-The BKG Ntrip Server (BNS) is a program for generating real-time GNSS clock and orbit corrections to Broadcast Ephemeris in RTCM Version 3 format and upload the resulting stream to NTRIP broadcasters like http://www.euref-ip.net/home or http://www.igs-ip.net/home. -
+The BKG Ntrip Server (BNS) is a program for generating real-time GNSS clock and orbit corrections to Broadcast Ephemeris in RTCM Version 3 format and upload the resulting stream to NTRIP broadcasters like http://www.euref-ip.net/home or http://www.igs-ip.net/home. It is meant as a tool for service providers with real-time access to a continental or global distributet GNSS reference station network. + +BNS has been developed for the Federal Agency for Cartography and Geodesy (BKG) within the framework of EUREF's Real-time GNSS Project (EUREF-IP, IP for Internet Protocol) and the Real-Time IGS Pilot Project (RTIGS).
+BNS has been written under GNU General Public License (GPL). Binaries for BNS are available for Windows, 32-bit Linux, 64-bit Linux (compiled using option -m32), Solaris, and Mac systems. We used the MinGW Version 5.3.1 compiler to create the Windows binary. It is likely that BNS can be compiled on other systems where a GNU compiler and Qt Version 4.3.2 are installed.
+ ++Please ensure that you have installed the latest version of BNS available from http://igs.bkg.bund.de/index_ntrip_down.htm. We are continuously working on the program and would appreciate if you could send any comments, suggestions, or bug reports to [euref-ip@bkg.bund.de] or [igs-ip@bkg.bund.de]. +
+
+The BNS procedure for generating RTCM Version 3 clock and orbit corrections to Broadcast ephemeris in radial, along-track and cross-track components is the following: +
++
Then, once per epoch:
++ +
BNS requires access to the Internet with a minimum of about 2 to 3 kbits/sec for stream upload to an Ntrip Broadcaster depending on the number of visible satellites. You need to make sure that the connection can sustain the required bandwidth. @@ -47,36 +81,38 @@
- -
-3.1. File
-3.2. Help
-3.3. Proxy
-3.4. General
- 3.4.1. Logfile
- 3.4.2. Append Files
-3.5. Input
- 3.5.1. Ephemeris
- 3.5.2. Clocks
-3.6. NTRIP Caster
- 3.6.1. Host
- 3.6.2. Port
- 3.6.3. Use Proxy
- 3.6.4. Mountpoint
- 3.6.5. Password
- 3.6.6. Data
-3.7. RINEX Clocks
- 3.7.1. Directory
- 3.7.2. Interval
- 3.7.3. Sampling
-3.8. SP3 Orbits
- 3.8.1. Directory
- 3.8.2. Interval
- 3.8.3. Sampling
-3.9 Start
-3.10. Stop
-3.11. No Window
-
+4.1. File
+4.2. Help
+4.3. Proxy
+4.4. General
+ 4.4.1. Logfile
+ 4.4.2. Append Files
+ 4.4.3. Reference System
+4.5. Input
+ 4.5.1. Ephemeris
+ 4.5.2. Clocks & Orbits
+ 4.5.3. Save Clocks & Orbits
+4.6. NTRIP Caster
+ 4.6.1. Host
+ 4.6.2. Port
+ 4.6.3. Mountpoint
+ 4.6.4. Password
+ 4.6.5. Use Proxy
+ 4.6.6. Save Stream
+4.7. RINEX Clocks
+ 4.7.1. Directory
+ 4.7.2. Interval
+ 4.7.3. Sampling
+4.8. SP3 Orbits
+ 4.8.1. Directory
+ 4.8.2. Interval
+ 4.8.3. Sampling
+4.9 Start
+4.10. Stop
+4.11. No Window
+
@@ -96,5 +132,5 @@
- +@@ -115,5 +151,5 @@
-3.3. Proxy - for usage in a protected LAN
4.3. Proxy - for usage in a protected LAN
@@ -122,67 +158,164 @@ Note that IP streaming is often not allowed in a LAN. In this case you need to ask your network administrator for an appropriate modification of the local security policy or for the installation of a TCP relay to the NTRIP broadcasters. If these are not possible, you might need to run BNS outside your LAN on a host that has unobstructed connection to the Internet.
- - - + + +Records of BNC's activities are shown in the Log section on the bottom of the main window. These logs can be saved into a file when a valid path is specified in the 'Log (full path)' field. The message log covers the communication status between BNC and the NTRIP broadcaster as well as problems that may occur in the communication link, stream availability, stream delay, stream conversion etc. All times are given in UTC. The default value for 'Log (full path)' is an empty option field, meaning that BNC logs will not saved into a file.
- +When BNS is started, new files are created by default and any existing files with the same name will be overwritten. However, users might want to append existing files following a restart of BNS, a system crash or when BNS crashed. Tick 'Append files' to continue with existing files and keep what has been recorded so far. Note that option 'Append files' affects all types of files created by BNS.
- --BNS needs GNSS clock and orbit corrections in the IGS Earth-Centered-Earth-Fixed (ECEF) reference system and Broadcast Ephemeris in RINEX Navigation file format. -
- - --BNS reads GNSS Broadcast Ephemeris in RINEX Version3 Navigation file format from an IP address and port. This information can be provided in real-time by the 'BKG Ntrip Client' (BNC) program. Enter the respective servers IP address and port number. Make sure that this server is up and running before you start BNS. If a prosy server is operated between BNS and the server providing the Broadcast Ephemeris, you may need to use the proxy server settings you have specified. Tick 'Use proxy' to use it for stream upload. -
- - --BNS reads GNSS clock and orbit corrections in a plain ASCII format from an IP address and port. These corrections can be provided by a real-time GNSS engine like RTNet. They are expected to refer to the IGS Earth-Centered-Earth-Fixed (ECEF) reference system. Enter the respective servers IP address and port number. Make sure that this server is up and running. If a prosy server is operated between BNS and the server providing the clock and orbit corrections, you may need to use the proxy server settings you have specified. Tick 'Use proxy' to use it for stream upload. -
- - --BNS can upload the resulting stream of cock and orbit corrections (refering to Broadcast Ephemeris) to an Ntrip Broadcaster. For that EUREF and IGS operate NTRIP broadcasters at http://www.euref-ip.net/home and http://www.igs-ip.net/home which might be used for stream upload. The stream format follows RTCM Version 3 currently transmitting thentative message types 4056 and 4057. +
4.4.3 Reference System - mandatory
+BNS refers its final clock and orbit corrections to a specific reference system. Available options are +
+
+As the clocks and orbits coming from real-time GNSS engin are expected in the 'IGS05' reference system (X,Y,Z ECEF), in fact no transformation is carried out if you select this option. +
++The implemented formulas for transformation from ITRS (IGS05) to ETRS89 are taken from 'Boucher and Altamimi 2007: Specifications for reference frame fixing in the analysis of EUREF GPS campaign', see http://etrs89.ensg.ign.fr/memo2007.pdf. +
+ + ++BNS needs GNSS clocks and orbits in the IGS Earth-Centered-Earth-Fixed (ECEF) reference system and Broadcast Ephemeris in RINEX Navigation file format. +
+ + ++BNS reads GNSS Broadcast Ephemeris in RINEX Version 3 Navigation file format from an IP address and port. This information can be provided in real-time by the 'BKG Ntrip Client' (BNC) program through a persistent socket connection. Note that whenever a new set of Broadcast Ephemeris becomes availabe, it has to be transmitted immediately. Enter the respective servers IP address and port number. If BNS runs (advantageously) on the same host which provides the Broadcast Ephemeris, 127.0.0.1 has to be introduced as the servers IP address. Make sure that this server is up and running before you start BNS. +
++If a proxy server is operated between BNS and the server providing the Broadcast Ephemeris, you may need to use the proxy server settings you have specified. Tick 'Use proxy' to use it for stream download. +
++The following is an example for Broadcast Ephemeris records in RINEX Version 3 Navigation file format concerning GPS PRN32 and GLONASS PRN04: +
++
+G32 2008 07 22 12 00 00 3.08818183839e-04 2.72848410532e-12 0.00000000000e+00 + 1.10000000000e+01 -4.00312500000e+01 4.63269297026e-09 9.74027926504e-01 + -2.19419598579e-06 1.39143558918e-02 8.25151801109e-06 5.15381674576e+03 + 2.16000000000e+05 -8.56816768646e-08 -3.26801342873e-02 -2.94297933578e-07 + 9.68688494953e-01 2.30468750000e+02 -1.30607654294e+00 -8.26105839196e-09 + -3.62872257943e-10 1.00000000000e+00 1.48900000000e+03 0.00000000000e+00 + 2.00000000000e+00 0.00000000000e+00 -2.79396772385e-09 1.10000000000e+01 + 0.00000000000e+00 0.00000000000e+00 +R04 2008 07 22 08 15 14 4.76110726595e-05 0.00000000000e+00 2.88600000000e+04 + -1.76267827148e+04 -4.64202880859e-01 1.86264514923e-09 0.00000000000e+00 + -1.79631489258e+04 -3.41343879700e-01 -2.79396772385e-09 6.00000000000e+00 + -4.20270556641e+03 3.50097942352e+00 0.00000000000e+00 0.00000000000e+00 ++ + +
4.5.2 Clocks & Orbits - mandatory
+BNS reads GNSS clocks and orbits in a plain ASCII format from an IP address and port. They can be provided by a real-time GNSS engine like RTNet and are expected to refer to the IGS Earth-Centered-Earth-Fixed (ECEF) reference system. Enter the respective servers IP address and port number to establish a persistent socket connection. If BNS runs (advantageously) on the same host which provides the clocks and orbits, 127.0.0.1 has to be introduced as the servers IP address. Make sure that this server is up and running before you start BNS. +
++If a proxy server is operated between BNS and the server providing the clocks and orbits, you may need to use the proxy server settings you have specified. Tick 'Use proxy' to use them for stream download. +
+ ++Below you find an example for precise clocks and orbits coming in plain ASCII format from a real-time GNSS engine. Each epoch starts with an asterisk character followed by GPS Week, Second in GPS Week and Number of satellites. Subsequent records provide the following set of parameters for each satellite: +
+ ++
+
+* 1489 218527.000000 13 +G08 -76413.307 24866966.637 8527190.979 -162.790607 0.375 +G09 13547198.314 -14993483.355 16521052.798 6.462891 -0.335 +G12 23546505.279 -11419650.825 -4126405.941 -356.488306 -0.103 +G15 20671877.676 1926153.017 16592944.847 -147.015776 -0.216 +G17 14584397.556 20610108.909 8557082.997 38.709284 -0.081 +G18 8169428.184 -16862693.369 18872507.835 -153.553965 -0.149 +G22 -6624646.069 -14262545.420 21565075.194 211.479778 -0.089 +G26 21424721.760 7905958.802 13511083.183 296.893434 0.413 +G28 5220247.539 14404808.121 22087340.167 -21.263655 0.184 +R04 14087836.321 -12766880.844 16904727.671 47.601404 -0.302 +R13 9968458.843 4774687.770 22964489.920 -205.604626 0.526 +R14 11765674.558 -13533158.122 18154217.335 -142.409508 0.093 +R23 15142315.506 19152857.044 7329580.240 -111.465205 -0.316 +* 1489 218528.000000 13 +G08 -76893.521 24867989.053 8524186.937 -162.790606 0.376 +G09 13547066.674 -14991254.946 16523118.186 6.462896 -0.334 +G12 23547101.712 -11419571.961 -4123272.866 -356.488305 -0.102 +G15 20673380.091 1927636.846 16590899.052 -147.015776 -0.215 +G17 14583421.795 20609591.381 8559990.870 38.709276 -0.083 +G18 8171742.449 -16863250.285 18870956.178 -153.553959 -0.148 +G22 -6622069.142 -14263374.211 21565314.170 211.479771 -0.091 +G26 21425938.906 7907253.545 13508540.885 296.893448 0.415 +G28 5217668.842 14405642.686 22087373.519 -21.263659 0.183 +R04 14090047.809 -12767642.452 16902327.088 47.601401 -0.303 +R13 9967725.004 4777752.821 22964170.268 -205.604617 0.529 +R14 11764988.257 -13530761.727 18156438.374 -142.409512 0.091 +R23 15141704.650 19152042.802 7332976.247 -111.465201 -0.316 ++ + + +
4.5.3 Save Clocks & Orbits - optional
+Specify the full path to a file where incoming clocks and orbits are saved. Beware that the size of this file can rapidly increase. Default is an empty option field meaning that outgoing corrections are not saved. +
+ + ++BNS can upload the resulting stream of cock and orbit corrections to Broadcast Ephemeris to an Ntrip Broadcaster. For that EUREF and IGS operate NTRIP broadcasters at http://www.euref-ip.net/home and http://www.igs-ip.net/home which might be used for stream upload. The stream's format is RTCM Version 3. Note that it only carries the thentative message types 4056 and 4057 for combined GPS and GLONASS clock and orbit corrections.
- + Enter the NTRIP broadcaster 'Host' IP name or number for stream upload. -3.6.2 Port - mandatory if 'Host' is set
4.6.2 Port - mandatory if 'Host' is set
Enter the NTRIP broadcaster IP 'Port' number for stream upload. Note that NTRIP Broadcaster installations often provide access through more than one port, usually ports 80 and 2101. In case you experience communication problems on port 80, you may like to use the alternative port(s).
-3.6.3 Use Proxy - optional if 'Host' and 'Proxy' is set
-In case BNS is operated in a protected LAN, you may need to use the proxy server protecting your network. Once you have specified your proxies host and port, you can tick 'Use proxy' to use it for stream upload. -
- -3.6.4 Mountpoint - mandatory if 'Host' is set
-Each stream on an NTRIP broadcaster is defined using a unique source ID called mountpoint. An NTRIP server like BNS can upload its stream to the broadcaster by referring to a specific mountpoint established by the broadcaster operator. Specify the mountpoint you receive from the operator for your stream. Note that it usually is a four character ID (capital letters) plus an integer number. -
- -3.6.5 Password - mandatory if 'Host' is set
-In NTRIP Version 1.0 stream upload ist protected through a generic upload 'Password'. Enter the password you received from the broadcaster operator along with the mounpoint. -
- - --The clock and orbit corrections streamed by BNS to an NTRIP broadcaster can recorded. Specify the full 'Data' path here to save this information in a local file. Default value for 'Data' path is an empty option field, meaning that the upload stream contents will not be saved locally. -
--
4.6.3 Mountpoint - mandatory if 'Host' is set
+Each stream on an NTRIP broadcaster is defined using a unique source ID called mountpoint. An NTRIP server like BNS can upload its stream to the broadcaster by referring to a dedicated mountpoint established by the broadcaster operator. Specify the mountpoint you receive from the operator for your stream. Note that it usually is a four character ID (capital letters) plus an integer number. +
+ +4.6.4 Password - mandatory if 'Host' is set
+In NTRIP Version 1.0 stream upload is only protected through a generic upload 'Password'. Enter the password you received from the broadcaster operator along with the mounpoint. +
+ +4.6.5 Use Proxy - optional if 'Host' and 'Proxy' is set
+In case BNS is operated in a protected LAN, you may need to communicate through a proxy server protecting your network. Once you have specified your proxies host and port, you can tick 'Use proxy' to use it for stream upload. +
+ + ++The clock and orbit corrections streamed by BNS to an NTRIP broadcaster can be recorded. Specify a full 'Save stream' path here to save this information in a local file. Default value for 'Save stream' is an empty option field, meaning that the upload stream contents will not be saved locally. +
++The file contents will be plain ASCII comprising records carrying the following set of parameters: +
+ ++
+The following is an example file contents based on combined GPS and GLONASS clock and orbit corrections carried in RTCM Version 3 message types 4056 and 4057:
@@ -208,55 +344,55 @@
- +The clock corrections generated by BNS can be saved in Clock RINEX files. The file names follow the RINEX convention.
- --Here you can specify the path to where the Clock RINEX files will be stored. If the specified directory does not exist, BNC will not create Clock RINEX files. Default value for 'Directory' is an empty option field, meaning that no Clock RINEX files will be written. -
- -3.7.2 Interval - mandatory if 'Directory' is set
+Here you can specify the path to where the Clock RINEX files will be stored. If the specified directory does not exist, BNS will not create Clock RINEX files. Default value for 'Directory' is an empty option field, meaning that no Clock RINEX files will be written. +
+ +4.7.2 Interval - mandatory if 'Directory' is set
Select the length of the Clock RINEX file generated. The default value is 1 day.
-3.7.3 Sampling - mandatory if 'Directory' is set
4.7.3 Sampling - mandatory if 'Directory' is set
Select the Clock RINEX sampling interval in seconds. A value of zero '0' tells BNS to store all received epochs into Clock RINEX. This is the default value.
- --The orbit corrections generated by BNS can be saved in SP3 orbit files. The file names follow the RINEX convention. -
- - --Here you can specify the path to where the SP3 orbit files will be stored. If the specified directory does not exist, BNC will not create SP3 orbit files. Default value for 'Directory' is an empty option field, meaning that no SP3 orbit files will be written. -
- -3.8.2 Interval - mandatory if 'Directory' is set
-Select the length of the SP3 orbit file generated. The default value is 1 day. -
- -3.8.3 Sampling - mandatory if 'Directory' is set
-Select the SP3 orbit file sampling interval in seconds. A value of zero '0' tells BNS to store all received epochs into SP3 orbit files. This is the default value. -
- - --Hit 'Start' to start receiving IGS corbit and clock corrections and convert them into corrections to Broadcast Ephemeris. Note that 'Start' generally forces BNS to begin with fresh files which might overwrite existing files when necessary unless the option 'Append files' is ticked. +
++The orbit corrections generated by BNS can be saved in SP3 Orbit files. The file names follow the RINEX convention. +
+ + ++Here you can specify the path to where the SP3 Orbit files will be stored. If the specified directory does not exist, BNS will not create SP3 Orbit files. Default value for 'Directory' is an empty option field, meaning that no SP3 Orbit files will be written. +
+ +4.8.2 Interval - mandatory if 'Directory' is set
+Select the length of the SP3 Orbit file generated. The default value is 1 day. +
+ +4.8.3 Sampling - mandatory if 'Directory' is set
+Select the SP3 Orbit file sampling interval in seconds. A value of zero '0' tells BNS to store all received epochs into SP3 Orbit files. This is the default value. +
+ + ++Hit 'Start' to start receiving IGS orbits and clocks and convert them into corrections to Broadcast Ephemeris. Note that 'Start' generally forces BNS to begin with fresh files which might overwrite existing files when necessary unless the option 'Append files' is ticked.
- +Hit the 'Stop' button in order to stop BNS.
- +On all systems BNS can be started in batch mode with the command line option '-nw'. BNS will then run in 'no window' mode, using options from the configuration file ${HOME}/.config/BKG/BNC_NTRIP_Server.conf (Unix/Linux, see Config File example in the Annex) or from the register BKG_NTRIP_Server (Windows). @@ -265,5 +401,5 @@ Note that the self-explaining contents of the configuration file or the Windows register can easily be edited. Terminate BNS using Windows Task Manager when running it in 'no window' mode on Windows systems.
- +The BKG Ntrip Server (BNS) Qt Graphic User Interface (GUI) has been developed for the Federal Agency for Cartography and Geodesy (BKG) by Leos Mervart, Czech Technical University Prague, Department of Geodesy. BNS includes a GNU GPL open source RTCM 3.x encoder, written for BKG by Dirk Stoecker, Alberding GmbH, Schoenefeld. -
--Please ensure that you have installed the latest version of BNS available from http://igs.bkg.bund.de/index_ntrip_down.htm. We are continuously working on the program and would appreciate if you could send any comments, suggestions, or bug reports to:
@@ -292,25 +425,34 @@
Federal Agency for Cartography and Geodesy (BKG)
Frankfurt, Germany
-euref-ip@bkg.bund.de or igs-ip@bkg.bund.de
-
-6.1. History
-6.2. NTRIP
-6.3. RTCM
- 6.3.1 RTCM Version 3.x
-6.4. Config File
-6.5. Links
-
+7.1. History
+7.2. RTCM
+ 7.2.1 RTCM NTRIP
+ 7.2.2 RTCM Version 3.x
+7.3. Config File
+7.4. Links
+
| August 2008 | Version 1.0 | [Add] First Beta Binaries published based on Qt 4.2.3. |
| August 2008 | Version 1.0 | [Add] First Beta Binaries published. |
+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. +
+ +@@ -337,16 +479,5 @@
--
- - - --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. -
- - +RTCM Version 3.x has been developed as a stream format alternative to RTCM Version 2.x. Service providers and vendors have asked for a standard that would be efficient, easy to use, and easily adaptable to new situations. @@ -354,5 +485,5 @@
-RTCM is in the process of developing new Version 3 messages types to transport satellite clock and orbit corrections in real-time. Based on the latest available proposal, the following tentative messages currently under discussion are of interest here: +RTCM is in the process of developing new Version 3 message types to transport satellite clock and orbit corrections in real-time. Based on the latest available proposal, the following tentative messages currently under discussion are of interest here:
-The following is an example for the contents of a Unix/Linux configuration file ${HOME}/.config/BKG/BKG_NTRIP_Client.conf. It enables the upload of stream CLCK1 to www.euref-ip.net. Clock RINEX files and SP3 orbit files are uploaded to a directory /home/weber/rinex : +
++The following is an example for the contents of a Unix/Linux configuration file ${HOME}/.config/BKG/BKG_NTRIP_Client.conf. It enables the upload of stream CLCK1 to www.euref-ip.net. Clock RINEX files and SP3 Orbit files are uploaded to a directory /home/weber/rinex :
[General] +clkFile=/home/weber/clocks.txt +clkHost=142.71.30.12 clkPort=2067 +clkProxy=2 +ephHost=141.71.30.13 ephPort=2066 +ephProxy=2 +fileAppend=0 +font="Andale Sans,9,-1,5,75,0,0,0,0,0" logFile=/home/weber/rinex/log.txt mountpoint=CLCK1 -outFile=/home/weber/rinex/data.txt +outFile=/home/weber/rinex/CLCK1.txt outHost=www.igs-ip.net outPort=2101 -password=uploadpass +outProxy=2 +password=uploadPass +proxyHost=gate-f +proxyPort=8000 +refSys=IGS05 +rnxAppend=2 rnxIntr=1 day rnxPath=/home/weber/rinex -rnxSampl=0 -sp3Intr=1 day -sp3Path=/home/weber/rinex +rnxSampl=30 +sp3Intr=1 hour +sp3Path=/home/weber/sp3 sp3Sampl=0- +