BNC can be used in different contexts with varying data flows. Typical real-time communication follows the Ntrip protocol @@ -597,5 +595,5 @@ serial or TCP communication link for the purpose of Precise Point Positioning.
-
Figure 1: Flowchart, BNC connected to a GNSS rover for Precise Point Positioning
@@ -604,5 +602,5 @@
-
Figure 2: Flowchart, BNC converting RTCM streams to RINEX batches
@@ -613,5 +611,5 @@
-
Figure 3: Flowchart, BNC feeding a real-time GNSS engine and uploading encoded Broadcast Corrections
@@ -621,5 +619,5 @@
-
Figure 4: Flowchart, BNC combining Broadcast Correction streams
@@ -634,5 +632,4 @@ using processing options from a previously saved configuration or from command line. -Unless it runs offline, BNC @@ -647,10 +644,9 @@
-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, see figure below.
-
Figure 5: Sections on BNC's main window
@@ -664,5 +660,4 @@ and the '-display' command line option. -The usual handling of BNC is that you first select a number of streams ('Add Stream'). Any stream configured to BNC @@ -672,5 +667,4 @@ 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 @@ -678,5 +672,4 @@ 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 @@ -684,5 +677,4 @@ file and applied using the program's Command Line Interface (CLI).
-@@ -691,5 +683,4 @@ Please ensure that you always use the latest version of the program.
-Windows: A dynamically compiled shared library build for Mircrosoft Windows systems is provided as @@ -699,10 +690,8 @@ After installation your 'bnc.exe' file shows up e.g. under 'All Programs'.
-Linux: 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.
-Mac OS X Build: @@ -713,7 +702,5 @@ You could also start BNC via Command Line Interface (CLI) using command '/Applications/bnc.app/Contents/MacOS/bnc'.
-BNC has been written as Open Source and published under GNU General Public License (GPL). The latest source code can @@ -727,9 +714,8 @@ version is installed.
-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
+BNC to produce track maps on top of OpenStreetMap (OSM). The usage would require the
+QtWebEngineWidges 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.
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.
-
Linux Systems
@@ -817,6 +801,4 @@
You will find a build of BNC in directory BNC.
-
-
Mac OS X Systems
@@ -876,9 +858,7 @@
See annexed 'Command Line Help' for a complete set of configuration options.
BNC maintains configuration options at three different levels:
-
Figure 6: Management of configuration options in BNC:
-BNC allows to compare the contents of two files with GNSS orbit and clock data in SP3 format. 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. -
--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'. -
++BNC allows to compare the contents of two files with GNSS orbit and clock data in SP3 format. +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. +
++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'. +
+
Figure 15: Example for comparing two SP3 files with satellite orbit and clock data using BNC
-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. +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.
- -! SP3 File 1: esr18283.sp3 -! SP3 File 2: rt218283.sp3 ++! SP3 File 1: Input/CNE1SSRRTS_20222410000_01D_05S_ORB.sp3 +! SP3 File 2: Input/BKG1SSRRTS_20222410000_01D_05S_ORB.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 -... -... -... +! Epoch PRN radial along out clk clkRed iPRN +! ---------------------------------------------------------------------------- +.. +2022-08-29_08:01:30.000 E02 -0.0023 0.1159 -0.0047 0.0187 0.0210 60 +2022-08-29_08:01:30.000 E03 -0.0567 -0.0411 0.0146 -0.0093 0.0474 61 +2022-08-29_08:01:30.000 E04 0.0695 -0.0406 0.0880 -0.0219 -0.0914 62 +2022-08-29_08:01:30.000 E05 -0.1042 0.1161 -0.0503 -0.0101 0.0942 63 +2022-08-29_08:01:30.000 E07 0.0354 0.0384 -0.0346 0.0134 -0.0219 65 +2022-08-29_08:01:30.000 E08 -0.0312 0.0312 -0.0481 0.0130 0.0442 66 +2022-08-29_08:01:30.000 E09 -0.0548 0.1941 0.0263 -0.0113 0.0436 67 +2022-08-29_08:01:30.000 E12 0.0402 -0.0023 0.0012 -0.0051 -0.0454 70 +2022-08-29_08:01:30.000 E13 0.0420 -0.0608 -0.0525 -0.0006 -0.0427 71 +2022-08-29_08:01:30.000 E15 0.0478 0.0348 -0.0353 -0.0122 -0.0600 73 +2022-08-29_08:01:30.000 E21 0.0639 0.0033 0.0292 -0.0167 -0.0806 79 +2022-08-29_08:01:30.000 E24 0.0900 -0.1113 -0.0385 0.0047 -0.0853 82 +2022-08-29_08:01:30.000 E25 0.0106 0.0340 -0.0564 0.0023 -0.0083 83 +2022-08-29_08:01:30.000 E26 0.0598 0.0506 -0.0983 -0.0011 -0.0609 84 +2022-08-29_08:01:30.000 E27 0.0763 -0.0972 -0.0480 0.0041 -0.0722 85 +2022-08-29_08:01:30.000 E30 0.0385 0.0266 0.0028 0.0092 -0.0293 88 +2022-08-29_08:01:30.000 E31 0.1017 -0.1834 -0.0211 0.0021 -0.0997 89 +2022-08-29_08:01:30.000 E33 0.0827 0.0385 -0.0741 -0.0060 -0.0887 91 +2022-08-29_08:01:30.000 E36 0.0099 -0.0769 0.0384 0.0269 0.0170 94 + +.. ! ! 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 +! PRN radial along out nOrb clk clkRed nClk Offset +! ---------------------------------------------------------------------- +! E02 0.0072 0.1160 0.0267 165 0.0110 0.0158 165 -0.0345 +! E03 0.0610 0.0387 0.0151 165 0.0083 0.0617 165 -0.0376 +! E04 0.0830 0.0619 0.0819 165 0.0112 0.0828 165 0.0649 +! E05 0.0966 0.1193 0.0418 165 0.0058 0.0965 165 -0.0073 +! E07 0.0296 0.0309 0.0389 165 0.0102 0.0296 165 -0.0904 +! E08 0.0371 0.0193 0.0424 165 0.0080 0.0372 165 -0.1017 +! E09 0.0436 0.1744 0.0422 165 0.0044 0.0433 165 -0.0300 +! E12 0.0490 0.0033 0.0107 165 0.0042 0.0489 165 -0.1174 +! E13 0.0336 0.0393 0.0661 165 0.0046 0.0341 165 -0.0683 +! E15 0.0548 0.0273 0.0375 165 0.0064 0.0547 165 0.0536 +! E21 0.0667 0.0116 0.0301 165 0.0079 0.0671 165 -0.0384 +! E24 0.0913 0.1101 0.0332 165 0.0050 0.0913 165 0.0946 +! E25 0.0099 0.0412 0.0628 165 0.0033 0.0101 165 0.0797 +! E26 0.0621 0.0516 0.0946 165 0.0033 0.0622 165 0.0300 +! E27 0.0734 0.0841 0.0522 165 0.0052 0.0733 165 0.1015 +! E30 0.0382 0.0380 0.0072 165 0.0046 0.0384 165 0.0682 +! E31 0.0937 0.1700 0.0234 165 0.0089 0.0943 165 0.1110 +! E33 0.0926 0.0340 0.0654 165 0.0032 0.0926 165 0.0010 +! E36 0.0059 0.0630 0.0456 165 0.0089 0.0073 165 -0.0790 +.. ! -! Total 0.0262 0.0938 0.0492 5268 0.0620 0.0561 5268 +! Total 0.0552 0.0877 0.0690 10395 0.0075 0.0551 10395 +
@@ -2395,5 +2488,5 @@
| 'MJD' | Modified Julian Date |
| 'Epoch' | Epoch Date and Time |
| 'PRN' | Satellite specification |
| 'radial' | Radial component of orbit coordinate difference [m] |
| 'Offset' | Clock offset [m] |
Figure 16: Example for comparing two SP3 files with satellite orbit and clock data using BNC
+
Figure 16: Graphical results from an example comparison of two SP3 files with satellite orbit and clock data using BNC
-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: - +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 may refer to satellite Antenna Phase Center (APC) +or Center of Mass (CoM). Because the development was stagnating in RTCM over years, IGS has developed similar SSR messages in parallel. +Available and unter development are:
-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 -
- +SSR streams carrying these messages may be used e.g. to support real-time Precise Point Positioning (PPP) applications. + ++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 3/4 files +except for the two characters of the data type as well as for the characters of the filename suffix, which is set to 'ssr': +The file below contains one day's data. 'MN' stands for 'Multi Constellation Clock' data. +
- dt = -2 (R * V) / c2 +SSRA00CNE1_S_20222750000_01D_MC.ssr +SSRA00DLR1_S_20222740000_01D_MC.ssr- -
-where R * V is the scalar product of the satellite position and velocity and 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'. -
- --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'. -
+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 'Epoch Record' of a Broadcast Correction block @@ -2494,10 +2595,8 @@ The leading 'Epoch Record' of each block in a Broadcast Correction file contains 11 parameters. Example:
--> ORBIT 2015 06 17 11 43 35.0 2 53 CLK93 --
+
Their meaning is as follows: -+> ORBIT 2022 10 01 23 59 45.0 2 110 SSRA00CNE1 +
Example for block 'ORBIT' carrying orbit corrections
--> 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:+> ORBIT 2022 10 01 23 59 45.0 2 110 SSRA00CNE1 +G01 93 -0.1588 -0.8664 -0.0600 0.2210 -0.1200 -0.0400 +G02 33 0.0491 -1.7468 0.5608 0.1820 0.0040 0.0200 +G03 72 -0.1495 -0.5408 0.2372 0.1190 -0.1640 0.1200 +G04 183 0.1435 -0.1232 0.5380 0.0090 -0.1400 0.1080 +G06 94 -0.2037 -2.1956 -0.1688 0.2540 -0.1280 0.0480 +.. +R01 11 -0.7444 2.7684 -2.6576 -1.7740 -0.0480 -1.6440 +R02 11 -0.0127 0.9224 -0.5828 -0.0830 0.4400 -0.2480 +R03 11 1.1832 0.5412 1.0988 0.6670 0.8160 0.7280 +R04 11 0.3613 -1.5672 1.3608 0.1840 -0.4520 0.9440 +.. +E01 110 -0.0509 -0.1328 -0.1212 0.0010 -0.0960 0.0000 +E02 110 -0.1341 -0.3820 0.3552 -0.0040 -0.1200 0.0120 +E03 110 0.0744 -0.2620 -0.3392 0.0160 -0.1280 -0.0120 +E04 110 -0.0925 0.1708 -0.0212 0.0200 -0.0520 0.0120 +.. +C01 115 2.3749 0.8224 -3.0080 0.0360 -0.0440 -0.0320 +C02 115 4.4831 0.7836 -3.3052 0.0070 -0.0120 0.4240 +
-
-> 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 ++> CLOCK 2022 10 01 23 59 45.0 2 110 SSRA00CNE1 +G01 93 0.1498 0.0000 0.0000 +G02 33 -0.3686 0.0000 0.0000 +G03 72 0.2208 0.0000 0.0000 +G04 183 -0.9087 0.0000 0.0000 +.. +R01 11 3.2911 0.0000 0.0000 +R02 11 2.7534 0.0000 0.0000 +R03 11 -3.0149 0.0000 0.0000 +R04 11 -4.2644 0.0000 0.0000 +.. +E01 110 -0.1014 0.0000 0.0000 +E02 110 0.3910 0.0000 0.0000 +E03 110 -0.2841 0.0000 0.0000 +E04 110 0.0697 0.0000 0.0000 +.. +C01 115 0.0000 0.0000 0.0000 +C02 115 -7.1950 0.0000 0.0000 +
@@ -2591,21 +2706,27 @@
-Example for block 'CODE_BIAS' carrying code biases
--> 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 -++> CODE_BIAS 2022 10 01 23 59 45.0 2 110 SSRA00CNE1 +G01 7 1C -2.6900 1P -2.8300 1W -3.1000 2L -3.8000 2S -3.8000 2W -5.1000 5Q -0.6300 +G02 4 1C 3.1700 1P 3.1400 1W 3.6600 2W 6.0300 +G03 7 1C -2.0500 1P -1.8800 1W -2.2600 2L -3.0300 2S -2.9800 2W -3.7200 5Q -0.6400 +G04 7 1C 0.6300 1P 0.7000 1W 0.4800 2L 1.9200 2S 1.9100 2W 0.8000 5Q 0.5200 +.. +R01 4 1C -2.6700 1P -2.5800 2C -3.6100 2P -4.2500 +R02 4 1C -0.2300 1P -0.2700 2C -0.4400 2P -0.4400 +R03 4 1C 1.3200 1P 1.2700 2C 2.0100 2P 2.0900 +R04 4 1C 1.7100 1P 1.5700 2C 2.5700 2P 2.5800 +.. +E01 4 1C -0.1500 5Q -0.2700 6C -1.0300 7Q -0.2300 +E02 4 1C 0.3000 5Q 0.5300 6C -0.3000 7Q 0.6800 +E03 4 1C -0.9000 5Q -1.6100 6C -0.6600 7Q -1.5700 +E04 4 1C 0.9400 5Q 1.6900 6C 0.9500 7Q 1.6500 +.. +C01 3 2I 0.5900 6I 0.8900 7I -5.2500 +C02 3 2I 4.4700 6I 6.7600 7I 1.9700 +
Records in this block provide the following satellite specific information: @@ -2626,13 +2747,25 @@ Example for block 'PHASE_BIAS' carrying phase biases
--> PHASE_BIAS 2015 06 17 11 43 35.0 2 31 CLK93 ++G01 157.50000000 0.00000000 3 1C -0.6023 1 2 7 2W -0.8679 1 2 7 5I -0.8614 1 2 7 +G02 13.35937500 0.00000000 2 1C 0.7878 1 2 4 2W 1.1236 1 2 4 +G03 114.60937500 0.00000000 3 1C 0.5267 1 2 5 2W 0.6362 1 2 5 5I 0.5909 1 2 5 +G04 142.73437500 0.00000000 3 1C -0.2596 1 2 4 2W -0.3408 1 2 4 5I -0.3128 1 2 4 +.. +R01 61.87500000 0.00000000 0 +R02 63.28125000 0.00000000 0 +R03 81.56250000 0.00000000 0 +R04 104.76562500 0.00000000 0 +.. +E01 311.48437500 0.00000000 4 1C -0.3417 1 2 7 5Q -0.4521 1 2 7 7Q -3.1509 1 2 7 6C -3.4182 1 2 7 +E02 228.51562500 0.00000000 4 1C -0.2393 1 2 5 5Q -0.5462 1 2 5 7Q -2.9695 1 2 5 6C -3.3839 1 2 5 +E03 137.10937500 0.00000000 4 1C -0.1708 1 2 4 5Q -0.1185 1 2 4 7Q -2.6085 1 2 4 6C -3.0863 1 2 4 +E04 42.89062500 0.00000000 4 1C 0.5145 1 2 11 5Q 0.6448 1 2 11 7Q -2.0412 1 2 11 6C -2.5102 1 2 11 +.. +C01 0.00000000 0.00000000 3 2I -0.2411 0 2 6 7I 2.9125 0 2 6 6I -0.3651 0 2 6 +C02 0.00000000 0.00000000 3 2I 0.5378 0 2 15 7I 4.1515 0 2 15 6I 0.7121 0 2 15 ++> PHASE_BIAS 2022 10 01 23 59 45.0 2 110 SSRA00CNE1 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: @@ -2669,22 +2802,34 @@ Example for block 'VTEC' carrying ionospheric corrections
--> 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 -+VTEC 2022 10 02 00 00 00.0 6 1 SSRA00CNE1 + 1 12 12 450000.0 + 22.6900 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 + 0.2000 11.6050 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 + -8.7500 -0.0200 2.0250 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 + -0.2900 -1.5900 0.3700 -0.1750 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 + 3.1850 -0.1150 -0.2350 0.0050 0.0300 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 + -0.1050 1.3550 -0.4000 -0.3400 -0.0150 -0.2550 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 + -1.1200 0.0800 0.1100 -0.1350 0.0650 -0.0050 0.0400 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 + 0.1600 -0.3650 0.4200 0.0750 -0.0400 -0.0350 0.0950 0.3000 0.0000 0.0000 0.0000 0.0000 0.0000 + 0.6950 -0.0750 0.0500 0.0450 -0.0800 0.0600 -0.0500 0.0200 -0.0100 0.0000 0.0000 0.0000 0.0000 + 0.0200 0.0150 -0.0800 -0.0500 0.0600 0.0200 -0.0900 -0.1000 0.0400 -0.1050 0.0000 0.0000 0.0000 + -0.2600 -0.2800 -0.0550 -0.0100 0.1200 -0.0150 -0.0200 -0.0050 -0.0250 -0.0750 0.0200 0.0000 0.0000 + 0.1850 -0.0400 0.1250 0.0100 0.0000 -0.0250 0.0600 0.0700 0.0000 0.0050 -0.0250 -0.0050 0.0000 + -0.0500 -0.0200 0.0850 0.0700 -0.0850 0.0350 -0.0350 0.0350 -0.0250 0.0200 0.0200 0.0300 0.0250 + 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 + 0.0000 1.5350 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 + 0.0000 0.1150 -1.3850 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 + 0.0000 -2.0150 0.2500 0.9750 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 + 0.0000 0.0450 0.3200 0.1500 0.2200 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 + 0.0000 1.0400 -0.0950 -0.0600 0.1100 -0.2750 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 + 0.0000 -0.1150 -0.5000 -0.0650 -0.1800 -0.0300 0.0100 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 + 0.0000 -0.5200 -0.0100 -0.0150 -0.0300 -0.1350 0.0100 0.0050 0.0000 0.0000 0.0000 0.0000 0.0000 + 0.0000 0.0900 0.1400 0.0550 0.0450 0.0300 0.1300 0.0250 0.0650 0.0000 0.0000 0.0000 0.0000 + 0.0000 0.0800 0.0350 0.0600 0.0150 -0.0700 -0.0100 -0.0100 0.0100 0.1000 0.0000 0.0000 0.0000 + 0.0000 -0.1550 -0.1400 0.0250 -0.0100 -0.0450 -0.0250 0.0200 -0.0800 0.0150 -0.1000 0.0000 0.0000 + 0.0000 0.0550 -0.0100 -0.0300 0.0050 0.1250 -0.0450 -0.0150 -0.0100 0.0250 -0.0200 -0.0600 0.0000 + 0.0000 0.0750 -0.1400 0.0850 -0.0200 -0.0150 0.0750 0.0000 0.0050 0.0200 0.0250 0.0100 0.0450 +
The second record in this block provides four parameters: @@ -2703,5 +2848,7 @@
2.8.1 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. +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.
@@ -2713,78 +2860,17 @@2.8.3 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: -
-> 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. -
- -+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 the same to the format used for saving Broadcast Corrections in a file. +
++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. +
+ +
Figure 17: Example for pulling, saving and output of Broadcast Corrections using BNC
@@ -2792,21 +2878,37 @@-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 local 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 'Slip Counter' is added. The end of an epoch is indicated by an empty line. -
- --A valid 'Slip Counter' is only presented for observations from RTCM Version 2 streams (Cummulative Loss of Lock Indicator). In RTCM Version 3 streams a 'Lock Time Indicator' is available instead. This parameter indicates 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 Time Indicator' will be reset to zero. But, this 'Lock Time Indicator' ist defined with different resolution for different RTCM version 3 observation types (MSMi, legacy messages). -
- --From the RTCM version 3 'Lock Time Indicator' a valid 'Lock Time' can be computed with the respective calculation rule. This parameter provides a measure of the amount of time that has elapsed during which the receiver has maintained continuous lock on that satellite signal in seconds. If a cycle slip occurs during the previous measurement cycle, the 'Lock Time' will decrease. This information will be used, to provide a 'Slip Counter' for RTCM Version 3 observations as well. With it, we have an output format that is independent from the RTCM version of the observations. The 'Lock Time' output can be activated optional. -
- --The following table 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. +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 local 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 'Slip Counter' is added. The end of an epoch is indicated by an empty line. +
+ ++A valid 'Slip Counter' is only presented for observations from RTCM Version 2 streams (Cummulative Loss of Lock Indicator). +In RTCM Version 3 streams a 'Lock Time Indicator' is available instead. This parameter indicates 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 Time Indicator' will be reset to zero. +But, this 'Lock Time Indicator' ist defined with different resolution for different RTCM version 3 observation types (MSMi, legacy messages). +
+ ++From the RTCM version 3 'Lock Time Indicator' a valid 'Lock Time' can be computed with the respective calculation rule. +This parameter provides a measure of the amount of time that has elapsed during which the receiver has maintained continuous +lock on that satellite signal in seconds. If a cycle slip occurs during the previous measurement cycle, the 'Lock Time' will decrease. +This information will be used, to provide a 'Slip Counter' for RTCM Version 3 observations as well. With it, we have an output +format that is independent from the RTCM version of the observations. The 'Lock Time' output can be activated optional. +
+ ++The following table 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.
@@ -2856,121 +2958,172 @@Observation Code T2W 1X,A3 - Computed Lock Time 937.000 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:
-> 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 +The following is an example epoch for synchronized file and IP port output, which presents observations +from GPS, GLONASS, Galileo, BDS (BeiDou), and QZSS satellites as collected through the stream CUT000AUS0: +++> 2235 161041.0000000 +CUT000AUS0 G05 C1C 22397546.124 L1C 117700392.329 0 D1C -1640.054 S1C 43.812 C2W 22397552.729 L2W 91714594.476 0 S2W 40.500 C2X 22397553.316 L2X 91714226.480 0 S2X 42.312 +CUT000AUS0 G07 C1C 25034166.757 L1C 131554935.204 0 D1C -2648.320 S1C 35.875 C2W 25034175.115 L2W 102510355.979 0 S2W 16.312 C2X 25034174.119 L2X 102511007.981 0 S2X 33.188 +CUT000AUS0 G13 C1C 20632879.971 L1C 108426200.511 0 D1C 1654.761 S1C 49.188 C2W 20632886.032 L2W 84487953.991 0 S2W 39.625 +CUT000AUS0 G14 C1C 20965039.130 L1C 110171908.246 0 D1C -1943.579 S1C 47.125 C2W 20965046.213 L2W 85848259.985 0 S2W 38.312 C2X 20965046.165 L2X 85847926.992 0 S2X 49.688 C5X 20965051.615 L5X 82271015.564 0 S5X 53.375 +CUT000AUS0 G15 C1C 22787067.176 L1C 119746749.144 0 D1C 2849.917 S1C 44.125 C2W 22787072.695 L2W 93309160.157 0 S2W 41.688 C2X 22787072.244 L2X 93309423.169 0 S2X 41.375 +CUT000AUS0 G17 C1C 22121616.350 L1C 116249765.638 0 D1C 2427.573 S1C 45.875 C2W 22121622.093 L2W 90584239.708 0 S2W 43.000 C2X 22121621.190 L2X 90584535.701 0 S2X 41.812 +CUT000AUS0 G19 C1C 23142771.219 L1C 121616393.429 0 D1C 3092.017 S1C 40.000 C2W 23142777.011 L2W 94766026.444 0 S2W 25.500 +CUT000AUS0 G20 C1C 23782796.965 L1C 124978693.104 0 D1C -2903.804 S1C 37.188 C2W 23782803.282 L2W 97386261.663 0 S2W 19.312 +CUT000AUS0 G24 C1C 25377344.828 L1C 133359519.706 0 D1C 2260.874 S1C 32.625 C2W 25377355.059 L2W 103916508.791 0 S2W 23.188 C2X 25377354.491 L2X 103915493.811 0 S2X 36.125 C5X 25377356.208 L5X 99585948.817 0 S5X 39.375 +CUT000AUS0 G30 C1C 22338975.386 L1C 117392908.228 0 D1C -1822.832 S1C 44.688 C2W 22338984.492 L2W 91475025.743 0 S2W 33.125 C2X 22338984.476 L2X 91474721.733 0 S2X 45.375 C5X 22338985.207 L5X 87662740.132 0 S5X 48.812 +CUT000AUS0 R04 C1C 23881837.357 L1C 127885658.422 0 D1C -4453.798 S1C 40.812 C1P 23881835.733 L1P 127885658.404 0 S1P 38.625 C2C 23881844.628 L2C 99466667.235 0 S2C 38.375 C2P 23881844.445 L2P 99467375.252 0 S2P 36.688 +CUT000AUS0 R05 C1C 19993055.353 L1C 106874582.378 0 D1C -2706.814 S1C 53.500 C1P 19993054.520 L1P 106874858.394 0 S1P 52.125 C2C 19993059.406 L2C 83123912.722 0 S2C 48.188 C2P 19993059.047 L2P 83124682.719 0 S2P 47.875 +CUT000AUS0 R06 C1C 20263132.945 L1C 108127358.039 0 D1C 2084.428 S1C 43.312 C1P 20263130.042 L1P 108128324.023 0 S1P 41.812 +CUT000AUS0 R07 C1C 24129676.299 L1C 129167523.333 0 D1C 4208.592 S1C 40.625 C1P 24129674.854 L1P 129168613.333 0 S1P 39.625 C2C 24129680.090 L2C 100463556.008 0 S2C 34.812 C2P 24129680.907 L2P 100463507.006 0 S2P 34.375 +CUT000AUS0 R09 C1C 22647210.193 L1C 120935222.748 0 D1C 2451.996 S1C 44.312 C1P 22647208.752 L1P 120934301.732 0 S1P 42.625 C2C 22647213.052 L2C 94060688.797 0 S2C 40.875 C2P 22647212.494 L2P 94060910.813 0 S2P 39.625 +CUT000AUS0 R15 C1C 21378136.341 L1C 114238110.662 0 D1C -2695.283 S1C 50.875 C1P 21378136.614 L1P 114238720.680 0 S1P 49.188 C2C 21378140.999 L2C 88852381.654 0 S2C 46.000 C2P 21378141.210 L2P 88852004.661 0 S2P 45.125 +CUT000AUS0 R17 C1C 23445042.586 L1C 125459843.828 0 D1C 2139.073 S1C 42.188 C1P 23445040.392 L1P 125458606.837 0 S1P 40.625 C2C 23445044.755 L2C 97579282.106 0 S2C 38.375 C2P 23445045.002 L2P 97579658.104 0 S2P 37.312 +CUT000AUS0 R18 C1C 24487212.824 L1C 130713967.425 0 D1C 3289.885 S1C 38.688 C1P 24487211.697 L1P 130714476.414 0 S1P 37.312 C2C 24487222.117 L2C 101666522.038 0 S2C 36.625 C2P 24487222.877 L2P 101667012.053 0 S2P 37.000 +CUT000AUS0 R24 C1C 24406995.868 L1C 130515122.174 0 D1C -363.589 S1C 37.625 C1P 24406994.508 L1P 130514566.195 0 S1P 36.500 C2C 24407001.743 L2C 101511238.922 0 S2C 35.375 C2P 24407001.646 L2P 101511808.907 0 S2P 33.875 +CUT000AUS0 E07 C1X 24981018.132 L1X 131275662.874 0 D1X -2005.073 S1X 47.312 C7X 24981022.166 L7X 100587870.838 0 S7X 48.500 C8X 24981023.032 L8X 99309728.272 0 S8X 50.375 C5X 24981024.925 L5X 98030555.501 0 S5X 48.312 +CUT000AUS0 E19 C1X 26936516.560 L1X 141552478.497 0 D1X 2328.999 S1X 40.688 C7X 26936519.247 L7X 108462290.707 0 S7X 41.875 C8X 26936519.723 L8X 107083533.258 0 S8X 44.375 C5X 26936521.948 L5X 105704775.587 0 S5X 41.375 +CUT000AUS0 E21 C1X 24762234.566 L1X 130126590.523 0 D1X 1574.204 S1X 49.500 C7X 24762237.934 L7X 99707410.202 0 S7X 48.812 C8X 24762238.719 L8X 98439944.211 0 S8X 50.500 C5X 24762240.762 L5X 97172479.002 0 S5X 48.000 +CUT000AUS0 E27 C1X 23576704.592 L1X 123895989.025 0 D1X -851.299 S1X 52.625 C7X 23576706.467 L7X 94933319.817 0 S7X 51.375 C8X 23576707.753 L8X 93726498.714 0 S8X 53.375 C5X 23576709.755 L5X 92519764.395 0 S5X 51.812 +CUT000AUS0 E30 C1X 27140817.882 L1X 142626806.094 0 D1X -2516.660 S1X 41.812 C7X 27140820.356 L7X 109284744.583 0 S7X 42.125 C8X 27140821.870 L8X 107896108.822 0 S8X 45.312 C5X 27140823.870 L5X 106506823.863 0 S5X 42.688 +CUT000AUS0 J02 C1C 33315686.894 L1C 175075542.860 0 D1C 843.828 S1C 49.125 C2X 33315691.154 L2X 136421853.584 0 S2X 52.312 C5X 33315695.902 L5X 130737887.374 0 S5X 54.688 +CUT000AUS0 J03 C1C 42286566.136 L1C 222216744.902 0 D1C 1795.498 S1C 36.500 C2X 42286572.066 L2X 173156649.003 0 S2X 38.312 C5X 42286579.133 L5X 165941790.603 0 S5X 42.188 +CUT000AUS0 J07 C1C 37020705.829 L1C 194545830.880 0 D1C 3.584 S1C 39.625 C2X 37020708.694 L2X 151593502.133 0 S2X 47.812 C5X 37020714.323 L5X 145277106.855 0 S5X 51.500 +CUT000AUS0 C01 C2I 37452945.154 L2I 195027050.043 0 D2I -4.219 S2I 41.875 C6I 37452936.772 L6I 158475266.419 0 S6I 42.875 C7I 37452941.707 L7I 150807351.407 0 S7I 42.625 +CUT000AUS0 C02 C2I 37629590.702 L2I 195946381.957 0 D2I -65.684 S2I 37.625 C6I 37629580.568 L6I 159222468.315 0 S6I 41.688 C7I 37629584.237 L7I 151518158.493 0 S7I 42.500 +CUT000AUS0 C03 C2I 37043583.946 L2I 192895689.591 0 D2I -42.959 S2I 42.000 C6I 37043573.338 L6I 156743260.534 0 S6I 45.000 C7I 37043578.637 L7I 149159229.293 0 S7I 44.500 +CUT000AUS0 C04 C2I 38728082.770 L2I 201667622.637 0 D2I 16.230 S2I 36.812 C6I 38728071.971 L6I 163871475.478 0 S6I 40.312 C7I 38728076.953 L7I 155942209.993 0 S7I 39.375 +CUT000AUS0 C05 C2I 39585341.980 L2I 206131634.311 0 D2I -45.948 S2I 34.812 C6I 39585332.316 L6I 167498725.372 0 S6I 36.375 C7I 39585337.333 L7I 159393949.120 0 S7I 37.125 +CUT000AUS0 C06 C2I 36205815.127 L2I 188533341.895 0 D2I 293.803 S2I 47.625 C6I 36205801.585 L6I 153198815.977 0 S6I 47.000 C7I 36205808.771 L7I 145785979.158 0 S7I 46.812 +CUT000AUS0 C07 C2I 36955824.337 L2I 192438747.274 0 D2I 1083.432 S2I 43.688 C6I 36955809.966 L6I 156372256.627 0 S6I 44.625 C7I 36955818.699 L7I 148805860.823 0 S7I 45.500 +CUT000AUS0 C09 C2I 36538611.526 L2I 190266647.981 0 D2I 320.453 S2I 46.312 C6I 36538598.798 L6I 154607263.246 0 S6I 46.000 C7I 36538607.103 L7I 147126274.839 0 S7I 45.500 +CUT000AUS0 C10 C2I 37839575.262 L2I 197041085.539 0 D2I 1304.384 S2I 41.688 C6I 37839563.189 L6I 160112029.382 0 S6I 41.500 C7I 37839572.127 L7I 152364675.110 0 S7I 41.875 +CUT000AUS0 C11 C2I 26805755.942 L2I 139584609.535 0 D2I -416.109 S2I 32.312 C6I 26805745.652 L6I 113423929.526 0 S6I 35.312 C7I 26805755.187 L7I 107935674.616 0 S7I 36.125 +CUT000AUS0 C13 C2I 41051458.729 L2I 213765992.637 0 D2I -1850.508 S2I 34.000 C6I 41051455.342 L6I 173702372.800 0 S6I 32.875 C7I 41051464.924 L7I 165297417.662 0 S7I 34.000 +CUT000AUS0 C16 C2I 36059609.070 L2I 187772602.648 0 D2I 211.928 S2I 48.625 C6I 36059599.120 L6I 152579828.103 0 S6I 45.812 C7I 36059607.906 L7I 145196944.884 0 S7I 45.688 +CUT000AUS0 C19 C2I 25734075.834 L2I 134004287.472 0 D2I 2607.207 S2I 39.375 C6I 25734062.383 L6I 108889463.904 0 S6I 41.125 +CUT000AUS0 C20 C2I 22171840.147 L2I 115454153.788 0 D2I 259.834 S2I 50.688 C6I 22171825.517 L6I 93815970.330 0 S6I 50.000 +CUT000AUS0 C23 C2I 24439012.163 L2I 127260830.033 0 D2I -2096.363 S2I 44.688 C6I 24438995.765 L6I 103409879.739 0 S6I 44.875 +CUT000AUS0 C28 C2I 25427888.185 L2I 132409857.631 0 D2I 2314.521 S2I 38.625 C6I 25427881.814 L6I 107593860.548 0 S6I 38.688 + +> 2235 161042.0000000 +.. +
+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. +
++
Figure 18: Synchronized BNC output via IP port to feed a GNSS real-time engine
+ +2.9.1 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 Table 2. Enter an IP port number here to activate this function. +The default is an empty option field, meaning that no synchronized output is generated.
+ + +2.9.2 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. +
+ +2.9.3 Sampling - mandatory if 'File' or 'Port' is set
++Select a synchronized observation output sampling interval in seconds. +
+ +2.9.4 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. +
+ +2.9.5 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, GLONASS, Galileo, BDS (BeiDou) +as collected through stream WTZR00DEU0. 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 Table 2 for format details. +
+ +-+WTZR00DEU0 2235 163641.0000000 C45 C2I 21792728.974 L2I 113480606.233 0 D2I -840.222 S2I 49.000 C6I 21792718.056 L6I 92212301.720 0 D6I -682.735 S6I 53.000 C5P 21792722.630 L5P 85519518.841 0 D5P -633.150 S5P 55.000 C1P 21792728.867 L1P 114521718.308 0 D1P -847.940 S1P 49.000 +WTZR00DEU0 2235 163641.0000000 C57 C2I 35241541.940 L2I 183511967.699 0 D2I 3312.134 S2I 38.000 +WTZR00DEU0 2235 163641.0000000 C60 C2I 40835714.048 L2I 212642400.538 0 D2I 3.107 S2I 42.000 C6I 40835695.000 L6I 172789282.775 0 D6I 2.563 S6I 38.000 +WTZR00DEU0 2235 163642.0000000 G02 C1C 21379575.238 L1C 112350466.503 0 D1C 1170.040 S1C 50.000 C2W 21379571.878 L2W 87545832.377 0 D2W 911.720 S2W 48.000 +WTZR00DEU0 2235 163642.0000000 G04 C1C 25299844.801 L1C 132951592.093 0 D1C 1200.923 S1C 39.000 C2W 25299844.872 L2W 103598643.930 0 D2W 935.786 S2W 37.000 C2S 25299845.337 L2S 103598633.949 0 D2S 935.788 S2S 39.000 C5Q 25299848.214 L5Q 99282039.251 0 D5Q 896.700 S5Q 41.000 +.. +WTZR00DEU0 2235 163642.0000000 R02 C1C 24526502.578 L1C 130878135.690 0 D1C -3106.188 S1C 46.000 C2C 24526504.954 L2C 101794134.136 0 D2C -2415.923 S2C 38.000 C2P 24526504.597 L2P 101794114.124 0 D2P -2415.924 S2P 38.000 +WTZR00DEU0 2235 163642.0000000 R03 C1C 23652572.765 L1C 126614077.711 0 D1C -630.104 S1C 46.000 C2C 23652573.301 L2C 98477638.096 0 D2C -490.081 S2C 37.000 C2P 23652572.533 L2P 98477618.066 0 D2P -490.085 S2P 37.000 +.. +WTZR00DEU0 2235 163642.0000000 E01 C1C 26930045.201 L1C 141518526.177 0 D1C -2534.602 S1C 49.000 C6C 26930047.720 L6C 114869006.985 0 D6C -2057.304 S6C 50.000 C7Q 26930046.237 L7Q 108436367.651 0 D7Q -1942.054 S7Q 45.000 C8Q 26930048.024 L8Q 107057942.802 0 D8Q -1917.406 S8Q 50.000 C5Q 26930049.615 L5Q 105679526.128 0 D5Q -1892.741 S5Q 48.000 +WTZR00DEU0 2235 163642.0000000 E03 C1C 28229782.305 L1C 148348501.362 0 D1C 39.942 S1C 44.000 C6C 28229782.234 L6C 120412744.902 0 D6C 32.553 S6C 43.000 C7Q 28229784.789 L7Q 113669639.982 0 D7Q 30.900 S7Q 42.000 C8Q 28229784.985 L8Q 112224686.556 0 D8Q 30.503 S8Q 44.000 C5Q 28229786.004 L5Q 110779744.311 0 D5Q 30.132 S5Q 40.000 +WTZR00DEU0 2235 163642.0000000 E05 C1C 27821824.684 L1C 146204675.792 0 D1C -2023.955 S1C 45.000 C6C 27821825.542 L6C 118672628.805 0 D6C -1642.884 S6C 44.000 C7Q 27821828.187 L7Q 112026972.544 0 D7Q -1550.945 S7Q 44.000 C8Q 27821828.937 L8Q 110602896.522 0 D8Q -1531.222 S8Q 46.000 C5Q 27821830.688 L5Q 109178838.676 0 D5Q -1511.462 S5Q 43.000 +WTZR00DEU0 2235 163642.0000000 E10 C1C 27845624.132 L1C 146329752.236 0 D1C 3297.279 S1C 45.000 C6C 27845627.045 L6C 118774160.378 0 D6C 2676.374 S6C 45.000 C7Q 27845628.224 L7Q 112122811.041 0 D7Q 2526.467 S7Q 43.000 C8Q 27845628.510 L8Q 110697518.817 0 D8Q 2494.409 S8Q 46.000 C5Q 27845629.171 L5Q 109272236.786 0 D5Q 2462.268 S5Q 44.000 +WTZR00DEU0 2235 163642.0000000 E12 C1C 25724560.188 L1C 135183502.970 0 D1C 2910.137 S1C 46.000 C6C 25724557.561 L6C 109726872.278 0 D6C 2362.124 S6C 47.000 C7Q 25724559.313 L7Q 103582176.389 0 D7Q 2229.792 S7Q 46.000 C8Q 25724560.152 L8Q 102265454.924 0 D8Q 2201.438 S8Q 49.000 C5Q 25724561.117 L5Q 100948736.643 0 D5Q 2173.094 S5Q 46.000 +WTZR00DEU0 2235 163642.0000000 E24 C1C 24759911.740 L1C 130114254.885 0 D1C 1790.491 S1C 51.000 C6C 24759911.615 L6C 105612232.912 0 D6C 1453.295 S6C 54.000 C7Q 24759910.847 L7Q 99697952.062 0 D7Q 1371.869 S7Q 53.000 C8Q 24759912.151 L8Q 98430607.507 0 D8Q 1354.441 S8Q 55.000 C5Q 24759913.206 L5Q 97163270.129 0 D5Q 1337.013 S5Q 52.000 +WTZR00DEU0 2235 163642.0000000 E26 C1C 26508097.314 L1C 139301027.368 0 D1C -2155.856 S1C 48.000 C6C 26508097.725 L6C 113069021.925 0 D6C -1749.953 S6C 50.000 C7Q 26508097.279 L7Q 106737162.256 0 D7Q -1651.940 S7Q 49.000 C8Q 26508097.904 L8Q 105380335.094 0 D8Q -1630.981 S8Q 51.000 C5Q 26508099.012 L5Q 104023515.114 0 D5Q -1610.036 S5Q 48.000 +.. +WTZR00DEU0 2235 163642.0000000 C26 C2I 23510858.851 L2I 122427226.293 0 D2I 2283.809 S2I 49.000 C6I 23510855.528 L6I 99482138.474 0 D6I 1855.875 S6I 49.000 C5P 23510859.888 L5P 92261680.179 0 D5P 1721.110 S5P 50.000 C1P 23510858.387 L1P 123550408.663 0 D1P 2304.891 S1P 48.000 +WTZR00DEU0 2235 163642.0000000 C29 C2I 21580712.838 L2I 112376488.453 0 D2I 208.852 S2I 49.000 C6I 21580707.799 L6I 91315102.976 0 D6I 169.736 S6I 52.000 C5P 21580712.266 L5P 84687416.320 0 D5P 157.427 S5P 54.000 C1P 21580712.373 L1P 113407458.870 0 D1P 210.745 S1P 48.000 +WTZR00DEU0 2235 163642.0000000 C30 C2I 23959205.575 L2I 124761931.366 0 D2I -2657.024 S2I 49.000 C6I 23959203.305 L6I 101379299.287 0 D6I -2159.002 S6I 48.000 C5P 23959207.880 L5P 94021152.637 0 D5P -2002.326 S5P 49.000 C1P 23959204.699 L1P 125906536.640 0 D1P -2681.458 S1P 49.000 +.. +WTZR00DEU0 2235 163642.0000000 C60 C2I 40835713.423 L2I 212642397.246 0 D2I 3.174 S2I 42.000 C6I 40835694.374 L6I 172789280.110 0 D6I 2.705 S6I 38.000 +WTZR00DEU0 2235 163643.0000000 G02 C1C 21379352.625 L1C 112349296.717 0 D1C 1169.503 S1C 50.000 C2W 21379349.266 L2W 87544920.854 0 D2W 911.301 S2W 49.000 +WTZR00DEU0 2235 163643.0000000 G04 C1C 25299616.345 L1C 132950391.648 0 D1C 1200.111 S1C 38.000 C2W 25299616.506 L2W 103597708.514 0 D2W 935.153 S2W 37.000 C2S 25299616.935 L2S 103597698.549 0 D2S 935.156 S2S 39.000 C5Q 25299619.758 L5Q 99281142.802 0 D5Q 896.365 S5Q 41.000 ... -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. -
--
Figure 18: Synchronized BNC output via IP port to feed a GNSS real-time engine
- -2.9.1 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 Table 2. Enter an IP port number here to activate this function. The default is an empty option field, meaning that no synchronized output is generated.
- - -2.9.2 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. -
- -2.9.3 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. -
- -2.9.4 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. -
- -2.9.5 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 Table 2 for format details. -
- --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 -... -+
-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. The following figure shows the data flow when pulling a VRS stream or a physical (non-VRS) stream. -
- -
+Note that receiving a VRS stream requires the receiver sending NMEA sentences (option 'NMEA' set to 'Manual' or 'Auto') to the Ntrip Broadcaster. +The following figure shows the data flow when pulling a VRS stream or a physical (non-VRS) stream. +
+ +
Figure 19: Flowcharts, BNC forwarding a stream to a serially connected receiver; sending NMEA sentences is mandatory for VRS streams
-The following figure shows the screenshot of an example situation where BNC pulls a VRS stream from an Ntrip Broadcaster to feed a serially connected RTK rover. -
- -
Figure 20: BNC pulling a VRS stream to feed a serially connected RTK rover
+The following figure shows the screenshot of an example situation where BNC pulls a VRS stream from an Ntrip Broadcaster +to feed a serially connected RTK rover. + + +
Figure 20: BNC pulling a RTCM Version 3 stream to feed a serial connected receiver with observations from a nearby reference station for conventional RTK
-When selecting one of the serial communication options listed below, make sure that you pick those configured to the serially connected receiver. +When selecting one of the serial communication options listed below, make sure that you pick those configured to the +serially connected receiver.
-Enter the serial 'Port name' selected on your host for communication with the serially connected receiver. Valid port names are -
-- 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 -+Enter the serial 'Port name' selected on your host for communication with the serially connected receiver. +Valid port names are + +
| 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. @@ -3006,5 +3161,6 @@
-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. +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.
@@ -3025,23 +3181,39 @@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. +
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.
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. +
+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.
-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. +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.
@@ -3051,45 +3223,73 @@-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. +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.
-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. +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.
-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. +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.
-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'. +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'.
-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'. +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'.
-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. +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.
@@ -3098,13 +3298,12 @@
Examples for command line parameter strings passed on to the advisory 'Script' are: -
- 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 -- +
+ FFMJ00DEU0 Begin_Outage 22-02-21 09:25:59 + FFMJ00DEU0 End_Outage 22-02-21 11:36:02 Begin was 22-02-21 09:25:59 +
Sample script for Unix/Linux/Mac OS X systems:
-++- -#!/bin/bash sleep $((60*RANDOM/32767)) @@ -3116,8 +3315,8 @@ EOF mail -s "NABU: $1" email@address < mail.txt -
-Note the sleep command in this script, which causes the system to wait for a random period of up to 60 seconds before sending the email. This should avoid overloading your mail server in case of a simultaneous failure of many streams. +
+Note the sleep command in this script, which causes the system to wait for a random period of up to 60 seconds before sending the email. +This should avoid overloading your mail server in case of a simultaneous failure of many streams.
@@ -3128,7 +3327,8 @@-The following figure shows RTCM message numbers and observation types contained in stream 'CUT07' and the message latencies recorded every 2 seconds. -
-
Figure 21: RTCM message numbers, latencies and observation types logged by BNC
@@ -3136,10 +3336,17 @@-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. +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.
- 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. + 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.
@@ -3154,14 +3361,19 @@
-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: +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:
-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 +22-11-09 11:59:42 CUT000AUS0 Observations: Mean latency 0.48 sec, min 0.25, max 0.97, rms 0.50, 3600 epochs, 0 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. +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.
@@ -3169,5 +3381,9 @@-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. +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.
@@ -3188,62 +3404,88 @@
-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. -
- +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. +The same is true for most of the GLONASS MSM messages, expect for MSM5 and MSM7, where the GLONASS channel number is available +as extended information. Such observations can only be decoded when you include 1020 GLONASS ephemeris messages to your stream, +which contain the channels. You could also add another stream carrying 1087 GLONASS observation messages or +1020 GLONASS ephemeris messages to get 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. +
-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. -
+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. + +An empty option field (default) means that you do not want BNC to apply the TCP/IP port output option.
--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 -
When using the PPP option, it is important to understand which effects are corrected by BNC. -
--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. -
- +BNC can derive coordinates for rover positions following different Precise Point Positioning (PPP) methods: ++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.
Figure 22: Real-time Precise Point Positioning with BNC, PPP Panel 1
@@ -3262,323 +3503,386 @@ 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 3 format.
-
+
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 Ephemerides. +Streams with observation and navigation data have to be in RTCM Version 3 format. Correction streams have to be in RTCM-SSR or IGS-SSR format. If you do not pull Broadcast Corrections, BNC will switch with its solution to 'Single Point Positioning' (SPP) mode.
- -
-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:
+
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. +
+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:
- bnc.exe --conf c:\temp\PPP.bnc --file c:\temp\RAW + Windows: bnc.exe --conf c:\temp\PPP.bnc --file c:\temp\RAWSuch a file (here: 'RAW') must be saved beforehand using BNC's 'Raw output file' option. - - - - -
-Specify a RINEX Observation file. The file format can be RINEX Version 2 or RINEX Version 3. -
- --Specify a RINEX Navigation file. The file format can be RINEX Version 2 or RINEX Version 3. -
- --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. -
-+
++Specify a Broadcast 'Corrections stream' from the list of selected 'Streams' you are pulling if you want BNC to correct your +satellite ephemeris and observations 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 can for example be be pulled from https://products.igs-ip.net +The stream format must be RTCM-SSR or IGS-SSR containing so-called SSR messages. Streams 'SSRA03IGS1' and 'SSRA00BKG1' are examples +using the IGS-SSR format. If you do not specify a 'Corrections stream', BNC will fall back from a PPP solution to a Single Point Positioning (SPP) solution.
- --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. -
- --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. -
- ++Specify a Broadcast 'Corrections file' as saved beforehand using BNC. The file content is basically the ASCII representation of a +RTCM-SSR or a IGS-SSR Broadcast Correction stream. If you do not specify a 'Correction file', BNC will fall back from a PPP solution +to a Single Point Positioning (SPP) solution. +
++Specify a 'Ionosphere stream' which provides VTEC informations in SSR format from the list of selected 'Streams' you are pulling +if you want BNC to correct your observations accordingly. Streams providing such VTEC informations are made available e.g. through the +International GNSS Service (IGS) and can for example be be pulled from https://products.igs-ip.net +The stream format must be RTCM-SSR or IGS-SSR containing so-called SSR messages. Streams 'IONO00IGS1' and 'IONO00UPC1' are examples +using the IGS-SSR format. +If you do not specify a 'Ionosphere stream' via this option, BNC will use VTEC informations from the Corrections stream 'mountpoint', +if available. +
++Specify a 'Ionosphere file' as saved beforehand using BNC. The file content is basically the ASCII representation of a +RTCM-SSR or a IGS-SSR Ionosphere stream. +
++Specify a RINEX Observation file. The file format can be RINEX Version 2, RINEX Version 3 or RINEX Version 4. +
++Specify a RINEX Navigation file.The file format can be RINEX Version 2, RINEX Version 3 or RINEX Version 4. +
++IGS provides a file containing absolute phase center corrections for GNSS satellite and receiver antennas in ANTEX format. +Such so-called ANTEX files are available from IGS through +at https://files.igs.org/pub/station/general/. +An example ANTEX file 'igs20.atx' is part of the BNC package for convenience. +
++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. +
-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: -
-+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: +
- '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.
+ Observations will be corrected for the receiver Antenna Phase Center (APC) offsets and variations.+ 'JPSREGANT_SD_E ' (no radome) + 'LEIAT504 NONE' (no radome) + 'LEIAR25.R3 LEIT' (radome is LEIT) +
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 and radome in use. -
+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 and radome in use, and followed by the receiver name. + ++In this file ++! --------------------------------------------------------------------------------------------------------------------------------! +! Apriori coordinates with eccentricities, antenna and receiver, Reference System IGS20 +! --------------------------------------------------------------------------------------------------------------------------------! +! Station X[m] Y[m] Z[m] North[m] EAST[m] UP[m] Antenna_______Radom Receiver +! --------------------------------------------------------------------------------------------------------------------------------! +! REAL-TIME ! +FFMJ00DEU0 4053455.62808 617729.94590 4869395.88436 0.0000 0.0000 0.0450 LEIAR25.R4 LEIT JAVAD TRE_G3TH DELTA +FFMJ01DEU0 4053455.62808 617729.94590 4869395.88436 0.0000 0.0000 0.0450 LEIAR25.R4 LEIT LEICA GR50 +WTZR00DEU0 4075580.27823 931854.08861 4801568.30495 0.0000 0.0000 0.0710 LEIAR25.R3 LEIT LEICA GR25 +! RINEX ! +FFMJ00DEU 4053455.62808 617729.94590 4869395.88436 0.0000 0.0000 0.0450 LEIAR25.R4 LEIT JAVAD TRE_G3TH DELTA +FFMJ01DEU 4053455.62808 617729.94590 4869395.88436 0.0000 0.0000 0.0450 LEIAR25.R4 LEIT LEICA GR50 +WTZR00DEU 4075580.27823 931854.08861 4801568.30495 0.0000 0.0000 0.0710 LEIAR25.R3 LEIT LEICA GR25 +VM01 0.0 0.0 0.0 0.0000 0.0000 0.0000 +! REAL-TIME TEST ! +TRDS00NOR0 2820170.56469 513486.25161 5678936.13675 5.5460 0.0070 0.0180 TRM55971.00 NONE TRIMBLE NETR9 +
+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 9/4-character station ID of a RINEX filename. +
+ ++Specify a 'BLQ file' containing the ocean loading coefficients for all stations you want to process. +These coefficients can be obtained from the ocean loading service under request trough the web site +http://holt.oso.chalmers.se/loading/ + . +BNC computes time series of tidal displacements for the respective stations using that input file. +
+ + ++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): +
++... +22-11-17 21:42:02 2022-11-17_21:42:20.000 WTZR00DEU0 X = 4075580.2851 Y = 931854.1072 Z = 4801568.3290 NEU: +0.0075 +0.0166 +0.0253 TRP: +2.1833 +0.0026 +22-11-17 21:42:03 2022-11-17_21:42:21.000 WTZR00DEU0 X = 4075580.2848 Y = 931854.1070 Z = 4801568.3289 NEU: +0.0077 +0.0164 +0.0250 TRP: +2.1833 +0.0028 +22-11-17 21:42:04 2022-11-17_21:42:22.000 WTZR00DEU0 X = 4075580.2859 Y = 931854.1078 Z = 4801568.3292 NEU: +0.0070 +0.0170 +0.0260 TRP: +2.1833 +0.0031 +22-11-17 21:42:05 2022-11-17_21:42:23.000 WTZR00DEU0 X = 4075580.2850 Y = 931854.1056 Z = 4801568.3294 NEU: +0.0081 +0.0150 +0.0252 TRP: +2.1833 +0.0034 +22-11-17 21:42:06 2022-11-17_21:42:24.000 WTZR00DEU0 X = 4075580.2871 Y = 931854.1059 Z = 4801568.3291 NEU: +0.0063 +0.0149 +0.0265 TRP: +2.1833 +0.0037 +22-11-17 21:42:07 2022-11-17_21:42:25.000 WTZR00DEU0 X = 4075580.2868 Y = 931854.1048 Z = 4801568.3298 NEU: +0.0072 +0.0139 +0.0266 TRP: +2.1833 +0.0040 +22-11-17 21:42:08 2022-11-17_21:42:26.000 WTZR00DEU0 X = 4075580.2868 Y = 931854.1048 Z = 4801568.3269 NEU: +0.0053 +0.0139 +0.0245 TRP: +2.1833 +0.0042 +22-11-17 21:42:09 2022-11-17_21:42:27.000 WTZR00DEU0 X = 4075580.2876 Y = 931854.1038 Z = 4801568.3266 NEU: +0.0047 +0.0127 +0.0245 TRP: +2.1833 +0.0046 +22-11-17 21:42:10 2022-11-17_21:42:28.000 WTZR00DEU0 X = 4075580.2861 Y = 931854.1026 Z = 4801568.3265 NEU: +0.0059 +0.0119 +0.0234 TRP: +2.1833 +0.0049 +22-11-17 21:42:11 2022-11-17_21:42:29.000 WTZR00DEU0 X = 4075580.2850 Y = 931854.1030 Z = 4801568.3248 NEU: +0.0055 +0.0125 +0.0215 TRP: +2.1833 +0.0053 +22-11-17 21:42:12 2022-11-17_21:42:30.000 WTZR00DEU0 X = 4075580.2842 Y = 931854.1011 Z = 4801568.3253 NEU: +0.0068 +0.0109 +0.0210 TRP: +2.1833 +0.0056 +... +
+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. +
+++PPP of Epoch 2022-11-17_21:47:08.000 +--------------------------------------------------------------- +2022-11-17_21:47:08.000 BANCROFT: 4075580.023 931856.214 4801566.122 94.689 + +2022-11-17_21:47:08.000 SATNUM G 9 +2022-11-17_21:47:08.000 RES c1 G02 -0.1726 +2022-11-17_21:47:08.000 RES c1 G05 0.5544 +2022-11-17_21:47:08.000 RES c1 G16 -0.5058 +2022-11-17_21:47:08.000 RES c1 G18 -0.0158 +2022-11-17_21:47:08.000 RES c1 G20 -0.3456 +2022-11-17_21:47:08.000 RES c1 G25 0.0098 +2022-11-17_21:47:08.000 RES c1 G26 0.3615 +2022-11-17_21:47:08.000 RES c1 G29 0.0823 +2022-11-17_21:47:08.000 RES c1 G31 0.0791 +2022-11-17_21:47:08.000 RES c2 G02 0.2043 +2022-11-17_21:47:08.000 RES c2 G05 -0.1494 +2022-11-17_21:47:08.000 RES c2 G16 0.4594 +2022-11-17_21:47:08.000 RES c2 G18 0.0795 +2022-11-17_21:47:08.000 RES c2 G20 0.4275 +2022-11-17_21:47:08.000 RES c2 G25 0.1922 +2022-11-17_21:47:08.000 RES c2 G26 0.0648 +2022-11-17_21:47:08.000 RES c2 G29 -0.2369 +2022-11-17_21:47:08.000 RES c2 G31 0.0044 +2022-11-17_21:47:08.000 RES l1 G02 0.0008 +2022-11-17_21:47:08.000 RES l1 G05 0.0127 +2022-11-17_21:47:08.000 RES l1 G16 -0.0069 +2022-11-17_21:47:08.000 RES l1 G18 0.0011 +2022-11-17_21:47:08.000 RES l1 G20 -0.0063 +2022-11-17_21:47:08.000 RES l1 G25 -0.0025 +2022-11-17_21:47:08.000 RES l1 G26 0.0043 +2022-11-17_21:47:08.000 RES l1 G29 -0.0036 +2022-11-17_21:47:08.000 RES l1 G31 -0.0018 +2022-11-17_21:47:08.000 RES l2 G02 -0.0004 +2022-11-17_21:47:08.000 RES l2 G05 -0.0079 +2022-11-17_21:47:08.000 RES l2 G16 0.0042 +2022-11-17_21:47:08.000 RES l2 G18 -0.0007 +2022-11-17_21:47:08.000 RES l2 G20 0.0037 +2022-11-17_21:47:08.000 RES l2 G25 0.0013 +2022-11-17_21:47:08.000 RES l2 G26 -0.0025 +2022-11-17_21:47:08.000 RES l2 G29 0.0022 +2022-11-17_21:47:08.000 RES l2 G31 0.0011 +2022-11-17_21:47:08.000 SATNUM R 4 +2022-11-17_21:47:08.000 RES c1 R13 -0.0118 +2022-11-17_21:47:08.000 RES c1 R14 1.2099 +2022-11-17_21:47:08.000 RES c1 R15 -1.1385 +2022-11-17_21:47:08.000 RES c1 R24 -1.1821 +2022-11-17_21:47:08.000 RES c2 R13 0.0502 +2022-11-17_21:47:08.000 RES c2 R14 -0.4755 +2022-11-17_21:47:08.000 RES c2 R15 1.0857 +2022-11-17_21:47:08.000 RES c2 R24 0.4894 +2022-11-17_21:47:08.000 RES l1 R13 0.0063 +2022-11-17_21:47:08.000 RES l1 R14 0.0114 +2022-11-17_21:47:08.000 RES l1 R15 0.0128 +2022-11-17_21:47:08.000 RES l1 R24 -0.0202 +2022-11-17_21:47:08.000 RES l2 R13 -0.0054 +2022-11-17_21:47:08.000 RES l2 R14 -0.0053 +2022-11-17_21:47:08.000 RES l2 R15 -0.0114 +2022-11-17_21:47:08.000 RES l2 R24 0.0121 +2022-11-17_21:47:08.000 SATNUM E 7 +2022-11-17_21:47:08.000 RES c1 E10 0.2013 +2022-11-17_21:47:08.000 RES c1 E12 -0.0202 +2022-11-17_21:47:08.000 RES c1 E24 0.1911 +2022-11-17_21:47:08.000 RES c1 E25 0.2827 +2022-11-17_21:47:08.000 RES c1 E26 -0.0250 +2022-11-17_21:47:08.000 RES c1 E31 0.3809 +2022-11-17_21:47:08.000 RES c1 E33 -0.0607 +2022-11-17_21:47:08.000 RES c2 E10 0.2610 +2022-11-17_21:47:08.000 RES c2 E12 0.0690 +2022-11-17_21:47:08.000 RES c2 E24 0.1595 +2022-11-17_21:47:08.000 RES c2 E25 0.0284 +2022-11-17_21:47:08.000 RES c2 E26 -0.0843 +2022-11-17_21:47:08.000 RES c2 E31 -0.1387 +2022-11-17_21:47:08.000 RES c2 E33 -0.0813 +2022-11-17_21:47:08.000 RES l1 E10 -0.0017 +2022-11-17_21:47:08.000 RES l1 E12 -0.0008 +2022-11-17_21:47:08.000 RES l1 E24 0.0017 +2022-11-17_21:47:08.000 RES l1 E25 -0.0012 +2022-11-17_21:47:08.000 RES l1 E26 0.0007 +2022-11-17_21:47:08.000 RES l1 E31 -0.0005 +2022-11-17_21:47:08.000 RES l1 E33 -0.0002 +2022-11-17_21:47:08.000 RES l2 E10 0.0010 +2022-11-17_21:47:08.000 RES l2 E12 0.0004 +2022-11-17_21:47:08.000 RES l2 E24 -0.0009 +2022-11-17_21:47:08.000 RES l2 E25 0.0005 +2022-11-17_21:47:08.000 RES l2 E26 -0.0005 +2022-11-17_21:47:08.000 RES l2 E31 0.0003 +2022-11-17_21:47:08.000 RES l2 E33 0.0001 + +2022-11-17_21:47:08.000 REC_CLK G 0.0000 +3.0126 +- 0.2920 +2022-11-17_21:47:08.000 REC_CLK R 0.0000 +11.1614 +- 1.7196 +2022-11-17_21:47:08.000 REC_CLK E 0.0000 -5.9155 +- 0.2753 +2022-11-17_21:47:08.000 TRP 2.1833 +0.0517 +- 0.0739 +2022-11-17_21:47:08.000 ION G02 0.0000 -5.7945 +- 0.2104 +2022-11-17_21:47:08.000 ION G05 0.0000 -3.1871 +- 0.2783 +2022-11-17_21:47:08.000 ION G16 0.0000 -2.8219 +- 0.3255 +2022-11-17_21:47:08.000 ION G18 0.0000 -2.5264 +- 0.2184 +2022-11-17_21:47:08.000 ION G20 0.0000 -2.8718 +- 0.3272 +2022-11-17_21:47:08.000 ION G25 0.0000 +2.9946 +- 0.2567 +2022-11-17_21:47:08.000 ION G26 0.0000 +1.4823 +- 0.2219 +2022-11-17_21:47:08.000 ION G29 0.0000 -3.7500 +- 0.2113 +2022-11-17_21:47:08.000 ION G31 0.0000 -3.7782 +- 0.2260 +2022-11-17_21:47:08.000 ION R12 0.0000 +5.1937 +- 2.5551 +2022-11-17_21:47:08.000 ION R13 0.0000 +3.0746 +- 1.3815 +2022-11-17_21:47:08.000 ION R14 0.0000 +0.8970 +- 1.3602 +2022-11-17_21:47:08.000 ION R15 0.0000 +5.8365 +- 1.9561 +2022-11-17_21:47:08.000 ION R24 0.0000 +4.9548 +- 1.3849 +2022-11-17_21:47:08.000 ION E10 0.0000 +2.9867 +- 0.2217 +2022-11-17_21:47:08.000 ION E12 0.0000 -0.6873 +- 0.1879 +2022-11-17_21:47:08.000 ION E24 0.0000 +0.5845 +- 0.1841 +2022-11-17_21:47:08.000 ION E25 0.0000 +3.1903 +- 0.3103 +2022-11-17_21:47:08.000 ION E26 0.0000 +0.4911 +- 0.3528 +2022-11-17_21:47:08.000 ION E31 0.0000 +3.8772 +- 0.1889 +2022-11-17_21:47:08.000 ION E33 0.0000 +0.8343 +- 0.1887 +2022-11-17_21:47:08.000 AMB l1 G02 0.0000 -23.6657 +- 2.3839 el = 65.27 epo = 126 +2022-11-17_21:47:08.000 AMB l1 G05 -18.0000 -10.8006 +- 2.6173 el = 24.29 epo = 126 +2022-11-17_21:47:08.000 AMB l1 G16 -5.0000 -8.3983 +- 2.9733 el = 16.95 epo = 126 +2022-11-17_21:47:08.000 AMB l1 G18 14.0000 -6.2637 +- 2.3943 el = 51.38 epo = 126 +2022-11-17_21:47:08.000 AMB l1 G20 20.0000 -8.9493 +- 2.9963 el = 15.90 epo = 126 +2022-11-17_21:47:08.000 AMB l1 G25 71.0000 +21.9859 +- 2.5119 el = 29.47 epo = 126 +2022-11-17_21:47:08.000 AMB l1 G26 14.0000 +14.7236 +- 2.4022 el = 48.19 epo = 126 +2022-11-17_21:47:08.000 AMB l1 G29 8.0000 -12.9052 +- 2.3846 el = 62.61 epo = 126 +2022-11-17_21:47:08.000 AMB l1 G31 -12.0000 -13.7575 +- 2.4113 el = 43.92 epo = 126 +2022-11-17_21:47:08.000 AMB l1 R12 134.0000 -11.4687 +- 19.4149 el = 7.00 epo = 72 +2022-11-17_21:47:08.000 AMB l1 R13 80.0000 -21.2997 +- 15.8981 el = 53.05 epo = 126 +2022-11-17_21:47:08.000 AMB l1 R14 45.0000 -32.1410 +- 15.8330 el = 60.69 epo = 126 +2022-11-17_21:47:08.000 AMB l1 R15 79.0000 -8.5602 +- 17.6318 el = 10.24 epo = 126 +2022-11-17_21:47:08.000 AMB l1 R24 86.0000 -11.0912 +- 15.9190 el = 54.30 epo = 126 +2022-11-17_21:47:08.000 AMB l1 E10 -25.0000 +69.2221 +- 2.2445 el = 33.75 epo = 126 +2022-11-17_21:47:08.000 AMB l1 E12 -34.0000 +50.0813 +- 2.1477 el = 57.80 epo = 126 +2022-11-17_21:47:08.000 AMB l1 E24 -36.0000 +56.4165 +- 2.1446 el = 69.89 epo = 126 +2022-11-17_21:47:08.000 AMB l1 E25 -27.0000 +69.8552 +- 2.8830 el = 15.51 epo = 126 +2022-11-17_21:47:08.000 AMB l1 E26 -20.0000 +54.7160 +- 3.4490 el = 10.89 epo = 126 +2022-11-17_21:47:08.000 AMB l1 E31 42.0000 +74.0156 +- 2.1497 el = 55.47 epo = 126 +2022-11-17_21:47:08.000 AMB l1 E33 -18.0000 +57.4397 +- 2.1506 el = 56.46 epo = 126 +2022-11-17_21:47:08.000 AMB l2 G02 -18.0000 -34.1382 +- 2.3954 el = 65.27 epo = 126 +2022-11-17_21:47:08.000 AMB l2 G05 -3.0000 -16.1458 +- 2.7261 el = 24.29 epo = 126 +2022-11-17_21:47:08.000 AMB l2 G16 -24.0000 -14.5440 +- 3.1164 el = 16.95 epo = 126 +2022-11-17_21:47:08.000 AMB l2 G18 5.0000 -11.4185 +- 2.4192 el = 51.38 epo = 126 +2022-11-17_21:47:08.000 AMB l2 G20 9.0000 -14.9204 +- 3.1420 el = 15.90 epo = 126 +2022-11-17_21:47:08.000 AMB l2 G25 69.0000 +24.5505 +- 2.5938 el = 29.47 epo = 126 +2022-11-17_21:47:08.000 AMB l2 G26 49.0000 +15.2478 +- 2.4320 el = 48.19 epo = 126 +2022-11-17_21:47:08.000 AMB l2 G29 14.0000 -20.5723 +- 2.3973 el = 62.61 epo = 126 +2022-11-17_21:47:08.000 AMB l2 G31 -18.0000 -20.6551 +- 2.4479 el = 43.92 epo = 126 +2022-11-17_21:47:08.000 AMB l2 R12 135.0000 +5.2598 +- 21.1165 el = 7.00 epo = 72 +2022-11-17_21:47:08.000 AMB l2 R13 74.0000 -8.5429 +- 15.9055 el = 53.05 epo = 126 +2022-11-17_21:47:08.000 AMB l2 R14 52.0000 -22.7534 +- 15.8155 el = 60.69 epo = 126 +2022-11-17_21:47:08.000 AMB l2 R15 41.0000 +9.1213 +- 18.5219 el = 10.24 epo = 126 +2022-11-17_21:47:08.000 AMB l2 R24 72.0000 +4.9855 +- 15.9258 el = 54.30 epo = 126 +2022-11-17_21:47:08.000 AMB l2 E10 -7.0000 +60.7498 +- 2.3202 el = 33.75 epo = 126 +2022-11-17_21:47:08.000 AMB l2 E12 -20.0000 +35.4043 +- 2.1634 el = 57.80 epo = 126 +2022-11-17_21:47:08.000 AMB l2 E24 -14.0000 +43.4891 +- 2.1513 el = 69.89 epo = 126 +2022-11-17_21:47:08.000 AMB l2 E25 -10.0000 +61.6943 +- 3.0445 el = 15.51 epo = 126 +2022-11-17_21:47:08.000 AMB l2 E26 -4.0000 +42.6730 +- 3.6063 el = 10.89 epo = 126 +2022-11-17_21:47:08.000 AMB l2 E31 90.0000 +67.0696 +- 2.1672 el = 55.47 epo = 126 +2022-11-17_21:47:08.000 AMB l2 E33 -4.0000 +45.4395 +- 2.1669 el = 56.46 epo = 126 +2022-11-17_21:47:08.000 WTZR00DEU0 X = 4075580.2593 +- 0.0736 Y = 931854.0817 +- 0.0473 Z = 4801568.2785 +- 0.0924 dN = -0.0022 +- 0.0493 dE = -0.0026 +- 0.0457 dU = -0.0331 +- 0.1080 +
+ Depending on selected processing options you find 'GPS Time' stamps (yyyy-mm-dd_hh:mm:ss.sss) followed by +
| SATNUM G | Number of satellites per contributing GNSS, here GPS |
| RES ci/li | Code and phase residuals for contributing GNSS in [m] given per satellite |
| REC_CLK G | Receiver clock errors for contributing GNSS in [m], here GPS |
| TRP | A priori and correction values of tropospheric zenith delay in [m] |
| ION | A priori and correction values of ionospheric delay in [m] |
| AMB li | Floated ambiguities given per satellite with 'nEpo' = number of epochs since last ambiguity reset |
| MOUNTPOINT | Here 'WTZR00DEU0' 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. +
++BNC follows the RINEX Version 3 standard to create filenames for PPP logfiles (suffix 'ppp'), see section 'RINEX Filenames' for details:
-! -! 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 + WTZR00DEU_20223220000_01D_01S.ppp-
-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'. -
- --! -! 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 -
--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. -
--The following are examples for Version 2 filenames: -
-
-| CUT018671.nmea | NMEA filename, suffix 'nmea' |
| CUT018671.ppp | PPP logfile name, suffix 'ppp' |
| CUT018671J30.tro | SINEX Troposphere filename, suffix 'tro' |
-The following are examples for Version 3 filenames:
-
| 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' |
-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): -
-... -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. -
- --
-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 -
-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. -
-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 +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
@@ -3590,31 +3894,36 @@ The following is an example for an NMEA output file from BNC.
++ ++$GPGGA,214523.00,4908.6520501,N,01252.7348655,E,1,21,0.6,665.993,M,0.0,M,,*56 +$GPRMC,214524.000,A,4908.6521,N,01252.7349,E,,,171122,,*09 +$GPGGA,214524.00,4908.6520504,N,01252.7348645,E,1,21,0.6,665.994,M,0.0,M,,*52 +$GPRMC,214525.000,A,4908.6521,N,01252.7349,E,,,171122,,*08 +$GPGGA,214525.00,4908.6520501,N,01252.7348639,E,1,21,0.6,665.993,M,0.0,M,,*5a +$GPRMC,214526.000,A,4908.6521,N,01252.7349,E,,,171122,,*0b +$GPGGA,214526.00,4908.6520509,N,01252.7348637,E,1,21,0.6,665.990,M,0.0,M,,*5c +$GPRMC,214527.000,A,4908.6521,N,01252.7349,E,,,171122,,*0a +$GPGGA,214527.00,4908.6520502,N,01252.7348627,E,1,21,0.6,665.990,M,0.0,M,,*57 +$GPRMC,214528.000,A,4908.6520,N,01252.7349,E,,,171122,,*04 +$GPGGA,214528.00,4908.6520499,N,01252.7348630,E,1,21,0.6,665.988,M,0.0,M,,*54 +$GPRMC,214529.000,A,4908.6520,N,01252.7349,E,,,171122,,*05 +$GPGGA,214529.00,4908.6520494,N,01252.7348627,E,1,21,0.6,665.985,M,0.0,M,,*53 +$GPRMC,214530.000,A,4908.6521,N,01252.7349,E,,,171122,,*0c +$GPGGA,214530.00,4908.6520501,N,01252.7348622,E,1,21,0.6,665.984,M,0.0,M,,*52 +$GPRMC,214531.000,A,4908.6521,N,01252.7349,E,,,171122,,*0d +$GPGGA,214531.00,4908.6520504,N,01252.7348629,E,1,21,0.6,665.987,M,0.0,M,,*5e +... +
+BNC follows the RINEX Version 3 standard to create filenames for NMEA logfiles (suffix 'nmea'), see section 'RINEX Filenames' for details:
-$GPRMC,112348,A,3200.233,S,11553.688,E,,,300615,,*A -$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 -... + WTZR00DEU_20223220000_01D_01S.nmea-
-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. +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.
@@ -3629,40 +3938,61 @@-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: -
- --%=TRO 2.00 BKG 16:053:42824 BKG 16:053:42824 16:053:43199 P 00376 0 T +You can specify a 'SNX TRO Directory' for saving SINEX Troposphere files on disk, see +https://files.igs.org/pub/data/format/sinex_tro_v2.00.pdf +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: + + ++For file naming, BNC follows the new format convention according to IGS products considering the site +http://acc.igs.org/repro3/Long_Product_Filenames_v1.0.pdf: ++%=TRO 2.00 BKG 22:322:00000 BKG 22:322:00000 22:322:03599 P 03600 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 + SOFTWARE BNC 2.13 + INPUT Observations: WTZR00DEU, SSR corrections: SSRA00BKG1 -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 +*CODE PT DOMES____ T _STATION DESCRIPTION__ APPROX_LON_ APPROX_LAT_ _APP_H_ + WTZR00DEU A P DEU 12 52 44.1 49 8 39.1 666.0 -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 PT SOLN T DATA_START__ DATA_END____ DESCRIPTION_________ S/N__ FIRMWARE___ + WTZR00DEU A 1 P 22:322:00000 22:322:03599 LEICA GR25 ----- ----------- -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 PT SOLN T DATA_START__ DATA_END____ DESCRIPTION_________ S/N__ + WTZR00DEU A 1 P 22:322:00000 22:322:03599 LEIAR25.R3 LEIT ----- -SITE/ANTENNA + ++SITE/GPS_PHASE_CENTER +* UP____ NORTH_ EAST__ UP____ NORTH_ EAST__ +*DESCRIPTION_________ S/N__ L1->ARP(m)__________ L2->ARP(m)__________ AZ_EL____ + LEIAR25.R3 LEIT ----- +.1617 +.0005 +.0001 +.1579 +.0001 -.0007 --------- +-SITE/GPS_PHASE_CENTER + ++SITE/GLONASS_PHASE_CENTER +* UP____ NORTH_ EAST__ UP____ NORTH_ EAST__ +*DESCRIPTION_________ S/N__ L1->ARP(m)__________ L2->ARP(m)__________ AZ_EL____ + LEIAR25.R3 LEIT ----- +.1617 +.0005 +.0001 +.1579 +.0001 -.0007 --------- +-SITE/GLONASS_PHASE_CENTER + ++SITE/GALILEO_PHASE_CENTER +* UP____ NORTH_ EAST__ UP____ NORTH_ EAST__ +*DESCRIPTION_________ S/N__ L1->ARP(m)__________ L2->ARP(m)__________ AZ_EL____ + LEIAR25.R3 LEIT ----- ------ ------ ------ ------ ------ ------ +-SITE/GALILEO_PHASE_CENTER +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 PT SOLN T DATA_START__ DATA_END____ AXE ARP->BENCHMARK(M)_________ + WTZR00DEU A 1 P 22:322:00000 22:322:03599 UNE 0.0710 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 +*SITE PT SOLN T STA_X_______ STA_Y_______ STA_Z_______ SYSTEM REMARK + WTZR00DEU A 1 P 4075580.278 931854.089 4801568.305 IGS20 BKG -TROP/COORDINATES @@ -3677,18 +4007,48 @@ +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 -... +*SITE EPOCH_______ TROTOT STDEV + WTZR00DEU 22:322:78171 2183.5 100.0 + WTZR00DEU 22:322:78172 2183.5 100.0 + WTZR00DEU 22:322:78173 2183.7 99.9 + WTZR00DEU 22:322:78174 2183.8 99.9 + WTZR00DEU 22:322:78175 2184.0 99.8 + WTZR00DEU 22:322:78176 2184.2 99.8 + WTZR00DEU 22:322:78177 2184.4 99.7 + WTZR00DEU 22:322:78178 2184.6 99.7 + WTZR00DEU 22:322:78179 2184.8 99.6 + WTZR00DEU 22:322:78180 2185.0 99.6 + WTZR00DEU 22:322:78181 2185.4 99.5 ... -TROP/SOLUTION %=ENDTROP +
+ AAAVPPPTTT_YYYYDOYHHMM_LEN_SMP_SITENAME_CNT.FMT- --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. +With +
+
| AAA | Analysis Center abbrevaition |
| V | Version / Solution identifier (0-9) |
| PPP | Project/Campaign identification, here demonstration (DEM) |
| TTT | Solution Type, here real-time streamed product(RTS) |
| YYYYDOYHHMM | String representing beginning time of nominal data interval |
| LEN | Intended product period of the file |
| SMP | Data sampling rate |
| SITENAME | 9-char site name |
| CNT | Content type, here TRO |
| FMT | File format, here tro |
+ BKG1DEMRTS_20223222100_01H_01S_WTZR00DEU_TRO.tro ++ +
+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.
@@ -3697,9 +4057,7 @@ Select the length of SINEX Troposphere files. -Default 'Interval' for saving SINEX Troposphere files on disk is '1 day'.
-@@ -3717,61 +4075,12 @@
-Specify a 4-character solution ID to allow a distingtion between different solutions per AC. String '0001' is an example. -
- --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. -
- -
Figure 23: Precise Point Positioning with BNC, PPP Panel 2, using RTKPLOT for visualization
- --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. -
- --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. -
- --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. -
- --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. -
- --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. -
- --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. -
- -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. +Specify a 1-character solution ID to allow a distingtion between different solutions per AC. String '1' is an example. +
+ ++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.
@@ -3779,58 +4088,65 @@
-
Figure 24: Precise Point Positioning with BNC, PPP Panel 3
- --
-Specify on which ionosphere-free Linear Combinations (LCs) of observations you want to base ambiguity resolutions (Mervart et al. 2008). 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'). -
--
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. +
Figure 23: Precise Point Positioning with BNC, PPP Panel 2
+ ++Specify on which kind of GNSS observations you want to use. The specification is to be done per GNSS system ('GPS', 'GLONASS', 'Galileo', 'BDS'). +
++Note that most geodetic GPS receivers support the observation of both, code and phase data. +Hence, specifying 'Pi&Li' 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.
--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. -
- - --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. -
+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. +
+ ++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. +
BNC allows elevation dependent weighting when processing GNSS observations. A weight function
-P = cos² * z
- --with '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. +
+with '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.
Select the minimum number of observations you want to use per epoch. The minimum for parameter 'Min # of Obs' is 5. This is also the default.
- --Select a minimum for satellite elevation angles. Selecting '10 deg' for option 'Min Elevation' may be an appropriate choice. +
+Select a minimum for satellite elevation angles. Selecting '7 deg' for option 'Min Elevation' may be an appropriate choice.
@@ -3855,25 +4170,37 @@
--Specifying 'no' for option 'Wait for clock corr.' means that BNC processes each epoch of data immediately after its 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. -
- --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. -
- ++Specifying 'no' for option 'Wait for clock corr.' means that BNC processes each epoch of data immediately after its 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. +
+ ++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 (3)' 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 @@ -3884,15 +4211,125 @@
++Specify whether pseudo observations regarding the Ionosphere shall be used. Please note, this is useful, +as soon as the ionospheric information is more accurate than the code data accuracy. + +
+Enter a 'Sigma GIM' for pseudo observations regarding the Ionosphere in meters. +The bigger the sigma you enter, the less the contribution of GIM Pseudo observations to a PPP solutions +based on a combination of code and phase data. '5.0' meters is likely to be an appropriate choice. +
++Specify a maximum for residuals 'Max Res GIM' for pseudo observations regarding the Ionosphere 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. +
The following figure provides the screenshot of an example PPP session with BNC.
- -
Figure 25: Precise Point Positioning with BNC in 'Quick-Start' mode, PPP Panel 4
+
Figure 24: Precise Point Positioning with BNC in 'Quick-Start' mode, PPP Panel 4
+ ++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. +
+ +
Figure 25: Precise Point Positioning with BNC, PPP Panel 3
+ ++Hit the 'Add Station' button, double click on the 'Station' field, then specify an observation's mountpoint from the +'Streams' section or introduce the 9-character Station ID of your RINEX observation file and hit Enter. +BNC will only produce PPP solutions for stations listed in this table. +
+ ++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. +
+ ++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. +
+ ++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. +
+ ++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. +
+ ++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. +
+ ++Specify a list of signal priorities (2 frequencies per system) for the observations that shall be used for PPP. +
++'Signal Priorities' can be specified as equal for all systems, as system specific or as system and frequency specific. +For example: +
++Default is the following list of 'Signal Priorities': +
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. +of OpenStreetMap (OSM) maps.
@@ -3919,25 +4356,14 @@-You may like to track your rover position using Google Maps or OpenStreetMap as a background map. Track maps can be +You may like to track your rover position using OpenStreetMap as a background map. Track maps can be produced with BNC in 'Real-time Streams' mode or in 'RINEX Files' post processing mode with data coming from files. -
--Even when in 'RINEX Files' post processing mode, you should not forget to go online with your host and specify a -proxy under the 'Network' panel if that is operated in front of BNC. -
--The 'Open Map' button opens a window showing a map according to the selected 'Google/OSM' option. -
- -
Figure 26: Track of positions from BNC with Google Maps in background
- --Select either 'Google' or 'OSM' as the background map for your rover positions. -
- -
Figure 27: Example for background map from Google Maps and OpenStreetMap (OSM)
+Even when in 'RINEX Files' post processing mode, you should not forget to go online with your host. + ++The 'Open Map' button opens a window showing the map. +
+ +
Figure 26: Track of positions from BNC with OpenStreetMap in background
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 +combination of Broadcast Corrections from various providers (Weber and Mervart 2010). 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 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 (Weber and Mervart 2010) because -
+The 'Combine Corrections' functionality may be of interrest because: +
-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 http://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. +
+ Clk_Corr = AC_Offset + Sat_Offset + Clk ++ With +
+
| AC_Offset | AC specific offset |
| Sat_Offset | Satellite specific offset common to all ACs |
| Clk | the actual satellite clock correction, which represents the result of the combination |
+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.
The following recursive algorithm is used to detect orbit outliers in the Kalman Filter combination when Broadcast Corrections are provided by several ACs:
-Step 1: We do not produce a combination for a certain satellite if only one AC provides corrections for it.
-Step 2: A mean satellite position is calculated as the average of positions from all ACs.
-Step 3: For each AC and satellite, the 3D distance between individual and mean satellite position is calculated.
-Step 4: We find the greatest difference between AC specific and mean satellite positions.
-Step 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.
-Step 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 step 1.
-
-The following screenshot shows an example setup of BNC when combining Broadcast Correction streams CLK11, CLK21, CLK91, and CLK80. -
- -
Figure 28: 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 following example 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. -
- -
Figure 29: 'INTERNAL' PPP with BNC using a combination of Broadcast Corrections
++
| Step 1 | We do not produce a combination for a certain satellite if only one AC provides corrections for it. |
| Step 2 | A mean satellite position is calculated as the average of positions from all ACs. |
| Step 3 | For each AC and satellite, the 3D distance between individual and mean satellite position is calculated. |
| Step 4 | We find the greatest difference between AC specific and mean satellite positions. |
| Step 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. |
| Step 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 step 1. |
+The following screenshot shows an example setup of BNC when combining Broadcast Correction streams SSRA00BKG1 and SSRA00CNE1. +
+
Figure 27: BNC combining Broadcast Correction streams
+ ++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 'BCEP00BKG0' on caster http://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. +
++The combination is done system-wise for the following reference signals as specified in the IGS RTWG: +
+
| GPS: | C1W/C2W |
| GLONASS; | C1P/C2P |
| Galileo: | C1C/C5Q |
| BDS: | C2I/C6I |
| QZSS: | C1C/C2L |
| SBAS: | C1C/C5Q |
| IRNSS: | nothing declared |
+This can be used to set the ionosphere-free linearcombination of two Observable-specific Signal Biases (OSBs; +those of the reference signals) to zero in order to calculate all other OSBs. +For this, we use currently the satellite biases which are computed by the Institute of Geodesy and Geophysics (IGG) +of the Chinese Academy of Sciences (CAS) and send them out as SSR code biases together with the combined clocks. +These SINEX Bias files are archived at the CDDIS: +https://cddis.nasa.gov/archive/gnss/products/bias/ +
++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. +
++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 following example combines correction streams SSRA00BKG1 and SSRA00CNE1 and simultaneously carries out a PPP solution +with observations from stream FFMJ01DEU0 to allow monitoring the quality of the combination product in the space domain. +
+
Figure 28: 'INTERNAL' PPP with BNC using a combination of Broadcast Corrections
-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. +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.
@@ -4070,56 +4533,84 @@-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. +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.
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.
++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.
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.
++Specify a combination sampling interval. Orbit and clock corrections will be produced following that interval. +value of 10 sec may be an appropriate choice. +
-BNC can upload streams carrying orbit and clock corrections to Broadcast Ephemeris in radial, along-track and out-of-plane components if they are +BNC can upload streams carrying orbit and clock corrections to Broadcast Ephemeris in radial, along-track and out-of-plane +components if they are
-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. -
- -
-'RTNET' Stream Format
-When uploading an SSR stream generated according to (b) 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 -
- +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. +
+ ++'RTNET' Stream Format: When uploading an SSR stream generated according to (b) 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 +
A set of parameters can be defined for each satellite as follows:
@@ -4136,15 +4626,15 @@
The following satellite specific keys and values are currently specified for that in BNC:
| Key | Values |
| APC | Satellite Antenna Phase Center coordinate components in meters |
| Clk | Satellite clock correction components in meters, meters per seconds and meters per sec² (relativistic correction applied like in broadcast clocks) |
| ClkSig | Standard deviation for satellite clock correction components in meters, meters per seconds and meters per sec² (required for Clock RINEX file only) /td> |
| Vel | Satellite velocity components in meters per second |
| CoM | Satellite Center of Mass coordinate components in meters |
| Ura | User range accuracy value 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 |
| 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 |
| 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 |
| Key | Values |
| APC | Satellite Antenna Phase Center coordinate components in meters |
| Clk | Satellite clock correction components in meters, meters per seconds and meters per sec² (relativistic correction applied like in broadcast clocks) |
| ClkSig | Standard deviation for satellite clock correction components in meters, meters per seconds and meters per sec² (required for Clock RINEX file only) /td> |
| Vel | Satellite velocity components in meters per second |
| CoM | Satellite Center of Mass coordinate components in meters |
| Ura | User range accuracy value in meters |
| CodeBias | Satellite Code Biases in meters with two characters for frequency and tracking mode per bias as defined in RINEX 3/4 and preceded by total number of biases |
| PhaseBias | Satellite Phase Biases in meters with two characters for frequency and tracking mode per bias as defined in RINEX 3/4, preceded by total number of biases and followed by Signal Integer Indicator, Signals Wilde-Lane Integer Indicator as well as Signal Discontinuity Counter |
| 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 |
@@ -4160,19 +4650,20 @@ -
| Key | Values |
| IND | Stands for phase bias information and is followed by Dispersive Bias Consistency Indicator and MW Consistency Indicator |
| VTEC | Stands for Vertical TEC information and is followed by Update Interval and Number of Ionospheric Layers |
| Key | Values |
| IND | Stands for phase bias information and is followed by Dispersive Bias Consistency Indicator and MW Consistency Indicator |
| VTEC | Stands for Vertical TEC information and is followed by Update Interval and Number of Ionospheric Layers |
-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. +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.
@@ -4180,74 +4671,87 @@ Example for 'RTNET' stream content and format: - --
-* 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 Clk 2 5546.7099 0.00018335589 ClkSig 2 0.0023 0.00021199856 CoM 3 7112494.0294 23814532.0433 -5735875.7206 Vel 3 284.0303 745.9382 3452.4470 APC 3 7112493.8323 23814529.8302 -5735874.8944 YawAngle 1 1.728 CodeBias 4 1C -2.6149 1P -2.7107 2C -3.6969 2P -4.4809 +R02 Clk 2 -7008.2454 -0.00000635271 ClkSig 2 0.0023 0.00021199856 CoM 3 11244225.8582 10071470.3245 -20546784.7044 Vel 3 494.7088 2778.4611 1623.0780 APC 3 11244225.2057 10071469.5457 -20546782.4482 YawAngle 1 2.071 CodeBias 4 1C -0.1018 1P -0.3894 2C -0.6264 2P -0.6436 +R03 Clk 2 20366.1568 0.00020195972 ClkSig 2 0.0021 0.00021199856 CoM 3 9092586.5727 -9144390.0351 -21957806.0158 Vel 3 417.8656 2989.9043 -1076.1050 APC 3 9092586.1678 -9144388.9369 -21957803.7216 YawAngle 1 2.112 CodeBias 4 1C 0.5948 1P 0.9738 2C 1.2086 2P 1.6097 +R04 Clk 2 49846.8890 0.00042529794 ClkSig 2 0.0022 0.00021199856 CoM 3 1867488.4178 -22822850.6299 -11196789.3037 Vel 3 66.4046 1545.5179 -3134.6080 APC 3 1867488.7750 -22822848.4388 -11196788.1327 YawAngle 1 1.866 CodeBias 4 1C 1.0137 1P 1.2486 2C 1.6395 2P 2.0640 +... +E02 Clk 2 1444.2848 0.00069346607 ClkSig 2 0.0021 0.00021199856 CoM 3 -3377663.9278 18136033.0351 -23153818.3345 Vel 3 -1715.0309 -1566.2097 -974.6114 APC 3 -3377663.9510 18136032.5368 -23153817.7931 YawAngle 1 -0.010 CodeBias 5 1C 0.2681 1X 0.2629 5I 0.4302 5Q 0.4807 5X 0.4826 +E03 Clk 2 -186952.1234 -0.00113736360 ClkSig 2 0.0024 0.00021199856 CoM 3 -8254601.5653 28187191.4778 3641206.5123 Vel 3 114.7319 -350.5678 2966.0175 APC 3 -8254601.4684 28187190.7479 3641206.3909 YawAngle 1 1.300 CodeBias 5 1C -0.9944 1X -0.9846 5I -1.7540 5Q -1.7833 5X -1.7956 +E05 Clk 2 -36305.4464 0.00110429712 ClkSig 2 0.0027 0.00021199857 CoM 3 -16951710.6073 14279857.1039 19615600.3991 Vel 3 411.8010 -1924.3142 1755.9024 APC 3 -16951710.2715 14279856.6791 19615599.8561 YawAngle 1 1.240 CodeBias 5 1C -1.1095 1X -1.0961 5I -1.9636 5Q -1.9896 5X -1.9628 +E07 Clk 2 -664.2128 -0.00092754332 ClkSig 2 0.0025 0.00021199857 CoM 3 15638354.9447 7729299.3932 -23916035.7246 Vel 3 -463.7761 2352.3603 457.3356 APC 3 15638354.4877 7729299.1793 -23916035.2351 YawAngle 1 1.776 CodeBias 5 1C -1.6081 1X -1.5745 5I -2.8718 5Q -2.8838 5X -2.8389 +..EOE ++* 2022 11 25 22 04 05.000 +G01 Clk 2 73898.6410 -0.00164097340 ClkSig 2 0.0024 0.00021199856 CoM 3 -3022799.7396 -14423300.4562 -22402573.0244 Vel 3 2691.3388 -619.5739 69.3300 APC 3 -3022799.9547 -14423299.6874 -22402571.6928 YawAngle 1 -2.756 CodeBias 3 1C -2.6653 1W -3.0640 2W -5.0462 +G02 Clk 2 -190714.4788 0.00054568041 ClkSig 2 0.0021 0.00021199856 CoM 3 6435781.3836 14022665.7384 22245045.6986 Vel 3 -2523.5253 881.5723 199.4389 APC 3 6435781.2094 14022665.3599 22245045.1006 YawAngle 1 -0.496 CodeBias 3 1C 3.1444 1W 3.6734 2W 6.0498 +G03 Clk 2 -112198.0483 -0.00041212052 ClkSig 2 0.0021 0.00021199856 CoM 3 -9558560.1056 -21678640.8679 -12237759.6868 Vel 3 1195.6635 968.3425 -2665.8087 APC 3 -9558559.9115 -21678639.4511 -12237758.9694 YawAngle 1 2.269 CodeBias 3 1C -1.9487 1W -2.1477 2W -3.5372 +G04 Clk 2 -23967.3447 0.00204827783 ClkSig 2 0.0016 0.00021199854 CoM 3 -925894.8383 -23797191.6947 11651418.9683 Vel 3 684.2944 -1338.1342 -2689.1911 APC 3 -925894.7893 -23797190.5964 11651418.4111 YawAngle 1 1.705 CodeBias 3 1C -0.1054 1W -0.2081 2W -0.3427 .. -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 -
- dt = -2 (R * V) / c2 --where R * V is the scalar product of the satellite position and velocity and c is the speed of light. This can also be found in the GPS Interface Specification, IS-GPS-200, Revision D, 7 March 2006. - +
+The following screenshot shows the encoding and uploading of several streams using precise orbits and clocks coming from a real-time network engine +in 'RTNET' ASCII format. The streams are uploaded to Ntrip Broadcaster 'products.igs-ip.net'. They are referred to APC or CoM and IGS20 or DREF91. +Required Broadcast Ephemeris are received via stream 'BCEP00BKG0'. +
+
Figure 29: BNC producing Broadcast Corrections from incoming precise orbits and clocks and uploading them to an Ntrip Broadcaster
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. -
- -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. +
+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. +
+ ++Specify the domain name or IP number of an Ntrip Broadcaster for uploading the stream. Furthermore, specify the caster's +listening IP port and an upload mountpoint. Select the Ntrip Version that shall be used for data upload and, depending on this, +an upload user (Ntrip Version 2 only) 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 9-character ID (capital letters) plus an integer number. +
++For stream upload the Ntrip Version can be chosen. An Ntrip version 1 upload is protected through an upload 'Password' only. +For an Ntrip Version 2 upload an upload 'User' is required in addition. Enter user and password you received from the +Ntrip Broadcaster operator along with the mountpoint(s). +
++If 'Host', 'Port', 'Mountpoint', 'Ntrip' Version, 'User' and 'Password' are set, the stream will be encoded into 'State Space Representation' (SSR) +messages and uploaded to the specified broadcaster following the specified Ntrip transport protocol options.
-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 -
-
-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 +BNC allows configuring several Broadcast Correction streams for upload, so that they may 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 +
+| IGS20: | Stands for the GNSS-based IGS realization of the International Terrestrial Reference Frame 2020 (ITRF2020) |
| ETRF2000: | Stands for the European Terrestrial Reference Frame 2000 adopted by EUREF |
| GDA2020: | Stands for the Geodetic Datum Australia 2020 as adopted for Australia |
| SIRGAS2000: | Stands for the Geodetic Datum adopted for Brazil |
| DREF91: | Stands for the Geodetic Datum adopted for Germany |
| Custom: | Allows a transformation of Broadcast Corrections from the IGS20 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
@@ -4255,201 +4759,378 @@
-where s is the transformation scale, c is the speed of light, and ρ are 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 (Huisman et al. 2012). 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. -
- --IGS14: As the orbits and clocks coming from real-time GNSS engine are expected to be in the IGS14 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: -
-+where s is the transformation scale, c is the speed of light, and ρ +are 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 (Huisman et al. 2012). 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. +
++IGS20: As the orbits and clocks coming from real-time GNSS engine are expected to be in the IGS20 system, +no transformation is carried out if this option is selected. +
++As long as no updated transformation parameters are available regarding IGS20, +a transformation from 'ITRF2020->ITRF2014' is done in a fist step using the following +14 Helmert Transformation Parameters, which are available at +https://itrf.ign.fr/en/solutions/transformations +
++where+ dx = -0.0014; + dy = -0.0009; + dz = 0.0014; + + dxr = 0.0000; + dyr = -0.0001; + dzr = -0.0002; + + ox = 0.0; + oy = 0.0; + oz = 0.0; + + oxr = 0.0; + oyr = 0.0; + ozr = 0.0; + + sc = -0.4200; + scr = 0.0; + + t0 = 2015.0; +
-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 +
| dx | Translation in X at epoch t0 [m] |
| dy | Translation in Y at epoch t0 [m] |
| dz | Translation in Z at epoch t0 [m] |
| dxr | Translation rate in X at epoch t0 [m/y] |
| dyr | Translation rate in Y at epoch t0 [m/y] |
| dzr | Translation rate in Z at epoch t0 [m/y] |
| oxr | Rotation in X at epoch t0 [mas] |
| oyr | Rotation in Y at epoch t0 [mas] |
| ozr | Rotation in Z at epoch t0 [mas] |
| sc | Scale at epoch t0 [1e-9] |
| scr | Scale at epoch t0 [1e-9/y] |
| t0 | Reference Epoch [y] |
-GDA2020: The formulas for the transformation 'ITRF2014->GDA2020' were provided via personal communication from Ryan Ruddick: 'Geocentric Datum of Australia 2020, Interim Release Note Version 1.01, Intergovernmental Committee on Surveying and Mapping (ICSM), Permanent Committee on Geodesy (PCG), 03 March 2017'. -
-+
+ETRF2000: The transformation Parameters from ITRF2014 to ETRF2000 are taken from the EUREF Technical Note 1 +'EUREF Technical Note 1: Relationship and Transformation between +the International and the European Terrestrial Reference Systems', Zuheir Altamimi, June 28, 2018: +http://etrs89.ensg.ign.fr/pub/EUREF-TN-1.pdf: +
+++ dx = 0.0547; + dy = 0.0522; + dz = -0.0741; + + dxr = 0.0001; + dyr = 0.0001; + dzr = -0.0019; + + ox = 0.001701; + oy = 0.010290; + oz = -0.016632; + + oxr = 0.000081; + oyr = 0.000490; + ozr = -0.000729; + + sc = 2.12; + scr = 0.11; + + t0 = 2010.0; +
+GDA2020: The parameters for the transformation 'ITRF2014->GDA2020' were provided by Ryan Ruddick (Geoscience Australia): +via personal communication: +
+++ dx = 0.0; + dy = 0.0; + dz = 0.0; + + dxr = 0.0; + dyr = 0.0; + dzr = 0.0; + + ox = 0.0; + oy = 0.0; + oz = 0.0; + + oxr = 0.00150379; + oyr = 0.00118346; + ozr = 0.00120716; + + sc = 0.0; + scr = 0.0; + + t0 = 2020.0; +
+SIRGAS2000: The parameters for the transformation 'IGb14->SIRGAS2000' were provided from Sonia Costa, BRA via personal communication:. +
+++ dx = -0.0027; + dy = -0.0025; + dz = -0.0042; + + dxr = 0.0; + dyr = 0.0; + dzr = 0.0; + + ox = 0.0; + oy = 0.0; + oz = 0.0; + + oxr = 0.0; + oyr = 0.0; + ozr = 0.0; + + sc = 1.2; + scr = 0.0; + + t0 = 2000.0; +
+DREF91: The parameters for the transformation 'IGb14->DREF91' were provided from Peter Franke, BKG, Germany + via personal communication: +
+++ dx = 0.0547; + dy = 0.0522; + dz = -0.0741; + + dxr = 0.0001; + dyr = 0.0001; + dzr = -0.0019; + + // ERTF200 + rotation parameters (ETRF2000 => DREF91) + ox = 0.001701 + 0.000658; + oy = 0.010290 - 0.000208; + oz = -0.016632 + 0.000755; + + oxr = 0.000081; + oyr = 0.000490; + ozr = -0.000729; + + sc = 2.12; + scr = 0.11; + + t0 = 2010.0; +
+Custom: Feel free to specify your own 14 Helmert Transformation parameters for transformations from IGS20/ITRF2020 into your own target system. +
+
Figure 30: Setting BNC's Custom Transformation Parameters window
+ ++BNC may upload the Broadcast Correction streams using different Formats. Supported are: +
+
+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. +
++Specify a path for saving the generated orbit corrections as SP3 orbit files +(http://epncb.eu/ftp/data/format/sp3d.pdf). +The following is a path example for a Linux system:
-Translation in X at epoch To: 0.0 m
-Translation in Y at epoch To: 0.0 m
-Translation in Z at epoch To: 0.0 m
-Translation rate in X: 0.0 m/y
-Translation rate in Y: 0.0 m/y
-Translation rate in Z: 0.0 m/y
-Rotation in X at epoch To: 0.0 mas
-Rotation in Y at epoch To: 0.0 mas
-Rotation in Z at epoch To: 0.0 mas
-Rotation rate in X: 1.50379 mas/y
-Rotation rate in Y: 1.18346 mas/y
-Rotation rate in Z: 1.20716 mas/y
-Scale at epoch To : 0.0
-Scale rate: 0.0/y
-To: 2020.0
+ /home/user/BKG0MGXRTS${V3PROD}.sp3
-
-
--SIRGAS2000: The formulas for the transformation 'IGb14->SIRGAS2000' were provided via personal communication from CGED-Coordenacao de Geodesia, IBGE/DGC - Diretoria de Geociencias, Brazil.. -
-+If the specified directory does not exist, BNC will not create SP3 orbit files. +
++For file naming, BNC follows the new format convention according to IGS products +http://acc.igs.org/repro3/Long_Product_Filenames_v1.0.pdf: +
-Translation in X at epoch To: 0.0026 m -Translation in Y at epoch To: 0.0018 m -Translation in Z at epoch To: -0.0061 m -Translation rate in X: 0.0000 m/y -Translation rate in Y: 0.0000 m/y -Translation rate in Z: 0.0000 m/y -Rotation in X at epoch To: 0.0000 mas -Rotation in Y at epoch To: 0.0000 mas -Rotation in Z at epoch To: 0.0000 mas -Rotation rate in X: 0.000 mas/y -Rotation rate in Y: 0.000 mas/y -Rotation rate in Z: 0.000 mas/y -Scale at epoch To : 0.000 -Scale rate: 0.000000000000 /y -To: 20000.4 + AAAVPPPTTT_YYYYDDDHHMM_LEN_SMP_CNT.FMT- - -
-DREF91: 'Referenzkoordinaten fuer SAPOS, Empfehlungen der Projektgruppe SAPOS-Koordinatenmonitoring 2008', Personal communication with Peter Franke, BKG, Germany. The following 14 Helmert Transformation Parameters were introduced: -
-+With +
+
| AAA | Analysis Center abbrevaition, here BKG |
| V | Version / Solution identifier (0-9), here 0 |
| PPP | Project/Campaign identification, here Multi-GNSS product (MGX) |
| TTT | Solution Type, here real-time streamed product (RTS) |
| YYYYDOYHHMM | String representing beginning time of nominal data interval |
| LEN | Intended product period of the file |
| SMP | Data sampling rate |
| CNT | Content type ORB |
| FMT | File format, here sp3 |
+Note that '${V3PROD}' produces the part 'YYYYDDDHHMM_LEN_SMP_CNT' of the filename according the 'Upload Corrections' setup. +
+A result for examle is:-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 + BKG0MGXRTS_20223330000_01D_01M_ORB.sp3-In order to perform a transformation 'ITRF2014->DREF91', a transformation from 'ITRF2014->ITRF2008' is done at first. - - -
-Custom: Feel free to specify your own 14 Helmert Transformation parameters for transformations from IGS14/ITRF2014 into your own target system. -
- -
Figure 30: Setting BNC's Custom Transformation Parameters window, example for 'ITRF2014->GDA94'
- --BNC may upload the Broadcast Correction streams using different Formats. Supported are: -
-
-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. -
- -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: - +
+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. +
++ 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. +
+ ++The clock corrections generated by BNC for upload can be logged in Clock RINEX format +https://files.igs.org/pub/data/format/rinex_clock304.txt:. +
++Specify a path for saving the generated clock corrections as Clock RINEX files. The following is a path example for a Linux system:
- /home/user/BNCOUTPUT${V3PROD}.sp3
+ /home/user/BKG0MGXRTS${V3PROD}.clk
-Note that '${V3PROD}' produces the time stamp in the filename, which is related to the RINEX version 3 filename concept.
-
--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. -
- --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: +If the specified directory does not exist, BNC will not create Clock RINEX files. +
++For file naming, BNC follows the new format convention according to IGS products +http://acc.igs.org/repro3/Long_Product_Filenames_v1.0.pdf: +
- /home/user/BNCOUTPUT${V3PROD}.clk
+ AAAVPPPTTT_YYYYDDDHHMM_LEN_SMP_CNT.FMT
-Note that '${V3PROD}' produces the time stamp in the filename, which is related to the RINEX version 3 filename concept.
-
-
+With
++
| AAA | Analysis Center abbrevaition, here BKG |
| V | Version / Solution identifier (0-9), here 0 |
| PPP | Project/Campaign identification, here Multi-GNSS product (MGX) |
| TTT | Solution Type, here real-time streamed product (RTS) |
| YYYYDOYHHMM | String representing beginning time of nominal data interval |
| LEN | Intended product period of the file |
| SMP | Data sampling rate |
| CNT | Content type CLK |
| FMT | File format, here clk |
+Note that '${V3PROD}' produces the part 'YYYYDDDHHMM_LEN_SMP_CNT' of the filename according the 'Upload Corrections' setup. +
+A result for examle is: ++ BKG0MGXRTS_20223330000_01D_05S_CLK.clk ++
+Default is an empty option field, meaning that you do not want BNC to save the uploaded stream content in daily Clock RINEX files. +
Note further that clocks in the Clock RINEX files are not corrected for the conventional periodic relativistic effect.
- --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. -
-Select the length of Clock RINEX files and SP3 Orbit files. The default value is 1 day. -
- -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.
- -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). +
+The satellite biases generated by BNC for upload can be logged in SINEX Bias format +https://files.igs.org/pub/data/format/sinex_bias_100.pdf:. +
++Specify a path for saving the generated clock corrections as Clock RINEX files. The following is a path example for a Linux system: +
+ /home/user/BKG0MGXRTS${V3PROD}.bia
+
+If the specified directory does not exist, BNC will not create SINEX Bias files.
+
++For file naming, BNC follows the new format convention according to IGS products +http://acc.igs.org/repro3/Long_Product_Filenames_v1.0.pdf: +
++ AAAVPPPTTT_YYYYDDDHHMM_LEN_SMP_CNT.FMT ++With +
+
| AAA | Analysis Center abbrevaition, here BKG |
| V | Version / Solution identifier (0-9), here 0 |
| PPP | Project/Campaign identification, here Multi-GNSS product (MGX) |
| TTT | Solution Type, here real-time streamed product (RTS) |
| YYYYDOYHHMM | String representing beginning time of nominal data interval |
| LEN | Intended product period of the file |
| SMP | Data sampling rate |
| CNT | Content type, here absolute bias information (ABS) |
| FMT | File format, here bia |
+Note that '${V3PROD}' produces the part 'YYYYDDDHHMM_LEN_SMP_CNT' of the filename according the 'Upload Corrections' setup. +
+A result for examle is: ++ BKG0MGXRTS_20223330000_01D_05S_ABS.bia ++
+Default is an empty option field, meaning that you do not want BNC to save the uploaded stream content in daily Clock RINEX files. +
+ ++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. +
+Select the length of SP3 Orbit files, Clock RINEX files and SINAX Bias files. The default value is 1 day. +
+ ++BNC requires an orbit corrections sampling interval for the stream to be uploaded and sampling intervals for SP3, Clock RINEX, and SINEX Bias files. +The outgoing stream's clock correction sampling interval follows that of incoming corrections and is therefore nothing to be specified here.
+ ++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; for example message type 1060 for GPS.
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. +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.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.
- -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.
+ ++Note that only when specifying a value of zero '0' (default) for 'Sampling Orb', BNC produces combined +orbit and clock correction messages. +
+ ++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. +
+ ++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. +
+ ++Select the SINEX Bias 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 SINEX Bias files. +
Hit 'Custom Trafo' to specify your own 14 parameter Helmert Transformation instead of selecting a predefined transformation through 'System' button.
++Hit 'Custom Trafo' to specify your own 14 parameter Helmert Transformation instead of selecting a predefined transformation +through 'System' button. +.
-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 following screenshot 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 IGS14. 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'. -
-
Figure 31: BNC producing Broadcast Corrections from incoming precise orbits and clocks and uploading them to an Ntrip Broadcaster
--The following screenshot 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'. -
-
Figure 32: BNC uploading a combined Broadcast Correction stream
+IGS provides a file containing absolute phase center offsets and 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 following screenshot shows the encoding and uploading of several Broadcast Ephemeris correction streams combined from different AC streams. +Combined streams using different SSR formats are uploaded to different Ntrip Broadcasters and referred to different reference systems. +Different SSR Provider IDs, SSR Solution IDs and Issue of Data IDs are specified. Required Broadcast Ephemeris are received via stream 'BCEP00BKG0'. +
+
Figure 31: BNC uploading a combined Broadcast Correction stream
-BNC can generate streams carrying only Broadcast Ephemeris in RTCM Version 3 format and upload them to an Ntrip Broadcaster. The satellite system(s) that shall be part of the uploaded stream can be specified using the 'System' parameter. This can be done: +BNC can generate streams carrying only Broadcast Ephemeris in RTCM Version 3 format and upload them to an Ntrip Broadcaster. The satellite system(s) +that shall be part of the uploaded stream can be specified using the 'System' parameter. This can be done:
-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 and validity intervals of the navigation messages. -
+ dt = currentTime - TOC [sec] ++
+Hence, +
-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. +
+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. Unhealthy Broadcast Ephemeris will not be excluded. A note 'UNHEALTHY EPHEMERIS' will be added in the logfile.
--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). -
- --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 9-character ID (capital letters) plus an integer number.
-For stream upload the Ntrip Version can be chosen. An Ntrip version 1 upload is protected through an upload 'Password' only. For an Ntrip Version 2 upload an upload 'User' is required in addition. Enter the user name and the password you received from the Ntrip Broadcaster operator along with the mountpoint.
- - +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). +
+ ++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 9-character ID (capital letters) +plus an integer number. +
++For stream upload the Ntrip Version can be chosen. An Ntrip version 1 upload is protected through an upload 'Password' only. +For an Ntrip Version 2 upload an upload 'User' is required in addition. Enter the user name and the password you received +from the Ntrip Broadcaster operator along with the mountpoint. +
Figure 33: 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
+Select the Broadcast Ephemeris repetition interval in seconds. Default is '5', meaning that a complete set of Broadcast Ephemeris is uploaded +every 5 seconds. + +
Figure 32: BNC producing Broadcast Ephemeris streams from globally distributed RTCM streams; upload in RTCM format to an Ntrip Broadcaster
-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: -
- +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: +
| '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. + |
| '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. |
-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.
+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. +-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. +
+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.
-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. +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.
@@ -4610,33 +5354,39 @@-The bandwidth consumption per stream is shown in the 'Throughput' tab in bits per second (bps) or kilobits per second (kbps). The following figure shows an example for the bandwidth consumption of incoming streams. -
- -
Figure 34: Bandwidth consumption of RTCM streams received by BNC
- +The bandwidth consumption per stream is shown in the 'Throughput' tab in bits per second (bps) or kilobits per second (kbps). +The following figure shows an example for the bandwidth consumption of incoming streams. + +
Figure 33: Bandwidth consumption of RTCM streams received by BNC
-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. The next figure shows an example for the latency of incoming streams. -
- -
Figure 35: Latency of RTCM streams received by BNC
+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. The next figure shows an example for the latency +of incoming streams. + +
Figure 34: Latency of RTCM streams received by BNC
-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. The following figure shows the screenshot of a PPP time series plot of North, East and Up coordinate displacements. -
- -
Figure 36: Example for time series plot of displacements produced by BNC
+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. The following figure shows the screenshot of a PPP time series plot of North, East and Up +coordinate displacements. + +
Figure 35: Example for time series plot of displacements produced by BNC
-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 figure below. -
- -
Figure 37: Steam input communication links accepted by BNC
+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 figure below. + +
Figure 36: Steam input communication links accepted by BNC
-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 '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.
-Enter the Ntrip Broadcaster host IP and port number. Note that EUREF and IGS operate Ntrip Broadcasters at http://euref-ip.net/home, http://igs-ip.net/home, http://products.igs-ip.net/home and http://mgex.igs-ip.net/home. +Enter the Ntrip Broadcaster host IP and port number. Note that EUREF and IGS operate Ntrip Broadcasters +https://euref-ip.net/home, +https://igs-ip.net/home and +https://products.igs-ip.net/home.
-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 rtcm-ntrip.org/home. A window opens which allows selecting a broadcaster for stream retrieval, see figure below. -
- -
Figure 38: BNC's 'Select Broadcaster' table
+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 +https://rtcm-ntrip.org/home . +A window opens which allows selecting a broadcaster for stream retrieval, see figure below. + +
Figure 37: BNC's 'Select Broadcaster' table
-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. +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 https://register.rtcm-ntrip.org +for access to protected streams from EUREF and IGS.
-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. The figure below 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). -
- +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 Ephemerides 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 ++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.
- -
Figure 39: Broadcaster source-table shown by BNC
+
Figure 38: Broadcaster source-table shown by BNC
-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: -
- +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: +
| 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 |
| 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: -
--Select option '1' if you are not sure whether the broadcaster supports Ntrip Version 2. -
- ++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. +
-Button 'Map' opens a window to show a distribution map of the caster's streams. 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. -
- -
Figure 40: Stream distribution map shown by BNC as derived from Ntrip Broadcaster source-table
+Button 'Map' opens a window to show a distribution map of the caster's streams. 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. + +
Figure 39: Stream distribution map shown by BNC as derived from Ntrip Broadcaster source-table
-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: +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:
-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. -
- +
+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. -
@@ -4748,8 +5518,8 @@
-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 -+
| 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 |
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. -
- +
+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. +
The following figure shows a BNC example setup for pulling a stream via serial port on a Windows operating system.
-
Figure 41: BNC configuration for pulling a stream via serial port
+
Figure 40: BNC configuration for pulling a stream via serial port
-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. +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.
-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 '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.
@@ -4821,56 +5592,56 @@-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. -
- +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. +-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' -
- +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' +
Example:
bnc --help (MS Windows: bnc.exe --help | more)
provides a list of all available command line options.
-Command line option '--version' lets BNC print its version number.
-
Example:
bnc --version (MS Windows: bnc.exe --version | more)
On systems which support graphics, command line option '--display' forces BNC to present the BNC window on the specified display.
-
Example:
bnc.exe --display localhost:10.0
-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. -
- +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. +
Example:
bnc.exe --nw
+
+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: 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 @@ -4880,104 +5651,101 @@ 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': -
-- #!/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 -+ +
+#!/bin/bash + +../bnc -nw -conf /dev/null -display :1 --platform offscreen\ + -key reqcAction Analyze \ + -key reqcObsFile Input/MAO000USA_R_20221720000_01D_30S_MO.rnx \ + -key reqcNavFile Input/MAO000USA_R_20221720000_01D_MN.rnx \ + -key reqcSkyPlotSignals "G:1&2&5 R:1&2 E:1&5&7 C:2&6 J:1&2" \ + -key reqcOutLogFile Output/RinexQc.log \ + -key reqcPlotDir Output 2>/dev/null + +
-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 -
- +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 +--file <inputFileName>
- and specify the full path to an input file containing previously saved data. Example: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.
-
Example:
./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.
-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:
---key <keyName> <keyValue>
- --Parameter <keyName> stands for the key name of an option contained in the configuration file and <keyValue> stands for the value you want to assign to it. The following is a syntax example for a complete command line: -
- ++Parameter <keyName> stands for the key name of an option contained in the configuration file and <keyValue> +stands for the value you want to assign to it. The following is a syntax example for a complete command line: +
bnc --nw --conf <confFileName> --key <keyName1> <keyValue1> --key <keyName2> <keyValue2> ...
- --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. -
- ++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. +
-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. -
- ++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 +https://rtcm.myshopify.com/collections/differential-global-navigation-satellite-dgnss-standards + +
-'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. -
- ++'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: @@ -4990,25 +5758,22 @@
- --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'. -
- ++The Ntrip Broadcaster maintains a source-table containing information on available Ntrip streams, networks of Ntrip streams and Ntrip Broadcasters. +See at https://software.rtcm-ntrip.org/wiki/Sourcetable for details. +
++Source-table records are dedicated to one of the following: +
The major changes of Ntrip Version 2 compared to Version 1.0 are:
-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. -
- ++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) for secure Ntrip communication over the Internet. +
-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: -
- --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 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.
@@ -5062,18 +5842,18 @@-The following are so-called 'State Space Representation' (SSR) messages: +
+The following are so-called 'State Space Representation' (SSR) messages defined or proposed within RTCM SC-104:
-The following are so-called 'Multiple Signal Messages' (MSM): +The following are so-called 'Multiple Signal Messages' (MSM) defined within RTCM SC-104:
-The following are proposed 'Multiple Signal Messages' (MSM) under discussion for standardization: -
-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': +
+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':
@@ -5369,5 +6149,5 @@ Upload Corrections Panel keys: uploadMountpointsOut {Upload corrections table [character string, semicolon separated list, each element in quotation marks, example: - "igs-ip.net,2101,IGS01,2,user,pass,IGS14,IGS-SSR,0,/home/user/BNCOUTPUT${V3PROD}.sp3,BNCOUTPUT${V3PROD}.clk,258,1,0; + "igs-ip.net,2101,IGS01,2,user,pass,IGS20,IGS-SSR,0,/home/user/BNCOUTPUT${V3PROD}.sp3,BNCOUTPUT${V3PROD}.clk,258,1,0; euref-ip.net,2101,EUREF01,2,user,pass,ETRF2000,IGS-SSR,0,,,258,2,0"]} uploadIntr {Length of SP3 and Clock RINEX file interval [character string: 1 min|2 min|5 min|10 min|15 min|30 min|1 hour|1 day]} @@ -5428,5 +6208,5 @@ //user:pass@igs-ip.net:2101/FFMJ1 RTCM_3.1 DEU 50.09 8.66 no 2" (7) bnc --key cmbStreams "SSRA00BKG1 BKG 1.0;SSRA00CNE1 CNES 1.0" -(8) bnc --key uploadMountpointsOut "products.igs-ip.net,98756,TEST,2,user,passwd,IGS14,IGS-SSR,2,/Users/weber/BNCOUTPUT${V3PROD}.clk,,33,3,2; +(8) bnc --key uploadMountpointsOut "products.igs-ip.net,98756,TEST,2,user,passwd,IGS20,IGS-SSR,2,/Users/weber/BNCOUTPUT${V3PROD}.clk,,33,3,2; euref-ip.net,333,TEST2,2,user,passwd,ETRF12000,IGS-SSR,2,,,33,5,5" (9) bnc --key PPP/staTable "FFMJ00DEU0,100.0,100.0,100.0,100.0,100.0,100.0,0.1,3e-6,0.1,7777; @@ -5437,13 +6217,9 @@ Links:| Ntrip | http://igs.bkg.bund.de/ntrip/index |
| 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://rtcm-ntrip.org/home |
| Ntrip Open Source software code | http://software.rtcm-ntrip.org |
| EUREF-IP Project | http://www.epncb.oma.be/euref_IP |
| Real-time IGS Pilot Project | http://www.rtigs.net/pilot |
| Radio Technical Commission for Maritime Services | http://www.rtcm.org |
| Ntrip | https://igs.bkg.bund.de/ntrip/index |
| IGS Real-Rime Service (RTS) | https://igs.org/rts/ |
| Ntrip Broadcaster overview | https://rtcm-ntrip.org/home |
| Ntrip Open Source software code | https://software.rtcm-ntrip.org |
| Radio Technical Commission for Maritime Services | https://www.rtcm.org/ |