10-December 2007
RINEX: The Receiver Independent Exchange Format Version 2.11
************************************************************
Werner Gurtner
Astronomical Institute
University of Berne
Lou Estey
UNAVCO
Boulder, Co.
Contents:
********
0. Revision History
0.1 Revision Summary
0.2 First Revision
0.3 Later Revisions
0.4 Version 2.10 Modifications
0.5 Version 2.10 Revisions
0.6 Version 2.11 Modifications
1. THE PHILOSOPHY OF RINEX
2. GENERAL FORMAT DESCRIPTION
3. DEFINITION OF THE OBSERVABLES
4. THE EXCHANGE OF RINEX FILES:
5. RINEX VERSION 2 FEATURES
5.1 Satellite Numbers:
5.2 Order of the Header Records:
5.3 Missing Items, Duration of the Validity of Values
5.4 Event Flag Records
5.5 Receiver Clock Offset
6. ADDITIONAL HINTS AND TIPS
6.1 Version 1 / Version 2
6.2 Leading Blanks in CHARACTER fields
6.3 Variable-length Records
6.4 Blank Fields
6.5 2-Digit Years
6.6 Fit Interval
6.7 Satellite Health
6.8 Transmission Time of Message (Navigation message file)
6.9 Unknown / Undefined Observation Types and Header Records
7. RINEX UNDER ANTISPOOFING (AS)
8. GLONASS Extensions
8.1 RINEX Observation File
8.1.1 Time System Identifier
8.1.2 Pseudorange Definition
8.1.3 More Than 12 Satellites per Epoch
8.2 RINEX Navigation Files for GLONASS
9. RINEX Extensions for Geostationary Satellites (GPS Signal Payloads)
9.1 RINEX Observation Files for GEO Satellites
9.2 RINEX Navigation Message Files for GEO Satellites
10. Version 2.11 Modifications
10.1 Galileo and New GPS Observables
10.1.1 New Observation Codes
10.1.2 Wavelength Factors
10.2 Clarifications in the GEO Navigation Message File
10.3 New observables for RINEX met files
REFERENCES
APPENDIX: RINEX VERSION 2.10 FORMAT DEFINITIONS AND EXAMPLES
A 1 GPS OBSERVATION DATA FILE - HEADER SECTION DESCRIPTION
A 2 GPS OBSERVATION DATA FILE - DATA RECORD DESCRIPTION
A 3 GPS NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTION
A 4 GPS NAVIGATION MESSAGE FILE - DATA RECORD DESCRIPTION
A 5 METEOROLOGICAL DATA FILE - HEADER SECTION DESCRIPTION
A 5 METEOROLOGICAL DATA FILE - DATA RECORD DESCRIPTION
A 7 MIXED OBSERVATION DATA FILE - EXAMPLE
A 8 GPS NAVIGATION MESSAGE FILE - EXAMPLE
A 9 METEOROLOGICAL DATA FILE - EXAMPLE
A10 GLONASS NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTION
A11 GLONASS NAVIGATION MESSAGE FILE - DATA RECORD DESCRIPTION
A12 GLONASS NAVIGATION MESSAGE FILE - EXAMPLE
A13 GLONASS OBSERVATION FILE - EXAMPLE
A14 MIXED GPS/GLONASS OBSERVATION FILE - EXAMPLE
A15 GEOSTATIONARY NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTION
A16 GEOSTATIONARY NAVIGATION MESSAGE FILE - DATA RECORD DESCRIPTION
A17 MIXED GPS/GEO OBSERVATION FILE - EXAMPLE
A18 GEO NAVIGATION MESSAGE FILE - EXAMPLE
0. REVISION HISTORY
0.1 Revision Summary
First Revision, April 1993
Clarification December 1993
Doppler Definition: January 1994
PR Clarification: October 1994
Wlfact Clarification: February 1995
Event Time Frame Clarification: May 1996
Minor errors in the examples A7/A8: May 1996
Naming convention for compressed met files; January 1997
Continuation line clarifications: April 1997
GLONASS Extensions: April 1997
Met sensor description and position records: April 1997
Wavelength factor clarifications: April 1997
Error in example A12: CORR TO SYSTEM TIME, April 1997
Redefinition of sv clock params in GLONASS Nav Mess Files: March 1998
Naming conventions for compressed RINEX obs files: March 1998
GPS week: No roll-over, continuous number: March 1998
Error in compressed DOS file naming convention: July 1998
Table A13 contained blank satellite identifiers: Sept 1998
Discrepancy between Tables A5 and A9 removed: Sept 1998
Phase data format overflow: Clarification: Oct 1998
Message frame time Table A11: Clarification: Oct 1998
RINEX Version 2.10 Modifications: July 1999
Typo in paragraph 0.4 (epoch flag >1): Nov 1999
Clarification regarding trailing blanks: Dec 1999
Clarification regarding units of ZD,ZT, URA(GEO)
Clarification regarding time system identifier of GEO obs files
Clarification regarding time system identifier in TIME OF LAST record: Feb 2000
Addition of GEO examples: February 2000
Clarification of epoch field for event flag records: May 2000
Table A6: Typos in format definition of epoch: May 2000
Clarification of the GLONASS satellite identifier: June 2001
Clarification of the floating point exponent format: January 2002
RINEX Version 2.11 modifications: October 2004
Some clarifications in the GEO D-UTC A0,A1,T,W,S,U record November 2005
Wind, rain and hail observables in met files: December 2005
Unknown/undefined observation types and header records: December 2005
References to clock and SBAS RINEX files. Extended filenames: December 2005
Header continuation lines have to include the respective header label
Glonass frequency numbers -7 ... +13: December 2007 |
0.2 First Revision
The first documentation of the RINEX Version 2 Format was published by
W. Gurtner and G. Mader in the CSTG GPS Bulletin of September/October 1990.
The main reason for a revision is the new treatment of antispoofing data by
the RINEX format (see chapter 7). Chapter 4 gives a recommendation for data
compression procedures, especially useful when large amounts of data are
exchanged through computer networks. In Table A3 in the original paper the
definition of the "PGM / RUN BY / DATE" navigation header record was
missing, although the example showed it. The redefinition of AODE/AODC to
IODE/IODC also asked for an update of the format description. For consistency
reasons we also defined a Version 2 format for the Meteorological Data files
(inclusion of a END OF HEADER record and an optional MARKER NUMBER record).
The slight modification (or rather the definition of a bit in the Loss of Lock
Indicator unused so far) to flag AS data is so small a change that we decided
to NOT increase the version number!
0.3 Later Revisions
* URA Clarification (10-Dec-93):
The user range accuracy in the Navigation Message File did not contain
a definition of the units: There existed two ways of interpretation:
Either the 4 bit value from the original message or the converted value
in meters according to GPS ICD-200. In order to simplify the interpretation
for the user of the RINEX files I propose the bits to be converted into
meters prior to RINEX file creation.
* GLONASS Extensions:
In March 1997 a proposal for extensions to the current RINEX definitions
based on experiences collected with GLONASS only and mixed GPS/GLONASS data
files was circulated among several instrument manufacturers and software
developers.
The results of the call for comments have been worked into this document.
A separate document (glonass.txt) summarizes just the necessary extensions.
* A blank satellite identifier is allowed in pure GPS files only
* Met sensor description and position records were added to facilitate the
precise use of met values.
* Description and examples for wavelength factors and their temporary changes
(bit 1 of LLI) clarified.
* The RINEX documentation distributed in spring 1997 contained definitions for
the GLONASS satellite clock offset and drift with the intention to have them
defined identically to the GPS values. Unfortunately the GLONASS Interface
Document consulted had a sign error in one of the formulae.
The values should be stored into the RINEX file as -TauN, +GammaN, -TauC.
The original definition asked for -TauN, -GammaN, +TauC. See paragraph 8.2.
To avoid problems with files created with the original definitions a real
valued version number (2.01) has been introduced for GLONASS nav mess files.
* IGS decided to use the Hatanaka compression scheme for RINEX observation
files. Below the corresponding RINEX file name conventions are included
as recommendations. The DOS naming (extension .yyE) was wrongly set to
.yyY in the March 1998 version of the document.
* GPS week: The GPS week number in all RINEX files is a continuous number
not affected by the 1024 roll-over, it runs from 1023 over 1024 to 1025 etc.
* A discrepancy between the definition of the header line fields of met sensor
description and position in Table A5 and the example in Table A9 was removed.
The latter was correct.
* Clarification for phase data format overflows: Add or subtract a suitable
number of cycles, set LLI flag.
* Clarification for the GLONASS satellite identifier: "Almanac number" was
somewhat ambiguous. It has been replaced by "slot number" within the
satellite constellation.
0.4 Version 2.10 Modifications
The modifications leading to Version 2.10 include:
- Fractional version number
- Zero padding of 2-digit year values (years 2000-2009 --> 00-09)
- Field length of time of first obs (1/10 microsecond resolution)
- Non-integer sampling rate (INTERVAL header record)
- Header records now allowed after all epoch flags >1
- Additional obs types in obs files: S1, S2 (raw signal strength values)
- Receiver clock offset header line to clarify applied corrections
- Default wavelength factor header line mandatory
- Inmarsat GPS payloads: New satellite system definition, new nav mess files
- Curve fit interval in GPS nav mess file
- Redefinition of SV health value in GPS nav mess file
- Additional obs types in met files (ZD, ZT)
0.5 Version 2.10 Revisions
* "Header records now allowed after all epoch flags >2" in paragraph 0.4
should read ">1"
* The original intention of the RINEX format was to allow for variable record
lengths of the ASCII files to minimize the file size. Empty fields or
unknown values can either be represented by zeroes or blank space. Most
RINEX converters removed trailing blank to further reduce the file size. The
documentation was not clear enough to explicitly allow for this practice
(paragraphs 2, 5.3, 9.1).
* The time system identifier of GPS observations generated by GEO payloads
defaults to GPS (explicitly stated now in paragraph 9.1)
* The time system identifier in the TIME OF LAST OBS header record has to
be identical to the one in the TIME OF FIRST OBS record
* Clarification of Table A2 to be compatible with examples of Table A7:
For event flags without significant epoch the epoch fields can be left blank.
Table A6: Format for epoch contained obvious errors
* Clarification of the floating point exponent format in navigation message
files (two digits, E,e,D,d letters)
0.6 Version 2.11
The modifications of 2.10 leading to Version 2.11 include
- Definition of the Galileo satellite system code
- Definition of the code for Galileo System Time (GAL)
- Definition of the frequency numbers for Galileo and new GPS observables
- Observation code for L2C pseudorange (C2)
- Some clarifications in the GEO NAV Message files
- Transmission time of message
- Health
- URA
- CORR TO SYSTEM TIME replaced by more general D-UTC A0,A1,T,W,S,U record
- Introduction of wind speed and direction, rain fall increment, hail indicator
- Recommendation regarding unknown/undefined observation types and header
records
- Recommendations for extended filenames for high-rate observation files
Clarifications:
- Continuation records in RINEX headers: They also have to include the
respective header label in colums 61-80.
- The newer GLONASS satellites started using frequency numbers in the 0 to |
-7 range. Table A11 BROADCAST ORBIT - 2 was modified accordingly. |
1. THE PHILOSOPHY OF RINEX
The first proposal for the "Receiver Independent Exchange Format" RINEX has
been developed by the Astronomical Institute of the University of Berne for
the easy exchange of the GPS data to be collected during the large European
GPS campaign EUREF 89, which involved more than 60 GPS receivers of 4
different manufacturers. The governing aspect during the development was
the following fact:
Most geodetic processing software for GPS data use a well-defined set of
observables:
- the carrier-phase measurement at one or both carriers (actually being a
measurement on the beat frequency between the received carrier of the
satellite signal and a receiver-generated reference frequency).
- the pseudorange (code) measurement, equivalent to the difference of the
time of reception (expressed in the time frame of the receiver) and the
time of transmission (expressed in the time frame of the satellite) of a
distinct satellite signal.
- the observation time being the reading of the receiver clock at the
instant of validity of the carrier-phase and/or the code measurements.
Usually the software assumes that the observation time is valid for both
the phase AND the code measurements, AND for all satellites observed.
Consequently all these programs do not need most of the information that is
usually stored by the receivers: They need phase, code, and time in the
above mentioned definitions, and some station-related information like
station name, antenna height, etc.
2. GENERAL FORMAT DESCRIPTION
Currently the format consists of seven ASCII file types:
1. Observation Data File
2. Navigation Message File
3. Meteorological Data File
4. GLONASS Navigation Message File
5. GEO Navigation Message File
6. Satellite and Receiver Clock Date File
7. SBAS Broadcast Data File
The format definition of the clock files has been published in 1998
in a separate document by Jim Ray and Werner Gurtner, available at the IGS
Central Bureau Information System:
ftp://igscb.jpl.nasa.gov/igscb/data/format/rinex_clock.txt
The format definition of the Space-based augmentation system (SBAS) broadcast
data file has been published in 2004 by Norbert Suard, Werner Gurtner and Lou
Estey, available at the IGS Central Bureau Information System:
ftp://igscb.jpl.nasa.gov/igscb/data/format/geo_sbas.txt
Each file type consists of a header section and a data section. The header
section contains global information for the entire file and is placed at
the beginning of the file. The header section contains header labels in
columns 61-80 for each line contained in the header section. These labels
are mandatory and must appear exactly as given in these descriptions and
examples.
The format has been optimized for minimum space requirements independent
from the number of different observation types of a specific receiver by
indicating in the header the types of observations to be stored. In
computer systems allowing variable record lengths the observation records
may be kept as short as possible. Trailing blanks can be removed from the
records. The maximum record length is 80 bytes per record.
Each Observation file and each Meteorological Data file basically contain
the data from one site and one session. RINEX Version 2 also allows to
include observation data from more than one site subsequently occupied by
a roving receiver in rapid static or kinematic applications. Although Version 2
allows to insert header records into the data field we do not recommend to
concatenate data of more than one receiver (or antenna) into the same file,
even if the data do not overlap in time.
If data from more than one receiver has to be exchanged it would not be
economical to include the identical satellite messages collected by the
different receivers several times. Therefore the Navigation Message File
from one receiver may be exchanged or a composite Navigation Message File
created containing non-redundant information from several receivers in
order to make the most complete file.
The format of the data records of the RINEX Version 1 Navigation Message
file is identical to the former NGS exchange format.
The actual format descriptions as well as examples are given in the Tables
at the end of the paper.
3. DEFINITION OF THE OBSERVABLES
GPS observables include three fundamental quantities that need to be defined:
Time, Phase, and Range.
TIME:
The time of the measurement is the receiver time of the received signals.
It is identical for the phase and range measurements and is identical for
all satellites observed at that epoch. It is expressed in GPS time (not
Universal Time).
PSEUDO-RANGE:
The pseudo-range (PR) is the distance from the receiver antenna to the
satellite antenna including receiver and satellite clock offsets (and
other biases, such as atmospheric delays):
PR = distance +
c * (receiver clock offset - satellite clock offset +
other biases)
so that the pseudo-range reflects the actual behavior of the receiver
and satellite clocks. The pseudo-range is stored in units of meters.
See also clarifications for pseudoranges in mixed GPS/GLONASS files in
chapter 8.1.
PHASE:
The phase is the carrier-phase measured in whole cycles. The half-cycles
measured by squaring-type receivers must be converted to whole cycles and
flagged by the wavelength factor in the header section (GPS only).
The phase changes in the same sense as the range (negative doppler). The
phase observations between epochs must be connected by including the
integer number of cycles. The phase observations will not contain any
systematic drifts from intentional offsets of the reference oscillators.
The observables are not corrected for external effects like atmospheric
refraction, satellite clock offsets, etc.
If the receiver or the converter software adjusts the measurements using
the real-time-derived receiver clock offsets dT(r), the consistency of the
3 quantities phase / pseudo-range / epoch must be maintained, i.e. the
receiver clock correction should be applied to all 3 observables:
Time(corr) = Time(r) - dT(r)
PR(corr) = PR(r) - dT(r)*c
phase(corr) = phase(r) - dT(r)*freq
DOPPLER:
The sign of the doppler shift as additional observable is defined as usual:
Positive for approaching satellites.
4. THE EXCHANGE OF RINEX FILES:
We recommend using the following naming convention for RINEX files:
ssssdddf.yyt
| | | | |
| | | | +-- t: file type:
| | | | O: Observation file
| | | | N: GPS Navigation file
| | | | M: Meteorological data file
| | | | G: GLONASS Navigation file
| | | | L: Future Galileo Navigation file
| | | | H: Geostationary GPS payload nav mess file
| | | | B: Geo SBAS broadcast data file
| | | | (separate documentation)
| | | | C: Clock file (separate documentation)
| | | | S: Summary file (used e.g., by IGS, not a standard!)
| | | |
| | | +--- yy: two-digit year
| | |
| | +----- f: file sequence number/character within day
| | daily file: f = 0
| | hourly files:
| | f = a: 1st hour 00h-01h; f = b: 2nd hour 01h-02h; ...
| | f = x: 24th hour 23h-24h
| |
| +------- ddd: day of the year of first record
|
+----------- ssss: 4-character station name designator
For 15-minutes high-rate tracking data we recommend the following extended
filenames:
ssssdddhmm.yyo
| | || | |
| | || | +- o: observation file
| | || |
| | || +--- yy: two-digit year
| | ||
| | |+------ mm: starting minute within the hour (00, 15, 30, 45)
| | |
| | +------- h: character for the n-th hour in the day
| | (a= 1st hour: 00h-01h, b= 2nd hour: 1h to 2h,...,
| | x=24th hour: 23h-24h. 0= one-day file)
| |
| +--------- ddd: day of the year
|
+------------ ssss: 4-character ID for the LEO receiver/antenna
When data transmission times or storage volumes are critical we recommend
compressing the files prior to storage or transmission using the UNIX
"compress" und "uncompress" programs. Compatible routines are available on
VAX/VMS and PC/DOS systems, as well.
Proposed file name extensions for the compressed files:
+----------------------------------------------------------------------+
| File Types All platforms UNIX VMS DOS |
| uncompressed compressed |
+----------------------------------------------------------------------+
| Obs Files .yyO .yyO.Z .yyO_Z .yyY |
| Obs Files (Hatanaka compressed) .yyD .yyD.Z .yyD_Z .yyE |
| GPS Nav Files .yyN .yyN.Z .yyN_Z .yyX |
| GLONASS Nav File .yyG .yyG.Z .yyG_Z .yyV |
| Galileo Nav File .yyL .yyL.Z .yyL_Z .yyT |
| GEO Nav Files .yyH .yyH.Z .yyH_Z .yyU |
| GEO SBAS Broadcast Files (sep. doc.) .yyB .yyB.Z .yyB_Z .yyA |
| Met Data Files .yyM .yyM.Z .yyM_Z .yyW |
| Clock Files (see sep.doc.) .yyC .yyC.Z .yyC_Z .yyK |
+----------------------------------------------------------------------+
References for the Hatanaka compression scheme: See e.g.
- ftp://terras.gsi.go.jp/software
- IGSMails 1525,1686,1726,1763,1785,4967,4969,4975
5. RINEX VERSION 2 FEATURES
The following section contains features that have been introduced for RINEX
Version 2:
5.1 Satellite Numbers:
Version 2 has been prepared to contain GLONASS or other satellite systems'
observations. Therefore we have to be able to distinguish the satellites
of the different systems: We precede the 2-digit satellite number with a
system identifier.
snn s: satellite system identifier
G or blank : GPS
R : GLONASS
S : Geostationary signal payload
E : Galileo
nn: - PRN (GPS, Galileo), slot number (GLONASS)
- PRN-100 (GEO)
Note: G is mandatory in mixed GPS/GLONASS/Galileo files
(blank default modified in April 1997)
5.2 Order of the Header Records:
As the record descriptors in columns 61-80 are mandatory, the programs
reading a RINEX Version 2 header are able to decode the header records with
formats according to the record descriptor, provided the records have been
first read into an internal buffer.
We therefore propose to allow free ordering of the header records, with the
following exceptions:
- The "RINEX VERSION / TYPE" record must be the first record in a file
- The default "WAVELENGTH FACT L1/2" record must precede all records defining
wavelength factors for individual satellites
- The "# OF SATELLITES" record (if present) should be immediately followed
by the corresponding number of "PRN / # OF OBS" records. (These records
may be handy for documentary purposes. However, since they may only be
created after having read the whole raw data file we define them to be
optional.
5.3 Missing Items, Duration of the Validity of Values
Items that are not known at the file creation time can be set to zero or
blank or the respective record may be completely omitted. Consequently
items of missing header records will be set to zero or blank by the program
reading RINEX files. Trailing blanks may be truncated from the record.
Each value remains valid until changed by an additional header record.
5.4 Event Flag Records
The "number of satellites" also corresponds to the number of records of the
same epoch followed. Therefore it may be used to skip the appropriate
number of records if certain event flags are not to be evaluated in detail.
5.5 Receiver Clock Offset
A large number of users asked to optionally include a receiver-derived
clock offset into the RINEX format. In order to remove uncertainties if
the data (epoch, pseudorange, phase) have been previously corrected or not
by the reported clock offset, RINEX Version 2.10 requests a clarifying (new)
header record.
It would then be possible to reconstruct the original observations if
necessary.
As the output format for the receiver-derived clock offset is limited to
nanoseconds the offset should be rounded to the nearest nanosecond before it
is used to correct the observables in order to guarantee correct
reconstruction.
6. ADDITIONAL HINTS AND TIPS
6.1 Versions
Programs developed to read RINEX files have to verify the version number.
Files of newer versions may look different even if they do not use any of
the newer features
6.2 Leading Blanks in CHARACTER fields
We propose that routines to read RINEX Version 2 files automatically delete
leading blanks in any CHARACTER input field. Routines creating RINEX
Version 2 files should also left-justify all variables in the CHARACTER
fields.
6.3 Variable-length Records
DOS, and other, files may have variable record lengths, so we recommend to
first read each observation record into a 80-character blank string and
decode the data afterwards. In variable length records, empty data fields
at the end of a record may be missing, especially in the case of the
optional receiver clock offset.
6.4 Blank Fields
In view of future modifications we recommend to carefully skip any fields
currently defined to be blank (Format fields nX), because they may be assigned
to new contents in future versions.
6.5 2-Digit Years
RINEX version 2 stores the years of data records with two digits only. The
header of observation files contains a TIME OF FIRST OBS record with the full
four-digit year, the GPS nav messages contain the GPS week numbers. From these
two data items the unambiguous year can easily be reconstructed.
A hundred-year ambiguity occurs in the met data and GLONASS and GEO nav
messages: Instead of introducing a new TIME OF FIRST OBS header line it is
safe to stipulate that any two-digit years in RINEX Version 1 and Version
2.xx files are understood to represent
80-99: 1980-1999
00-79: 2000-2079
Full 4-digit year fields could then be defined by a future RINEX version 3.
6.6 Fit Interval
Bit 17 in word 10 of subframe 2 is a "fit interval" flag which indicates the
curve-fit interval used by the GPS Control Segment in determining the
ephemeris parameters, as follows (see ICD-GPS-200, 20.3.3.4.3.1):
0 = 4 hours
1 = greater than 4 hours.
Together with the IODC values and Table 20-XII the actual fit interval can be
determined. The second value in the last record of each message shall contain
the fit interval in hours determined using IODC, fit flag, and Table 20-XII,
according to the Interface Document ICD-GPS-200.
6.7 Satellite Health
The health of the signal components (bits 18 to 22 of word three in subframe
one) are now (Version 2.10) included into the health value reported in the
second field of the sixth nav mess records.
A program reading RINEX files could easily decide if bit 17 only or all bits
(17-22) have been written:
RINEX Value: 0 Health OK
RINEX Value: 1 Health not OK (bits 18-22 not stored)
RINEX Value: >32 Health not OK (bits 18-22 stored)
6.8 Transmission Time of Message (Navigation message file)
The transmission time of message can be shortly before midnight
Saturday/Sunday, the TOE and TOC of the message already in the next week.
As the reported week in the RINEX nav message (BROADCAST ORBIT - 5 record)
goes with ToE (this is different from the GPS week in the original satellite
message!), the transmission time of message should be reduced by 604800
(i.e., will become negative) to also refer to the same week.
6.9 Unknown / Undefined Observation Types and Header Records
It is a good practice for a program reading RINEX files to make sure that it
does not crash if it encounters unknown observation types or header records
by properly skipping them and optionally reporting them to the user.
7. RINEX UNDER ANTISPOOFING (AS)
Some receivers generate code delay differences between the first and second
frequency using cross-correlation techniques when AS is on and may recover
the phase observations on L2 in full cycles. Using the C/A code delay on
L1 and the observed difference it is possible to generate a code delay
observation for the second frequency.
Other receivers recover P code observations by breaking down the Y code
into P and W code.
Most of these observations may suffer from an increased noise level. In
order to enable the postprocessing programs to take special actions, such
AS-infected observations are flagged using bit number 2 of the Loss of Lock
Indicators (i.e. their current values are increased by 4).
8. GLONASS Extensions
8.1 RINEX Observation File
8.1.1 Time System Identifier
The original RINEX Version 2 needed one major supplement, the explicit
definition of the time system:
GLONASS is basically running on UTC (or, more precisely, GLONASS system time
linked to UTC(SU)), i.e. the time tags are given in UTC and not GPS time.
In order to remove possible misunderstandings and ambiguities, the header
records "TIME OF FIRST OBS" and (if present) "TIME OF LAST OBS" in GLONASS and
GPS observation files _can_, in mixed GLONASS/GPS observation files _must_
contain a time system identifier defining the system that all time tags in the
file are referring to: "GPS" to identify GPS time, "GLO" to identify the
GLONASS UTC time system. Pure GPS files default to GPS and pure GLONASS files
default to GLO.
Format definitions see Table A1.
Hence, the two possible time tags differ by the current number of leap seconds.
In order to have the current number of leap seconds available we recommend
to include a LEAP SECOND line into the RINEX header.
If there are known non-integer biases between the "GPS receiver clock"
and "GLONASS receiver clock" in the same receiver, they should be applied.
In this case the respective code and phase observations have to be corrected,
too (c * bias if expressed in meters).
Unknown such biases will have to be solved for during the post processing
The small differences (modulo 1 second) between GLONASS system time, UTC(SU),
UTC(USNO) and GPS system time have to be dealt with during the post-processing
and not before the RINEX conversion. It may also be necessary to solve for
remaining differences during the post-processing.
8.1.2 Pseudorange Definition
The pseudorange (code) measurement is defined to be equivalent to the
difference of the time of reception (expressed in the time frame of the
receiver) and the time of transmission (expressed in the time frame of the
satellite) of a distinct satellite signal.
If a mixed-mode GPS/GLONASS receiver refers all pseudorange observations to
one receiver clock only,
- the raw GLONASS pseudoranges will show the current number of leap seconds
between GPS time and GLONASS time if the receiver clock is running in the
GPS time frame
- the raw GPS pseudoranges will show the negative number of leap seconds
between GPS time and GLONASS time if the receiver clock is running in the
GLONASS time frame
In order to avoid misunderstandings and to keep the code observations within
the format fields, the pseudoranges must be corrected in this case as follows:
PR(GPS) := PR(GPS) + c * leap_seconds if generated with a receiver clock
running in the GLONASS time frame
PR(GLO) := PR(GLO) - c * leap_seconds if generated with a receiver clock
running in the GPS time frame
to remove the contributions of the leap seconds from the pseudoranges.
"leap_seconds" is the actual number of leap seconds between GPS and GLONASS
(UTC) time, as broadcast in the GPS almanac and distributed in Circular T
of BIPM.
8.1.3 More Than 12 Satellites per Epoch
The format of the epoch / satellite line in the observation record part of
the RINEX Observation files has only been defined for up to 12 satellites
per epoch. We explicitly define now the format of the continuation lines,
see Table A2.
8.2 RINEX Navigation Files for GLONASS
As the GLONASS navigation message differs in contents from the GPS message
too much, a special GLONASS navigation message file format has been defined.
The header section and the first data record (epoch, satellite clock
information) is similar to the GPS navigation file. The following records
contain the satellite position, velocity and acceleration, the clock and
frequency biases as well as auxiliary information as health, satellite
frequency (channel), age of the information.
The corrections of the satellite time to UTC are as follows:
GPS : Tutc = Tsv - af0 - af1 *(Tsv-Toc) - ... - A0 - ... - leap_sec
GLONASS: Tutc = Tsv + TauN - GammaN*(Tsv-Tb) + TauC
*** In order to use the same sign conventions for the GLONASS corrections
as in the GPS navigation files, the broadcast GLONASS values are
stored as:
-TauN, +GammaN, -TauC.
The time tags in the GLONASS navigation files are given in UTC (i.e. _not_
Moscow time or GPS time).
File naming convention: See above.
9. RINEX Extensions for Geostationary Satellites (GPS Signal Payloads)
With the implementation of GNSS programs, GPS-like ranging measurements can be
performed on geostationary navigation payloads.
RINEX Version 2.10 defines the necessary extensions to handle such data in
RINEX files for data exchange and postprocessing purposes.
9.1 RINEX Observation Files for GEO Satellites
A new satellite system identifier has been defined for the geostationary
GPS signal payloads: "S", to be used in the RINEX VERSION / TYPE header line
and in the satellite identifier 'snn', nn being the GEO PRN number minus 100.
e.g.: PRN = 120 --> 'snn' = "S20"
In mixed dual frequency GPS satellite / single frequency GEO payload
observation files the fields for the second frequency observations of GEO
satellites remain blank, are set to zero values or (if last in the record)
can be truncated.
The time system identifier of GEO satellites generating GPS signals defaults
to GPS time.
9.2 RINEX Navigation Message Files for GEO Satellites
As the GEO broadcast orbit format differs from the GPS message a special GEO
navigation message file format has been defined which is nearly identical with
the GLONASS nav mess file format.
The header section contains informations about the generating program,
comments, and the difference between the GEO system time and UTC.
The first data record contains the epoch and satellite clock information,
the following records contain the satellite position, velocity and
acceleration and auxiliary information such as health, age of the data, etc.
The time tags in the GEO navigation files are given in the GPS time frame,
i.e. not UTC.
The corrections of the satellite time to UTC are as follows:
GEO : Tutc = Tsv - aGf0 - aGf1 *(Tsv-Toe) - W0 - leap_sec
W0 being the correction to transform the GEO system time to UTC. Toe, aGf0,
aGf1 see below in the format definition tables.
The "Transmission Time of Message" (PRN / EPOCH / SV CLK header record) is
expressed in GPS seconds of the week. It marks the beginning of the message
transmission. It has to refer to the same GPS week as the "Epoch of
Ephemerides". It has to be adjusted by - or + 604800 seconds, if necessary
(which would make it lower than zero or larger than 604800, respectively).
It is a redefinition of the Version 2.10 "Message frame time".
"Health" shall be defined as follows:
- Bits 0 to 3 equal to Health in Message Type 17 (MT17)
- bit 4 is set to 1 if MT17 health is unavailable
- bit 5 is set to 1 if the URA index is equal to 15
In the SBAS message definitions bit 3 of the health is currently marked as
'reserved'. |
In case of bit 4 set to 1, it is recommended to set bits 0,1,2,3 to 1, too.
"User Range Accuracy" (URA):
The same convention for converting the URA index to meters is used as
with GPS. Set URA = 32767 meters if URA index = 15.
"IODN" (Issue Of Data Navigation)
The IODN is defined as the 8 first bits after the message type 9,
called IODN in RTCA DO229, Annex A and Annex B and called "spare" in Annex C.
The "CORR TO SYSTEM" TIME header record has been replaced by the more general
record "D-UTC A0,A1,T,W,S,U" in Version 2.11.
10. Version 2.11 Modifications
The main driver for version 2.11 was the easy inclusion of Galileo and new GPS
observables into the RINEX format. As these modifications are VERY MINOR (no
changes in the actual formats) many RINEX readers will not have to be
modified at all or to a small amount (accept version number 2.11), only.
After the first introduction of the "GEO navigation message file" in Version
2.10 feedback from the SBAS community lead to a number of clarifications/
redefinitions that were included in the Version 2.11 modifications.
10.1 Galileo and New GPS Observables
10.1.1 New Observation Codes
In Version 2.10 only the observation codes for two frequencies were define
(Table A1).
The new codes for GPS L2C/L5 and Galileo codes are introduced as follows:
+---------------------------------------------------------------------------+
| System Freq.Band Frequency RINEX 2-character Code |
| Ps.Range Carr.Phase Doppler Sign.Strength |
+---------------------------------------------------------------------------+
| GPS L1 1575.42 C1,P1 L1 D1 S1 |
| L2 1227.60 C2,P2 L2 D2 S2 |
| L5 1176.45 C5 L5 D5 S5 |
| |
| Glonass G1 1602+k*9/16 C1,P1 L1 D1 S1 |
| G2 1246+k*7/16 C2,P2 L2 D2 S2 |
| |
| Galileo E2-L1-E1 1575.42 C1 L1 D1 S1 |
| E5a 1176.45 C5 L5 D5 S5 |
| E5b 1207.140 C7 L7 D7 S7 |
| E5a+b 1191.795 C8 L8 D8 S8 |
| E6 1278.75 C6 L6 D6 S6 |
| |
| SBAS L1 1575.42 C1 L1 D1 S1 |
| L5 1176.45 C5 L5 D5 S5 |
+---------------------------------------------------------------------------+
The current two-character observation code does not easily allow a further
refinement of the code to account for the different possibilities how to
generate a specific observable, e.g., with respect to the underlying
code (P,Y,M code in GPS) or the channels (I,Q, A,B,C in Galileo, I,Q in the
new GPS L5 frequency, GPS L2C). The next RINEX version (3.0) will increase the
length of the observation codes to allow a more detailed definition.
The definition of observations for Transit Doppler is obsolete and has been
removed from Version 2.11
10.1.2 Wavelength Factors
The WAVELENGTH FACT L1/2 header record defining the factor, the carrier
wavelength has to be divided with for ambiguity resolution, has been
introduced because of receivers generating GPS phase observations under
antispoofing with one cycle corresponding to half the carrier wavelength
only (squaring technique). Galileo observables will not be generated by
squaring. We therefore define the WAVELENGTH FACT L1/2 header record to be
valid for L1 and L2 GPS phase observables only. All wavelength factors default
to 1. This header record can therefore be declared to be optional.
10.1.3 Code for Galileo Satellite System
Use "E" to indicate the Galileo Satellite System in the header of RINEX
observation files.
10.1.4 Galileo System Time
Include GAL as Galileo System Time into TIME OF FIRST OBS and TIME OF LAST OBS
header records.
10.2 Clarifications in the GEO Navigation Message File
The following clarifications/modifications were introduced (see chapter 9.2):
- Health word
- Issue of Data (Navigation) IODN
- Correction to system time
- Transmission time of message
10.3 New observables for RINEX met files
Wind speed (ms), wind direction (from where the wind blows), and an
incremental rain fall value (1/10 mm): rain accumulation since the last
recording, hail indicator
REFERENCES
Evans, A. (1989): "Summary of the Workshop on GPS Exchange Formats."
Proceedings of the Fifth International Geodetic Symposium on Satellite
Systems, pp. 917ff, Las Cruces.
Gurtner, W., G. Mader, D. Arthur (1989): "A Common Exchange Format for
GPS Data." CSTG GPS Bulletin Vol.2 No.3, May/June 1989, National Geodetic
Survey, Rockville.
Gurtner, W., G. Mader (1990): "The RINEX Format: Current Status, Future
Developments." Proceedings of the Second International Symposium of Precise
Positioning with the Global Positioning system, pp. 977ff, Ottawa.
Gurtner, W., G. Mader (1990): "Receiver Independent Exchange Format
Version 2." CSTG GPS Bulletin Vol.3 No.3, Sept/Oct 1990, National Geodetic
Survey, Rockville.
Gurtner, W. (1994): "RINEX: The Receiver-Independent Exchange Format."
GPS World, Volume 5, Number 7, July 1994.
Gurtner, W. (2002): "RINEX: The Receiver Independent Exchange Format
Version 2.10". ftp://igscb.jpl.nasa.gov/igscb/data/format/rinex210.txt
Ray, J., W. Gurtner (1999): "RINEX Extensions to Handle Clock Information".
ftp://igscb.jpl.nasa.gov/igscb/data/format/rinex_clock.txt
Suard, N., W. Gurtner, L. Estey (2004): "Proposal for a new RINEX-type
Exchange File for GEO SBAS Broadcast Data".
ftp://igscb.jpl.nasa.gov/igscb/data/format/geo_sbas.txt
Document RTCA DO 229, Appendix A
APPENDIX: RINEX VERSION 2.11 FORMAT DEFINITIONS AND EXAMPLES
+----------------------------------------------------------------------------+
| TABLE A1 |
| GNSS OBSERVATION DATA FILE - HEADER SECTION DESCRIPTION |
+--------------------+------------------------------------------+------------+
| HEADER LABEL | DESCRIPTION | FORMAT |
| (Columns 61-80) | | |
+--------------------+------------------------------------------+------------+
|RINEX VERSION / TYPE| - Format version (2.11) | F9.2,11X, |
| | - File type ('O' for Observation Data) | A1,19X, |
| | - Satellite System: blank or 'G': GPS | A1,19X |
| | 'R': GLONASS | |
| | 'S': Geostationary | |
| | signal payload | |
| | 'E': Galileo | |
| | 'M': Mixed | |
+--------------------+------------------------------------------+------------+
|PGM / RUN BY / DATE | - Name of program creating current file | A20, |
| | - Name of agency creating current file | A20, |
| | - Date of file creation | A20 |
+--------------------+------------------------------------------+------------+
*|COMMENT | Comment line(s) | A60 |*
+--------------------+------------------------------------------+------------+
|MARKER NAME | Name of antenna marker | A60 |
+--------------------+------------------------------------------+------------+
*|MARKER NUMBER | Number of antenna marker | A20 |*
+--------------------+------------------------------------------+------------+
|OBSERVER / AGENCY | Name of observer / agency | A20,A40 |
+--------------------+------------------------------------------+------------+
|REC # / TYPE / VERS | Receiver number, type, and version | 3A20 |
| | (Version: e.g. Internal Software Version)| |
+--------------------+------------------------------------------+------------+
|ANT # / TYPE | Antenna number and type | 2A20 |
+--------------------+------------------------------------------+------------+
|APPROX POSITION XYZ | Approximate marker position (WGS84) | 3F14.4 |
+--------------------+------------------------------------------+------------+
|ANTENNA: DELTA H/E/N| - Antenna height: Height of bottom | 3F14.4 |
| | surface of antenna above marker | |
| | - Eccentricities of antenna center | |
| | relative to marker to the east | |
| | and north (all units in meters) | |
+--------------------+------------------------------------------+------------+
*|WAVELENGTH FACT L1/2| - Default wavelength factors for | |*
| | L1 and L2 (GPS only) | 2I6, |
| | 1: Full cycle ambiguities | |
| | 2: Half cycle ambiguities (squaring) | |
| | 0 (in L2): Single frequency instrument | |
| | - zero or blank | I6 |
| | | |
| | The wavelength factor record is optional | |
| | for GPS and obsolete for other systems. | |
| | Wavelength factors default to 1. | |
| | If the record exists it must precede any | |
| | satellite-specific records (see below). | |
+--------------------+------------------------------------------+------------+
*|WAVELENGTH FACT L1/2| - Wavelength factors for L1 and L2 (GPS) | 2I6, |*
| | 1: Full cycle ambiguities | |
| | 2: Half cycle ambiguities (squaring) | |
| | 0 (in L2): Single frequency instrument | |
| | - Number of satellites to follow in list | I6, |
| | for which these factors are valid. | |
| | - List of PRNs (satellite numbers with | 7(3X,A1,I2)|
| | system identifier) | |
| | | |
| | These optional satellite specific lines | |
| | may follow, if they identify a state | |
| | different from the default values. | |
| | | |
| | Repeat record if necessary. | |
+--------------------+------------------------------------------+------------+
|# / TYPES OF OBSERV | - Number of different observation types | I6, |
| | stored in the file | |
| | - Observation types | |
| | - Observation code | 9(4X,A1, |
| | - Frequency code | A1)|
| | If more than 9 observation types: | |
| | Use continuation line(s) (including |6X,9(4X,2A1)|
| | the header label in cols. 61-80!) | |
| | | |
| | The following observation types are | |
| | defined in RINEX Version 2.11: | |
| | | |
| | Observation code (use uppercase only): | |
| | C: Pseudorange GPS: C/A, L2C | |
| | Glonass: C/A | |
| | Galileo: All | |
| | P: Pseudorange GPS and Glonass: P code| |
| | L: Carrier phase | |
| | D: Doppler frequency | |
| | S: Raw signal strengths or SNR values | |
| | as given by the receiver for the | |
| | respective phase observations | |
| | | |
| | Frequency code | |
| | GPS Glonass Galileo SBAS | |
| | 1: L1 G1 E2-L1-E1 L1 | |
| | 2: L2 G2 -- -- | |
| | 5: L5 -- E5a L5 | |
| | 6: -- -- E6 -- | |
| | 7: -- -- E5b -- | |
| | 8: -- -- E5a+b -- | |
| | | |
| | Observations collected under Antispoofing| |
| | are converted to "L2" or "P2" and flagged| |
| | with bit 2 of loss of lock indicator | |
| | (see Table A2). | |
| | | |
| | Units : Phase : full cycles | |
| | Pseudorange : meters | |
| | Doppler : Hz | |
| | SNR etc : receiver-dependent | |
| | | |
| | The sequence of the types in this record | |
| | has to correspond to the sequence of the | |
| | observations in the observation records | |
+--------------------+------------------------------------------+------------+
*|INTERVAL | Observation interval in seconds | F10.3 |*
+--------------------+------------------------------------------+------------+
|TIME OF FIRST OBS | - Time of first observation record | 5I6,F13.7, |
| | (4-digit-year, month,day,hour,min,sec) | |
| | - Time system: GPS (=GPS time system) | 5X,A3 |
| | GLO (=UTC time system) | |
| | GAL (=Galileo System Time)| |
| | Compulsory in mixed GPS/GLONASS files | |
| | Defaults: GPS for pure GPS files | |
| | GLO for pure GLONASS files | |
| | GAL for pure Galileo files | |
+--------------------+------------------------------------------+------------+
*|TIME OF LAST OBS | - Time of last observation record | 5I6,F13.7, |*
| | (4-digit-year, month,day,hour,min,sec) | |
| | - Time system: Same value as in | 5X,A3 |
| | TIME OF FIRST OBS record | |
+--------------------+------------------------------------------+------------+
*|RCV CLOCK OFFS APPL | Epoch, code, and phase are corrected by | I6 |*
| | applying the realtime-derived receiver | |
| | clock offset: 1=yes, 0=no; default: 0=no | |
| | Record required if clock offsets are | |
| | reported in the EPOCH/SAT records | |
+--------------------+------------------------------------------+------------+
*|LEAP SECONDS | Number of leap seconds since 6-Jan-1980 | I6 |*
| | Recommended for mixed files | |
+--------------------+------------------------------------------+------------+
*|# OF SATELLITES | Number of satellites, for which | I6 |*
| | observations are stored in the file | |
+--------------------+------------------------------------------+------------+
*|PRN / # OF OBS | PRN (sat.number), number of observations |3X,A1,I2,9I6|*
| | for each observation type indicated | |
| | in the "# / TYPES OF OBSERV" - record. | |
| | | |
| | If more than 9 observation types: | |
| | Use continuation line(s) including | 6X,9I6 |
| | the header label in cols. 61-80! | |
| | | |
| | This record is (these records are) | |
| | repeated for each satellite present in | |
| | the data file | |
+--------------------+------------------------------------------+------------+
|END OF HEADER | Last record in the header section. | 60X |
+--------------------+------------------------------------------+------------+
Records marked with * are optional
+----------------------------------------------------------------------------+
| TABLE A2 |
| GNSS OBSERVATION DATA FILE - DATA RECORD DESCRIPTION |
+-------------+-------------------------------------------------+------------+
| OBS. RECORD | DESCRIPTION | FORMAT |
+-------------+-------------------------------------------------+------------+
| EPOCH/SAT | - Epoch : | |
| or | - year (2 digits, padded with 0 if necessary) | 1X,I2.2, |
| EVENT FLAG | - month,day,hour,min, | 4(1X,I2), |
| | - sec | F11.7, |
| | | |
| | - Epoch flag 0: OK | 2X,I1, |
| | 1: power failure between | |
| | previous and current epoch | |
| | >1: Event flag | |
| | - Number of satellites in current epoch | I3, |
| | - List of PRNs (sat.numbers with system | 12(A1,I2), |
| | identifier, see 5.1) in current epoch | |
| | - receiver clock offset (seconds, optional) | F12.9 |
| | | |
| | If more than 12 satellites: Use continuation | 32X, |
| | line(s) | 12(A1,I2) |
| | | |
| | If epoch flag 2-5: | |
| | | |
| | - Event flag: | [2X,I1,] |
| | 2: start moving antenna | |
| | 3: new site occupation (end of kinem. data) | |
| | (at least MARKER NAME record follows) | |
| | 4: header information follows | |
| | 5: external event (epoch is significant, | |
| | same time frame as observation time tags)| |
| | | |
| | - "Number of satellites" contains number of | [I3] |
| | special records to follow. | |
| | Maximum number of records: 999 | |
| | | |
| | - For events without significant epoch the | |
| | epoch fields can be left blank | |
| | | |
| | If epoch flag = 6: | |
| | 6: cycle slip records follow to optionally | |
| | report detected and repaired cycle slips | |
| | (same format as OBSERVATIONS records; | |
| | slip instead of observation; LLI and | |
| | signal strength blank or zero) | |
+-------------+-------------------------------------------------+------------+
|OBSERVATIONS | - Observation | rep. within record for | m(F14.3, |
| | - LLI | each obs.type (same seq | I1, |
| | - Signal strength | as given in header) | I1) |
| | | |
| | If more than 5 observation types (=80 char): | |
| | continue observations in next record. | |
| | | |
| | This record is (these records are) repeated for | |
| | each satellite given in EPOCH/SAT - record. | |
| | | |
| | Observations: | |
| | Phase : Units in whole cycles of carrier | |
| | Code : Units in meters | |
| | Missing observations are written as 0.0 | |
| | or blanks. | |
| | | |
| | Phase values overflowing the fixed format F14.3 | |
| | have to be clipped into the valid interval (e.g.| |
| | add or subtract 10**9), set LLI indicator. | |
| | | |
| | Loss of lock indicator (LLI). Range: 0-7 | |
| | 0 or blank: OK or not known | |
| | Bit 0 set : Lost lock between previous and | |
| | current observation: cycle slip | |
| | possible | |
| | Bit 1 set : Opposite wavelength factor to the | |
| | one defined for the satellite by a | |
| | previous WAVELENGTH FACT L1/2 line | |
| | or opposite to the default. | |
| | Valid for the current epoch only. | |
| | Bit 2 set : Observation under Antispoofing | |
| | (may suffer from increased noise) | |
| | | |
| | Bits 0 and 1 for phase only. | |
| | | |
| | Signal strength projected into interval 1-9: | |
| | 1: minimum possible signal strength | |
| | 5: threshold for good S/N ratio | |
| | 9: maximum possible signal strength | |
| | 0 or blank: not known, don't care | |
+-------------+-------------------------------------------------+------------+
+----------------------------------------------------------------------------+
| TABLE A3 |
| GPS NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTION |
+--------------------+------------------------------------------+------------+
| HEADER LABEL | DESCRIPTION | FORMAT |
| (Columns 61-80) | | |
+--------------------+------------------------------------------+------------+
|RINEX VERSION / TYPE| - Format version (2.10) | F9.2,11X, |
| | - File type ('N' for Navigation data) | A1,19X |
+--------------------+------------------------------------------+------------+
|PGM / RUN BY / DATE | - Name of program creating current file | A20, |
| | - Name of agency creating current file | A20, |
| | - Date of file creation | A20 |
+--------------------+------------------------------------------+------------+
*|COMMENT | Comment line(s) | A60 |*
+--------------------+------------------------------------------+------------+
*|ION ALPHA | Ionosphere parameters A0-A3 of almanac | 2X,4D12.4 |*
| | (page 18 of subframe 4) | |
+--------------------+------------------------------------------+------------+
*|ION BETA | Ionosphere parameters B0-B3 of almanac | 2X,4D12.4 |*
+--------------------+------------------------------------------+------------+
*|DELTA-UTC: A0,A1,T,W| Almanac parameters to compute time in UTC| 3X,2D19.12,|*
| | (page 18 of subframe 4) | 2I9 |
| | A0,A1: terms of polynomial | |
| | T : reference time for UTC data | *) |
| | W : UTC reference week number. | |
| | Continuous number, not mod(1024)! | |
+--------------------+------------------------------------------+------------+
*|LEAP SECONDS | Delta time due to leap seconds | I6 |*
+--------------------+------------------------------------------+------------+
|END OF HEADER | Last record in the header section. | 60X |
+--------------------+------------------------------------------+------------+
Records marked with * are optional
+----------------------------------------------------------------------------+
| TABLE A4 |
| GPS NAVIGATION MESSAGE FILE - DATA RECORD DESCRIPTION |
+--------------------+------------------------------------------+------------+
| OBS. RECORD | DESCRIPTION | FORMAT |
+--------------------+------------------------------------------+------------+
|PRN / EPOCH / SV CLK| - Satellite PRN number | I2, |
| | - Epoch: Toc - Time of Clock | |
| | year (2 digits, padded with 0 | |
| | if necessary) | 1X,I2.2, |
| | month | 1X,I2, |
| | day | 1X,I2, |
| | hour | 1X,I2, |
| | minute | 1X,I2, |
| | second | F5.1, |
| | - SV clock bias (seconds) | 3D19.12 |
| | - SV clock drift (sec/sec) | |
| | - SV clock drift rate (sec/sec2) | *) |
+--------------------+------------------------------------------+------------+
| BROADCAST ORBIT - 1| - IODE Issue of Data, Ephemeris | 3X,4D19.12 |
| | - Crs (meters) | |
| | - Delta n (radians/sec) | |
| | - M0 (radians) | |
+--------------------+------------------------------------------+------------+
| BROADCAST ORBIT - 2| - Cuc (radians) | 3X,4D19.12 |
| | - e Eccentricity | |
| | - Cus (radians) | |
| | - sqrt(A) (sqrt(m)) | |
+--------------------+------------------------------------------+------------+
| BROADCAST ORBIT - 3| - Toe Time of Ephemeris | 3X,4D19.12 |
| | (sec of GPS week) | |
| | - Cic (radians) | |
| | - OMEGA (radians) | |
| | - CIS (radians) | |
+--------------------+------------------------------------------+------------+
| BROADCAST ORBIT - 4| - i0 (radians) | 3X,4D19.12 |
| | - Crc (meters) | |
| | - omega (radians) | |
| | - OMEGA DOT (radians/sec) | |
+--------------------+------------------------------------------+------------+
| BROADCAST ORBIT - 5| - IDOT (radians/sec) | 3X,4D19.12 |
| | - Codes on L2 channel | |
| | - GPS Week # (to go with TOE) | |
| | Continuous number, not mod(1024)! | |
| | - L2 P data flag | |
+--------------------+------------------------------------------+------------+
| BROADCAST ORBIT - 6| - SV accuracy (meters) | 3X,4D19.12 |
| | - SV health (bits 17-22 w 3 sf 1) | |
| | - TGD (seconds) | |
| | - IODC Issue of Data, Clock | |
+--------------------+------------------------------------------+------------+
| BROADCAST ORBIT - 7| - Transmission time of message **) | 3X,4D19.12 |
| | (sec of GPS week, derived e.g. | |
| | from Z-count in Hand Over Word (HOW) | |
| | - Fit interval (hours) | |
| | (see ICD-GPS-200, 20.3.4.4) | |
| | Zero if not known | |
| | - spare | |
| | - spare | |
+--------------------+------------------------------------------+------------+
**) Adjust the Transmission time of message by -604800 to refer to the
reported week, if necessary.
*) In order to account for the various compilers, E,e,D, and d are allowed
letters between the fraction and exponent of all floating point numbers
in the navigation message files.
Zero-padded two-digit exponents are required, however.
+----------------------------------------------------------------------------+
| TABLE A5 |
| METEOROLOGICAL DATA FILE - HEADER SECTION DESCRIPTION |
+--------------------+------------------------------------------+------------+
| HEADER LABEL | DESCRIPTION | FORMAT |
| (Columns 61-80) | | |
+--------------------+------------------------------------------+------------+
|RINEX VERSION / TYPE| - Format version (2.11) | F9.2,11X, |
| | - File type ('M' for Meteorological Data)| A1,39X |
+--------------------+------------------------------------------+------------+
|PGM / RUN BY / DATE | - Name of program creating current file | A20, |
| | - Name of agency creating current file | A20, |
| | - Date of file creation | A20 |
+--------------------+------------------------------------------+------------+
*|COMMENT | Comment line(s) | A60 |*
+--------------------+------------------------------------------+------------+
|MARKER NAME | Station Name | A60 |
| | (preferably identical to MARKER NAME in | |
| | the associated Observation File) | |
+--------------------+------------------------------------------+------------+
*|MARKER NUMBER | Station Number | A20 |*
| | (preferably identical to MARKER NUMBER in| |
| | the associated Observation File) | |
+--------------------+------------------------------------------+------------+
|# / TYPES OF OBSERV | - Number of different observation types | I6, |
| | stored in the file | |
| | - Observation types | 9(4X,A2) |
| | | |
| | The following meteorological observation | |
| | types are defined in RINEX Version 2: | |
| | | |
| | PR : Pressure (mbar) | |
| | TD : Dry temperature (deg Celsius) | |
| | HR : Relative humidity (percent) | |
| | ZW : Wet zenith path delay (mm) | |
| | (for WVR data) | |
| | ZD : Dry component of zenith path delay | |
| | (mm) | |
| | ZT : Total zenith path delay (mm) | |
| | WD : Wind azimuth (deg) | |
| | from where the wind blows | |
| | WS : Wind speed (m/s) | |
| | RI : "Rain increment" (1/10 mm): Rain | |
| | accumulation since last measurement | |
| | HI : Hail indicator: 1 = Hail detected | |
| | since last measurement | |
| | | |
| | The sequence of the types in this record | |
| | must correspond to the sequence of the | |
| | measurements in the data records | |
| | | |
| | If more than 9 observation types are | |
| | being used, use continuation lines | 6X,9(4X,A2)|
| | including header label in cols. 61-80! | |
| | | |
+--------------------+------------------------------------------+------------+
|SENSOR MOD/TYPE/ACC | Description of the met sensor | |
| | - Model (manufacturer) | A20, |
| | - Type | A20,6X, |
| | - Accuracy (same units as obs values) | F7.1,4X, |
| | - Observation type | A2,1X |
| | Record is repeated for each observation | |
| | type found in # / TYPES OF OBSERV record | |
+--------------------+------------------------------------------+------------+
|SENSOR POS XYZ/H | Approximate position of the met sensor | |
| | - Geocentric coordinates X,Y,Z (ITRF | 3F14.4, |
| | - Ellipsoidal height H or WGS-84)| 1F14.4, |
| | - Observation type | 1X,A2,1X |
| | Set X,Y,Z to zero if not known. | |
| | Make sure H refers to ITRF or WGS-84! | |
| | Record required for barometer, | |
| | recommended for other sensors. | |
+--------------------+------------------------------------------+------------+
|END OF HEADER | Last record in the header section. | 60X |
+--------------------+------------------------------------------+------------+
Records marked with * are optional
+----------------------------------------------------------------------------+
| TABLE A6 |
| METEOROLOGICAL DATA FILE - DATA RECORD DESCRIPTION |
+-------------+-------------------------------------------------+------------+
| OBS. RECORD | DESCRIPTION | FORMAT |
+-------------+-------------------------------------------------+------------+
| EPOCH / MET | - Epoch in GPS time (not local time!) | |
| | year (2 digits, padded with 0 if necessary) | 1X,I2.2, |
| | month,day,hour,min,sec | 5( 1X,I2), |
| | | |
| | The 2-digit years in RINEX Version 1 and 2.xx | |
| | files are understood to represent | |
| | 80-99: 1980-1999 and 00-79: 2000-2079 | |
| | | |
| | - Met data in the same sequence as given in the | mF7.1 |
| | header | |
| | | |
| | More than 8 met data types: Use continuation |4X,10F7.1,3X|
| | lines | |
+-------------+-------------------------------------------------+------------+
+------------------------------------------------------------------------------+
| TABLE A7 |
| GPS OBSERVATION DATA FILE - EXAMPLE |
+------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
2.10 OBSERVATION DATA M (MIXED) RINEX VERSION / TYPE
BLANK OR G = GPS, R = GLONASS, E = GALILEO, M = MIXED COMMENT
XXRINEXO V9.9 AIUB 24-MAR-01 14:43 PGM / RUN BY / DATE
EXAMPLE OF A MIXED RINEX FILE (NO FEATURES OF V 2.11) COMMENT
A 9080 MARKER NAME
9080.1.34 MARKER NUMBER
BILL SMITH ABC INSTITUTE OBSERVER / AGENCY
X1234A123 XX ZZZ REC # / TYPE / VERS
234 YY ANT # / TYPE
4375274. 587466. 4589095. APPROX POSITION XYZ
.9030 .0000 .0000 ANTENNA: DELTA H/E/N
1 1 WAVELENGTH FACT L1/2
1 2 6 G14 G15 G16 G17 G18 G19 WAVELENGTH FACT L1/2
0 RCV CLOCK OFFS APPL
5 P1 L1 L2 P2 L5 # / TYPES OF OBSERV
18.000 INTERVAL
2005 3 24 13 10 36.0000000 TIME OF FIRST OBS
END OF HEADER
05 3 24 13 10 36.0000000 0 4G12G09G06E11 -.123456789
23629347.915 .300 8 -.353 23629364.158
20891534.648 -.120 9 -.358 20891541.292
20607600.189 -.430 9 .394 20607605.848
.324 8 .178 7
05 3 24 13 10 50.0000000 4 4
1 2 2 G 9 G12 WAVELENGTH FACT L1/2
*** WAVELENGTH FACTOR CHANGED FOR 2 SATELLITES *** COMMENT
NOW 8 SATELLITES HAVE WL FACT 1 AND 2! COMMENT
COMMENT
05 3 24 13 10 54.0000000 0 6G12G09G06R21R22E11 -.123456789
23619095.450 -53875.632 8 -41981.375 23619112.008
20886075.667 -28688.027 9 -22354.535 20886082.101
20611072.689 18247.789 9 14219.770 20611078.410
21345678.576 12345.567 5
22123456.789 23456.789 5
65432.123 5 48861.586 7
05 3 24 13 11 0.0000000 2 1
*** FROM NOW ON KINEMATIC DATA! *** COMMENT
05 3 24 13 11 48.0000000 0 4G16G12G09G06 -.123456789
21110991.756 16119.980 7 12560.510 21110998.441
23588424.398 -215050.557 6 -167571.734 23588439.570
20869878.790 -113803.187 8 -88677.926 20869884.938
20621643.727 73797.462 7 57505.177 20621649.276
3 4
A 9080 MARKER NAME
9080.1.34 MARKER NUMBER
.9030 .0000 .0000 ANTENNA: DELTA H/E/N
--> THIS IS THE START OF A NEW SITE CYCLE SLIPS THAT HAVE BEEN APPLIED TO COMMENT
THE OBSERVATIONS COMMENT
05 3 24 13 14 48.0000000 0 4G16G12G09G06 -.123456234
21128884.159 110143.144 7 85825.18545 21128890.7764
23487131.045 -318463.297 7 -248152.72824 23487146.149
20817844.743 -387242.571 6 -301747.22925 20817851.322
20658519.895 267583.67817 208507.26234 20658525.869
4 3
*** SATELLITE G 9 THIS EPOCH ON WLFACT 1 (L2) COMMENT
*** G 6 LOST LOCK AND THIS EPOCH ON WLFACT 2 (L2) COMMENT
(OPPOSITE TO PREVIOUS SETTINGS) COMMENT
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
+------------------------------------------------------------------------------+
| TABLE A8 |
| GPS NAVIGATION MESSAGE FILE - EXAMPLE |
+------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
2.10 N: GPS NAV DATA RINEX VERSION / TYPE
XXRINEXN V2.10 AIUB 3-SEP-99 15:22 PGM / RUN BY / DATE
EXAMPLE OF VERSION 2.10 FORMAT COMMENT
.1676D-07 .2235D-07 -.1192D-06 -.1192D-06 ION ALPHA
.1208D+06 .1310D+06 -.1310D+06 -.1966D+06 ION BETA
.133179128170D-06 .107469588780D-12 552960 1025 DELTA-UTC: A0,A1,T,W
13 LEAP SECONDS
END OF HEADER
6 99 9 2 17 51 44.0 -.839701388031D-03 -.165982783074D-10 .000000000000D+00
.910000000000D+02 .934062500000D+02 .116040547840D-08 .162092304801D+00
.484101474285D-05 .626740418375D-02 .652112066746D-05 .515365489006D+04
.409904000000D+06 -.242143869400D-07 .329237003460D+00 -.596046447754D-07
.111541663136D+01 .326593750000D+03 .206958726335D+01 -.638312302555D-08
.307155651409D-09 .000000000000D+00 .102500000000D+04 .000000000000D+00
.000000000000D+00 .000000000000D+00 .000000000000D+00 .910000000000D+02
.406800000000D+06 .000000000000D+00
13 99 9 2 19 0 0.0 .490025617182D-03 .204636307899D-11 .000000000000D+00
.133000000000D+03 -.963125000000D+02 .146970407622D-08 .292961152146D+01
-.498816370964D-05 .200239347760D-02 .928156077862D-05 .515328476143D+04
.414000000000D+06 -.279396772385D-07 .243031939942D+01 -.558793544769D-07
.110192796930D+01 .271187500000D+03 -.232757915425D+01 -.619632953057D-08
-.785747015231D-11 .000000000000D+00 .102500000000D+04 .000000000000D+00
.000000000000D+00 .000000000000D+00 .000000000000D+00 .389000000000D+03
.410400000000D+06 .000000000000D+00
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
+------------------------------------------------------------------------------+
| TABLE A9 |
| METEOROLOGICAL DATA FILE - EXAMPLE |
+------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
2.10 METEOROLOGICAL DATA RINEX VERSION / TYPE
XXRINEXM V9.9 AIUB 3-APR-96 00:10 PGM / RUN BY / DATE
EXAMPLE OF A MET DATA FILE (NO FEATURES OF V 2.11) COMMENT
A 9080 MARKER NAME
3 PR TD HR # / TYPES OF OBSERV
PAROSCIENTIFIC 740-16B 0.2 PR SENSOR MOD/TYPE/ACC
HAENNI 0.1 TD SENSOR MOD/TYPE/ACC
ROTRONIC I-240W 5.0 HR SENSOR MOD/TYPE/ACC
0.0 0.0 0.0 1234.5678 PR SENSOR POS XYZ/H
END OF HEADER
96 4 1 0 0 15 987.1 10.6 89.5
96 4 1 0 0 30 987.2 10.9 90.0
96 4 1 0 0 45 987.1 11.6 89.0
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
+----------------------------------------------------------------------------+
| TABLE A10 |
| GLONASS NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTION |
+--------------------+------------------------------------------+------------+
| HEADER LABEL | DESCRIPTION | FORMAT |
| (Columns 61-80) | | |
+--------------------+------------------------------------------+------------+
|RINEX VERSION / TYPE| - Format version (2.10) | F9.2,11X, |
| | - File type ('G' = GLONASS nav mess data)| A1,39X |
+--------------------+------------------------------------------+------------+
|PGM / RUN BY / DATE | - Name of program creating current file | A20, |
| | - Name of agency creating current file | A20, |
| | - Date of file creation (dd-mmm-yy hh:mm)| A20 |
+--------------------+------------------------------------------+------------+
*|COMMENT | Comment line(s) | A60 |*
+--------------------+------------------------------------------+------------+
*|CORR TO SYSTEM TIME | - Time of reference for system time corr | |*
| | (year, month, day) | 3I6, |
| | - Correction to system time scale (sec) | 3X,D19.12 |
| | to correct GLONASS system time to | |
| | UTC(SU) (-TauC)| *) |
+--------------------+------------------------------------------+------------+
*|LEAP SECONDS | Number of leap seconds since 6-Jan-1980 | I6 |*
+--------------------+------------------------------------------+------------+
|END OF HEADER | Last record in the header section. | 60X |
+--------------------+------------------------------------------+------------+
Records marked with * are optional
+----------------------------------------------------------------------------+
| TABLE A11 |
| GLONASS NAVIGATION MESSAGE FILE - DATA RECORD DESCRIPTION |
+--------------------+------------------------------------------+------------+
| OBS. RECORD | DESCRIPTION | FORMAT |
+--------------------+------------------------------------------+------------+
|PRN / EPOCH / SV CLK| - Satellite number: | I2, |
| | Slot number in sat. constellation | |
| | - Epoch of ephemerides (UTC) | |
| | - year (2 digits, padded with 0, | 1X,I2.2, |
| | if necessary) | |
| | - month,day,hour,minute, | 4(1X,I2), |
| | - second | F5.1, |
| | - SV clock bias (sec) (-TauN)| D19.12, |
| | - SV relative frequency bias (+GammaN)| D19.12, |
| | - message frame time (tk)| D19.12 |
| | (0 .le. tk .lt. 86400 sec of day UTC) | |
| | | *) |
| | The 2-digit years in RINEX 1 and 2.xx | |
| | files are understood to represent | |
| | 80-99: 1980-1999 and 00-79: 2000-2079| |
+--------------------+------------------------------------------+------------+
| BROADCAST ORBIT - 1| - Satellite position X (km) | 3X,4D19.12 |
| | - velocity X dot (km/sec) | |
| | - X acceleration (km/sec2) | |
| | - health (0=OK) (Bn)| |
+--------------------+------------------------------------------+------------+
| BROADCAST ORBIT - 2| - Satellite position Y (km) | 3X,4D19.12 |
| | - velocity Y dot (km/sec) | |
| | - Y acceleration (km/sec2) | |
| | - frequency number (-7 ... +13)| ||
+--------------------+------------------------------------------+------------+
| BROADCAST ORBIT - 3| - Satellite position Z (km) | 3X,4D19.12 |
| | - velocity Z dot (km/sec) | |
| | - Z acceleration (km/sec2) | |
| | - Age of oper. information (days) (E) | |
+--------------------+------------------------------------------+------------+
*) In order to account for the various compilers, E,e,D, and d are allowed
letters between the fraction and exponent of all floating point numbers
in the navigation message files.
Zero-padded two-digit exponents are required, however.
+------------------------------------------------------------------------------+
| TABLE A12 |
| GLONASS NAVIGATION MESSAGE FILE - EXAMPLE |
+------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
2.10 GLONASS NAV DATA RINEX VERSION / TYPE
ASRINEXG V1.1.0 VM AIUB 19-FEB-98 10:42 PGM / RUN BY / DATE
STATION ZIMMERWALD COMMENT
1998 2 16 0.379979610443D-06 CORR TO SYSTEM TIME
END OF HEADER
3 98 2 15 0 15 0.0 0.163525342941D-03 0.363797880709D-11 0.108000000000D+05
0.106275903320D+05-0.348924636841D+00 0.931322574615D-09 0.000000000000D+00
-0.944422070313D+04 0.288163375854D+01 0.931322574615D-09 0.210000000000D+02
0.212257280273D+05 0.144599342346D+01-0.186264514923D-08 0.300000000000D+01
4 98 2 15 0 15 0.0 0.179599039257D-03 0.636646291241D-11 0.122400000000D+05
0.562136621094D+04-0.289074897766D+00-0.931322574615D-09 0.000000000000D+00
-0.236819248047D+05 0.102263259888D+01 0.931322574615D-09 0.120000000000D+02
0.762532910156D+04 0.339257907867D+01 0.000000000000D+00 0.300000000000D+01
11 98 2 15 0 15 0.0-0.559808686376D-04-0.272848410532D-11 0.108600000000D+05
-0.350348437500D+04-0.255325126648D+01 0.931322574615D-09 0.000000000000D+00
0.106803754883D+05-0.182923507690D+01 0.000000000000D+00 0.400000000000D+01
0.228762856445D+05 0.447064399719D+00-0.186264514923D-08 0.300000000000D+01
12 98 2 15 0 15 0.0 0.199414789677D-04-0.181898940355D-11 0.108900000000D+05
0.131731816406D+05-0.143945598602D+01 0.372529029846D-08 0.000000000000D+00
0.171148715820D+05-0.118937969208D+01 0.931322574615D-09 0.220000000000D+02
0.135737919922D+05 0.288976097107D+01-0.931322574615D-09 0.300000000000D+01
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
+------------------------------------------------------------------------------+
| TABLE A13 |
| GLONASS OBSERVATION FILE - EXAMPLE |
+------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
2.10 OBSERVATION DATA R (GLONASS) RINEX VERSION / TYPE
XXRINEXO V1.1 AIUB 27-AUG-93 07:23 PGM / RUN BY / DATE
TST1 MARKER NAME
VIEWEG BRAUNSCHWEIG OBSERVER / AGENCY
100 XX-RECEIVER 1.0 REC # / TYPE / VERS
101 XX-ANTENNA ANT # / TYPE
3844808.114 715426.767 5021804.854 APPROX POSITION XYZ
1.2340 .0000 .0000 ANTENNA: DELTA H/E/N
1 1 WAVELENGTH FACT L1/2
2 C1 L1 # / TYPES OF OBSERV
10.000 INTERVAL
1993 8 23 14 24 40.0490000 GLO TIME OF FIRST OBS
END OF HEADER
93 8 23 14 24 40.0490000 0 3 2R01R21
23986839.824 20520.565 5
23707804.625 19937.231 5
23834065.096 -9334.581 5
93 8 23 14 24 50.0490000 0 3 2R01R21
23992341.033 49856.525 5
23713141.002 48479.290 5
23831189.435 -24821.796 5
93 8 23 14 25 .0490000 0 3 2R01R21
23997824.854 79217.202 5
23718494.110 77092.992 5
23828329.946 -40219.918 5
93 8 23 14 25 10.0490000 0 5 2R05R17R01R21
24003328.910 108602.422 5
24933965.449 -19202.780 5
22203326.578 -2987.327 5
23723851.686 105777.849 5
23825485.526 -55529.205 5
93 8 23 14 25 20.0490010 0 5 2R05R17R01R21
24008828.023 138012.178 5
24927995.616 -51188.500 5
22202547.907 -7213.298 5
23729236.758 134533.636 5
23822662.277 -70749.590 5
93 8 23 14 25 30.0490000 0 5 2R05R17R01R21
24014330.779 167446.477 5
24922041.288 -83151.666 5
22201767.457 -11388.909 5
23734633.024 163360.131 5
23819848.894 -85881.102 5
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
+------------------------------------------------------------------------------+
| TABLE A14 |
| MIXED GPS/GLONASS OBSERVATION FILE - EXAMPLE |
+------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
2.10 OBSERVATION DATA M (MIXED) RINEX VERSION / TYPE
YYRINEXO V2.8.1 VM AIUB 6-FEB-00 13:59 PGM / RUN BY / DATE
TST2 MARKER NAME
001-02-A MARKER NUMBER
JIM Y-COMPANY OBSERVER / AGENCY
1 YY-RECEIVER 2.0.1 REC # / TYPE / VERS
1 GEODETIC L1 ANT # / TYPE
3851178.1849 -80151.4072 5066671.1013 APPROX POSITION XYZ
1.2340 0.0000 0.0000 ANTENNA: DELTA H/E/N
1 0 WAVELENGTH FACT L1/2
2 C1 L1 # / TYPES OF OBSERV
10.000 INTERVAL
11 LEAP SECONDS
2000 2 6 11 53 0.0000000 GPS TIME OF FIRST OBS
END OF HEADER
00 2 6 11 53 0.0000000 0 14G23G07G02G05G26G09G21R20R19R12R02R11
R10R03
22576523.586 -11256947.60212
22360162.704 -16225110.75413
24484865.974 14662682.882 2
21950524.331 -13784707.24912
22507304.252 9846064.848 2
20148742.213 -20988953.712 4
22800149.591 -16650822.70012
19811403.273 -25116169.741 3
23046997.513 -3264701.688 2
22778170.622 -821857836.745 1
22221283.991 -988088156.884 2
19300913.475 -83282658.19013
20309075.579 -672668843.84713
23397403.484 -285457101.34211
00 2 6 11 53 10.0000000 0 14G23G07G02G05G26G09G21R20R19R12R02R11
R10R03
22578985.016 -11244012.910 2
22359738.890 -16227337.841 2
24490324.818 14691368.710 2
21944376.706 -13817012.849 2
22512598.731 9873887.580 2
20147322.111 -20996416.338 4
22798942.949 -16657163.594 2
19812513.509 -25110234.795 3
23053885.702 -3227854.397 2
22770607.029 -821898566.774 1
22222967.297 -988079145.989 2
19297913.736 -83298710.38413
20313087.618 -672647337.04113
23392352.454 -285484291.40311
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
+----------------------------------------------------------------------------+
| TABLE A15 |
| GEOSTATIONARY NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTION |
+--------------------+------------------------------------------+------------+
| HEADER LABEL | DESCRIPTION | FORMAT |
| (Columns 61-80) | | |
+--------------------+------------------------------------------+------------+
|RINEX VERSION / TYPE| - Format version (2.11) | F9.2,11X, |
| | - File type ('H' = GEO nav mess data) | A1,39X |
+--------------------+------------------------------------------+------------+
|PGM / RUN BY / DATE | - Name of program creating current file | A20, |
| | - Name of agency creating current file | A20, |
| | - Date of file creation (dd-mmm-yy hh:mm)| A20 |
+--------------------+------------------------------------------+------------+
*|COMMENT | Comment line(s) | A60 |*
+--------------------+------------------------------------------+------------+
*|CORR TO SYSTEM TIME | - Time of reference for system time corr | |*
| | (year, month, day) | 3I6, |
| Obsolete in | - Correction to transform the GEO system | 3X,D19.12 |
| RINEX Version 2.11 | time to UTC (W0)| *) |
+--------------------+------------------------------------------+------------+
*|D-UTC A0,A1,T,W,S,U | Corrections to transform the system time | |*
| | to UTC | |
| | A0,A1 Coefficients of 1-deg polynomial | 2D19.12, |
| | A0 sec, A1 sec/sec | |
| | CORR(s) = A0 + A1*DELTAT | |
| | T Reference time for polynomial | I7, |
| | (Seconds into GPS week) | |
| | W Reference week number | I5, |
| | (GPS week, continuous number) | |
| | S EGNOS, WAAS, or MSAS ... | X,A5,X |
| | (left-justified) | |
| | Derived from MT17 service provider. | |
| | If not known: Use Snn with | |
| | nn = PRN-100 of satellite | |
| | broadcasting the MT12 | |
| | U UTC Identifier (0 if unknown) | I2,2X |
| | 1=UTC(NIST), 2=UTC(USNO), 3=UTC(SU), | |
| | 4=UTC(BIPM), 5=UTC(Europe Lab), | |
| | 6=UTC(CRL), >6 = reserved for future | |
| | | |
| | Omit record if corrections not provided. | |
| | | |
| | Replaces CORR TO SYSTEM TIME ! | |
+--------------------+------------------------------------------+------------+
*|LEAP SECONDS | Number of leap seconds since 6-Jan-1980 | I6 |*
+--------------------+------------------------------------------+------------+
|END OF HEADER | Last record in the header section. | 60X |
+--------------------+------------------------------------------+------------+
Records marked with * are optional
+----------------------------------------------------------------------------+
| TABLE A16 |
| GEOSTATIONARY NAVIGATION MESSAGE FILE - DATA RECORD DESCRIPTION |
+--------------------+------------------------------------------+------------+
| OBS. RECORD | DESCRIPTION | FORMAT |
+--------------------+------------------------------------------+------------+
|PRN / EPOCH / SV CLK| - Satellite number (PRN - 100) | I2, |
| | - Epoch of ephemerides (GPS) (Toe) | |
| | - year (2 digits, padded with 0 | |
| | if necessary) | 1X,I2.2, |
| | - month,day,hour,minute, | 4(1X,I2), |
| | - second | F5.1, |
| | - SV clock bias (sec) (aGf0)| D19.12, |
| | - SV relative frequency bias (aGf1)| D19.12, |
| | - Transmission time of message | D19.12 |
| | (start of the message) | |
| | in GPS seconds of the week | |
+--------------------+------------------------------------------+------------+
| BROADCAST ORBIT - 1| - Satellite position X (km) | 3X,4D19.12 |
| | - velocity X dot (km/sec) | |
| | - X acceleration (km/sec2) | *) |
| | - health (0=OK) | |
+--------------------+------------------------------------------+------------+
| BROADCAST ORBIT - 2| - Satellite position Y (km) | 3X,4D19.12 |
| | - velocity Y dot (km/sec) | |
| | - Y acceleration (km/sec2) | |
| | - Accuracy code (URA, meters)| |
+--------------------+------------------------------------------+------------+
| BROADCAST ORBIT - 3| - Satellite position Z (km) | 3X,4D19.12 |
| | - velocity Z dot (km/sec) | |
| | - Z acceleration (km/sec2) | |
| | - IODN (Issue of Data Navigation, DO229, | |
| | 8 first bits after Message Type if MT9) | |
+--------------------+------------------------------------------+------------+
*) In order to account for the various compilers, E,e,D, and d are allowed
letters between the fraction and exponent of all floating point numbers
in the navigation message files.
Zero-padded two-digit exponents are required, however.
+------------------------------------------------------------------------------+
| TABLE A17 |
| MIXED GPS/GEO OBSERVATION FILE - EXAMPLE |
+------------------------------------------------------------------------------+
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2.10 OBSERVATION DATA M (MIXED) RINEX VERSION / TYPE
RinExp V.2.0.2 TESTUSER 00-02-04 09:30 PGM / RUN BY / DATE
COMMENT
The file contains L1 pseudorange and phase data of the COMMENT
geostationary AOR-E satellite (PRN 120 = S20) COMMENT
COMMENT
TLSE D MARKER NAME
ESTB TESTAGENCY OBSERVER / AGENCY
SGL98030069 Novatel Millennium HW3-1 SW 4.45/2.3 REC # / TYPE / VERS
ASH701073.1 ANT # / TYPE
4629365.0750 112100.1790 4371619.4160 APPROX POSITION XYZ
0.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N
1 1 WAVELENGTH FACT L1/2
4 C1 L1 L2 P2 # / TYPES OF OBSERV
1 INTERVAL
2000 1 13 14 45 0.000000 GPS TIME OF FIRST OBS
2000 1 13 15 0 0.000000 GPS TIME OF LAST OBS
0 RCV CLOCK OFFS APPL
END OF HEADER
00 01 13 14 45 0.0000000 0 8G25G17G06G05G24G29G30S20 0.000535140
21839900.207 -236148.877 9 -184047.71049 21839901.4384
25151926.413 -161002.900 9 -125509.72447 25151935.8274
20531103.515 763336.059 9 594797.53149 20531105.0114
23001624.801 -432989.642 9 -337436.50348 23001628.1684
23610349.510 -384890.728 9 -299952.38848 23610354.3504
23954474.398 -151982.173 9 -118480.96847 23954481.1994
20622367.016 -332628.466 9 -259214.55249 20622367.8754
38137559.506 335849.135 9
00 01 13 14 45 1.0000000 0 8G25G17G06G05G24G29G30S20 0.000535144
21839500.278 -238250.743 9 -185685.52549 21839501.4814
25151246.148 -164576.503 9 -128294.33947 25151256.2614
20531084.382 763235.849 9 594719.44849 20531085.8784
23002123.430 -430369.237 9 -335394.62748 23002126.7114
23610670.127 -383205.864 9 -298639.51048 23610674.9834
23955051.773 -148948.417 9 -116117.00748 23955058.5034
20622558.579 -331621.765 9 -258430.11049 20622559.4574
38137558.783 335846.284 9
00 01 13 14 45 2.0000000 0 8G25G17G06G05G24G29G30S20 0.000535144
21839100.418 -240352.173 9 -187323.00449 21839101.6534
25150565.890 -168150.148 9 -131078.97647 25150576.2144
20531065.378 763136.116 9 594641.73549 20531066.8984
23002622.082 -427748.683 9 -333352.63648 23002625.3444
23610990.819 -381520.461 9 -297326.20848 23610995.8424
23955629.062 -145914.531 9 -113752.94748 23955636.5544
20622750.161 -330614.723 9 -257645.40149 20622751.0554
38137558.365 335843.457 9
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+------------------------------------------------------------------------------+
| TABLE A18 |
| GEO NAVIGATION MESSAGE FILE - EXAMPLE |
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2.11 H: GEO NAV MSG DATA RINEX VERSION / TYPE
SBAS2RINEX 2.0 CNES 20-Oct-03 14:01 PGM / RUN BY / DATE
0.133179128170D-06-0.107469588780D-12 518400 1240 EGNOS 5 D-UTC A0,A1,T,W,S,U
13 LEAP SECONDS
This file contains navigation message data from a SBAS COMMENT
(geostationary) satellite, here AOR-W (PRN 122 = # 22) COMMENT
END OF HEADER
22 03 10 18 0 1 4.0-1.005828380585D-07 6.366462912410D-12 5.184420000000D+05
2.482832392000D+04-3.593750000000D-04-1.375000000000D-07 0.000000000000D+00
-3.408920872000D+04-1.480625000000D-03-5.000000000000D-08 4.000000000000D+00
-1.650560000000D+01 8.360000000000D-04 6.250000000000D-08 2.300000000000D+01
22 03 10 18 0 5 20.0-9.872019290924D-08 5.456968210638D-12 5.186940000000D+05
2.482822744000D+04-3.962500000000D-04-1.375000000000D-07 0.000000000000D+00
-3.408958936000D+04-1.492500000000D-03-5.000000000000D-08 4.000000000000D+00
-1.628960000000D+01 8.520000000000D-04 6.250000000000D-08 2.400000000000D+01
22 03 10 18 0 9 36.0-9.732320904732D-08 4.547473508865D-12 5.189510000000D+05
2.482812152000D+04-4.325000000000D-04-1.375000000000D-07 0.000000000000D+00
-3.408997304000D+04-1.505000000000D-03-5.000000000000D-08 4.000000000000D+00
-1.606960000000D+01 8.800000000000D-04 6.250000000000D-08 2.500000000000D+01
22 03 10 18 0 13 52.0-9.592622518539D-08 4.547473508865D-12 5.192110000000D+05
2.482800632000D+04-4.681250000000D-04-1.375000000000D-07 0.000000000000D+00
-3.409035992000D+04-1.518125000000D-03-3.750000000000D-08 4.000000000000D+00
-1.584240000000D+01 8.960000000000D-04 6.250000000000D-08 2.600000000000D+01
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