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RTCM 10403.2 RTCM Paper 104-2013-SC104-STD RTCM STANDARD 10403.2 DIFFERENTIAL GNSS (GLOBAL NAVIGATION SATELLITE SYSTEMS) SERVICES – VERSION 3 DEVELOPED BY RTCM SPECIAL COMMITTEE NO. 104 FEBRUARY 1, 2013 COPYRIGHT©2013 RTCM Radio Technical Commission for Maritime Services 1611 N. Kent St., Suite 605 Arlington, Virginia 22209-2143, U.S.A. E-Mail: info@rtcm.org Web Site: http:/www.rtcm.org © RTCM – Not for reproduction or redistribution

The Radio Technical Commission For Maritime Services (RTCM) is an incorporated non-profit organization, with participation in its work by international representation from both government and non- government organizations. The RTCM does not work to induce sales, it does not test or endorse products, and it does not monitor or enforce the use of its standards. The RTCM does not engage in the design, sale, manufacture or distribution of equipment or in any way control the use of this standard by any manufacturer, service provider, or user. Use of, and adherence to, this standard is entirely within the control and discretion of each manufacturer, service provider, and user. For information on RTCM Documents or on participation in development of future RTCM documents contact: Radio Technical Commission For Maritime Services 1611 N. Kent St., Suite 605 Arlington, Virginia 22209-2143 USA Telephone: +1-703-527-2000 Telefax: +1-703-351-9932 E-Mail: info@rtcm.org © RTCM – Not for reproduction or redistribution

RTCM 10403.2 RTCM Paper 104-2013-SC104-STD RTCM STANDARD 10403.2 DIFFERENTIAL GNSS (GLOBAL NAVIGATION SATELLITE SYSTEMS) SERVICES – VERSION 3 DEVELOPED BY RTCM SPECIAL COMMITTEE NO. 104 FEBRUARY 1, 2013 COPYRIGHT©2013 RTCM Radio Technical Commission for Maritime Services 1611 N. Kent St., Suite 605 Arlington, Virginia 22209-2143, U.S.A. E-Mail: info@rtcm.org Web Site: http:/www.rtcm.org © RTCM – Not for reproduction or redistribution

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RTCM 10403.2 PREFACE This standard has been developed by RTCM Special Committee 104 as a more efficient alternative to Version 2 in various documents entitled "RTCM Recommended Standards for Differential Navstar GPS Service, Version 2.x”. Service providers and vendors represented on the SC-104 Committee requested the development of a new standard that would be more efficient, easy to use, and more easily adaptable to new situations. The main complaint was that the Version 2 parity scheme, which uses words with 24 bits of data followed by 6 bits of parity, was wasteful of bandwidth. Another complaint was that the parity was not independent from word to word. Still another was that even with so many bits devoted to parity, the actual integrity of the message was not as high as it should be. Plus, 30-bit words are awkward to handle. This standard, Version 3, is intended to correct these weaknesses. Unlike Version 2, the Version 3 standards do not include tentative messages. The messages in Version 3 have undergone testing for validity and interoperability, and are considered to be permanent. Future modifications of the standard may change the meaning of reserved bits or provide additional clarifying text, but no changes will be made in the data fields. Changes will require new messages to be developed. As new messages and capabilities have been demonstrated through validity and interoperability testing, they will be incorporated into future revisions of the Version 3 standard, either as amendments or as a new revision of standard 10403.x. Amendments will be made available electronically to those who have purchased the standard. Periodically, accumulated Amendments will be incorporated into a complete revision of standard 10403.x. RTCM SC-104 believes that Standard 10403.2 for DGNSS services will continue to prove useful in supporting highly accurate differential and kinematic positioning as well as a wide range of navigation applications worldwide throughout the next decade. i © RTCM – Not for reproduction or redistribution

RTCM 10403.2 Table of Contents 1 3.1 1.1 1.2 1.3 INTRODUCTION AND SCOPE ......................................................................................... 1 Introduction ................................................................................................................... 1 Scope............................................................................................................................... 3 List of Abbreviations .................................................................................................... 3 2 APPLICATION LAYER ...................................................................................................... 7 PRESENTATION LAYER .................................................................................................. 9 3 Introduction ................................................................................................................... 9 3.1.1 Version 3 Database Architecture ............................................................................... 9 3.1.2 Message Groups ......................................................................................................... 9 3.1.3 Operation with Multiple Services ............................................................................ 18 3.1.4 Reference Receiver Time and Observations ........................................................... 19 3.1.5 Network RTK corrections ........................................................................................ 20 3.1.6 Proper handling of antenna phase center variation corrections ........................... 21 3.1.7 Scheduling of Network RTK messages ................................................................... 22 3.1.8 Handling of Quarter Cycle Carrier Phase Shifts ................................................... 24 3.2 Message Type Summary ............................................................................................. 26 3.3 Data Types ................................................................................................................... 31 3.4 Data Fields ................................................................................................................... 35 3.5 Messages....................................................................................................................... 98 3.5.1 GPS RTK Observable Messages .............................................................................. 98 3.5.2 Stationary Antenna Reference Point Messages .................................................... 103 3.5.3 Antenna Description Messages ............................................................................. 106 3.5.4 GLONASS RTK Observable Messages ................................................................. 108 3.5.5 System Parameter Messages .................................................................................. 113 3.5.6 GPS Network RTK Correction Messages .............................................................. 114 3.5.7 GPS Ephemerides .................................................................................................. 121 3.5.8 GLONASS Ephemerides ........................................................................................ 124 3.5.9 Unicode Text String Message ................................................................................ 126 3.5.10 Coordinate Transformation Messages .............................................................. 129 3.5.11 Network RTK Residual Error Messages ........................................................... 155 3.5.12 State Space Messages ......................................................................................... 161 3.5.13 GLONASS Network RTK Correction Messages ............................................... 186 3.5.14 FKP Network RTK Correction Messages ......................................................... 192 3.5.15 Multiple Signal Messages .................................................................................. 197 3.5.16 GLONASS Bias Information Messages ............................................................ 231 Proprietary Messages ............................................................................................... 233 4 TRANSPORT LAYER ..................................................................................................... 235 4.1 Description ................................................................................................................. 235 4.2 Example ..................................................................................................................... 237 5 DATA LINK LAYER ....................................................................................................... 239 6 PHYSICAL LAYER ......................................................................................................... 241 APPENDIX A. SUGGESTIONS AND EXAMPLES FOR NETWORK OPERATION .. A-1 3.6 iii © RTCM – Not for reproduction or redistribution

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