Network RTK Residual Error Messages

3.5.12 Network RTK Residual Error Messages
3.5.12.1 Background The Network RTK concept is based on having a plurality of GNSS reference stations continuously connected via data links to a control center. One or more computers at the control center continuously gather the information from all receivers and create network error models such as ionospheric, geometric (including troposphere and orbit) models and site-specific multipath error models in real time. One approach providing Network RTK services is described in Section 3.5.6, and utilizes Message Types 1014 through 1017. Another approach is to have the rover working in the network area send its approximate position to the control center via a bi-direction data link. The control center can then generate an “optimal” data stream derived from the physical reference station data and the network error models at the approximate rover position, and then sends the data stream to the rover via the same data link. This technique creates reference station data for a new invisible, unoccupied station. Hereafter this will be referred to as a “non-physical reference station”.
网络RTK的概念是基于多个GNSS参考站通过数据链路连续连接到控制中心。控制中心的一台或多台计算机不断地收集来自所有接收机的信息，并实时创建电离层、几何(包括对流层和轨道)模型和现场特定的多路径误差模型等网络误差模型。第3.5.6节描述了一种提供网络RTK服务的方法，并利用了消息类型1014到1017。另一种方法是让在网络区域工作的漫游者发送它的ap
Note: A Non-Physical or Computed Reference Station is typically calculated based on information from a network of reference stations. Different approaches have been established over the years. The Non-Physical or Computed Reference Stations are sometimes trademarked and may not be compatible. Examples of these names are “Virtual Reference Stations”, “Pseudo-Reference Stations”, and “Individualized Reference Stations”.
非物理的或计算的参考站通常是根据参考站网络的信息计算的。多年来已经建立了不同的方法。非物理或计算机参考站有时被注册，可能不兼容。这些名称的例子是“虚拟参考站”、“伪参考站”和“个性化参考站”。
3.5.12.2 Network RTK Residual Error Information The Network RTK correction information provided to the rover can be considered as interpolated corrections between the reference stations in the RTK network. Depending on the actual conditions of the atmosphere, this interpolation is not perfect. A residual interpolation error has to be expected. With sufficient redundancy in the RTK network, the network server process can provide an estimate for residual interpolation errors. Such quality estimates may be used by the rover to optimize the performance of RTK solutions. The values may be considered by the rover as a priori estimates only, with sufficient tracking data available the rover might be able to judge residual geometric and ionospheric errors itself.
提供给漫游者的网络RTK校正信息可以看作是RTK网络中参考站之间的内插校正。根据大气的实际情况，这种插值是不完美的。残差内插误差是必须预料到的。由于RTK网络中存在足够的冗余，所以网络服务器进程可以提供剩余插值误差的估计。这种质量评估可以被漫游者用来优化RTK解决方案的性能。这些值可能被漫游者认为只是一个先验估计。
The method of interpolating corrections and quality information for the rover position is proprietary and different solutions may be expected from different network service providers. It is the responsibility of the network server software provider to ensure that the residual information is representative of the actual situation.
对漫游者位置的插值修正和质量信息的方法是专有的，不同的网络服务提供商可能会提供不同的解决方案。网络服务器软件提供商有责任确保剩余信息能够代表实际情况。
Network RTK residual error information should be transmitted every 10-60 seconds.

The standard deviation for the residuals in the messages below may refer to the physical or the non-physical reference station position (indicated by the physical reference station flag in the messages 1005 or 1006) allowing maximum flexibility for the network system.

Different scenarios are:

 The interpolation of the corrections for the rover location is performed by the network processing software resulting in a nonphysical reference station. This approach requires the rover to transmit via NMEA GGA its position to the network processing control center and, hence, bidirectional communication is required. In this scenario the information in the Network RTK Residual Error Messages can be estimated together with the corrections transmitted to the rover. The Network RTK Residual Error Messages will be referenced to the non-physical reference station.
通过网络处理软件对漫游者位置的修正进行插值，得到一个非物理参考站。这种方法需要漫游者通过NMEA GGA将其位置传送到网络处理控制中心，因此需要双向通信。在这种情况下，可以估计网络RTK残差消息中的信息，并将修正信息发送给漫游者。网络RTK剩余错误信息将被引用到非物理参考站。
 The interpolation of the correction is performed by the rover using data from RTCM 3.1 Network RTK Messages. The rover then has the option to use the Network RTK Residual Error Messages instead of self-computed values. In this case the Network RTK Residual Error Messages are referenced to the closest master or auxiliary station to the rover. This approach requires bidirectional communication as the rover’s position is needed to determine the closest reference station.
利用RTCM 3.1网络RTK报文数据，由探测车进行插值校正。然后，漫游者可以选择使用网络RTK剩余错误消息，而不是使用自行计算的值。在这种情况下，网络RTK剩余错误消息被引用到距离漫游者最近的主站或辅助站。这种方法需要双向通信，因为确定最近的参考站需要探测车的位置。