June 8, 2001 RINEX: The Receiver Independent Exchange Format Version 2.10 ************************************************************ Werner Gurtner Astronomical Institute University of BerneContents:********0. Revision History0.1 Revision Summary0.2 First Revision0.3 Later Revisions0.4 Version 2.10 Modifications0.5 Version 2.10 Revisions1. THE PHILOSOPHY OF RINEX2. GENERAL FORMAT DESCRIPTION3. DEFINITION OF THE OBSERVABLES4. THE EXCHANGE OF RINEX FILES:5. RINEX VERSION 2 FEATURES5.1 Satellite Numbers:5.2 Order of the Header Records:5.3 Missing Items, Duration of the Validity of Values5.4 Event Flag Records5.5 Receiver Clock Offset6. ADDITIONAL HINTS AND TIPS6.1 Version 1 / Version 26.2 Leading Blanks in CHARACTER fields6.3 Variable-length Records6.4 Blank Fields6.5 2-Digit Years6.6 Fit Interval6.7 Satellite Health6.8 Transmission Time of Message (Navigation message file)7. RINEX UNDER ANTISPOOFING (AS)8. GLONASS Extensions8.1 RINEX Observation File8.1.1 Time System Identifier8.1.2 Pseudorange Definition8.1.3 More Than 12 Satellites per Epoch8.2 RINEX Navigation Files for GLONASS9. RINEX Extensions for Geostationary Satellites (GPS Signal Payloads)9.1 RINEX Observation Files for GEO Satellites9.2 RINEX Navigation Message Files for GEO Satellites10. REFERENCES11. RINEX VERSION 2.10 FORMAT DEFINITIONS AND EXAMPLES A 1 GPS OBSERVATION DATA FILE - HEADER SECTION DESCRIPTION A 2 GPS OBSERVATION DATA FILE - DATA RECORD DESCRIPTION A 3 GPS NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTION A 4 GPS NAVIGATION MESSAGE FILE - DATA RECORD DESCRIPTION A 5 METEOROLOCICAL DATA FILE - HEADER SECTION DESCRIPTION A 5 METEOROLOGICAL DATA FILE - DATA RECORD DESCRIPTION A 7 GPS OBSERVATION DATA FILE - EXAMPLE A 8 GPS NAVIGATION MESSAGE FILE - EXAMPLE A 9 METEOROLOGICAL DATA FILE - EXAMPLE A10 GLONASS NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTION A11 GLONASS NAVIGATION MESSAGE FILE - DATA RECORD DESCRIPTION A12 GLONASS NAVIGATION MESSAGE FILE - EXAMPLE A13 GLONASS OBSERVATION FILE - EXAMPLE A14 MIXED GPS/GLONASS OBSERVATION FILE - EXAMPLE A15 GEOSTATIONARY NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTION A16 GEOSTATIONARY NAVIGATION MESSAGE FILE - DATA RECORD DESCRIPTION A17 MIXED GPS/GEO OBSERVATION FILE - EXAMPLE A18 GEO NAVIGATION MESSAGE FILE - EXAMPLE0. REVISION HISTORY0.1 Revision SummaryFirst Revision, April 1993Clarification December 1993Doppler Definition: January 1994PR Clarification: October 1994Wlfact Clarification: February 1995Event Time Frame Clarification: May 1996Minor errors in the examples A7/A8: May 1996Naming convention for compressed met files; January 1997Continuation line clarifications: April 1997GLONASS Extensions: April 1997Met sensor description and position records: April 1997Wavelength factor clarifications: April 1997Error in example A12: CORR TO SYSTEM TIME, April 1997Redefinition of sv clock params in GLONASS Nav Mess Files: March 1998Naming conventions for compressed RINEX obs files: March 1998GPS week: No roll-over, continuous number: March 1998Error in compressed DOS file naming convention: July 1998Table A13 contained blank satellite identifiers: Sept 1998Discrepancy between Tables A5 and A9 removed: Sept 1998Phase data format overflow: Clarification: Oct 1998Message frame time Table A11: Clarification: Oct 1998RINEX Version 2.10 Modifications: July 1999Typo in paragraph 0.4 (epoch flag >1): Nov 1999Clarification regarding trailing blanks: Dec 1999Clarification regarding units of ZD,ZT, URA(GEO)Clarification regarding time system identifier of GEO obs filesClarification regarding time system identifier in TIME OF LAST record: Feb 2000Addition of GEO examples: February 2000Clarification of epoch field for event flag records: May 2000Table A6: Typos in format definition of epoch: May 2000Clarification of the GLONASS satellite identifier: June 20010.2 First RevisionThe first documentation of the RINEX Version 2 Format was published byW. 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 bythe RINEX format (see chapter 7). Chapter 4 gives a recommendation for datacompression procedures, especially useful when large amounts of data areexchanged through computer networks. In Table A3 in the original paper thedefiniton of the "PGM / RUN BY / DATE" navigation header record wasmissing, although the example showed it. The redefinition of AODE/AODC toIODE/IODC also asked for an update of the format description. For consistencyreasons 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 LockIndicator unused so far) to flag AS data is so small a change that we decidedto NOT increase the version number!0.3 Later Revisions* URA Clarification (10-Dec-93): The user range accuracy in the Navigation Message File did not contain a definition of the units: There existed two ways of interpretation: Either the 4 bit value from the original message or the converted value in meters according to GPS ICD-200. In order to simplify the interpretation for the user of the RINEX files I propose the bits to be converted into meters prior to RINEX file creation.* GLONASS Extensions: In March 1997 a proposal for extensions to the current RINEX definitions based on experiences collected with GLONASS only and mixed GPS/GLONASS data files was circulated among several instrument manufacturers and software developers. The results of the call for comments have been worked into this document. A separate document (glonass.txt) summarizes just the necessary extensions.* A blank satellite identifier is allowed in pure GPS files only* Met sensor description and position records were added to facilitate the precise use of met values.* Description and examples for wavelength factors and their temporary changes (bit 1 of LLI) clarified.* The RINEX documentation distributed in spring 1997 contained definitions for the GLONASS satellite clock offset and drift with the intention to have them defined identically to the GPS values. Unfortunately the GLONASS Interface Document consulted had a sign error in one of the formulae. The values should be stored into the RINEX file as -TauN, +GammaN, -TauC. The original definition asked for -TauN, -GammaN, +TauC. See paragraph 8.2. To avoid problems with files created with the original definitions a real valued version number (2.01) has been introduced for GLONASS nav mess files.* IGS decided to use the Hatanaka compression scheme for RINEX observation files. Below the corresponding RINEX file name conventions are included as recommendations. The DOS naming (extension .yyE) was wrongly set to .yyY in the March 1998 version of the document.* GPS week: The GPS week number in all RINEX files is a continuous number not affected by the 1024 roll-over, it runs from 1023 over 1024 to 1025 etc.* A 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.0.4 Version 2.10 ModificationsThe modifications leading to Version 2.10 include:- Fractional version number- Zero padding of 2-digit year values (years 2000-2009 --> 00-09)- Field length of time of first obs (1/10 microsecond resolution)- Non-integer sampling rate (INTERVAL header record)- Header records now allowed after all epoch flags >1 |- Additional obs types in obs files: S1, S2 (raw signal strength values)- Receiver clock offset header line to clarify applied corrections- Default wavelength factor header line mandatory- Inmarsat GPS payloads: New satellite system definition, new nav mess files- Curve fit interval in GPS nav mess file- Redefinition of SV health value in GPS nav mess file- Additional obs types in met files (ZD, ZT)0.5 Version 2.10 Revisions* "Header records now allowed after all epoch flags >2" in paragraph 0.4 should read ">1"* The original intention of the RINEX format was to allow for variable record lengths of the ASCII files to minimize the file size. Empty fields or unknown values can either be represented by zeroes or blank space. Most RINEX converters removed trailing blank to further reduce the file size. The documentation was not clear enough to explicitely allow for this practice (paragraphs 2, 5.3, 9.1).* The time system identifier of GPS observations generated by GEO payloads defaults to GPS (explicitly stated now in paragraph 9.1)* The time system identifier in the TIME OF LAST OBS header record has to be identical to the one in the TIME OF FIRST OBS record* Clarification of Table A2 to be compatible with examples of Table A7: For event flags without significant epoch the epoch fields can be left blank. Table A6: Format for epoch contained obvious errors1. THE PHILOSOPHY OF RINEXThe first proposal for the "Receiver Independent Exchange Format" RINEX hasbeen developed by the Astronomical Institute of the University of Berne forthe easy exchange of the GPS data to be collected during the large EuropeanGPS campaign EUREF 89, which involved more than 60 GPS receivers of 4different manufacturers. The governing aspect during the development wasthe following fact:Most geodetic processing software for GPS data use a well-defined set ofobservables:- the carrier-phase measurement at one or both carriers (actually being ameasurement on the beat frequency between the received carrier of thesatellite signal and a receiver-generated reference frequency).- the pseudorange (code) measurement, equivalent to the difference of thetime of reception (expressed in the time frame of the receiver) and thetime of transmission (expressed in the time frame of the satellite) of adistinct satellite signal.- the observation time being the reading of the receiver clock at theinstant of validity of the carrier-phase and/or the code measurements.Usually the software assumes that the observation time is valid for boththe phase AND the code measurements, AND for all satellites observed.Consequently all these programs do not need most of the information that isusually stored by the receivers: They need phase, code, and time in theabove mentioned definitions, and some station-related information likestation name, antenna height, etc.2. GENERAL FORMAT DESCRIPTIONCurrently the format consists of six ASCII file types: 1. Observation Data File 2. Navigation Message File 3. Meteorological Data File 4. GLONASS Navigation Message File 5. GEO Navigation Message File 6. Satellite and Receiver Clock Date File(The format definition of the clock files has been published in 1998in a separate document by Jim Ray and Werner Gurtner, available at the IGSCentral 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 headersection contains global information for the entire file and is placed atthe beginning of the file. The header section contains header labels incolumns 61-80 for each line contained in the header section. These labelsare mandatory and must appear exactly as given in these descriptions andexamples.The format has been optimized for mimimum space requirements independentfrom the number of different observation types of a specific receiver byindicating in the header the types of observations to be stored. Incomputer systems allowing variable record lengths the observation recordsmay 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 containthe data from one site and one session. RINEX Version 2 also allows toinclude observation data from more than one site subsequently occupied bya roving receiver in rapid static or kinematic applications. Although Version 2allows to insert header records into the data field we do not recommend toconcatenate 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 beeconomical to include the identical satellite messages collected by thedifferent receivers several times. Therefore the Navigation Message Filefrom one receiver may be exchanged or a composite Navigation Message Filecreated containing non-redundant information from several receivers inorder to make the most complete file.The format of the data records of the RINEX Version 1 Navigation Messagefile is identical to the former NGS exchange format.The actual format descriptions as well as examples are given in the Tablesat the end of the paper.3. DEFINITION OF THE OBSERVABLESGPS observables include three fundamental quantities that need to be defined:Time, Phase, and Range.TIME: The time of the measurement is the receiver time of the received signals. It is identical for the phase and range measurements and is identical for all satellites observed at that epoch. It is expressed in GPS time (not Universal Time).PSEUDO-RANGE: The pseudo-range (PR) is the distance from the receiver antenna to the satellite antenna including receiver and satellite clock offsets (and other biases, such as atmospheric delays): PR = distance + c * (receiver clock offset - satellite clock offset + other biases) so that the pseudo-range reflects the actual behavior of the receiver and satellite clocks. The pseudo-range is stored in units of meters. See also clarifications for pseudoranges in mixed GPS/GLONASS files in chapter 8.1.PHASE: The phase is the carrier-phase measured in whole cycles at both L1 and L2. The half-cycles measured by sqaring-type receivers must be converted to whole cycles and flagged by the wavelength factor in the header section. 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 atmosphericrefraction, satellite clock offsets, etc.If the receiver or the converter software adjusts the measurements usingthe real-time-derived receiver clock offsets dT(r), the consistency of the3 quantities phase / pseudo-range / epoch must be maintained, i.e. thereceiver 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)*freqDOPPLER:The sign of the doppler shift as additional observable is defined as usual:Positive for approaching satellites.4. THE EXCHANGE OF RINEX FILES:We recommend using the following naming convention for RINEX files: ssssdddf.yyt 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 fileWhen data transmission times or storage volumes are critical we recommendcompressing the files prior to storage or transmission using the UNIX"compress" und "uncompress" programs. Compatible routines are available onVAX/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.yyYObs Files (Hatanaka compr) ssssdddf.yyD.Z ssssdddf.yyD_Z ssssdddf.yyEGPS Nav Files ssssdddf.yyN.Z ssssdddf.yyN_Z ssssdddf.yyXGLONASS Nav File ssssdddf.yyG.Z ssssdddf.yyG_Z ssssdddf.yyVGEO Nav Files ssssdddf.yyH.Z ssssdddf.yyH_Z ssssdddf.yyUMet Data Files ssssdddf.yyM.Z ssssdddf.yyM_Z ssssdddf.yyWClock Files (see sep.doc.) ssssdddf.yyC.Z ssssdddf.yyC_ZReferences for the Hatanaka compression scheme: See e.g. http://sopac.ucsd.edu/dataArchive/hatanaka.html IGSMails 1525,1686,1726,1763,17855. RINEX VERSION 2 FEATURESThe following section contains features that have been introduced for RINEXVersion 2:5.1 Satellite Numbers:Version 2 has been prepared to contain GLONASS or other satellite systems'observations. Therefore we have to be able to distinguish the satellitesof the different systems: We precede the 2-digit satellite number with asystem identifier. 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)5.2 Order of the Header Records:As the record descriptors in columns 61-80 are mandatory, the programsreading a RINEX Version 2 header are able to decode the header records withformats according to the record descriptor, provided the records have beenfirst read into an internal buffer.We therefore propose to allow free ordering of the header records, with thefollowing exceptions:- The "RINEX VERSION / TYPE" record must be the first record in a file- The default "WAVELENGTH FACT L1/2" record must precede all records defining wavelength factors for individual satellites- The "# OF SATELLITES" record (if present) should be immediately followed by the corresponding number of "PRN / # OF OBS" records. (These records may be handy for documentary purposes. However, since they may only be created after having read the whole raw data file we define them to be optional.5.3 Missing Items, Duration of the Validity of ValuesItems that are not known at the file creation time can be set to zero orblank or the respective record may be completely omitted. Consequentlyitems of missing header records will be set to zero or blank by the programreading RINEX files. Trailing blanks may be truncated from the record. |Each value remains valid until changed by an additional header record.5.4 Event Flag RecordsThe "number of satellites" also corresponds to the number of records of thesame epoch followed. Therefore it may be used to skip the appropriatenumber of records if certain event flags are not to be evaluated in detail.5.5 Receiver Clock OffsetA large number of users asked to optionally include a receiver-derivedclock offset into the RINEX format. In order to remove uncertainties ifthe data (epoch, pseudorange, phase) have been previously corrected or notby the reported clock offset, RINEX Version 2.10 requests a clarifying (new)header record.It would then be possible to reconstruct the original observations ifnecessary.As the output format for the receiver-derived clock offset is limited tonanoseconds the offset should be rounded to the nearest nanosecond before itis used to correct the observables in order to guarantee correctreconstruction.6. ADDITIONAL HINTS AND TIPS6.1 Version 1 / Version 2Programs developed to read RINEX Version 1 files have to verify the versionnumber. Version 2 files may look different (version number, END OF HEADERrecord, receiver and antenna serial number alphanumeric) even if they donot use any of the new features6.2 Leading Blanks in CHARACTER fieldsWe propose that routines to read RINEX Version 2 files automatically deleteleading blanks in any CHARACTER input field. Routines creating RINEXVersion 2 files should also left-justify all variables in the CHARACTERfields.6.3 Variable-length RecordsDOS, and other, files may have variable record lengths, so we recommend tofirst read each observation record into a 80-character blank string anddecode the data afterwards. In variable length records, empty data fieldsat the end of a record may be missing, especially in the case of theoptional receiver clock offset.6.4 Blank FieldsIn view of future modifications we recommend to carefully skip any fieldscurrently defined to be blank (Format fields nX), because they may be assignedto new contents in future versions.6.5 2-Digit YearsRINEX version 2 stores the years of data records with two digits only. Theheader of observation files contains a TIME OF FIRST OBS record with the fullfour-digit year, the GPS nav messages contain the GPS week numbers. From thesetwo data items the unambiguous year can easily be reconstructed.A hundred-year ambiguity occurs in the met data and GLONASS and GEO navmessages: Instead of introducing a new TIME OF FIRST OBS header line it issafeto stipulate that any two-digit years in RINEX Version 1 and Version 2.xxfiles are understood to represent 80-99: 1980-1999 00-79: 2000-2079Full 4-digit year fields could then be defined by a future RINEX version 3.6.6 Fit IntervalBit 17 in word 10 of subframe 2 is a "fit interval" flag which indicates thecurve-fit interval used by the GPS Control Segment in determining theephemeris parameters, as follows (see ICD-GPS-200, 20.3.3.4.3.1): 0 = 4 hours 1 = greater than 4 hours.Together with the IODC values and Table 20-XII the actual fit interval can bedetermined. The second value in the last record of each message shall containthe fit interval in hours determined using IODC, fit flag, and Table 20-XII,according to the Interface Document ICD-GPS-200.6.7 Satellite HealthThe health of the signal components (bits 18 to 22 of word three in subframeone) are now (Version 2.10) included into the health value reported in thesecond field of the sixth nav mess records.A program reading RINEX files could easily decide if bit 17 only or all bits(17-22) have been written: |RINEX Value: 0 Health OKRINEX Value: 1 Health not OK (bits 18-22 not stored)RINEX Value: >32 Health not OK (bits 18-22 stored)6.8 Transmission Time of Message (Navigation message file)The transmission time of message can be shortly before midnightSaturday/Sunday, the TOE and TOC of the message already in the next week.As the reported week in the RINEX nav message (BROADCAST ORBIT - 5 record)goes with ToE (this is different from the GPS week in the original satellitemessage!), the transmission time of message should be reduced by 604800(i.e., will become negative) to also refer to the same week.7. RINEX UNDER ANTISPOOFING (AS)Some receivers generate code delay differences between the first and secondfrequency using cross-correlation techniques when AS is on and may recoverthe phase observations on L2 in full cycles. Using the C/A code delay onL1 and the observed difference it is possible to generate a code delayobservation for the second frequency.Other receivers recover P code observations by breaking down the Y codeinto P and W code.Most of these observations may suffer from an increased noise level. Inorder to enable the postprocessing programs to take special actions, suchAS-infected observations are flagged using bit number 2 of the Loss of LockIndicators (i.e. their current values are increased by 4).8. GLONASS Extensions8.1 RINEX Observation File8.1.1 Time System IdentifierThe original RINEX Version 2 needed one major supplement, the explicitdefinition of the time system:GLONASS is basically running on UTC (or, more precisely, GLONASS system timelinked 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 headerrecords "TIME OF FIRST OBS" and (if present) "TIME OF LAST OBS" in GLONASS andGPS observation files _can_, in mixed GLONASS/GPS observation files _must_contain a time system identifier defining the system that all time tags in thefile are referring to: "GPS" to identify GPS time, "GLO" to identify theGLONASS UTC time system. Pure GPS files default to GPS and pure GLONASS filesdefault 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 recommendto 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 processingThe 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-processingand not before the RINEX conversion. It may also be necessary to solve forremaining differences during the post-processing.8.1.2 Pseudorange DefinitionThe pseudorange (code) measurement is defined to be equivalent to thedifference of the time of reception (expressed in the time frame of thereceiver) and the time of transmission (expressed in the time frame of thesatellite) of a distinct satellite signal.If a mixed-mode GPS/GLONASS receiver refers all pseudorange observations toone receiver clock only,- the raw GLONASS pseudoranges will show the current number of leap seconds between GPS time and GLONASS time if the receiver clock is running in the GPS time frame- the raw GPS pseudoranges will show the negative number of leap seconds between GPS time and GLONASS time if the receiver clock is running in the GLONASS time frameIn order to avoid misunderstandings and to keep the code observations withinthe 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 frameto 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 Tof BIPM.8.1.3 More Than 12 Satellites per EpochThe format of the epoch / satellite line in the observation record part ofthe RINEX Observation files has only been defined for up to 12 satellitesper epoch. We explicitly define now the format of the continuation lines,see Table A2.8.2 RINEX Navigation Files for GLONASSAs the GLONASS navigation message differs in contents from the GPS messagetoo much, a special GLONASS navigation message file format has been defined.The header section and the first data record (epoch, satellite clockinformation) is similar to the GPS navigation file. The following recordscontain the satellite position, velocity and acceleration, the clock andfrequency biases as well as auxiliary information as health, satellitefrequency (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.9. RINEX Extensions for Geostationary Satellites (GPS Signal Payloads)With the implementation of GNSS programs, GPS-like ranging measurements can beperformed on geostationary navigation payloads.RINEX Version 2.10 defines the necessary extensions to handle such data inRINEX files for data exchange and postprocessing purposes.9.1 RINEX Observation Files for GEO SatellitesA new satellite system identifier has been defined for the geostationaryGPS signal payloads: "S", to be used in the RINEX VERSION / TYPE header lineand 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 payloadobservation files the fields for the second frequency observations of GEOsatellites remain blank, are set to zero values or (if last in the record) |can be truncated. |The time system identifier of GEO satellites generating GPS signals defaults |to GPS time. |9.2 RINEX Navigation Message Files for GEO SatellitesAs the GEO broadcast orbit format differs from the GPS message a special GEOnavigation message file format has been defined which is nearly identical withthe 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 andacceleration 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_secW0 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! *10. REFERENCESEvans, A. (1989): "Summary of the Workshop on GPS Exchange Formats."Proceedings of the Fifth International Geodetic Symposium on SatelliteSystems, pp. 917ff, Las Cruces.Gurtner, W., G. Mader, D. Arthur (1989): "A Common Exchange Format forGPS Data." CSTG GPS Bulletin Vol.2 No.3, May/June 1989, National GeodeticSurvey, Rockville.Gurtner, W., G. Mader (1990): "The RINEX Format: Current Status, FutureDevelopments." Proceedings of the Second International Symposium of PrecisePositioning with the Global Positioning system, pp. 977ff, Ottawa.Gurtner, W., G. Mader (1990): "Receiver Independent Exchange FormatVersion 2." CSTG GPS Bulletin Vol.3 No.3, Sept/Oct 1990, National GeodeticSurvey, Rockville.Gurtner, W. (1994): "RINEX: The Receiver-Independent Exchange Format."GPS World, Volume 5, Number 7, July 1994.11. RINEX VERSION 2.10 FORMAT DEFINITIONS AND EXAMPLES +----------------------------------------------------------------------------+ | 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 / TYPEBLANK OR G = GPS, R = GLONASS, T = TRANSIT, M = MIXED COMMENTXXRINEXO V9.9 AIUB 24-MAR-01 14:43 PGM / RUN BY / DATEEXAMPLE OF A MIXED RINEX FILE COMMENTA 9080 MARKER NAME9080.1.34 MARKER NUMBERBILL SMITH ABC INSTITUTE OBSERVER / AGENCYX1234A123 XX ZZZ REC # / TYPE / VERS234 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 4A 9080 MARKER NAME9080.1.34 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 / TYPEXXRINEXN V2.10 AIUB 3-SEP-99 15:22 PGM / RUN BY / DATEEXAMPLE 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+0013 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 / TYPEXXRINEXM V9.9 AIUB 3-APR-96 00:10 PGM / RUN BY / DATEEXAMPLE OF A MET DATA FILE COMMENTA 9080 MARKER NAME 3 PR TD HR # / TYPES OF OBSERVPAROSCIENTIFIC 740-16B 0.2 PR SENSOR MOD/TYPE/ACCHAENNI 0.1 TD SENSOR MOD/TYPE/ACCROTRONIC 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 / TYPEASRINEXG V1.1.0 VM AIUB 19-FEB-98 10:42 PGM / RUN BY / DATESTATION 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+0111 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+0112 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 / TYPEXXRINEXO V1.1 AIUB 27-AUG-93 07:23 PGM / RUN BY / DATETST1 MARKER NAMEVIEWEG BRAUNSCHWEIG OBSERVER / AGENCY100 XX-RECEIVER 1.0 REC # / TYPE / VERS101 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 / TYPEYYRINEXO V2.8.1 VM AIUB 6-FEB-00 13:59 PGM / RUN BY / DATETST2 MARKER NAME001-02-A MARKER NUMBERJIM Y-COMPANY OBSERVER / AGENCY1 YY-RECEIVER 2.0.1 REC # / TYPE / VERS1 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 |+------------------------------------------------------------------------------+----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8| 2.10 OBSERVATION DATA M (MIXED) RINEX VERSION / TYPERinExp V.2.0.2 TESTUSER 00-02-04 09:30 PGM / RUN BY / DATE COMMENTThe file contains L1 pseudorange and phase data of the COMMENTgeostationary AOR-E satellite (PRN 120 = S20) COMMENT COMMENTTLSE D MARKER NAMEESTB TESTAGENCY OBSERVER / AGENCYSGL98030069 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----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|+------------------------------------------------------------------------------+| TABLE A18 || GEO NAVIGATION MESSAGE FILE - EXAMPLE |+------------------------------------------------------------------------------+----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8| 2.10 H: GEO NAV MSG DATA RINEX VERSION / TYPESuP v. 1.4 TESTUSER 04-02-00 10:04 PGM / RUN BY / DATE COMMENTThe file contains navigation message data of the COMMENTgeostationary AOR-E satellite (PRN 120 = S20) COMMENT COMMENT END OF HEADER20 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+0020 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+0020 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+0020 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----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
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