. Number of following records in this block +11. Mountpoint, source/stream indicator + +Each of the following 'satellite records' in such a block carries information for one specific satellite. Undefined parameters in the 'satellite records' could be set to zero '0.000'. + +Example for block 'ORBIT' carrying orbit corrections +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. code-block:: console + + > ORBIT 2015 06 17 11 43 35.0 2 53 CLK93 + G01 9 0.5134 0.3692 0.6784 0.0000 -0.0000 -0.0000 + G02 25 57.6817 139.0492 -91.3456 0.5436 -0.6931 1.0173 + G03 79 -32.1768 191.8368 -121.6540 0.2695 0.2296 0.4879 + ... + G32 82 1.8174 1.1704 0.2200 -0.0002 -0.0000 -0.0001 + R01 59 0.7819 -0.6968 0.7388 -0.0001 0.0004 0.0004 + R02 59 0.5816 -0.5800 -0.2004 0.0001 -0.0006 0.0001 + R03 59 0.4635 -0.9104 -0.3832 0.0001 0.0001 0.0005 + ... + R24 59 0.5935 2.0732 -0.6884 -0.0000 0.0004 0.0003 + +Records in this block provide the following satellite specific information: + +* GNSS Indicator and Satellite Vehicle Pseudo Random Number +* IOD referring to Broadcast Ephemeris set +* Radial Component of Orbit Correction to Broadcast Ephemeris [m] +* Along-track Component of Orbit Correction to Broadcast Ephemeris [m] +* Out-of-plane Component of Orbit Correction to Broadcast Ephemeris [m] +* Velocity of Radial Component of Orbit Correction to Broadcast Ephemeris [m/s] +* Velocity of Along-track Component of Orbit Correction to Broadcast Ephemeris [m/s] +* Velocity of Out-of-plane Component of Orbit Correction to Broadcast Ephemeris [m/s] + +Example for block 'CLOCK' carrying clock corrections +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. code-block:: console + + > CLOCK 2015 06 17 11 43 35.0 2 53 CLK93 + G01 9 0.5412 0.0000 0.0000 + G02 25 11.1811 0.0000 0.0000 + G03 79 45.0228 0.0000 0.0000 + ... + G32 82 -1.5324 0.0000 0.0000 + R01 59 4.2194 0.0000 0.0000 + R02 59 2.0535 0.0000 0.0000 + R03 59 1.8130 0.0000 0.0000 + ... + R24 59 2.7409 0.0000 0.0000 + +Records in this block provide the following satellite specific information: + +* GNSS Indicator and Satellite Vehicle Pseudo Random Number +* IOD referring to Broadcast Ephemeris set +* C0 polynomial coefficient for Clock Correction to Broadcast Ephemeris [m] +* C1 polynomial coefficient for Clock Correction to Broadcast Ephemeris [m/s] +* C2 polynomial coefficient for Clock Correction to Broadcast Ephemeris [m/s**2] + +Example for block 'CODE_BIAS' carrying code biases +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. code-block:: console + + > CODE_BIAS 2015 06 17 11 43 35.0 2 53 CLK93 + G01 5 1C -3.3100 1W -3.7500 2W -6.1900 2X -5.7800 5I -5.4200 + G02 5 1C 3.6000 1W 3.9300 2W 6.4800 2X 0.0000 5I 0.0000 + G03 5 1C -2.1600 1W -2.6500 2W -4.3600 2X -4.4800 5I -5.3400 + ... + G32 5 1C -1.5800 1W -1.1000 2W -1.8200 2X 0.0000 5I 0.0000 + R01 4 1C -2.4900 1P -2.4900 2C -3.1500 2P -4.1200 + R02 4 1C 0.3900 1P 0.2100 2C 0.4000 2P 0.3400 + R03 4 1C 2.4800 1P 2.2800 2C 3.7800 2P 3.7700 + ... + R24 4 1C 2.7000 1P 2.7800 2C 3.9800 2P 4.6000 + +Records in this block provide the following satellite specific information: + +* GNSS Indicator and Satellite Vehicle Pseudo Random Number +* Number of Code Biases, succeeded by code specific information: + + * Indicator to specify the signal and tracking mode + * Code Bias [m] + * Indicator to specify the signal and tracking mode + * Code Bias [m] + * etc. + +Example for block 'PHASE_BIAS' carrying phase biases +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. code-block:: console + + > PHASE_BIAS 2015 06 17 11 43 35.0 2 31 CLK93 + 0 1 + G01 245.39062500 0.00000000 3 1C 3.9518 1 2 6 2W 6.3177 1 2 6 5I 6.8059 1 2 6 + G02 250.31250000 0.00000000 3 1C -4.0900 1 2 5 2W -6.7044 1 2 5 5I 0.0000 1 2 5 + G03 281.95312500 0.00000000 3 1C 2.9327 1 2 4 2W 4.6382 1 2 4 5I 5.4120 1 2 4 + ... + G32 290.39062500 0.00000000 3 1C 1.2520 1 2 5 2W 2.0554 1 2 5 5I 0.0000 1 2 5 + +The second record in this block provides the following consistency information: + +* Dispersive bias consistency indicatory + + 0 − phase biases valid for non-dispersive signal only + + 1 − phase biases maintain consistency between non-dispersive and all original dispersive phase signals + +* MW consistency indicator + + 0 − code and phase biases are independently derived + + 1 − consistency between code and phase biases is maintained for the MW combinations + +Following records provide satellite specific information: + +* GNSS Indicator and Satellite Vehicle Pseudo Random Number +* Yaw angle [:math:`^{\circ}`], restricted to [:math:`0^{\circ}...360^{\circ}`] +* Yaw rate [:math:`^{\circ}/s`] +* Number of phase biases in this record, succeeded by phase specific information: + + * Signal and tracking mode indicator + * Phase bias [m] + * Signal integer indicator + * Signal wide-lane integer indicator + * Signal discontinuity counter + +Example for block 'VTEC' carrying ionospheric corrections +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. code-block:: console + + > VTEC 2015 06 17 11 43 35.0 6 1 CLK93 + 1 6 6 450000.0 + 17.6800 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 + 4.5200 8.8700 0.0000 0.0000 0.0000 0.0000 0.0000 + -4.6850 -0.3050 1.1700 0.0000 0.0000 0.0000 0.0000 + -2.2250 -1.3900 -1.0250 -0.1300 0.0000 0.0000 0.0000 + 0.8750 -0.3800 0.2700 -0.1300 0.0400 0.0000 0.0000 + 1.2150 0.9050 -1.0100 0.3700 -0.1450 -0.2450 0.0000 + -0.8200 0.4850 0.2300 -0.1750 0.3400 -0.0900 -0.0400 + 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 + 0.0000 -0.0700 0.0000 0.0000 0.0000 0.0000 0.0000 + 0.0000 0.5800 -1.4150 0.0000 0.0000 0.0000 0.0000 + 0.0000 -0.6200 -0.1500 0.2600 0.0000 0.0000 0.0000 + 0.0000 0.0700 -0.0900 -0.0550 0.1700 0.0000 0.0000 + 0.0000 0.5000 0.3050 -0.5700 -0.5250 -0.2750 0.0000 + 0.0000 0.0850 -0.4700 0.0600 0.0700 0.1600 0.0400 + +The second record in this block provides four parameters: + +* Layer number +* Maximum degree of spherical harmonics +* Maximum order of spherical harmonics +* Height of ionospheric layer [m] + +Subsequent records in this block provide the following information: + +* Spherical harmonic coefficients C and S, sorted by degree and order (0 to maximum) + +Directory, ASCII - optional +--------------------------- + +Specify a directory for saving Broadcast Corrections in files. If the specified directory does not exist, BNC will not create Broadcast Correction files. Default value for Broadcast Correction 'Directory' is an empty option field, meaning that no Broadcast Correction files will be created. + +Interval - mandatory if 'Directory, ASCII' is set +------------------------------------------------- + +Select the length of the Broadcast Correction files. The default value is '1 day'. + +Port - optional +--------------- + +BNC can output epoch by epoch synchronized Broadcast Corrections in ASCII format on your local host (IP 127.0.0.1) through an IP 'Port'. Specify an IP port number to activate this function. The default is an empty option field, meaning that no Broadcast Correction output via IP port is generated. + +The output format is similar to the format used for saving Broadcast Corrections in a file. + +The following is an example output for the stream from mountpoint CLK93: + +.. code-block:: console + + > ORBIT 2015 06 19 16 41 00.0 2 53 CLK93 + G01 85 0.5891 -0.5124 -0.0216 -0.0001 -0.0002 0.0000 + G02 25 -150.1820 11.4676 84.5216 0.4130 -0.6932 1.0159 + G03 79 15.1999 141.9932 -156.4244 0.6782 -0.8607 -0.8211 + ... + G32 39 1.8454 0.4888 -0.3876 -0.0001 -0.0001 0.0001 + R01 79 -0.0506 1.9024 -0.0120 0.0004 0.0002 -0.0000 + R02 79 0.1623 0.9012 0.3984 0.0001 0.0001 0.0002 + R03 79 0.3247 -2.6704 -0.0240 0.0005 -0.0002 0.0002 + ... + R24 79 0.7046 -0.5088 -0.0160 -0.0000 0.0000 -0.0002 + > CLOCK 2015 06 19 16 41 00.0 2 53 CLK93 + G01 85 -116.9441 0.0000 0.0000 + G02 25 -110.4472 0.0000 0.0000 + G03 79 -96.8299 0.0000 0.0000 + ... + G32 39 -119.2757 0.0000 0.0000 + R01 79 1.5703 0.0000 0.0000 + R02 79 -1.4181 0.0000 0.0000 + R03 79 0.2072 0.0000 0.0000 + ... + R24 79 1.1292 0.0000 0.0000 + > CODE_BIAS 2015 06 19 16 41 00.0 0 56 CLK93 + E11 3 1B 1.3800 5Q 2.4800 7Q 2.5000 + E12 3 1B 0.3900 5Q 0.6900 7Q 0.5300 + E19 3 1B -1.7800 5Q -3.1900 7Q -3.0700 + G01 5 1C -3.3100 1W -3.7500 2W -6.1900 2X -5.7800 5I -5.4200 + G02 5 1C 3.6000 1W 3.9300 2W 6.4800 2X 0.0000 5I 0.0000 + G03 5 1C -2.1600 1W -2.6500 2W -4.3600 2X -4.4800 5I -5.3400 + ... + G32 5 1C -1.5800 1W -1.1000 2W -1.8200 2X 0.0000 5I 0.0000 + R01 4 1C -2.4900 1P -2.4900 2C -3.1500 2P -4.1200 + R02 4 1C 0.3900 1P 0.2100 2C 0.4000 2P 0.3400 + R03 4 1C 2.4800 1P 2.2800 2C 3.7800 2P 3.7700 + ... + R24 4 1C 2.7000 1P 2.7800 2C 3.9800 2P 4.6000 + > PHASE_BIAS 2015 06 19 16 41 00.0 2 31 CLK93 + 0 1 + G01 309.37500000 0.00000000 3 1C 3.9922 1 2 6 2W 6.3568 1 2 6 5I 6.8726 1 2 6 + G02 263.67187500 0.00000000 3 1C -4.0317 1 2 7 2W -6.6295 1 2 7 5I 0.0000 1 2 7 + G03 267.89062500 0.00000000 3 1C 3.1267 1 2 4 2W 4.9126 1 2 4 5I 5.6478 1 2 4 + ... + G32 255.93750000 0.00000000 3 1C 1.3194 1 2 5 2W 2.1448 1 2 5 5I 0.0000 1 2 5 + > VTEC 2015 06 19 16 41 00.0 6 1 CLK93 + 1 6 6 450000.0 + 16.7450 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 + 4.9300 8.1600 0.0000 0.0000 0.0000 0.0000 0.0000 + -4.4900 0.2550 1.0950 0.0000 0.0000 0.0000 0.0000 + -2.2450 -1.9500 -0.7950 -0.4700 0.0000 0.0000 0.0000 + 1.0250 -0.9000 -0.0900 0.1050 0.1450 0.0000 0.0000 + 1.5500 0.9750 -0.8150 0.3600 0.0350 -0.0900 0.0000 + -0.4050 0.8300 0.0800 -0.0650 0.2200 0.0150 -0.1600 + 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 + 0.0000 -0.1250 0.0000 0.0000 0.0000 0.0000 0.0000 + 0.0000 1.0050 -0.7750 0.0000 0.0000 0.0000 0.0000 + 0.0000 -0.2300 0.7150 0.7550 0.0000 0.0000 0.0000 + 0.0000 -0.4100 -0.1250 0.2400 0.2700 0.0000 0.0000 + 0.0000 0.0850 -0.3400 -0.0500 -0.2200 -0.0750 0.0000 + 0.0000 0.2000 -0.2850 -0.0150 -0.0250 0.0900 0.0650 + +The source code for BNC comes with an example Perl script 'test_tcpip_client.pl' that allows to read BNC's Broadcast Corrections from the IP port for verification. + +.. _fig_17: +.. figure:: figures/fig_17.png + :scale: 100 % + + Example for pulling, saving and output of Broadcast Corrections using BNC + +.. index:: Feed engine + +Feed Engine +=========== + +BNC can produce synchronized or unsynchronized observations epoch by epoch from all stations and satellites to feed a real-time GNSS network engine. Observations can be streamed out through an IP port and/or saved in a file. The output is always in the same plain ASCII format and sorted per incoming stream. + +Each epoch in the synchronized output begins with a line containing the GPS Week Number and the seconds within the GPS Week. Following lines begin with the mountpoint string of the stream which provides the observations followed by a satellite number. Specifications for satellite number, code, phase, Doppler and signal strength data follow definitions presented in the RINEX Version 3 documentation. In case of phase observations, a 'Lock Time Indicator' is added. The end of an epoch is indicated by an empty line. + +A valid 'Lock Time Indicator' is only presented for observations from RTCM Version 3 streams. The parameter provides a measure of the amount of time that has elapsed during which the receiver has maintained continuous lock on that satellite signal. If a cycle slip occurs during the previous measurement cycle, the lock indicator will be reset to Zero. In case of observations from RTCM Version 2 streams, the 'Lock Time Indicator' is always set to '-1'. + +:numref:`Table %s ` describes the format of BNC's synchronized output of GNSS observations which consists of 'Epoch Records' and 'Observation Records'. Each Epoch Record is followed by one or more Observation Records. The Observation Record is repeated for each satellite having been observed in the current epoch. The length of an Observation Record is given by the number of observation types for this satellite. + +.. tabularcolumns:: |p{0.32\textwidth}|p{0.3\textwidth}|p{0.3\textwidth}| + +.. _tab_FEED_ENGINE: +.. table:: Contents and format of synchronized output of observations feeding a GNSS engine + + ========================= =============== =================== + **Identifier** **Example** **Format** + ========================= =============== =================== + *Epoch Record* + Record Identifier > A1 + GPS Week Number 1850 1X,I4 + GPS Seconds of Week 120556.0000000 1X,F14.7 + + *Observation Record* + Mountpoint WTZR0 A + Satellite Number G01 1X,A3 + + *Pseudo-Range Data* + Observation Code C1C 1X,A3 + Pseudo-Range Observation 25394034.112 1X,F14.3 + + *Carrier Phase Data* + Observation Code L1C 1X,A3 + Carrier Phase Observation 133446552.870 1X,F14.3 + Lock Time Indicator 11 1X,I4 + + *Doppler Data* + Observation Code D1C 1X,A3 + Doppler Observation -87.977 1X,F14.3 + + *Signal Strength* + Observation Code S2W 1X,A3 + Observed Signal Strength 34.750 1X,F8.3 + ========================= =============== =================== + +The following is an example for synchronized file and IP port output, which presents observations from GPS, GLONASS, Galileo, BDS (BeiDou), QZSS, and SBAS satellites as collected through streams FFMJ1, WTZR0 and CUT07: + +.. code-block:: console + + > 1884 206010.0000000 + FFMJ1 G02 C1C 23286796.846 L1C 122372909.535 127 S1C 49.000 C2W 23286793.846 L2W 95355531.583 127 S2W 36.000 + ... + FFMJ1 G26 C1C 24796690.856 L1C 130307533.550 127 S1C 42.000 C2W 24796697.776 L2W 101538315.510 127 S2W 25.000 + FFMJ1 S20 C1C 38682850.302 L1C 203279786.777 127 S1C 42.000 + FFMJ1 S36 C1C 38288096.846 L1C 201205293.221 127 S1C 47.000 + FFMJ1 R03 C1C 23182737.548 L1C 124098947.838 127 S1C 48.000 C2P 23182746.288 L2P 96521352.130 127 S2P 42.000 + ... + FFMJ1 R21 C1C 22201343.772 L1C 118803851.388 127 S1C 52.000 C2P 22201348.892 L2P 92402993.884 127 S2P 44.000 + CUT07 G01 C1C 25318977.766 L1C 133052476.488 521 D1C 2533.500 S1C 33.688 C2W 25318993.668 L2W 103677584.878 521 S2W 15.625 C2X 25318991.820 L2X 103676566.850 521 S2X 35.375 C5X 25318993.461 L5X 99357161.238 521 S5X 39.812 + ... + CUT07 G27 C1C 20251005.351 L1C 106420601.969 627 D1C 250.937 S1C 50.312 C2W 20251014.512 L2W 82924447.644 627 S2W 45.125 C2X 20251014.246 L2X 82924648.644 627 S2X 53.188 C5X 20251015.480 L5X 79469461.619 627 S5X 56.375 + CUT07 R01 C1C 20312587.149 L1C 108583395.373 625 D1C -2456.703 S1C 52.875 C1P 20312586.192 L1P 108582844.382 625 S1P 51.000 C2C 20312593.422 L2C 84452892.610 625 S2C 43.625 C2P 20312593.836 L2P 84453114.622 625 S2P 42.312 + ... + CUT07 R24 C1C 19732223.242 L1C 105517564.659 630 D1C -7.477 S1C 47.375 C1P 19732222.609 L1P 105517564.669 630 S1P 46.375 C2C 19732227.660 L2C 82069550.193 630 S2C 38.125 C2P 19732227.316 L2P 82068477.204 630 S2P 37.375 + CUT07 E11 C1X 28843071.547 L1X 151571208.816 405 D1X -2221.055 S1X 29.000 C7X 28843082.531 L7X 116138795.418 405 S7X 27.188 C8X 28843085.699 L8X 114662585.261 405 S8X 33.688 C5X 28843086.281 L5X 113186518.907 405 S5X 30.375 + ... + CUT07 E30 C1X 28096037.289 L1X 147645296.835 630 D1X -2020.613 S1X 34.688 C7X 28096054.070 L7X 113131111.635 630 S7X 36.875 C8X 28096055.684 L8X 111692702.565 630 S8X 40.375 C5X 28096058.008 L5X 110254591.278 630 S5X 36.188 + CUT07 S27 C1C 40038220.843 L1C 210402303.982 616 D1C 104.688 S1C 36.125 C5I 40038226.375 L5I 157118241.003 616 S5I 40.875 + ... + CUT07 S37 C1C 37791754.594 L1C 198596881.251 704 D1C 106.605 S1C 37.875 + CUT07 J01 C1C 33076065.781 L1C 173816471.106 674 D1C 169.765 S1C 48.375 C1Z 33076063.086 L1Z 173815528.437 674 S1Z 48.625 C6L 33076065.652 L6L 141084039.422 674 S6L 52.688 C2X 33076070.523 L2X 135440679.474 674 S2X 50.500 C5X 33076076.496 L5X 129797319.733 674 S5X 54.188 C1X 33076065.492 L1X 173815529.101 674 S1X 52.375 + CUT07 C01 C2I 37725820.914 L2I 196447455.374 704 D2I 90.898 S2I 41.312 C6I 37725810.168 L6I 159630204.932 704 S6I 44.875 C7I 37725815.196 L7I 151906389.245 704 S7I 45.812 + ... + CUT07 C14 C2I 23351041.328 L2I 121594621.501 592 D2I 2422.203 S2I 45.688 C6I 23351032.926 L6I 98805869.415 592 S6I 48.500 C7I 23351041.996 L7I 94024977.673 592 S7I 45.688 + WTZR0 G02 C1C 23641481.864 L1C 124236803.604 127 S1C 47.500 C2W 23641476.604 L2W 96807881.233 127 S2W 39.250 + ... + WTZR0 G26 C1C 24681555.676 L1C 129702453.534 127 S1C 43.750 C2W 24681561.256 L2W 101066873.870 127 S2W 37.750 + WTZR0 R03 C1C 22982596.508 L1C 123027564.682 127 S1C 47.000 C2P 22982598.368 L2P 95688085.627 127 S2P 43.250 + ... + WTZR0 R21 C1C 22510252.692 L1C 120456902.811 127 S1C 47.500 C2P 22510253.132 L2P 93688698.401 127 S2P 44.000 + + > 1884 206011.0000000 + ... + +The source code for BNC comes with a Perl script named 'test\_tcpip\_client.pl' that allows to read BNC's (synchronized or unsynchronized) ASCII observation output from the IP port and print it on standard output for verification. + +Note that any socket connection of an application to BNC's synchronized or unsynchronized observation ports is recorded in the 'Log' tab on the bottom of the main window together with a connection counter, resulting in log records like 'New client connection on sync/usync port: # 1'. + +The following figure shows the screenshot of a BNC configuration where a number of streams is pulled from different Ntrip Broadcasters to feed a GNSS engine via IP port output. + +.. _fig_18: +.. figure:: figures/fig_18.png + :scale: 100 % + + Synchronized BNC output via IP port to feed a GNSS real-time engine + +Port - optional +--------------- + +BNC can produce synchronized observations in ASCII format on your local host (IP 127.0.0.1) through an IP 'Port'. Synchronized means that BNC collects all observation data for a specific epoch, which become available within a certain number of seconds (see 'Wait for Full Obs Epoch' option). It then - epoch by epoch - outputs whatever has been received. The output comes block-wise per stream following the format specified in :numref:`Table %s `. Enter an IP port number here to activate this function. The default is an empty option field, meaning that no synchronized output is generated. + +Wait for Full Obs Epoch - mandatory if 'Port' is set +---------------------------------------------------- + +When feeding a real-time GNSS network engine waiting for synchronized observations epoch by epoch, BNC drops whatever is received later than 'Wait for full obs epoch' seconds. A value of 3 to 5 seconds could be an appropriate choice for that, depending on the latency of the incoming streams and the delay acceptable for your real-time GNSS product. Default value for 'Wait for full obs epoch' is 5 seconds. + +Note that 'Wait for full obs epoch' does not affect the RINEX Observation file content. Observations received later than 'Wait for full obs epoch' seconds will still be included in the RINEX Observation files. + +Sampling - mandatory if 'File' or 'Port' is set +----------------------------------------------- + +Select a synchronized observation output sampling interval in seconds. A value of zero '0' tells BNC to send/store all received epochs. This is the default value. + +File - optional +--------------- + +Specify the full path to a 'File' where synchronized observations are saved in plain ASCII format. The default value is an empty option field, meaning that no ASCII output file is created. + +Beware that the size of this file can rapidly increase depending on the number of incoming streams. To prevent it from becoming too large, the name of the file can be changed on-the-fly. This option is primarily meant for test and evaluation. + +Port (unsynchronized) - optional +-------------------------------- + +BNC can produce unsynchronized observations from all configured streams in ASCII format on your local host (IP 127.0.0.1) through an IP 'Port'. Unsynchronized means that BNC immediately forwards any received observation to the port. Nevertheless, the output is produced block-wise per stream. Specify an IP port number here to activate this function. The default is an empty option field, meaning that no unsynchronized output is generated. + +The following is an example for unsynchronized IP port output which presents observations from GPS and GLONASS as collected through stream WTZR0. The format for synchronized and unsynchronized output of observations is very much the same. However, unsynchronized output does not have 'Epoch Records' and 'Observation Records'. Instead each record contains the 'GPS Week Number' and 'GPS Second of Week' time tag between the mountpoint string and the satellite number, see :numref:`Table %s ` for format details. + +.. code-block:: console + + WTZR0 1884 209623.0000000 G02 C1C 22259978.112 L1C 116976955.890 127 S1C 49.250 C2W 22259974.472 L2W 91150855.991 127 S2W 44.500 + WTZR0 1884 209623.0000000 G03 C1C 24426736.058 L1C 128363272.624 127 S1C 43.500 C2W 24426741.838 L2W 100023289.335 127 S2W 39.000 + ... + WTZR0 1884 209623.0000000 G29 C1C 25275897.592 L1C 132825869.191 90 S1C 35.250 C2W 25275893.692 L2W 103500567.110 8 S2W 28.500 + WTZR0 1884 209623.0000000 G30 C1C 23670676.284 L1C 124390283.441 127 S1C 46.750 C2W 23670679.784 L2W 96927531.685 127 S2W 39.500 + WTZR0 1884 209623.0000000 R04 C1C 20758122.104 L1C 111158778.398 127 S1C 50.000 C2P 20758121.664 L2P 86456803.800 127 S2P 47.000 + WTZR0 1884 209623.0000000 R05 C1C 19430829.552 L1C 103868912.028 127 S1C 45.750 C2P 19430829.672 L2P 80786936.849 127 S2P 46.750 + ... + +.. index:: Serial output + +Serial output +============= + +You may use BNC to feed a serially connected device like a GNSS receiver. For that, an incoming stream can be forwarded to a serial port. Depending on the stream content, the receiver may use it for Differential GNSS, Precise Point Positioning or any other purpose supported by its firmware. Note that receiving a VRS stream requires the receiver sending NMEA sentences (option 'NMEA' set to 'Manual' or 'Auto') to the Ntrip Broadcaster. :numref:`Fig. %s ` shows the data flow when pulling a VRS stream or a physical (non-VRS) stream. + +.. _fig_19: +.. figure:: figures/fig_19.png + :scale: 100 % + + Flowcharts, BNC forwarding a stream to a serially connected receiver; sending NMEA sentences is mandatory for VRS streams + +:numref:`Fig. %s ` shows the screenshot of an example situation where BNC pulls a VRS stream from an Ntrip Broadcaster to feed a serially connected RTK rover. + +.. _fig_20: +.. figure:: figures/fig_20.png + :scale: 100 % + + BNC pulling a VRS stream to feed a serially connected RTK rover + +Mountpoint - optional +--------------------- + +Enter a 'Mountpoint' to forward its corresponding stream to a serially connected GNSS receiver. When selecting one of the serial communication options listed below, make sure that you pick those configured to the serially connected receiver. + +Port Name - mandatory if 'Mountpoint' is set +-------------------------------------------- + +Enter the serial 'Port name' selected on your host for communication with the serially connected receiver. Valid port names are summarized in :numref:`Table %s `. + +.. tabularcolumns:: |p{0.3\textwidth}|p{0.62\textwidth}| + +.. _tab_PORT_NAMES: +.. table:: Valid port names for serially connected receivers. + + ================= ====================== + **OS** **Port Names** + ================= ====================== + Windows COM1, COM2 + Linux /dev/ttyS0, /dev/ttyS1 + FreeBSD /dev/ttyd0, /dev/ttyd1 + Digital Unix /dev/tty01, /dev/tty02 + HP-UX /dev/tty1p0, /dev/tty2p0 + SGI/IRIX /dev/ttyf1, /dev/ttyf2 + SunOS/Solaris /dev/ttya, /dev/ttyb + ================= ====================== + +Note that you must plug a serial cable in the port defined here before you start BNC. + +Baud Rate - mandatory if 'Mountpoint' is set +-------------------------------------------- + +Select a 'Baud rate' for the serial output link. Note that using a high baud rate is recommended. + +Flow Control - mandatory if 'Mountpoint' is set +----------------------------------------------- + +Select a 'Flow control' for the serial output link. Note that your selection must equal the flow control configured to the serially connected device. Select 'OFF' if you do not know better. + +Parity - mandatory if 'Mountpoint' is set +----------------------------------------- + +Select the 'Parity' for the serial output link. Note that parity is often set to 'NONE'. + +Data Bits - mandatory if 'Mountpoint' is set +-------------------------------------------- + +Select the number of 'Data bits' for the serial output link. Note that often '8' data bits are used. + +Stop Bits - mandatory if 'Mountpoint' is set +-------------------------------------------- + +Select the number of 'Stop bits' for the serial output link. Note that often '1' stop bit is used. + +NMEA - mandatory if 'Mountpoint' is set +--------------------------------------- + +The 'NMEA' option supports the so-called 'Virtual Reference Station' (VRS) concept which requires the receiver to send approximate position information to the Ntrip Broadcaster. Select 'no' if you do not want BNC to forward or upload any NMEA sentence to the Ntrip broadcaster in support of VRS. + +Select 'Auto' to automatically forward NMEA sentences of type GGA from your serially connected receiver to the Ntrip broadcaster and/or save them in a file. + +Select 'Manual GPGGA' or 'Manual GNGGA' if you want BNC to produce and upload GPGGA or GNGGA NMEA sentences to the Ntrip broadcaster because your serially connected receiver does not generate them. A Talker ID 'GP' proceeding the GGA string stands for GPS solutions while a Talker ID 'GN' stands for multi-constellation solutions. + +Note that selecting 'Auto' or 'Manual' works only for VRS streams which show up under the 'Streams' canvas on BNC's main window with 'nmea' stream attribute set to 'yes'. This attribute is either extracted from the Ntrip broadcaster's source-table or introduced by the user through editing the BNC configuration file. + +File - optional if 'NMEA' is set to 'Auto' +------------------------------------------ + +Specify the full path to a file where NMEA sentences coming from your serially connected receiver are saved. Default is an empty option field, meaning that no NMEA sentences will be saved on disk. + +Height - mandatory if 'NMEA' is set to 'Manual' +----------------------------------------------- + +Specify an approximate 'Height' above mean sea level in meters for the reference station introduced through 'Mountpoint'. Together with the latitude and longitude from the Ntrip broadcaster source-table, the height information is used to build GGA sentences to be sent to the Ntrip broadcaster. + +For adjusting latitude and longitude values of a VRS stream given in the 'Streams' canvas, you can double click the latitude/longitude data fields, specify appropriate values and then hit Enter. + +This option is only relevant when option 'NMEA' is set to 'Manual GPGGA' or 'Manual GNGGA' respectively. + +Sampling - mandatory if 'NMEA' is set to 'Manual' +------------------------------------------------- + +Select a sampling interval in seconds for manual generation and upload of NMEA GGA sentences. + +A sampling rate of '0' means that a GGA sentence will be sent only once to initialize the requested VRS stream. Note that some VRS systems need GGA sentences at regular intervals. + +.. index:: Stream outages, Stream corruption + +Outages +======= + +At any time an incoming stream might become unavailable or corrupted. In such cases, it is important that the BNC operator and/or the stream providers become aware of the situation so that measures can be taken to restore the stream. Furthermore, continuous attempts to decode a corrupted stream can generate unnecessary workload for BNC. Outages and corruptions are handled by BNC as follows: + +Stream outages: BNC considers a connection to be broken when there are no incoming data detected for more than 20 seconds. When this occurs, BNC will try to reconnect at a decreasing rate. It will first try to reconnect with 1 second delay and again in 2 seconds if the previous attempt failed. If the attempt is still unsuccessful, it will try to reconnect within 4 seconds after the previous attempt and so on. The waiting time doubles each time with a maximum of 256 seconds. + +Stream corruption: Not all chunks of bits transferred to BNC's internal decoder may return valid observations. Sometimes several chunks might be needed before the next observation can be properly decoded. BNC buffers all outputs (both valid and invalid) from the decoder for a short time span (size derived from the expected 'Observation rate') to then determine whether a stream is valid or corrupted. + +Outage and corruption events are reported in the 'Log' tab. They can also be passed on as parameters to a shell script or batch file to generate an advisory note to BNC's operator or affected stream providers. This functionality lets users utilize BNC as a real-time performance monitor and alarm system for a network of GNSS reference stations, see :numref:`Fig. %s ` for an example setup. + +.. _fig_20b: +.. figure:: figures/fig_20b.png + :scale: 100 % + + Specifying thresholds for stream outage and recovery + +Observation Rate - optional +--------------------------- + +BNC can collect all returns (success or failure) coming from a decoder within a certain short time span to then decide whether a stream has an outage or its content is corrupted. This procedure needs a rough a priori estimate of the expected observation rate of the incoming streams. + +An empty option field (default) means that you do not want explicit information from BNC about stream outages and incoming streams that cannot be decoded. + +Failure Threshold - mandatory if 'Observation rate' is set +---------------------------------------------------------- + +Event 'Begin_Failure' will be reported if no data is received continuously for longer than the 'Failure threshold' time. Similarly, event 'Begin_Corrupted' will be reported when corrupted data is detected by the decoder continuously for longer than this 'Failure threshold' time. The default value is set to 15 minutes and is recommended as to not inundate users with too many event reports. + +Note that specifying a value of zero '0' for the 'Failure threshold' will force BNC to report any stream failure immediately. Note also that for using this function you need to specify the 'Observation rate'. + +Recovery Threshold - mandatory if 'Observation rate' is set +----------------------------------------------------------- + +Once a 'Begin_Failure' or 'Begin_Corrupted' event has been reported, BNC will check when the stream again becomes available or uncorrupted. Event 'End_Failure' or 'End_Corrupted' will be reported as soon as valid observations are detected continuously throughout the 'Recovery threshold' time span. The default value is set to 5 minutes and is recommended as to not inundate users with too many event reports. + +Note that specifying a value of zero '0' for the 'Recovery threshold' will force BNC to report any stream recovery immediately. Note also that for using this function you need to specify the 'Observation rate'. + +Script - optional if 'Observation rate' is set +---------------------------------------------- + +As mentioned before, BNC can trigger a shell script or a batch file to be executed when one of the described events is reported. This script can be used to email an advisory note to network operator or stream providers. To enable this feature, specify the full path to the script or batch file in the 'Script' field. The affected stream's mountpoint and type of event reported ('Begin_Outage', 'End_Outage', 'Begin_Corrupted' or 'End_Corrupted') will then be passed on to the script as command line parameters (%1 and %2 on Windows systems or $1 and $2 on Unix/Linux/Mac OS X systems) together with date and time information. + +Leave the 'Script' field empty if you do not wish to use this option. An invalid path will also disable this option. + +Examples for command line parameter strings passed on to the advisory 'Script' are: + +.. code-block:: console + + FFMJ0 Begin_Outage 08-02-21 09:25:59 + FFMJ0 End_Outage 08-02-21 11:36:02 Begin was 08-02-21 09:25:59 + +Sample script for Unix/Linux/Mac OS X systems: + +.. code-block:: none + + #!/bin/bash + sleep $((60*RANDOM/32767)) + cat > mail.txt <` shows RTCM message numbers and observation types contained in stream 'CUT07' and the message latencies recorded every 2 seconds. + +.. _fig_21: +.. figure:: figures/fig_21.png + :scale: 100 % + + RTCM message numbers, latencies and observation types logged by BNC + +Mountpoint - optional +--------------------- + +Specify a mountpoint to apply one or several of the 'Miscellaneous' options to the corresponding stream. Enter 'ALL' if you want to apply these options to all configured streams. An empty option field (default) means that you do not want BNC to apply any of these options. + +Log Latency - optional +---------------------- + +BNC can average latencies per stream over a certain period of GPS time, the 'Log latency' interval. Mean latencies are calculated from the individual latencies of one (first incoming) observation or Broadcast Correction per second. The mean latencies are then saved in BNC's logfile. Note that computing correct latencies requires the clock of the host computer to be properly synchronized. Note further that visualized latencies from the 'Latency' tab on the bottom of the main window represent individual latencies and not the mean latencies for the logfile. + +.. index:: Latency monitoring + +Latency +^^^^^^^ + +Latency is defined in BNC by + +.. math:: + + l = t_{UTC} - t_{GPS} + t_{leap} + +.. tabularcolumns:: |p{0.3\textwidth}|p{0.62\textwidth}| + +with latency :math:`l`, UTC time provided by BNC's host :math:`t_{UTC}`, GPS time of currently processed epoch :math:`t_{GPS}` and Leap seconds between UTC and GPS time :math:`t_{leap}`. + +.. index:: Statistics monitoring + +Statistics +^^^^^^^^^^ + +BNC counts the number of GPS seconds covered by at least one observation. It also estimates an observation rate (independent from the a priori specified 'Observation rate') from all observations received throughout the first full 'Log latency' interval. Based on this rate, BNC estimates the number of data gaps when appearing in subsequent intervals. + +Latencies of observations or corrections to Broadcast Ephemeris and statistical information can be recorded in the 'Log' tab at the end of each 'Log latency' interval. A typical output from a 1 hour 'Log latency' interval would be: + +.. code-block:: console + + 08-03-17 15:59:47 BRUS0: Mean latency 1.47 sec, min 0.66, max 3.02, rms 0.35, 3585 epochs, 15 gaps + +Select a 'Log latency' interval to activate this function or select the empty option field if you do not want BNC to log latencies and statistical information. + +Scan RTCM - optional +-------------------- + +When configuring a GNSS receiver for RTCM stream generation, the firmware's setup interface may not provide details about RTCM message types and observation types. As reliable information concerning stream content should be available e.g. for Ntrip Broadcaster operators to maintain the broadcaster's source-table, BNC allows to scan RTCM streams for incoming message types and printout some of the contained meta-data. Contained observation types are also printed because such information is required a priori for the conversion of RTCM Version 3 MSM streams to RINEX Version 3 files. The idea for this option arose from 'inspectRTCM', a comprehensive stream analyzing tool written by D. Stöcker. + +Tick 'Scan RTCM' to scan RTCM Version 2 or 3 streams and log all contained + +* Numbers of incoming message types +* Antenna Reference Point (ARP) coordinates +* Antenna Phase Center (APC) coordinates +* Antenna height above marker +* Antenna descriptor. + +In case of RTCM Version 3 streams the output includes + +* RINEX Version 3 Observation types + +Note that in RTCM Version 2 message types 18 and 19 carry only the observables of one frequency. Hence it needs two type 18 and 19 messages per epoch to transport observations from dual frequency receivers. + +Please note further that RTCM Version 3 message types 1084 for GLONASS do not contain GLONASS channel numbers. Observations from these messages can only be decoded when you include 1020 GLONASS ephemeris messages to your stream which contain the channels. You could also consider adding a second stream carrying 1087 GLONASS observation messages or 1020 GLONASS ephemeris messages as both contain the GLONASS channel numbers. + +Logged time stamps refer to message reception time and allow understanding repetition rates. Enter 'ALL' if you want to log this information from all configured streams. Beware that the size of the logfile can rapidly increase depending on the number of incoming RTCM streams. + +This option is primarily meant for test and evaluation. Use it to figure out what exactly is produced by a specific GNSS receiver's configuration. An empty option field (default) means that you do not want BNC to print message type numbers and antenna information carried in RTCM streams. + +Port - optional +--------------- + +BNC can output streams related to the above specified 'Mountpoint' through a TCP/IP port of your local host. Enter a port number to activate this function. The stream content remains untouched. BNC does not decode or reformat the data for this output. Be careful when keyword 'ALL' is specified as 'Mountpoint' for involving all incoming streams together because the affiliation of data to certain streams gets lost in the output. An empty option field (default) means that you do not want BNC to apply the TCP/IP port output option. + +.. index:: PPP client + +PPP Client +========== + +BNC can derive coordinates for rover positions following the Precise Point Positioning (PPP) approach. It uses code or code plus phase data from one or more GNSS systems in ionosphere-free linear combinations P3, L3, or P3&L3. Besides pulling streams of observations from a dual frequency GNSS receiver, this + +* Requires pulling in addition a stream carrying satellite orbit and clock corrections to Broadcast Ephemeris in the form of RTCM Version 3 'State Space Representation' (SSR) messages. Note that for BNC these Broadcast Corrections need to be referred to the satellite's Antenna Phase Center (APC). Streams providing such messages are listed on (http://igs.bkg.bund.de/ntrip/orbits) :cite:`caissy2012a`. Stream 'CLK11' on Ntrip Broadcaster 'products.igs-ip.net:2101' is an example. +* May require pulling a stream carrying Broadcast Ephemeris available as RTCM Version 3 message types 1019, 1020, 1043, 1044, 1045, 1046 and 63 (tentative). This becomes a must only when the stream coming from the receiver does not contain Broadcast Ephemeris or provides them only at very low repetition rate. Streams providing such messages are listed on http://igs.bkg.bund.de/ntrip/ephemeris. Stream 'RTCM3EPH' on caster 'products.igs-ip.net:2101' is an example. + +Note that Broadcast Ephemeris parameters pass a plausibility check in BNC which allows to ignore incorrect or outdated ephemeris data when necessary, leaving a note 'WRONG EPHEMERIS' or 'OUTDATED EPHEMERIS' in the logfile. + +When using the PPP option, it is important to understand which effects are corrected by BNC: + +* BNC does correct for Solid Earth Tides and Phase Windup. +* Satellite Antenna Phase Center offsets are corrected. +* Satellite Antenna Phase Center variations are neglected because this is a small effect usually less than 2 centimeters. +* Observations can be corrected for a Receiver Antenna Offset and Receiver Antenna Phase Center Variation. Depending on whether or not these corrections are applied, the estimated position is either that of the receiver's Antenna Phase Center or that of the receiver's Antenna Reference Point. +* 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. +* Rotational deformation due to polar motion (Polar Tides) is not corrected because this is a small effect usually less than 2 centimeters. + +The provider of an orbit/clock correction stream may switch with his service at any time from a duty to a backup server installation. This shall be noted in the SSR stream through a change of the Issue Of Data (IOD SSR) parameter. The PPP option in BNC will immediately reset all ambiguities in such a situation. + +PPP options are specified in BNC through the following four panels: + +* PPP (1): Input and output, specifying real-time or post processing mode and associated data sources +* PPP (2): Processed stations, specifying sigmas and noise of a priori coordinates and NMEA stream output +* PPP (3): Processing options, specifying general PPP processing options +* PPP (4): Plots, specifying visualization through time series and track maps + +.. index:: PPP Input and Output + +PPP (1): Input and Output +------------------------- + +This panel provides options for specifying the input and output streams and files required by BNC for real-time or post processing PPP, see :numref:`Fig. %s ` for an example screenshot. + +.. _fig_22: +.. figure:: figures/fig_22.png + :scale: 100 % + + Real-time Precise Point Positioning with BNC, PPP Panel 1 + +Data Source - optional +^^^^^^^^^^^^^^^^^^^^^^ + +Choose between input from 'Real-time Streams' or 'RINEX Files' for PPP with BNC in real-time or post processing mode. + +Real-time Streams +""""""""""""""""" + +When choosing 'Real-time Streams' BNC will do PPP solutions in real-time. This requires pulling GNSS observation streams, Broadcast Ephemeris messages and a stream containing corrections to Broadcast Ephemeris. Streams must come in RTCM Version 2 or RTCM Version 3 format. If you do not pull Broadcast Corrections, BNC will switch with its solution to 'Single Point Positioning' (SPP) mode. With RTCM Version 2 an ionosphere free linear combination of code-only observations cannot be processed. + +RINEX Files +""""""""""" + +This input mode allows to specify RINEX Observation, RINEX Navigation and Broadcast Correction files. 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' panel. Specifying only a RINEX Observation and a RINEX Navigation file and no Broadcast Correction file leads BNC to a 'Single Point Positioning' (SPP) solution. + +Debugging +""""""""" + +Note that for debugging purposes, BNC's real-time PPP functionality can also be used offline. Apply the 'File Mode' 'Command Line' option for that to read a file containing synchronized observations, orbit and clock correctors, and Broadcast Ephemeris. Example: + +.. code-block:: bat + + bnc.exe --conf c:\temp\PPP.bnc --file c:\temp\RAW + +Such a file (here: 'RAW') must be saved beforehand using BNC's 'Raw output file' option. + +RINEX Observation File - mandatory if 'Data source' is set to 'RINEX Files' +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Specify a RINEX Observation file. The file format can be RINEX Version 2 or RINEX Version 3. + +RINEX Navigation File - mandatory if 'Data source' is set to 'RINEX Files' +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Specify a RINEX Navigation file. The file format can be RINEX Version 2 or RINEX Version 3. + +Corrections Stream - optional if 'Data source' is set to 'Real-Time Streams' +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Specify a Broadcast 'Corrections stream' from the list of selected 'Streams' you are pulling if you want BNC to correct your satellite ephemeris accordingly. Note that the stream's orbit and clock corrections must refer to the satellite Antenna Phase Center (APC). Streams providing such corrections are made available e.g. through the International GNSS Service (IGS) and listed on http://igs.bkg.bund.de/ntrip/orbits. The stream format must be RTCM Version 3 containing so-called SSR messages. Streams 'IGS03' and 'CLK11' supporting GPS plus GLONASS are examples. If you do not specify a 'Corrections stream', BNC will fall back from a PPP solution to a Single Point Positioning (SPP) solution. + +Corrections File - optional if 'Data source' is set to 'RINEX Files' +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Specify a Broadcast 'Corrections file' as saved beforehand using BNC. The file content is basically the ASCII representation of a RTCM Version 3 Broadcast Correction (SSR) stream. If you do not specify a 'Correction file', BNC will fall back from a PPP solution to a Single Point Positioning (SPP) solution. + +ANTEX File - optional +^^^^^^^^^^^^^^^^^^^^^ + +IGS provides a file containing absolute phase center corrections for GNSS satellite and receiver antennas in ANTEX format. Entering the full path to such an ANTEX file is required for correcting observations in PPP for Antenna Phase Center offsets and variations. Note that for applying such corrections you need to specify the receiver's antenna name and radome in BNC's 'Coordinates file'. + +Default value for 'ANTEX file' is an empty option field, meaning that you do not want to correct observations for Antenna Phase Center offsets and variations. + +Coordinates File - optional +^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Enter the full path to an ASCII file which specifies all observation streams or files from stationary or mobile receivers you possibly may want to process. Specifying a 'Coordinates file' is optional. If it exists, it should contain one record per stream or file with the following parameters separated by blank characters: + +* Input data source, to be specified either through + + * the 'Mountpoint' of an RTCM stream (when in real-time PPP mode), or + * the first four characters of the RINEX observations file (when in post processing PPP mode). + + Having at least this first parameter in each record is mandatory. + +* Only for static observations from a stationary receiver: Approximate a priori XYZ coordinate [m] of the station's marker; specify '0.0 0.0 0.0' if unknown or when observations come from a mobile receiver. +* Nort, East and Up component [m] of antenna eccentricity which is the difference between Antenna Reference Point (ARP) and a nearby marker position; when specifying the antenna eccentricity BNC will produce coordinates referring to the marker position and not referring to ARP; specify '0.0 0.0 0.0' if eccentricity is unknown or the ARP itself is understood as the marker. + +Receiver's antenna name as defined in your ANTEX file (see below); Observations will be corrected for the Antenna Phase Center (APC) offsets and variations, which may result in a reduction of a few centimeters at max; the specified name must consist of 20 characters; add trailing blanks if the antenna name has less than 20 characters; examples: + +.. code-block:: console + + 'JPSREGANT_SD_E ' (no radome) + 'LEIAT504 NONE' (no radome) + 'LEIAR25.R3 LEIT' (radome is LEIT) + +Leave antenna name blank if you do not want to correct observations for APC offsets and variations or if you do not know the antenna name. +* Receiver type following the naming convention for IGS equipment as defined in https://igscb.jpl.nasa.gov/igscb/station/general/rcvr\_ant.tab. Specifying the receiver type is only required when saving SINEX Troposphere files. In those files it becomes part of the 'SITE/RECEIVER' specifications, see section 'SNX TRO Directory'. + +Records in the 'Coordinates' file with exclamation mark '!' in the first column or blank records will be understood as comment lines and ignored. + +The following is the content of an example 'Coordinates file'. Here each record describes the mountpoint of a stream available from the global IGS real-time reference station network. A priori coordinates are followed by North/East/Up eccentricity components of the ARP followed by the antenna name, radome and the receiver name in use. + +.. code-block:: console + + ! + ! Station X[m] Y[m] Z[m] North[m] EAST[m] UP[m] Antenna Radom Receiver + ! -------------------------------------------------------------------------------- ------------------- + ADIS0 4913652.6612 3945922.7678 995383.4359 0.0000 0.0000 0.0010 TRM29659.00 NONE JPS LEGACY + ALIC0 -4052052.5593 4212836.0078 -2545104.8289 0.0000 0.0000 0.0015 LEIAR25.R3 NONE LEICA GRX1200GGPRO + BELF0 3685257.8823 -382908.8992 5174311.1067 0.0000 0.0000 0.0000 LEIAT504GG LEIS LEICA GRX1200GGPRO + BNDY0 -5125977.4106 2688801.2966 -2669890.4345 0.0000 0.0000 0.0000 ASH701945E_M NONE TRIMBLE NETR5 + BRAZ0 4115014.0678 -4550641.6105 -1741443.8244 0.0000 0.0000 0.0080 LEIAR10 NONE LEICA GR25 + CTWN0 5023564.4285 1677795.7211 -3542025.8392 0.0000 0.0000 0.0000 ASH701941.B NONE TRIMBLE NETR5 + CUT07 -2364337.4408 4870285.6055 -3360809.6280 0.0000 0.0000 0.0000 TRM59800.00 SCIS TRIMBLE NETR9 + GANP0 3929181.3480 1455236.9105 4793653.9880 0.0000 0.0000 0.3830 TRM55971.00 NONE TRIMBLE NETR9 + HLFX0 2018905.6037 -4069070.5095 4462415.4771 0.0000 0.0000 0.1000 TPSCR.G3 NONE TPS NET-G3A + LHAZ0 -106941.9272 5549269.8041 3139215.1564 0.0000 0.0000 0.1330 ASH701941.B NONE TPS E_GGD + LMMF7 2993387.3587 -5399363.8649 1596748.0983 0.0000 0.0000 0.0000 TRM57971.00 NONE TRIMBLE NETR9 + MAO07 -5466067.0979 -2404333.0198 2242123.1929 0.0000 0.0000 0.0000 LEIAR25.R3 LEIT JAVAD TRE_G3TH DELTA + NICO0 4359415.5252 2874117.1872 3650777.9614 0.0000 0.0000 0.0650 LEIAR25.R4 LEIT LEICA GR25 + NKLG7 6287385.7320 1071574.7606 39133.1088 -0.0015 -0.0025 3.0430 TRM59800.00 SCIS TRIMBLE NETR9 + NURK7 5516756.5103 3196624.9684 -215027.1315 0.0000 0.0000 0.1300 TPSCR3_GGD NONE JAVAD TRE_G3TH DELTA + ONSA0 3370658.3928 711877.2903 5349787.0603 0.0000 0.0000 0.9950 AOAD/M_B OSOD JAVAD TRE_G3TH DELTA + PDEL0 4551595.9072 -2186892.9495 3883410.9685 0.0000 0.0000 0.0000 LEIAT504GG NONE LEICA GRX1200GGPRO + RCMN0 5101056.6270 3829074.4206 -135016.1589 0.0000 0.0000 0.0000 LEIAT504GG LEIS LEICA GRX1200GGPRO + REUN0 3364098.9668 4907944.6121 -2293466.7379 0.0000 0.0000 0.0610 TRM55971.00 NONE TRIMBLE NETR9 + REYK7 2587384.0890 -1043033.5433 5716564.1301 0.0000 0.0000 0.0570 LEIAR25.R4 LEIT LEICA GR25 + RIO27 1429907.8578 -3495354.8953 -5122698.5595 0.0000 0.0000 0.0350 ASH700936C_M SNOW JAVAD TRE_G3TH DELTA + SMR50 927077.1096 -2195043.5597 -5896521.1344 0.0000 0.0000 0.0000 TRM41249.00 TZGD TRIMBLE NETR5 + SUWN0 -3062023.1604 4055447.8946 3841818.1684 0.0000 0.0000 1.5700 TRM29659.00 DOME TRIMBLE NETR9 + TASH7 1695944.9208 4487138.6220 4190140.7391 0.0000 0.0000 0.1206 JAV_RINGANT_G3T NONE JAVAD TRE_G3TH DELTA + UFPR0 3763751.6731 -4365113.9039 -2724404.5331 0.0000 0.0000 0.1000 TRM55971.00 NONE TRIMBLE NETR5 + UNB30 1761287.9724 -4078238.5659 4561417.8448 0.0000 0.0000 0.3145 TRM57971.00 NONE TRIMBLE NETR9 + WIND7 5633708.8016 1732017.9297 -2433985.5795 0.0000 0.0000 0.0460 ASH700936C_M SNOW JAVAD TRE_G3TH DELTA + WTZR0 4075580.3797 931853.9767 4801568.2360 0.0000 0.0000 0.0710 LEIAR25.R3 LEIT LEICA GR25 + WUH27 -2267749.9761 5009154.5504 3221294.4429 0.0000 0.0000 0.1206 JAV_RINGANT_G3T NONE JAVAD TRE_G3TH DELTA + YELL7 -1224452.8796 -2689216.1863 5633638.2832 0.0000 0.0000 0.1000 AOAD/M_T NONE JAVAD TRE_G3TH DELTA + +Note again that the only mandatory parameters in this file are the 'Station' parameters in the first column, each standing for an observation stream's mountpoint or the 4-character station ID of a RINEX filename. The following shows further valid examples for records of a 'Coordinates file'. + +.. code-block:: console + + ! + ! Station X[m] Y[m] Z[m] N[m] E[m] U[m] Antenna Radom Receiver + ! --------------------------------------------------------------------------------- ---------------- + WTZR0 4075580.3797 931853.9767 4801568.2360 0.000 0.000 0.071 LEIAR25.R3 LEIT LEICA GR25 + CUT07 -2364337.4408 4870285.6055 -3360809.6280 0.000 0.000 0.000 TRM59800.00 SCIS + FFMJ1 4053455.7384 617729.8393 4869395.8214 0.000 0.000 0.045 + TITZ1 3993780.4501 450206.8969 4936136.9886 + WARN + SASS1 0.0 0.0 0.0 0.000 0.000 0.031 TPSCR3_GGD CONE TRIMBLE NETR5 + +In this file + +* Record 'WTZR0' describes a stream from a stationary receiver with known a priori marker coordinate, antenna eccentricity, antenna and radome type and receiver type. +* Record 'CUT07' describes a stream from a stationary receiver with known a priori marker coordinate, antenna eccentricity and antenna and radome type. The receiver type is unknown. +* Record 'FFMJ1' describes a stream from a stationary receiver with known a priori marker coordinate and antenna eccentricity but unknown antenna, radome and receiver type. +* Record 'TITZ1' describes a stream coming from a stationary receiver where an a priori marker coordinate is known but antenna eccentricity, name and radome and receiver type are unknown. +* The 4-character station ID 'WARN' indicates that a RINEX observations file for post processing PPP is available for station 'WARN' but an a priori marker coordinate as well as antenna eccentricity, name and radome are unknown. +* Record 'SASS1' stands for a mountpoint where the stream comes from a mobile rover receiver. Hence an a priori coordinate is unknown although antenna eccentricity, name and radome and receiver type are known. + +Version 3 Filenames - optional +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Tick 'Version 3 filenames' to let BNC create so-called extended filenames for PPP logfiles, NMEA files and SINEX Troposphere files to follow the RINEX Version 3 standard, see section 'RINEX Filenames' for details. Default is an empty check box, meaning to create filenames following the RINEX Version 2 standard. The file content is not affected by this option. It only concerns the filename notation. :numref:`Table %s ` and :numref:`Table %s ` give filename examples for RINEX version 2 and 3, respectively. + +.. tabularcolumns:: |p{0.3\textwidth}|p{0.62\textwidth}| + +.. _tab_RINEX2_FILENAMES: +.. table:: File name examples vor RINEX version 2. + + ================ ======================================== + **Filename** **Description** + ================ ======================================== + CUT018671.nmea NMEA filename, suffix 'nmea' + CUT018671.ppp PPP logfile name, suffix 'ppp' + CUT018671J30.tro SINEX Troposphere filename, suffix 'tro' + ================ ======================================== + +.. tabularcolumns:: |p{0.46\textwidth}|p{0.46\textwidth}| + +.. _tab_RINEX3_FILENAMES: +.. table:: File name examples vor RINEX version 3. + + ==================================== ======================================== + **Filename** **Description** + ==================================== ======================================== + CUT000AUS_U_20152920000_01D_01S.nmea NMEA filename, suffix 'nmea' + CUT000AUS_U_20152920000_01D_01S.ppp PPP logfile name, suffix 'ppp' + CUT000AUS_U_20152920945_15M_01S.tra SINEX Troposphere filename, suffix 'tra' + ==================================== ======================================== + +.. index:: PPP client logfile + +Logfile Directory - optional +^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Essential PPP results are shown in the 'Log' tab on the bottom of BNC's main window. Depending on the processing options, the following values are presented about once per second (example): + +.. code-block:: console + + ... + 15-10-21 13:23:38 2015-10-21_13:23:38.000 CUT07 X = -2364337.4505 Y = 4870285.6269 Z = -3360809.6481 NEU: -0.0046 -0.0006 +0.0306 TRP: +2.4018 +0.1006 + 15-10-21 13:23:39 2015-10-21_13:23:39.000 CUT07 X = -2364337.4468 Y = 4870285.6244 Z = -3360809.6453 NEU: -0.0043 -0.0029 +0.0258 TRP: +2.4018 +0.0993 + 15-10-21 13:23:40 2015-10-21_13:23:40.000 CUT07 X = -2364337.4455 Y = 4870285.6215 Z = -3360809.6466 NEU: -0.0070 -0.0027 +0.0238 TRP: +2.4018 +0.0978 + 15-10-21 13:23:41 2015-10-21_13:23:41.000 CUT07 X = -2364337.4447 Y = 4870285.6248 Z = -3360809.6445 NEU: -0.0039 -0.0049 +0.0249 TRP: +2.4018 +0.0962 + 15-10-21 13:23:42 2015-10-21_13:23:42.000 CUT07 X = -2364337.4426 Y = 4870285.6238 Z = -3360809.6424 NEU: -0.0031 -0.0063 +0.0223 TRP: +2.4018 +0.0950 + 15-10-21 13:23:43 2015-10-21_13:23:43.000 CUT07 X = -2364337.4453 Y = 4870285.6386 Z = -3360809.6518 NEU: -0.0033 -0.0104 +0.0395 TRP: +2.4018 +0.0927 + 15-10-21 13:23:44 2015-10-21_13:23:44.000 CUT07 X = -2364337.4435 Y = 4870285.6354 Z = -3360809.6487 NEU: -0.0027 -0.0106 +0.0348 TRP: +2.4018 +0.0908 + 15-10-21 13:23:45 2015-10-21_13:23:45.000 CUT07 X = -2364337.4445 Y = 4870285.6381 Z = -3360809.6532 NEU: -0.0049 -0.0109 +0.0396 TRP: +2.4018 +0.0884 + 15-10-21 13:23:46 2015-10-21_13:23:46.000 CUT07 X = -2364337.4437 Y = 4870285.6365 Z = -3360809.6548 NEU: -0.0073 -0.0109 +0.0389 TRP: +2.4018 +0.0855 + 15-10-21 13:23:47 2015-10-21_13:23:47.000 CUT07 X = -2364337.4498 Y = 4870285.6317 Z = -3360809.6395 NEU: +0.0049 -0.0033 +0.0294 TRP: +2.4018 +0.0833 + ... + +Each row reports the PPP result of one epoch. It begins with a UTC time stamp (yy-mm-dd hh:mm:ss) which tells us when the result was produced. A second time stamp (yyyy-mm-dd\_hh:mm:ss) describes the PPP's epoch in 'GPS Time'. It is followed by the derived XYZ position in [m], its North, East and Up displacement compared to an introduced a priori coordinate, and the estimated tropospheric delay [m] (model plus correction). If you require more information, you can specify a 'Logfile directory' to save daily logfiles per station (filename suffix 'ppp') with additional processing details on disk: + +.. code-block:: console + + Precise Point Positioning of Epoch 2015-10-21_13:23:47.000 + --------------------------------------------------------------- + 2015-10-21_13:23:47.000 SATNUM G 9 + 2015-10-21_13:23:47.000 SATNUM R 6 + 2015-10-21_13:23:47.000 SATNUM E 0 + 2015-10-21_13:23:47.000 SATNUM C 9 + 2015-10-21_13:23:47.000 RES C01 P3 0.3201 + 2015-10-21_13:23:47.000 RES C02 P3 0.3597 + 2015-10-21_13:23:47.000 RES C03 P3 -0.8003 + 2015-10-21_13:23:47.000 RES C04 P3 2.7684 + 2015-10-21_13:23:47.000 RES C05 P3 4.9738 + 2015-10-21_13:23:47.000 RES C06 P3 0.1888 + 2015-10-21_13:23:47.000 RES C07 P3 -2.8624 + 2015-10-21_13:23:47.000 RES C08 P3 -2.9075 + 2015-10-21_13:23:47.000 RES C10 P3 -1.5682 + 2015-10-21_13:23:47.000 RES G05 P3 0.3828 + 2015-10-21_13:23:47.000 RES G16 P3 -3.7602 + 2015-10-21_13:23:47.000 RES G18 P3 0.8424 + 2015-10-21_13:23:47.000 RES G20 P3 0.4062 + 2015-10-21_13:23:47.000 RES G21 P3 0.8683 + 2015-10-21_13:23:47.000 RES G25 P3 -1.3367 + 2015-10-21_13:23:47.000 RES G26 P3 1.4107 + 2015-10-21_13:23:47.000 RES G29 P3 1.1870 + 2015-10-21_13:23:47.000 RES G31 P3 -0.5605 + 2015-10-21_13:23:47.000 RES R01 P3 -0.1458 + 2015-10-21_13:23:47.000 RES R02 P3 -2.1184 + 2015-10-21_13:23:47.000 RES R14 P3 1.8634 + 2015-10-21_13:23:47.000 RES R15 P3 -1.3964 + 2015-10-21_13:23:47.000 RES R18 P3 0.5517 + 2015-10-21_13:23:47.000 RES R24 P3 1.5750 + 2015-10-21_13:23:47.000 RES C01 L3 -0.0040 + 2015-10-21_13:23:47.000 RES C02 L3 0.0070 + 2015-10-21_13:23:47.000 RES C03 L3 0.0093 + 2015-10-21_13:23:47.000 RES C04 L3 -0.0017 + 2015-10-21_13:23:47.000 RES C05 L3 -0.0008 + 2015-10-21_13:23:47.000 RES C06 L3 -0.0031 + 2015-10-21_13:23:47.000 RES C07 L3 -0.0016 + 2015-10-21_13:23:47.000 RES C08 L3 -0.0089 + 2015-10-21_13:23:47.000 RES C10 L3 0.0051 + 2015-10-21_13:23:47.000 RES G05 L3 -0.0408 + 2015-10-21_13:23:47.000 RES G16 L3 0.0043 + 2015-10-21_13:23:47.000 RES G18 L3 0.0017 + 2015-10-21_13:23:47.000 RES G20 L3 -0.0132 + 2015-10-21_13:23:47.000 RES G21 L3 0.0188 + 2015-10-21_13:23:47.000 RES G25 L3 -0.0059 + 2015-10-21_13:23:47.000 RES G26 L3 0.0028 + 2015-10-21_13:23:47.000 RES G29 L3 0.0062 + 2015-10-21_13:23:47.000 RES G31 L3 0.0012 + 2015-10-21_13:23:47.000 RES R01 L3 0.0260 + 2015-10-21_13:23:47.000 RES R02 L3 -0.0121 + 2015-10-21_13:23:47.000 RES R14 L3 0.0055 + 2015-10-21_13:23:47.000 RES R15 L3 -0.0488 + 2015-10-21_13:23:47.000 RES R18 L3 0.0475 + 2015-10-21_13:23:47.000 RES R24 L3 0.0103 + + 2015-10-21_13:23:47.000 CLK 45386.971 +- 0.163 + 2015-10-21_13:23:47.000 TRP 2.402 +0.083 +- 0.013 + 2015-10-21_13:23:47.000 OFFGLO 1.766 +- 0.250 + 2015-10-21_13:23:47.000 OFFGAL 0.000 +- 1000.001 + 2015-10-21_13:23:47.000 OFFBDS 29.385 +- 0.218 + 2015-10-21_13:23:47.000 AMB C01 239.913 +- 0.149 epo = 180 + 2015-10-21_13:23:47.000 AMB C04 151.821 +- 0.149 epo = 180 + 2015-10-21_13:23:47.000 AMB C05 137.814 +- 0.150 epo = 180 + 2015-10-21_13:23:47.000 AMB C06 -368.848 +- 0.149 epo = 180 + 2015-10-21_13:23:47.000 AMB C07 -102.508 +- 0.149 epo = 180 + 2015-10-21_13:23:47.000 AMB C08 -145.358 +- 0.150 epo = 180 + 2015-10-21_13:23:47.000 AMB C10 195.732 +- 0.149 epo = 180 + 2015-10-21_13:23:47.000 AMB G25 58.320 +- 0.159 epo = 180 + 2015-10-21_13:23:47.000 AMB G26 110.077 +- 0.159 epo = 180 + 2015-10-21_13:23:47.000 AMB G29 -555.466 +- 0.159 epo = 180 + 2015-10-21_13:23:47.000 AMB G31 -47.938 +- 0.159 epo = 180 + 2015-10-21_13:23:47.000 AMB R01 -106.913 +- 0.193 epo = 180 + 2015-10-21_13:23:47.000 AMB R02 168.316 +- 0.194 epo = 180 + 2015-10-21_13:23:47.000 AMB R24 189.793 +- 0.193 epo = 180 + 2015-10-21_13:23:47.000 AMB C02 -50.146 +- 0.149 epo = 175 + 2015-10-21_13:23:47.000 AMB G05 -185.211 +- 0.173 epo = 175 + 2015-10-21_13:23:47.000 AMB R14 -509.359 +- 0.194 epo = 175 + 2015-10-21_13:23:47.000 AMB R15 65.355 +- 0.194 epo = 175 + 2015-10-21_13:23:47.000 AMB R18 -105.206 +- 0.204 epo = 170 + 2015-10-21_13:23:47.000 AMB G16 215.751 +- 0.160 epo = 165 + 2015-10-21_13:23:47.000 AMB G18 -168.240 +- 0.159 epo = 165 + 2015-10-21_13:23:47.000 AMB G20 -284.129 +- 0.159 epo = 165 + 2015-10-21_13:23:47.000 AMB G21 -99.245 +- 0.159 epo = 165 + 2015-10-21_13:23:47.000 AMB C03 -117.727 +- 0.149 epo = 30 + + 2015-10-21_13:23:47.000 CUT07 X = -2364337.4498 +- 0.0279 Y = 4870285.6317 +- 0.0388 Z = -3360809.6395 +- 0.0313 dN = 0.0049 +- 0.0248 dE = -0.0033 +- 0.0239 dU = 0.0294 +- 0.0456 + +Depending on selected processing options you find 'GPS Time' stamps (yyyy-mm-dd\_hh:mm:ss.sss) followed by + +* SATNUM: Number of satellites per GNSS, +* RES: Code and phase residuals for contributing GNSS systems in [m] + + Given per satellite with cIF/lIF for ionosphere-free linear combination of code/phase observations, +* CLK: Receiver clock errors in [m], +* TRP: A priori and correction values of tropospheric zenith delay in [m], +* OFFGLO: Time offset between GPS time and GLONASS time in [m], +* OFFGAL: Time offset between GPS time and Galileo time in [m], +* OFFBDS: Time offset between GPS time and BDS time in [m], +* AMB: L3 biases, also known as 'floated ambiguities' + + Given per satellite with 'nEpo' = number of epochs since last ambiguity reset, +* MOUNTPOINT: Here 'CUT07' with XYZ position in [m] and dN/dE/dU in [m] for North, East, and Up displacements compared to a priori marker coordinates. + +Estimated parameters are presented together with their formal errors as derived from the implemented filter. The PPP algorithm includes outlier and cycle slip detection. + +Default value for 'Logfile directory' is an empty option field, meaning that you do not want to save daily PPP logfiles on disk. If a specified directory does not exist, BNC will not create PPP logfiles. + +.. index:: PPP client NMEA output + +NMEA Directory - optional +^^^^^^^^^^^^^^^^^^^^^^^^^ + +You can specify a 'NMEA directory' to save daily NMEA files with Point Positioning results recorded as NMEA sentences. Such sentences are usually generated about once per second with pairs of + +* GPGGA sentences which mainly carry the estimated latitude, longitude, and height values, plus +* GPRMC sentences which mainly carry date and time information. + +The following is an example for an NMEA output file from BNC: + +.. code-block:: none + + $GPRMC,112348,A,3200.233,S,11553.688,E,,,300615,,*A + $GPGGA,112348,3200.2332035,S,11553.6880127,E,1,13,1.4,23.971,M,0.0,M,,*5D + $GPRMC,112349,A,3200.233,S,11553.688,E,,,300615,,*B + $GPGGA,112349,3200.2332035,S,11553.6880127,E,1,13,1.4,23.971,M,0.0,M,,*5C + $GPRMC,112350,A,3200.233,S,11553.688,E,,,300615,,*3 + $GPGGA,112350,3200.2332035,S,11553.6880127,E,1,13,1.4,23.971,M,0.0,M,,*54 + $GPRMC,112351,A,3200.233,S,11553.688,E,,,300615,,*2 + $GPGGA,112351,3200.2332035,S,11553.6880127,E,1,13,1.4,23.971,M,0.0,M,,*55 + $GPRMC,112352,A,3200.233,S,11553.688,E,,,300615,,*1 + $GPGGA,112352,3200.2332035,S,11553.6880127,E,1,13,1.4,23.971,M,0.0,M,,*56 + $GPRMC,112353,A,3200.233,S,11553.688,E,,,300615,,*0 + $GPGGA,112353,3200.2332035,S,11553.6880127,E,1,13,1.4,23.971,M,0.0,M,,*57 + $GPRMC,112354,A,3200.233,S,11553.688,E,,,300615,,*7 + $GPGGA,112354,3200.2332035,S,11553.6880127,E,1,13,1.4,23.971,M,0.0,M,,*50 + $GPRMC,112355,A,3200.233,S,11553.688,E,,,300615,,*6 + $GPGGA,112355,3200.2332035,S,11553.6880127,E,1,13,1.4,23.971,M,0.0,M,,*51 + $GPRMC,112356,A,3200.233,S,11553.688,E,,,300615,,*5 + $GPGGA,112356,3200.2332035,S,11553.6880127,E,1,13,1.4,23.971,M,0.0,M,,*52 + ... + +The default value for 'NMEA directory' is an empty option field, meaning that BNC will not save NMEA sentences into files. If a specified directory does not exist, BNC will not create NMEA files. Note that Tomoji Takasu has written a program named RTKPLOT for visualizing NMEA sentences from IP ports or files. It is available from http://www.rtklib.com and compatible with the 'NMEA Directory' and port output of BNC's 'PPP' client option. + +SNX TRO Directory - optional +^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +BNC estimates the tropospheric delay according to equation + +.. math:: + + T(z) = T_{apr}(z) + dT / cos(z) + +where :math:`T_{apr}` is the a priori tropospheric delay derived from Saastamoinen model. + +You can specify a 'SNX TRO Directory' for saving SINEX Troposphere files on disk, see https://igscb.jpl.nasa.gov/igscb/data/format/sinex_tropo.txt for a documentation of the file format. Note that receiver type information for these files must be provided through the coordinates file described in section 'Coordinates file'. The following is an example for a troposphere file content: + +.. code-block:: none + + %=TRO 2.00 BKG 16:053:42824 BKG 16:053:42824 16:053:43199 P 00376 0 T + +FILE/REFERENCE + DESCRIPTION BNC generated SINEX TRO file + OUTPUT Total Troposphere Zenith Path Delay Product + SOFTWARE BNC 2.12 + INPUT Ntrip streams, additional Orbit and Clock information from IGS03 + -FILE/REFERENCE + + +SITE/ID + *CODE PT DOMES____ T _STATION DESCRIPTION__ APPROX_LON_ APPROX_LAT_ _APP_H_ + CUT0 A P AUS 115 53 41.3 -32 0 14.0 24.0 + -SITE/ID + + +SITE/RECEIVER + *SITE PT SOLN T DATA_START__ DATA_END____ DESCRIPTION_________ S/N__ FIRMWARE___ + CUT0 A 0001 P 16:053:42824 16:053:43199 TRM59800.00 SCIS ----- ----------- + -SITE/RECEIVER + + +SITE/ANTENNA + *SITE PT SOLN T DATA_START__ DATA_END____ DESCRIPTION_________ S/N__ + CUT0 A 0001 P 16:053:42824 16:053:43199 TRM59800.00 SCIS ----- + -SITE/ANTENNA + + +SITE/ECCENTRICITY + * UP______ NORTH___ EAST____ + *SITE PT SOLN T DATA_START__ DATA_END____ AXE ARP->BENCHMARK(M)_________ + CUT0 A 0001 P 16:053:42824 16:053:43199 UNE 0.0000 0.0000 0.0000 + -SITE/ECCENTRICITY + + +TROP/COORDINATES + *SITE PT SOLN T STA_X_______ STA_Y_______ STA_Z_______ SYSTEM REMARK + CUT0 A 0001 P -2364337.441 4870285.605 -3360809.628 ITRF08 BKG + -TROP/COORDINATES + + +TROP/DESCRIPTION + *KEYWORD______________________ VALUE(S)______________ + SAMPLING INTERVAL 1 + SAMPLING TROP 1 + ELEVATION CUTOFF ANGLE 7 + TROP MAPPING FUNCTION Saastamoinen + SOLUTION_FIELDS_1 TROTOT STDEV + -TROP/DESCRIPTION + + +TROP/SOLUTION + *SITE EPOCH_______ TROTOT STDEV + CUT0 16:053:42824 0.0 0.0 + CUT0 16:053:42825 2401.7 100.0 + CUT0 16:053:42826 2401.8 100.0 + CUT0 16:053:42827 2401.8 99.9 + CUT0 16:053:42828 2402.1 99.9 + ... + ... + -TROP/SOLUTION + %=ENDTROP + +The default value for 'SNX TRO Directory' is an empty option field, meaning that BNC will not save SINEX Troposphere files. If a specified directory does not exist, BNC will not create SINEX Troposphere files. + +SNX TRO Interval - mandatory if 'SINEX TRO Directory' is set +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Select the length of SINEX Troposphere files. Default 'Interval' for saving SINEX Troposphere files on disk is '1 day'. + +SNX TRO Sampling - mandatory if 'SINEX TRO Directory' is set +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Select a 'Sampling' rate in seconds for saving troposphere parameters. Default 'Sampling' rate is '0', meaning that all troposphere estimates will be saved on disk. + +SNX TRO Analysis Center - Mandatory if 'SINEX TRO Directory' is set +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Specify a 3-character abbreviation describing you as the generating Analysis Center (AC) in your SINEX troposphere files. String 'BKG' is an example. + +SNX TRO Solution ID - Mandatory if 'SINEX TRO Directory' is set +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Specify a 4-character solution ID to allow a distingtion between different solutions per AC. String '0001' is an example. + +.. index:: PPP client station selection + +PPP (2): Processed Stations +--------------------------- + +This panel allows to enter parameters specific to each PPP process or thread. Individual sigmas for a priori coordinates and a noise for coordinate variations over time can be introduced. Furthermore, a sigma for model-based troposphere estimates and the corresponding noise for troposphere variations can be specified. Finally, local IP server ports can be defined for output of NMEA streams carrying PPP results. + +BNC offers to create a table with one line per PPP process or thread to specify station-specific parameters. Hit the 'Add Station' button to create the table or add a new line to it. To remove a line from the table, highlight it by clicking it and hit the 'Delete Station' button. You can also remove multiple lines simultaneously by highlighting them using +Shift or +Ctrl. BNC will simultaneously produce PPP solutions for all stations listed in the 'Station' column of this table, see :numref:`Fig. %s ` for an example screenshot. + +.. _fig_23: +.. figure:: figures/fig_23.png + :scale: 100 % + + Precise Point Positioning with BNC, PPP Panel 2, using RTKPLOT for visualization + +Station - mandatory +^^^^^^^^^^^^^^^^^^^^ + +Hit the 'Add Station' button, double click on the 'Station' field, then specify an observation's mountpoint from the 'Streams' section or introduce the 4-character Station ID of your RINEX observation file and hit Enter. BNC will only produce PPP solutions for stations listed in this table. + +Sigma North/East/Up - mandatory +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Enter sigmas in meters for the initial coordinate components. A value of 100.0 (default) may be an appropriate choice. However, this value may be significantly smaller (e.g. 0.01) when starting for example from a station with a well-known position in so-called Quick-Start mode. + +Noise North/East/Up - mandatory +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Enter a white 'Noise' in meters for estimated coordinate components. A value of 100.0 (default) may be appropriate when considering possible sudden movements of a rover. + +Tropo Sigma - mandatory +^^^^^^^^^^^^^^^^^^^^^^^ + +Enter a sigma in meters for the a priori model based tropospheric delay estimation. A value of 0.1 (default) may be an appropriate choice. + +Tropo Noise - mandatory +^^^^^^^^^^^^^^^^^^^^^^^ + +Enter a white 'Noise' in meters per second to describe the expected variation of the tropospheric effect. Supposing 1Hz observation data, a value of 3e-6 (default) would mean that the tropospheric effect may vary for 3600 * 3e-6 = 0.01 meters per hour. + +NMEA Port - optional +^^^^^^^^^^^^^^^^^^^^ + +Specify the IP port number of a local port where Point Positioning results become available as NMEA sentences. The default value for 'NMEA Port' is an empty option field, meaning that BNC does not provide NMEA sentences via IP port. Note that NMEA file output and NMEA IP port output are the same. + +Note also that Tomoji Takasu has written a program named RTKPLOT for visualizing NMEA sentences from IP ports or files. It is available from http://www.rtklib.com and compatible with the NMEA file and port output of BNC's 'PPP' client option. + +Furthermore, NASA's 'World Wind' software (see http://worldwindcentral.com/wiki/NASA_World_Wind_Download) 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 http://worldwindcentral.com/wiki/GPS_Tracker for that. The 'Word Wind' map resolution is not meant for showing centimeter level details. + +.. index:: PPP client processing options + +PPP (3): Processing Options +--------------------------- + +BNC allows using various Point Positioning processing options depending on the capability of the involved receiver and the application in mind. You can introduce specific sigmas for code and phase observations as well as for a priori coordinates and troposphere estimates. You could also carry out your PPP solution in Quick-Start mode or enforce BNC to restart a solution if the length of an outage exceeds a certain threshold. The intention of this panel is to specify general processing options to be applied to all PPP threads in one BNC job, see :numref:`Fig. %s ` for an example setup. + +.. _fig_24: +.. figure:: figures/fig_24.png + :scale: 100 % + + Precise Point Positioning with BNC, PPP Panel 3 + +.. index:: PPP client linear combinations + +Linear Combinations - mandatory +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Specify on which ionosphere-free Linear Combinations (LCs) of observations you want to base ambiguity resolutions :cite:`mervart2008a`. This implicitly defines the kind of GNSS observations you want to use. The specification is to be done per GNSS system ('GPS LCs', 'GLONASS LCs', 'Galileo LCs', 'BDS LCs'). + +* Selecting 'P3' means that you request BNC to use code data and the so-called P3 ionosphere-free linear combinations of code observations. +* 'P3\&L3' means that you request BNC to use both, code and phase data and the so-called P3 and L3 ionosphere-free linear combinations of code and phase observations. + +Note that most geodetic GPS receivers support the observation of both, code and phase data. Hence, specifying 'P3\&L3' would be a good choice for GPS when processing data from such a receiver. If multi-GNSS data processing is your intention, make sure your receiver supports GLONASS and/or Galileo and/or BDS observations besides GPS. Note also that the Broadcast Correction stream or file, which is required for PPP, also supports all the systems you have in mind. + +Specifying 'no' means that you do not at all want BNC to use observations from the affected GNSS system. + +.. index:: PPP client code observations + +Code Observations - mandatory +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Enter a 'Sigma C1' for C1 code observations in meters. The bigger the sigma you enter, the less the contribution of C1 code observations to a PPP solution based on a combination of code and phase data. '2.0' meters is likely to be an appropriate choice. Specify a maximum for residuals 'Max Res C1' for C1 code observations in a PPP solution. '3.0' meters may be an appropriate choice for that. If the maximum is exceeded, contributions from the corresponding observation will be ignored in the PPP solution. + +.. index:: PPP client phase observations + +Phase Observations - mandatory +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Enter a 'Sigma L1' for L1 phase observations in meters. The bigger the sigma you enter, the less the contribution of L1 phase observations to a PPP solutions based on a combination of code and phase data. '0.01' meters is likely to be an appropriate choice. Specify a maximum for residuals 'Max Res L1' for L1 phase observations in a PPP solution. '0.03' meters may be an appropriate choice for that. If the maximum is exceeded, contributions from the corresponding observation will be ignored in the PPP solution. + +As the convergence characteristic of a PPP solution can be influenced by the ratio of sigmas for code and phase, you may like to introduce sigmas which differ from the default values: + +* Introducing a smaller sigma (higher accuracy) for code observations or a bigger sigma for phase observations leads to better results shortly after program start. However, it may take more time until you finally get the best possible solution. +* Introducing a bigger sigma (lower accuracy) for code observations or a smaller sigma for phase observations may lead to less accurate results shortly after program start and thus a prolonged period of convergence but could provide better positions in the long run. + +.. index:: PPP client elevation dependent weighting + +Elevation Dependent Weighting - mandatory +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +BNC allows elevation dependent weighting when processing GNSS observations. A weight function + +.. math:: + + P = cos^2 * z + +with :math:`z` being the zenith distance to the involved satellite can be applied instead of the simple weight function 'P = 1' independent from satellite elevation angles: + +* Tick 'Ele Wgt Code' if you want Elevation Dependent Weighting for code observations. +* Tick 'Ele Wgt Phase' if you want Elevation Dependent Weighting for phase observations. + +Default is using the plain weight function 'P = 1' for code and phase observations. + +Minimum Number of Observations - mandatory +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Select the minimum number of observations you want to use per epoch. The minimum for parameter 'Min # of Obs' is 4. This is also the default. + +Minimum Elevation - mandatory +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Select a minimum for satellite elevation angles. Selecting '10 deg' for option 'Min Elevation' may be an appropriate choice. Default is '0 deg', meaning that any observation will be used regardless of the involved satellite elevation angle. + +.. index:: PPP client wait for clock corrections + +Wait for Clock Corrections - optional +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Specifying 'no' for option 'Wait for clock corr.' means that BNC processes each epoch of data immediately after arrival using satellite clock corrections available at that time. A non-zero value means that epochs of data are buffered and the processing of each epoch is postponed until satellite clock corrections not older than 'Wait for clock corr.' seconds are available. Specifying a value of half the update rate of the clock corrections (e.g. 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. + +Using observations in sync with the corrections can avoid a possible high frequency noise of PPP solutions. Such noise could result from processing observations regardless of how late after a clock correction they were received. Note that applying the 'Wait for clock corr.' option significantly reduces the PPP computation effort for BNC. + +Default is an empty option field, meaning that you want BNC to process observations immediately after their arrival through applying the latest received clock correction. + +Seeding - optional if a priori coordinates specified in 'Coordinates file' +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Enter the length of a startup period in seconds for which you want to fix the PPP solution to a known position, see option 'Coordinates file'. Constraining a priori coordinates is done in BNC through setting their white 'Noise' temporarily to zero. + +This so-called Quick-Start option allows the PPP solutions to rapidly converge after startup. It requires that the antenna remains unmoved on the known position throughout the defined period. A value of '60' seconds is likely to be an appropriate choice for 'Seeding'. Default is an empty option field, meaning that you do not want BNC to start in Quick-Start mode. + +You may need to create your own reference coordinate beforehand through running BNC for an hour in normal mode before applying the 'Seeding' option. Do not forget to introduce realistic North/East/Up sigmas under panel 'PPP (2)' corresponding to the coordinate's precision. + +'Seeding' has also a function for bridging gaps in PPP solutions from failures caused e.g. by longer lasting outages. Should the time span between two consecutive solutions exceed the limit of 60 seconds (maximum solution gap, hard-wired), the algorithm fixes the latest derived coordinate for a period of 'Seeding' seconds. This option avoids time-consuming reconvergences and makes especially sense for stationary operated receivers where convergence can be enforced because a good approximation for the receiver position is known. + + +:numref:`Fig. %s ` provides the screenshot of an example PPP session with BNC showing the beginning of a time series plot when seeding is set to 30 seconds.. + +.. _fig_25: +.. figure:: figures/fig_25.png + :scale: 100 % + + Precise Point Positioning with BNC in 'Quick-Start' mode, PPP Panel 4 + +.. index:: PPP client plots + +PPP (4): Plots +-------------- + +This panel presents options for visualizing PPP results as a time series plot or as a track map with PPP tracks on top of OSM or Google maps. + +PPP Plot - optional +^^^^^^^^^^^^^^^^^^^ + +PPP time series of North (red), East (green) and Up (blue) displacements will be plotted under the 'PPP Plot' tab when a 'Mountpoint' is specified. Values will be referred to an XYZ reference coordinate (if specified, see 'Coordinates file'). The sliding PPP time series window will cover the period of the latest 5 minutes. Note that a PPP dicplacements time series makes only sense for a stationary operated receiver. + +Audio Response - optional +^^^^^^^^^^^^^^^^^^^^^^^^^ + +For natural hazard prediction and monitoring landslides, it may be appropriate to generate audio alerts. For that you can specify an 'Audio response' threshold in meters. A beep is produced by BNC whenever a horizontal PPP coordinate component differs by more than the threshold value from the specified marker coordinate. Default is an empty option field, meaning that you do not want BNC to produce acoustic warnings. + +Track Map - optional +^^^^^^^^^^^^^^^^^^^^ + +You may like to track your rover position using Google Maps or OpenStreetMap as a background map. Track maps (example :numref:`Fig. %s `) can be produced with BNC in 'Real-time Streams' mode or in 'RINEX Files' post processing mode with data coming from files. + +.. _fig_26: +.. figure:: figures/fig_26.png + :scale: 100 % + + Track of positions from BNC with Google Maps in background + +Google/OSM - mandatory before pushing 'Open Map' +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Select either 'Google' or 'OSM' as the background map for your rover positions :numref:`(Fig. %s) `. + +.. _fig_27: +.. figure:: figures/fig_27.png + :scale: 100 % + + Example for background map from Google Maps and OpenStreetMap (OSM) + +Dot-properties - mandatory before pushing 'Open Map' +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +PPP tracks are presented on maps through plotting one colored dot per observation epoch. + +Size - mandatory before pushing 'Open Map' +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Specify the size of dots showing the rover position. A dot size of '3' may be appropriate. The maximum possible dot size is '10'. An empty option field or a size of '0' would mean that you do not want BNC to show the rover's track on the map. + +Color - mandatory before pushing 'Open Map' +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Select the color of dots showing the rover track. + +Post Processing Speed - mandatory before pushing 'Open Map' +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +With BNC in PPP 'RINEX File' post processing mode, you can specify the speed of computations as appropriate for visualization. Note that you can adjust 'Post-processing speed' on-the-fly while BNC is already processing your observations. + +.. index:: Correction combination + +Combine Corrections +=================== + +BNC allows processing several orbit and clock correction streams in real-time to produce, encode, upload and save a combination of Broadcast Corrections from various providers. All corrections must refer to satellite Antenna Phase Centers (APC). It is so far only the satellite clock corrections which are combined by BNC while orbit corrections in the combination product as well as product update rates are just taken over from one of the incoming Broadcast Correction streams. Combining only clock corrections using a fixed orbit reference imposes the potential to introduce some analysis inconsistencies. We may therefore eventually consider improvements on this approach. The clock combination can be based either on a plain 'Single-Epoch' or on a Kalman 'Filter' approach. + +In the Kalman Filter approach, satellite clocks estimated by individual Analyses Centers (ACs) are used as pseudo observations within the adjustment process. Each observation is modeled as a linear function (actually a simple sum) of three estimated parameters: AC specific offset, satellite specific offset common to all ACs, and the actual satellite clock correction, which represents the result of the combination. These three parameter types differ in their statistical properties. The satellite clock offsets are assumed to be static parameters while AC specific and satellite specific offsets are stochastic parameters affected by white noise. + +The solution is regularized by a set of minimal constraints. In case of a change of the 'SSR Provider ID', 'SSR Solution ID', or 'IOD SSR' (see section 'Upload Corrections'), the satellite clock offsets belonging to the corresponding analysis center are reset in the adjustment. + +Removing the AC-dependent biases as well as possible is a major issue with clock combinations. Since they vary in time, it can be tricky to do this. Otherwise, there will be artificial jumps in the combined clock stream if one or more AC contributions drop out for certain epochs. Here the Kalman Filter approach is expected to do better than the Single-Epoch approach. + +In view of IGS real-time products, the 'Combine Corrections' functionality has been integrated in BNC :cite:`mervart2011a` because: + +* The software with its Graphic User Interface and range of supported Operating Systems represents a perfect platform to process many Broadcast Correction streams in parallel; +* Outages of single AC product streams can be mitigated through merging several incoming streams into a combined product; +* Generating a combination product from several AC products allows detecting and rejecting outliers; +* A Combination Center (CC) can operate BNC to globally disseminate a combination product via Ntrip broadcast; +* An individual AC could prefer to disseminate a stream combined from primary and backup IT resources to reduce outages; +* It enables a BNC PPP user to follow his own preference in combining streams from individual ACs for Precise Point Positioning; +* It allows an instantaneous quality control of the combination process not only in the time domain but also in the space domain; this can be done by direct application of the combined stream in a PPP solution even without prior upload to an Ntrip Broadcaster; +* It provides the means to output SP3 and Clock RINEX files containing precise orbit and clock information for further processing using other tools than BNC. + +Note that the combination process requires real-time access to Broadcast Ephemeris. Therefore, in addition to the orbit and clock correction streams BNC must pull a stream carrying Broadcast Ephemeris in the form of RTCM Version 3 messages. Stream 'RTCM3EPH' on caster products.igs-ip.net is an example for that. Note further that BNC will ignore incorrect or outdated Broadcast Ephemeris data when necessary, leaving a note 'WRONG EPHEMERIS' or 'OUTDATED EPHEMERIS' in the logfile. + +A combination is carried out following a specified sampling interval. BNC waits for incoming Broadcast Corrections for the period of one such interval. Corrections received later than that will be ignored. If incoming streams have different rates, only epochs that correspond to the sampling interval are used. + +With respect to IGS, it is important to understand that a major effect in the combination of GNSS orbit and clock correction streams is the selection of ACs to include. It is likely that a combination product could be improved in accuracy by using only the best two or three ACs. However, with only a few ACs to depend on, the reliability of the combination product could suffer and the risk of total failures increases. So there is an important tradeoff here that must be considered when selecting streams for a combination. The major strength of a combination product is its reliability and stable median performance which can be much better than that of any single AC product. + +This comment applies in situations where we have a limited number of solutions to combine and their quality varies significantly. The situation may be different when the total number of ACs is larger and the range of AC variation is smaller. In that case, a standard full combination is probably the best. + +The following recursive algorithm is used to detect orbit outliers in the Kalman Filter combination when Broadcast Corrections are provided by several ACs: + +1. We do not produce a combination for a certain satellite if only one AC provides corrections for it. +2. A mean satellite position is calculated as the average of positions from all ACs. +3. For each AC and satellite, the 3D distance between individual and mean satellite position is calculated. +4. We find the greatest difference between AC specific and mean satellite positions. +5. If that is less than a threshold, the conclusion is that we do not have an outlier and can proceed to the next epoch. +6. If that is greater than a threshold, then corrections of the affiliated AC are ignored for the affected epoch and the outlier detection restarts with 1. + +The screenshot in :numref:`Fig. %s ` shows an example setup of BNC when combining Broadcast Correction streams CLK11, CLK21, CLK91, and CLK80. + +.. _fig_28: +.. figure:: figures/fig_28.png + :scale: 100 % + + BNC combining Broadcast Correction streams + +Note that BNC can produce an internal PPP solution from combined Broadcast Corrections. For that you have to specify the keyword 'INTERNAL' as 'Corrections stream' in the PPP (1) panel. The example in :numref:`Fig. %s ` combines correction streams IGS01 and IGS02 and simultaneously carries out a PPP solution with observations from stream FFMJ1 to allow monitoring the quality of the combination product in the space domain. + +.. _fig_29: +.. figure:: figures/fig_29.png + :scale: 100 % + + 'INTERNAL' PPP with BNC using a combination of Broadcast Corrections + +Combine Corrections Table - optional +------------------------------------ + +Hit the 'Add Row' button, double click on the 'Mountpoint' field, enter a Broadcast Correction mountpoint from the 'Streams' section and hit Enter. Then double click on the 'AC Name' field to enter your choice of an abbreviation for the Analysis Center (AC) providing the Antenna Phase Center (APC) related correction stream. Finally, double click on the 'Weight' field to enter a weight to be applied to this stream in the combination. + +The sequence of entries in the 'Combine Corrections' table is not of importance. Note that the orbit information in the final combination stream is just copied from one of the incoming streams. The stream used for providing the orbits may vary over time: if the orbit-providing stream has an outage then BNC switches to the next remaining stream for getting hold of the orbit information. + +It is possible to specify only one Broadcast Ephemeris correction stream in the 'Combine Corrections' table. Instead of combining corrections from several sources, BNC will then merge the single corrections stream with Broadcast Ephemeris to allow saving results in SP3 and/or Clock RINEX format when specified accordingly under the 'Upload Corrections' panel. Note that in such a BNC application you must not pull more than one Broadcast Ephemeris correction stream even if a second stream would provide the same corrections from a backup caster. + +Default is an empty 'Combine Corrections' table, meaning that you do not want BNC to combine orbit and clock correction streams. + +Add Row, Delete - optional +-------------------------- + +Hit 'Add Row' button to add another row to the 'Combine Corrections' table or hit the 'Delete' button to delete the highlighted row(s). + +Method - mandatory if 'Combine Corrections' table is populated +-------------------------------------------------------------- + +Select a clock combination method. Available options are Kalman 'Filter' and 'Single-Epoch. It is suggested to use the Kalman Filter approach in case the combined stream of Broadcast Corrections is intended for Precise Point Positioning. + +Maximal Residuum - mandatory if 'Combine Corrections' table is populated +------------------------------------------------------------------------ + +BNC combines all incoming clocks according to specified weights. Individual clock estimates that differ by more than 'Maximal Residuum' meters from the average of all clocks will be ignored. It is suggested to specify a value of about 0.2 m for the Kalman Filter combination approach and a value of about 3.0 meters for the Single-Epoch combination approach. Default is a 'Maximal Residuum' of 999.0 meters. + +Sampling - mandatory if 'Combine Corrections' table is populated +---------------------------------------------------------------- + +Specify a combination sampling interval. Orbit and clock corrections will be produced following that interval. A value of 10 sec may be an appropriate choice. + +Use GLONASS - optional +---------------------- + +You may tick the 'Use GLONASS' option in case you want to produce a GPS plus GLONASS combination and both systems are supported by the Broadcast Correction streams participating in the combination. + +.. index:: Corrections upload + +Upload Corrections +================== + +BNC can upload streams carrying orbit and clock corrections to Broadcast Ephemeris in radial, along-track and out-of-plane components if they are: + +1. either generated by BNC as a combination of several individual Broadcast Correction streams coming from an number of real-time Analysis Centers (ACs), see section 'Combine Corrections', +2. or generated by BNC while the program receives an ASCII stream of precise satellite orbits and clocks via IP port from a connected real-time GNSS engine. Such a stream would be expected in a plain ASCII format and the associated 'decoder' string would have to be 'RTNET', see format description below. + +The procedure taken by BNC to generate the orbit and clock corrections to Broadcast Ephemeris and upload them to an Ntrip Broadcaster is as follow: + +* Continuously receive up-to-date Broadcast Ephemeris carrying approximate orbits and clocks for all satellites. Read new Broadcast Ephemeris immediately whenever they become available. This information may come via a stream of RTCM messages generated from another BNC instance. + +Then, epoch by epoch: + +* Continuously receive the best available orbit and clock 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. +* Calculate XYZ coordinates from Broadcast Ephemeris orbits. +* Calculate differences dX,dY,dZ between Broadcast Ephemeris and IGS08 orbits. +* Transform these differences into radial, along-track and out-of-plane corrections to Broadcast Ephemeris orbits. +* Calculate corrections to Broadcast Ephemeris clocks as differences between Broadcast Ephemeris clocks and IGS08 clocks. +* Encode Broadcast Ephemeris orbit and clock corrections in RTCM Version 3 format. +* Upload Broadcast Correction stream to Ntrip Broadcaster. + +The orbit and clock corrections to Broadcast Ephemeris are usually referred to the latest set of broadcast messages, which are generally also received in real-time by a GNSS rover. However, the use of the latest broadcast message is delayed for a period of 60 seconds, measured from the time of complete reception of ephemeris and clock parameters, in order to accommodate rover applications to obtain the same set of broadcast orbital and clock parameters. This procedure is recommended in the RTCM SSR standard. Because the stream delivery process may put a significant load on the communication link between BNC and the real-time GNSS engine, it is recommended to run both programs on the same host. However, doing so is not compulsory. + +The usual handling of BNC when uploading a stream with Broadcast Corrections is that you first specify Broadcast Ephemeris and Broadcast Correction streams. You then specify an Ntrip Broadcaster for stream upload before you start the program. + +.. index:: RTNet stream format + +**'RTNET' Stream Format** + +When uploading an SSR stream generated according to 2. then BNC requires precise GNSS orbits and clocks in the IGS Earth-Centered-Earth-Fixed (ECEF) reference system and in a specific ASCII format named 'RTNET' because the data may come from a real-time engine such as RTNET. The sampling interval for data transmission should not exceed 15 sec. Note that otherwise tools involved in IP streaming such as Ntrip Broadcasters or Ntrip Clients may respond with a timeout. + +Below you find an example for the 'RTNET' ASCII format coming from a real-time GNSS engine. Each epoch begins with an asterisk character followed by the time as year, month, day of month, hour, minute and second. Subsequent records can provide + +.. code-block:: none + + * 2015 6 11 15 10 40.000000 + +Subsequent records can provide + +* Satellite specific parameters + +A set of parameters can be defined for each satellite as follows: + +.. code-block:: console + + + ... + +The satellite specific keys and values currently specified for that in BNC are listed in :numref:`Table %s `. + +.. tabularcolumns:: |p{0.3\textwidth}|p{0.62\textwidth}| + +.. _tab_SAT_SPEC_PARAMETER_KEYS: +.. table:: Keys for satellite specific parameters used in BNC. + + ============ ============================================================================ + **KeyName** **Values** + ============ ============================================================================ + APC Satellite Antenna Phase Center coordinates in meters + Clk Satellite clock correction in meters, relativistic correction applied like in broadcast clocks + Vel Satellite velocity in meters per second + CoM Satellite Center of Mass coordinates in meters + CodeBias Satellite Code Biases in meters with two characters for frequency and tracking mode per bias as defined in RINEX 3 and preceded by total number of biases + YawAngle Satellite Yaw Angle in radian, restricted to be in [0, 2π] which shall be used for the computation of phase wind-up correction + YawRate Satellite Yaw Rate in radian per second which is the rate of Yaw Angle + PhaseBias Satellite Phase Biases in meters with two characters for frequency and tracking mode per bias as defined in RINEX 3, preceded by total number of biases and followed by Signal Integer Indicator, Signals Wilde-Lane Integer Indicator as well as Signal Discontinuity Counter + ============ ============================================================================ + +* Non-satellite specific parameters + +The following syntax will be used: + +.. code-block:: console + + + +The non-satellite specific keys and values currently specified in BNC are listed in :numref:`Table %s `. + +.. tabularcolumns:: |p{0.3\textwidth}|p{0.62\textwidth}| + +.. _tab_NON_SAT_SPEC_PARAMETER_KEYS: +.. table:: Keys for non-satellite specific parameters used in BNC. + + ============ ============================================================================ + **KeyName** **Values** + ============ ============================================================================ + IND Phase bias information followed by Dispersive Bias Consistency Indicator and MW Consistency Indicator + VTEC Vertical TEC information followed by Update Interval and Number of Ionospheric Layers + ============ ============================================================================ + +If key VTEC is specified, a data set for each layer contains within its first line the Layers Number, followed by Maximum Degree, Maximum Order and Layer Height. After that, Cosine and Sinus Spherical Harmonic Coefficients will follow, one block each. + +Because each keyword is associated to a certain number of values, an 'old' BNC could be operated with an incoming 'new' RTNET stream containing so far unknown keys - they would just be skipped in BNC. + +Example for 'RTNET' stream content and format: + +.. code-block:: console + + * 2015 6 11 15 10 40.000000 + VTEC 0 1 0 6 6 450000.0 20.4660 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 5.3590 9.6580 0.0000 0.0000 0.0000 0.0000 0.0000 -6.3610 -0.1210 1.1050 0.0000 0.0000 0.0000 0.0000 -2.7140 -1.8200 -0.9920 -0.6430 0.0000 0.0000 0.0000 1.9140 -0.5180 0.2530 0.0870 -0.0110 0.0000 0.0000 2.2950 1.0510 -0.9540 0.6220 -0.0720 -0.0810 0.0000 -0.9760 0.7570 0.2320 -0.2520 0.1970 -0.0680 -0.0280 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.2720 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 1.1100 -1.0170 0.0000 0.0000 0.0000 0.0000 0.0000 -1.1500 0.5440 0.9890 0.0000 0.0000 0.0000 0.0000 -0.3770 -0.1990 0.2670 -0.0470 0.0000 0.0000 0.0000 0.6550 -0.0130 -0.2310 -0.4810 -0.3510 0.0000 0.0000 0.2360 -0.0710 0.0280 0.1900 -0.0810 0.0710 + IND 0 1 + G01 APC 3 -14442611.532 -13311059.070 -18020998.395 Clk 1 -1426.920500 Vel 3 2274.647600 -28.980300 -1787.861900 CoM 3 -14442612.572 -13311059.518 -18020999.539 CodeBias 6 1W -3.760000 1C -3.320000 2W -6.200000 2X -5.780000 1H -3.350000 5I -5.430000 YawAngle 1 -0.315600 YawRate 1 0.0 PhaseBias 3 1C 3.9473 1 2 4 2W 6.3143 1 2 4 5I 6.7895 1 2 4 + G02 APC 3 -8859103.160 14801278.856 20456920.800 Clk 1 171219.083500 Vel 3 -2532.296700 -161.275800 -1042.884100 CoM 3 -8859103.418 14801279.287 20456921.395 CodeBias 6 1W 3.930000 1C 3.610000 2W 6.480000 2X 0.000000 1H 3.580000 5I 0.000000 YawAngle 1 -0.693500 YawRate 1 0.0 PhaseBias 2 1C -4.0902 1 2 4 2W -6.7045 1 2 4 + G03 APC 3 -13788295.679 -22525098.353 2644811.508 Clk 1 104212.074300 Vel 3 102.263400 -429.953400 -3150.231900 CoM 3 -13788296.829 -22525099.534 2644811.518 CodeBias 6 1W -2.650000 1C -2.160000 2W -4.360000 2X -4.480000 1H -2.070000 5I -5.340000 YawAngle 1 -0.428800 YawRate 1 0.0 PhaseBias 3 1C 2.9024 1 2 2 2W 4.6124 1 2 2 5I 5.3694 1 2 2 + ... + R01 APC 3 -6783489.153 -23668850.753 6699094.457 Clk 1 - 45875.658100 Vel 3 -267.103000 -885.983700 -3403.253200 CoM 3 -6783489.307 -23668853.173 6699095.274 CodeBias 4 1P -2.496400 1C -2.490700 2P -4.126600 2C -3.156200 + R02 APC 3 -11292959.022 -10047039.425 20577343.288 Clk 1 41215.750900 Vel 3 -476.369400 -2768.936600 -1620.000600 CoM 3 -11292959.672 -10047040.710 20577345.344 CodeBias 4 1P 0.211200 1C 0.391300 2P 0.349100 2C 0.406300 + R03 APC 3 -9226469.614 9363128.850 21908853.313 Clk 1 13090.322800 Vel 3 -369.088600 -2964.934500 1111.041000 CoM 3 -9226470.226 9363129.442 21908855.791 CodeBias 4 1P 2.283800 1C 2.483800 2P 3.775300 2C 3.785500 + ... + E11 APC 3 2965877.898 17754418.441 23503540.946 Clk 1 33955.329000 Vel 3 -1923.398100 1361.709200 -784.555800 CoM 3 2965878.082 17754418.669 23503541.507 CodeBias 3 1B 1.382100 5Q 2.478400 7Q 2.503300 + E12 APC 3 -14807433.144 21753389.581 13577231.476 Clk 1 -389652.211900 Vel 3 -1082.464300 825.868400 -2503.982200 CoM 3 -14807433.366 21753389.966 13577231.926 CodeBias 3 1B 0.386600 5Q 0.693300 7Q 0.534700 + E19 APC 3 -15922225.351 8097517.292 23611910.403 Clk 1 -2551.650800 Vel 3 -183.377800 -2359.143700 684.105100 CoM 3 -15922225.569 8097517.329 23611910.995 CodeBias 3 1B -1.777000 5Q -3.186600 7Q -3.069100 + ... + EOE + +Note that the end of an epoch in the incoming stream is indicated by an ASCII string 'EOE' (for End Of Epoch). + +When using clocks from Broadcast Ephemeris (with or without applied corrections) or clocks from SP3 files, it may be important to understand that they are not corrected for the conventional periodic relativistic effect. Chapter 10 of the IERS Conventions 2003 mentions that the conventional periodic relativistic correction to the satellite clock (to be added to the broadcast clock) is computed as + +.. math:: + + dt = -2 (R * V) / c^2 + +where :math:`R * V` is the scalar product of the satellite position and velocity and :math:`c` is the speed of light. This can also be found in the GPS Interface Specification, IS-GPS-200, Revision D, 7 March 2006. + +Add, Delete Row - optional +-------------------------- + +Hit 'Add Row' button to add a row to the stream 'Upload Table' or hit the 'Delete' button to delete the highlighted row(s). Having an empty 'Upload Table' is default and means that you do not want BNC to upload orbit and clock correction streams to any Ntrip Broadcaster. + +Host, Port, Mountpoint, Password - optional +------------------------------------------- + +Specify the domain name or IP number of an Ntrip Broadcaster for uploading the stream. Furthermore, specify the caster's listening IP port, an upload mountpoint and an upload password. Note that Ntrip Broadcasters are often configured to provide access through more than one port, usually ports 80 and 2101. If you experience communication problems on port 80, you should try to use the alternative port(s). + +BNC uploads a stream to the Ntrip Broadcaster by referring to a dedicated mountpoint that has been set by its operator. Specify the mountpoint based on the details you received for your stream from the operator. It is often a 4-character ID (capital letters) plus an integer number. + +The stream upload may be protected through an upload 'Password'. Enter the password you received from the Ntrip Broadcaster operator along with the mountpoint(s). + +If 'Host', 'Port', 'Mountpoint' and 'Password' are set, the stream will be encoded in RTCM's 'State Space Representation' (SSR) messages and uploaded to the specified broadcaster following the Ntrip Version 1 transport protocol. + +.. index:: Reference system realizations + +System - mandatory if 'Host' is set +----------------------------------- + +BNC allows configuring several Broadcast Correction streams for upload so that they refer to different reference systems and different Ntrip Broadcasters. You may use this functionality for parallel support of a backup Ntrip Broadcaster or for simultaneous support of various regional reference systems. Available options for transforming orbit and clock corrections to specific target reference systems are: + +* IGS08 which stands for the GNSS-based IGS realization of the International Terrestrial Reference Frame 2008 (ITRF2008), and +* ETRF2000 which stands for the European Terrestrial Reference Frame 2000 adopted by EUREF, and +* NAD83 which stands for the North American Datum 1983 as adopted for the U.S.A., and +* GDA94 which stands for the Geodetic Datum Australia 1994 as adopted for Australia, and +* SIRGAS2000 which stands for the Geodetic Datum adopted for Brazil, and +* SIRGAS95 which stands for the Geodetic Datum adopted e.g. for Venezuela, and +* DREF91 which stands for the Geodetic Datum adopted for Germany, and +* 'Custom' which allows a transformation of Broadcast Corrections from the IGS08 system to any other system through specifying up to 14 Helmert Transformation Parameters. + +Because a mathematically strict transformation to a regional reference system is not possible on the BNC server side when a scale factor is involved, the program follows an approximate solution. While orbits are transformed in full accordance with given equations, a transformed clock is derived through applying correction term + +.. math:: + + dC = (s - 1) / s * \rho / c + +where :math:`s` is the transformation scale, :math:`c` is the speed of light, and :math:`ρ` is the topocentric distance between an (approximate) center of the transformation's validity area and the satellite. + +From a theoretical point of view, this kind of approximation leads to inconsistencies between orbits and clocks and is therefore not allowed :cite:`huisman2012a`. However, it has been proved that resulting errors in Precise Point Positioning are on millimeter level for horizontal components and below one centimeter for height components. The Australian GDA94 transformation with its comparatively large scale parameter is an exception in this as discrepancies may reach up there to two centimeters. + +IGS08: As the orbits and clocks coming from real-time GNSS engine are expected to be in the IGS08 system, no transformation is carried out if this option is selected. + +ETRF2000: The formulas for the transformation 'ITRF2008->ETRF2000' are taken from 'Claude Boucher and Zuheir Altamimi 2008: Specifications for reference frame fixing in the analysis of EUREF GPS campaign', see http://etrs89.ensg.ign.fr/memo-V8.pdf. The following 14 Helmert Transformation Parameters were introduced: + +.. code-block:: console + + Translation in X at epoch To: 0.0521 m + Translation in Y at epoch To: 0.0493 m + Translation in Z at epoch To: -0.0585 m + Translation rate in X: 0.0001 m/y + Translation rate in Y: 0.0001 m/y + Translation rate in Z: -0.0018 m/y + Rotation in X at epoch To: 0.891 mas + Rotation in Y at epoch To: 5.390 mas + Rotation in Z at epoch To: -8.712 mas + Rotation rate in X: 0.081 mas/y + Rotation rate in Y: 0.490 mas/y + Rotation rate in Z: -0.792 mas/y + Scale at epoch To : 0.00000000134 + Scale rate: 0.00000000008 /y + To: 2000.0 + +NAD83: Formulas for the transformation 'ITRF2008->NAD83' are taken from :cite:`pearson2013a`: + +.. code-block:: console + + Translation in X at epoch To: 0.99343 m + Translation in Y at epoch To: -1.90331 m + Translation in Z at epoch To: -0.52655 m + Translation rate in X: 0.00079 m/y + Translation rate in Y: -0.00060 m/y + Translation rate in Z: -0.00134 m/y + Rotation in X at epoch To: -25.91467 mas + Rotation in Y at epoch To: -9.42645 mas + Rotation in Z at epoch To: -11.59935 mas + Rotation rate in X: -0.06667 mas/y + Rotation rate in Y: 0.75744 mas/y + Rotation rate in Z: 0.05133 mas/y + Scale at epoch To : 0.00000000171504 + Scale rate: -0.00000000010201 /y + To: 1997.0 + +GDA94: The formulas for the transformation 'ITRF2008->GDA94' are taken from :cite:`dawson2010a`: + +.. code-block:: console + + Translation in X at epoch To: -0.08468 m + Translation in Y at epoch To: -0.01942 m + Translation in Z at epoch To: 0.03201 m + Translation rate in X: 0.00142 m/y + Translation rate in Y: 0.00134 m/y + Translation rate in Z: 0.00090 m/y + Rotation in X at epoch To: 0.4254 mas + Rotation in Y at epoch To: -2.2578 mas + Rotation in Z at epoch To: -2.4015 mas + Rotation rate in X: -1.5461 mas/y + Rotation rate in Y: -1.1820 mas/y + Rotation rate in Z: -1.1551 mas/y + Scale at epoch To : 0.000000009710 + Scale rate: 0.000000000109 /y + To: 1994.0 + +SIRGAS2000: The formulas for the transformation 'ITRF2008->SIRGAS2000' were provided by :cite:`ibge_dgc2016a`: + +.. code-block:: console + + Translation in X at epoch To: 0.0020 m + Translation in Y at epoch To: 0.0041 m + Translation in Z at epoch To: 0.0039 m + Translation rate in X: 0.0000 m/y + Translation rate in Y: 0.0000 m/y + Translation rate in Z: 0.0000 m/y + Rotation in X at epoch To: 0.170 mas + Rotation in Y at epoch To: -0.030 mas + Rotation in Z at epoch To: 0.070 mas + Rotation rate in X: 0.000 mas/y + Rotation rate in Y: 0.000 mas/y + Rotation rate in Z: 0.000 mas/y + Scale at epoch To : -0.000000001000 + Scale rate: 0.000000000000 /y + To: 0000.0 + +SIRGAS95: The formulas for the transformation 'ITRF2005->SIRGAS95' were provided by :cite:`acuha2016a` , parameters based on values from :cite:`sirgas2009a`, Table 4.1: + +.. code-block:: console + + Translation in X at epoch To: 0.0077 m + Translation in Y at epoch To: 0.0058 m + Translation in Z at epoch To: -0.0138 m + Translation rate in X: 0.0000 m/y + Translation rate in Y: 0.0000 m/y + Translation rate in Z: 0.0000 m/y + Rotation in X at epoch To: 0.000 mas + Rotation in Y at epoch To: 0.000 mas + Rotation in Z at epoch To: -0.003 mas + Rotation rate in X: 0.000 mas/y + Rotation rate in Y: 0.000 mas/y + Rotation rate in Z: 0.000 mas/y + Scale at epoch To : 0.00000000157 + Scale rate: -0.000000000000 /y + To: 1995.4 + +DREF91 14 Helmert transformation parameters have been introduced :cite:`franke2008a`: + +.. code-block:: console + + Translation in X at epoch To: -0.0118 m + Translation in Y at epoch To: 0.1432 m + Translation in Z at epoch To: -0.1117 m + Translation rate in X: 0.0001 m/y + Translation rate in Y: 0.0001 m/y + Translation rate in Z: -0.0018 m/y + Rotation in X at epoch To: 3.291 mas + Rotation in Y at epoch To: 6.190 mas + Rotation in Z at epoch To: -11.012 mas + Rotation rate in X: 0.081 mas/y + Rotation rate in Y: 0.490 mas/y + Rotation rate in Z: -0.792 mas/y + Scale at epoch To : 0.00000001224 + Scale rate: 0.00000000008 /y + To: 2000.0 + +Custom: Feel free to specify your own 14 Helmert Transformation parameters for transformations from IGS08/ITRF2008 into your own target system (see :numref:`Fig. %s `). + +.. _fig_30: +.. figure:: figures/fig_30.png + :scale: 60 % + + Setting BNC's Custom Transformation Parameters window, example for 'ITRF2008->GDA94' + +Center of Mass - optional +------------------------- + +BNC allows to either refer Broadcast Corrections to the satellite's Center of Mass (CoM) or to the satellite's Antenna Phase Center (APC). By default, corrections refer to APC. Tick 'Center of Mass' to refer uploaded corrections to CoM. + +SP3 File - optional +------------------- + +Specify a path for saving the generated orbit corrections as SP3 orbit files. If the specified directory does not exist, BNC will not create SP3 orbit files. The following is a path example for a Linux system: + +.. code-block:: console + + /home/user/BNC${GPSWD}.sp3 + +Note that '${GPSWD}' produces the GPS Week and Day number in the filename. Default is an empty option field, meaning that you do not want BNC to save the uploaded stream content in daily SP3 files. + +As a SP3 file content 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 option 'ANTEX File' below). Hence, you should specify the 'ANTEX File' path there if you want to save the stream content in SP3 format. If you do not specify an 'ANTEX File' path, the SP3 file content will be referred to the satellites APCs. + +The filenames for the daily SP3 files follow the convention for SP3 filenames. The first three characters of each filename are set to 'BNC'. Note that clocks in the SP3 orbit files are not corrected for the conventional periodic relativistic effect. + +In case the 'Combine Corrections' table contains only one Broadcast Correction stream, BNC will merge that stream with Broadcast Ephemeris to save results in files specified here through SP3 and/or Clock RINEX file path. In such a case you have to define only the SP3 and Clock RINEX file path and no further option in the 'Upload Corrections' table. + +Note that BNC outputs a complete list of SP3 'Epoch Header Records', even if no 'Position and Clock Records' are available for certain epochs because of stream outages. Note further that the 'Number of Epochs' in the first SP3 header record may not be correct because that number is not available when the file is created. Depending on your processing software (e.g. Bernese GNSS Software, BSW) it could therefore be necessary to correct an incorrect 'Number of Epochs' in the file before you use it in post processing. + +RNX File - optional +------------------- + +The clock corrections generated by BNC for upload can be logged in Clock RINEX format. The file naming follows the RINEX convention. + +Specify a path for saving the generated clock corrections as Clock RINEX files. If the specified directory does not exist, BNC will not create Clock RINEX files. The following is a path example for a Linux system: + +.. code-block:: console + + /home/user/BNC${GPSWD}.clk + +Note that '${GPSWD}' produces the GPS Week and Day number in the filename. Note further that clocks in the Clock RINEX files are not corrected for the conventional periodic relativistic effect. + +PID, SID, IOD - optional +------------------------ + +When applying Broadcast Ephemeris corrections in a PPP algorithm or in a combination of several correction streams, it is important for the client software to receive information on the continuity of discontinuity of the stream contents. Here you can specify three ID's to describe the contents of your Broadcast Ephemeris correction stream when it is uploaded. + +* A 'SSR Provider ID' is issued by RTCM SC-104 on request to identify a SSR service (see e.g. \url{http://software.rtcm-ntrip.org/wiki/SSRProvider}). This ID is globally unique. Values vary in the range of 0-65535. Values in the range of 0-255 are reserved for experimental services. +* A provider may generate several Broadcast Ephemeris correction streams with different contents. The 'SSR Solution ID' indicates different SSR services of one SSR provider. Values vary in the range of 0-15. +* A change of the 'IOD SSR' is used to indicate a change in the SSR generating configuration which may be relevant for the rover. Values vary in the range of 0-15. + +Interval - mandatory if 'Upload Table' entries specified +-------------------------------------------------------- + +Select the length of Clock RINEX files and SP3 Orbit files. The default value is 1 day. + +Sampling +-------- + +BNC requires an orbit corrections sampling interval for the stream to be uploaded and sampling intervals for SP3 and Clock RINEX files. The outgoing stream's clock correction sampling interval follows that of incoming corrections and is therefore nothing to be specified here. + +Orbits (Orb) - mandatory if 'Upload Table' entries specified +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Select the stream's orbit correction sampling interval in seconds. A value of 60 sec may be appropriate. A value of zero '0' tells BNC to upload all orbit correction samples coming in from the real-time GNSS engine along with the clock correction samples to produce combined orbit and clock corrections to Broadcast Ephemeris (1060 for GPS, 1066 for GLONASS). + +Configuration examples: + +Let us suppose a real-time network engine supporting BNC every 5 sec with GPS Broadcast Corrections for orbits, clocks and code biases in 'RTNET' stream format: + +With 'Sampling Orb' set to '0' BNC will produce + +* Every 5 sec a 1059 message for GPS code biases, +* Every 5 sec a 1060 message for combined orbit and clock corrections to GPS Broadcast Ephemeris. + +With 'Sampling Orb' set to '5' BNC will produce + +* Every 5 sec a 1057 message for GPS orbit corrections to Broadcast Ephemeris, +* Every 5 sec a 1058 message for GPS clock corrections to Broadcast Ephemeris, +* Every 5 sec a 1059 message for GPS code biases. + +With 'Sampling Orb' set to '10' BNC will produce + +* Every 10 sec a 1057 message for GPS orbit corrections to Broadcast Ephemeris, +* Every 5 sec a 1058 message for GPS clock corrections to Broadcast Ephemeris, +* Every 5 sec a 1059 message for GPS code biases. + +Note that only when specifying a value of zero '0' (default) for 'Sampling Orb', BNC produces combined orbit and clock correction messages. + + +SP3 - mandatory if 'SP3 File' is specified +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Select the SP3 orbit file sampling interval in minutes. A value of 15 min may be appropriate. A value of zero '0' tells BNC to store all available samples into SP3 orbit files. + +RINEX (RNX) - mandatory if 'RNX File' is specified +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Select the Clock RINEX file sampling interval in seconds. A value of 10 sec may be appropriate. A value of zero '0' tells BNC to store all available samples into Clock RINEX files. + +Custom Trafo - optional if 'Upload Table' entries specified +----------------------------------------------------------- + +Hit 'Custom Trafo' to specify your own 14 parameter Helmert Transformation instead of selecting a predefined transformation through 'System' button. + +ANTEX File - mandatory if 'SP3 File' is specified +------------------------------------------------- + +IGS provides a file containing absolute phase center variations for GNSS satellite and receiver antennas in ANTEX format. Entering the full path to such an ANTEX file is required here for referring the SP3 file content to the satellite's Center of Mass (CoM). If you do not specify an ANTEX file, the SP3 file will contain orbit information which is referred to Antenna Phase Center (APC) instead of CoM. + +The screenshot in :numref:`Fig. %s ` shows the encoding and uploading of a stream of precise orbits and clocks coming from a real-time network engine in 'RTNET' ASCII format. The stream is uploaded to Ntrip Broadcaster 'products.igs-ip.net'. It is referred to APC and IGS08. Uploaded data are locally saved in SP3 and Clock RINEX format. The SSR Provider ID is set to 3. The SSR Solution ID and the Issue of Data SSR are set to 1. Required Broadcast Ephemeris are received via stream 'RTCM3EPH'. + +.. _fig_31: +.. figure:: figures/fig_31.png + :scale: 100 % + + BNC producing Broadcast Corrections from incoming precise orbits and clocks and uploading them to an Ntrip Broadcaster + +The screenshot in :numref:`Fig. %s ` shows the encoding and uploading of several Broadcast Ephemeris correction streams combined from streams CLK11, CLK21, CLK80, and CLK91. Combined streams are uploaded to different Ntrip Broadcasters and referred to different reference systems. One of the uploaded streams is locally saved in SP3 and Clock RINEX format. Different SSR Provider IDs, SSR Solution IDs and Issue of Data IDs are specified. Required Broadcast Ephemeris are received via stream 'RTCM3EPH'. + +.. _fig_32: +.. figure:: figures/fig_32.png + :scale: 100 % + + BNC uploading a combined Broadcast Correction stream + +.. index:: Upload ephemeris + +Upload Ephemeris +================ + +BNC can generate a stream carrying only Broadcast Ephemeris in RTCM Version 3 format and upload it to an Ntrip Broadcaster :numref:`(Fig. %s) `. Note that Broadcast Ephemeris received in real-time have a system specific period of validity in BNC which is defined in accordance with the update rates of the navigation messages. + +* GPS ephemeris will be interpreted as outdated and ignored when older than 4 hours. +* GLONASS ephemeris will be interpreted as outdated and ignored when older than 1 hour. +* Galileo ephemeris will be interpreted as outdated and ignored when older than 4 hours. +* BDS ephemeris will be interpreted as outdated and ignored when older than 6 hours. +* SBAS ephemeris will be interpreted as outdated and ignored when older than 10 minutes. +* QZSS ephemeris will be interpreted as outdated and ignored when older than 4 hours. + +A note 'OUTDATED EPHEMERIS' will be given in the logfile and the data will be disregarded when necessary. Furthermore, received Broadcast Ephemeris parameters pass through a plausibility check in BNC which allows to ignore incorrect ephemeris data when necessary, leaving a note 'WRONG EPHEMERIS' in the logfile. + +Host & Port - optional +---------------------- + +Specify the 'Host' IP number or URL of an Ntrip Broadcaster to upload the stream. An empty option field means that you do not want to upload Broadcast Ephemeris. Enter the Ntrip Broadcaster's IP 'Port' number for stream upload. Note that Ntrip Broadcasters are often configured to provide access through more than one port, usually ports 80 and 2101. If you experience communication problems on port 80, you should try to use the alternative port(s). + +Mountpoint & Password - mandatory if 'Host' is set +-------------------------------------------------- + +BNC uploads a stream to the Ntrip Broadcaster by referring it to a dedicated mountpoint that has been set by its operator. Specify the mountpoint based on the details you received for your stream from the operator. It is often a 4-character ID (capital letters) plus an integer number. The stream upload follows Ntrip Version 1 and may be protected through an upload 'Password'. Enter the password you received from the Ntrip Broadcaster operator along with the mountpoint. + +Sampling - mandatory if 'Host' is set +------------------------------------- + +Select the Broadcast Ephemeris repetition interval in seconds. Default is '5', meaning that a complete set of Broadcast Ephemeris is uploaded every 5 seconds. + +.. _fig_33: +.. figure:: figures/fig_33.png + :scale: 100 % + + BNC producing a Broadcast Ephemeris stream from navigation messages of globally distributed RTCM streams and uploading them in RTCM Version 3 format to an Ntrip Broadcaster + +.. index:: Streams canvas + +Streams Canvas +============== + +Each stream on an Ntrip Broadcaster (and consequently on BNC) is defined using a unique source ID called mountpoint. An Ntrip Client like BNC accesses the desired stream by referring to its mountpoint. Information about streams and their mountpoints is available through the source-table maintained by the Ntrip Broadcaster. Streams selected for retrieval are listed under the 'Streams' canvas on BNC's main window. The list provides the following information either extracted from source-table(s) produced by the Ntrip Broadcasters or introduced by BNC's user (:numref:`Table %s `). + +.. tabularcolumns:: |p{0.3\textwidth}|p{0.62\textwidth}| + +.. index:: Stream canvas information +.. _tab_STREAM_CANVAS_KEYS: +.. table:: Source table information listed in BNCs Stream Canvas. + + ================== ====================================================================== + **Keyword** **Meaning** + ================== ====================================================================== + resource loader Ntrip Broadcaster URL and port, or + TCP/IP host and port, or + UDP port, or + Serial input port specification. + mountpoint Mountpoint introduced by Ntrip Broadcaster, or + Mountpoint introduced by BNC's user. + decoder Name of decoder used to handle the incoming stream content according to its format; editable. + lat Approximate latitude of reference station, in degrees, north; editable if 'nmea' = 'yes'. + long Approximate longitude of reference station, in degrees, east; editable if 'nmea' = 'yes'. + nmea Indicates whether or not streaming needs to be initiated by BNC through sending NMEA-GGA message carrying position coordinates in 'lat' and 'long'. + ntrip Selected Ntrip transport protocol version (1, 2, 2s, R, or U), or + 'N' for TCP/IP streams without Ntrip, or + 'UN' for UDP streams without Ntrip, or + 'S' for serial input streams without Ntrip. + bytes Number of bytes received. + ================== ====================================================================== + +Edit Streams +------------ + +BNC automatically allocates one of its internal decoders to a stream based on the stream's 'format' and 'format-details' as given in the source-table. However, there might be cases where you need to override the automatic selection due to an incorrect source-table for example. BNC allows users to manually select the required decoder by editing the decoder string. Double click on the 'decoder' field, enter your preferred decoder and then hit Enter. Accepted decoder strings are 'RTCM_2.x', 'RTCM_3.x' and 'RTNET'. + +In case you need to log the raw data as it is, BNC allows users to by-pass its decoders and directly save the input in daily logfiles. To do this, specify the decoder string as 'ZERO'. The generated filenames are created from the characters of the streams mountpoints plus two-digit numbers each for year, month, and day. Example: Setting the 'decoder' string for mountpoint WTZZ0 to 'ZERO' and running BNC on March 29, 2007 would save raw data in a file named WTZZ0_070329. + +BNC can also retrieve streams from virtual reference stations (VRS). To initiate these streams, an approximate rover position needs to be sent in NMEA format to the Ntrip Broadcaster. In return, a user-specific data stream is generated, typically by Network RTK software. VRS streams are indicated by a 'yes' in the source-table as well as in the 'nmea' column on the 'Streams' canvas in BNC's main window. They are customized exactly to the latitude and longitude transmitted to the Ntrip Broadcaster via NMEA GGA sentences. + +If NMEA GGA sentences are not coming from a serially connected GNSS rover, BNC simulates them from the default latitude and longitude of the source-table as shown in the 'lat' and 'long' columns on the 'Streams' canvas. However, in many cases you would probably want to change these defaults according to your requirement. Double-click on 'lat' and 'long' fields, enter the values you wish to send and then hit Enter. The format is in positive north latitude degrees (e.g. for northern hemisphere: 52.436, for southern hemisphere: -24.567) and eastern longitude degrees (example: 358.872 or -1.128). Only streams with a 'yes' in their 'nmea' column can be edited. The position should preferably be a point within the VRS service area of the network. RINEX files generated from these streams will contain an additional COMMENT line in the header beginning with 'NMEA' showing the 'lat' and 'long' used. + +Note that when running BNC in a Local Area Network (LAN), NMEA strings may be blocked by a proxy server, firewall or virus scanner when not using the Ntrip Version 2 transport protocol. + +Delete Streams +-------------- + +To remove a stream from the 'Streams' canvas in the main window, highlight it by clicking on it and hit the 'Delete Stream' button. You can also remove multiple streams simultaneously by highlighting them using +Shift or +Ctrl. + +Reconfigure Stream Selection On-the-fly +--------------------------------------- + +The streams selection can be changed on-the-fly without interrupting uninvolved threads in the running BNC process. + +Window mode: Hit 'Reread & Save Configuration' while BNC is in window mode and already processing data to let changes of your stream selection immediately become effective. + +No window mode: When operating BNC online in 'no window' mode (command line option -nw), you force BNC to reread its 'mountPoints' configuration option from disk at pre-defined intervals. Select '1 min', '1 hour', or '1 day' as 'Reread configuration' option to reread the 'mountPoints' option every full minute, hour, or day. This lets a 'mountPoints' option edited in between in the configuration file become effective without terminating uninvolved threads. See section 'Configuration Examples' for configuration file examples and section 'Reread Configuration' for a list of other on-the-fly changeable options. + +.. index:: Logging canvas + +Logging Canvas +============== + +The 'Logging Canvas' above the bottom menu bar on the main window labeled 'Log', 'Throughput', 'Latency', and 'PPP Plot' provides control of BNC's activities. Tabs are available for continuously showing logfile content, for a plot controlling the bandwidth consumption, a plot showing stream latencies, and for time series plots of PPP results. + +Log +--- + +Records of BNC's activities are shown in the 'Log' tab. They can be saved into a file when a valid path is specified in the 'Logfile (full path)' field. + +Throughput +---------- + +The bandwidth consumption per stream is shown in the 'Throughput' tab in bits per second (bps) or kilobits per second (kbps). :numref:`Fig. %s ` shows an example for the bandwidth consumption of incoming streams. + +.. _fig_34: +.. figure:: figures/fig_34.png + :scale: 100 % + + Bandwidth consumption of RTCM streams received by BNC + +Latency +------- + +The latency of observations in each incoming stream is shown in the 'Latency' tab in milliseconds or seconds. Streams not carrying observations (e.g. those providing only Broadcast Ephemeris messages) or having an outage are not considered here and shown in red color. Note that the calculation of correct latencies requires the clock of the host computer to be properly synchronized. :numref:`Fig. %s ` shows an example for the latency of incoming streams. + +.. _fig_35: +.. figure:: figures/fig_35.png + :scale: 100 % + + Latency of RTCM streams received by BNC + +PPP Plot +-------- + +Precise Point Positioning time series of North (red), East (green) and Up (blue) coordinate components are shown in the 'PPP Plot' tab when a 'Mountpoint' option is defined under PPP (4). Values are referred to a priori reference coordinates. The time as given in format [hh:mm] refers to GPS Time. The sliding PPP time series window covers a period of 5 minutes. Note that it may take up to 30 seconds or more until the first PPP solutions becomes available. :numref:`Fig. %s ` shows the screenshot of a PPP time series plot of North, East and Up coordinate displacements. + +.. _fig_36: +.. figure:: figures/fig_36.png + :scale: 100 % + + Example for time series plot of displacements produced by BNC + +Bottom Menu Bar +=============== + +The bottom menu bar allows to add or delete streams to or from BNC's configuration and to start or stop it. It also provides access to BNC's online help function. The 'Add Stream' button opens a window that allows users to select one of several input communication links, see :numref:`Fig. %s `. + +.. _fig_37: +.. figure:: figures/fig_37.png + :scale: 100 % + + Steam input communication links accepted by BNC + +Add Stream +---------- + +Button 'Add Stream' allows you to pull streams either from an Ntrip Broadcaster or from a TCP/IP port, UPD port, or serial port. + +Add/Delete Stream - Coming from Caster +-------------------------------------- + +Button 'Add Stream' > 'Coming from Caster' opens a window that allows users to select data streams from an Ntrip Broadcaster according to their mountpoints and show a distribution map of offered streams. + +Button ‘Delete Stream’ allows you to delete streams previously selected for retrieval as listed under the ‘Streams’ canvas on BNC’s main window. + +Caster Host and Port - mandatory +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Enter the Ntrip Broadcaster host IP and port number. Note that EUREF and IGS operate Ntrip Broadcasters at http://www.euref-ip.net/home, http://www.igs-ip.net/home, http://products.igs-ip.net/home and http://mgex.igs-ip.net/home. + +Casters Table - optional +^^^^^^^^^^^^^^^^^^^^^^^^ + +It may be that you are not sure about your Ntrip Broadcaster's host and port number or you are interested in other broadcaster installations operated elsewhere. Hit 'Show' for a table of known broadcasters maintained at www.rtcm-ntrip.org/home. A window opens which allows selecting a broadcaster for stream retrieval, see :numref:`Fig. %s `. + +.. _fig_38: +.. figure:: figures/fig_38.png + :scale: 100 % + + BNC's 'Select Broadcaster' table + +User and Password - mandatory for protected streams +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Streams on Ntrip Broadcasters may be protected. Enter a valid 'User' ID and 'Password' for access to protected streams. Accounts are usually provided per Ntrip Broadcaster through a registration procedure. Register through http://register.rtcm-ntrip.org for access to protected streams from EUREF and IGS. + +Get Table +^^^^^^^^^ + +Use the 'Get Table' button to download the source-table from the Ntrip Broadcaster. Pay attention to data fields 'format' and 'format-details'. Keep in mind that BNC can only decode and convert streams that come in RTCM Version 2, RTCM Version 3, or RTNET format. For access to observations, Broadcast Ephemeris and Broadcast Corrections in RTCM format, streams must contain a selection of appropriate message types as listed in the Annex, cf. data field 'format-details' for available message types and their repetition rates in brackets. Note that in order to produce RINEX Navigation files, RTCM Version 3 streams containing message types 1019 (GPS) and 1020 (GLONASS) and 1043 (SBAS) and 1044 (QZSS) and 1045, 1046 (Galileo) and 63 (BDS/BeiDou, tentative message number) are required. Select your streams line by line, use +Shift and +Ctrl when necessary. :numref:`Fig. %s ` provides an example source-table. + +The content of data field 'nmea' tells you whether a stream retrieval needs to be initiated by BNC through sending an NMEA-GGA message carrying approximate position coordinates (Virtual Reference Station, VRS). + +Hit 'OK' to return to the main window. If you wish, you can click on 'Add Stream' and repeat the process of retrieving streams from different casters. + +.. _fig_39: +.. figure:: figures/fig_39.png + :scale: 100 % + + Broadcaster source-table shown by BNC + +Ntrip Version - mandatory +^^^^^^^^^^^^^^^^^^^^^^^^^ + +Some limitations and deficiencies of the Ntrip Version 1 stream transport protocol are solved in Ntrip Version 2. Improvements mainly concern a full HTTP compatibility in view of requirements coming from proxy servers. Version 2 is backwards compatible to Version 1. Options implemented in BNC are summarized in :numref:`Table %s `. + +.. tabularcolumns:: |p{0.3\textwidth}|p{0.62\textwidth}| + +.. index:: Ntrip versions +.. _tab_NTRIP_OPTIONS: +.. table:: Ntrip options implemented in BNC. + + ================ ====================================== + **Option** **Meaning** + ================ ====================================== + 1 Ntrip Version 1, TCP/IP + 2 Ntrip Version 2 in TCP/IP mode + 2s Ntrip Version 2 in TCP/IP mode via SSL + R Ntrip Version 2 in RTSP/RTP mode + U Ntrip Version 2 in UDP mode + ================ ====================================== + +If Ntrip Version 2 is supported by the broadcaster: + +* Try using option '2' if your streams are otherwise blocked by a proxy server operated in front of BNC. +* When using Ntrip Version 2 via SSL (option '2s') you need to specify the appropriate 'Caster port' for that. It is usually port number 443. Clarify 'SSL' options offered in panel 'Network'. +* Option 'R' or 'U' may be selected if latency is more important than completeness for your application. Note that the latency reduction is likely to be in the order of 0.5 sec or less. Note further that options 'R' (RTSP/RTP mode) and 'U' (UDP mode) are not accepted by proxy servers and a mobile Internet Service Provider may not support it. + +Select option '1' if you are not sure whether the broadcaster supports Ntrip Version 2. + +Map - optional +^^^^^^^^^^^^^^ + +Button 'Map' opens a window to show a distribution map of the caster's streams :numref:`(Fig. %s) `. You may like to zoom in or out using the mouse. Left button: draw a rectangle to zoom, right button: zoom out, middle button: zoom back. + +.. _fig_40: +.. figure:: figures/fig_40.png + :scale: 100 % + + Stream distribution map shown by BNC as derived from Ntrip Broadcaster source-table + +Add Stream - Coming from TCP/IP Port +------------------------------------ + +Button 'Add Stream' > 'Coming from TCP/IP Port' allows to retrieve streams via TCP directly from an IP address without using the Ntrip transport protocol. For that you: + +* Enter the IP address of the stream providing host. +* Enter the IP port number of the stream providing host. +* Specify a mountpoint. Recommended is a 4-character station ID. Example: FFMJ +* Specify the stream format. Available options are 'RTCM_2', 'RTCM_3', 'RTNET', and 'ZERO'. +* Enter the approximate latitude of the stream providing rover in degrees. Example: 45.32. +* Enter the approximate longitude of the stream providing rover in degrees. Example: -15.20. + +Streams directly received from a TCP/IP port show up with an 'N' for 'No Ntrip' in the 'Streams' canvas on BNC's main window. Latitude and longitude are to be entered just for informal reasons. Note that this option works only if no proxy server is involved in the communication link. + +Add Stream - Coming from UDP Port +--------------------------------- + +Button 'Add Stream' > 'Coming from UDP Port' allows to pick up streams arriving directly at one of the local host's UDP ports without using the Ntrip transport protocol. For that you: + +* Enter the local port number where the UDP stream arrives. +* Specify a mountpoint. Recommended is a 4-character station ID. Example: FFMJ +* Specify the stream format. Available options are 'RTCM_2', 'RTCM_3', 'RTNET', and 'ZERO'. +* Enter the approximate latitude of the stream providing rover in degrees. Example: 45.32. +* Enter the approximate longitude of the stream providing rover in degrees. Example: -15.20. + +Streams directly received at a UDP port show up with a 'UN' for 'UDP, No Ntrip' in the 'Streams' canvas section on BNC's main window. Latitude and longitude are to be entered just for informal reasons. + +Add Stream - Coming from Serial Port +------------------------------------ + +Button 'Add Stream' > 'Coming from Serial Port' allows to retrieve streams from a GNSS receiver via serial port without using the Ntrip transport protocol. For that you: + +* Specify a mountpoint. Recommended is a 4-character station ID. Example: FFMJ +* Specify the stream format. Available options are 'RTCM\_2', 'RTCM\_3', 'RTNET', and 'ZERO'. +* Enter the approximate latitude of the stream providing receiver in degrees. Example: 45.32. +* Enter the approximate longitude of the stream providing receiver in degrees. Example: -15.20. +* Enter the serial 'Port name' selected on your host for communication with the receiver. Valid port names are listed in :numref:`Table %s `. +* Select a 'Baud rate' for the serial input. Note that using a high baud rate is recommended. +* Select the number of 'Data bits' for the serial input. Note that often '8' data bits are used. +* Select the 'Parity' for the serial input. Note that parity is often set to 'NONE'. +* Select the number of 'Stop bits' for the serial input. Note that often '1' stop bit is used. +* Select a 'Flow control' for the serial link. Select 'OFF' if you do not know better. + +When selecting one of the serial communication options listed above, make sure that you pick those configured to the serially connected GNSS receiver. Streams received from a serially connected GNSS receiver show up with an 'S' (for Serial Port, no Ntrip) in the 'Streams' canvas section on BNC's main window. Latitude and longitude are to be entered just for informal reasons. + +.. tabularcolumns:: |p{0.3\textwidth}|p{0.62\textwidth}| + +.. index: Serial port names +.. _tab_SERIAL_PORT_NAMES: +.. table:: Valid port names in BNC. + + =============== ========================== + **OS** **Valid port names** + =============== ========================== + Windows COM1, COM2 + Linux /dev/ttyS0, /dev/ttyS1 + FreeBSD /dev/ttyd0, /dev/ttyd1 + Digital Unix /dev/tty01, /dev/tty02 + HP-UX /dev/tty1p0, /dev/tty2p0 + SGI/IRIX /dev/ttyf1, /dev/ttyf2 + SunOS/Solaris /dev/ttya, /dev/ttyb + =============== ========================== + +:numref:`Fig. %s ` shows a BNC example setup for pulling a stream via serial port on a Windows operating system. + +.. _fig_41: +.. figure:: figures/fig_41.png + :scale: 100 % + + BNC configuration for pulling a stream via serial port + +Map +--- + +Button 'Map' opens a window to show a distribution map of the streams selected for retrieval as listed under the 'Streams' canvas. You may like to zoom in or out using the mouse. Left button: draw a rectangle to zoom, right button: zoom out, middle button: zoom back. + +Start/Stop +---------- + +Hit 'Start' to start retrieving, decoding or converting GNSS data streams in real-time. Note that 'Start' generally forces BNC to begin with fresh RINEX files which might overwrite existing files when necessary unless option 'Append files' is ticked. + +Hit the 'Stop' button in order to stop BNC. + +Help? = Shift+F1 +---------------- + +BNC comes with a 'What's This' help system providing information about its functionality and usage. Short descriptions are available for any widget and program option. Focus to the relevant object and press Shift+F1 to request help information. A help text appears immediately; it disappears as soon as the user does something else. The dialogs on some operating systems may provide a '?' button that users can click; click the relevant widget to pop up the help text. + +.. index:: Command Line Options + +Command Line Options +==================== + +Command line options are available to run BNC in 'no window' mode or let it read previously recorded input offline from one or several files for debugging or post processing purposes. It is also possible to introduce a specific configuration filename instead of using the default filename 'BNC.bnc'. The self-explaining content of the configuration file can easily be edited. In addition to reading processing options from the involved configuration file, BNC can optionally read any configuration option from command line. Running BNC with command line option 'help' + +.. code-block:: console + + bnc --help (MS Windows: bnc.exe --help | more) + +provides a list of all available command line options. + +Version - optional +------------------ + +Command line option ``--version`` lets BNC print its version number. + +.. code-block:: console + + bnc --version (MS Windows: bnc.exe --version | more) + +Display - optional +------------------ + +On systems which support graphics, command line option ``--display`` forces BNC to present the BNC window on the specified display. + +.. code-block:: console + + bnc.exe --display localhost:10.0 + +No Window Mode - optional +------------------------- + +Apart from its regular windows mode, BNC can be started on all systems as a batch job with command line option '-nw'. BNC will then run in 'no window' mode, using processing options from its configuration file on disk. Terminate BNC using Windows Task Manager when running it in 'no window' mode on Windows systems. + +.. code-block:: console + + bnc.exe --nw + +It is obvious that BNC requires graphics support when started in interactive mode. However, note that graphics support is also required when producing plots in batch mode (option ``-nw``). Windows and Mac OS X systems always support graphics. For producing plots in batch mode on Linux systems you must make sure that at least a virtual X-Server such as 'Xvfb' is installed and the ``-display`` option is used. The following is an example shell script to execute BNC in batch mode for producing QC plots from RINEX files. It could be used via ``crontab``: + +.. code-block:: none + + #!/bin/bash + # Save string localhost + echo "localhost" > /home/user/hosts + + # Start virtual X-Server, save process ID + /usr/bin/Xvfb :29 -auth /home/user/hosts -screen 0 1280x1024x8 & + psID=`echo $!` + + # Run BNC application with defined display variable + /home/user/BNC/bnc --conf /dev/null --key reqcAction Analyze --key reqcObsFile ons12090.12o --key reqcNavFile brdc2090.12p --key reqcOutLogFile multi.txt --key reqcPlotDir /home/user --display localhost:29 --nw + + # BNC done, kill X-server process + kill $psID + +File Mode - optional +-------------------- + +Although BNC is primarily a real-time online tool, for debugging purposes it can be run offline to read data from a file previously saved through option 'Raw output file' (Record & Replay functionality). Enter the following command line option for that + +.. code-block:: console + + --file + +and specify the full path to an input file containing previously saved data, e.g. + +.. code-block:: console + + ./bnc --file /home/user/raw.output_110301 + +Note that when running BNC offline, it will use options for file saving, interval, sampling, PPP etc. from its configuration file. Note further that option ``--file`` forces BNC to apply the '-nw' option for running in 'no window' mode. + +Configuration File - optional +----------------------------- + +The default configuration filename is ``BNC.bnc``. You may change this name at startup time using command line option ``--conf ``. This allows running several BNC jobs in parallel on the same host using different sets of configuration options. 'confFileName' stands either for the full path to a configuration file or just for a filename. If you introduce only a filename, the corresponding file will be saved in the current working directory from where BNC is started, e.g. + +.. code-block:: console + + ./bnc --conf MyConfig.bnc + +This leads to a BNC job using configuration file 'MyConfig.bnc'. The configuration file will be saved in the current working directory. + +Configuration Options - optional +-------------------------------- + +BNC applies options from the configuration file but allows updating every one of them on the command line while the content of the configuration file remains unchanged. Note the following syntax for Command Line Interface (CLI) options: + +.. code-block:: console + + --key + +Parameter stands for the key name of an option contained in the configuration file and stands for the value you want to assign to it. The following is a syntax example for a complete command line: + +.. code-block:: console + + bnc --nw --conf --key --key ... + +Configuration options which are part of the configuration files PPP section must be prefixed by 'PPP/'. As an example, option 'minObs' from the PPP section of the BNC configuration file would be specified as 'PPP/minObs' on a command line. + +Values for configuration options can be introduced via command line exactly as they show up in the configuration file. However, any value containing one or more blank characters must be enclosed by quotation marks when specified on command line. + +.. bibliography:: references.bib + :style: unsrt + :all: Index: /trunk/BNC/docs/sphinx/source/conf.py =================================================================== --- /trunk/BNC/docs/sphinx/source/conf.py (revision 8039) +++ /trunk/BNC/docs/sphinx/source/conf.py (revision 8039) @@ -0,0 +1,330 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +# +# bnchelp documentation build configuration file, created by +# sphinx-quickstart on Wed Sep 14 17:09:43 2016. +# +# This file is execfile()d with the current directory set to its +# containing dir. +# +# Note that not all possible configuration values are present in this +# autogenerated file. +# +# All configuration values have a default; values that are commented out +# serve to show the default. + +import sys +import os + +# If extensions (or modules to document with autodoc) are in another directory, +# add these directories to sys.path here. If the directory is relative to the +# documentation root, use os.path.abspath to make it absolute, like shown here. +#sys.path.insert(0, os.path.abspath('.')) + +# -- General configuration ------------------------------------------------ + +# If your documentation needs a minimal Sphinx version, state it here. +#needs_sphinx = '1.0' + +# Add any Sphinx extension module names here, as strings. They can be +# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom +# ones. +extensions = [ + 'sphinx.ext.autodoc', + 'sphinx.ext.todo', + 'sphinx.ext.coverage', + 'sphinx.ext.mathjax', + 'sphinxcontrib.bibtex' +] + +# Add any paths that contain templates here, relative to this directory. +templates_path = ['_templates'] + +# The suffix(es) of source filenames. +# You can specify multiple suffix as a list of string: +# source_suffix = ['.rst', '.md'] +source_suffix = '.rst' + +# The encoding of source files. +source_encoding = 'utf-8-sig' + +# The master toctree document. +master_doc = 'bnchelp' + +# General information about the project. +project = 'BNC' +copyright = '2016, Weber, G., Mervart, L., Stuerze, A., Ruelke, A., Stoecker, D.' +author = 'Georg Weber, Leos Mervart, Andrea Stuerze, Axel Ruelke, Dirk Stoecker' + +# The version info for the project you're documenting, acts as replacement for +# |version| and |release|, also used in various other places throughout the +# built documents. +# +# The short X.Y version. +version = '2.12' +# The full version, including alpha/beta/rc tags. +release = '2.12' + +# The language for content autogenerated by Sphinx. Refer to documentation +# for a list of supported languages. +# +# This is also used if you do content translation via gettext catalogs. +# Usually you set "language" from the command line for these cases. +language = None + +# There are two options for replacing |today|: either, you set today to some +# non-false value, then it is used: +#today = '' +# Else, today_fmt is used as the format for a strftime call. +#today_fmt = '%B %d, %Y' + +# List of patterns, relative to source directory, that match files and +# directories to ignore when looking for source files. +# This patterns also effect to html_static_path and html_extra_path +exclude_patterns = [] + +# The reST default role (used for this markup: `text`) to use for all +# documents. +#default_role = None + +# If true, '()' will be appended to :func: etc. cross-reference text. +#add_function_parentheses = True + +# If true, the current module name will be prepended to all description +# unit titles (such as .. function::). +#add_module_names = True + +# If true, sectionauthor and moduleauthor directives will be shown in the +# output. They are ignored by default. +#show_authors = False + +# The name of the Pygments (syntax highlighting) style to use. +pygments_style = 'sphinx' + +# A list of ignored prefixes for module index sorting. +#modindex_common_prefix = [] + +# If true, keep warnings as "system message" paragraphs in the built documents. +#keep_warnings = False + +# If true, `todo` and `todoList` produce output, else they produce nothing. +todo_include_todos = True + + +# -- Options for HTML output ---------------------------------------------- +numfig = True + +# The theme to use for HTML and HTML Help pages. See the documentation for +# a list of builtin themes. +html_theme = 'bizstyle' + +# Theme options are theme-specific and customize the look and feel of a theme +# further. For a list of options available for each theme, see the +# documentation. +#html_theme_options = {} + +# Add any paths that contain custom themes here, relative to this directory. +#html_theme_path = [] + +# The name for this set of Sphinx documents. +# " v documentation" by default. +#html_title = 'bnchelp v2.12' + +# A shorter title for the navigation bar. Default is the same as html_title. +#html_short_title = None + +# The name of an image file (relative to this directory) to place at the top +# of the sidebar. +html_logo = 'figures/bnc_logo.png' + +# The name of an image file (relative to this directory) to use as a favicon of +# the docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32 +# pixels large. +#html_favicon = None + +# Add any paths that contain custom static files (such as style sheets) here, +# relative to this directory. They are copied after the builtin static files, +# so a file named "default.css" will overwrite the builtin "default.css". +html_static_path = ['_static'] + +# Add any extra paths that contain custom files (such as robots.txt or +# .htaccess) here, relative to this directory. These files are copied +# directly to the root of the documentation. +#html_extra_path = [] + +# If not None, a 'Last updated on:' timestamp is inserted at every page +# bottom, using the given strftime format. +# The empty string is equivalent to '%b %d, %Y'. +#html_last_updated_fmt = None + +# If true, SmartyPants will be used to convert quotes and dashes to +# typographically correct entities. +#html_use_smartypants = True + +# Custom sidebar templates, maps document names to template names. +#html_sidebars = {} + +# Additional templates that should be rendered to pages, maps page names to +# template names. +#html_additional_pages = {} + +# If false, no module index is generated. +html_domain_indices = False + +# If false, no index is generated. +html_use_index = True + +# If true, the index is split into individual pages for each letter. +#html_split_index = False + +# If true, links to the reST sources are added to the pages. +#html_show_sourcelink = True + +# If true, "Created using Sphinx" is shown in the HTML footer. Default is True. +html_show_sphinx = True + +# If true, "(C) Copyright ..." is shown in the HTML footer. Default is True. +html_show_copyright = True + +# If true, an OpenSearch description file will be output, and all pages will +# contain a tag referring to it. The value of this option must be the +# base URL from which the finished HTML is served. +#html_use_opensearch = '' + +# This is the file name suffix for HTML files (e.g. ".xhtml"). +#html_file_suffix = None + +# Language to be used for generating the HTML full-text search index. +# Sphinx supports the following languages: +# 'da', 'de', 'en', 'es', 'fi', 'fr', 'h', 'it', 'ja' +# 'nl', 'no', 'pt', 'ro', 'r', 'sv', 'tr', 'zh' +#html_search_language = 'en' + +# A dictionary with options for the search language support, empty by default. +# 'ja' uses this config value. +# 'zh' user can custom change `jieba` dictionary path. +#html_search_options = {'type': 'default'} + +# The name of a javascript file (relative to the configuration directory) that +# implements a search results scorer. If empty, the default will be used. +#html_search_scorer = 'scorer.js' + +# Output file base name for HTML help builder. +htmlhelp_basename = 'bncdoc' + +# -- Options for LaTeX output --------------------------------------------- +ADDITIONAL_PREAMBLE = """ +\input{../../source/preamble._tex} +\usepackage{sphinx} +\definecolor{TitleColor}{rgb}{0,0,0} +\definecolor{InnerLinkColor}{rgb}{0,0,0} +""" + +ADDITIONAL_FOOTER = """ +\input{../../source/footer._tex} +""" + +MAKE_TITLE = """ +\glsaddall +\\tableofcontents +\cleardoublepage +\\addcontentsline{toc}{chapter}{\listfigurename} +\listoffigures +\cleardoublepage +\\addcontentsline{toc}{chapter}{\listtablename} +\listoftables +\cleardoublepage +""" + +latex_elements = { +# The paper size ('letterpaper' or 'a4paper'). +#'papersize': 'letterpaper', + +# The font size ('10pt', '11pt' or '12pt'). +'pointsize': '10pt', + +# Additional stuff for the LaTeX preamble. +'preamble': ADDITIONAL_PREAMBLE, + +# Additional footer +'footer': ADDITIONAL_FOOTER, + +# Latex figure (float) alignment +'figure_align': 'h', + +# override maketitle +'maketitle': MAKE_TITLE, + +'inputenc': '\\usepackage[ansinew]{inputenc}' +} + +# disable index printing +# 'printindex': '', + + + + +# Grouping the document tree into LaTeX files. List of tuples +# (source start file, target name, title, +# author, documentclass [howto, manual, or own class]). +latex_documents = [ + (master_doc, 'bnc.tex', u'BKG Ntrip Client', + u'G. Weber L. Mervart A. St{\\"u}rze A. R{\\"u}lke D. St{\\"o}cker', 'manual'), +] + +# The name of an image file (relative to this directory) to place at the top of +# the title page. +#latex_logo = None + +# For "manual" documents, if this is true, then toplevel headings are parts, +# not chapters. +#latex_use_parts = False + +# If true, show page references after internal links. +#latex_show_pagerefs = False + +# If true, show URL addresses after external links. +#latex_show_urls = False + +# Documents to append as an appendix to all manuals. +#latex_appendices = [] + +# If false, no module index is generated. +latex_domain_indices = False + + +# -- Options for manual page output --------------------------------------- + +# One entry per manual page. List of tuples +# (source start file, name, description, authors, manual section). +man_pages = [ + (master_doc, 'bnc', 'BNC Documentation', + [author], 1) +] + +# If true, show URL addresses after external links. +#man_show_urls = False + + +# -- Options for Texinfo output ------------------------------------------- + +# Grouping the document tree into Texinfo files. List of tuples +# (source start file, target name, title, author, +# dir menu entry, description, category) +texinfo_documents = [ + (master_doc, 'bnchelp', 'bnchelp Documentation', + author, 'bnchelp', 'One line description of project.', + 'Miscellaneous'), +] + +# Documents to append as an appendix to all manuals. +#texinfo_appendices = [] + +# If false, no module index is generated. +#texinfo_domain_indices = True + +# How to display URL addresses: 'footnote', 'no', or 'inline'. +#texinfo_show_urls = 'footnote' + +# If true, do not generate a @detailmenu in the "Top" node's menu. +#texinfo_no_detailmenu = False Index: /trunk/BNC/docs/sphinx/source/conf.py.win7 =================================================================== --- /trunk/BNC/docs/sphinx/source/conf.py.win7 (revision 8039) +++ /trunk/BNC/docs/sphinx/source/conf.py.win7 (revision 8039) @@ -0,0 +1,340 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +# +# bnc documentation build configuration file, created by +# sphinx-quickstart on Mon Apr 18 10:30:43 2016. +# +# This file is execfile()d with the current directory set to its +# containing dir. +# +# Note that not all possible configuration values are present in this +# autogenerated file. +# +# All configuration values have a default; values that are commented out +# serve to show the default. + +import sys +import os + +# If extensions (or modules to document with autodoc) are in another directory, +# add these directories to sys.path here. If the directory is relative to the +# documentation root, use os.path.abspath to make it absolute, like shown here. +#sys.path.insert(0, os.path.abspath('.')) + +# -- General configuration ------------------------------------------------ + +# If your documentation needs a minimal Sphinx version, state it here. +#needs_sphinx = '1.0' + +# Add any Sphinx extension module names here, as strings. They can be +# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom +# ones. +extensions = [ + 'sphinx.ext.autodoc', + 'sphinx.ext.todo', + 'sphinx.ext.coverage', + 'sphinx.ext.mathjax', + 'sphinxcontrib.bibtex' +] + +# Add any paths that contain templates here, relative to this directory. +templates_path = ['_templates'] + +# The suffix(es) of source filenames. +# You can specify multiple suffix as a list of string: +# source_suffix = ['.rst', '.md'] +source_suffix = '.rst' + +# The encoding of source files. +source_encoding = 'utf-8-sig' + +# The master toctree document. +master_doc = 'bnchelp' + +# General information about the project. +project = u'BNC' +copyright = u'2016, Weber, G., Mervart, L., Stuerze, A., Ruelke, A., Stoecker, D.' +author = u'Georg Weber, Leos Mervart, Andrea Stuerze, Axel Ruelke, Dirk Stoecker' + +# The version info for the project you're documenting, acts as replacement for +# |version| and |release|, also used in various other places throughout the +# built documents. +# +# The short X.Y version. +version = u'2.12' +# The full version, including alpha/beta/rc tags. +release = u'2.12' + +# The language for content autogenerated by Sphinx. Refer to documentation +# for a list of supported languages. +# +# This is also used if you do content translation via gettext catalogs. +# Usually you set "language" from the command line for these cases. +language = 'en' + +# There are two options for replacing |today|: either, you set today to some +# non-false value, then it is used: +#today = '' +# Else, today_fmt is used as the format for a strftime call. +#today_fmt = '%B %d, %Y' + +# List of patterns, relative to source directory, that match files and +# directories to ignore when looking for source files. +# This patterns also effect to html_static_path and html_extra_path +exclude_patterns = [] + +# The reST default role (used for this markup: `text`) to use for all +# documents. +#default_role = None + +# If true, '()' will be appended to :func: etc. cross-reference text. +#add_function_parentheses = True + +# If true, the current module name will be prepended to all description +# unit titles (such as .. function::). +#add_module_names = True + +# If true, sectionauthor and moduleauthor directives will be shown in the +# output. They are ignored by default. +#show_authors = False + +# The name of the Pygments (syntax highlighting) style to use. +pygments_style = 'sphinx' + +# A list of ignored prefixes for module index sorting. +#modindex_common_prefix = [] + +# If true, keep warnings as "system message" paragraphs in the built documents. +#keep_warnings = False + +# If true, `todo` and `todoList` produce output, else they produce nothing. +todo_include_todos = True + + +# -- Options for HTML output ---------------------------------------------- + +# The theme to use for HTML and HTML Help pages. See the documentation for +# a list of builtin themes. +#html_theme = 'alabaster' +html_theme = 'bizstyle' + + +# Theme options are theme-specific and customize the look and feel of a theme +# further. For a list of options available for each theme, see the +# documentation. +#html_theme_options = {} + +# Add any paths that contain custom themes here, relative to this directory. +#html_theme_path = [] + +# The name for this set of Sphinx documents. +# " v documentation" by default. +#html_title = u'BNC v2.12.0' + +# A shorter title for the navigation bar. Default is the same as html_title. +#html_short_title = None + +# The name of an image file (relative to this directory) to place at the top +# of the sidebar. +html_logo = 'figures/bnc_logo.png' + +# The name of an image file (relative to this directory) to use as a favicon of +# the docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32 +# pixels large. +#html_favicon = None + +# Add any paths that contain custom static files (such as style sheets) here, +# relative to this directory. They are copied after the builtin static files, +# so a file named "default.css" will overwrite the builtin "default.css". +html_static_path = ['_static'] + +# Add any extra paths that contain custom files (such as robots.txt or +# .htaccess) here, relative to this directory. These files are copied +# directly to the root of the documentation. +#html_extra_path = [] + +# If not None, a 'Last updated on:' timestamp is inserted at every page +# bottom, using the given strftime format. +# The empty string is equivalent to '%b %d, %Y'. +#html_last_updated_fmt = None + +# If true, SmartyPants will be used to convert quotes and dashes to +# typographically correct entities. +#html_use_smartypants = True + +# Custom sidebar templates, maps document names to template names. +#html_sidebars = {} + +# Additional templates that should be rendered to pages, maps page names to +# template names. +#html_additional_pages = {} + +# If false, no module index is generated. +html_domain_indices = False + +# If false, no index is generated. +html_use_index = True + +# If true, the index is split into individual pages for each letter. +#html_split_index = False + +# If true, links to the reST sources are added to the pages. +#html_show_sourcelink = True + +# If true, "Created using Sphinx" is shown in the HTML footer. Default is True. +html_show_sphinx = True + +# If true, "(C) Copyright ..." is shown in the HTML footer. Default is True. +#html_show_copyright = True + +# If true, an OpenSearch description file will be output, and all pages will +# contain a tag referring to it. The value of this option must be the +# base URL from which the finished HTML is served. +#html_use_opensearch = '' + +# This is the file name suffix for HTML files (e.g. ".xhtml"). +#html_file_suffix = None + +# Language to be used for generating the HTML full-text search index. +# Sphinx supports the following languages: +# 'da', 'de', 'en', 'es', 'fi', 'fr', 'hu', 'it', 'ja' +# 'nl', 'no', 'pt', 'ro', 'ru', 'sv', 'tr', 'zh' +html_search_language = 'en' + +# A dictionary with options for the search language support, empty by default. +# 'ja' uses this config value. +# 'zh' user can custom change `jieba` dictionary path. +#html_search_options = {'type': 'default'} + +# The name of a javascript file (relative to the configuration directory) that +# implements a search results scorer. If empty, the default will be used. +#html_search_scorer = 'scorer.js' + +# Output file base name for HTML help builder. +htmlhelp_basename = 'bncdoc' + +# Numbering of figures (in html only) +numfig = True +numfig_secnum_depth = 2 + +# -- Options for LaTeX output --------------------------------------------- +ADDITIONAL_PREAMBLE = """ +\input{../../source/preamble._tex} +\usepackage{sphinx} +\definecolor{TitleColor}{rgb}{0,0,0} +\definecolor{InnerLinkColor}{rgb}{0,0,0} +""" + +# \definecolor{OuterLinkColor}{rgb}{0,0,0} + + +ADDITIONAL_FOOTER = """ +\input{../../source/footer._tex} +""" + +MAKE_TITLE = """ +\glsaddall +\\tableofcontents +\cleardoublepage +\\addcontentsline{toc}{chapter}{\listfigurename} +\listoffigures +\cleardoublepage +\\addcontentsline{toc}{chapter}{\listtablename} +\listoftables +\cleardoublepage +""" + +latex_elements = { +# The paper size ('letterpaper' or 'a4paper'). +'papersize': 'a4paper', + +# The font size ('10pt', '11pt' or '12pt'). +'pointsize': '10pt', + +# Additional stuff for the LaTeX preamble. +'preamble': ADDITIONAL_PREAMBLE, + +# Additional footer +'footer': ADDITIONAL_FOOTER, + +# Latex figure (float) alignment +'figure_align': 'h', + +# get rid of the sphinx wrapper class file +# 'wrapperclass': 'puthesis', + +# override maketitle +'maketitle': MAKE_TITLE, + +# disable index printing +# 'printindex': '', + +# “inputenc” package inclusion, default '\\usepackage[utf8]{inputenc}'. +'inputenc': '\\usepackage[ansinew]{inputenc}' + +} + +# Grouping the document tree into LaTeX files. List of tuples +# (source start file, target name, title, +# author, documentclass [howto, manual, or own class]). +latex_documents = [ + (master_doc, 'bnc.tex', u'BKG Ntrip Client', + u'G. Weber L. Mervart A. St{\\"u}rze A. R{\\"u}lke D. St{\\"o}cker', 'manual'), +] + +# The name of an image file (relative to this directory) to place at the top of +# the title page. +#latex_logo = None + +# For "manual" documents, if this is true, then toplevel headings are parts, +# not chapters. +#latex_use_parts = False + +# If true, show page references after internal links. +# latex_show_pagerefs = False + +# If true, show URL addresses after external links. +#latex_show_urls = False + +# Documents to append as an appendix to all manuals. +#latex_appendices = [] + +# If false, no module index is generated. +latex_domain_indices = False + + +# -- Options for manual page output --------------------------------------- + +# One entry per manual page. List of tuples +# (source start file, name, description, authors, manual section). +man_pages = [ + (master_doc, 'bnc', u'BNC Documentation', + [author], 1) +] + +# If true, show URL addresses after external links. +#man_show_urls = False + + +# -- Options for Texinfo output ------------------------------------------- + +# Grouping the document tree into Texinfo files. List of tuples +# (source start file, target name, title, author, +# dir menu entry, description, category) +texinfo_documents = [ + (master_doc, 'bnc', u'BNC Documentation', + author, 'bnc', 'One line description of project.', + 'Miscellaneous'), +] + +# Documents to append as an appendix to all manuals. +#texinfo_appendices = [] + +# If false, no module index is generated. +#texinfo_domain_indices = True + +# How to display URL addresses: 'footnote', 'no', or 'inline'. +#texinfo_show_urls = 'footnote' + +# If true, do not generate a @detailmenu in the "Top" node's menu. +#texinfo_no_detailmenu = False Index: /trunk/BNC/docs/sphinx/source/footer._tex =================================================================== --- /trunk/BNC/docs/sphinx/source/footer._tex (revision 8039) +++ /trunk/BNC/docs/sphinx/source/footer._tex (revision 8039) @@ -0,0 +1,3 @@ +\cleardoublepage +\addcontentsline{toc}{chapter}{Acronyms} +\printglossaries Index: /trunk/BNC/docs/sphinx/source/index.rst =================================================================== --- /trunk/BNC/docs/sphinx/source/index.rst (revision 8039) +++ /trunk/BNC/docs/sphinx/source/index.rst (revision 8039) @@ -0,0 +1,22 @@ +.. test documentation master file, created by + sphinx-quickstart on Wed Sep 14 13:06:13 2016. + You can adapt this file completely to your liking, but it should at least + contain the root `toctree` directive. + +Welcome to test's documentation! +================================ + +Contents: + +.. toctree:: + :maxdepth: 2 + + + +Indices and tables +================== + +* :ref:`genindex` +* :ref:`modindex` +* :ref:`search` + Index: /trunk/BNC/docs/sphinx/source/preamble._tex =================================================================== --- /trunk/BNC/docs/sphinx/source/preamble._tex (revision 8039) +++ /trunk/BNC/docs/sphinx/source/preamble._tex (revision 8039) @@ -0,0 +1,12 @@ +% Some more packages +\usepackage{tabu} +\usepackage{lscape} + +% Break lines in code-block +\usepackage{minted} +\fvset{breaklines=true} + +% Create list of acronyms +\usepackage[style=alttree,nonumberlist,acronym,section=chapter]{glossaries} +\setacronymstyle{long-sc-short} +\loadglsentries{../../source/acronyms._tex} Index: /trunk/BNC/docs/sphinx/source/readme =================================================================== --- /trunk/BNC/docs/sphinx/source/readme (revision 8039) +++ /trunk/BNC/docs/sphinx/source/readme (revision 8039) @@ -0,0 +1,15 @@ +Erstellung des pdf der Dokumentation + +sphinx: make latex + +Latex File editieren: +1. CWPX_? Suchen ersetzen, dass es nicht rot erscheint +2. Rahmen der Tabelle Abb. 4.1 entfernen + +Latex ausführen + +pdf editieren (Adobe Acrobat) +Erste zwei Seiten löschen +4 Seiten Deckblatt davorkopieren +1 Leerseite am Ende (wenn das Dokument auf eine gerade Seite endet) +Rückseite dahinterkopieren Index: /trunk/BNC/docs/sphinx/source/references.bib =================================================================== --- /trunk/BNC/docs/sphinx/source/references.bib (revision 8039) +++ /trunk/BNC/docs/sphinx/source/references.bib (revision 8039) @@ -0,0 +1,156 @@ +% This file was created with JabRef 2.11. +% Encoding: Cp1252 + + +@Misc{acuha2016a, + Title = {{Transformation parameters ITRF2005 to SIRGAS95}}, + Author = {G Acuha}, + HowPublished = {personal communication}, + Note = {Laboratorio de Geodesia Fisica y Satelital at Zulia University (LGFS-LUZ)} +} + +@Article{caissy2012a, + Title = {{Coming Soon: The International GNSS Real-Time Service}}, + Author = {M Caissy and L Agrotis and G Weber and M Hernandez-Pajares and U. 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