RTCM3.3协议全
全新RTCM3.3协议完整版RTCM STANDARD 10403.3DIFFERENTIAL GNSS(GLOBAL NAVIGATION SATELLITE SYSTEMS)SERVICES – VERSION 3DEVELOPED BYRTCM SPECIAL COMMITTEE NO. 104OCTOBER 7, 2016COPYRIGHT©2016 RTCMRadio Technical Commission for Maritime Services1611 N. Kent St., Suite 605Arlington, Virginia 22209-214RTCM Paper 141-2016-SC104-STD000ocRTCMco00c30RTCM 10403. 3, Differential GNSS Global Navigation Satellite Systems)Services- Version 3, October 7, 2016This standard (referred to as version 3 has been developed by rtCm special Committee 104 as a moreefficient alternative to the standards entitled rtcm recommended standards for diffe rentialRecommended Standards for Differential gNss Global Navigation Satellite Systems Service, Version 2.x(Current version is 2. 3, now designated as RTCM 10402. 3. Service providers and vendors represented onthe SC104 Committee wanted a new standard that would be more efficient, easy to use, and more easilyadaptable to new situations. The main complaint was that the version 2. x parity scheme, which useswords with 24 bits of data followed by 6 bits of parity, was wasteful of bandwidth. Another complaint wasthat the parity was not independent from word to word. Still another was that even with so many bitsdevoted to parity the actual integrity of the message was not as high as it should be. Plus, 30-bit wordsare awkward to handle. the new standard version 3 is intended to correct these weaknessesUnlike Version 2. x, this standard does not include tentative messages The messages in Version 3 haveundergone testing for validity and interoperability and are considered to be permanent. amendments tothe standard may change the meaning of reserved bits or provide additional clarifying text, but no changeswill be made in the data fields. Changes will require new messages to be developed. In addition to themessages described in the current standard the committee continues to develop new messages whichare described in separately published amendments and periodically gathered into a new edition of thestandard. RTCM 10403x for dgNSS services is proving useful in supporting highly accurate differentialand kinematic positioning as well as a wide range of navigation applications worldwideNote that Version 3 messages are not compatible with Version 2. x. Since many receivers have beendesigned and programmed for use with Version 2. x messages, rtCm is maintaining both standards0402 3 and 10403, 3 as" standardsVersion 3.0The initial edition consisted primarily of messages designed to support real-time kinematic (RTK)operations. The reason for this emphasis is that rtk operation involves broadcasting a lot of informationand thus benefits the most from an efficient data format. Version 3.0 provided messages that supportGPS and gloNaSs rTK operations including code and carrier phase observables antenna parametersand ancillary system parametersVersion 3. 1(RTCM Standard 10403.1:The next edition, Version 3. 1 (RTCM Standard 10403. 1), incorporated GPS Network Corrections, whichenable a mobile receiver to obtain accurate rtk information valid over a large area. In addition, new GPSand GLoNaSS messages provide orbital parameters to assist in rapid acquisition a Unicode text messageis also provided for the transmission of textual data. Finally a set of messages are reserved for vendorswho want to encapsulate proprietary data in their broadcasts the gps Network Corrections enable amobile receiver to obtain accurate rtk information valid over a large area. the network rtk correctioninformation provided to a rover can be considered as interpolated corrections between the referencestations in the rtk network this interpolation is not perfect and varies with the actual conditions of theatmosphere. A residual interpolation error has to be expected. With sufficient redundancy in the RtKnetwork, the network server process can provide an estimate for residual interpolation errors. Suchquality estimates may be used by the rover to optimize the performance of rtk solutions The values maybe considered by the rover as a priori estimates only with sufficient tracking data available the rovermight be able to judge residual geometric and ionospheric errors itselfVersion 3. 1. Amendment 1:Amendments 1 was an extensive addition that adds rtcm messages containing transformation data andinformation about Coordinate reference Systems. For rtCm data supporting a rtk service, coordinatesare measured within the itrf or a regional realization surve yors and other users of rtk services mustnormally present their results in the coordinates of local datums. Therefore, coordinate transformationsare necessary. by having RTCM messages that contain transformation data and information about theCoordinate reference systems the users of the rtk service can obtain their results in the desired datumwithout any manual operations. the rtk service providers can then ensure that current information forthe computation of the transformations is always used. the convenience of this method will promote theacceptance of rtK servicesVersion 3. 1. amendment 2:Amendment 2 added residual error messages to support the use of Non-Physical or Computed referenceStations in a network rtk environmentVersion 3. 1. amendment 3:Amendment 3 addressed differences in the way gnss receiver manufacturers have implemented carrierphase encoding of some Version 3 messages so that carrier phase observations are in phase for all carrierphases of a specific frequency i e. they correct for quarter cycle phase shifts. others retain the quartercycle offset between the carrier phase observations in the data. this amendment documents the waydifferent manufacturers have handled the phase shift issue and prescribes a uniform approach for futureproducts.∨ersiⅰon3.1, Amendment4:Amendment 4 added sections 3.5.13 on glONASS Network rtK Correction Messages and 3.5. 14 on FKPNetwork Rtk Correction Messages Related revisions were also made elsewhere in the document.Version 3. 1. amendment 5Amendment 5 added section 3. 5. 12 on State Space Representation related revisions are also madeelsewhere in the document, along with some editorial correctionsVersion 3. 2(RTCM Standard 10403.2)Version 3.2 consolidates Version 3. 1 and all five amendments into a new edition, and it adds MultipleSignal Messages (MSM)as well. the Multiple Signal Message (MSm)format generates receiverobservables in the same way for all included satellite systems. the messages include compact and fullmessages for Pseudorange, PhaseRange, Carrier to Noise Ratio (standard and high resolution), andPhaseRangeratea table near the beginning of the standard lists which messages were included in each separate editionand amendment, so it should not be necessary for users to refer to older versions. Multiple signalMessages are a generic format that will be followed for all GNSs systems. version 3 originally consisted ofmessages for GPS and GLONASS, each in their own format Now with the imminent addition of signals forBeiDou, Galileo, and QZSS, as well as new signals provided by modernized GPS and GloNASS satellitesthe need for a consistent generic format became evident. service providers and users are urged to migrateto the MsM messages to make it easier to accommodate new gNss services(See The RTCM Multiple Signal Messages: A New Step in GNSS Data Standardization")Another newmessage is the gloNaSS Bias Information message. This message provides information which is intendedto compensate for the first-order inter-frequency phase range biases introduced by the reference receivercode- phase biasVersion 3.2, Amendment 1:Added Galileo F/NAv Satellite Ephemeris Data(msg. 1045 )and Bds MSM(msgs. 1121-1127)Version 3.2 amendment 2Added qzss ephemeris(msg. 1044 )and QZss MSm (msgs. 1111-1117Version 3. 3(RTCM Standard 10403.3)This new edition adds Satellite-Based Augmentation System Multiple Signal Messages to previouslydopted messages for GPS, GLONASS, Galileo, and QzssA new ephemeris message has been added for BeiDou(BDS)and a new I/NAV ephemeris message hasbeen added for Galileo. The new edition also reserves 100 messages be used exclusively by sc104 fornew message developmentFinally, the new edition makes consolidates previous amendments and makes numerous editorialImprovementsNavstar GPS Service, Version 2. x. Service providers and vendors represented on the scco000c30z1O2co00c30Contentsco00c30
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MATLAB-SIMULINK通信系统建模与仿真实例分析
MATLAB-SIMULINK通信系统建模与仿真实例分析,Simulink在通信上应用，非常实用的一本书。內容簡介本書系統地介紹了通信建模仿真方法和模型驗證技術,並結合作者近年在教學科硏中所設計的大量基礎的和較深入的建模仿真實例,詳細討論了 Matlab/ Simulink作為仿真實現平台在電子與通信工程中應用的基木方法、技巧和難點。木書重點討論了建模仿真原理和相鬨的數值計算方法、模擬通信系統、模數轉換、調製貝編碼、信道模擬、載波與符號同步、信道均衡、跳頻系統和直接擴頻系統、通信模型正確性評估、仿寘數據驗證和數據處理技術等內容,並在仿真實例中展示了科學研究論文和報告所必須的數據處理和表現技巧本書提供了約150個建模仿真實例,80多道思考題,以及全部實例代碼和一個電子教案這些實例根據基木數學原理,結合 Simulink的S凼數編程,也使用了通信工具箱、信婋處理工具箱和相關模型庫的模塊和函數,以便於讀者追源求本,深入理解建模和仿真的實質。本書可作為高等院校通信工程、電子信息類專業的本科生和硏究生系統仿真課程的教材或進行相關課題硏究的參考書,也可作為相關專業課程設計和畢業設計等綜合性實踐教學的指導材料,還可供通信工程專業技術人員、教師等作為解決通笮系統設計、評估和建模仿真領域實際問題的參考資料。前Matlab語言由於其語法的簡潔性、代碼接近於自然數學措述方式以及具有豐富的專業凶數庫等諸多優點吸引了眾多的科學研究工作者,越來越成為科學研究、數值計算、建模仿真以及學術交流的事實標準。 Simulink作為 Matlab語言上的一個可視化建模仿真平台,起源於對自動控制系統的仿真霱求,它採用方框圖建模的形式,更加貼近於工稈習慣。目前, Matlab/ Simulink的應用已經遠遠超越了数值計算和控制系統仿真等傳統領域,在幾乎所有理工學科中形成了為數眾多的專業L具庫和函數庫,口益成為科學研究和上程設計中口常的計算和仿真試驗工具。隨著 Matlab/ Simulink通信、信號處理專業函數庫和專業工貝箱的成熟,他們日益為廣人通信技術領域的專家學者和工程師所熟悉,在通信理論硏究、算法設計、系統設計、建模仿真和性能分析驗證等方面的應用也更加鷹泛。 Simulink可化仿真工具能夠以很直觀的方框晑方式形象地對通信系統進行建模,並以「實時」和動畫的方式來將模型仿貞結果(如波形、頻譜、敷據曲線等)顯小岀來,更便於對通信系統的物理概念和運行過程的直覲理解,所以近年來在通信工程專業中得到了廣人師生的重視和廣泛應用,在理論教學、課程實踐環節以及理論和技術前沿的研究中發揮了重要作用。本書以通信原理為主線,從系統建模原理和仿真的數值計算方法入手,詳細介紹了 Matlab/ Simulink在通信系統建模和仿貞中的應用原理、內容方法和特點,並結合作者在科研和教學中的應用硏究,列舉了大量的仿真實例。通過這些實例,以期逹到兩個目的:其一是通過系統建模過程對 Matlab/ Simulink基本建模仿真方法的實質性理解,以掌握通信系統仿真的思維方法;其二是通過仿真過程和仿真結果分炘對基本通信系統原理的理解,並逐漸培養系統建模和設計的自主能力和創造力本書的特點是:(1)本書重黠討論通信工程相開專業旳系統仿真原理和應用,以通信系統媾成為主線介紹系統仿真方法,以微分方程的數偵求解和概率論為數學基礎,注重介紹通信仿真技術中基礎性的,本質性的內容,並強調仿真的數學原理和方法,而不作為一本 Matlab語言或仿真編程的介紹手間哩論的學習必須要有實踐的支持,理諍的檢驗和驗證也必須通過實踐。數理基礎在通信工程專業中的地位應當得到重視。系統仿真技術是專業理諭和系統實驗相結合的有效途徑之一,學習通信系統仿真不是學習某個系統仿真軟件的功能,而是在紮實的數理基礎和通信理論基礎上以系統仿真軟件作為工具平台的實踐活動。基於這種認織,本書沒有系統介紹 Matlab/ Simulink軟件的使用方沄和編程函數,而是把 Matlab/ Simulink視為一種方便的仿真軟件工只在通信系統建模和仿真中加以應用。因,掌握本書所介紹的系統仿真思想方法也就意味著可以使用任何計算機語言來進行通信系統的建模仿真實踐(2)本書詳細請述了 Matlab/ Simulink的建模仿真原理,把S函數作為掌握 Simulink仿真的根本,並將 Simulink可視化建模和 Matlab語言編程統一起來。並通過眾多的實例,加強了對仿手段、思想方法以及系統原理等抽像內谷的理解和應用。讓者可以運行這些實例,或改變實例中系統模塊的參敷來進行實驗,甚仝可以在這些實例的基礎上媾建更加複雜的系統模型。(3)本書在內容編排上注意由淺入深,逐本求源,由普遍方法論到實際建模實驗,中通信單元模塊的建模到綜合系統仿真,循序漸進,便於閱讀和學習。本書對通信系統建模的敭學原哩的講述比峧詳細,重視數哩基礎在通信程中的應用,注重原理的論述,授人以漁以 Matlab/ Simulink作為實驗台。特別注重講解通信系統建模和仿真理諭中根本性的和基礎性的內容。(4)鑒於通信系統仿真涉及的內容廣泛,對數學基礎要求和的通信基本理論的理解要求較髙,又特別強調矩陣數值計算方法的編程實現能力,因此在每章之未總結了主要內容並對相開的參考資料進行了綜述,以供讀者進“步深入學習相開內容時參考。本書共分八章。第一章概述了通信系統仿真的原理和方法。對仿真建模的意義、模型的類型以及仿真的數學方法進行了論述。第二章是本書的基礎,主要介紹了 Matlab/ Simulink編程和建模仿真的原理,並通過大量的實例演示了應用 Matlab/ Simulink建模仿真的方法、關鍵問題和處理技巧。希望通過這些實例和實驗實作來使讀者對 Matlab/ Simulink的建模和仿真有一個實質性的理解第三章以通信系統的基本構造為主線,對通信系統基本模塊的原理和建模方法進行了剖論,並介紹了 Matlab/ / Simulink通信τ具箱和信號處理工具箱中的常用模塊及其原理和使用方法。以這些基本模塊為元素,給岀了通信系統中從信源、調製、信道到接收解調、同步等基木單元的仿真實例第四章簡要闡述了通信系統整體構架和層次伈建模的思想要點,比較了模擬通信系統和數字通信系統的仿真框架和兩者的異冋點,並討論了描述通信系統質量和性能的主要指標第五章對模擬通信系統的建模和彷寘問題進行了詳細的討論,包括對調幅廣播波形和頻譜、傳輸、接收機自動增益控原理和性能、檢波和解調、單邊帶通佁機、調頻立體聲系統以及彩色電視信婋和系統的仿真實例。對模擬通信系統運行原理的理解能力可以视為無線電和電子工程師最基本的專業素質來衡量第六章討論了模擬信號數字化問題的原理和仿寘實例,內容包括採樣定理的原理性仿真、Δ①D轉換、非均勻量化的原理和性能仿真、pCM編解碼過程、自適應PCM以及增量調製的原理仿真和性能結果等等。第七章以數字通信系統的關鍵技術和一些較深入的問題為饼究對象,討論了以誤碼率為性能指熛的蒙特卡羅仿真建模方法,基帶數據傳輸的碼型設計與仿真,基帶帶限傳輸系統、眼圖以及信道均衡問題,數字調製的波形和頻譜仿寘問題等等。以仿真實例介紹了擴頻抗干擾系統的原理和性能分析,包括直接序列擴頻系統和跳頻系統的仿真實例第八章討諭了通信系統模型評估和仿真結果的正確性驗證等問題。鮫詳細地介紹了苳特卡羅仿真方法的實現要點,隨機數的產生,各種隨機分佈以及他們之間的關係,並討諭了以數理統計方法為主的模型和仿真數據評估方法,插值和擬合等實驗數據處理方法等。對特卡羅仿真方法的試驗精度等方面進行了性能分析。全書所有實例的模型文件和程序代碼在 Matlab(R13)版本下調試通過。另外,還提供了個電子教案。讀者需要只有微積分、概率賏統計、信號貝系統、數字信號處理和通信原理的背景知識。本書計劃學時為40學時,課堂上重點是講述通信系統仿真的概念、方法和實例應用,而在教學實踐環節中可以通過本書的眾多實例以及各章的思考題來加深對仿真方法的掌握。建議讀者在哩解仿貞原理的基礎上,對本書列舉的實例給岀自己的仿貞模型和設計參數,然後與本書的模型和程序結果進行對比,這樣比單純運行、硏究實例模型將吏能夠激發讀者的創造力,也更具趣味性和挑戰性。本書給岀的思考題一般是對實例問題的深化或拓展以及對正文的補充。許多思考題在仿真條件、系統建模上給讀者預留了很大的創造空間,解答可以靈活多樣感謝澳大利亞新南威籣士大學電了與電氣工程學院的 Jinhong Yuan教授,在我做訪問學者期間,他提供了良好的學術研究環境。在與他以及他的同事們的學術交流中得到了許多啟迪,促成了本書的完成。本書在成書過程中得到了許多專家、教授的關心和幫助,特別是在與徐眀遠教授、姚紹文教授、龍華教授、劉增力卲教授等前輩和專家的父流中深受教益。在本書的寫作和相關課程教學和輔導工作中得到了宋耀蓮、楊秋萍、朵晽老師的幫助和攴持。龍洋、吳熹等研究生也幫助完成了本書部分章節的校閱工作。清華大學岀版社的魏江冮編輯對本書的策劃、編輯和校對付出了辛苦的勞動,在此對他們表示衷心地感謝。最後要感謝我的家人,沒有他們的關心和支持,本書是不能完成的本書可作為高等院校通信工程、電子信息類專業的本科生和硏究生系統仿真課程的教材或進行相闋課題硏究的參考書,乜可作為相關專業課程設計和畢業設計等綜合性實踐教學的指導材料。現代通信系統仿真技術不僅僅是對通信理論的驗證于段,也日遆成為通信新理論硏究、新協議、新算法開發和系統總體設計的重要實驗硏究途徑,因此,本書所介紹的系統仿真思想方法對於從事通信系統設計的專業技術人員也很具有參考價值。限於筆者水平,木書定有不妥甚至錯誤之處,懇請讀者予以批評指正。作者的聯繄電子郵件地址是: shaoyun999 sina. cor。邵玉斌零零七年|二月目錄前言第1章通信系統仿真的原理和方法論1.1通信系統仿真的現實意義·11.2計算機仿真的過程1.2.1系統仿真的數學基礎1.2.2計算機仿真的一般過程1.3通信系統模型的分類1.3.1按照系統層次分類1.3.2按照信號類型分類1.33按照系統特徵分類1.4通信系統仿真的方法14.1基於動態系統模型的狀態方程求解方法∵·14.2基於概率模型的蒙特卡羅方法∴1.43混合方法171.5通信系統仿真的優點和局限性1.6系統建模仿真方法與仿真工具···16.1系統建模仿真方法與仿真工具的關係1.6.2仿真環境的構成和要求1.6.3常用仿真工貝的選擇1.7小結舆文獻綜述1.8思考題第2章 Matlab/ Simulink系統建模和仿真基礎」2.1 Matlab編程仿真的方法21.1概述2.1.2靜態系統的 Matlab編程仿真2.1.3連續動態系統的 Matlab編程仿真2.1.4離散動態系統的 Matlab編程仿真2.1.5基於數據流和基於時間流的仿真方法2.2 Simulink仿真基礎2.1系統模型的方程和圖形化描述222 Simulink仿真平台2.2.3構建一個簡覃的 Simulink仿真系統224 Simulink子系統構建、封裝和自定義模塊庫23 Simulink的工作原理—S函數23.1S函數的工作原理2.32用 Matlab語言編寫S函數2.4用S函數編寫 Simulink基本模塊·2.4.1信源模塊·.··2.4.2信宿和信號顯示模塊952.4.3信號傳輸模塊2.5 Simulink仿真的數據結構和編程調用方法1082.51 Simulink中數據流的向量和矩陣形式2.52 Simulink中數據結構的轉換·253 Simulink與 Matlab的交互·1212.5.4編程調用仿真模型1242.6 Simulink在電子與通信系統仿真中的幾個關鍵問題12626.1系統仿真速率的設計和選擇12626,2並/串轉換和混合速率系統仿真2.6.3不同層次的仿真模型1302.6.4用 Simulink求解方程·……2.6.5同一數學模型的多種計算機仿真實现方法1372.7聲卡在 Simulink仿真模型中的應用·13727.1 Matlab興聲卜的接口函數∵1382.7.2 Simulink與聲卡的接口模塊139273在 Simulink中組建虚擬儀器2.8小結與文獻綜述1452.9思考題146第3章基本通信模塊的建模與分析1493.1濾波器模型1493.1.1濾波器的類型、參數指熛與設計1493.L.2瀘波器的實現1593.2信源模型1623.2.1確定信源1623.2.2偽隨機碼源1633.2.3統計信源一噪聲源1643.3信號參數的測量和分析3.3.1信號的能量和功率1653.3.2信號直流份量和交流份量1653.3.3離散時間信號的統計參數1663.3.4信號的頻域參數1693.4信道模型1903.4.1加性高斯白噪聲信道1903.42帶限加性噪聲信道·19134.3離散時間信道指標的定量計算1923.4.4錯誤概率信道∵1943.5調製舆解調3.5.1調製的通帶和基帶模型1973.5.2模擬調製與解調模型3.5.3數字調製與解調模型2043.6鎖相環和載波提取20636.1鎖相環的構成和建模仿真·2063.6.2用於或波提取的鎖相環仿真3.6.3鎖相頻率合成器的仿真3.7小結舆文獻綜述··2193.8思考題第4章構建通信系統仿真模型2214.1通信系統的基本模型4.1.1模擬通信系統基本模型·4.1.2數字通信系統基本模型234.2通信系統主要性能指標2244.3通信系統建模的要點4.4小結和文獻綜述·2:304.5思考題·第5章模擬通信系統的建模仿真5.1詞幅廣播系統的仿真5.2調幅的包絡檢波和相干解調性能仿頁比較5.3頻分復用和超外差接收機的仿真模型·365.4自動增益控制(AGC)原理與仿真2385.5調頻立體聲廣播系統的建模仿真55.1調頻立體聲廣播的信號結構和仿真模型··5.5.2調頻立體聲接收機模型5.6單邊帶調幅系統的建模仿真·445.6.1希爾伯特變換445.6.2單邊帶調嗝與解調原理56.3一個簡化的單邊帶電台仿真57彩色電視系統的建模仿真2535.7.1電視掃瞄原理的仿真5.7.2彩色電視信號的構成和頻譜仿真5.7.3簡化的彩色電視接收機仿真5.8小結與文獻綜述59思考题第6章模擬信號數字化6.1採樣定理的原理仿頁62A/D和D/A轉換器的仿真2676.3PCM編碼和解碼6.3.1信號的壓縮和擴張2686.3:2PCM編碼和解碼2716.4DPM編碼與解碼2766.5增量讖製2796.6小結與文獻綜述6.7思考题.第章數字通信系統的建模仿真857.1進制傳輸的錯誤率仿真·7.2基帶傳輸碼型設計··2877.2.1二電平碼2887.22三電平碼·7.3帶限基帶傳輸系統的仿真2947.3.1眼圖和無碼間串擾波形·7.32基帶傳輸系統的仿真2977.3.3定時提取系統的仿真7.3.4信道的時域均衡·3007.4數字調製的仿真3057.4.1信號的向量表小∵·3064.2數字調製信號的向量表示和仿真3077.5擴頻系統的仿真5.1偽隨機碼的產生7.5.2直接序列擴頻系統53跳擴類系統··317.6小結興文獻綜述3347.7思考题第8章通信系統建模仿真的評估3378.1概运8.2概率模型和蒙特卡羅方法∵3398.3隨機數的產生和常用隨機分佈8.3.1均勻分佈隨機數的產生3108.32產生其他常用隨機分佈的方法833產生任意指定區間上的均勻分佈3438.3.4三角分佈
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