The RTCM SC-104 protocol is mainly used to transmit differential GNSS correction data. It was developed by the Radio Technical Commission for Maritime Services (RTCM) and is now a well established format to stream, in real time, GNSS raw data. It is also used for post processing application as it's an efficient  (compressed) binary file format that stores RAW GNSS data. For example, DJI RTK UAVs are using RTCM format to store RAW GNSS data for post processing use.

Qinertia supports the RTCM v3 standard messages as well as the new MSM (Multiple Signal Message) format. Qinertia can parse directly RTCMv3 data for kinematic rover GNSS data as well as for static base station / corrections data.

RTCMv3 Messages

Qinertia parse and use the following list of RTCM messages.

Message IDMessage name
RTCM-1001L1-Only GPS RTK Observables
RTCM-1002Extended L1-Only GPS RTK Observables
RTCM-1003L1&L2 GPS RTK Observables
RTCM-1004Extended L1L2 GPS RTK Observables
RTCM-1005Stationary RTK Reference Station ARP
RTCM-1006Stationary RTK Reference Station ARP with Antenna Height
RTCM-1007Antenna Descriptor
RTCM-1009L1-Only GLONASS RTK Observables
RTCM-1010Extended L1-Only GLONASS RTK Observables
RTCM-1011L1&L2 GLONASS RTK Observables
RTCM-1012Extended L1&L2 GLONASS RTK Observables
RTCM-1019GPS Satellite Ephemeris Data
RTCM-1020Glonass Satellite Ephemeris Data
RTCM-1021Helmert-Abridged Molodenski Transformation Parameters
RTCM-1022Molodenski-Badekas Transformation Parameters
RTCM-1033Receiver and Antenna descriptors
RTCM-1042BDS Satellite Ephemeris Data
RTCM-1044QZSS Satellite Ephemeris Data
RTCM-1045Galileo F/NAV Satellite Ephemeris Data
RTCM-1046Galileo I/NAV Satellite Ephemeris Data
RTCM-1074GPS MSM4, Full Pseudoranges and PhaseRanges plus CNR
RTCM-1075GPS MSM5, Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR
RTCM-1076GPS MSM6, Full Pseudoranges and PhaseRanges plus CNR (high resolution)
RTCM-1077GPS MSM7, Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution)
RTCM-1084GLONASS MSM4, Full Pseudoranges and PhaseRanges plus CNR
RTCM-1085GLONASS MSM5, Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR
RTCM-1086GLONASS MSM6, Full Pseudoranges and PhaseRanges plus CNR (high resolution)
RTCM-1087GLONASS MSM7, Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution)
RTCM-1094GALILEO MSM4, Full Pseudoranges and PhaseRanges plus CNR
RTCM-1095GALILEO MSM5, Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR
RTCM-1096GALILEO MSM6, Full Pseudoranges and PhaseRanges plus CNR (high resolution)
RTCM-1097GALILEO MSM7, Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution)
RTCM-1124BEIDOU MSM4, Full Pseudoranges and PhaseRanges plus CNR
RTCM-1125BEIDOU MSM5, Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR
RTCM-1126BEIDOU MSM6, Full Pseudoranges and PhaseRanges plus CNR (high resolution)
RTCM-1127BEIDOU MSM7, Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution)
RTCM-1230GLONASS L1&L2 Code-Phase Biases