Manual for rtcm3torinex The program rtcm3torinex is an real-time converter from NTRIP streamed RTCM3 data into the RINEX format. RTCM3 defines a number of message types. Among them are the following: Message Type Contains information about -------------------------------------------------------------------------- 1001 GPS L1 code and phase 1002 GPS L1 code and phase and ambiguities and carrier to noise ratio 1003 GPS L1 and L1 code and phase 1004 GPS L1 and L2 code and phase and ambiguities and carrier to noise ratio 1005 Station coordinates XZY for antenna reference point 1006 Station coordinates XYZ for antenna reference point and antenna height 1007 Antenna descriptor and ID 1008 Antenna serial number 1009 GLONASS L1 code and phase 1010 GLONASS L1 code and phase and ambiguities and carrier to noise ratio 1011 GLONASS L1 and L1 code and phase 1012 GLONASS L1 and L2 code and phase and ambiguities and carrier to noise ratio 1013 Modified julian date, leep second, configured message types and intervall 1014-1017 Network RTK (MAK) messages 1019 GPS Ephemeris 1020 GLONASS Ephemeris 1045-1046 Galileo Ephemeris 1071-1077 GPS-MSM data 1081-1087 GLONASS-MSM data 1091-1097 Galileo-MSM data 1101-1107 SBAS-MSM data 1111-1117 QZSS-MSM data 1121-1127 BeiDou-MSM data 4088-4095 Proprietary messages (under development) Note that this version of rtcm3torinex only handles RTCM3 message types 1001, 1002, 1003, 1004, 1009, 1010, 1011, 1012, 1013, 1019, 1020, 1045, 1046, 1071-1077, 1081-1087, 1091-1097, 1101-1107, 1111-1117 and 1121-1127. The generated RINEX is somewhat limited due to the streaming character of the conversion: - Header records can only represent data, which is known after receiving the very first epoch. Data rate, position, number of observations and any such additional fields cannot be provided. - The number of observables cannot change during the program runtime. Only the observables, which exist in the first epoch are output. If there are new observables later on, these are ignored. The Option --changeobs removes that limitation, but not many tools can use the resulting files which include header change records. - Only known message types are interpreted. Send me new RTCM3 data files and data support can be improved. See contact address at the end of this document. - If the ambiguity field in the RTCM3 data is not set, the output will be no valid RINEX. All values will be stored modulo 299792.458. A COMMENT line will tell you, when this happens. It would be necessary to approximately calculate the range to fix the ambiguity (needing ephemeris/alamanac and easy positioning algorithm). Usage: ./rtcm3torinex -s server -u user ... -d --data the requested data set -f --headerfile file for RINEX header information -s --server the server name or address -p --password the login password -r --port the server port number (default 2101) -t --timeout timeout in seconds (default 60) -u --user the user name -E --gpsephemeris output file for GPS ephemeris data -G --glonassephemeris output file for GLONASS ephemeris data -3 --rinex3 output RINEX type 3 data -S --proxyhost proxy name or address -R --proxyport proxy port, optional (default 2101) -n --nmea NMEA string for sending to server -O --changeobs Add observation type change header lines -M --mode mode for data request Valid modes are: 1, h, http NTRIP Version 2.0 Caster in TCP/IP mode 2, r, rtsp NTRIP Version 2.0 Caster in RTSP/RTP mode 3, n, ntrip1 NTRIP Version 1.0 Caster 4, a, auto automatic detection (default) The fields --user and --password are used to specify the access data for the NTRIP server. The arguments --server and --port are used to specify the NTRIP server itself (defaults to "www.euref-ip.net" port 2101). The Argument --data must be used to specify the RTCM3 input data stream. If it is not given, you will be shown the source table of the selected NTRIP caster. Alternatively a single text of the form "ntrip:data[/user[:password]][@[server][:port][@proxyhost[:proxyport]]][;nmea]" can be used. Everything in brackets is optional. Additionally the argument --headerfile can be used to provide additional header information. The file must contain normal RINEX observation file header lines. The given lines overwrite the automatical generated lines. Overwriting the lines "# / TYPES OF OBSERV" and "TIME OF FIRST OBS" usually is a bad idea and you will get warned if you do so. The line "END OF HEADER" is ignored. Unknown lines or COMMENT lines will be appended before the "END OF HEADER". NOTE: The tool does not check the input lines for validity. So be sure to use correct RINEX specifiers as well as correct alignment. To stop RINEX output send the program a killing signal. Following signal sources are supported: signal number usual source of the signal --------------------------------------------------------------------------- SIGINT 2 pressing CTRL+C in the shell running the tool SIGQUIT 3 pressing CTRL-\ or sending QUIT signal SIGTERM 15 called kill with the process number of rtcm3torinex SIGPIPE 13 the output or input of rtcm3torinex has been closed The programm will be terminated after the current epoch has been finished. You will not get corrupted RINEX files. When compiling the program with older gcc versions running the `make' command, you may receive an informative error message saying rtcm3torinex.c: In function `signalhandler_alarm': rtcm3torinex.c:1240: warning: `noreturn' function does return This is most likely a compiler problem which only concerns the optimization and is thus not critical. New compilers will not show this problem. Program written by Dirk Stoecker Alberding GmbH http://www.alberding.eu/ for Federal Agency for Cartography and Geodesy (BKG) Richard-Strauss-Allee 11 D-60598 Frankfurt http://igs.bkg.bund.de/index_ntrip.htm Contact Dirk Stoecker [stoecker@alberding.eu] or [euref-ip@bkg.bund.de] with your comments, suggestions, improvements, patches, ...