First Revision, April 1993 Clarification December 1993 Doppler Definition: January 1994 PR Clarification: October 1994 Wlfact Clarification: February 1995 Event Time Frame Clarification: May 1996 Minor errors in the examples A7/A8: May 1996 Naming convention for compressed met files; January 1997 Continuation line clarifications: April 1997 GLONASS Extensions: April 1997 Met sensor description and position records: April 1997 Wavelength factor clarifications: April 1997 Error in example A12: CORR TO SYSTEM TIME, April 1997 Redefinition of sv clock params in GLONASS Nav Mess Files: March 1998 Naming conventions for compressed RINEX obs files: March 1998 GPS week: No roll-over, continuous number: March 1998 Error in compressed DOS file naming convention: July 1998 Table A13 contained blank satellite identifiers: Sept 1998 Discrepancy between Tables A5 and A9 removed: Sept 1998 Phase data format overflow: Clarification: Oct 1998 Message frame time Table A11: Clarification: Oct 1998 RINEX Version 2.10 Modifications: July 1999 Typo in paragraph 0.4 (epoch flag >1): Nov 1999 Clarification regarding trailing blanks: Dec 1999 Clarification regarding units of ZD,ZT, URA(GEO) Clarification regarding time system identifier of GEO obs files Clarification regarding time system identifier in TIME OF LAST record: Feb 2000 Addition of GEO examples: February 2000 Clarification of epoch field for event flag records: May 2000 Table A6: Typos in format definition of epoch: May 2000 Clarification of the GLONASS satellite identifier: June 2001
The first documentation of the RINEX Version 2 Format was published by W. Gurtner and G. Mader in the CSTG GPS Bulletin of September/October 1990. The main reason for a revision is the new treatment of antispoofing data by the RINEX format (see chapter 7). Chapter 4 gives a recommendation for data compression procedures, especially useful when large amounts of data are exchanged through computer networks. In Table A3 in the original paper the definiton of the ``PGM / RUN BY / DATE'' navigation header record was missing, although the example showed it. The redefinition of AODE/AODC to IODE/IODC also asked for an update of the format description. For consistency reasons we also defined a Version 2 format for the Meteorological Data files (inclusion of a END OF HEADER record and an optional MARKER NUMBER record).
The slight modification (or rather the definition of a bit in the Loss of Lock Indicator unused so far) to flag AS data is so small a change that we decided to NOT increase the version number!
The results of the call for comments have been worked into this document. A separate document (glonass.txt) summarizes just the necessary extensions.
A blank satellite identifier is allowed in pure GPS files only Met sensor description and position records were added to facilitate the precise use of met values. Description and examples for wavelength factors and their temporary changes (bit 1 of LLI) clarified. The RINEX documentation distributed in spring 1997 contained definitions for the GLONASS satellite clock offset and drift with the intention to have them defined identically to the GPS values. Unfortunately the GLONASS Interface Document consulted had a sign error in one of the formulae.The values should be stored into the RINEX file as -TauN, +GammaN, -TauC. The original definition asked for -TauN, -GammaN, +TauC. See paragraph 8.2.
To avoid problems with files created with the original definitions a real valued version number (2.01) has been introduced for GLONASS nav mess files.
IGS decided to use the Hatanaka compression scheme for RINEX observation files. Below the corresponding RINEX file name conventions are included as recommendations. The DOS naming (extension .yyE) was wrongly set to .yyY in the March 1998 version of the document. GPS week: The GPS week number in all RINEX files is a continuous number not affected by the 1024 roll-over, it runs from 1023 over 1024 to 1025 etc. A descrepancy between the definition of the header line fields of met sensor description and position in Table A5 and the example in Table A9 was removed. The latter was correct. Clarification for phase data format overflows: Add or subtract a suitable number of cycles, set LLI flag. Clarification for the GLONASS satellite identifier: ``Almanac number'' was somewhat ambiguous. It has been replaced by ``slot number'' within the satellite constellation.
The modifications leading to Version 2.10 include:
The first proposal for the ``Receiver Independent Exchange Format'' RINEX has been developed by the Astronomical Institute of the University of Berne for the easy exchange of the GPS data to be collected during the large European GPS campaign EUREF 89, which involved more than 60 GPS receivers of 4 different manufacturers. The governing aspect during the development was the following fact:
Most geodetic processing software for GPS data use a well-defined set of observables:
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.
Currently the format consists of six ASCII file types:
The format definition of the clock files has been published in 1998 in a separate document by Jim Ray and Werner Gurtner, available at the IGS Central Bureau Information System: ftp://igscb.jpl.nasa.gov/igscb/data/format/rinex_clock.txt.
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 mimimum space requirements independent from the number of different observation types of a specific receiver by indicating in the header the types of observations to be stored. In computer systems allowing variable record lengths the observation records may be kept as short as possible. Trailing blanks can be removed from the records. The maximum record length is 80 bytes per record.
Each Observation file and each Meteorological Data file basically contain the data from one site and one session. RINEX Version 2 also allows to include observation data from more than one site subsequently occupied by a roving receiver in rapid static or kinematic applications. Although Version 2 allows to insert header records into the data field we do not recommend to concatenate data of more than one receiver (or antenna) into the same file, even if the data do not overlap in time.
If data from more than one receiver has to be exchanged it would not be economical to include the identical satellite messages collected by the different receivers several times. Therefore the Navigation Message File from one receiver may be exchanged or a composite Navigation Message File created containing non-redundant information from several receivers in order to make the most complete file.
The format of the data records of the RINEX Version 1 Navigation Message file is identical to the former NGS exchange format.
The actual format descriptions as well as examples are given in the Tables at the end of the paper.
GPS observables include three fundamental quantities that need to be defined: Time, Phase, and Range.
PR = distance +
c * (receiver clock offset - satellite clock offset +
other biases)
so that the pseudo-range reflects the actual behavior of the receiver and satellite clocks. The pseudo-range is stored in units of meters.
See also clarifications for pseudoranges in mixed GPS/GLONASS files in chapter 8.1.
The phase changes in the same sense as the range (negative doppler). The phase observations between epochs must be connected by including the integer number of cycles. The phase observations will not contain any systematic drifts from intentional offsets of the reference oscillators.
The observables are not corrected for external effects like atmospheric refraction, satellite clock offsets, etc.
If the receiver or the converter software adjusts the measurements using the real-time-derived receiver clock offsets dT(r), the consistency of the 3 quantities phase / pseudo-range / epoch must be maintained, i.e. the receiver clock correction should be applied to all 3 observables:
Time(corr) = Time(r) - dT(r) PR(corr) = PR(r) - dT(r)*c phase(corr) = phase(r) - dT(r)*freq
We recommend using the following naming convention for RINEX files:
ssssdddf.yyt ssss: 4-character station name designator
ddd: day of the year of first record
f: file sequence number within day
0: file contains all the existing
data of the current day
yy: year
t: file type:
O: Observation file
N: Navigation file
M: Meteorological data file
G: GLONASS Navigation file
H: Geostationary GPS payload nav mess file
When data transmission times or storage volumes are critical we recommend compressing the files prior to storage or transmission using the UNIX ``compress'' und ``uncompress'' programs. Compatible routines are available on VAX/VMS and PC/DOS systems, as well.
Proposed naming conventions for the compressed files:
File Types UNIX VMS DOS
Obs Files ssssdddf.yyO.Z ssssdddf.yyO_Z ssssdddf.yyY Obs Files (Hatanaka compr) ssssdddf.yyD.Z ssssdddf.yyD_Z ssssdddf.yyE GPS Nav Files ssssdddf.yyN.Z ssssdddf.yyN_Z ssssdddf.yyX GLONASS Nav File ssssdddf.yyG.Z ssssdddf.yyG_Z ssssdddf.yyV GEO Nav Files ssssdddf.yyH.Z ssssdddf.yyH_Z ssssdddf.yyU Met Data Files ssssdddf.yyM.Z ssssdddf.yyM_Z ssssdddf.yyW Clock Files (see sep.doc.) ssssdddf.yyC.Z ssssdddf.yyC_Z
References for the Hatanaka compression scheme: See e.g.
ftp://igscb.jpl.nasa.gov/igscb/software/rnxcmp_2.4.0/docs/
IGSMails 1525,1686,1726,1763,1785
The following section contains features that have been introduced for RINEX Version 2:
snn s: satellite system identifier
G or blank : GPS
R : GLONASS
S : Geostationary signal payload
T : Transit
nn: - PRN (GPS), slot number (GLONASS)
- PRN-100 (GEO)
- two-digit Transit satellite number
Note: G is mandatory in mixed GPS/GLONASS files (blank default modified in April 1997)
We therefore propose to allow free ordering of the header records, with the following exceptions:
Each value remains valid until changed by an additional header record.
It would then be possible to reconstruct the original observations if necessary.
As the output format for the receiver-derived clock offset is limited to nanoseconds the offset should be rounded to the nearest nanosecond before it is used to correct the observables in order to guarantee correct reconstruction.
A hundred-year ambiguity occurs in the met data and GLONASS and GEO nav messages: Instead of introducing a new TIME OF FIRST OBS header line it is safeto stipulate that any two-digit years in RINEX Version 1 and Version 2.xx files are understood to represent
80-99: 1980-1999
00-79: 2000-2079
Full 4-digit year fields could then be defined by a future RINEX version 3.
0 = 4 hours
1 = greater than 4 hours.
Together with the IODC values and Table 20-XII the actual fit interval can be determined. The second value in the last record of each message shall contain the fit interval in hours determined using IODC, fit flag, and Table 20-XII, according to the Interface Document ICD-GPS-200.
A program reading RINEX files could easily decide if bit 17 only or all bits (17-22) have been written: |
RINEX Value: 0 Health OK RINEX Value: 1 Health not OK (bits 18-22 not stored) RINEX Value: >32 Health not OK (bits 18-22 stored)
Some receivers generate code delay differences between the first and second frequency using cross-correlation techniques when AS is on and may recover the phase observations on L2 in full cycles. Using the C/A code delay on L1 and the observed difference it is possible to generate a code delay observation for the second frequency.
Other receivers recover P code observations by breaking down the Y code into P and W code.
Most of these observations may suffer from an increased noise level. In order to enable the postprocessing programs to take special actions, such AS-infected observations are flagged using bit number 2 of the Loss of Lock Indicators (i.e. their current values are increased by 4).
GLONASS is basically running on UTC (or, more precisely, GLONASS system time linked to UTC(SU)), i.e. the time tags are given in UTC and not GPS time. In order to remove possible misunderstandings and ambiguities, the header records ``TIME OF FIRST OBS'' and (if present) ``TIME OF LAST OBS'' in GLONASS and GPS observation files _can_, in mixed GLONASS/GPS observation files _must_ contain a time system identifier defining the system that all time tags in the file are referring to: ``GPS'' to identify GPS time, ``GLO'' to identify the GLONASS UTC time system. Pure GPS files default to GPS and pure GLONASS files default to GLO.
Format definitions see Table A1.
Hence, the two possible time tags differ by the current number of leap seconds.
In order to have the current number of leap seconds available we recommend to include a LEAP SECOND line into the RINEX header.
If there are known non-integer biases between the ``GPS receiver clock'' and ``GLONASS receiver clock'' in the same receiver, they should be applied. In this case the respective code and phase observations have to be corrected, too (c * bias if expressed in meters).
Unknown such biases will have to be solved for during the post processing
The small differences (modulo 1 second) between GLONASS system time, UTC(SU),
UTC(USNO) and GPS system time have to be dealt with during the post-processing
and not before the RINEX conversion. It may also be necessary to solve for
remaining differences during the post-processing.
If a mixed-mode GPS/GLONASS receiver refers all pseudorange observations to one receiver clock only,
In order to avoid misunderstandings and to keep the code observations within the format fields, the pseudoranges must be corrected in this case as follows:
PR(GPS) := PR(GPS) + c * leap_seconds if generated with a receiver clock
running in the GLONASS time frame
PR(GLO) := PR(GLO) - c * leap_seconds if generated with a receiver clock
running in the GPS time frame
to remove the contributions of the leap seconds from the pseudoranges.
``leap_seconds'' is the actual number of leap seconds between GPS and GLONASS (UTC) time, as broadcast in the GPS almanac and distributed in Circular T of BIPM.
As the GLONASS navigation message differs in contents from the GPS message too much, a special GLONASS navigation message file format has been defined.
The header section and the first data record (epoch, satellite clock information) is similar to the GPS navigation file. The following records contain the satellite position, velocity and acceleration, the clock and frequency biases as well as auxiliary information as health, satellite frequency (channel), age of the information.
The corrections of the satellite time to UTC are as follows:
GPS : Tutc = Tsv - af0 - af1 *(Tsv-Toc) - ... - A0 - ... - leap_sec GLONASS: Tutc = Tsv + TauN - GammaN*(Tsv-Tb) + TauC
*** In order to use the same sign conventions for the GLONASS corrections as in the GPS navigation files, the broadcast GLONASS values are stored as: -TauN, +GammaN, -TauC.
The time tags in the GLONASS navigation files are given in UTC (i.e. _not_Moscow time or GPS time).
Filenaming convention: See above.
With the implementation of GNSS programs, GPS-like ranging measurements can be performed on geostationary navigation payloads.
RINEX Version 2.10 defines the necessary extensions to handle such data in RINEX files for data exchange and postprocessing purposes.
A new satellite system identifier has been defined for the geostationary GPS signal payloads: ``S'', to be used in the RINEX VERSION / TYPE header line and in the satellite identifier 'snn', nn being the GEO PRN number minus 100.
e.g.: PRN = 120 --> 'snn' = "S20"
In mixed dual frequency GPS satellite / single frequency GEO payload observation files the fields for the second frequency observations of GEO satellites remain blank, are set to zero values or (if last in the record) can be truncated.
The time system identifier of GEO satellites generating GPS signals defaults to GPS time.
As the GEO broadcast orbit format differs from the GPS message a special GEO navigation message file format has been defined which is nearly identical with the GLONASS nav mess file format.
The header section contains informations about the generating program, comments, and the difference between the GEO system time and UTC.
The first data record contains the epoch and satellite clock information, the following records contain the satellite position, velocity and acceleration and auxiliary information such as health, age of the data, etc.
The time tags in the GEO navigation files are given in the GPS time frame, i.e. not UTC.
The corrections of the satellite time to UTC are as follows:
GEO : Tutc = Tsv - aGf0 - aGf1 *(Tsv-Toe) - W0 - leap_sec
W0 being the correction to transform the GEO system time to UTC. Toe, aGf0, aGf1 see below in the format definition tables.
References for the definition of the accuracy and health codes still have to be defined. Help is needed here by colleagues working with such GEO data!
Evans, A. (1989): ``Summary of the Workshop on GPS Exchange Formats.'' Proceedings of the Fifth International Geodetic Symposium on Satellite Systems, pp. 917ff, Las Cruces.
Gurtner, W., G. Mader, D. Arthur (1989): ``A Common Exchange Format for GPS Data.'' CSTG GPS Bulletin Vol.2 No.3, May/June 1989, National Geodetic Survey, Rockville.
Gurtner, W., G. Mader (1990): ``The RINEX Format: Current Status, Future Developments.'' Proceedings of the Second International Symposium of Precise Positioning with the Global Positioning system, pp. 977ff, Ottawa.
Gurtner, W., G. Mader (1990): ``Receiver Independent Exchange Format Version 2.'' CSTG GPS Bulletin Vol.3 No.3, Sept/Oct 1990, National Geodetic Survey, Rockville.
Gurtner, W. (1994): ``RINEX: The Receiver-Independent Exchange Format.'' GPS World, Volume 5, Number 7, July 1994.
+----------------------------------------------------------------------------+
| TABLE A1 |
| GPS OBSERVATION DATA FILE - HEADER SECTION DESCRIPTION |
+--------------------+------------------------------------------+------------+
| HEADER LABEL | DESCRIPTION | FORMAT |
| (Columns 61-80) | | |
+--------------------+------------------------------------------+------------+
|RINEX VERSION / TYPE| - Format version (2.10) | F9.2,11X, |
| | - File type ('O' for Observation Data) | A1,19X, |
| | - Satellite System: blank or 'G': GPS | A1,19X |
| | 'R': GLONASS | |
| | 'S': Geostationary | |
| | signal payload | |
| | 'T': NNSS Transit | |
| | 'M': Mixed | |
+--------------------+------------------------------------------+------------+
|PGM / RUN BY / DATE | - Name of program creating current file | A20, |
| | - Name of agency creating current file | A20, |
| | - Date of file creation | A20 |
+--------------------+------------------------------------------+------------+
|COMMENT | Comment line(s) | A60 |*
+--------------------+------------------------------------------+------------+
|MARKER NAME | Name of antenna marker | A60 |
+--------------------+------------------------------------------+------------+
|MARKER NUMBER | Number of antenna marker | A20 |*
+--------------------+------------------------------------------+------------+
|OBSERVER / AGENCY | Name of observer / agency | A20,A40 |
+--------------------+------------------------------------------+------------+
|REC # / TYPE / VERS | Receiver number, type, and version | 3A20 |
| | (Version: e.g. Internal Software Version)| |
+--------------------+------------------------------------------+------------+
|ANT # / TYPE | Antenna number and type | 2A20 |
+--------------------+------------------------------------------+------------+
|APPROX POSITION XYZ | Approximate marker position (WGS84) | 3F14.4 |
+--------------------+------------------------------------------+------------+
|ANTENNA: DELTA H/E/N| - Antenna height: Height of bottom | 3F14.4 |
| | surface of antenna above marker | |
| | - Eccentricities of antenna center | |
| | relative to marker to the east | |
| | and north (all units in meters) | |
+--------------------+------------------------------------------+------------+
|WAVELENGTH FACT L1/2| - Default wavelength factors for | |
| | L1 and L2 | 2I6, |
| | 1: Full cycle ambiguities | |
| | 2: Half cycle ambiguities (squaring) | |
| | 0 (in L2): Single frequency instrument | |
| | | |
| | - zero or blank | I6 |
| | | |
| | The default wavelength factor line is | |
| | required and must preceed satellite- | |
| | specific lines. | |
+--------------------+------------------------------------------+------------+
|WAVELENGTH FACT L1/2| - Wavelength factors for L1 and L2 | 2I6, |*
| | 1: Full cycle ambiguities | |
| | 2: Half cycle ambiguities (squaring) | |
| | 0 (in L2): Single frequency instrument | |
| | - Number of satellites to follow in list | I6, |
| | for which these factors are valid. | |
| | - List of PRNs (satellite numbers with | 7(3X,A1,I2)|
| | system identifier) | |
| | | |
| | These opional satellite specific lines | |
| | may follow, if they identify a state | |
| | different from the default values. | |
| | | |
| | Repeat record if necessary. | |
+--------------------+------------------------------------------+------------+
|# / TYPES OF OBSERV | - Number of different observation types | I6, |
| | stored in the file | |
| | - Observation types | 9(4X,A2) |
| | | |
| | If more than 9 observation types: | |
| | Use continuation line(s) |6X,9(4X,A2) |
| | | |
| | The following observation types are | |
| | defined in RINEX Version 2.10: | |
| | | |
| | L1, L2: Phase measurements on L1 and L2 | |
| | C1 : Pseudorange using C/A-Code on L1 | |
| | P1, P2: Pseudorange using P-Code on L1,L2| |
| | D1, D2: Doppler frequency on L1 and L2 | |
| | T1, T2: Transit Integrated Doppler on | |
| | 150 (T1) and 400 MHz (T2) | |
| | S1, S2: Raw signal strengths or SNR | |
| | values as given by the receiver | |
| | for the L1,L2 phase observations | |
| | | |
| | Observations collected under Antispoofing| |
| | are converted to "L2" or "P2" and flagged| |
| | with bit 2 of loss of lock indicator | |
| | (see Table A2). | |
| | | |
| | Units : Phase : full cycles | |
| | Pseudorange : meters | |
| | Doppler : Hz | |
| | Transit : cycles | |
| | SNR etc : receiver-dependent | |
| | | |
| | The sequence of the types in this record | |
| | has to correspond to the sequence of the | |
| | observations in the observation records | |
+--------------------+------------------------------------------+------------+
|INTERVAL | Observation interval in seconds | F10.3 |*
+--------------------+------------------------------------------+------------+
|TIME OF FIRST OBS | - Time of first observation record | 5I6,F13.7, |
| | (4-digit-year, month,day,hour,min,sec) | |
| | - Time system: GPS (=GPS time system) | 5X,A3 |
| | GLO (=UTC time system) | |
| | Compulsory in mixed GPS/GLONASS files | |
| | Defaults: GPS for pure GPS files | |
| | GLO for pure GLONASS files | |
+--------------------+------------------------------------------+------------+
|TIME OF LAST OBS | - Time of last observation record | 5I6,F13.7, |*
| | (4-digit-year, month,day,hour,min,sec) | |
| | - Time system: Same value as in | 5X,A3 ||
| | TIME OF FIRST OBS record | ||
+--------------------+------------------------------------------+------------+
|RCV CLOCK OFFS APPL | Epoch, code, and phase are corrected by | I6 |*
| | applying the realtime-derived receiver | |
| | clock offset: 1=yes, 0=no; default: 0=no | |
| | Record required if clock offsets are | |
| | reported in the EPOCH/SAT records | |
+--------------------+------------------------------------------+------------+
|LEAP SECONDS | Number of leap seconds since 6-Jan-1980 | I6 |*
| | Recommended for mixed GPS/GLONASS files | |
+--------------------+------------------------------------------+------------+
|# OF SATELLITES | Number of satellites, for which | I6 |*
| | observations are stored in the file | |
+--------------------+------------------------------------------+------------+
|PRN / # OF OBS | PRN (sat.number), number of observations |3X,A1,I2,9I6|*
| | for each observation type indicated | |
| | in the "# / TYPES OF OBSERV" - record. | |
| | | |
| | If more than 9 observation types: | |
| | Use continuation line(s) | 6X,9I6 |
| | | |
| | This record is (these records are) | |
| | repeated for each satellite present in | |
| | the data file | |
+--------------------+------------------------------------------+------------+
|END OF HEADER | Last record in the header section. | 60X |
+--------------------+------------------------------------------+------------+
Records marked with * are optional
+----------------------------------------------------------------------------+ | TABLE A2 | | GPS OBSERVATION DATA FILE - DATA RECORD DESCRIPTION | +-------------+-------------------------------------------------+------------+ | OBS. RECORD | DESCRIPTION | FORMAT | +-------------+-------------------------------------------------+------------+ | EPOCH/SAT | - Epoch : | | | or | - year (2 digits, padded with 0 if necessary) | 1X,I2.2, | | EVENT FLAG | - month,day,hour,min, | 4(1X,I2), | | | - sec | F11.7, | | | | | | | - Epoch flag 0: OK | 2X,I1, | | | 1: power failure between | | | | previous and current epoch | | | | >1: Event flag | | | | - Number of satellites in current epoch | I3, | | | - List of PRNs (sat.numbers with system | 12(A1,I2), | | | identifier, see 5.1) in current epoch | | | | - receiver clock offset (seconds, optional) | F12.9 | | | | | | | If more than 12 satellites: Use continuation | 32X, | | | line(s) | 12(A1,I2) | | | | | | | If epoch flag 2-5: | | | | | | | | - Event flag: | [2X,I1,] | | | 2: start moving antenna | | | | 3: new site occupation (end of kinem. data) | | | | (at least MARKER NAME record follows) | | | | 4: header information follows | | | | 5: external event (epoch is significant, | | | | same time frame as observation time tags)| | | | | | | | - "Number of satellites" contains number of | [I3] | | | special records to follow. | | | | Maximum number of records: 999 | | | | | | | | - For events without significant epoch the | || | | epoch fields can be left blank | || | | | | | | If epoch flag = 6: | | | | 6: cycle slip records follow to optionally | | | | report detected and repaired cycle slips | | | | (same format as OBSERVATIONS records; | | | | slip instead of observation; LLI and | | | | signal strength blank or zero) | | +-------------+-------------------------------------------------+------------+ |OBSERVATIONS | - Observation | rep. within record for | m(F14.3, | | | - LLI | each obs.type (same seq | I1, | | | - Signal strength | as given in header) | I1) | | | | | | | If more than 5 observation types (=80 char): | | | | continue observations in next record. | | | | | | | | This record is (these records are) repeated for | | | | each satellite given in EPOCH/SAT - record. | | | | | | | | Observations: | | | | Phase : Units in whole cycles of carrier | | | | Code : Units in meters | | | | Missing observations are written as 0.0 | | | | or blanks. | | | | | | | | Phase values overflowing the fixed format F14.3 | | | | have to be clipped into the valid interval (e.g.| | | | add or subtract 10**9), set LLI indicator. | | | | | | | | Loss of lock indicator (LLI). Range: 0-7 | | | | 0 or blank: OK or not known | | | | Bit 0 set : Lost lock between previous and | | | | current observation: cycle slip | | | | possible | | | | Bit 1 set : Opposite wavelength factor to the | | | | one defined for the satellite by a | | | | previous WAVELENGTH FACT L1/2 line.| | | | Valid for the current epoch only. | | | | Bit 2 set : Observation under Antispoofing | | | | (may suffer from increased noise) | | | | | | | | Bits 0 and 1 for phase only. | | | | | | | | Signal strength projected into interval 1-9: | | | | 1: minimum possible signal strength | | | | 5: threshold for good S/N ratio | | | | 9: maximum possible signal strength | | | | 0 or blank: not known, don't care | | +-------------+-------------------------------------------------+------------+
+----------------------------------------------------------------------------+
| TABLE A3 |
| GPS NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTION |
+--------------------+------------------------------------------+------------+
| HEADER LABEL | DESCRIPTION | FORMAT |
| (Columns 61-80) | | |
+--------------------+------------------------------------------+------------+
|RINEX VERSION / TYPE| - Format version (2.10) | F9.2,11X, |
| | - File type ('N' for Navigation data) | A1,19X |
+--------------------+------------------------------------------+------------+
|PGM / RUN BY / DATE | - Name of program creating current file | A20, |
| | - Name of agency creating current file | A20, |
| | - Date of file creation | A20 |
+--------------------+------------------------------------------+------------+
|COMMENT | Comment line(s) | A60 |*
+--------------------+------------------------------------------+------------+
|ION ALPHA | Ionosphere parameters A0-A3 of almanac | 2X,4D12.4 |*
| | (page 18 of subframe 4) | |
+--------------------+------------------------------------------+------------+
|ION BETA | Ionosphere parameters B0-B3 of almanac | 2X,4D12.4 |*
+--------------------+------------------------------------------+------------+
|DELTA-UTC: A0,A1,T,W| Almanac parameters to compute time in UTC| 3X,2D19.12,|*
| | (page 18 of subframe 4) | 2I9 |
| | A0,A1: terms of polynomial | |
| | T : reference time for UTC data | |
| | W : UTC reference week number. | |
| | Continuous number, not mod(1024)! | |
+--------------------+------------------------------------------+------------+
|LEAP SECONDS | Delta time due to leap seconds | I6 |*
+--------------------+------------------------------------------+------------+
|END OF HEADER | Last record in the header section. | 60X |
+--------------------+------------------------------------------+------------+
Records marked with * are optional
+----------------------------------------------------------------------------+ | TABLE A4 | | GPS NAVIGATION MESSAGE FILE - DATA RECORD DESCRIPTION | +--------------------+------------------------------------------+------------+ | OBS. RECORD | DESCRIPTION | FORMAT | +--------------------+------------------------------------------+------------+ |PRN / EPOCH / SV CLK| - Satellite PRN number | I2, | | | - Epoch: Toc - Time of Clock | | | | year (2 digits, padded with 0 | | | | if necessary) | 1X,I2.2, | | | month | 1X,I2, | | | day | 1X,I2, | | | hour | 1X,I2, | | | minute | 1X,I2, | | | second | F5.1, | | | - SV clock bias (seconds) | 3D19.12 | | | - SV clock drift (sec/sec) | | | | - SV clock drift rate (sec/sec2) | | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 1| - IODE Issue of Data, Ephemeris | 3X,4D19.12 | | | - Crs (meters) | | | | - Delta n (radians/sec) | | | | - M0 (radians) | | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 2| - Cuc (radians) | 3X,4D19.12 | | | - e Eccentricity | | | | - Cus (radians) | | | | - sqrt(A) (sqrt(m)) | | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 3| - Toe Time of Ephemeris | 3X,4D19.12 | | | (sec of GPS week) | | | | - Cic (radians) | | | | - OMEGA (radians) | | | | - CIS (radians) | | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 4| - i0 (radians) | 3X,4D19.12 | | | - Crc (meters) | | | | - omega (radians) | | | | - OMEGA DOT (radians/sec) | | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 5| - IDOT (radians/sec) | 3X,4D19.12 | | | - Codes on L2 channel | | | | - GPS Week # (to go with TOE) | | | | Continuous number, not mod(1024)! | | | | - L2 P data flag | | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 6| - SV accuracy (meters) | 3X,4D19.12 | | | - SV health (bits 17-22 w 3 sf 1) | | | | - TGD (seconds) | | | | - IODC Issue of Data, Clock | | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 7| - Transmission time of message *) | 3X,4D19.12 | | | (sec of GPS week, derived e.g. | | | | from Z-count in Hand Over Word (HOW) | | | | - Fit interval (hours) | | | | (see ICD-GPS-200, 20.3.4.4) | | | | Zero if not known | | | | - spare | | | | - spare | | +--------------------+------------------------------------------+------------+
*) Adjust the Transmission time of message by -604800 to refer to the reported
week, if necessary
+----------------------------------------------------------------------------+
| TABLE A5 |
| METEOROLOCICAL DATA FILE - HEADER SECTION DESCRIPTION |
+--------------------+------------------------------------------+------------+
| HEADER LABEL | DESCRIPTION | FORMAT |
| (Columns 61-80) | | |
+--------------------+------------------------------------------+------------+
|RINEX VERSION / TYPE| - Format version (2.10) | F9.2,11X, |
| | - File type ('M' for Meteorological Data)| A1,39X |
+--------------------+------------------------------------------+------------+
|PGM / RUN BY / DATE | - Name of program creating current file | A20, |
| | - Name of agency creating current file | A20, |
| | - Date of file creation | A20 |
+--------------------+------------------------------------------+------------+
|COMMENT | Comment line(s) | A60 |*
+--------------------+------------------------------------------+------------+
|MARKER NAME | Station Name | A60 |
| | (preferably identical to MARKER NAME in | |
| | the associated Observation File) | |
+--------------------+------------------------------------------+------------+
|MARKER NUMBER | Station Number | A20 |*
| | (preferably identical to MARKER NUMBER in| |
| | the associated Observation File) | |
+--------------------+------------------------------------------+------------+
|# / TYPES OF OBSERV | - Number of different observation types | I6, |
| | stored in the file | |
| | - Observation types | 9(4X,A2) |
| | | |
| | The following meteorological observation | |
| | types are defined in RINEX Version 2: | |
| | | |
| | PR : Pressure (mbar) | |
| | TD : Dry temperature (deg Celsius) | |
| | HR : Relative Humidity (percent) | |
| | ZW : Wet zenith path delay (millimeters) | |
| | (for WVR data) | |
| | ZD : Dry component of zenith path delay | |
| | (millimeters) | ||
| | ZT : Total zenith path delay | |
| | (millimeters) | ||
| | | |
| | 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 (6X,9(4X,A2)) | |
| | | |
+--------------------+------------------------------------------+------------+
|SENSOR MOD/TYPE/ACC | Description of the met sensor | |
| | - Model (manufacturer) | A20, |
| | - Type | A20,6X, |
| | - Accuracy (same units as obs values) | F7.1,4X, |
| | - Observation type | A2,1X |
| | Record is repeated for each observation | |
| | type found in # / TYPES OF OBSERV record | |
+--------------------+------------------------------------------+------------+
|SENSOR POS XYZ/H | Approximate position of the met sensor | |
| | - Geocentric coordinates X,Y,Z (ITRF | 3F14.4, |
| | - Ellipsoidal height H or WGS-84)| 1F14.4, |
| | - Observation type | 1X,A2,1X |
| | Set X,Y,Z to zero if not known. | |
| | Make sure H refers to ITRF or WGS-84! | |
| | Record required for barometer, | |
| | recommended for other sensors. | |
+--------------------+------------------------------------------+------------+
|END OF HEADER | Last record in the header section. | 60X |
+--------------------+------------------------------------------+------------+
Records marked with * are optional
+----------------------------------------------------------------------------+ | TABLE A6 | | METEOROLOGICAL DATA FILE - DATA RECORD DESCRIPTION | +-------------+-------------------------------------------------+------------+ | OBS. RECORD | DESCRIPTION | FORMAT | +-------------+-------------------------------------------------+------------+ | EPOCH / MET | - Epoch in GPS time (not local time!) | | | | year (2 digits, padded with 0 if necessary) | 1X,I2.2, | | | month,day,hour,min,sec | 5( 1X,I2), | | | | | | | The 2-digit years in RINEX Version 1 and 2.xx | | | | files are understood to represent | | | | 80-99: 1980-1999 and 00-79: 2000-2079 | | | | | | | | - Met data in the same sequence as given in the | mF7.1 | | | header | | | | | | | | More than 8 met data types: Use continuation |4X,10F7.1,3X| | | lines | | +-------------+-------------------------------------------------+------------+
+------------------------------------------------------------------------------+ | TABLE A7 | | GPS OBSERVATION DATA FILE - EXAMPLE | +------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
2.10 OBSERVATION DATA M (MIXED) RINEX VERSION / TYPE
BLANK OR G = GPS, R = GLONASS, T = TRANSIT, M = MIXED COMMENT
XXRINEXO V9.9 AIUB 24-MAR-01 14:43 PGM / RUN BY / DATE
EXAMPLE OF A MIXED RINEX FILE COMMENT
A 9080 MARKER NAME
9080.1.34 MARKER NUMBER
BILL SMITH ABC INSTITUTE OBSERVER / AGENCY
X1234A123 XX ZZZ REC # / TYPE / VERS
234 YY ANT # / TYPE
4375274. 587466. 4589095. APPROX POSITION XYZ
.9030 .0000 .0000 ANTENNA: DELTA H/E/N
1 1 WAVELENGTH FACT L1/2
1 2 6 G14 G15 G16 G17 G18 G19 WAVELENGTH FACT L1/2
0 RCV CLOCK OFFS APPL
4 P1 L1 L2 P2 # / TYPES OF OBSERV
18.000 INTERVAL
2001 3 24 13 10 36.0000000 TIME OF FIRST OBS
END OF HEADER
01 3 24 13 10 36.0000000 0 3G12G 9G 6 -.123456789
23629347.915 .300 8 -.353 23629364.158
20891534.648 -.120 9 -.358 20891541.292
20607600.189 -.430 9 .394 20607605.848
01 3 24 13 10 50.0000000 4 4
1 2 2 G 9 G12 WAVELENGTH FACT L1/2
*** WAVELENGTH FACTOR CHANGED FOR 2 SATELLITES *** COMMENT
NOW 8 SATELLITES HAVE WL FACT 1 AND 2! COMMENT
COMMENT
01 3 24 13 10 54.0000000 0 5G12G 9G 6R21R22 -.123456789
23619095.450 -53875.632 8 -41981.375 23619112.008
20886075.667 -28688.027 9 -22354.535 20886082.101
20611072.689 18247.789 9 14219.770 20611078.410
21345678.576 12345.567 5
22123456.789 23456.789 5
01 3 24 13 11 0.0000000 2 1
*** FROM NOW ON KINEMATIC DATA! *** COMMENT
01 3 24 13 11 48.0000000 0 4G16G12G 9G 6 -.123456789
21110991.756 16119.980 7 12560.510 21110998.441
23588424.398 -215050.557 6 -167571.734 23588439.570
20869878.790 -113803.187 8 -88677.926 20869884.938
20621643.727 73797.462 7 57505.177 20621649.276
3 4
A 9080 MARKER NAME
9080.1.34 MARKER NUMBER
.9030 .0000 .0000 ANTENNA: DELTA H/E/N
--> THIS IS THE START OF A NEW SITE <-- COMMENT
01 3 24 13 12 6.0000000 0 4G16G12G 6G 9 -.123456987
21112589.384 24515.877 6 19102.763 3 21112596.187
23578228.338 -268624.234 7 -209317.284 4 23578244.398
20625218.088 92581.207 7 72141.846 4 20625223.795
20864539.693 -141858.836 8 -110539.435 5 20864545.943
01 3 24 13 13 1.2345678 5 0
4 1
(AN EVENT FLAG WITH SIGNIFICANT EPOCH) COMMENT
01 3 24 13 14 12.0000000 0 4G16G12G 9G 6 -.123456012
21124965.133 89551.30216 69779.62654 21124972.2754
23507272.372 -212616.150 7 -165674.789 5 23507288.421
20828010.354 -333820.093 6 -260119.395 5 20828017.129
20650944.902 227775.130 7 177487.651 4 20650950.363
4 1
*** ANTISPOOFING ON G 16 AND LOST LOCK COMMENT
01 3 24 13 14 12.0000000 6 2G16G 9
123456789.0 -9876543.5
0.0 -0.5
4 2
---> CYCLE SLIPS THAT HAVE BEEN APPLIED TO COMMENT
THE OBSERVATIONS COMMENT
01 3 24 13 14 48.0000000 0 4G16G12G 9G 6 -.123456234
21128884.159 110143.144 7 85825.18545 21128890.7764
23487131.045 -318463.297 7 -248152.72824 23487146.149
20817844.743 -387242.571 6 -301747.22925 20817851.322
20658519.895 267583.67817 208507.26234 20658525.869
4 4
*** SATELLITE G 9 THIS EPOCH ON WLFACT 1 (L2) COMMENT
*** G 6 LOST LOCK AND THIS EPOCH ON WLFACT 2 (L2) COMMENT
(OPPOSITE TO PREVIOUS SETTINGS) COMMENT
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
+------------------------------------------------------------------------------+ | TABLE A8 | | GPS NAVIGATION MESSAGE FILE - EXAMPLE | +------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
2.10 N: GPS NAV DATA RINEX VERSION / TYPE
XXRINEXN V2.10 AIUB 3-SEP-99 15:22 PGM / RUN BY / DATE
EXAMPLE OF VERSION 2.10 FORMAT COMMENT
.1676D-07 .2235D-07 -.1192D-06 -.1192D-06 ION ALPHA
.1208D+06 .1310D+06 -.1310D+06 -.1966D+06 ION BETA
.133179128170D-06 .107469588780D-12 552960 1025 DELTA-UTC: A0,A1,T,W
13 LEAP SECONDS
END OF HEADER
6 99 9 2 17 51 44.0 -.839701388031D-03 -.165982783074D-10 .000000000000D+00
.910000000000D+02 .934062500000D+02 .116040547840D-08 .162092304801D+00
.484101474285D-05 .626740418375D-02 .652112066746D-05 .515365489006D+04
.409904000000D+06 -.242143869400D-07 .329237003460D+00 -.596046447754D-07
.111541663136D+01 .326593750000D+03 .206958726335D+01 -.638312302555D-08
.307155651409D-09 .000000000000D+00 .102500000000D+04 .000000000000D+00
.000000000000D+00 .000000000000D+00 .000000000000D+00 .910000000000D+02
.406800000000D+06 .000000000000D+00
13 99 9 2 19 0 0.0 .490025617182D-03 .204636307899D-11 .000000000000D+00
.133000000000D+03 -.963125000000D+02 .146970407622D-08 .292961152146D+01
-.498816370964D-05 .200239347760D-02 .928156077862D-05 .515328476143D+04
.414000000000D+06 -.279396772385D-07 .243031939942D+01 -.558793544769D-07
.110192796930D+01 .271187500000D+03 -.232757915425D+01 -.619632953057D-08
-.785747015231D-11 .000000000000D+00 .102500000000D+04 .000000000000D+00
.000000000000D+00 .000000000000D+00 .000000000000D+00 .389000000000D+03
.410400000000D+06 .000000000000D+00
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
+------------------------------------------------------------------------------+ | TABLE A9 | | METEOROLOGICAL DATA FILE - EXAMPLE | +------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
2.10 METEOROLOGICAL DATA RINEX VERSION / TYPE
XXRINEXM V9.9 AIUB 3-APR-96 00:10 PGM / RUN BY / DATE
EXAMPLE OF A MET DATA FILE COMMENT
A 9080 MARKER NAME
3 PR TD HR # / TYPES OF OBSERV
PAROSCIENTIFIC 740-16B 0.2 PR SENSOR MOD/TYPE/ACC
HAENNI 0.1 TD SENSOR MOD/TYPE/ACC
ROTRONIC I-240W 5.0 HR SENSOR MOD/TYPE/ACC
0.0 0.0 0.0 1234.5678 PR SENSOR POS XYZ/H
END OF HEADER
96 4 1 0 0 15 987.1 10.6 89.5
96 4 1 0 0 30 987.2 10.9 90.0
96 4 1 0 0 45 987.1 11.6 89.0
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
+----------------------------------------------------------------------------+
| TABLE A10 |
| GLONASS NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTION |
+--------------------+------------------------------------------+------------+
| HEADER LABEL | DESCRIPTION | FORMAT |
| (Columns 61-80) | | |
+--------------------+------------------------------------------+------------+
|RINEX VERSION / TYPE| - Format version (2.10) | F9.2,11X, |#
| | - File type ('G' = GLONASS nav mess data)| A1,39X |
+--------------------+------------------------------------------+------------+
|PGM / RUN BY / DATE | - Name of program creating current file | A20, |
| | - Name of agency creating current file | A20, |
| | - Date of file creation (dd-mmm-yy hh:mm)| A20 |
+--------------------+------------------------------------------+------------+
|COMMENT | Comment line(s) | A60 |*
+--------------------+------------------------------------------+------------+
|CORR TO SYSTEM TIME | - Time of reference for system time corr | |*
| | (year, month, day) | 3I6, |
| | - Correction to system time scale (sec) | 3X,D19.12 |
| | to correct GLONASS system time to | |
| | UTC(SU) (-TauC)| |
+--------------------+------------------------------------------+------------+
|LEAP SECONDS | Number of leap seconds since 6-Jan-1980 | I6 |*
+--------------------+------------------------------------------+------------+
|END OF HEADER | Last record in the header section. | 60X |
+--------------------+------------------------------------------+------------+
Records marked with * are optional
+----------------------------------------------------------------------------+ | TABLE A11 | | GLONASS NAVIGATION MESSAGE FILE - DATA RECORD DESCRIPTION | +--------------------+------------------------------------------+------------+ | OBS. RECORD | DESCRIPTION | FORMAT | +--------------------+------------------------------------------+------------+ |PRN / EPOCH / SV CLK| - Satellite number: | I2, | | | Slot number in sat. constellation | | | | - Epoch of ephemerides (UTC) | | | | - year (2 digits, padded with 0, | 1X,I2.2, | | | if necessary) | | | | - month,day,hour,minute, | 4(1X,I2), | | | - second | F5.1, | | | - SV clock bias (sec) (-TauN)| D19.12, | | | - SV relative frequency bias (+GammaN)| D19.12, | | | - message frame time (tk)| D19.12 | | | (0 .le. tk .lt. 86400 sec of day UTC) | | | | | | | | The 2-digit years in RINEX 1 and 2.xx | | | | files are understood to represent | | | | 80-99: 1980-1999 and 00-79: 2000-2079| | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 1| - Satellite position X (km) | 3X,4D19.12 | | | - velocity X dot (km/sec) | | | | - X acceleration (km/sec2) | | | | - health (0=OK) (Bn)| | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 2| - Satellite position Y (km) | 3X,4D19.12 | | | - velocity Y dot (km/sec) | | | | - Y acceleration (km/sec2) | | | | - frequency number (1-24) | | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 3| - Satellite position Z (km) | 3X,4D19.12 | | | - velocity Z dot (km/sec) | | | | - Z acceleration (km/sec2) | | | | - Age of oper. information (days) (E) | | +--------------------+------------------------------------------+------------+
+------------------------------------------------------------------------------+ | TABLE A12 | | GLONASS NAVIGATION MESSAGE FILE - EXAMPLE | +------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
2.10 GLONASS NAV DATA RINEX VERSION / TYPE
ASRINEXG V1.1.0 VM AIUB 19-FEB-98 10:42 PGM / RUN BY / DATE
STATION ZIMMERWALD COMMENT
1998 2 16 0.379979610443D-06 CORR TO SYSTEM TIME
END OF HEADER
3 98 2 15 0 15 0.0 0.163525342941D-03 0.363797880709D-11 0.108000000000D+05
0.106275903320D+05-0.348924636841D+00 0.931322574615D-09 0.000000000000D+00
-0.944422070313D+04 0.288163375854D+01 0.931322574615D-09 0.210000000000D+02
0.212257280273D+05 0.144599342346D+01-0.186264514923D-08 0.300000000000D+01
4 98 2 15 0 15 0.0 0.179599039257D-03 0.636646291241D-11 0.122400000000D+05
0.562136621094D+04-0.289074897766D+00-0.931322574615D-09 0.000000000000D+00
-0.236819248047D+05 0.102263259888D+01 0.931322574615D-09 0.120000000000D+02
0.762532910156D+04 0.339257907867D+01 0.000000000000D+00 0.300000000000D+01
11 98 2 15 0 15 0.0-0.559808686376D-04-0.272848410532D-11 0.108600000000D+05
-0.350348437500D+04-0.255325126648D+01 0.931322574615D-09 0.000000000000D+00
0.106803754883D+05-0.182923507690D+01 0.000000000000D+00 0.400000000000D+01
0.228762856445D+05 0.447064399719D+00-0.186264514923D-08 0.300000000000D+01
12 98 2 15 0 15 0.0 0.199414789677D-04-0.181898940355D-11 0.108900000000D+05
0.131731816406D+05-0.143945598602D+01 0.372529029846D-08 0.000000000000D+00
0.171148715820D+05-0.118937969208D+01 0.931322574615D-09 0.220000000000D+02
0.135737919922D+05 0.288976097107D+01-0.931322574615D-09 0.300000000000D+01
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
+------------------------------------------------------------------------------+ | TABLE A13 | | GLONASS OBSERVATION FILE - EXAMPLE | +------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
2.10 OBSERVATION DATA R (GLONASS) RINEX VERSION / TYPE
XXRINEXO V1.1 AIUB 27-AUG-93 07:23 PGM / RUN BY / DATE
TST1 MARKER NAME
VIEWEG BRAUNSCHWEIG OBSERVER / AGENCY
100 XX-RECEIVER 1.0 REC # / TYPE / VERS
101 XX-ANTENNA ANT # / TYPE
3844808.114 715426.767 5021804.854 APPROX POSITION XYZ
1.2340 .0000 .0000 ANTENNA: DELTA H/E/N
1 1 WAVELENGTH FACT L1/2
2 C1 L1 # / TYPES OF OBSERV
10.000 INTERVAL
1993 8 23 14 24 40.0490000 GLO TIME OF FIRST OBS
END OF HEADER
93 8 23 14 24 40.0490000 0 3 2R01R21
23986839.824 20520.565 5
23707804.625 19937.231 5
23834065.096 -9334.581 5
93 8 23 14 24 50.0490000 0 3 2R01R21
23992341.033 49856.525 5
23713141.002 48479.290 5
23831189.435 -24821.796 5
93 8 23 14 25 .0490000 0 3 2R01R21
23997824.854 79217.202 5
23718494.110 77092.992 5
23828329.946 -40219.918 5
93 8 23 14 25 10.0490000 0 5 2R05R17R01R21
24003328.910 108602.422 5
24933965.449 -19202.780 5
22203326.578 -2987.327 5
23723851.686 105777.849 5
23825485.526 -55529.205 5
93 8 23 14 25 20.0490010 0 5 2R05R17R01R21
24008828.023 138012.178 5
24927995.616 -51188.500 5
22202547.907 -7213.298 5
23729236.758 134533.636 5
23822662.277 -70749.590 5
93 8 23 14 25 30.0490000 0 5 2R05R17R01R21
24014330.779 167446.477 5
24922041.288 -83151.666 5
22201767.457 -11388.909 5
23734633.024 163360.131 5
23819848.894 -85881.102 5
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
+------------------------------------------------------------------------------+ | TABLE A14 | | MIXED GPS/GLONASS OBSERVATION FILE - EXAMPLE | +------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
2.10 OBSERVATION DATA M (MIXED) RINEX VERSION / TYPE
YYRINEXO V2.8.1 VM AIUB 6-FEB-00 13:59 PGM / RUN BY / DATE
TST2 MARKER NAME
001-02-A MARKER NUMBER
JIM Y-COMPANY OBSERVER / AGENCY
1 YY-RECEIVER 2.0.1 REC # / TYPE / VERS
1 GEODETIC L1 ANT # / TYPE
3851178.1849 -80151.4072 5066671.1013 APPROX POSITION XYZ
1.2340 0.0000 0.0000 ANTENNA: DELTA H/E/N
1 0 WAVELENGTH FACT L1/2
2 C1 L1 # / TYPES OF OBSERV
10.000 INTERVAL
11 LEAP SECONDS
2000 2 6 11 53 0.0000000 GPS TIME OF FIRST OBS
END OF HEADER
00 2 6 11 53 0.0000000 0 14G23G07G02G05G26G09G21R20R19R12R02R11
R10R03
22576523.586 -11256947.60212
22360162.704 -16225110.75413
24484865.974 14662682.882 2
21950524.331 -13784707.24912
22507304.252 9846064.848 2
20148742.213 -20988953.712 4
22800149.591 -16650822.70012
19811403.273 -25116169.741 3
23046997.513 -3264701.688 2
22778170.622 -821857836.745 1
22221283.991 -988088156.884 2
19300913.475 -83282658.19013
20309075.579 -672668843.84713
23397403.484 -285457101.34211
00 2 6 11 53 10.0000000 0 14G23G07G02G05G26G09G21R20R19R12R02R11
R10R03
22578985.016 -11244012.910 2
22359738.890 -16227337.841 2
24490324.818 14691368.710 2
21944376.706 -13817012.849 2
22512598.731 9873887.580 2
20147322.111 -20996416.338 4
22798942.949 -16657163.594 2
19812513.509 -25110234.795 3
23053885.702 -3227854.397 2
22770607.029 -821898566.774 1
22222967.297 -988079145.989 2
19297913.736 -83298710.38413
20313087.618 -672647337.04113
23392352.454 -285484291.40311
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
+----------------------------------------------------------------------------+
| TABLE A15 |
| GEOSTATIONARY NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTION |
+--------------------+------------------------------------------+------------+
| HEADER LABEL | DESCRIPTION | FORMAT |
| (Columns 61-80) | | |
+--------------------+------------------------------------------+------------+
|RINEX VERSION / TYPE| - Format version (2.10) | F9.2,11X, |
| | - File type ('H' = GEO nav mess data) | A1,39X |
+--------------------+------------------------------------------+------------+
|PGM / RUN BY / DATE | - Name of program creating current file | A20, |
| | - Name of agency creating current file | A20, |
| | - Date of file creation (dd-mmm-yy hh:mm)| A20 |
+--------------------+------------------------------------------+------------+
|COMMENT | Comment line(s) | A60 |*
+--------------------+------------------------------------------+------------+
|CORR TO SYSTEM TIME | - Time of reference for system time corr | |*
| | (year, month, day) | 3I6, |
| | - Correction to transform the GEO system | 3X,D19.12 |
| | time to UTC (W0)| |
+--------------------+------------------------------------------+------------+
|LEAP SECONDS | Number of leap seconds since 6-Jan-1980 | I6 |*
+--------------------+------------------------------------------+------------+
|END OF HEADER | Last record in the header section. | 60X |
+--------------------+------------------------------------------+------------+
Records marked with * are optional
+----------------------------------------------------------------------------+ | TABLE A16 | | GEOSTATIONARY NAVIGATION MESSAGE FILE - DATA RECORD DESCRIPTION | +--------------------+------------------------------------------+------------+ | OBS. RECORD | DESCRIPTION | FORMAT | +--------------------+------------------------------------------+------------+ |PRN / EPOCH / SV CLK| - Satellite number (PRN - 100) | I2, | | | - Epoch of ephemerides (GPS) (Toe) | | | | - year (2 digits, padded with 0 | | | | if necessary) | 1X,I2.2, | | | - month,day,hour,minute, | 4(1X,I2), | | | - second | F5.1, | | | - SV clock bias (sec) (aGf0)| D19.12, | | | - SV relative frequency bias (aGf1)| D19.12, | | | - message frame time (sec of day GPS) | D19.12 | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 1| - Satellite position X (km) | 3X,4D19.12 | | | - velocity X dot (km/sec) | | | | - X acceleration (km/sec2) | | | | - health (0=OK) | | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 2| - Satellite position Y (km) | 3X,4D19.12 | | | - velocity Y dot (km/sec) | | | | - Y acceleration (km/sec2) | | | | - Accuracy code (URA, meters)| || +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 3| - Satellite position Z (km) | 3X,4D19.12 | | | - velocity Z dot (km/sec) | | | | - Z acceleration (km/sec2) | | | | - spare | | +--------------------+------------------------------------------+------------+
+------------------------------------------------------------------------------+ | TABLE A17 | | MIXED GPS/GEO OBSERVATION FILE - EXAMPLE | +------------------------------------------------------------------------------+
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2.10 OBSERVATION DATA M (MIXED) RINEX VERSION / TYPE
RinExp V.2.0.2 TESTUSER 00-02-04 09:30 PGM / RUN BY / DATE
COMMENT
The file contains L1 pseudorange and phase data of the COMMENT
geostationary AOR-E satellite (PRN 120 = S20) COMMENT
COMMENT
TLSE D MARKER NAME
ESTB TESTAGENCY OBSERVER / AGENCY
SGL98030069 Novatel Millennium HW3-1 SW 4.45/2.3 REC # / TYPE / VERS
ASH701073.1 ANT # / TYPE
4629365.0750 112100.1790 4371619.4160 APPROX POSITION XYZ
0.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N
1 1 WAVELENGTH FACT L1/2
4 C1 L1 L2 P2 # / TYPES OF OBSERV
1 INTERVAL
2000 1 13 14 45 0.000000 GPS TIME OF FIRST OBS
2000 1 13 15 0 0.000000 GPS TIME OF LAST OBS
0 RCV CLOCK OFFS APPL
END OF HEADER
00 01 13 14 45 0.0000000 0 8G25G17G06G05G24G29G30S20 0.000535140
21839900.207 -236148.877 9 -184047.71049 21839901.4384
25151926.413 -161002.900 9 -125509.72447 25151935.8274
20531103.515 763336.059 9 594797.53149 20531105.0114
23001624.801 -432989.642 9 -337436.50348 23001628.1684
23610349.510 -384890.728 9 -299952.38848 23610354.3504
23954474.398 -151982.173 9 -118480.96847 23954481.1994
20622367.016 -332628.466 9 -259214.55249 20622367.8754
38137559.506 335849.135 9
00 01 13 14 45 1.0000000 0 8G25G17G06G05G24G29G30S20 0.000535144
21839500.278 -238250.743 9 -185685.52549 21839501.4814
25151246.148 -164576.503 9 -128294.33947 25151256.2614
20531084.382 763235.849 9 594719.44849 20531085.8784
23002123.430 -430369.237 9 -335394.62748 23002126.7114
23610670.127 -383205.864 9 -298639.51048 23610674.9834
23955051.773 -148948.417 9 -116117.00748 23955058.5034
20622558.579 -331621.765 9 -258430.11049 20622559.4574
38137558.783 335846.284 9
00 01 13 14 45 2.0000000 0 8G25G17G06G05G24G29G30S20 0.000535144
21839100.418 -240352.173 9 -187323.00449 21839101.6534
25150565.890 -168150.148 9 -131078.97647 25150576.2144
20531065.378 763136.116 9 594641.73549 20531066.8984
23002622.082 -427748.683 9 -333352.63648 23002625.3444
23610990.819 -381520.461 9 -297326.20848 23610995.8424
23955629.062 -145914.531 9 -113752.94748 23955636.5544
20622750.161 -330614.723 9 -257645.40149 20622751.0554
38137558.365 335843.457 9
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+------------------------------------------------------------------------------+ | TABLE A18 | | GEO NAVIGATION MESSAGE FILE - EXAMPLE | +------------------------------------------------------------------------------+
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2.10 H: GEO NAV MSG DATA RINEX VERSION / TYPE
SuP v. 1.4 TESTUSER 04-02-00 10:04 PGM / RUN BY / DATE
COMMENT
The file contains navigation message data of the COMMENT
geostationary AOR-E satellite (PRN 120 = S20) COMMENT
COMMENT
END OF HEADER
20 00 01 13 14 46 24.0 .209547579288D-07 -.545696821064D-11 .532351280000D+05
.406131052800D+08 .150625000000D+01 .875000000000D-04 .000000000000D+00
-.112454290400D+08 .308125000000D+01 -.112500000000D-03 .400000000000D+01
.781616000000D+05 .959600000000D+01 -.437500000000D-03 .000000000000D+00
20 00 01 13 14 48 00.0 .204890966415D-07 -.545696821064D-11 .533161280000D+05
.406132503200D+08 .151500000000D+01 .875000000000D-04 .000000000000D+00
-.112451338400D+08 .307000000000D+01 -.125000000000D-03 .400000000000D+01
.790812000000D+05 .955600000000D+01 -.437500000000D-03 .000000000000D+00
20 00 01 13 14 49 36.0 .195577740669D-07 -.545696821064D-11 .533981280000D+05
.406133961600D+08 .152375000000D+01 .875000000000D-04 .000000000000D+00
-.112448396800D+08 .305875000000D+01 -.125000000000D-03 .400000000000D+01
.799968000000D+05 .951600000000D+01 -.437500000000D-03 .000000000000D+00
20 00 01 13 14 51 12.0 .190921127796D-07 -.545696821064D-11 .534791280000D+05
.406135428800D+08 .153250000000D+01 .875000000000D-04 .000000000000D+00
-.112445465600D+08 .304687500000D+01 -.125000000000D-03 .400000000000D+01
.809084000000D+05 .947600000000D+01 -.437500000000D-03 .000000000000D+00
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