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