RTCM 3.3协议详解：全球卫星导航系统差分服务最新标准

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RTCM3.3协议全称为"RTCM STANDARD 10403.3 - DIFFERENTIAL GNSS (GLOBAL NAVIGATION SATELLITE SYSTEMS) SERVICES - VERSION 3"，它是由RTCM Special Committee No. 104于2016年10月7日发布的。RTCM，即Radio Technical Commission for Maritime Services，是一个非营利性的国际组织，其工作涵盖了政府和非政府组织的代表，致力于制定和推广全球导航卫星系统（GNSS）的相关标准，而不涉及商业促销、产品测试或认证。此版本的RTCM 3.3协议专门针对差分全球导航卫星系统服务进行了详细规定。它旨在提供更精确的位置和时间信息，通过消除或减小传统GNSS信号中的误差，如多路径效应和接收机钟漂等，从而提高定位精度。在使用RTCM 3.3时，各制造商、服务提供商和用户需自行决定采用标准并确保遵循，因为标准的实施完全取决于这些实体的自主控制和决策。协议文档iRTCM10403.3详细描述了该标准的结构、内容以及版权信息，强调了使用该标准时的注意事项，即不得复制或重新分发，并且RTCM不干涉设备的设计、销售、制造或使用，也不负责监督标准的执行。用户在使用RTCM 3.3时应根据自身需求和能力来评估是否适合，以及如何正确地集成到他们的系统中。 RTCM 3.3协议是GNSS技术领域的一个关键标准，对于需要高精度定位的行业，如航空、航海、测绘和自动驾驶等领域具有重要意义。了解并遵循这一标准能帮助相关企业和个人确保其设备和服务达到最高的定位准确性和可靠性。欲了解更多关于RTCM标准的信息，可以通过电子邮件info@rtcm.org或访问官方网站<http://www.rtcm.org>获取官方资料和支持。

RTCM 10403.3

1.4 List of Abbreviations

AODC Age Of Data Clock

AODE Age Of Data Ephemeris

ARP Antenna Reference Point

AS Anti-Spoofing

ASCII American Standard Code for Information Interchange

BDS BeiDou Navigation Satellite System

BDT BeiDou System Time

C/A Coarse Acquisition

CD Correction Difference

CDMA Code Division Multiple Access

CNR Carrier to Noise Ratio

COM Center Of Mass

CPB Code-Phase Bias

CRC Cyclic Redundancy Check

CRS Coordinate Reference System

DARC FM Data Radio Channel Frequency Modulation

DD Data Dictionary

DF Data Field

ECEF Earth Centered Earth Fixed

EGNOS European Geostationary Navigational Overlay System

EPC Easting at Projection Center

EPSG European Petroleum Survey Group

ETRF European Terrestrial Reference Frame

FDMA Frequency Division Multiple Access

FE False Easting

FKP (German) FlächenKorrekturParameter, area correction parameter

FN False Northing

GCPCD Geometric Carrier Phase Correction Difference

GLONASS Global Navigation Satellite System

GNSS Global Navigation Satellite System

GPS Global Positioning System

ICD Interface Control Document

ICPCD Ionospheric Carrier Phase Correction Difference

IERS International Earth Rotation and Reference Systems Service

IGS International GNSS Service

IOD Issue of Data

IODC Issue of Data Clock

IODE Issue of Data Ephemeris

ITRF International Terrestrial Reference Frame

LAAS Local Area Augmentation System

LaNO Latitude of Natural Origin

LCC Lambert Conformal Conic projection (LCC1SP, LCC2SP, LCCW)

LOC Loss of Continuity

LoNO Longitude of Natural Origin

RTCM 10403.3

2 APPLICATION LAYER

The Application Layer defines how the Version 3 messages can be applied for different end

user applications. The fundamental feature of Differential Service is that it is a broadcast

service, not a 2-way data link. As such, information is developed centrally by a Service

Provider, who has an institutional or commercial interest in providing a positioning or

navigation service. Recently, point-to-multipoint services using cell phones and Internet

connections have become popular, but such services primarily support a one-way flow of

information.

In general, navigation applications are serviced very well with 1-10 meter horizontal accuracy

positioning. (An exception is the GNSS-based aircraft landing system, called the Local Area

Augmentation System, or LAAS. A separate standard has been developed for this by RTCM’s

sister organization, RTCA, Inc., which develops aviation standards.) Conventional differential

GNSS service supports these applications nicely, and they utilize broadcast links with relatively

low data rates. These low data rates can be supported by low-frequency broadcasts that are

received over large areas, and high accuracy is maintained over hundreds of miles.

As innovative engineers and scientists have found uses for sub-meter accuracy positioning,

RTK service has increased in importance. RTK service requires the transmission of

significantly more data, so that generally line-of-sight broadcasts and point-to-multipoint

services that utilize higher bandwidths are employed. Tropospheric and ionospheric variations

cause phase and time delay variations in the GNSS signals that limit the area over which a given

accuracy can be achieved. For example, relative positioning accuracies of one centimeter or

better using single-frequency GNSS signals can be achieved only over distances of 10

kilometers or so (from reference station to user). Using dual-frequency GNSS signals enables

one to estimate the ionospheric effects, and water vapor measurements can be made which

improve tropospheric delay estimation, so that using these techniques the range can be extended

to 50 kilometers or so in certain parts of the world. Dual-frequency RTK is very common, thus

is supported by this standard. Because RTK provides relative positioning, the knowledge of the

absolute (usually fixed) position of the reference station enables the user to achieve high

absolute position accuracies, too.

To achieve the highest accuracy, it is important to account for GNSS antenna variations.

Antenna patterns differ slightly from manufacturer to manufacturer and even from model to

model. Differential GNSS service supports this by transmitting messages with reference station

antenna information. Antenna patterns can also vary between different units of the same model

and can vary due to environmental effects, but these can be mitigated by manufacturing design

and reference site selection, respectively. Such variations are outside the scope of this

document.

The applications of RTK to air, water and land operations are too many to enumerate, but a

sampling is useful:

 Marine – Hydrographic surveying, dredge operations, navigation in narrow

channels, buoy placement and auditing, even tidal height

RTCM 10403.3

3 PRESENTATION LAYER

3.1 Introduction

3.1.1 Version 3 Database Architecture

Version 3 is written in a database format, loosely patterned after the NMEA 2000 standard.

Whereas the NMEA standard is written for a networked set of different electronic units, the

Differential GNSS Version 3 standard is written for a centralized distribution of data. For the

Version 3 broadcast, every bit counts in the frequently repeated messages, so while lining up on

byte boundaries is desirable, forcing each data field to occupy whole numbers of bytes is not

practical.

Also, the NMEA 2000 database has a wide disparity between Data Dictionary (DD) and Data Field

(DF) records. In the case of Version 3 broadcasts, there would be little difference. As a

consequence, rather than utilize both DF and DD tables, these are collapsed into one DF definition.

Rather than referring to “Parameter Groups”, this document will use the more familiar term

“Message Types”.

For messages whose lengths don't line up with byte boundaries, the reference station designer

should use zeros for undefined bits to fill out the last unfilled byte.

3.1.2 Message Groups

Message types contained in the current Version 3 standard (RTCM 10403.2) have been structured

in different groups. For proper operation of a particular service the provider needs to transmit

messages from each of several groups, as shown in Table 3.1-1. For example, to provide RTK

services the provider must transmit at least one message type from each of the following groups:

Observations, Station Coordinates, and Antenna Description. The different message types in each

group contain messages with similar information content.

In some cases the shorter ones contain the minimum needed to provide the service, while the longer

message types contain additional information for enhancing the performance of the service. For

example, Message Type 1001 contains the shortest version of a message for GPS Observations,

namely L1-only observables. For a broadcast link limited in throughput, use of 1001 might be

appropriate. Message Type 1002 contains additional information that enhances performance. If

throughput is not limited and the additional information is available, it is recommended to use the

longer version of messages. Similarly Message Type 1003 provides minimum data for L1/L2

operation, while Message Type 1004 provides the full data content. The shorter observation

messages save throughput, but contain less information. However, since the additional

information in the longer observation messages does not change very often, they could be sent less

often.

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