GNSS observation station (RTK reference station)
Summary
I am conducting radio observations of the Global Navigation Satellite System (GNSS). The observed data is publicly available on the Internet through realtime streams and archives. The realtime stream is usable as a Real-Time Kinematic (RTK) reference station.
Anyone can freely access and use this observation data without prior notification. Please note that this equipment is intended for my research purposes, and there might be times when it is not available for use. When citing this data, please use the URL of this page.
Reference: RTK reference station (old page)
Realtime stream
This realtime stream utilizes NTRIP (Networked Transport of RTCM via Internet Protocol) format, which is a common method for publishing GNSS observation data on the internet.
The realtime stream consists of two formats: RTCM (Radio Technical Commission for Maritime Services) 3.2 format used for applications like RTK, and receiver-specific raw data format used for positioning analysis.
(1) Connection information
The connection details are as follows:
| item | content |
|---|---|
| address | ntrip.rnav.info.hiroshima-cu.ac.jp（165.242.117.17） |
| port | 80 (TCP) |
| format | NTRIP version 1 |
| user name | none (please leave blank) |
| password | none (please leave blank) |
(2) RTCM format stream
The mount points for the RTCM format realtime stream are as follows:
| mount point | OEM7 | F9P |
|---|---|---|
| receiver name | NovAtel OEM729 | u-blox ZED-F9P |
| satellite systems | GPS, GLO, GAL, QZS, BDS, IRN | GPS, GLO, GAL, QZS, BDS |
| frequency bands | L1, L2, L5 | L1, L2 |
| signals | GPS: L1C/A L2PCL L2CM L5Q GLO: L1C/A L2P L2C/A L3Q GAL: E1C E5aQ E5bQ ALTBOCQ E6B QZS: L1CA L2CM L5Q BDS: B1I B1C B2a B2B B3I IRN: L5SPS | GPS: L1C/A L2C GLO: L1OF L2OF GAL: E1B E5bI QZS: L1C/A L2C BDS: B1I B2I |
The antenna coordinates are as follows: 34.4401061 degrees North latitude, 132.4147804 degrees East longitude, and 233.362 meters ellipsoidal height. These antenna coordinates are automatically configured using RTCM message type 1005. This coordinate set was determined using the “Hiroshima 2A” electronic reference point provided by the Geospatial Information Authority of Japan at March 13 to 17, 2021. The antenna used is the Javad GrAnt-G5T.
The RTCM messages are as follows:
| message type | message content | OEM7 mount point | F9P mount point |
|---|---|---|---|
| 1005 | Station coordinates | 1 | 1 |
| 1019 | GPS Ephemeris | onchanged | onchanged |
| 1020 | GLONASS Ephemeris | onchanged | onchanged |
| 1033 | Receiver and antenna descriptor | 1 | 1 |
| 1041 | NavIC Ephemeris | onchanged | |
| 1042 | BDS Ephemeris | onchanged | onchanged |
| 1044 | QZSS Ephemeris | onchanged | onchanged |
| 1045 | Galileo Ephemeris F/Nav (Free Navigation) | onchanged | |
| 1046 | Galileo Ephemeris I/Nav (Integrity Navigation) | onchanged | onchanged |
| 1077 | GPS MSM7 | 1 | 1 |
| 1087 | GLONASS MSM7 | 1 | 1 |
| 1097 | Galileo MSM7 | 1 | 1 |
| 1117 | QZSS MSM7 | 1 | 1 |
| 1127 | BeiDou MSM7 | 1 | 1 |
| 1137 | NavIC MSM7 | 1 | |
| 1230 | GLONASS L1/L2 code bias | onchanged | onchanged |
In this context, the number 1 signifies a message interval of 1 second, and “onchanged” indicates delivering the data once it has been received. “Ephemeris” refers to information such as satellite coordinates and time that satellites broadcast. MSM7 (Full pseudo-ranges, carrier phases, Doppler, and signal strength, high resolution) represents the observed satellite signals.
To automatically configure the antenna phase center for Precise Point Positioning (PPP), the message type 1033 is derivered. However, due to the limitation of not being able to deliver messages with spaces, and as a result, not being able to accurately represent antenna names, the automatic configuration for this purpose is currently not possible.
(3) Receiver raw data stream
The mount points are as follows:
| mount point | F9PR | CLAS | MADOCA | HAS | B2B |
|---|---|---|---|---|---|
| receiver | u-blox ZED-F9P | Allystar HD9310C | Allystar HD9310C | NovAtel OEM729 | Septentrio mosaic-X5 |
| signal name | (multiple) | QZSS L6D | QZSS L6E | Galileo E6B | BeiDou B2b |
| raw data name | UBX-RXM-RAWX UBX-RXM-SFRBX | QZSS L6 Raw (0x10) | QZSS L6 Raw (0x10) | GALCNAVRAWPAGE | BDSRawB2b |
Please refer to following articles for usages of the raw data.
- Use of QZS L6 Tool with own observation equipment
- Real-time stream of Allystar receiver
- Galileo HAS live stream
- BeiDou B2b signal livestream
Observation data archive
The signal archive links are as follows. The raw data can be retrieved with web browsers or command-line tools like curl.
| receiver | NovAtel OEM729 | u-blox ZED-F9P | Allystar HD9310C | Allystar HD9310C | NovAtel OEM729 | Septentrio mosaic-X5 |
|---|---|---|---|---|---|---|
| signal name | (multiple) | (multiple) | QZSS L6D | QZSS L6E | Galileo E6B | BeiDou B2b |
| raw data name | (multiple) | UBX-RXM-RAWX UBX-RXM-SFRBX | QZSS L6 Raw (0x10) | QZSS L6 Raw (0x10) | GALCNAVRAWPAGE | BDSRawB2b |
| archive link | oem7 | f9p | clas | madoca | has | b2b |
The directory arrangement is as follows:
YYYYMM/
YYYYMMDDa.ext
YYYYMMDDb.ext
...
YYYYMMDDw.ext
YYYYMMDDx.ext
In the format, YYYY represents the year, MM represents the month, DD represents the day, the lowercase English letters from ‘a’ to ‘x’ represent codes for the hours from 00:00 to 23:00, and ext represent the raw date extension.
Please note that the time is in UTC (Coordinated Universal Time).