مطالب آموزشی

Rinex 304

کانورتور جهت راینکس ورژن 3.04 در دسترس قرار گرفت.

نسخه RINEX 3.04 از تمامی سیگنال های موجود در دسترس، از جمله GPS ایالات متحده، GLONASS روسیه، Galileo اروپا، BeiDou چین، سیستم ماهواره ای ( QZSS )ژاپن و سیستم ماهواره ای ناوبری منطقه ای هند ( IRNSS ) پشتیبانی می کند.
RINEX 3.04 شامل به روز رسانی ها برای پشتیبانی از سیگنالهای برنامه ریزی شده GLONASS CDMA ،Beidou 3 ،QZSS 2 می باشد.
علاوه بر سیگنال های جدید، متن RINEX 3.04 برای بهبود توصیف پیام ها، فیلدها و قابلیت اطمینان کلی ویرایش شده است.

توضیحات تکمیلی در ارتباط با RINEX 3.04 با زبان انگلیسی در پیوست می باشد.

RINEX

The Receiver Independent Exchange Format
Version 3.04
International GNSS Service (IGS), RINEX Working Group and Radio Technical Commission for Maritime Services Special Committee 104 (RTCM-SC104)
November 23, 2018
Acknowledgement: RINEX Version 3.02, 3.03 and 3.04 are based on RINEX Version 3.01, which was developed by: Werner Gurtner, Astronomical Institute of the University of Bern, Switzerland and Lou Estey, UNAVCO, Boulder, Colorado, USA.
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Table of Contents
0. REVISION HISTORY ……………………………………………………………………………………………………………… 1
1. THE PHILOSOPHY AND HISTORY OF RINEX ……………………………………………………………………………….. 9
2. GENERAL FORMAT DESCRIPTION ………………………………………………………………………………………….. 11
3. BASIC DEFINITIONS …………………………………………………………………………………………………………… 12
3.1 Time ………………………………………………………………………………………………………………………………. 12
3.2 Pseudo-Range …………………………………………………………………………………………………………………. 12
3.3 Phase ……………………………………………………………………………………………………………………………… 12
Table 1: Observation Corrections for Receiver Clock Offset ……………………………………………………………… 13
3.4 Doppler ………………………………………………………………………………………………………………………….. 13
3.5 Satellite numbers ………………………………………………………………………………………………………………. 13
4. THE EXCHANGE OF RINEX FILES ……………………………………………………………………………………………. 14
Figure 2: Recommended filename parameters. …………………………………………………………………………….. 14
Table 2: Description of Filename Parameters ……………………………………………………………………………….. 15
5. RINEX VERSION 3 FEATURES ………………………………………………………………………………………………… 16
5.1 Observation codes …………………………………………………………………………………………………………….. 16
Table 3: Observation Code Components …………………………………………………………………………………….. 16
Table 4 : RINEX Version 3.04 GPS Observation Codes ……………………………………………………………………. 17
Table 5 : RINEX Version 3.04 GLONASS Observation Codes ……………………………………………………………. 18
Table 6 : RINEX Version 3.04 Galileo Observation Codes …………………………………………………………………. 19
Table 7 : RINEX Version 3.04 SBAS Observation Codes …………………………………………………………………… 19
Table 8 : RINEX Version 3.04 QZSS Observation Codes …………………………………………………………………… 20
Table 9 : RINEX Version 3.04 BDS Observation Codes …………………………………………………………………….. 21
Table 10 : RINEX Version 3.04 IRNSS Observation Codes ………………………………………………………………… 22
5.2 Satellite system-dependent list of observables ………………………………………………………………………. 22
5.3 Marker type …………………………………………………………………………………………………………………….. 23
Table 11: Proposed Marker Type Keywords …………………………………………………………………………………. 23
5.4 Half-wavelength observations, half-cycle ambiguities ……………………………………………………………….. 24
5.5 Scale factor……………………………………………………………………………………………………………………… 24
5.6 Information about receivers on a vehicle ……………………………………………………………………………… 24
5.7 Signal strength ………………………………………………………………………………………………………………… 25
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Table 12: Standardized S/N Indicators …………………………………………………………………………………….. 25
5.8 Date/time format in the PGM / RUN BY / DATE header record ……………………………………………………. 25
5.9 Antenna phase center header record ……………………………………………………………………………………. 26
5.10 Antenna orientation …………………………………………………………………………………………………………. 26
5.11 Observation data records ………………………………………………………………………………………………….. 26
Table 13: Example Observation Type Records ………………………………………………………………………….. 26
Table 14: Example Observation Data Records …………………………………………………………………………. 26
5.12 Ionosphere delay as pseudo-observables ………………………………………………………………………………. 27
Table 15: Ionosphere Pseudo-Observable Coding ……………………………………………………………………… 27
Table 16: Ionosphere Pseudo-Observable Corrections to Observations ………………………………………….. 27
5.13 Channel numbers as pseudo-observables ……………………………………………………………………………….. 27
5.14 Corrections of differential code biases (DCBs) ………………………………………………………………………… 28
5.15 Corrections of antenna phase center variations (PCVs) ……………………………………………………………. 28
5.16 Navigation message files …………………………………………………………………………………………………… 28
Table 17: Example of Navigation File Satellite System and Number Definition Record ………………………. 28
Table 18: Example of Navigation File Header IONOSPHERIC CORR Record ………………………………………. 28
6. ADDITIONAL HINTS AND TIPS ………………………………………………………………………………………….. 29
6.1 Versions …………………………………………………………………………………………………………………………. 29
6.2 Leading blanks in CHARACTER fields ……………………………………………………………………………………. 29
6.3 Variable-length records ……………………………………………………………………………………………………… 29
6.4 Blank fields …………………………………………………………………………………………………………………….. 29
6.5 Order of the header records, order of data records…………………………………………………………………. 29
6.6 Missing items, duration of the validity of values …………………………………………………………………….. 30
6.7 Unknown / Undefined observation types and header records ……………………………………………………… 30
6.8 Event flag records …………………………………………………………………………………………………………….. 30
6.9 Receiver clock offset …………………………………………………………………………………………………………. 30
6.10 Two-digit years ……………………………………………………………………………………………………………….. 30
6.11 Fit interval (GPS navigation message file) ………………………………………………………………………………. 31
6.12 Satellite health (GPS navigation message file) …………………………………………………………………………. 31
Table 19: Description of GPS Satellite Health Field ……………………………………………………………………… 31
6.13 Transmission time of message (GPS navigation message file)……………………………………………………… 31
6.14 Antenna references, phase centers …………………………………………………………………………………….. 31
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7. RINEX UNDER ANTISPOOFING (AS) ………………………………………………………………………………….. 32
8. DEALING WITH DIFFERENT SATELLITE SYSTEMS …………………………………………………………………. 33
8.1 Time system identifier ………………………………………………………………………………………………………. 33
Table 20: Relationship between GPS, QZSS, IRN, GST, GAL, BDS and RINEX Week Numbers ………………. 34
Table 21: Constellation Time Relationships ………………………………………………………………………………. 35
Table 22: GPS and BeiDou UTC Leap Second Relationship …………………………………………………………….. 35
8.2 Pseudorange definition ………………………………………………………………………………………………………. 36
Table 23: Constellation Pseudorange Corrections …………………………………………………………………… 36
8.3 RINEX navigation message files ……………………………………………………………………………………………. 37
8.3.1 RINEX navigation message files for GLONASS ………………………………………………………………………… 37
Table 24: GLONASS Navigation File Data, Sign Convention ……………………………………………………………. 37
8.3.2 RINEX navigation message files for Galileo …………………………………………………………………………… 37
8.3.3 RINEX navigation message files for GEO satellites …………………………………………………………………. 38
8.3.4 RINEX navigation message files for BDS ……………………………………………………………………………… 39
8.3.5 RINEX navigation message files for IRNSS ………………………………………………………………………….. 39
8.4 RINEX observation files for GEO satellites …………………………………………………………………………. 40
9. MODIFICATIONS FOR VERSION 3.01, 3.02, 3.03 and 3.04 ……………………………………………………. 40
9.1 Phase Cycle Shifts …………………………………………………………………………………………………………….. 40
Table 25: RINEX Phase Alignment Correction Convention ……………………………………………………………. 42
Table 26: Example SYS / PHASE SHIFT Record………………………………………………………………………….. 42
9.2 Galileo: BOC-Tracking of an MBOC-Modulated Signal ……………………………………………………………….. 42
Table 27: Example of RINEX Coding of Galileo BOC Tracking of an MBOC Signal Record ……………………. 42
9.3 BDS Satellite System Code………………………………………………………………………………………………… 42
9.4 New Observation Codes for GPS L1C and BDS ………………………………………………………………………. 43
9.5 Header Records for GLONASS Slot and Frequency Numbers ………………………………………………….. 43
Table 28: Example of a GLONASS Slot- Frequency Records ………………………………………………………. 43
9.6 GNSS Navigation Message File: Leap Seconds Record …………………………………………………………….. 43
9.7 Clarifications in the Galileo Navigation Message File: …………………………………………………………….. 43
9.8 Quasi-Zenith Satellite System (QZSS) RINEX Version 3.02………………………………………………………. 43
9.9 GLONASS Mandatory Code-Phase Alignment Header Record……………………………………………………. 43
Table 29: Example of GLONASS Code Phase Bias Correction Record ……………………………………………. 44
Table 30: Example of Unknown GLONASS Code Phase Bias Record ……………………………………………. 44
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9.10 BDS system (Replaces Compass) ……………………………………………………………………………………………. 44
9.11 Indian Regional Navigation Satellite System (IRNSS) Version 3.03 ………………………………………………… 44
9.12 Updates for Quasi-Zenith Satellite System (QZSS), BeiDou and GLONASS (CDMA) RINEX Version 3.04 ………………………………………………………………………………………………………………………………………… 44
Table 31: QZSS PRN to RINEX Satellite Identifier ………………………………………………………………………… 45
10 References ……………………………………………………………………………………………………………………….. 47
APPENDIX: RINEX FORMAT DEFINITIONS AND EXAMPLES …………………………………………………………….. 1
A 1 RINEX File name description ……………………………………………………………………………………………… 1
A 2 GNSS Observation Data File -Header Section Description ………………………………………………………….. 5
A 3 GNSS Observation Data File -Data Record Description …………………………………………………………….. 13
A 4 GNSS Observation Data File – Example #1 ………………………………………………………………………… 15
A 4 GNSS Observation Data File – Example #2 ………………………………………………………………………… 17
A 4 GNSS Observation Data File – Example #3 ………………………………………………………………………… 18
A 5 GNSS Navigation Message File – Header Section Description …………………………………………………. 19
A 6 GNSS Navigation Message File – GPS Data Record Description ……………………………………………….. 23
A 7 GPS Navigation Message File – Example …………………………………………………………………………… 24
A 8 GNSS Navigation Message File – GALILEO Data Record Description ………………………………………… 25
A 9 GALILEO Navigation Message File – Examples …………………………………………………………………….. 27
A 10 GNSS Navigation Message File – GLONASS Data Record Description ……………………………………… 29
A 11 GNSS Navigation Message File – Example: Mixed GPS / GLONASS ………………………………………. 30
A 12 GNSS Navigation Message File – QZSS Data Record Description …………………………………………. 31
A 13 QZSS Navigation Message File – Example ……………………………………………………………………….. 32
A 14 GNSS Navigation Message File – BDS Data Record Description ……………………………………………. 33
A 15 BeiDou Navigation Message File – Example ……………………………………………………………………… 34
A 16 GNSS Navigation Message File – SBAS Data Record Description ………………………………………….. 35
A 17 SBAS Navigation Message File -Example ………………………………………………………………………… 36
A 18 GNSS Navigation Message File – IRNSS Data Record Description …………………………………………. 37
A 19 IRNSS Navigation Message File – Example ……………………………………………………………………… 39
A 20 Meteorological Data File -Header Section Description ……………………………………………………….. 40
A 21 Meteorological Data File -Data Record Description……………………………………………………………. 42
A 22 Meteorological Data File – Example ………………………………………………………………………………… 42
A 23 Reference Code and Phase Alignment by Constellation and Frequency Band ………………………… 43
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0. REVISION HISTORY
Version 3.00
02 Feb 2006
A few typos and obsolete paragraphs removed.
08 Mar 2006
Epochs of met data of met files version 2.11 are in GPS time only (Table A20).
31 Mar 2006
DCB header record label corrected in Table A6: SYS / DCBS APPLIED.
June 2006
Filenames for mixed GNSS nav mess files.
10 Aug 2006
Table A3: Error in format of EPOCH record: One 6X removed. Trailing 3X removed.
12 Sep 2006
GNSS navigation message files version 3.00 included (including Galileo).
Table A4: Example of the kinematic event was wrong (kinematic event record).
SYS / DCBS APPLIED header record simplified.
Tables A6 and A8: Clarification for adjustment of “Transmission time of message“.
03 Oct 2006
Table A11: Mixed GPS/GLONASS navigation message file
26 Oct 2006
Table A4: Removed obsolete antispoofing flag
Tables A6/8/10: Format error in SV / EPOCH / SV CLK: Space between svn and year was missing
Half-cycle ambiguity flag (re-)introduced (5.4 and Table A4).
Clarification of reported GLONASS time (8.1).
New header record SYS / PCVS APPLIED
New Table 10: Relations between GPS, GST, and GAL weeks
Recommendation to avoid storing redundant navigation messages (8.3)
14 Nov 2006
Tables A6/10/12: Format error in BROADCAST ORBIT – n: 3X → 4X. Examples were OK.
21 Nov 2006
Marker type NON_PHYSICAL added
19-Dec-2006
Table A4: Example of SYS / DCBS APPLIED was wrong.
13-Mar-2007
Paragraph 3.3: Leftover from RINEX version 2 regarding wavelength factor for squaring- type receiver removed and clarified.
14-Jun-2007
Paragraph 5.11: Clarification regarding the observation record length
28-Nov-2007
Frequency numbers for GLONASS –7..+12 (BROADCAST ORBIT – 2)
Version 3.01
22-Jun-2009
Phase cycle shifts
Galileo: BOC-tracking of an MBOC-modulated signal
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Compass satellite system: Identifier and observation codes
Code for GPS L1C
Header records for GLONASS slot and frequency numbers
Order of data records
Galileo nav. mess record BROADCAST ORBIT – 5: Bits 3-4 reserved for Galileo internal use
Version 3.02 – IGS and RTCM-SC104
19-Nov-2011
Added Quasi Zenith Satellite System (QZSS) Constellation
Updated text, tables and graphics
Added Appendix Table 19 – phase alignment table
21-Jan-2012
Split the Constellation table into a table for each GNSS
Added QZSS to the documentation
Edited text to improve clarity
Corrected sign in the phase alignment table,
Removed QZSS P signals
9-May-2012
Edited text to improve clarity,
Updated phase alignment table,
Changed Met PGM / RUN BY / DATE to support 4 digit year as in all other records also changed format to support 4 digit year for met.
Observation record, Changed SYS / PHASE SHIFTS to SHIFT
29-Nov-2012
Changed Table1 and 2 to Figure 1 and 2.
Updated all Table numbers.
Changed file naming convention, Section 4. Added Appendix Table
A1 and increased all, updated all Appendix numbers
Removed the option of supporting unknown tracking mode from
Section 5.1.
Harmonized L1C(new) signal identifiers for QZSS and GPS See :
Table 2 and 6.
Updated BeiDou System (BDS) (was Compass) information throughout the document added new BDS ephemeris definition to Appendix. (Based on input from the BDS Office)
Corrected GLONASS SLOT/FRQ format in section 9.5, changed
message status from optional to mandatory (See: Appendix Table A2).
Added new mandatory GLONASS Code Phase Bias header record
See section 9.9
11-Mar-2013
Updated Sections: 4.x, made .rnx the file name extension and updated
Figure 2; 9.1 to clarify the use of the phase alignment header; A1
Edited to reflect file extension of *.rnx; A14 – BDS ephemeris
changed AODC to IODC and AODE to IODE (as indicated by
BDS Authority and new ICD); Appendix Table A19
(Changed GLONASS Reference Signals to C1-C2) and explicitly identified reference signal for all constellations and frequencies.
26-Mar-2013
Changed BeiDou to BDS for conform to ICD.
In table 7 changed BDS signals from: C2x to C1x to more closely reflect existing bands in tables 2-6 and Appendix Tables A2 and A21.
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Updated Section 8.1: First paragraph updated to indicate current number of leap seconds; added a row to Table 12 to show the relationship between GPS week and BDT week. Added a table to show the approximate relationship of BDT to GPS time.
Changed order of file type: from OG to GO etc in Appendix Table A1.
Updated Appendix table A21 to show X signals and indicate that the
X phase is to be aligned to the frequencies reference signal.
Fixed a few small typos in A21 for GPS: L1C-D/P and D+P.
RINEX 3.02 Released
03-Dec-2013
 Corrected Sections 3.1 to read: TIME OF FIRST OBS rather than start time record.
 Added text to Section 5.4 and A3 to indicate that the Loss of Lock Bit is the least significant bit.
 In section 9.5 GLONASS Slot and Frequency Numbers, changed optional to mandatory (as it was changed from optional to mandatory in version 3.02).
 In Table A2 record: SYS / # / OBS TYPES changed Satellite system code (G/R/E/J/C/S/M to G/R/E/J/C/S).
 In Section 5.7 added descriptive text to Table 12 (header- changed Signal to Carrier and in the body) .
 In Table A3 record OBSERVATION changed 5: from average to good.
 In note 4 after A8 …Galileo System Time added (GST) to make the following description more explicit.
 Appendix A14 BeiDou Nav. removed the – sign in front of Cis
24-Jan-2014
 Appendix A10 Section SV / EPOCH / SV CLK changed TauN to –TauN to agree with section 8.3.1
4-Apr-2014
 Galileo Table A8 , BROADCAST ORBIT-5 – Bits 0-2 : changed from non-exclusive to exclusive (only one bit can be set). In ****) section added (GST)
 Corrected Table A23 – BeiDou B1 phase correction column signal indicator to agree with BeiDou Table 9.
 Corrected Table A2 – Band 1 = E1 (Was E2-L1-E1) to agree with Galileo Table 6.
 In Table A5 – optional message TIME SYSTEM CORR added text to clarify the parameters T and W for BeiDou.
 Section 8.3.1 Corrected typo in last line of first paragraph.
6-May-2014
 Updated Section 10 Document References
 Changed A6 from GPS/QZSS to GPS only as A12 contains a description of the QZSS ephemeris.
 Corrected typo in Appendix 23 note 1: L2E changed to L2W
21-May-2014
 Appendix A4 added two observation file header examples
 Appendix A6 GPS Navigation, Broadcast Orbit-7 Fit Interval,
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clarified in accordance with IS-GPS-200H section 20.3.3.4.3.1
 Appendix A9 added Galileo navigation file example
 Appendix A12 QZSS Navigation, Broadcast Orbit-5 field 4 allow define L2P flag to be set to one section 5.2.2.2.3(6)); Broadcast Orbit-7 Fit Interval clarified in accordance with section 5.2.2.2.4(4), IS-QZSS 1.5.
 Appendix A13 added QZSS navigation file example
 Appendix A15 added BeiDou navigation file example
26-May-2014
 Removed “Added” from section 9.8, 9.9 and 9.10 titles
 Added a note to section 9.9 (GLONASS COD/PHS/BIS) to allow unknown GLONASS code/phase, observation alignment in exceptional cases. Added a note to Appendix A2: GLONASS COD/PHS/BIS record definition.
9-June-2014
 Edited Section 6.11 and Table A6:BO7 (GPS) to indicate that the GPS fit interval field should contain a period in hours. Edited Table A12:BO7 (QZSS) to make it clear that the fit interval is a flag and not a time period. Added support for unknown fit interval (specified as an empty field).
10-June-2014
 Removed the reference to QZSS in Appendix 6 SC/EPOCH/SV CLK record as there is now a QZSS navigation file in Appendix 12.
 Corrected A12 QZSS ICD reference from 5.1.2.3.2 to 5.1.2.1.3.2
12-June-2014
 Added text to section 9.9 to indicate that when the GLONASS COD/PHS/BIS measurements are unknown then all fields in the record should be left blank (added an example). Updated the descriptive text in Table A2 GLONASS COD/PHS/BIS.
10-July-2014
 Corrected Appendix numbers in body of the text
 Added Note after BeiDou Table 9 to indicate that some RINEX 3.02 files may still use the 3.01 B1 coding convention
16-Jul-2014
– Section 9.1 Replaced: Phase observations must be shifted by the respective fraction of a cycle, either directly by the receiver or by a correction program or the RINEX conversion program, prior to RINEX file generation, to align them to each other with: All phase observations must be aligned to the designated constellation and frequency reference signal as specified in Appendix Table A23, either directly by the receiver or by a correction program or the RINEX conversion program, prior to RINEX file generation. Additionally, all data must be aligned with the appropriate reference signal indicated in Appendix Table A23 even when the receiver or reporting device is not tracking and/or providing data from that reference signal e.g. Galileo L5X phase data must be aligned to L5I.
29-Jul-2014
– Minor edits
– Updated last paragraph of section 8.4 re TIME SYSTEM CORR
– Corrected QZSS Appendix Table A12 PRN/EPOCH/SV CLK
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record format specification
– Reformatted Appendix Table A12 and A14
31-Oct-2014
– BeiDou updates: changed B1 signal identifiers to C2x; observation and navigation Header “LEAP SECONDS messages changed to support both GPS and BDS leap seconds; updated the navigation header message “IONOSPHERIC CORR” to support different ionospheric correction parameters from each satellite. Updated BDS navigation message Table A14. Updated Sections 8.1 and 8.2.
– Added Description of the Indian Regional Navigation Satellite System (IRNSS) to the document, Updated RINEX release number to 3.03 Draft 1
19-Jan-2015
– Table 2 grammatical error corrections
– Updated broken http: link on page 17
– Updated Leap Second definition in section 8.1 and Appendix A2 and A5
– Update Galileo Appendix A8 navigation line 5 to indicate the exclusive and non-exclusive bits
– Added text to further clarify BeiDou Appendix A14 AODE and AODC definition
– Updated IRNSS Appendix 18 line 5, week number to indicate that the Week Number is aligned with the GPS week number
– Added IRNSS phase alignment information to Appendix 23
15-April-2015
– Editorial changes/corrections: in section 6.6 specified a new acronym Blank Not Known (BNK), 8.1 added text to indicate the relationship between BDT and GPS Time at start of BDT, corrected typo in Section 8.2 last paragraph changed GLO to UTC, clarified Section 9.2 Galileo Tracking, clarified Section 9.6 re BDS, removed Section 9.8 RINEX Meteorological section
– Re-formatted Appendix Table A2 and A5
– Clarified Observation (A2) and Navigation (A5) “LEAP SECONDS” record
– Clarified Navigation (A5) file “IONOSPHERIC CORR” record
– QZSS A12-BO-6, TGD blank if not know
– Corrected typo in A22,
– Clarified filename start time
– Minor punctuation and grammatical corrections throughout the document.
– Removed reference to unknown tracking mode in Appendix Table A2 message SYS / # / OBS TYPE.
– Updated all table numbers (some tables were not identified), improved table descriptions.
– Minor format changes
15-May-2015
– Added paragraph to section 8.3.2 to specify that RINEX parsers
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should expect to encounter F/NAV and I/NAV messages in the same file…
– Removed “The attribute can be left blank if not known. See text!” text from the end of A2, SYS/#/OBS TYPES as it was decided in 3.02 not to allow unknown signals therefore this no longer applies
– Updated A8 (Galileo Nav. Message), Record 5 Field 2-Description to specify only I/NAV or F/NAV can be specified
– Corrected A9 (Galileo Nav. Example), Record 5 Field 2 from 519 to 517 to indicate I/NAV in accordance with the field specification
– Corrected A9, Record 6 Field 1 from 107(broadcast raw value) to 3.12m
25-May-2015
– Corrected Table of contents to show Section 10.0, References
– Section 2 second last paragraph added IRNSS to list of supported constellations
– Section 5.3 last paragraph concerning event flags added reference to Appendix A3
– Section 7, last paragraph, edited second sentence to make it more clear
1-June-2015
– Minor punctuation corrections
– Added C2X signal tracking example to Section 5.1 example list
– Added paragraph 3 to section 5.1, to indicate only know tracking modes are supported in RINEX 3.02 and 3.03
– Added note to Appendix A2, SYS/#/OBS TYPES to indicate only know tracking modes are allowed in RINEX 3.02 and 3.03
– Table 4 in L1 and L2 frequency bands, changed P to P (AS off) to improve clarity
– Added :”(e.g. units employing a Selective Availability Anti-Spoofing Module (SAASM))“ to last paragraph on page 18 to improve clarity.
24-June-2015
– Updated the last paragraph of Section 1 (RINEX 3.03)
– Clarified Section 4: Changed Obs. Freq. To Data Frequency and update Appendix Table A1 to match
– Added text to Section 8.3.2 (Galileo Navigation) to describe Issue of Data and related parameters
– Added reference to Galileo ICD in Appendix A8 BROADCAST ORBIT-6
– Added Galileo Examples to Appendix Table A9
29-June-2015
– Updated BeiDou RINEX 3.02 C1x-C2x Note below Table 9 for clarity
– Section 8.3.2 added Galileo ICD publication year to reference
– Corrected Beidou C1 to C2 encoding in Appendix A2 SYS/#/OBS TYPES and in Appendix A4 example 2 and 3
– Appendix A2 and A5 Clarified LEAP SECONDS Day number to be 0-6 for BeiDou and 1-7 for GPS and other constellations.
– Updated all Appendix table references to contain Axx, to
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differentiate between body and Appendix tables.
14-July-2015
– Updated LEAP SECONDS record description in Appendix A2 and A5
– Converted Galileo SISA values in Appendix A9 from broadcast value into metres in accordance with RINEX specification and Galileo ICD Section 5.1.11 Table 76
– RINEX 3.03 Released
7-Sept.-2016
– GLONASS Table 5 G2 Section: added missing / to 7/16 to indicate frequency offset spacing
– Updated Tables 29 and 30 to remove errant # from end of message type tag to conform to Appendix A2 definition and examples
– Appendix A3 Observation definition clarified
– Appendix A10 GLONASS Navigation message, clarified the health indicator to be: 0 = healthy and 1 = unhealthy
03-Oct.-2016
– Appendix A3 Observation definition use of Signal Strength Indicator (SSI) further clarified
– Appendix A16 SBAS and QZSS SAIF Navigation message: clarified the health bit mask to be in accordance with Section 8.3.3.
06-Oct.-2016
– Appendix A1 Added Meteorological file name example
28-Oct.-2016
– Corrected http link to PRN Assignment Information on page 19
02-Dec-2016
– Minor punctuation, typographical and grammatical corrections
– Updated Leap second information in Table 22
– Section 8.3.3 and 8.3.4 Transmission Time of Message paragraphs, Changed PRN/EPOCH/SV CLK to SV/EPOCH/SV CLK, reorganized last sentence to improve clarity
– Changed PRN/EPOCH/SV CLK to SV/EPOCH/SV CLK in Table A12
24-Jan-2017
– Released RINEX 3.03 Update 1
25-Apr-2018
– Updated GLONASS, QZSS and BeiDou signal tables 5, 8 and 9 and related information in Appendix Table A23.
– Added Section 9.12 to describe the new signals and features.
– Changed RINEX 3.03 to 3.04 throughout the document.
– Added the new Constellation ICD information to the References section.
30-July-2018
– Corrected format typo in table 26
– Clarified A10 Health Field by specifying most significant bit of 3-bit Bn
– Changed A8 and A10 Label from OBS. RECORD to NAV RECORD
– Table 5 Changed the GLONASS CDMA signals for G1a to G4 and G2a to G6 to be consistent with labeling conventions used for other constellations
– Added new signals in BeiDou Table 9
– Added new Band to Constellation information to A2
– Corrected typo in Table A4 example #3 changed L2Q to L5Q
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30-Aug.-2018
– Clarified QZSS Block I and II signals in Table 8
– Clarified BDS Generation 2 and 3 tracking signal in Table 9
– Updated Table A5 TIME SYSTEM CORR and related examples in appendix tables
– Added Text to specify that the body of RINEX 3.0x files names should be ASCII capital letters and numbers. File extension must be lower case.
11-Sept-2018
– Minor edits and document date update
01-Oct-2018
– Add clarification information to QZSS Table 8, L6 Channel information column.
– Updated Section 9.12 QZSS Block I and II signal coding description.
15-Oct-2018
– Updated format of BeiDou Table 9
– Appendix A2 – corrected 4 = G1a (GLO), reordered signal attribute codes to be in alphabetical order (page A8)
– Corrected A5 –W Reference week number by removing BDS from the group in parentheses so that it is clear that BDS week starts on 1-Jan-2006, as week zero. Also corrected BDUT example in A9
– Appendix A8 updated definition of SISA for -1.0 to read No Accuracy Precision Available/Unknown
– Updated A23 New GLONASS G1 and G2 Frequency Band identifiers to G1a and G2a
22-Oct-2018
– Minor format and editorial updates:
– Table #9 added text to specify new BDS-3 signals in Frequency Band/Frequency Column
– Section 5.12, Table #15, n: band/frequency changed from 1-8 to 1-9.
– Header of Table A6, A12, A14, A16 and A18: replaced OBS. with NAV.
– Updated release dates for QZSS documents in References section
– Corrected A23 QZSS linkage of notes 5 and 6
23-Nov-2018
– Changed IGS ftp://igscb.jpl.nasa.gov to ftp://igs.org and ftp://ftp.unibe.ch/aiub to ftp://ftp.aiub.unibe.ch in References section. Minor naming consistency edits.
23-Nov-2018
– RINEX 3.04 Released
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1. THE PHILOSOPHY AND HISTORY OF RINEX
The first proposal for the Receiver Independent Exchange Format RINEX was developed by the Astronomical Institute of the University of Bern for the easy exchange of the Global Positioning System (GPS) data to be collected during the first 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.
Until now, two major format versions have been developed and published:
 The original RINEX Version 1 presented at and accepted by the 5th International Geodetic Symposium on Satellite Positioning in Las Cruces, 1989. [Gurtner et al. 1989], [Evans 1989]
 RINEX Version 2 presented at and accepted by the Second International Symposium of Precise Positioning with the Global Positioning System in Ottawa, 1990, mainly adding the possibility to include tracking data from different satellite systems (GLONASS, SBAS). [Gurtner and Mader 1990a, 1990b], [Gurtner 1994]
Several subversions of RINEX Version 2 have been defined:
 Version 2.10: Among other minor changes, allowing for sampling rates other than integer seconds and including raw signal strengths as new observables. [Gurtner 2002]
 Version 2.11: Includes the definition of a two-character observation code for L2C pseudoranges and some modifications in the GEO NAV MESS files [Gurtner and Estey 2005]
 Version 2.20: Unofficial version used for the exchange of tracking data from
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spaceborne receivers within the IGS LEO pilot project [Gurtner and Estey 2002]
As spin-offs of this idea of a receiver-independent GPS exchange format, other RINEX-like exchange file formats have been defined, mainly used by the International GNSS Service IGS:
 Exchange format for satellite and receiver clock offsets determined by processing data of a GNSS tracking network [Ray and Gurtner 2010]
 Exchange format for the complete broadcast data of space-based augmentation systems SBAS. [Suard et al. 2004]
 IONEX: Exchange format for ionosphere models determined by processing data of a GNSS tracking network [Schaer et al. 1998]
 ANTEX: Exchange format for phase center variations of geodetic GNSS antennae [Rothacher and Schmid 2010]
The upcoming European Navigation Satellite System Galileo and the enhanced GPS with new frequencies and observation types, especially the possibility to track frequencies on different channels, requires a more flexible and more detailed definition of the observation codes.
To improve the handling of the data files in case of “mixed” files, i.e. files containing tracking data of more than one satellite system, each one with different observation types, the record structure of the data record has been modified significantly and following several requests, the limitation to 80 characters length has been removed.
As the changes are quite significant, they lead to a new RINEX Version 3. The new version also includes the unofficial Version 2.20 definitions for space-borne receivers.
The major change leading to the release of version 3.01 was the requirement to generate consistent phase observations across different tracking modes or channels, i.e. to apply ¼-cycle shifts prior to RINEX file generation, if necessary, to facilitate the processing of such data.
RINEX 3.02 added support for the Japanese, Quasi Zenith Satellite System (QZSS), additional information concerning BeiDou (based on the released ICD) and a new message to enumerate GLONASS code phase biases.
RINEX 3.03 adds support for the Indian Regional Satellite System (IRNSS) and clarifies several implementation issues in RINEX 3.02. RINEX 3.03 also changes the BeiDou B1 signal convention back to the 3.01 convention where all B1 signals are identified as C2x (not C1 as in RINEX 3.02). Another issue with the implementation of 3.02 was the GPS navigation message fit interval field. Some implementations wrote the flag and others wrote a time interval. This release specifies that the fit interval should be a time period for GPS and a flag for QZSS. The Galileo Navigation section 8.3.2 was updated to clarify the Issue of Data (IOD). RINEX 3.03 was also modified to specify that only known observation tracking modes can be encoded in the standard.
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2. GENERAL FORMAT DESCRIPTION
The RINEX version 3.XX format consists of three ASCII file types:
1. Observation data file
2. Navigation message file
3. Meteorological data file
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 or satellite system by indicating in the header the types of observations to be stored for this receiver and the satellite systems having been observed. 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. There is no maximum record length limitation for the observation records.
Each Observation file and each Meteorological Data file basically contain the data from one site and one session. Starting with Version 2 RINEX also allows including observation data from more than one site subsequently occupied by a roving receiver in rapid static or kinematic applications. Although Version 2 and higher allow insertion of certain header records into the data section, it is not recommended to concatenate data from 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 have to be exchanged, it would not be economical to include the identical satellite navigation 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 was identical to the former NGS exchange format. RINEX Version 3 navigation message files may contain navigation messages of more than one satellite system (GPS, GLONASS, Galileo, Quasi Zenith Satellite System (QZSS), BeiDou System (BDS), Indian Regional Navigation Satellite System (IRNSS) and SBAS).
The actual format descriptions as well as examples are given in the Appendix Tables at the end of the document.
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3. BASIC DEFINITIONS
GNSS observables include three fundamental quantities that need to be defined: Time, Phase, and Range.
3.1 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. For single-system data files, it is by default expressed in the time system of the respective satellite system. For mixed files, the actual time system used must be indicated in the TIME OF FIRST OBS header record.
3.2 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 behaviour of the receiver and satellite clocks. The pseudo-range is stored in units of meters.
See also clarifications for pseudoranges in mixed GPS/GLONASS/Galileo/QZSS/BDS files in chapter 8.2.
3.3 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 respective observation code (see Table 4 and Section 5.4, 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 observables are not corrected for external effects such as: atmospheric refraction, satellite clock offsets, etc.
If necessary, phase observations are corrected for phase shifts needed to guarantee consistency between phases of the same frequency and satellite system based on different signal channels (See Section 9.1 and Appendix A23).
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:
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Time (corr) = Time(r) – dT(r) PR (corr) = PR (r) – dT(r)*c phase (corr) = phase (r) – dT(r)*freq
Table 1: Observation Corrections for Receiver Clock Offset
3.4 Doppler
The sign of the doppler shift as additional observable is defined as usual: Positive for approaching satellites.
3.5 Satellite numbers
Starting with RINEX Version 2 the former two-digit satellite numbers nn are preceded by a one-character system identifier s as shown in Figure 1.
Figure 1: Satellite numbers and Constellation Identifiers
* ) For detailed definition of QZSS, please refer the section 9.12 )
The same satellite system identifiers are also used in all header records when appropriate.
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4. THE EXCHANGE OF RINEX FILES
The original RINEX file naming convention was implemented in the MS-DOS era when file names were restricted to 8.3 characters. Modern operating systems typically support 255 character file names. The goal of the new file naming convention is to be more descriptive, flexible and extensible than the RINEX 2.11 file naming convention. Figure 2 below lists the elements of the RINEX 3.02 (and subsequent versions) file naming convention.
Figure 2: Recommended filename parameters.
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All elements of the main body of the file name must contain capital ASCII letters or numbers and all elements are fixed length and are separated by an underscore “_”.The file type and compression fields (extension) use a period “.” as a separator and must be ASCII characters and lower case. Fields must be padded with zeros to fill the field width. The file compression field is optional. See Appendix A1 for a detailed description of the RINEX 3.02 (and subsequent versions) file naming convention. Table 2 below lists sample file names for GNSS observation and navigation files.
File Name Comments ALGO00CAN_R_20121601000_01H_01S_MO.rnx Mixed RINEX GNSS observation file containing 1 hour of data, with an observation every second ALGO00CAN_R_20121601000_15M_01S_GO.rnx GPS RINEX observation file containing 15 minutes of data, with an observation every second ALGO00CAN_R_20121601000_01H_05Z_MO.rnx Mixed RINEX GNSS observation file containing 1 hour of data, with 5 observations per second ALGO00CAN_R_20121601000_01D_30S_GO.rnx GPS RINEX observation file containing 1 day of data, with an observation every 30 seconds ALGO00CAN_R_20121601000_01D_30S_MO.rnx Mixed RINEX GNSS observation file containing 1 day of data, with an observation every 30 seconds ALGO00CAN_R_20121600000_01D_GN.rnx RINEX GPS navigation file, containing one day’s data ALGO00CAN_R_20121600000_01D_RN.rnx RINEX GLONASS navigation file, containing one day’s data ALGO00CAN_R_20121600000_01D_MN.rnx RINEX mixed navigation file, containing one day’s data
Table 2: Description of Filename Parameters
In order to further reduce the size of observation files, Yuki Hatanaka developed a compression scheme that takes advantage of the structure of the RINEX observation data by forming higher-order differences in time between observations of the same type and satellite. This compressed file is also an ASCII file that is subsequently compressed again using standard compression programs.
More information on the Hatanaka compression scheme can be found in:
http://terras.gsi.go.jp/ja/crx2rnx.html
 IGSMails 1525,1686,1726,1763,1785,4967,4969,4975
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The file naming and compression recommendations are strictly speaking not part of the RINEX format definition. However, they significantly facilitate the exchange of RINEX data in large user communities like IGS.
5. RINEX VERSION 3 FEATURES
This chapter contains features that have been introduced for RINEX Version 3.
5.1 Observation codes
The new signal structures for GPS, Galileo and BDS make it possible to generate code and phase observations based on one or a combination of several channels: Two-channel signals are composed of I and Q components, three-channel signals of A, B, and C components. Moreover, a wideband tracking of a combined E5a + E5b Galileo frequency is possible. In order to keep the observation codes short but still allow for a detailed characterization of the actual signal generation, the length of the codes is increased from two (Version 1 and 2) to three by adding a signal generation attribute. The observation code tna consists of three parts:
Table 3: Observation Code Components
Examples:
 L1C: C/A code-derived L1 carrier phase (GPS, GLONASS) Carrier phase on E2-L1-E1 derived from C channel (Galileo)
 C2L: L2C pseudorange derived from the L channel (GPS)
 C2X: L2C pseudorange derived from the mixed (M+L) codes (GPS)
Tables 4 to 10 describe each GNSS constellation and the frequencies and signal encoding methods used.
Unknown tracking modes are not supported in RINEX 3.02 and 3.03. Only the complete specification of all signals is allowed i.e. all three fields must be defined as specified in Tables 4-10.
t :observation type C = pseudorange, L = carrier phase, D = doppler, S = signal strength n :band / frequency 1, 2,…,9 a : attribute tracking mode or channel, e.g., I, Q, etc
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GNSS System Freq. Band /Frequency Channel or Code Observation Codes Pseudo Range Carrier Phase Doppler Signal Strength GPS L1/1575.42 C/A C1C L1C D1C S1C L1C (D) C1S L1S D1S S1S L1C (P) C1L L1L D1L S1L L1C (D+P) C1X L1X D1X S1X P (AS off) C1P L1P D1P S1P Z-tracking and similar (AS on) C1W L1W D1W S1W Y C1Y L1Y D1Y S1Y M C1M L1M D1M S1M codeless L1N D1N S1N L2/1227.60 C/A C2C L2C D2C S2C L1(C/A)+(P2-P1) (semi-codeless) C2D L2D D2D S2D L2C (M) C2S L2S D2S S2S L2C (L) C2L L2L D2L S2L L2C (M+L) C2X L2X D2X S2X P (AS off) C2P L2P D2P S2P Z-tracking and similar (AS on) C2W L2W D2W S2W Y C2Y L2Y D2Y S2Y M C2M L2M D2M S2M codeless L2N D2N S2N L5/1176.45 I C5I L5I D5I S5I Q C5Q L5Q D5Q S5Q I+Q C5X L5X D5X S5X
Table 4 : RINEX Version 3.04 GPS Observation Codes
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GNSS System Freq. Band /Frequency Channel or Code Observation Codes Pseudo Range Carrier Phase Doppler Signal Strength GLONASS G1/ 1602+k*9/16 k= -7….+12 C/A C1C L1C D1C S1C P C1P L1P D1P S1P G1a/ 1600.995 L1OCd C4A L4A D4A S4A L1OCp C4B L4B D4B S4B L1OCd+ L1OCp C4X L4X D4X S4X G2/ 1246+k*7/16 C/A (GLONASS M) C2C L2C D2C S2C P C2P L2P D2P S2P G2a/ 1248.06 L2CSI C6A L6A D6A S6A L2OCp C6B L6B D6B S6B L2CSI+ L2OCp C6X L6X D6X S6X G3 / 1202.025 I C3I L3I D3I S3I Q C3Q L3Q D3Q S3Q I+Q C3X L3X D3X S3X
Table 5 : RINEX Version 3.04 GLONASS Observation Codes
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GNSS System Freq. Band /Frequency Channel or Code Observation Codes Pseudo Range Carrier Phase Doppler Signal Strength Galileo E1 / 1575.42 A PRS C1A L1A D1A S1A B I/NAV OS/CS/SoL C1B L1B D1B S1B C no data C1C L1C D1C S1C B+C C1X L1X D1X S1X A+B+C C1Z L1Z D1Z S1Z E5a / 1176.45 I F/NAV OS C5I L5I D5I S5I Q no data C5Q L5Q D5Q S5Q I+Q C5X L5X D5X S5X E5b / 1207.140 I I/NAV OS/CS/SoL C7I L7I D7I S7I Q no data C7Q L7Q D7Q S7Q I+Q C7X L7X D7X S7X E5(E5a+E5b) / 1191.795 I C8I L8I D8I S8I Q C8Q L8Q D8Q S8Q I+Q C8X L8X D8X S8X E6 / 1278.75 A PRS C6A L6A D6A S6A B C/NAV CS C6B L6B D6B S6B C no data C6C L6C D6C S6C B+C C6X L6X D6X S6X A+B+C C6Z L6Z D6Z S6Z
Table 6 : RINEX Version 3.04 Galileo Observation Codes
For Galileo the band/frequency number n does not necessarily agree with the official frequency numbers: n = 7 for E5b, n = 8 for E5a+b.
GNSS System Freq. Band/ Frequency Channel or Code Observation Codes Pseudo Range Carrier Phase Doppler Signal Strength SBAS L1 / 1575.42 C/A C1C L1C D1C S1C L5 / 1176.45 I C5I L5I D5I S5I Q C5Q L5Q D5Q S5Q I+Q C5X L5X D5X S5X
Table 7 : RINEX Version 3.04 SBAS Observation Codes
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GNSS System Freq. Band / Frequency Channel or Code Observation Codes Pseudo Range Carrier Phase Doppler Signal Strength QZSS L1 / 1575.42 C/A C1C L1C D1C S1C L1C (D) C1S L1S D1S S1S L1C (P) C1L L1L D1L S1L L1C (D+P) C1X L1X D1X S1X L1S/L1-SAIF C1Z L1Z D1Z S1Z L2 / 1227.60 L2C (M) C2S L2S D2S S2S L2C (L) C2L L2L D2L S2L L2C (M+L) C2X L2X D2X S2X L5 / 1176.45 *(Block I Signals) **(Block II L5S Signals) I * C5I L5I D5I S5I Q * C5Q L5Q D5Q S5Q I+Q * C5X L5X D5X S5X L5D ** C5D L5D D5D S5D L5P ** C5P L5P D5P S5P L5(D+P) ** C5Z L5Z D5Z S5Z L6 / 1278.75 *(Block I LEX Signals) **(Block II Signals) L6D *,** C6S L6S D6S S6S L6P * C6L L6L D6L S6L L6(D+P) * C6X L6X D6X S6X L6E ** C6E L6E D6E S6E L6(D+E) ** C6Z L6Z D6Z S6Z
Table 8 : RINEX Version 3.04 QZSS Observation Codes
Note: RINEX 1Z signal coding is used for both the initial Block I L1-SAIF signal and the updated L1S signal. L6D is the “code 1” of the L61(BlockI) and L62 (Block II) signals, L6P is the “code 2” (or pilot) signal of the L61(Block I) signal and L6E is the “code 2” of the L62(Block II) signal as specified in IS-QZSS-L6. See section 9.12 and Table 31 for QZSS PRN to RINEX identifier coding.
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GNSS System Freq. Band / Frequency Channel or Code Observation Codes Pseudo Range Carrier Phase Doppler Signal Strength BDS B1-2 / 1561.098 I C2I L2I D2I S2I Q C2Q L2Q D2Q S2Q I+Q C2X L2X D2X S2X B1 / 1575.42 (BDS-3 Signals) Data C1D L1D D1D S1D Pilot C1P L1P D1P S1P Data+Pilot C1X L1X D1X S1X B1A C1A L1A D1A S1A Codeless L1N D1N S1N B2a / 1176.45 (BDS-3 Signals) Data C5D L5D D5D S5D Pilot C5P L5P D5P S5P Data+Pilot C5X L5X D5X S5X B2b / 1207.140 (BDS-2 Signals) I C7I L7I D7I S7I Q C7Q L7Q D7Q S7Q I+Q C7X L7X D7X S7X B2b / 1207.140 (BDS-3 Signals) Data C7D L7D D7D S7D Pilot C7P L7P D7P S7P Data+Pilot C7Z L7Z D7Z S7Z B2(B2a+B2b)/1191.795 (BDS-3 Signals) Data C8D L8D D8D S8D Pilot C8P L8P D8P S8P Data+Pilot C8X L8X D8X S8X B3/1268.52 I C6I L6I D6I S6I Q C6Q L6Q D6Q S6Q I+Q C6X L6X D6X S6X B3A C6A L6A D6A S6A
Table 9 : RINEX Version 3.04 BDS Observation Codes
Note: When reading a RINEX 3.02 file, both C1x and C2x coding should be accepted and treated as C2x in RINEX 3.03.
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GNSS System Freq. Band / Frequency Channel or Code Observation Codes Pseudo Range Carrier Phase Doppler Signal Strength IRNSS L5 / 1176.45 A SPS C5A L5A D5A S5A B RS (D) C5B L5B D5B S5B C RS (P) C5C L5C D5C S5C B+C C5X L5X D5X S5X S / 2492.028 A SPS C9A L9A D9A S9A B RS (D) C9B L9B D9B S9B C RS (P) C9C L9C D9C S9C B+C C9X L9X D9X S9X
Table 10 : RINEX Version 3.04 IRNSS Observation Codes
GPS-SBAS and –pseudorandom noise (PRN) code assignments see: https://media.defense.gov/2016/Jul/26/2001583103/-1/-1/1/PRN%20CODE%20ASSIGNMENT%20PROCESS.PDF
Antispoofing (AS) of GPS: True codeless GPS receivers (squaring-type receivers) use the attribute N. Semi-codeless receivers tracking the first frequency using C/A code and the second frequency using some codeless options use attribute D. Z-tracking under AS or similar techniques to recover pseudorange and phase on the “P-code” band use attribute W. Y-code tracking receivers (e.g. units employing a Selective Availability Anti-Spoofing Module (SAASM)) use attribute Y.
Appendix Table A23 enumerates the fractional phase corrections required to align each signal to the frequencies reference signal.
As all observations affected by “AS on” now get their own attribute (codeless, semi-codeless, Z-tracking and similar), the Antispoofing flag introduced into the observation data records of RINEX Version 2 has become obsolete.
5.2 Satellite system-dependent list of observables
The order of the observations stored per epoch and satellite in the observation records is given by a list of observation codes in a header record. As the types of the observations actually generated by a receiver may heavily depend on the satellite system, RINEX Version 3 requests system-dependent observation code lists (header record type SYS / # / OBS TYPES).
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5.3 Marker type
In order to indicate the nature of the marker, a MARKER TYPE header record has been defined. Proposed keywords are given in Table 11. Marker Type Description Geodetic Earth-fixed high-precision monument Non Geodetic Earth-fixed low-precision monument Non_Physical Generated from network processing Space borne Orbiting space vehicle Air borne Aircraft, balloon, etc. Water Craft Mobile water craft Ground Craft Mobile terrestrial vehicle Fixed Buoy “Fixed” on water surface Floating Buoy Floating on water surface Floating Ice Floating ice sheet, etc Glacier “Fixed” on a glacier Ballistic Rockets, shells, etc Animal Animal carrying a receiver Human Human being
Table 11: Proposed Marker Type Keywords
The record is required except for GEODETIC and NON_GEODETIC marker types.
Attributes other than GEODETIC and NON_GEODETIC will tell the user program that the data were collected by a moving receiver. The inclusion of a “start moving antenna” record (event flag 2) into the data body of the RINEX file is therefore not necessary. However, event flags 2 and 3 (See Appendix A3) are still necessary to flag alternating kinematic and static phases of a receiver visiting multiple earth-fixed monuments. Users may define other project-dependent keywords.
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5.4 Half-wavelength observations, half-cycle ambiguities
Half-wavelength observations (collected by codeless squaring techniques) get their own observation codes. A special wavelength factor header line and bit 1 of the LLI flag in the observation records are no longer necessary. If a receiver changed between squaring and full cycle tracking within the time period of a RINEX file, observation codes for both types of observations have to be inserted into the respective SYS / # / OBS TYPES header record.
Half-wavelength phase observations are stored in full cycles. Ambiguity resolution, however, has to account for half wavelengths!
Full-cycle observations collected by receivers with possible half cycle ambiguity (e.g., during acquisition or after loss of lock) are to be flagged with Loss of Lock Indicator bit 1 set (see Appendix Table A3). Note: The loss of lock bit is the least significant bit.
5.5 Scale factor
The optional SYS / SCALE FACTOR record allows the storage of phase data with 0.0001 of a cycle resolution, if the data was multiplied by a scale factor of 10 before being stored into the RINEX file. This feature is used to increase resolution by 10, 100, etc only. It is a modification of the Version 2.20 OBS SCALE FACTOR record.
5.6 Information about receivers on a vehicle
For the processing of data collected by receivers on a vehicle, the following additional information can be provided by special header records:
 Antenna position (position of the antenna reference point) in a body-fixed coordinate system: ANTENNA: DELTA X/Y/Z
 Boresight of antenna: The unit vector of the direction of the antenna axis towards the GNSS satellites. It corresponds to the vertical axis on earth-bound antenna: ANTENNA: B.SIGHT XYZ
 Antenna orientation: Zero-direction of the antenna. Used for the application of “azimuth”-dependent phase center variation models (see 6.14 below): ANTENNA: ZERODIR XYZ
 Current center of mass of the vehicle (for space borne receivers): CENTER OF MASS: XYZ
 Average phase center position: ANTENNA: PHASECENTER (see below)
All three quantities have to be given in the same body-fixed coordinate system. The attitude of the vehicle has to be provided by separate attitude files in the same body-fixed coordinate system.
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5.7 Signal strength
The generation of the RINEX signal strength indicators sn_rnx in the data records (1 = very weak,…,9 = very strong) are standardized in case the raw signal strength1 sn_raw is given in dbHz:
sn_rnx = MIN(MAX(INT(sn_raw/6),1),9) Carrier to Noise ratio(dbHz) Carrier to Noise ratio(RINEX) . It is now also much easier to synchronize the reading program with the next epoch record in case of a corrupted data file or when streaming observation data in a RINEX-like format. The record length limitation to 80 characters of RINEX Versions 1 and 2 has been removed.
For the following list of observation types for the four satellite systems G,R,E,S : G 5 C1P L1P L2X C2X S2X SYS / # / OBS TYPES R 2 C1C L1C SYS / # / OBS TYPES E 2 L1B L5I SYS / # / OBS TYPES S 2 C1C L1C SYS / # / OBS TYPES
Table 13: Example Observation Type Records
The epoch and observation records are as follows: > 2006 03 24 13 10 54.0000000 0 7 -0.123456789210 G06 23619095.450 -53875.632 8 -41981.375 5 23619112.008 24.158 G09 20886075.667 -28688.027 9 -22354.535 6 20886082.101 38.543 G12 20611072.689 18247.789 9 14219.770 8 20611078.410 32.326 R21 21345678.576 12345.567 5 R22 22123456.789 23456.789 5 E11 65432.123 5 48861.586 7 S20 38137559.506 335849.135 9
Table 14: Example Observation Data Records
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The receiver clock correction in the epoch record has been placed such that it could be preceded by an identifier to make it system-dependent in a later format revision, if necessary. The clock correction is optional and is given in units of seconds.
5.12 Ionosphere delay as pseudo-observables
RINEX files could also be used to make available additional information linked to the actual observations. One such element is the ionosphere delay, having been determined or derived from an ionosphere model. We add the ionosphere phase delay expressed in full cycles of the respective satellite system-dependent wavelength as pseudo-observable to the list of the RINEX observables. t: observation type I = Ionosphere phase delay n: band/frequency 1, 2, …,9 a: attribute blank
Table 15: Ionosphere Pseudo-Observable Coding
The ionosphere pseudo-observable has to be included into the list of observables of the respective satellite system. Only one ionosphere observable per satellite is allowed.
The user adds the ionosphere delay to the raw phase observation of the same wavelength and converts it to other wavelengths and to pseudorange corrections in meters: corr_phase(fi) = raw_phase(fi) + d_ion(fi) corr_prange(fi) = raw_prange(fi) – d_ion(fi)  c/fi d_ion(fk) = d_ion(fi) (fi/fk)**2 (accounting for 1st order effects only)
Table 16: Ionosphere Pseudo-Observable Corrections to Observations
d_ion(fi): Given ionospheric phase correction for frequency fi
5.13 Channel numbers as pseudo-observables
For special applications, it might be necessary to know the receiver channel numbers having been assigned by the receiver to the individual satellites. We may include this information as another pseudo-observable:
– t : observation type: X = Receiver channel number
– n : band / frequency : 1
– a : attribute: blank
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The lowest channel number allowed is 1 (re-number channels beforehand, if necessary). In the case of a receiver using multiple channels for one satellite, the channels could be packed with two digits each right-justified into the same data field, order corresponding to the order of the observables concerned. Format F14.3 according to ((2X),I2.2,’.000’), nc being the number of channels.
Restriction: Not more than 5 channels and channel numbers 32 Health not OK (bits 18-22 stored)
Table 19: Description of GPS Satellite Health Field
6.13 Transmission time of message (GPS navigation message file)
The transmission time of a message can be shortly before midnight Saturday/Sunday, with 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.
6.14 Antenna references, phase centers
We distinguish between
 The marker, i.e. the geodetic reference monument, on which an antenna is mounted directly with forced centering or on a tripod
 The antenna reference point (ARP), i.e., a well-defined point on the antenna, e.g., the center of the bottom surface of the preamplifier. The antenna height is measured from the marker to the ARP and reported in the ANTENNA: DELTA H/E/N header record. Small horizontal eccentricities of the ARP with respect to the marker can be reported in the same
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record. On vehicles, the position of the ARP is reported in the body-fixed coordinate system in an ANTENNA: DELTA X/Y/Z header record.
 The average phase center: A frequency-dependent and minimum elevation-angle-dependent position of the average phase center above the antenna reference point. Its position is important to know in mixed-antenna networks. It can be given in an absolute sense or relative to a reference antenna using the optional header record: ANTENNA: PHASECENTER. For fixed stations the components are in north/east/up direction, on vehicles the position is reported in the body-fixed system X,Y,Z. For more precise applica-tions, an elevation-dependent or elevation and azimuth-dependent phase center variation (PCV) model for the antenna (referring to the agreed-upon ARP) should be used. For special applications it might be useful to generate RINEX files with these corrections already applied. This can be reported by special header records SYS / PCVS APPLIED pointing to the file containing the PCV correction models.
 The orientation of the antenna: The “zero direction” is usually oriented towards north on fixed stations. Deviations from the north direction can be reported with the azimuth of the zero-direction in an ANTENNA: ZERODIR AZI header record. On vehicles, the zero-direction is reported as a unit vector in the body-fixed coordinate system in an ANTENNA: ZERODIR XYZ header record. The zero direction of a tilted antenna on a fixed station can be reported as unit vector in the left-handed north/east/up local coordinate system in an ANTENNA: ZERODIR XYZ header record.
 The boresight direction of an antenna on a vehicle: The “vertical” symmetry axis of the antenna pointing towards the GNSS satellites. It can be reported as unit vector in the body-fixed coordinate system in the ANTENNA: B.SIGHT XYZ record. A tilted antenna on a fixed station could be reported as unit vector in the left-handed north/east/up local coordinate system in the same type of header record.
In order to interpret the various positions correctly, it is important that the MARKER TYPE record be included in the RINEX header.
7. RINEX UNDER ANTISPOOFING (AS)
Some receivers generate code (pseudorange) 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. To enable post-processing programs to take special actions, AS-infected observations have been flagged in RINEX Version 2 using bit number 2 of the Loss of Lock Indicators (i.e. their current values are increased by 4). In RINEX Version 3, there are special attributes for the observation type to more precisely characterize the observable (codeless, semi-codeless, Z-tracking or similar techniques when AS on, L2C, P-code when AS off, Y-code tracking), making the AS flag obsolete.
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8. DEALING WITH DIFFERENT SATELLITE SYSTEMS
8.1 Time system identifier
GPS time runs, apart from small differences ( Bits 4 and 0 are set, all others are zero
RINEX file encoders should encode one RINEX Galileo navigation message for each I/NAV and F/NAV signal decoded. Therefore if both: I/Nav and F/Nav messages are decoded, then the relevant bit fields must be set in the RINEX message and both should be written in separate messages. The Galileo ICD (2010) Section 5.1.9.2 indicates that some of the contents of the broadcast navigation message may change, yet the issue of data (IOD) may not change. To ensure that all relevant information is available message encoders should monitor the contents of the file and write new navigation messages when the contents have changed.
RINEX file parsers should expect to encounter F/NAV and I/NAV messages with the same IOD in the same file. Additionally, parsers should also expect to encounter more than one F/NAV or I/NAV ephemeris message with the same IOD, as the navigation message Data Validity Status (DVS) and other parameters may change independently of the IOD, yet some other data may be the same, however, the transmission time will be updated (See Note in Galileo ICD (2010) Section 5.1.9.2 Issue of Data).
As mentioned above, the GAL week in the RINEX navigation message files is a continuous number; it has been aligned to the GPS week by the program creating the RINEX file.
8.3.3 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 navigation message file format.
The header section contains information 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
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contain the satellite position, velocity and acceleration and auxiliary information (health, URA and IODN).
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 –ΔtLS
W0 being the correction to transform the GEO system time to UTC. See Toe, aGf0, aGf1 in the Appendix Table A16 format definition table.
The Transmission Time of Message (SV / 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. If necessary, the Transmission Time of Message may have to be adjusted by – or + 604800 seconds (which would make it lower than zero or larger than 604800, respectively and then further corrected to correspond to the Epoch of Ephemeris) so that it is referenced to the GPS week of the Epoch of Ephemeris. This 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
8.3.4 RINEX navigation message files for BDS
The BDS Open Service broadcast navigation message is similar in content to the GPS navigation message.
The header section and the first data record (epoch, satellite clock information) are equal to the GPS navigation file. The following six records are similar to GPS.
The BDT week number is a continuous number. The broadcast 13-bit BDS System Time week has a roll-over after 8191. It starts at zero on: 1-Jan-2006, hence BDT week = BDT week_BRD + (n*8192) (Where n: number of BDT roll-overs). See Appendix Table A14 for details.
8.3.5 RINEX navigation message files for IRNSS
The IRNSS Open Service broadcast navigation message is similar in content to the GPS navigation message.
The header section and the first data record (epoch, satellite clock information) are equal to the GPS navigation file. See Appendix Tables A18 and A19 for a description and example of each field.
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8.4 RINEX observation files for GEO satellites
A separate satellite system identifier has been defined for the Satellite-Based Augmentation System (SBAS) payloads. S, is 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 SBAS 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. In the SBAS message definitions, bit 3 of the health word 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, as well.
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.
Issue Of Data Navigation (IODN)
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 D-UTC A0, A1, T, W, S, U record in Version 2.11 has been renamed the TIME SYSTEM CORR record in RINEX 3.x.
9. MODIFICATIONS FOR VERSION 3.01, 3.02, 3.03 and 3.04
9.1 Phase Cycle Shifts
Carrier phases tracked on different signal channels or modulation bands of the same frequency may differ in phase by 1/4 (e.g., GPS: P/Y-code-derived L2 phase vs. L2C-based phase) or, in some exceptional cases, by other fractional parts of a cycle. Appendix Table A23 specifies the reference signal and the phase shifts that are specified by the Interface Control Documentation (ICD) for each constellation.
All phase observations must be aligned in RINEX 3.01 and later files and the new SYS / PHASE SHIFT header is mandatory. See Appendix Table A2 for the messages definition. If the phase alignment is not known, then the observation data should not be published in a
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RINEX 3.0x file. In order to facilitate data processing, phase observations stored in RINEX files must be consistent across all satellites of a satellite system and across each frequency band. Within a RINEX 3.0x file:
 All phase observations must be aligned to the designated constellation and frequency reference signal as specified in Appendix Table A23, either directly by the receiver or by a correction program or the RINEX conversion program, prior to RINEX file generation. Additionally, all data must be aligned with the appropriate reference signal indicated in Appendix Table A23 even when the receiver or reporting device is not tracking and/or providing data from that reference signal e.g. Galileo L5X phase data must be aligned to L5I.
 Phase corrections must be reported in a new mandatory SYS / PHASE SHIFT header record to allow the reconstruction of the original values, if needed. The uncorrected reference signal group of observations are left blank in the SYS / PHASE SHIFT records. Appendix Table A23 specifies the reference signal that should be used by each constellation and frequency band. Additionally, Appendix Table A23 indicates the relationship between the phase observations for each frequency’s signals.
Concerning the mandatory SYS / PHASE SHIFT header records:
 If the SYS / PHASE SHIFT record values are set to zero in the RINEX file, then either the raw data provided by the receiver or the data format (RTCM-Multiple Signal Messages format for example) have already been aligned and the RINEX conversion program did not apply any phase corrections since they had already been applied. In this case, Appendix Table A23 can be used to determine the fractional cycles that had been added to each signal’s phase observation to align the phase observations to the reference signal.
 If the file does not contain any observation pairs affected by phase shifts (i.e. only reference signals reported), then the observation code field is defined and the rest of the SYS / PHASE SHIFT header record field of the respective satellite system(s) are left blank.
 If the reported phase correction of an observation type does not affect all satellites of the same system, then the header record allows for the affected satellites to be indicated.
 If the applied phase corrections or the phase alignment is unknown, then the observation code field and the rest of the SYS / PHASE SHIFT header record field of the respective satellite system(s) are left blank. This use case is intended for exceptional situations where the data is intended for special projects and analysis.
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Sign of the correction Δφ: φRINEX = φ original + Δφ φ original : Uncorrected or corrected, i.e. as issued by the GNSS receiver or in a standardized data stream such as RTCM-MSM Δφ : Phase correction to align the phase to other phases of the same frequency but different channel / modulation band
Table 25: RINEX Phase Alignment Correction Convention
Example (Definition see Appendix Table A2): —-|—1|0—|—2|0—|—3|0—|—4|0—|—5|0—|—6|0—|—7|0—|—8| G L2S -0.25000 03 G15 G16 G17 SYS / PHASE SHIFT
Table 26: Example SYS / PHASE SHIFT Record
9.2 Galileo: BOC-Tracking of an MBOC-Modulated Signal
Galileo E1 will be modulated by the so-called MBOC modulation. Obviously it is possible for a receiver to track the signal also in a BOC mode, though leading to different noise characteristics. In order to keep this non-standard tracking mode of a MBOC signal apart, bit 2 of the loss-of-lock indicator LLI (the antispoofing flag not used for Galileo) in the observation data records is used.
Non-standard BOC tracking of an MBOC-modulated signal: Increase the LLI by 4.
Note: This flag is intended for experimental applications and is optional. In future releases of RINEX, this non-standard tracking mode flag may be removed.
Example: Satellite E11, BOC tracking on L1C, LLI = 4: —-|—1|0—|—2|0—|—3|0—|—4|0—|—5|0—|—6|0—|—7|0—|—8| G 5 C1C L1W L2W C1W S2W SYS / # / OBS TYPES R 2 C1C L1C SYS / # / OBS TYPES E 2 L1C L5I SYS / # / OBS TYPES S 2 C1C L1C SYS / # / OBS TYPES 18.000 INTERVAL END OF HEADER > 2006 03 24 13 10 36.0000000 0 5 -0.123456789012 G06 23629347.915 .300 8 -.353 4 23629347.158 24.158 G09 20891534.648 -.120 9 -.358 6 20891545.292 38.123 G12 20607600.189 -.430 9 .394 5 20607600.848 35.234 E11 .32448 .178 7 S20 38137559.506 335849.135 9
Table 27: Example of RINEX Coding of Galileo BOC Tracking of an MBOC Signal Record
9.3 BDS Satellite System Code
The satellite system code for BeiDou navigation satellite System (BDS) has been defined as “C”, see Figure 1.
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9.4 New Observation Codes for GPS L1C and BDS
New observation codes for GPS L1C and BDS observables have been defined: See Tables 4 and 9.
9.5 Header Records for GLONASS Slot and Frequency Numbers
In order to make available a cross-reference list between the GLONASS slot numbers used in the RINEX files to designate the GLONASS satellites and the allotted frequency numbers, a mandatory observation file header record is assigned. This allows processing of GLONASS files without having to get this information from GLONASS navigation message files or other sources.
Example (Definition See Appendix Table A2): —-|—1|0—|—2|0—|—3|0—|—4|0—|—5|0—|—6|0—|—7|0—|—8| 18 R01 1 R02 2 R03 3 R04 4 R05 5 R06 -6 R07 -5 R08 -4 GLONASS SLOT / FRQ # R09 -3 R10 -2 R11 -1 R12 0 R13 1 R14 2 R15 3 R16 4 GLONASS SLOT / FRQ # R17 5 R18 -5 GLONASS SLOT / FRQ #
Table 28: Example of a GLONASS Slot- Frequency Records
9.6 GNSS Navigation Message File: Leap Seconds Record
The optional LEAP SECONDS record was modified to also include ΔtLS (or ΔtLSBDS for BDS), WNLSF (adjusted to continuous week number) and DN.
9.7 Clarifications in the Galileo Navigation Message File:
Some clarifications in the Galileo BROADCAST ORBIT – 5 and BROADCAST ORBIT – 6 records were added (see Table A8).
9.8 Quasi-Zenith Satellite System (QZSS) RINEX Version 3.02
The version number is adjusted to 3.02. Version 3.02 added QZSS: specifications, parameters and definitions to the document. Each QZSS satellite broadcasts signals using two PRN codes. The GPS compatible signals are broadcast using PRN codes in the range of 193-197. In a RINEX observation file the PRN code is: broadcast prn – 192, yielding: J01, J02 etc In a RINEX SBAS file the PRN code is: broadcast prn – 100, yielding: S83, S84 etc.
See Appendix Table A23 to convert each signal’s aligned phase observations back to raw satellite phase.
9.9 GLONASS Mandatory Code-Phase Alignment Header Record
Recent analysis has revealed that some GNSS receivers produce biased GLONASS observations. The code-phase bias results in the code and phase observations not being measured at the same time. To remedy this problem, a mandatory GLONASS Code-Phase header bias record is required. Although this header message is mandatory, it can contain zeros if the GLONASS data issued by the receiver is aligned. See the GLONASS CODE/PHASE BIAS (GLONASS COD/PHS/BIS) definition in Appendix Table A2. The GLONASS code-phase alignment message contains: L1C, L1P, L2C and L2P corrections. Phase data from GNSS receivers that issue biased data must be corrected by the amount specified in the GLONASS COD/PHS/BIS record before it is written in RINEX format.
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To align the non-aligned L1C phase to the pseudo range observation, the following correction is required:
AlignedL1Cphase = ObservedL1Cphase + (GLONASSC1C_CodePhaseBias_M / Lambda)
where:
 AlignedL1C phase in cycles (written to RINEX file)
 ObservedL1C phase in cycles
 GLONASSC1C_CodePhaseBias_M is in metres
 Lamba is the wavelength for the particular GLONASS frequency
GLONASS L1P, L2C and L2P are handled in the same manner.
Example (See Appendix Table A2 for details): —-|—1|0—|—2|0—|—3|0—|—4|0—|—5|0—|—6|0—|—7|0—|—8| C1C -10.000 C1P -10.123 C2C -10.432 C2P -10.634 GLONASS COD/PHS/BIS
Table 29: Example of GLONASS Code Phase Bias Correction Record
Note: If the GLONASS code phase alignment is unknown, then all fields within GLONASS COD/PHS/BIS header record are left blank (see example below). This use case is intended for exceptional situations where the data is intended for special projects and analysis. —-|—1|0—|—2|0—|—3|0—|—4|0—|—5|0—|—6|0—|—7|0—|—8| GLONASS COD/PHS/BIS
Table 30: Example of Unknown GLONASS Code Phase Bias Record
9.10 BDS system (Replaces Compass)
Added BDS: naming convention, time system definition, header section description, and parameters throughout the document. Updated: Sections: 8.1, 8.2, 8.3.5, 9.11 and Appendix Table A2, added ephemeris Table A14 and updated Table A23.
9.11 Indian Regional Navigation Satellite System (IRNSS) Version 3.03
The RINEX version number was changed to 3.03. Version 3.03 adds IRNSS, specifications, parameters and definitions to this document.
9.12 Updates for Quasi-Zenith Satellite System (QZSS), BeiDou and GLONASS (CDMA) RINEX Version 3.04
Added new signal codes to: Table #5, for GLONASS, Table #8 for QZSS and Table #9 for BeiDou
The phase alignment of L1C has changed in QZSS Block II satellites to maintain compatibility
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with GPS Block III. See Appendix Table A23 and related notes to convert each signal’s aligned phase observations back to raw satellite phase.
RINEX Signal ID
Standard PNT Signals and Centimeter Level Augmentation (LEX/L6D)
(PRN-192)
Sub-meter Level Augmentation
(L1-SAIF/L1S)
(PRN-182)
Centimeter Level Augmentation for Experiments (L6E)
(PRN-202)
Positioning Technology Verification Service (L5S)
(PRN Code)
J01
193
183
J02
194
184
204
196
J03
195
185
205
200
J04
196
186
206
J05
197
187
207
J06
198
188
208
J07
199
189
209
197
J08
200
190
210
J09
201
191
211
Table 31: QZSS PRN to RINEX Satellite Identifier
In RINEX 3.04 all QZSS signals are identified the using the standard PRN numbering conventions i.e. Jxx and the Sxx identifier has been dropped. All QZSS signals are identified in RINEX 3.04 as J01-J09 as shown in Table 31.
QZSS Block I satellites have replaced the L1-SAIF signal with the L1S signal. For QZSS Block I observations prior to the introduction of the L1S signal, the observation codes “1Z” refer to tracking of the “L1-SAIF” signal. Similarly, the “6S”, “6L”, “6X” observation codes refer to tracking of the LEX data channel, LEX pilot channel, and combined LEX pilot+data tracking prior to the introduction of the L61 signal on QZSS Block I.
QZSS Block II satellites broadcast the L1S signal. The L1S signal broadcasts the Sub-Meter-Level Augmentation Service (SLAS) correction data using PRN 183-191. In a RINEX observation file the signal ID of L1S is: broadcast prn-182, yielding J01, J02….J09. QZSS Block II satellites also broadcast the L5S signal. The L5S signals broadcasts the Positioning Technology Verification Service (PTVS) correction data using PRN, 196, 200, 197. PTVS
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broadcasts the experimental Dual Frequency Multi-Constellation (DFMC) signal. In a RINEX observation file the signal ID of L5S is PRN 196, 200, 197and is assigned to J02, J03 and J07 respectively.
The second data channel L6E was introduced on the L6 signal of QZSS Block II. In a RINEX observation file the RINEX signal ID of L6E is: broadcast prn-202, yielding J02, J03…J09.
Updated Tables 5, 8 and 9 and A23 signals codes and information to support new GLONASS CDMA, QZSS and BeiDou 3 signals.
Updated Appendix table A5 TIME SYSTEM CORR message description.
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10 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 (1990a): “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 (1990b): “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://igs.org/pub/data/format/rinex210.txt
Gurtner, W., L. Estey (2002),: “RINEX Version 2.20 Modifications to Accommodate Low Earth Orbiter Data”. ftp://ftp.aiub.unibe.ch/rinex/rnx_leo.txt
Gurtner, W., L. Estey (2005): “RINEX: The Receiver Independent Exchange Format Version 2.11”. ftp://igs.org/pub/data/format/rinex211.txt
Gurtner, W., L. Estey (2007): “RINEX: The Receiver Independent Exchange Format Version 3.00”. ftp://igs.org/pub/data/format/rinex300.pdf
Hatanaka, Y (2008): “ A Compression Format and Tools for GNSS Observation Data”. Bulletin of the Geographical Survey Institute, Vol. 55, pp 21-30, Tsukuba, March 2008. http://www.gsi.go.jp/ENGLISH/Bulletin55.html
Ray, J., W. Gurtner (2010): “RINEX Extensions to Handle Clock Information”. ftp://igs.org/pub/data/format/rinex_clock302.txt.
Ray, J. (2005): “Final update for P1-C1 bias values & cc2noncc”. IGSMail 5260
Rothacher, M., R. Schmid (2010): “ANTEX: The Antenna Exchange Format Version 1.4”. ftp://igs.org/pub/station/general/antex14.txt.
Schaer, S., W. Gurtner, J. Feltens (1998): “IONEX: The Ionosphere Map Exchange Format Version 1“. ftp://igs.org/pub/data/format/ionex1.pdf
Suard, N., W. Gurtner, L. Estey (2004): “Proposal for a new RINEX-type Exchange File for GEO SBAS Broadcast Data”. ftp://igs.org/pub/data/format/geo_sbas.txt
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Document: RTCA DO 229, Appendix A
Document: Global Positioning Systems Directorate, Systems Engineering and Integration Interface Specification IS-GPS-200H, Navstar GPS Space Segment/Navigation User Interfaces, Sept. 24, 2013
Document: GLObal NAvigation Satellite System (GLONASS), Interface Control Document, (Edition 5.1), 2008.
Document: Global Navigation Satellite System GLONASS, Interface Control Document, General Description of Code Division Multiple Access Signal System, Edition 1.0, 2016.
Document: Global Navigation Satellite System GLONASS, Interface Control Document, Code Division Multiple Access, Open Service Navigation Signal in L1 frequency band, Edition 1.0, 2016.
Document: Global Navigation Satellite System GLONASS, Interface Control Document, Code Division Multiple Access, Open Service Navigation Signal in L2 frequency band, Edition 1.0, 2016.
Document: Global Navigation Satellite System GLONASS, Interface Control Document, Code Division Multiple Access, Open Service Navigation Signal in L3 frequency band, Edition 1.0, 2016.
Document: European GNSS (Galileo) Open Service, Signal In Space, Interface Control Document, Issue 1.3, December, 2016. : (https://www.gsc-europa.eu/system/files/galileo_documents/Galileo-OS-SIS-ICD.pdf)
Document: Quasi-Zenith Satellite System, Interface Specification, Satellite Positioning, Navigation and Timing Service (IS-QZSS-PNT-002), Cabinet Office, January 29, 2018
Document: Quasi-Zenith Satellite System, Interface Specification, Sub-meter Level Augmentation Service (IS-QZSS-L1S-002), Cabinet Office, April 13, 2018
Document: Quasi-Zenith Satellite System, Interface Specification, Centimeter Level Augmentation Service (IS-QZSS-L6-001) Draft, Cabinet Office, August 31, 2018
Document: Quasi-Zenith Satellite System, Interface Specification, Positioning Technology Verification Service (IS-QZSS-TV), Draft Edition, Cabinet Office, July 12, 2016
Document: Quasi-Zenith Satellite System, Interface Specification, Positioning Technology Verification Service (IS-QZSS-TV-001), Cabinet Office, April 13, 2018
Document: BeiDou Navigation Satellite, System, Signal In Space, Interface Control Document, Open Service Signal, (Version2.0), China Satellite Navigation Office December 2013
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Document: BeiDou Navigation Satellite, System, Signal In Space, Interface Control Document, Open Service Signal B1C, (Version 1.0), China Satellite Navigation Office, December 2017
Document: BeiDou Navigation Satellite, System, Signal in Space, Interface Control Document, Open Service Signal B2a, (Version 1.0), China Satellite Navigation Office, December 2017
Document: BeiDou Navigation Satellite, System, Signal in Space, Interface Control Document, Open Service Signal B2I, (Version 1.0), China Satellite Navigation Office. February 2017
Document: RTCM Standard 10403.2, Differential GNSS (Global Navigation Satellite Systems) Services – Version 3, November 7, 2013.
Document: Indian Regional Navigation Satellite System Signal in Space ICD for Standard Positioning Service, Version 1.0, June 2014 (Indian Space Research Organization, Bangalore, 2014)
RINEX Version 3.04 Appendix A1
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APPENDIX: RINEX FORMAT DEFINITIONS AND EXAMPLES
A 1 RINEX File name description
Table A1 RINEX File name description Field Field Description Example Required Comment/Example = 99999 observations in the RINEX file. This record is (these records are) repeated for each satellite present in the data file. A1,I2.2, 9I6 6X,9I6 END OF HEADER Last record in the header section. 60X
Records marked with * are optional
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A 3 GNSS Observation Data File -Data Record Description TABLE A3 GNSS OBSERVATION DATA FILE – DATA RECORD DESCRIPTION DESCRIPTION FORMAT EPOCH record  Record identifier : > Epoch  year (4 digits):  month, day, hour, min (two digits)  sec  Epoch flag, 0: OK 1: power failure between previous and current epoch >1: Special event  Number of satellites observed in current epoch  (reserved)  Receiver clock offset (seconds, optional) A1, 1X,I4, 4(1X,I2.2), F11.7, 2X,I1, I3, 6X, F15.12 Epoch flag = 0 or 1: OBSERVATION records follow  Satellite number  m fields of observation data (in the same sequence as given in the respective SYS / # / OBS TYPES record), each containing the specified observations for example: pseudorange, phase, LLI, Doppler and SNR. This record is repeated for each satellite having been observed in the current epoch. The record length is given by the number of observation types for this satellite. Observations: For definition, see text. 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 bit 0 of LLI indicator. Loss of lock indicator (LLI). 0 or blank: OK or not known Bit 0 set: Lost lock between previous and current observation: Cycle slip possible. For phase observations only. Note: Bit 0 is the least significant bit. Bit 1 set: Half-cycle ambiguity/slip possible. Software not capable of handling half cycles should skip this observation. Valid for the current epoch only. Bit 2 set: Galileo BOC-tracking of an MBOC-modulated signal (may suffer from increased noise). A1,I2.2, m(F14.3, I1, I1)
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TABLE A3 GNSS OBSERVATION DATA FILE – DATA RECORD DESCRIPTION Signal Strength Indicator (SSI) projected into interval 1-9: 1: minimum possible signal strength 5: average/good S/N ratio 9: maximum possible signal strength 0 or blank: not known, don’t care Standardization for S/N values given in dbHz: See text. Notes: 1. Loss of Lock Indicator (LLI) should only be associated with the phase observation. 2. Signal Strength Indicator (SSI) should be deprecated and replaced by a defined SNR field for each signal. However if this is not possible/practical then SSI should be specified for each phase signal type for example. GPS: L1C, L1W, L2W, L2X and L5X. 3. If only the pseudorange measurements are observed then the SSI should be associated with the code measurements. Epoch flag 2-5: EVENT: Special records may follow  Epoch flag  2: start moving antenna  3: new site occupation (end of kinematic 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 special records to follow. 0 if no special records follow. Maximum number of records: 999 For events without significant epoch the epoch fields in the EPOCH RECORD can be left blank [2X,I1] [I3] Epoch flag = 6: EVENT: Cycle slip records follow  Epoch flag  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) [2X,I1]
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A 4 GNSS Observation Data File – Example #1 +——————————————————————————+ | TABLE A4 | | GNSS OBSERVATION DATA FILE – EXAMPLE #1 | +——————————————————————————+ —-|—1|0—|—2|0—|—3|0—|—4|0—|—5|0—|—6|0—|—7|0—|—8| 3.04 OBSERVATION DATA M RINEX VERSION / TYPE G = GPS R = GLONASS E = GALILEO S = GEO M = MIXED COMMENT XXRINEXO V9.9 AIUB 20060324 144333 UTC PGM / RUN BY / DATE EXAMPLE OF A MIXED RINEX FILE VERSION 3.04 COMMENT The file contains L1 pseudorange and phase data of the COMMENT geostationary AOR-E satellite (PRN 120 = S20) COMMENT A 9080 MARKER NAME 9080.1.34 MARKER NUMBER BILL SMITH ABC INSTITUTE OBSERVER / AGENCY X1234A123 GEODETIC 1.3.1 REC # / TYPE / VERS G1234 ROVER ANT # / TYPE 4375274. 587466. 4589095. APPROX POSITION XYZ .9030 .0000 .0000 ANTENNA: DELTA H/E/N 0 RCV CLOCK OFFS APPL G 5 C1C L1W L2W C1W S2W SYS / # / OBS TYPES R 2 C1C L1C SYS / # / OBS TYPES E 2 L1B L5I SYS / # / OBS TYPES S 2 C1C L1C SYS / # / OBS TYPES 18.000 INTERVAL G APPL_DCB xyz.uvw.abc//pub/dcb_gps.dat SYS / DCBS APPLIED DBHZ SIGNAL STRENGTH UNIT 2006 03 24 13 10 36.0000000 GPS TIME OF FIRST OBS 18 R01 1 R02 2 R03 3 R04 4 R05 5 R06 -6 R07 -5 R08 -4 GLONASS SLOT / FRQ # R09 -3 R10 -2 R11 -1 R12 0 R13 1 R14 2 R15 3 R16 4 GLONASS SLOT / FRQ # R17 5 R18 -5 GLONASS SLOT / FRQ # G L1C SYS / PHASE SHIFT G L1W 0.00000 SYS / PHASE SHIFT G L2W SYS / PHASE SHIFT R L1C SYS / PHASE SHIFT E L1B SYS / PHASE SHIFT E L5I SYS / PHASE SHIFT S L1C SYS / PHASE SHIFT C1C -10.000 C1P -10.123 C2C -10.432 C2P -10.634 GLONASS COD/PHS/BIS END OF HEADER > 2006 03 24 13 10 36.0000000 0 5 -0.123456789012 G06 23629347.915 .300 8 -.353 4 23629347.158 24.158 G09 20891534.648 -.120 9 -.358 6 20891545.292 38.123 G12 20607600.189 -.430 9 .394 5 20607600.848 35.234 E11 .324 8 .178 7 S20 38137559.506 335849.135 9 > 2006 03 24 13 10 54.0000000 0 7 -0.123456789210 G06 23619095.450 -53875.632 8 -41981.375 4 23619095.008 25.234 G09 20886075.667 -28688.027 9 -22354.535 7 20886076.101 42.231 G12 20611072.689 18247.789 9 14219.770 6 20611072.410 36.765 R21 21345678.576 12345.567 5 R22 22123456.789 23456.789 5 E11 65432.123 5 48861.586 7 S20 38137559.506 335849.135 9 > 2006 03 24 13 11 12.0000000 2 2 *** FROM NOW ON KINEMATIC DATA! *** COMMENT TWO COMMENT LINES FOLLOW DIRECTLY THE EVENT RECORD COMMENT
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> 2006 3 24 13 11 12.0000000 0 4 -0.123456789876 G06 21110991.756 16119.980 7 12560.510 4 21110991.441 25.543 G09 23588424.398 -215050.557 6 -167571.734 6 23588424.570 41.824 G12 20869878.790 -113803.187 8 -88677.926 6 20869878.938 36.961 G16 20621643.727 73797.462 7 57505.177 2 20621644.276 15.368 > 3 4 A 9081 MARKER NAME 9081.1.34 MARKER NUMBER .9050 .0000 .0000 ANTENNA: DELTA H/E/N –> THIS IS THE START OF A NEW SITE 2006 03 24 13 12 6.0000000 0 4 -0.123456987654 G06 21112589.384 24515.877 6 19102.763 4 21112589.187 25.478 G09 23578228.338 -268624.234 7 -209317.284 6 23578228.398 41.725 G12 20625218.088 92581.207 7 72141.846 5 20625218.795 35.143 G16 20864539.693 -141858.836 8 -110539.435 2 20864539.943 16.345 > 2006 03 24 13 13 1.2345678 5 0 > 4 2 AN EVENT FLAG 5 WITH A SIGNIFICANT EPOCH COMMENT AND AN EVENT FLAG 4 TO ESCAPE FOR THE TWO COMMENT LINES COMMENT > 2006 03 24 13 14 12.0000000 0 4 -0.123456012345 G06 21124965.133 0.30213 -0.62614 21124965.275 27.528 G09 23507272.372 -212616.150 7 -165674.789 7 23507272.421 42.124 G12 20828010.354 -333820.093 6 -260119.395 6 20828010.129 37.002 G16 20650944.902 227775.130 7 177487.651 3 20650944.363 18.040 > 4 1 *** LOST LOCK ON G 06 COMMENT . . . > 4 1 END OF FILE COMMENT —-|—1|0—|—2|0—|—3|0—|—4|0—|—5|0—|—6|0—|—7|0—|—8|
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A 4 GNSS Observation Data File – Example #2 +——————————————————————————+ | TABLE A4 | | GNSS OBSERVATION DATA FILE – EXAMPLE #2 | +——————————————————————————+ —-|—1|0—|—2|0—|—3|0—|—4|0—|—5|0—|—6|0—|—7|0—|—8| 3.04 OBSERVATION DATA M RINEX VERSION / TYPE sbf2rin-9.3.3 20140511 000610 LCL PGM / RUN BY / DATE faa1 MARKER NAME 92201M012 MARKER NUMBER Unknown Unknown OBSERVER / AGENCY 3001320 SEPT POLARX4 2.5.1p1 REC # / TYPE / VERS 725235 LEIAR25.R4 NONE ANT # / TYPE -5246415.0000 -3077260.0000 -1913842.0000 APPROX POSITION XYZ 0.1262 0.0000 0.0000 ANTENNA: DELTA H/E/N G 18 C1C L1C D1C S1C C1W S1W C2W L2W D2W S2W C2L L2L D2L SYS / # / OBS TYPES S2L C5Q L5Q D5Q S5Q SYS / # / OBS TYPES E 16 C1C L1C D1C S1C C5Q L5Q D5Q S5Q C7Q L7Q D7Q S7Q C8Q SYS / # / OBS TYPES L8Q D8Q S8Q SYS / # / OBS TYPES S 4 C1C L1C D1C S1C SYS / # / OBS TYPES R 12 C1C L1C D1C S1C C2P L2P D2P S2P C2C L2C D2C S2C SYS / # / OBS TYPES C 8 C2I L2I D2I S2I C7I L7I D7I S7I SYS / # / OBS TYPES J 12 C1C L1C D1C S1C C2L L2L D2L S2L C5Q L5Q D5Q S5Q SYS / # / OBS TYPES G L1C SYS / PHASE SHIFT G L2W SYS / PHASE SHIFT G L2L 0.00000 SYS / PHASE SHIFT G L5Q 0.00000 SYS / PHASE SHIFT E L1C 0.00000 SYS / PHASE SHIFT E L5Q 0.00000 SYS / PHASE SHIFT E L7Q 0.00000 SYS / PHASE SHIFT E L8Q 0.00000 SYS / PHASE SHIFT S L1C SYS / PHASE SHIFT R L1C SYS / PHASE SHIFT R L2P 0.00000 SYS / PHASE SHIFT R L2C SYS / PHASE SHIFT C L2I SYS / PHASE SHIFT C L7I SYS / PHASE SHIFT J L1C SYS / PHASE SHIFT J L2L 0.00000 SYS / PHASE SHIFT J L5Q 0.00000 SYS / PHASE SHIFT 30.000 INTERVAL 2014 5 10 0 0 0.0000000 GPS TIME OF FIRST OBS 2014 5 10 23 59 30.0000000 GPS TIME OF LAST OBS 72 # OF SATELLITES C1C 0.000 C2C 0.000 C2P 0.000 GLONASS COD/PHS/BIS DBHZ SIGNAL STRENGTH UNIT 24 R01 1 R02 -4 R03 5 R04 6 R05 1 R06 -4 R07 5 R08 6 GLONASS SLOT / FRQ # R09 -2 R10 -7 R11 0 R12 -1 R13 -2 R14 -7 R15 0 R16 -1 GLONASS SLOT / FRQ # R17 4 R18 -3 R19 3 R20 2 R21 4 R22 -3 R23 3 R24 2 GLONASS SLOT / FRQ # END OF HEADER > 2014 05 10 00 00 0.0000000 0 28 END OF FILE COMMENT —-|—1|0—|—2|0—|—3|0—|—4|0—|—5|0—|—6|0—|—7|0—|—8|
RINEX Version 3.04 Appendix A18
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A 4 GNSS Observation Data File – Example #3 +——————————————————————————+ | TABLE A4 | | GNSS OBSERVATION DATA FILE – EXAMPLE #3 | +——————————————————————————+ —-|—1|0—|—2|0—|—3|0—|—4|0—|—5|0—|—6|0—|—7|0—|—8| 3.04 OBSERVATION DATA M: MIXED RINEX VERSION / TYPE GR25 V3.08 20140513 072944 UTC PGM / RUN BY / DATE SNR is mapped to RINEX snr flag value [1-9] COMMENT LX: 1; 12-17dBHz -> 2; 18-23dBHz -> 3 COMMENT 24-29dBHz -> 4; 30-35dBHz -> 5; 36-41dBHz -> 6 COMMENT 42-47dBHz -> 7; 48-53dBHz -> 8; >= 54dBHz -> 9 COMMENT Tokio MARKER NAME TOKI MARKER NUMBER SU Japan – Leica Geosystems OBSERVER / AGENCY 1870023 LEICA GR25 3.08/6.401 REC # / TYPE / VERS LEIAS10 NONE ANT # / TYPE -3956196.8609 3349495.1794 3703988.8347 APPROX POSITION XYZ 0.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N G 16 C1C L1C D1C S1C C2S L2S D2S S2S C2W L2W D2W S2W C5Q SYS / # / OBS TYPES L5Q D5Q S5Q SYS / # / OBS TYPES R 12 C1C L1C D1C S1C C2P L2P D2P S2P C2C L2C D2C S2C SYS / # / OBS TYPES E 16 C1C L1C D1C S1C C5Q L5Q D5Q S5Q C7Q L7Q D7Q S7Q C8Q SYS / # / OBS TYPES L8Q D8Q S8Q SYS / # / OBS TYPES C 8 C2I L2I D2I S2I C7I L7I D7I S7I SYS / # / OBS TYPES J 12 C1C L1C D1C S1C C2S L2S D2S S2S C5Q L5Q D5Q S5Q SYS / # / OBS TYPES S 4 C1C L1C D1C S1C SYS / # / OBS TYPES DBHZ SIGNAL STRENGTH UNIT 1.000 INTERVAL 2014 05 13 07 30 0.0000000 GPS TIME OF FIRST OBS 2014 05 13 07 34 59.0000000 GPS TIME OF LAST OBS 0 RCV CLOCK OFFS APPL G L1C SYS / PHASE SHIFT G L2S -0.25000 SYS / PHASE SHIFT G L2W SYS / PHASE SHIFT G L5Q -0.25000 SYS / PHASE SHIFT R L1C SYS / PHASE SHIFT R L2P 0.25000 SYS / PHASE SHIFT R L2C SYS / PHASE SHIFT E L1C +0.50000 SYS / PHASE SHIFT E L5Q -0.25000 SYS / PHASE SHIFT E L7Q -0.25000 SYS / PHASE SHIFT E L8Q -0.25000 SYS / PHASE SHIFT C L2I SYS / PHASE SHIFT C L7I SYS / PHASE SHIFT J L1C SYS / PHASE SHIFT J L2S SYS / PHASE SHIFT J L5Q -0.25000 SYS / PHASE SHIFT S L1C SYS / PHASE SHIFT 24 R01 1 R02 -4 R03 5 R04 6 R05 1 R06 -4 R07 5 R08 6 GLONASS SLOT / FRQ # R09 -2 R10 -7 R11 0 R12 -1 R13 -2 R14 -7 R15 0 R16 -1 GLONASS SLOT / FRQ # R17 4 R18 -3 R19 3 R20 2 R21 4 R22 -3 R23 3 R24 2 GLONASS SLOT / FRQ # C1C 0.000 C1P 0.000 C2C 0.000 C2P 0.000 GLONASS COD/PHS/BIS 16 1694 7 LEAP SECONDS END OF HEADER > 2014 05 13 07 30 0.0000000 0 25 END OF FILE COMMENT —-|—1|0—|—2|0—|—3|0—|—4|0—|—5|0—|—6|0—|—7|0—|—8|
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A 5 GNSS Navigation Message File – Header Section Description TABLE A5 GNSS NAVIGATION MESSAGE FILE – HEADER SECTION DESCRIPTION HEADER LABEL (Columns 61-80) DESCRIPTION FORMAT RINEX VERSION / TYPE  Format version : 3.04  File type (‘N’ for navigation data)  Satellite System: G: GPS R: GLONASS E: Galileo J: QZSS C: BDS I: IRNSS S: SBAS Payload M: Mixed F9.2,11X, A1,19X, A1,19X PGM / RUN BY / DATE  Name of program creating current file  Name of agency creating current file  Date and time of file creation Format: yyyymmdd hhmmss zone zone: 3-4 char. code for time zone. ‘UTC ‘ recommended! ‘LCL ‘ if local time with unknown local time system code A20, A20, A20 * COMMENT Comment line(s) A60 * IONOSPHERIC CORR Ionospheric correction parameters  Correction type: GAL= Galileo ai0 – ai2 GPSA= GPS alpha0 – alpha3 GPSB= GPS beta0 – beta3 QZSA = QZS alpha0 – alpha3 QZSB = QZS beta0 – beta3 BDSA = BDS alpha0 – alpha3 BDSB = BDS beta0 – beta3 IRNA = IRNSS alpha0 – alpha3 IRNB = IRNSS beta0 – beta3  Parameters: GAL: ai0, ai1, ai2, Blank GPS: alpha0-alpha3 or beta0-beta3 QZS: alpha0-alpha3 or beta0-beta3 BDS: alpha0-alpha3 or beta0-beta3 IRN: alpha0-alpha3 or beta0-beta3  Time mark, Transmission Time (seconds of week) converted to hours of day and then to A-X. See BDS example below: A4,1X, 4D12.4 1X,A1
RINEX Version 3.04 Appendix A20
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TABLE A5 GNSS NAVIGATION MESSAGE FILE – HEADER SECTION DESCRIPTION HEADER LABEL (Columns 61-80) DESCRIPTION FORMAT A=BDT 00h-01h; B=BDT 01h-02h; … X= BDT 23h-24h. This field is mandatory for BDS and optional for the other constellations, (BNK).  SV ID, identify which satellite provided the ionospheric parameters. This field is mandatory for BDS and optional for the other constellations (BNK). Note 1: Multiple IONOSPHERIC CORR message can be written in the header. Note 2: It is recommended that BDS ionospheric broadcast model parameters from BDS GEO satellites, be given the most priority. Then the parameters from BDS IGSO satellites should be given secondary priority and then tertiary priority is given to BDS MEO satellite ionospheric correction parameters. 1X,I2 * TIME SYSTEM CORR Difference between GNSS system time and UTC or other time systems  Type: GPUT = GPS – UTC (a0, a1) GLUT = GLO – UTC (a0= -TauC, a1=zero) GAUT = GAL – UTC ( a0, a1) BDUT =BDS – UTC (a0=A0UTC, a1=A1UTC ) QZUT = QZS – UTC (a0, a1) IRUT = IRN – UTC (a0=A0UTC, a1=A1UTC ) SBUT = SBAS – UTC (a0, a1) GLGP = GLO – GPS (a0=TauGPS, a1=zero) GAGP = GAL – GPS (See **Note Below) (a0 = A0G, a1 = A1G for GAL INAV/FNAV; a0 = –A0GGTO, a1 = –A1 GGTO for GPS CNAV) QZGP = QZS – GPS (a0, a1) IRGP =IRN – GPS (a0=A0, a1=A1 )  a0,a1 coefficients of linear polynomial A4,1X, D17.10,
RINEX Version 3.04 Appendix A21
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TABLE A5 GNSS NAVIGATION MESSAGE FILE – HEADER SECTION DESCRIPTION HEADER LABEL (Columns 61-80) DESCRIPTION FORMAT Δt = a0 + a1·(t-tref) for fractional part (excluding leap seconds) of time system difference (a0 sec, a1 sec/sec)  T Reference time for polynomial (Seconds into GPS/GAL/BDS/QZS/IRN/SBAS week)  W Reference week number (GPS/GAL/QZS/IRN/SBAS week, continuous number from 6-Jan-1980), T and W zero for GLONASS. BDS week, continuous from: 1-Jan-2006  S Source System and number Snn of GNSS satellite broadcasting the time system difference or SBAS satellite broadcasting the MT12. Use EGNOS, WAAS, or MSAS for SBAS time differences from MT17.  U UTC Identifier (0 if unknown) 1=UTC(NIST), 2=UTC(USNO), 3=UTC(SU), 4=UTC(BIPM), 5=UTC(Europe Lab), 6=UTC(CRL), 7=UTC(NTSC) (BDS), >7 = not assigned yet S and U for SBAS only. **Note: RINEX 3.04 and 3:03 provides the same sign and value for the Galileo minus GPS time offset but the GPGA label is replaced by GAGP in RINEX 3.04. D16.9, 1XI6, 1XI4, 1X,A5,1X I2,1X * LEAP SECONDS  Current Number of leap seconds  Future or past leap seconds ΔtLSF (BNK), i.e. future leap second if the week and day number are in the future.  Respective week number WN_LSF (continuous number) (BNK). For GPS, GAL, QZS and IRN, weeks since 6-Jan-1980. When BDS only file leap seconds specified, weeks since 1-Jan-2006.  Respective day number DN (0-6) BeiDou and (1-7) for GPS and others constellations, (BNK). The day number is the GPS or BeiDou day before the leap second (See Note 1 below). In the case of the Tuesday, June 30/2015 (GPS Week 1851, DN 3) the UTC leap second actually occurred 16 seconds into the next GPS I6, I6, I6, I6
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TABLE A5 GNSS NAVIGATION MESSAGE FILE – HEADER SECTION DESCRIPTION HEADER LABEL (Columns 61-80) DESCRIPTION FORMAT day.  Time system identifier: only GPS and BDS are valid identifiers. Blank defaults to GPS, see Notes section below. Notes: 1. GPS, GAL, QZS and IRN time systems are aligned and are equivalent with respect to leap seconds (Leap seconds since 6-Jan-1980).See the GPS almanac and DN reference IS-GPS-200H 20.3.3.5.2.4. 2. For BDS only navigation files, the Number of leap seconds since 1-Jan-2006 as transmitted by the BDS almanac ΔtLS(see BDS-SIS-ICD-2.0 5.2.4.17) A3 END OF HEADER
Records marked with * are optional, BNK- Blank if Not Know/Defined
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A 6 GNSS Navigation Message File – GPS Data Record Description TABLE A6 GNSS NAVIGATION MESSAGE FILE – GPS DATA RECORD DESCRIPTION NAV. RECORD DESCRIPTION FORMAT SV / EPOCH / SV CLK – Satellite system (G), sat number (PRN) – Epoch: Toc – Time of Clock (GPS) year (4 digits) – month, day, hour, minute, second – SV clock bias (seconds) – SV clock drift (sec/sec) – SV clock drift rate (sec/sec2) A1,I2.2, 1X,I4, 5(1X,I2.2), 3D19.12 *) BROADCAST ORBIT – 1 – IODE Issue of Data, Ephemeris – Crs (meters) – Delta n (radians/sec) – M0 (radians) 4X,4D19.12 ***) BROADCAST ORBIT – 2 – Cuc (radians) – e Eccentricity – Cus (radians) – sqrt(A) (sqrt(m)) 4X,4D19.12 BROADCAST ORBIT – 3 – Toe Time of Ephemeris (sec of GPS week) – Cic (radians) – OMEGA0 (radians) – Cis (radians) 4X,4D19.12 BROADCAST ORBIT – 4 – i0 (radians) – Crc (meters) – omega (radians) – OMEGA DOT (radians/sec) 4X,4D19.12 BROADCAST ORBIT – 5 – IDOT (radians/sec) – Codes on L2 channel – GPS Week # (to go with TOE) Continuous number, not mod(1024)! – L2 P data flag 4X,4D19.12 BROADCAST ORBIT – 6 – SV accuracy (meters) See GPS ICD 200H Section 20.3.3.3.1.3 use specified equations to define nominal values, N = 0-6: use 2(1+N/2) (round to one decimal place i.e. 2.8, 5.7 and 11.3) , N= 7-15:use 2 (N-2), 8192 specifies use at own risk – SV health (bits 17-22 w 3 sf 1) – TGD (seconds) – IODC Issue of Data, Clock 4X,4D19.12 BROADCAST ORBIT – 7 – Transmission time of message **) (sec of GPS week, derived e.g.from Z-count in Hand Over Word (HOW)) – Fit Interval in hours see section 6.11. (BNK). 4X,4D19.12
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TABLE A6 GNSS NAVIGATION MESSAGE FILE – GPS DATA RECORD DESCRIPTION NAV. RECORD DESCRIPTION FORMAT – Spare – Spare
*) 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.
**) Adjust the Transmission time of message by + or -604800 to refer to the reported week in BROADCAST ORBIT 5, if necessary. Set value to 0.9999E9 if not known.
A 7 GPS Navigation Message File – Example +——————————————————————————+ | TABLE A7 | | GPS NAVIGATION MESSAGE FILE – EXAMPLE | +——————————————————————————+ —-|—1|0—|—2|0—|—3|0—|—4|0—|—5|0—|—6|0—|—7|0—|—8| 3.04 N: GNSS NAV DATA G: GPS RINEX VERSION / TYPE XXRINEXN V3 AIUB 19990903 152236 UTC PGM / RUN BY / DATE EXAMPLE OF VERSION 3.04 FORMAT COMMENT GPSA .1676D-07 .2235D-07 .1192D-06 .1192D-06 IONOSPHERIC CORR GPSB .1208D+06 .1310D+06 -.1310D+06 -.1966D+06 IONOSPHERIC CORR GPUT .1331791282D-06 .107469589D-12 552960 1025 G12 2 TIME SYSTEM CORR 13 LEAP SECONDS END OF HEADER G06 1999 09 02 17 51 44 -.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 .400000000000E+01 G13 1999 09 02 19 00 00 .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 .400000000000E+01 —-|—1|0—|—2|0—|—3|0—|—4|0—|—5|0—|—6|0—|—7|0—|—8|
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A 8 GNSS Navigation Message File – GALILEO Data Record Description TABLE A8 GNSS NAVIGATION MESSAGE FILE – GALILEO DATA RECORD DESCRIPTION NAV. RECORD DESCRIPTION FORMAT SV / EPOCH / SV CLK – Satellite system (E), satellite number – Epoch: Toc – Time of Clock GALyear (4 digits) – month, day, hour, minute, second – SV clock bias (seconds) af0 – SV clock drift (sec/sec) af1 – SV clock drift rate (sec/sec2) af2 (see Br.Orbit-5, data source, bits 8+9) A1,I2.2, 1X,I4, 5(1X,I2.2), 3D19.12 *) BROADCAST ORBIT – 1 – IODnav Issue of Data of the nav batch – Crs (meters) – Delta n (radians/sec) – M0 (radians) 4X,4D19.12 ***) BROADCAST ORBIT – 2 – Cuc (radians) – e Eccentricity – Cus (radians) – sqrt(a) (sqrt(m)) 4X,4D19.12 BROADCAST ORBIT – 3 – Toe Time of Ephemeris (sec of GAL week) – Cic (radians) – OMEGA0 (radians) – Cis (radians) 4X,4D19.12 BROADCAST ORBIT – 4 – i0 (radians) – Crc (meters) – omega (radians) – OMEGA DOT (radians/sec) 4X,4D19.12 BROADCAST ORBIT – 5 – IDOT (radians/sec) – Data sources (FLOAT –> INTEGER) Bit 0 set: I/NAV E1-B Bit 1 set: F/NAV E5a-I Bit 2 set: I/NAV E5b-I Bits 0 and 2 : Both can be set if the navigation messages were merged, however, bits 0-2 cannot all be set, as the I/NAV and F/NAV messages contain different information Bit 3 reserved for Galileo internal use Bit 4 reserved for Galileo internal use Bit 8 set: af0-af2, Toc, SISA are for E5a,E1 Bit 9 set: af0-af2, Toc, SISA are for E5b,E1 Bits 8-9 : exclusive (only one bit can be set) – GAL Week # (to go with Toe) – Spare 4X,4D19.12 ****)
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TABLE A8 GNSS NAVIGATION MESSAGE FILE – GALILEO DATA RECORD DESCRIPTION NAV. RECORD DESCRIPTION FORMAT BROADCAST ORBIT – 6 – SISA Signal in space accuracy (meters) No Accuracy Prediction Available(NAPA) / unknown: -1.0 – SV health (FLOAT converted to INTEGER) See Galileo ICD Section 5.1.9.3 Bit 0: E1B DVS Bits 1-2: E1B HS Bit 3: E5a DVS Bits 4-5: E5a HS Bit 6: E5b DVS Bits 7-8: E5b HS – BGD E5a/E1 (seconds) – BGD E5b/E1 (seconds) 4X,4D19.12 *****) BROADCAST ORBIT – 7 – Transmission time of message **) (sec of GAL week, derived from WN and TOW of page type 1) – spare – spare – spare 4X,4D19.12
*) 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.
**) Adjust the Transmission time of message by + or -604800 to refer to the reported week in BROADCAST ORBIT 5, if necessary. Set value to 0.9999E9 if not known.
***) Angles and their derivatives transmitted in units of semi-circles and semi-circles/sec have to be converted to radians by the RINEX generator.
****) The GAL week number is a continuous number, aligned to (and hence identical to) the continuous GPS week number used in the RINEX navigation message files. The broadcast 12-bit Galileo System Time (GST) week has a roll-over after 4095. It started at zero at the first GPS roll-over (continuous GPS week 1024). Hence GAL week = GST week + 1024 + n*4096 (n: number of GST roll-overs).
*****) If bit 0 or bit 2 of Data sources (BROADCAST ORBIT – 5) is set, E1B DVS & HS, E5b DVS & HS and both BGDs are valid. -If bit 1 of Data sources is set, E5a DVS & HS and BGD E5a/E1 are valid. -Non valid parameters are set to 0 and to be ignored
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A 9 GALILEO Navigation Message File – Examples +——————————————————————————+ | TABLE A9 | | GALILEO NAVIGATION MESSAGE FILE – EXAMPLES | +——————————————————————————+ —-|—1|0—|—2|0—|—3|0—|—4|0—|—5|0—|—6|0—|—7|0—|—8| 3.04 N: GNSS NAV DATA E: GALILEO NAV DATA RINEX VERSION / TYPE NetR9 5.01 Receiver Operator 20150619 000000 UTC PGM / RUN BY / DATE GAL .1248D+03 .5039D+00 .2377D-01 .0000D+00 IONOSPHERIC CORR GAUT .3725290298D-08 .532907052D-14 345600 1849 E10 5 TIME SYSTEM CORR 16 17 1851 3 LEAP SECONDS END OF HEADER E12 2015 06 19 02 10 00 -.138392508961D-02 -.131464616970D-09 .000000000000D+00 .930000000000D+02 -.165531250000D+03 .285797618904D-08 .138275888459D+01 -.782497227192D-05 .346679124050D-03 .114385038614D-04 .544062509727D+04 .439800000000D+06 .298023223877D-07 -.296185101312D+01 -.111758708954D-07 .965683294025D+00 .993750000000D+02 -.629360976005D+00 -.541593988135D-08 -.571452374714D-11 .516000000000D+03 .184900000000D+04 .312000000000D+01 .000000000000D+00 -.651925802231D-08 -.605359673500D-08 .440734000000D+06 E12 2015 06 19 02 10 00 -.138392508961D-02 -.131464616970D-09 .000000000000D+00 .930000000000D+02 -.165531250000D+03 .285797618904D-08 .138275888459D+01 -.782497227192D-05 .346679124050D-03 .114385038614D-04 .544062509727D+04 .439800000000D+06 .298023223877D-07 -.296185101312D+01 -.111758708954D-07 .965683294025D+00 .993750000000D+02 -.629360976005D+00 -.541593988135D-08 -.571452374714D-11 .513000000000D+03 .184900000000D+04 .312000000000D+01 .000000000000D+00 -.651925802231D-08 -.605359673500D-08 .440725000000D+06 E12 2015 06 19 02 10 00 -.138392532244D-02 -.131450406116D-09 .000000000000D+00 .930000000000D+02 -.165531250000D+03 .285797618904D-08 .138275888459D+01 -.782497227192D-05 .346679124050D-03 .114385038614D-04 .544062509727D+04 .439800000000D+06 .298023223877D-07 -.296185101312D+01 -.111758708954D-07 .965683294025D+00 .993750000000D+02 -.629360976005D+00 -.541593988135D-08 -.571452374714D-11 .258000000000D+03 .184900000000D+04 .312000000000D+01 .000000000000D+00 -.651925802231D-08 .000000000000D+00 .440730000000D+06 3.04 NAVIGATION DATA M (Mixed) RINEX VERSION / TYPE BCEmerge congo 20150620 012902 GMT PGM / RUN BY / DATE Merged GPS/GLO/GAL/BDS/QZS/SBAS navigation file COMMENT based on CONGO and MGEX tracking data COMMENT DLR: O. Montenbruck; TUM: P. Steigenberger COMMENT BDUT 5.5879354477e-09-2.042810365e-14 14 492 B10 7 TIME SYSTEM CORR GAUT 3.7252902985e-09 5.329070518e-15 345600 1849 E10 5 TIME SYSTEM CORR GLGP -3.7252902985e-09 0.000000000e+00 345600 1849 R10 0 TIME SYSTEM CORR GLUT 1.0710209608e-08 0.000000000e+00 345600 1849 R10 0 TIME SYSTEM CORR GAGP -2.0081643015e-09-9.769962617e-15 432000 1849 E12 0 TIME SYSTEM CORR GPUT 4.5110937208e-09 7.105427358e-15 372608 1849 G10 2 TIME SYSTEM CORR QZUT 1.9557774067e-08 1.598721155e-14 61440 1850 J01 0 TIME SYSTEM CORR 18 LEAP SECONDS END OF HEADER E12 2015 06 19 02 10 00-1.383925089613e-03-1.314646169703e-10 0.000000000000e+00 9.300000000000e+01-1.655312500000e+02 2.857976189037e-09 1.382758884589e+00 -7.824972271919e-06 3.466791240498e-04 1.143850386143e-05 5.440625097275e+03 4.398000000000e+05 2.980232238770e-08-2.961851013120e+00-1.117587089539e-08 9.656832940254e-01 9.937500000000e+01-6.293609760051e-01-5.415939881349e-09 -5.714523747137e-12 5.130000000000e+02 1.849000000000e+03 3.120000000000e+00 0.000000000000e+00-6.519258022308e-09-6.053596735001e-09 4.404850000000e+05
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E12 2015 06 19 02 10 00-1.383925322443e-03-1.314504061156e-10 0.000000000000e+00 9.300000000000e+01-1.655312500000e+02 2.857976189037e-09 1.382758884589e+00 -7.824972271919e-06 3.466791240498e-04 1.143850386143e-05 5.440625097275e+03 4.398000000000e+05 2.980232238770e-08-2.961851013120e+00-1.117587089539e-08 9.656832940254e-01 9.937500000000e+01-6.293609760051e-01-5.415939881349e-09 -5.714523747137e-12 2.580000000000e+02 1.849000000000e+03 3.120000000000e+00 0.000000000000e+00-6.519258022308e-09 0.000000000000e+00 4.405300000000e+05 —-|—1|0—|—2|0—|—3|0—|—4|0—|—5|0—|—6|0—|—7|0—|—8|
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A 10 GNSS Navigation Message File – GLONASS Data Record Description TABLE A10 GNSS NAVIGATION MESSAGE FILE – GLONASS DATA RECORD DESCRIPTION NAV. RECORD DESCRIPTION FORMAT SV / EPOCH / SV CLK – Satellite system (R), satellite number (slot number in sat. constellation) – Epoch: Toc – Time of Clock (UTC) year (4 digits) – month, day, hour, minute, second – SV clock bias (sec) (-TauN) – SV relative frequency bias (+GammaN) – Message frame time (tk+nd*86400) in seconds of the UTC week A1,I2.2, 1X,I4, 5(1X,I2.2), 3D19.12 *) BROADCAST ORBIT – 1 – Satellite position X (km) – velocity X dot (km/sec) – X acceleration (km/sec2) – health (0=healthy, 1=unhealthy) (MSB of 3-bit Bn) 4X,4D19.12 BROADCAST ORBIT – 2 – Satellite position Y (km) – velocity Y dot (km/sec) – Y acceleration (km/sec2) – frequency number(-7…+13) (-7…+6 ICD 5.1) 4X,4D19.12 BROADCAST ORBIT – 3 – Satellite position Z (km) – velocity Z dot (km/sec) – Z acceleration (km/sec2) – Age of oper. information (days) (E) 4X,4D19.12
*) 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.
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A 11 GNSS Navigation Message File – Example: Mixed GPS / GLONASS
+——————————————————————————+ | TABLE A11 | | GNSS NAVIGATION MESSAGE FILE – EXAMPLE MIXED GPS/GLONASS | +——————————————————————————+ —-|—1|0—|—2|0—|—3|0—|—4|0—|—5|0—|—6|0—|—7|0—|—8| 3.04 N: GNSS NAV DATA M: MIXED RINEX VERSION / TYPE XXRINEXN V3 AIUB 20061002 000123 UTC PGM / RUN BY / DATE EXAMPLE OF VERSION 3.04 FORMAT COMMENT GPSA 0.1025E-07 0.7451E-08 -0.5960E-07 -0.5960E-07 IONOSPHERIC CORR GPSB 0.8806E+05 0.0000E+00 -0.1966E+06 -0.6554E+05 IONOSPHERIC CORR GPUT 0.2793967723E-08 0.000000000E+00 147456 1395 G10 2 TIME SYSTEM CORR GLUT 0.7823109626E-06 0.000000000E+00 0 1395 R10 0 TIME SYSTEM CORR 14 LEAP SECONDS END OF HEADER G01 2006 10 01 00 00 00 0.798045657575E-04 0.227373675443E-11 0.000000000000E+00 0.560000000000E+02-0.787500000000E+01 0.375658504827E-08 0.265129935612E+01 -0.411644577980E-06 0.640150101390E-02 0.381097197533E-05 0.515371852875E+04 0.000000000000E+00 0.782310962677E-07 0.188667086536E+00-0.391155481338E-07 0.989010441512E+00 0.320093750000E+03-0.178449589759E+01-0.775925177541E-08 0.828605943335E-10 0.000000000000E+00 0.139500000000E+04 0.000000000000E+00 0.200000000000E+01 0.000000000000E+00-0.325962901115E-08 0.560000000000E+02 -0.600000000000E+02 0.400000000000E+01 G02 2006 10 01 00 00 00 0.402340665460E-04 0.386535248253E-11 0.000000000000E+00 0.135000000000E+03 0.467500000000E+02 0.478269921862E-08-0.238713891022E+01 0.250712037086E-05 0.876975362189E-02 0.819191336632E-05 0.515372778320E+04 0.000000000000E+00-0.260770320892E-07-0.195156738598E+01 0.128522515297E-06 0.948630520258E+00 0.214312500000E+03 0.215165003775E+01-0.794140221985E-08 -0.437875382124E-09 0.000000000000E+00 0.139500000000E+04 0.000000000000E+00 0.200000000000E+01 0.000000000000E+00-0.172294676304E-07 0.391000000000E+03 -0.600000000000E+02 0.400000000000E+01 R01 2006 10 01 00 15 00-0.137668102980E-04-0.454747350886E-11 0.900000000000E+02 0.157594921875E+05-0.145566368103E+01 0.000000000000E+00 0.000000000000E+00 -0.813711474609E+04 0.205006790161E+01 0.931322574615E-09 0.700000000000E+01 0.183413398438E+05 0.215388488770E+01-0.186264514923E-08 0.100000000000E+01 R02 2006 10 01 00 15 0-0.506537035108E-04 0.181898940355E-11 0.300000000000E+02 0.155536342773E+05-0.419384956360E+00 0.000000000000E+00 0.000000000000E+00 -0.199011298828E+05 0.324192047119E+00-0.931322574615E-09 0.100000000000E+01 0.355333544922E+04 0.352666091919E+01-0.186264514923E-08 0.100000000000E+01 —-|—1|0—|—2|0—|—3|0—|—4|0—|—5|0—|—6|0—|—7|0—|—8|
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A 12 GNSS Navigation Message File – QZSS Data Record Description TABLE A12 QZSS NAVIGATION MESSAGE FILE – QZSS DATA RECORD DESCRIPTION NAV. RECORD (Columns 61-80) DESCRIPTION FORMAT SV / EPOCH / SV CLK – Satellite system (J), Satellite PRN-192 – Epoch: Toc – Time of Clock year (4 digits) – month, day, hour, minutes, seconds – SV clock bias (seconds) – SV clock drift (sec/sec) – SV clock drift rate (sec/sec2) A1,I2, 1X,I4, 5(1X,I2), 3D19.12 *) BROADCAST ORBIT – 1 – IODE Issue of Data, Ephemeris – Crs (meters) – Delta n (radians/sec) – M0 (radians) 4X,4D19.12 BROADCAST ORBIT – 2 – Cuc (radians) – e Eccentricity – Cus (radians) – sqrt(A) (sqrt(m)) 4X,4D19.12 BROADCAST ORBIT – 3 – Toe Time of Ephemeris (sec of GPS week) – Cic (radians) – OMEGA (radians) – CIS (radians) 4X,4D19.12 BROADCAST ORBIT – 4 – i0 (radians) – Crc (meters) – omega (radians) – OMEGA DOT (radians/sec) 4X,4D19.12 BROADCAST ORBIT – 5 – IDOT (radians/sec) – Codes on L2 channel (fixed to 2, see IS-QZSS-PNT 4.1.2.7) – GPS Week # (to go with TOE) Continuous number, not mod(1024)! – L2P data flag set to 1 since QZSS does not track L2P 4X,4D19.12 BROADCAST ORBIT – 6 – SV accuracy (meters) (IS -QZSS-PNT, Section 5.4.3.1) which refers to: IS GPS 200H Section 20.3.3.3.1.3 use specified equations to define nominal values, N = 0-6: use 2(1+N/2) (round to one decimal place i.e. 2.8, 5.7 and 11.3) , N= 7-15:use 2 (N-2), 8192 specifies use at own risk – SV health (bits 17-22 w 3 sf 1) (see IS-QZSS-PNT 5.4.1) 4X,4D19.12
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TABLE A12 QZSS NAVIGATION MESSAGE FILE – QZSS DATA RECORD DESCRIPTION NAV. RECORD (Columns 61-80) DESCRIPTION FORMAT – TGD (seconds) The QZSS ICD specifies a do not use bit pattern “10000000” this condition is represented by a blank field. – IODC Issue of Data, Clock BROADCAST ORBIT – 7 – Transmission time of message **) (sec of GPS week, derived e.g. from Z-count in Hand Over Word (HOW) – Fit interval flag (0 / 1) (see IS-QZSS-PNT, 4.1.2.4(3) 0 – two hours), 1 – more than 2 hours. Blank if not known. – Spare – Spare 4X,4D19.12
Records marked with * are optional
**) Adjust the Transmission time of message by -604800 to refer to the reported week, if necessary.
*) In order to account for the various compilers, letters E,e,D, and d are allowed between the fraction and exponent of all floating point numbers in the navigation message files. Zero-padded two-digit exponents are required, however.
A 13 QZSS Navigation Message File – Example +——————————————————————————+ | TABLE A13 | | QZSS NAVIGATION MESSAGE FILE – EXAMPLE | +——————————————————————————+ —-|—1|0—|—2|0—|—3|0—|—4|0—|—5|0—|—6|0—|—7|0—|—8| 3.04 N: GNSS NAV DATA J: QZSS RINEX VERSION / TYPE GR25 V3.08 20140513 072944 UTC PGM / RUN BY / DATE 16 1694 7 LEAP SECONDS END OF HEADER J01 2014 05 13 08 15 12 3.323303535581D-04-1.818989403546D-11 0.000000000000D+00 6.900000000000D+01-4.927812500000D+02 2.222949737636D-09 7.641996743610D-01 -1.654587686062D-05 7.542252133135D-02 1.197867095470D-05 6.492895933151D+03 2.025120000000D+05-8.381903171539D-07-9.211997910060D-01-2.041459083557D-06 7.082252892260D-01-1.558437500000D+02-1.575843337115D+00-2.349740733276D-09 -6.793140104410D-10 2.000000000000D+00 1.792000000000D+03 1.000000000000D+00 2.000000000000D+00 1.000000000000D+00-4.656612873077D-09 6.900000000000D+01 1.989000000000D+05 0.000000000000D+00 —-|—1|0—|—2|0—|—3|0—|—4|0—|—5|0—|—6|0—|—7|0—|—8|
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A 14 GNSS Navigation Message File – BDS Data Record Description Table A14 GNSS NAVIGATION MESSAGE FILE – BDS DATA RECORD DESCRIPTION NAV. RECORD DESCRIPTION FORMAT SV /EPOCH / SV CLK – Satellite system (C), sat number (PRN) – Epoch: Toc – Time of Clock (BDT) year (4 digits) – month, day, hour, minute, second – SV clock bias (seconds) – SV clock drift (sec/sec) – SV clock drift rate (sec/sec2) A1,I2.2, 1X,I4 5,1X,I2.2, 3D19.12 *) BROADCAST ORBIT – 1 – AODE Age of Data, Ephemeris (as specified in BeiDou ICD Table Section 5.2.4.11 Table 5-8) and field range is: 0-31. – Crs (meters) – Delta n (radians/sec) – M0 (radians) 4X,4D19.12 **) BROADCAST ORBIT – 2 – Cuc (radians) – e Eccentricity – Cus (radians) – sqrt(A) (sqrt(m)) 4X,4D19.12 BROADCAST ORBIT – 3 – Toe Time of Ephemeris (sec of BDT week) – Cic (radians) – OMEGA0 (radians) – Cis (radians) 4X,4D19.12 BROADCAST ORBIT – 4 – i0 (radians) – Crc (meters) – omega (radians) – OMEGA DOT (radians/sec) 4X,4D19.12 BROADCAST ORBIT – 5 – IDOT (radians/sec) – Spare – BDT Week # – Spare 4X,4D19.12 ***) BROADCAST ORBIT – 6 – SV accuracy (meters See: BDS ICD Section 5.2.4.: to define nominal values, N = 0-6: use 2(1+N/2) (round to one decimal place i.e. 2.8, 5.7 and 11.3) , N= 7-15:use 2 (N-2), 8192 specifies use at own risk) – SatH1 – TGD1 B1/B3 (seconds) – TGD2 B2/B3 (seconds) 4X,4D19.12
RINEX Version 3.04 Appendix A34
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BROADCAST ORBIT – 7 – Transmission time of message ****) (sec of BDT week,) – AODC Age of Data Clock (as specified in BeiDou ICD Table Section 5.2.4.9 Table 5-6) and field range is: 0-31. – Spare – Spare 4X,4D19.12 *) 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. **) Angles and their derivatives transmitted in units of semi-circles and semi-circles/sec have to be converted to radians by the RINEX generator. ***) The BDT week number is a continuous number. The broadcast 13-bit BDS System Time week has a roll-over after 8191. It started at zero at 1-Jan-2006, Hence BDT week = BDT week_BRD + (n*8192) where (n: number of BDT roll-overs). ****) Adjust the Transmission time of message by + or -604800 to refer to the reported week in BROADCAST ORBIT -5, if necessary. Set value to 0.9999E9 if not known.
A 15 BeiDou Navigation Message File – Example +——————————————————————————+ | TABLE A15 | | BeiDou NAVIGATION MESSAGE FILE – EXAMPLE | +——————————————————————————+ —-|—1|0—|—2|0—|—3|0—|—4|0—|—5|0—|—6|0—|—7|0—|—8| 3.04 NAVIGATION DATA M (Mixed) RINEX VERSION / TYPE BCEmerge montenbruck 20140517 072316 GMT PGM / RUN BY / DATE DLR: O. Montenbruck; TUM: P. Steigenberger COMMENT BDUT -9.3132257462e-10 9.769962617e-15 14 435 TIME SYSTEM CORR END OF HEADER C01 2014 05 10 00 00 00 2.969256602228e-04 2.196998138970e-11 0.000000000000e+00 1.000000000000e+00 4.365468750000e+02 1.318269196918e-09-3.118148933476e+00 1.447647809982e-05 2.822051756084e-04 8.092261850834e-06 6.493480609894e+03 5.184000000000e+05-2.654269337654e-08 3.076630958509e+00-3.864988684654e-08 1.103024081152e-01-2.506406250000e+02 2.587808789012e+00-3.039412318009e-10 2.389385241772e-10 0.000000000000e+00 4.350000000000e+02 0.000000000000e+00 2.000000000000e+00 0.000000000000e+00 1.420000000000e-08-1.040000000000e-08 5.184000000000e+05 0.000000000000e+00 —-|—1|0—|—2|0—|—3|0—|—4|0—|—5|0—|—6|0—|—7|0—|—8|
RINEX Version 3.04 Appendix A35
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A 16 GNSS Navigation Message File – SBAS Data Record Description TABLE A16 GNSS NAVIGATION MESSAGE FILE – SBAS DATA RECORD DESCRIPTION NAV. RECORD DESCRIPTION FORMAT SV / EPOCH / SV CLK – Satellite system (S), satellite number (slot number in sat. constellation) – Epoch: Toc – Time of Clock (GPS) year (4 digits) – month, day, hour, minute, second – SV clock bias (sec) (aGf0) – SV relative frequency bias (aGf1) – Transmission time of message (start of the message) in GPS seconds of the week A1,I2.2, 1X,I4, 5(1X,I2.2), 3D19.12, *) BROADCAST ORBIT – 1 – Satellite position X (km) – velocity X dot (km/sec) – X acceleration (km/sec2) – Health: SBAS: See Section 8.3.3 bit mask for: health, health availability and User Range Accuracy. 4X,4D19.12 BROADCAST ORBIT – 2 – Satellite position Y (km) – velocity Y dot (km/sec) – Y acceleration (km/sec2) – Accuracy code (URA, meters) 4X,4D19.12 BROADCAST ORBIT – 3 – Satellite position Z (km) – velocity Z dot (km/sec) – Z acceleration (km/sec2) – IODN (Issue of Data Navigation, DO229, 8 first bits after Message Type if MT9) 4X,4D19.12
*) 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.
RINEX Version 3.04 Appendix A36
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A 17 SBAS Navigation Message File -Example +——————————————————————————+ | TABLE A17 | | SBAS NAVIGATION MESSAGE FILE – EXAMPLE | +——————————————————————————+ —-|—1|0—|—2|0—|—3|0—|—4|0—|—5|0—|—6|0—|—7|0—|—8| 3.04 N: GNSS NAV DATA S: SBAS RINEX VERSION / TYPE SBAS2RINEX 3.0 CNES 20031018 140100 PGM / RUN BY / DATE EXAMPLE OF VERSION 3.04 FORMAT COMMENT SBUT -.1331791282D-06 -.107469589D-12 552960 1025 EGNOS 5 TIME SYSTEM CORR 13 LEAP SECONDS This file contains navigation message data from a SBAS COMMENT (geostationary) satellite, here AOR-W (PRN 122 = # S22) COMMENT END OF HEADER S22 2003 10 18 0 1 4-1.005828380585D-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 S22 2003 10 18 0 5 20-9.872019290924D-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 S22 2003 10 18 0 9 36-9.732320904732D-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 S22 2003 10 18 0 13 52-9.592622518539D-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 —-|—1|0—|—2|0—|—3|0—|—4|0—|—5|0—|—6|0—|—7|0—|—8|
RINEX Version 3.04 Appendix A37
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A 18 GNSS Navigation Message File – IRNSS Data Record Description TABLE A18 GNSS NAVIGATION MESSAGE FILE – IRNSS DATA RECORD DESCRIPTION NAV. RECORD DESCRIPTION FORMAT SV / EPOCH / SV CLK – Satellite system (I), sat number (PRN) – Epoch: Toc – Time of Clock (IRNSS) year (4 digits) – month, day, hour, minute, second – SV clock bias (seconds) – SV clock drift (sec/sec) – SV clock drift rate (sec/sec2) A1,I2.2, 1X,I4, 5(1X,I2.2), 3D19.12 *) BROADCAST ORBIT – 1 – IODEC Issue of Data, Ephemeris and Clock – Crs (meters) – Delta n (radians/sec) – M0 (radians) 4X,4D19.12 ***) BROADCAST ORBIT – 2 – Cuc (radians) – e Eccentricity – Cus (radians) – sqrt(A) (sqrt(m)) 4X,4D19.12 BROADCAST ORBIT – 3 – Toe Time of Ephemeris (sec of IRNSS week) – Cic (radians) – OMEGA0 (radians) – Cis (radians) 4X,4D19.12 BROADCAST ORBIT – 4 – i0 (radians) – Crc (meters) – omega (radians) – OMEGA DOT (radians/sec) 4X,4D19.12 BROADCAST ORBIT – 5 – IDOT (radians/sec) – Blank – IRN Week # (to go with TOE) Continuous number, not mod (1024), counted from 1980 (same as GPS). – Blank 4X,4D19.12 BROADCAST ORBIT – 6 – User Range Accuracy(m), See IRNSS ICD Section 6.2.1.4 , use specified equations to define nominal values, N = 0-6: use 2(1+N/2) (round to one decimal place i.e. 2.8, 5.7 and 11.3) , N= 7-15:use 2 (N-2), 8192 specifies use at own risk – Health (Sub frame 1,bits 155(most significant) and 156(least significant)), where 0 = L5 and S healthy, 1 = L5 healthy and S unhealthy, 2= L5 unhealthy and S healthy, 3= both L5 and S unhealthy 4X,4D19.12
RINEX Version 3.04 Appendix A38
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TABLE A18 GNSS NAVIGATION MESSAGE FILE – IRNSS DATA RECORD DESCRIPTION NAV. RECORD DESCRIPTION FORMAT – TGD (seconds) – Blank BROADCAST ORBIT – 7 – Transmission time of message **) (sec of IRNSS week) – Blank – Blank – Blank 4X,4D19.12
*) 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.
**) Adjust the Transmission time of message by + or -604800 to refer to the reported week in BROADCAST ORBIT 5, if necessary. Set value to 0.9999E9 if not known.
RINEX Version 3.04 Appendix A39
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A 19 IRNSS Navigation Message File – Example +——————————————————————————+ | TABLE A19 | | IRNSS NAVIGATION MESSAGE FILE – EXAMPLE | +——————————————————————————+ —-|—1|0—|—2|0—|—3|0—|—4|0—|—5|0—|—6|0—|—7|0—|—8| 3.04 NAVIGATION DATA I (IRNSS) RINEX VERSION / TYPE DecodIRNSS montenbruck 20141004 164512 GMT PGM / RUN BY / DATE Source: IRNSS-1A Navbits COMMENT END OF HEADER I01 2014 04 01 00 00 00-9.473115205765e-04 1.250555214938e-12 0.000000000000e+00 0.000000000000e+00-5.820625000000e+02 4.720196615135e-09-1.396094758025e+00 -1.898035407066e-05 2.257102518342e-03-1.068413257599e-05 6.493487739563e+03 1.728000000000e+05 6.705522537231e-08-8.912102146884e-01-5.215406417847e-08 4.758105460020e-01 4.009375000000e+02-2.999907424014e+00-4.414469594664e-09 -4.839487298357e-10 1.786000000000e+03 1.130000000000e+01 0.000000000000e+00-4.190951585770e-09 1.728000000000e+05 I01 2014 04 01 02 00 00-9.473022073507e-04 1.250555214938e-12 0.000000000000e+00 1.000000000000e+00-5.101875000000e+02 4.945920303147e-09-8.741766987741e-01 -1.684948801994e-05 2.254169434309e-03-1.182407140732e-05 6.493469217300e+03 1.800000000000e+05 2.346932888031e-07-8.912408598963e-01-1.117587089539e-08 4.758065024964e-01 4.403750000000e+02-2.996779607145e+00-4.508759236491e-09 -5.464513333200e-10 1.786000000000e+03 1.130000000000e+01 0.000000000000e+00-4.190951585770e-09 1.800000000000e+05 I01 2014 04 01 04 00 00-9.472924284637e-04 1.250555214938e-12 0.000000000000e+00 2.000000000000e+00-5.100000000000e+02 5.217360181136e-09-3.491339518362e-01 -1.697987318039e-05 2.254509832710e-03-1.212581992149e-05 6.493469842911e+03 1.872000000000e+05 1.378357410431e-07-8.912725364615e-01 2.942979335785e-07 4.758010370344e-01 4.460625000000e+02-2.996772972812e+00-4.790199531038e-09 -6.039537285256e-10 1.786000000000e+03 1.130000000000e+01 0.000000000000e+00-4.190951585770e-09 1.872000000000e+05 —-|—1|0—|—2|0—|—3|0—|—4|0—|—5|0—|—6|0—|—7|0—|—8|
RINEX Version 3.04 Appendix A40
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A 20 Meteorological Data File -Header Section Description TABLE A20 METEOROLOGICAL DATA FILE – HEADER SECTION DESCRIPTION HEADER LABEL (Columns 61-80) DESCRIPTION FORMAT RINEX VERSION / TYPE – Format version : 3.04 – File type: M for Meteorological Data F9.2,11X, A1,39X PGM / RUN BY / DATE – Name of program creating current file – Name of agency creating current file – Date of file creation (See section 5.8) A20, A20, A20 * COMMENT – Comment line(s) A60 MARKER NAME – Station Name (preferably identical to MARKER NAME in the associated Observation File) A60 * MARKER NUMBER – Station Number (preferably identical to MARKER NUMBER in the associated Observation File) A20 # / TYPES OF OBSERV – Number of different observation types stored in the file – Observation types The following meteorological observation types are defined in RINEX Version 3: 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 zen.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 non-zero: 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 with format I6, 9(4X,A2) (6X,9(4X,A2)) SENSOR MOD/TYPE/ACC Description of the met sensor – Model (manufacturer) A20,
RINEX Version 3.04 Appendix A41
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TABLE A20 METEOROLOGICAL DATA FILE – HEADER SECTION DESCRIPTION HEADER LABEL (Columns 61-80) DESCRIPTION FORMAT – Type – Accuracy (same units as obs values) – Observation type Record is repeated for each observation type found in # / TYPES OF OBSERV record A20,6X, F7.1,4X, A2,1X SENSOR POS XYZ/H – Approximate position of the met sensor – Geocentric coordinates X,Y,Z (ITRF or WGS84) – Ellipsoidal height H – Observation type Set X, Y, Z to (BNK). Make sure H refers to ITRF or WGS-84! Record required for barometer, recommended for other sensors. 3F14.4, 1F14.4, 1X,A2,1X END OF HEADER Last record in the header section. 60X
Records marked with * are optional
RINEX Version 3.04 Appendix A42
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A 21 Meteorological Data File -Data Record Description TABLE A21 METEOROLOGICAL DATA FILE – DATA RECORD DESCRIPTION OBS. RECORD DESCRIPTION FORMAT EPOCH / MET – Epoch in GPS time (not local time!) year (4 digits, padded with 0 if necessary) – month, day, hour, min, sec – Met data in the same sequence as given in the header – More than 8 met data types: Use continuation lines 1X,I4.4, 5(1X,I2), mF7.1 4X,10F7.1
A 22 Meteorological Data File – Example
+——————————————————————————+ | TABLE A22 | | METEOROLOGICAL DATA FILE – EXAMPLE | +——————————————————————————+ —-|—1|0—|—2|0—|—3|0—|—4|0—|—5|0—|—6|0—|—7|0—|—8| 3.04 METEOROLOGICAL DATA RINEX VERSION / TYPE XXRINEXM V9.9 AIUB 19960401 144333 UTC PGM / RUN BY / DATE EXAMPLE OF A MET DATA FILE 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 0.0000 0.0000 0.0000 1234.5678 PR SENSOR POS XYZ/H END OF HEADER 1996 4 1 0 0 15 987.1 10.6 89.5 1996 4 1 0 0 30 987.2 10.9 90.0 1996 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|
RINEX Version 3.04 Appendix A43
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A 23 Reference Code and Phase Alignment by Constellation and Frequency Band TABLE A23 Reference Code and Phase Alignment by Frequency Band System Frequency Band Frequency [MHz] Signal RINEX Observation Code Phase Correction applied to each observed phase to obtain aligned phase. (φRINEX = φ original(as issued by the SV) + Δφ) GPS L1 1575.42 C/A L1C None (Reference Signal) L1C-D L1S +¼ cycle L1C-P L1L +¼ cycle L1C-(D+P) L1X +¼ cycle P L1P +¼ cycle Z-tracking L1W +¼ cycle Codeless L1N +¼ cycle L2 See Note 1 1227.60 C/A L2C For Block II/IIA/IIR – None; For Block IIR-M/IIF/III -¼ cycle See Note 2 Semi-codeless L2D None L2C(M) L2S -¼ cycle L2C(L) L2L -¼ cycle L2C(M+L) L2X -¼ cycle P L2P None (Reference Signal) Z-tracking L2W None Codeless L2N None L5 1176.45 I L5I None (Reference Signal) Q L5Q -¼ cycle I+Q L5X Must be aligned to L5I GLONASS GLONASS G1 1602+k*9/16 C/A L1C None (Reference Signal) P L1P +¼ cycle G1a 1600.995 L1OCd L4A None (Reference Signal) L1OCp L4B None L1OCd+ L1OCd L4X None G2 1246+k*7/16 C/A L2C None (Reference Signal) P L2P +¼ cycle
RINEX Version 3.04 Appendix A44
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TABLE A23 Reference Code and Phase Alignment by Frequency Band System Frequency Band Frequency [MHz] Signal RINEX Observation Code Phase Correction applied to each observed phase to obtain aligned phase. (φRINEX = φ original(as issued by the SV) + Δφ) G2a 1248.06 L2CSI L6A None (Reference Signal) L2OCp L6B None L2CSI+ L2OCp L6X None G3 1202.025 I L3I None (Reference Signal) Q L3Q +¼ cycle I+Q L3X Must be aligned to L3I Galileo E1 1575.42 B I/NAV OS/CS/SoL L1B None (Reference Signal) C no data L1C +½ cycle B+C L1X Must be aligned to L1B E5A 1176.45 I L5I None(Reference Signal) Q L5Q -¼ cycle I+Q L5X Must be aligned to L5I E5B 1207.140 I L7I None (Reference Signal) Q L7Q -¼ cycle I+Q L7X Must be aligned to L7I E5(A+B) 1191.795 I L8I None (Reference Signal) Q L8Q -¼ cycle I+Q L8X Must be aligned to L8I E6 1278.75 B L6B None (Reference Signal) C L6C -½ cycle B+C L6X Must be aligned to L6B QZSS L1 1575.42 C/A L1C None (Reference Signal) L1C (D) L1S +¼ cycle (See Note 5 Below) L1C (P) L1L +¼ cycle L1C-(D+P) L1X +¼ cycle L1S L1Z N/A L2 1227.60 L2C (M) L2S None (Reference Signal) L2C (L) L2L None L2C (M+L) L2X None L5 1176.45 I L5I None (Reference Signal) Q L5Q -¼ cycle
RINEX Version 3.04 Appendix A45
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TABLE A23 Reference Code and Phase Alignment by Frequency Band System Frequency Band Frequency [MHz] Signal RINEX Observation Code Phase Correction applied to each observed phase to obtain aligned phase. (φRINEX = φ original(as issued by the SV) + Δφ) QZSS I+Q L5X Must be aligned to L5I L5S 1176.45 I L5D None Reference Signal Q L5P -¼ cycle I+Q L5Z None must be aligned to L5D L6 (See Note 6 Below) 1278.75 L6D L6S None (Reference Signal) L6P L6L None L6(D+P) L6X None L6E L6E None L6(D+E) L6Z None BDS B1-2 1561.098 I L2I None (Reference Signal) (See Note 4 Below) Q L2Q -¼ cycle I+Q L2X Must be aligned to L2I B1 1575.42 Data (D) L1D None Reference Signal Pilot(P) L1P +¼ cycle(preliminary) D+P L1X Must be aligned to L1D B2a 1176.45 Data (D) L5D None Reference Signal Pilot(P) L5P +¼ cycle(preliminary) D+P L5X Must be aligned to L5D B2b (BDS-2) 1207.140 I L7I None (Reference Signal) Q L7Q -¼ cycle I+Q L7X Must be aligned to L7I B2b (BDS-3) 1207.140 Data (D) L7D None Reference Signal Pilot(P) L7P +¼ cycle(preliminary) D+P L7Z Must be aligned to L7D B2a+B2b 1191.795 Data (D) L8D None Reference Signal Pilot(P) L8P +¼ cycle(preliminary) D+P L8X Must be aligned to L8D B3 1268.52 I L6I None (Reference Signal) Q L6Q -¼ cycle I+Q L6X Must be aligned to L6I B3A L6A Must be aligned to L6I IRNSS L5 1176.45 A SPS L5A None (Reference Signal)
RINEX Version 3.04 Appendix A46
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TABLE A23 Reference Code and Phase Alignment by Frequency Band System Frequency Band Frequency [MHz] Signal RINEX Observation Code Phase Correction applied to each observed phase to obtain aligned phase. (φRINEX = φ original(as issued by the SV) + Δφ) IRNSS B RS(D) L5B Restricted(See Note 3) C RS(P) L5C None B+C L5X Must be aligned to L5A S 2492.028 A SPS L9A None (Reference Signal) B RS(D) L9B Restricted(See Note 3) C RS(P) L9C None B+C L9X Must be aligned to L9A
NOTES:
1) The GPS L2 phase shift values ignore FlexPower when the phases of the L2W and L2C can be changed on the satellite.
2) The phase of the L2 C/A signal is dependent on the GPS satellite generation.
3) There is no public information available concerning the restricted service signals.
4) Note: Both C1x and C2x (RINEX 3.01 definition) have been used to identify the B1 frequency signals in RINEX 3.02 files. If C2x coding is read in a RINEX 3.02 file treat it as equivalent to C1x.
5) There has been a phase alignment change between the QZSS Block I and Block II satellites. The table above shows the Block II alignment. Block I corrections: L1S none, L1L +¼.6) L6D,L6P, L6E are identical to L61/L62(code1),L61(code2),L62(code2) in IS-QZSS-L6 respectively.

 

Rinex 304

 

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