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Real-time Satellite Orbit and Clock Corrections to Broadcast Ephemeris from IGS and EUREF Resources

2020-4-5 16:44:41 来源: BNG 发布人: czsgeo

Real-time Satellite Orbit and Clock Corrections to
Broadcast Ephemeris from IGS and EUREF Resources

EUREF's Real-time Analysis project and the IGS Real-time Pilot Project provide access to precise GNSS satellite orbits and clocks via NTRIP for test and evaluation.

1. Broadcast Corrections in RTCM Version 3 Format

Precise orbits and clocks can be derived from corrections to Broadcast Ephemeris. RTCM's 'State Space Representation' (SSR) Working Group has developed appropriate v3 messages to disseminate such Broadcast Corrections in real-time. The following messages are defined:

RTCM v3 SSR Messages
MessageContents
1057GPS orbit corrections to Broadcast Ephemeris
1058GPS clock corrections to Broadcast Ephemeris
1059GPS code biases
1060Combined orbit and clock corrections to GPS Broadcast Ephemeris
1061GPS User Range Accuracy
1062High-rate GPS clock corrections to Broadcast Ephemeris
1063GLONASS orbit corrections to Broadcast Ephemeris
1064GLONASS clock corrections to Broadcast Ephemeris
1065GLONASS code biases
1066Combined orbit and clock corrections to GLONASS Broadcast Ephemeris
1067GLONASS User Range Accuracy
1068High-rate GLONASS clock corrections to Broadcast Ephemeristd

Orbit corrections are provided in along-track, cross-track and radial components. These components are defined in the Earth-centered, Earth-fixed reference frame of the broadcast ephemerides. Clock corrections are not adjusted for the 2nd-order relativistic effect. After applying corrections, the satellite position and clock is referred to the 'ionospheric free' phase center of the antenna which is compatible with the broadcast orbit reference. The orbit and clock corrections do not include local effects (like Ocean Loading or Solid Earth Tides) or atmospheric effects (ionosphere and/or troposphere). There is currently no RTCM SSR message for ionospheric state parameters. The development of ionospheric messages will be the next step in the schedule of the RTCM State Space Representation Working Group.

2. Broadcast Correction IDs

Any RTCM Version 3 Broadcast Corrections stream contains three types of IDs to identify its contents.

  • A globally unique SSR Provider ID (PID) released by RTCM to identify a SSR service, see SSRProvider
  • A SSR Solution ID (SID) which indicates different SSR services of one SSR provider.
  • A Issue Of Data (IOD) SSR used to indicate a change in the SSR generation, which may be relevant for rover operation.

The following are IDs used in IGS and EUREF context.

Broadcast Correction IDs in EUREF and IGS context
Caster IP:PortMountpointGenerating
Agency
PIDSIDIOD
products.igs-ip.net:2101IGS01ESA25820
products.igs-ip.net:2101IGS01ESA25821
www.igs.org:2101IGS01ESA25822
www.igs.org:2101IGS01ESA25823
products.igs-ip.net:2101IGS02BKG25800
products.igs-ip.net:2101IGS02BKG25801
www.igs.org:2101IGS02BKG25802
www.igs.org:2101IGS02BKG25803
products.igs-ip.net:2101IGS03BKG25810
products.igs-ip.net:2101IGS03BKG25811
www.igs.org:2101IGS03BKG25812
www.igs.org:2101IGS03BKG25813
www.euref-ip.net:2101EUREF01BKG25700
www.euref-ip.net:2101EUREF01BKG25701
euref-ip.asi.it:2101EUREF01BKG25702
euref-ip.asi.it:2101EUREF01BKG25703
www.euref-ip.net:2101EUREF02BKG25710
www.euref-ip.net:2101EUREF02BKG25711
euref-ip.asi.it:2101EUREF02BKG25712
euref-ip.asi.it:2101EUREF02BKG25713

3. Broadcast Correction Streams

Based on the SSR messages defined by RTCM, the following streams are made available as a common effort of EUREF and IGS:

Details of Streams Disseminated for EUREF and IGS
Caster IP:PortMountpoint
& Input Streams
Ref. 
Point
GNSSMessagesOrbitsReference
System
Analysis
Center & SW
Register for access
products.igs-ip.net:2101IGS01APCGPS1059,1060IGS
Ultra Rapid
ITRF2014SE Combination
RETINA
Registration
products.igs-ip.net:2101IGS02APCGPS1057,1058,1059IGS
Ultra Rapid
ITRF2014KF Combination
BNC
Registration
products.igs-ip.net:2101IGS03APCGPS
GLO
1057,1058,1059
1063,1064,1065
CODE
Ultra Rapid
ITRF2014KF Combination
BNC
Registration
www.euref-ip.net:2101EUREF01APCGPS1059, 1060IGS
Ultra Rapid
ETRF2000KF Combination
BNC
Registration
www.euref-ip.net:2101EUREF02APCGPS
GLO
1057,1058,1059
1063,1064,1065
CODE
Ultra Rapid
ETRF2000KF Combination
BNC
Registration
products.igs-ip.net:2101CLK00CoMGPS1059,1060IGS
Ultra Rapid
ITRF2014BKG
RTNet + BNC
Registration
products.igs-ip.net:2101CLK01CoMGPS
GLO
1059,1060
1065,1066
CODE
Ultra Rapid
ITRF2014BKG
RTNet + BNC
Registration
products.igs-ip.net:2101CLK10APCGPS1059,1060IGS
Ultra Rapid
ITRF2014BKG
RTNet + BNC
Registration
products.igs-ip.net:2101CLK11APCGPS
GLO
1059,1060
1065,1066
CODE
Ultra Rapid
ITRF2014BKG
RTNet + BNC
Registration
products.igs-ip.net:2101CLK12CoMGPS
GLO
1057,1058,1059
1063,1064,1065
CODE
Ultra Rapid
ITRF2014KF Combination
BNC
Registration
products.igs-ip.net:2101CLK15CoMGPS1059,1060IGS
Ultra Rapid
ITRF2014Wuhan
PANDA + BNC
Registration
products.igs-ip.net:2101CLK16APCGPS1059,1060IGS
Ultra Rapid
ITRF2014Wuhan
PANDA + BNC
Registration
products.igs-ip.net:2101CLK20APCGPS1059,1060IGS
Ultra Rapid
ITRF2014GSOC/DLR
RETICLE
Registration
products.igs-ip.net:2101CLK22APCGPS1059,1060Internal
Ultra Rapid
ITRF2014NRCan
HPGPSC
Registration
products.igs-ip.net:2101CLK30CoMGPS1059,1060IGS
Ultra Rapid
ITRF2014ESA/ESOC
COMBI + BNC
Registration
products.igs-ip.net:2101CLK31APCGPS1059,1060IGS
Ultra Rapid
ITRF2014ESA/ESOC
COMBI + BNC
Registration
products.igs-ip.net:2101NAD8301APCGPS1057,1058,1059IGS
Ultra Rapid
NAD83BKG
RTNet + BNC
Registration
products.igs-ip.net:2101NAD8302APCGPS
GLO
1057,1058,1059
1063,1064,1065
IGS
Ultra Rapid
NAD83BKG
RTNet + BNC
Registration
products.igs-ip.net:2101GDA9401APCGPS1057,1058,1059IGS
Ultra Rapid
GDA94BKG
RTNet + BNC
Registration
products.igs-ip.net:2101GDA9402APCGPS
GLO
1057,1058,1059
1063,1064,1065
IGS
Ultra Rapid
GDA94BKG
RTNet + BNC
Registration
products.igs-ip.net:2101SIRGAS200001APCGPS1057,1058,1059IGS
Ultra Rapid
SIRGAS2000BKG
RTNet + BNC
Registration
products.igs-ip.net:2101SIRGAS200002APCGPS
GLO
1057,1058,1059
1063,1064,1065
IGS
Ultra Rapid
SIRGAS2000BKG
RTNet + BNC
Registration
products.igs-ip.net:2101SIRGAS9501APCGPS1057,1058,1059IGS
Ultra Rapid
SIRGAS95BKG
RTNet + BNC
Registration
products.igs-ip.net:2101SIRGAS9502APCGPS
GLO
1057,1058,1059
1063,1064,1065
IGS
Ultra Rapid
SIRGAS95BKG
RTNet + BNC
Registration
www.gref-ip.de:2101DREF9101APCGPS1059, 1060IGS
Ultra Rapid
DREF91KF Combination
BNC
gref-ip(at)bkg.bund.de
www.gref-ip.de:2101DREF9102APCGPS
GLO
1057,1058,1059
1063,1064,1065
CODE
Ultra Rapid
DREF91KF Combination
BNC
gref-ip(at)bkg.bund.de
products.igs-ip.net:2101CLK50CoMGPS1059,1060NAPEOS
2h Update
ITRF2014ESA/ESOC
RETINA + BNC
Registration
products.igs-ip.net:2101CLK51APCGPS1059,1060NAPEOS
2h Update
ITRF2014ESA/ESOC
RETINA + BNC
Registration
products.igs-ip.net:2101CLK52CoMGPS1059,1060IGS
Ultra Rapid
ITRF2014ESA/ESOC
RETINA + BNC
Registration
products.igs-ip.net:2101CLK53APCGPS1059,1060IGS
Ultra Rapid
ITRF2014ESA/ESOC
RETINA + BNC
Registration
products.igs-ip.net:2101CLK60CoMGPS1059,1060IGS
Ultra Rapid
ITRF2014TUW
RTIGSMR + BNC
Registration
products.igs-ip.net:2101CLK61APCGPS1059,1060IGS
Ultra Rapid
ITRF2014TUW
RTIGSMR + BNC
Registration
products.igs-ip.net:2101CLK70APCGPS1059,1060IGS
Ultra Rapid
ITRF2014GFZ
Epos-RT + BNC
Registration
products.igs-ip.net:2101CLK71COMGPS1059,1060IGS
Ultra Rapid
ITRF2014GFZ
Epos-RT + BNC
Registration
products.igs-ip.net:2101CLK80APCGPS
GLO
1059,1060
1065,1066
Internal
Ultra Rapid
ITRF2014GMV
magicGNSS
Registration
products.igs-ip.net:2101CLK81COMGPS
GLO
1059,1060
1065,1066
Internal
Ultra Rapid
ITRF2014GMV
magicGNSS
Registration
products.igs-ip.net:2101CLK90COMGPS1059,1060IGS
Ultra Rapid
ITRF2014CNES
PPP-WIZARD + BNC
Registration
products.igs-ip.net:2101CLK91APCGPS
GLO
1059,1060
1065,1066
CODE
Ultra Rapid
ITRF2014CNES
PPP-Wizard + BNC
Registration
http://178.33.109.250:2101CLK92COMGPS1059,1060IGS
Ultra Rapid
ITRF2014CNES
PPP-WIZARD + BNC
denis.laurichesse(at)cnes.fr
http://178.33.109.250:2101CLK93APCGPS1059,1060IGS
Ultra Rapid
ITRF2014CNES
PPP-Wizard + BNC
denis.laurichesse(at)cnes.fr
igs-ip.gmv.com:2101GMVAPCAPCGPS1059,1060IGS
Ultra Rapid
ITRF2014GMV
magicGNSS + BNC
igs-ip.gmv.com
igs-ip.gmv.com:2101GMVCOMCOMGPS1059,1060IGS
Ultra Rapid
ITRF2014GMV
magicGNSS + BNC
igs-ip.gmv.com
gnss.gsoc.dlr.de:2101CLKA1APCGPS1059,1060IGS
Ultra Rapid
ITRF2014GSOC/DLR
RETICLE
andre.hauschild(at)dlr.de
gnss.gsoc.dlr.de:2101CLKC1COMGPS1059,1060IGS
Ultra Rapid
ITRF2014GSOC/DLR
magicGNSS
andre.hauschild(at)dlr.de
wox.geopp.de:2101RTCMSSRAPCGPS
GLO
1057,1058
1059,1063
1064,1065
Dynamic
GNSMART
ITRF2014Geo++
GNSMART
support(at)geopp.de
wox.geopp.de:2101RTCMSSR1060APCGPS
GLO
1059,1060
1065,1066
Dynamic
GNSMART
ITRF2014Geo++
GNSMART
support(at)geopp.de

Note that CoM stands for Center of Mass and APC for Antenna Phase Center. The RTCM v3 streams listed above may be used i.e. to support real-time Precise Point Positioning (PPP) applications. Daily comparisons of clocks from different Analysis Centers are carried out off-line and made available for download from ftp://cddis.nasa.gov/gps/products/rtpp,ftp://igsdepot.ensg.eu./pub/igs/products and ftp://nfs.kasi.re.kr/gps/products/rtpp.

3.1 Coordinate Transformations

Some of the above listed streams refer to regional or national coordinate reference systems. The following table presents links to NTRIP Broadcasters providing access to such streams.

Resourses Supporting Regional Reference Frames
Reference FrameCoverageCaster URLPortAPC StreamSystemAgency Link
ETRF 2000Europewww.euref-ip.net80 & 2101EUREF01
EUREF02
GPS
GPS & GLONASS
BKG
GDA 94Australia192.104.43.252101GDA9401
GDA9402
GPS
GPS & GLONASS
GA
NAD 83North Americacddis-caster.gsfc.nasa.gov80NAD9301
NAD8302
GPS
GPS & GLONASS
CDDIS
SIRGAS 95South America200.3.123.652101SIRGAS9501
SIRGAS9502
GPS
GPS & GLONASS
SIRGAS
SIRGAS 2000Brazilgps-ntrip.ibge.gov.brfaustr2101SIRGAS200001
SIRGAS200002
GPS
GPS & GLONASS
IBGE
DREF91Germanywww.gref-ip.de80 & 2101DREF9101
DREF9102
GPS
GPS & GLONASS
BKG



The following Helmert transformation parameters are used in this context for transformations from ITRF2014/IGS14.

Helmert Transformation Parameters for Transformation to Regional Systems
Regional SystemTx, Ty, Tz (m)dTx, dTy, dTz (m/y)Rx, Ry, Rz (mas)dRx, dRy, dRz (mas/y)S (10**-9)
dS (10**-9/y)
T0 for Rates

ETRF2000
0.0521
0.0493
-0.0583
0.0001
0.0001
-0.0018
0.891
5.390
-8.712
0.081
0.490
-0.792
1.34
0.08
2000.0

NAD83
0.99343
-1.90331
-0.52655
0.00079
-0.00060
-0.00134
-25.91467
-9.42645
-11.59935
-0.06667
0.75744
0.05133
1.71504
-0.10201
1997.0

GDA94
-0.08468
-0.01942
0.03201
0.00142
0.00134
0.00090
0.4254
-2.2578
-2.4015
-1.5461
-1.1820
-1.1551
9.710
0.109
1994.0

SIRGAS2000
0.0020
0.0041
0.0039
-
-
-
0.17
-0.03
0.07
-
-
-
-1.0
-
no rates

SIRGAS95
0.0077
0.0058
-0.0138
-
-
-
0.00
0.00
-0.03
-
-
-
1.57
-
no rates

DREF91
-0.0118
0.1432
-0.1117
0.0001
0.0001
-0.0018
3.291
6.190
-11.012
0.081
0.490
-0.792
12.24
0.08
2000.0

References:

ETRF2000: Claude Boucher, Zuheir Altamimi 2008: 'Specifications for reference frame fixing in the analysis of EUREF GPS campaign', see http://etrs89.ensg.ign.fr/memo-V7.pdf.

NAD83: Chris Pearson, Richard Snay 2013: 'Introducing HTDP 3.1 to transform coordinates across time and spatial reference frames', GPS Solutions, January 2013, Volume 17, Issue 1, pp 1-15.

GDA94: John Dawson, Alex Woods 2010: 'ITRF to GDA94 coordinate transformations', Journal of Applied Geodesy, 4 (2010), 189-199, de Gruyter 2010. DOI 10.1515/JAG.2010.019

SIRGAS2000: Personal communication with CGED-Coordenacao de Geodesia, IBGE/DGC - Diretoria de Geociencias, Brazil.
see ibge_manual_ppp

SIRGAS95: Personal communication with Laboratorio de Geodesia Fisica y Satelital at Zulia University (LGFS-LUZ), transformation parameters based on values from Table 4.1 of 'Terrestrial Reference Frames (April 10, 2009), Chapter 4', see http://tai.bipm.org/iers/convupdt/convupdt_c4.html.

DREF91: 'Referenzkoordinaten f�r SAPOS, Empfehlungen der Projektgruppe SAPOS-Koordinatenmonitoring 2008', Personal communication with Peter Franke, BKG, Germany.

4. Tools for Decoding RTCM v3 Broadcast Corrections

We so far don't know about GNSS receiver firmware which supports the RTCM v3 messages disseminated by EUREF and IGS. However, they are implemented in the BKG NTRIP Client (BNC) which is therefore capable of decoding and fowarding the orbit and clock corrections to your SSR application or to use them for real-time Precise Point Positioning. You may like to check out BNC's documentation and source code for details on how correctors are provided. 

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