toby
/
zotero-db
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity
zotero-db/storage/ER8ABS7D/.zotero-ft-cache

6258 lines
179 KiB
Plaintext
Raw Normal View History

First ZDB push. Testing repo functionality.
2024-08-12 13:51:37 -05:00
RINEX
The Receiver Independent Exchange Format
Version 3.03
International GNSS Service (IGS), RINEX Working Group and Radio Technical Commission for Maritime
Services Special Committee 104 (RTCM-SC104),
July 14th, 2015
Acknowledgment: RINEX Version 3.02 and 3.03 is based on RINEX Version 3.01 which was developed by: Werner Gurtner, Astronomical Institute of the University of Bern, Switzerland and
Lou Estey, UNAVCO, Boulder Colorado, USA.
RINEX Version 3.03 i
Table of Contents
0. REVISION HISTORY.............................................................................................................................. 1 1. THE PHILOSOPHY AND HISTORY OF RINEX.................................................................................. 8 2. GENERAL FORMAT DESCRIPTION ................................................................................................. 10 3. BASIC DEFINITIONS ........................................................................................................................... 11
3.1 Time .................................................................................................................................................. 11 3.2 Pseudo-Range: .................................................................................................................................. 11 3.3 Phase ................................................................................................................................................. 11
Table 1: Observation Corrections for Receiver Clock Offset ............................................................. 12 3.4 Doppler ............................................................................................................................................. 12 3.5 Satellite numbers............................................................................................................................... 12
Figure 1: Satellite numbers and Constellation Identifiers ................................................................... 12 4. THE EXCHANGE OF RINEX FILES ................................................................................................... 13
Figure 2: Recommended filename parameters.................................................................................... 13 Table 2: Description of Filename Parameters ..................................................................................... 14 5. RINEX VERSION 3 FEATURES.......................................................................................................... 15 5.1 Observation codes ............................................................................................................................. 15 Table 3: Observation Code Components ............................................................................................ 15 Table 4 : RINEX Version 3.03 GPS Observation Codes.................................................................... 16 Table 5 : RINEX Version 3.03 GLONASS Observation Codes......................................................... 17 Table 6 : RINEX Version 3.03 Galileo Observation Codes ............................................................... 17 Table 7 : RINEX Version 3.03 SBAS Observation Codes ................................................................. 18 Table 8 : RINEX Version 3.03 QZSS Observation Codes ................................................................. 18 Table 9 : RINEX Version 3.03 BDS Observation Codes ................................................................... 19 Table 10 : RINEX Version 3.03 IRNSS Observation Codes.............................................................. 19 5.2 Satellite system-dependent list of observables.................................................................................. 20 5.3 Marker type ....................................................................................................................................... 20 Table 11: Proposed Marker Type Keywords ...................................................................................... 20 5.4 Half-wavelength observations, half-cycle ambiguities ..................................................................... 21 5.5 Scale factor........................................................................................................................................ 21 5.6 Information about receivers on a vehicle .......................................................................................... 21
RINEX Version 3.03 ii
5.7 Signal strength .................................................................................................................................. 22 Table 12: Standardized S/N Indicators ............................................................................................... 22
5.8 Date/time format in the PGM / RUN BY / DATE header record ..................................................... 22 5.9 Antenna phase center header record ................................................................................................. 23 5.10 Antenna orientation......................................................................................................................... 23 5.11 Observation data records................................................................................................................. 23
Table 13: Example Observation Type Records .................................................................................. 23 Table 14: Example Observation Data Records ................................................................................... 23 5.12 Ionosphere delay as pseudo-observables ........................................................................................ 24 Table 15: Ionosphere Pseudo-Observable Coding .............................................................................. 24 Table 16: Ionosphere Pseudo-Observable Corrections to Observations ............................................. 24 5.13 Channel numbers as pseudo-observables........................................................................................ 24 5.14 Corrections of differential code biases (DCBs) .............................................................................. 25 5.15 Corrections of antenna phase center variations (PCVs).................................................................. 25 5.16 Navigation message files ................................................................................................................ 25 Table 17: Example of Navigation File Satellite System and Number Definition Record .................. 25 Table 18: Example of Navigation File Header IONOSPHERIC CORR Record................................ 25 6. ADDITIONAL HINTS AND TIPS ........................................................................................................ 26 6.1 Versions ............................................................................................................................................ 26 6.2 Leading blanks in CHARACTER fields ........................................................................................... 26 6.3 Variable-length records..................................................................................................................... 26 6.4 Blank fields ....................................................................................................................................... 26 6.5 Order of the header records, order of data records............................................................................ 26 6.6 Missing items, duration of the validity of values.............................................................................. 27 6.7 Unknown / Undefined observation types and header records........................................................... 27 6.8 Event flag records ............................................................................................................................. 27 6.9 Receiver clock offset......................................................................................................................... 27 6.10 Two-digit years ............................................................................................................................... 27 6.11 Fit interval (GPS navigation message file) ..................................................................................... 28 6.12 Satellite health (GPS navigation message file) ............................................................................... 28 Table 19: Description of GPS Satellite Health Field .......................................................................... 28 6.13 Transmission time of message (GPS navigation message file)....................................................... 28
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 iii
6.14 Antenna references, phase centers .................................................................................................. 28 7. RINEX UNDER ANTISPOOFING (AS) ............................................................................................... 29 8. DEALING WITH DIFFERENT SATELLITE SYSTEMS .................................................................... 30
8.1 Time system identifier ...................................................................................................................... 30 Table 20: Relationship between GPS, QZSS, IRN, GST, GAL, BDS and RINEX Week Numbers.. 31 Table 21: Constellation Time Relationships ....................................................................................... 32 Table 22: GPS and BeiDou UTC Leap Second Relationship ............................................................. 32
8.2 Pseudorange definition...................................................................................................................... 33 Table 23: Constellation Pseudorange Corrections .............................................................................. 33
8.3 RINEX navigation message files ...................................................................................................... 34 8.3.1 RINEX navigation message files for GLONASS............................................................................ 34 Table 24: GLONASS Navigation File Data, Sign Convention........................................................... 34 8.3.2 RINEX navigation message files for Galileo............................................................................. 35 8.3.3 RINEX navigation message files for GEO satellites ................................................................. 35 8.3.4 RINEX navigation message files for QZSS L1-SAIF ............................................................... 36 8.3.5 RINEX navigation message files for BDS................................................................................. 37 8.3.6 RINEX navigation message files for IRNSS ............................................................................. 37
8.4 RINEX observation files for GEO satellites ..................................................................................... 37 9. MODIFICATIONS FOR VERSION 3.01, 3.02 and 3.03 ...................................................................... 38
9.1 Phase Cycle Shifts............................................................................................................................. 38 Table 25: RINEX Phase Alignment Correction Convention .............................................................. 39 Table 26: Example SYS / PHASE SHIFT Record............................................................................. 39
9.2 Galileo: BOC-Tracking of an MBOC-Modulated Signal ................................................................. 40 Table 27: Example of RINEX Coding of Galileo BOC Tracking of an MBOC Signal Record......... 40
9.3 BDS Satellite System Code............................................................................................................... 40 9.4 New Observation Codes for GPS L1C and BDS .............................................................................. 40 9.5 Header Records for GLONASS Slot and Frequency Numbers ........................................................ 40
Table 28: Example of a GLONASS Slot- Frequency Records ........................................................... 41 9.6 GNSS Navigation Message File: Leap Seconds Record................................................................... 41 9.7 Clarifications in the Galileo Navigation Message File: .................................................................... 41 9.8 Quasi-Zenith Satellite System (QZSS) Version 3.02........................................................................ 41 9.9 GLONASS Mandatory Code-Phase Alignment Header Record....................................................... 41
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 iv
Table 29: Example of GLONASS Code Phase Bias Correction Record ............................................ 42 Table 30: Example of Unknown GLONASS Code Phase Bias Record ............................................. 42 9.10 BDS system (Replaces Compass) ................................................................................................... 42 9.11 Indian Regional Navigation Satellite System (IRNSS) Version 3.03............................................. 42 10 References.......................................................................................................................................... 43 APPENDIX: RINEX FORMAT DEFINITIONS AND EXAMPLES ......................................................... 1 A 1 RINEX File name description ............................................................................................................ 1 A 2 GNSS Observation Data File -Header Section Description............................................................... 5 A 3 GNSS Observation Data File -Data Record Description ................................................................. 13 A 4 GNSS Observation Data File – Example #1 .................................................................................... 15 A 4 GNSS Observation Data File – Example #2 .................................................................................... 17 A 4 GNSS Observation Data File – Example #3 .................................................................................... 18 A 5 GNSS Navigation Message File – Header Section Description ...................................................... 19 A 6 GNSS Navigation Message File – GPS Data Record Description................................................... 23 A 7 GPS Navigation Message File – Example ....................................................................................... 24 A 8 GNSS Navigation Message File – GALILEO Data Record Description......................................... 25 A 9 GALILEO Navigation Message File – Examples............................................................................ 27 A 10 GNSS Navigation Message File – GLONASS Data Record Description...................................... 29 A 11 GNSS Navigation Message File – Example: Mixed GPS / GLONASS ........................................ 30 A 12 GNSS Navigation Message File – QZSS Data Record Description .............................................. 31 A 13 QZSS Navigation Message File – Example................................................................................... 32 A 14 GNSS Navigation Message File – BDS Data Record Description ................................................ 33 A 15 BeiDou Navigation Message File – Example ................................................................................ 34 A 16 GNSS Navigation Message File – SBAS Data Record Description .............................................. 35 A 17 SBAS Navigation Message File -Example .................................................................................... 36 A 18 GNSS Navigation Message File – IRNSS Data Record Description............................................. 37 A 19 IRNSS Navigation Message File – Example ................................................................................. 39 A 20 Meteorological Data File -Header Section Description ................................................................. 40 A 21 Meteorological Data File -Data Record Description...................................................................... 42 A 22 Meteorological Data File – Example ............................................................................................. 42 A 23 Reference Code and Phase Alignment by Constellation and Frequency Band.............................. 43
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 1
0. REVISION HISTORY
Version 3.00 02 Feb 2006 A few typos and obsolete paragraphs removed.
08 Mar 2006 31 Mar 2006 June 2006 10 Aug 2006 12 Sep 2006
03 Oct 2006 26 Oct 2006
14 Nov 2006 21 Nov 2006 19-Dec-2006 13-Mar-2007 14-Jun-2007 28-Nov-2007
Epochs of met data of met files version 2.11 are in GPS time only (Table A20). DCB header record label corrected in Table A6: SYS / DCBS APPLIED.
Filenames for mixed GNSS nav mess files. Table A3: Error in format of EPOCH record: One 6X removed.
Trailing 3X removed. GNSS navigation message files version 3.00 included (including Galileo). Table A4: Example of the kinematic event was wrong (kinematic event record). SYS / DCBS APPLIED header record simplified.
Tables A6 and A8: Clarification for adjustment of “Transmission time of message“. Table A11: Mixed GPS/GLONASS navigation message file Table A4: Removed obsolete antispoofing flag Tables A6/8/10: Format error in SV / EPOCH / SV CLK: Space between svn and year was missing Half-cycle ambiguity flag (re-)introduced (5.4 and Table A4). Clarification of reported GLONASS time (8.1). New header record SYS / PCVS APPLIED
New Table 10: Relations between GPS, GST, and GAL weeks
Recommendation to avoid storing redundant navigation messages (8.3) Tables A6/10/12: Format error in BROADCAST ORBIT – n: 3X → 4X. Examples were OK.
Marker type NON_PHYSICAL added
Table A4: Example of SYS / DCBS APPLIED was wrong.
Paragraph 3.3: Leftover from RINEX version 2 regarding wavelength factor for squaring- type receiver removed and clarified. Paragraph 5.11: Clarification regarding the observation record length Frequency numbers for GLONASS –7..+12 (BROADCAST ORBIT
– 2)
Version 3.01
22-Jun-2009 Phase cycle shifts
RINEX Version 3.03 2
19-Nov-2011 21-Jan-2012 9-May-2012 29-Nov-2012
11-Mar-2013 26-Mar-2013
Galileo: BOC-tracking of an MBOC-modulated signal
Compass satellite system: Identifier and observation codes Code for GPS L1C Header records for GLONASS slot and frequency numbers Order of data records
Galileo nav. mess record BROADCAST ORBIT – 5: Bits ¾
reserved for Galileo internal use Version 3.02 – IGS and RTCM-SC104 Added Quasi Zenith Satellite System (QZSS) Constellation Updated text, tables and graphics Added Appendix Table 19 - phase alignment table Split the Constellation table into a table for each GNSS Added QZSS to the documentation Edited text to improve clarity Corrected sign in the phase alignment table, Removed QZSS P signals Edited text to improve clarity, Updated phase alignment table, Changed Met PGM / RUN BY / DATE to support 4digit year as in all other records also changed format to support 4 digit year for met. Observation record, Changed SYS / PHASE SHIFTS to SHIFT Changed Table1 and 2 to Figure 1 and 2. Updated all Table numbers. Changed file naming convention, Section 4. Added Appendix Table A1 and increased all, updated all Appendix numbers Removed the option of supporting unknown tracking mode from Section 5.1. Harmonized L1C(new) signal identifiers for QZSS and GPS See : Table 2 and 6. Updated BeiDou System (BDS) (was Compass) information throughout the document added new BDS ephemeris definition to Appendix. (Based on input from the BDS Office) Corrected GLONASS SLOT/FRQ format in section 9.5, changed message status from optional to mandatory (See: Appendix Table A2). Added new mandatory GLONASS Code Phase Bias header record See section 9.9 Updated Sections: 4.x, made .rnx the file name extension and updated Figure 2; 9.1 to clarify the use of the phase alignment header; A1 Edited to reflect file extension of *.rnx; A14 - BDS ephemeris changed AODC to IODC and AODE to IODE (as indicated by BDS Authority and new ICD); Appendix Table A19 (Changed GLONASS Reference Signals to C1-C2) and explicitly identified reference signal for all constellations and frequencies. Changed BeiDou to BDS for conform to ICD. In table 7 changed BDS signals from: C2x to C1x to more closely
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 3
reflect existing bands in tables 2-6 and Appendix Tables A2 and A21. Updated Section 8.1: First paragraph updated to indicate current number of leap seconds; added a row to Table 12 to show the relationship between GPS week and BDT week. Added a table to show the approximate relationship of BDT to GPS time. Changed order of file type: from OG to GO etc in Appendix Table A1. Updated Appendix table A21 to show X signals and indicate that the X phase is to be aligned to the frequencies reference signal. Fixed a few small typos in A21 for GPS: L1C-D/P and D+P.
03-Dec-2013
24-Jan-2014 4-Apr-2014
6-May-2014 21-May-2014
RINEX 3.02 Released  Corrected Sections 3.1 to read: TIME OF FIRST OBS rather than
start time record.  Added text to Section 5.4 and A3 to indicate that the Loss of Lock
Bit is the least significant bit.  In section 9.5 GLONASS Slot and Frequency Numbers, changed
optional to mandatory (as it was changed from optional to mandatory in version 3.02).  In Table A2 record: SYS / # / OBS TYPES changed Satellite system code (G/R/E/J/C/S/M to G/R/E/J/C/S).  In Section 5.7 added descriptive text to Table 12 (headerchanged Signal to Carrier and in the body) .  In Table A3 record OBSERVATION changed 5: from average to good.  In note 4 after A8 …Galileo System Time added (GST) to make the following description more explicit.  Appendix A14 BeiDou Nav. removed the – sign in front of Cis  Appendix A10 Section SV / EPOCH / SV CLK changed TauN to –TauN to agree with section 8.3.1  Galileo Table A8 , BROADCAST ORBIT-5 - Bits 0-2 : changed from non-exclusive to exclusive (only one bit can be set). In ****) section added (GST)  Corrected Table A23 - BeiDou B1 phase correction column signal indicator to agree with BeiDou Table 9.  Corrected Table A2 - Band 1 = E1 (Was E2-L1-E1) to agree with Galileo Table 6.  In Table A5 - optional message TIME SYSTEM CORR added text to clarify the parameters T and W for BeiDou.  Section 8.3.1 Corrected typo in last line of first paragraph.  Updated Section 10 Document References  Changed A6 from GPS/QZSS to GPS only as A12 contains a description of the QZSS ephemeris.  Corrected typo in Appendix 23 note 1: L2E changed to L2W  Appendix A4 added two observation file header examples
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 4
 Appendix A6 GPS Navigation, Broadcast Orbit-7 Fit Interval, clarified in accordance with IS-GPS-200H section 20.3.3.4.3.1
 Appendix A9 added Galileo navigation file example  Appendix A12 QZSS Navigation, Broadcast Orbit-5 field 4 allow
define L2P flag to be set to one section 5.2.2.2.3(6)); Broadcast Orbit-7 Fit Interval clarified in accordance with section 5.2.2.2.4(4), IS-QZSS 1.5.  Appendix A13 added QZSS navigation file example  Appendix A15 added BeiDou navigation file example 26-May-2014  Removed “Added” from section 9.8, 9.9 and 9.10 titles  Added a note to section 9.9 (GLONASS COD/PHS/BIS) to allow unknown GLONASS code/phase, observation alignment in exceptional cases. Added a note to Appendix A2: GLONASS COD/PHS/BIS record definition. 9-June-2014  Edited Section 6.11 and Table A6:BO7 (GPS) to indicate that the GPS fit interval field should contain a period in hours. Edited Table A12:BO7 (QZSS) to make it clear that the fit interval is a flag and not a time period. Added support for unknown fit interval (specified as an empty field). 10-June-2014  Removed the reference to QZSS in Appendix 6 SC/EPOCH/SV CLK record as there is now a QZSS navigation file in Appendix 12.  Corrected A12 QZSS ICD reference from 5.1.2.3.2 to 5.1.2.1.3.2 12-June-2014  Added text to section 9.9 to indicate that when the GLONASS COD/PHS/BIS measurements are unknown then all fields in the record should be left blank (added an example). Updated the descriptive text in Table A2 GLONASS COD/PHS/BIS. 10-July-2014  Corrected Appendix numbers in body of the text  Added Note after BeiDou Table 9 to indicate that some RINEX 3.02 files may still use the 3.01 B1 coding convention 16-Jul-2014 - Section 9.1 Replaced: Phase observations must be shifted by the respective fraction of a cycle, either directly by the receiver or by a correction program or the RINEX conversion program, prior to RINEX file generation, to align them to each other with: All phase observations must be aligned to the designated constellation and frequency reference signal as specified in Appendix Table A23, either directly by the receiver or by a correction program or the RINEX conversion program, prior to RINEX file generation. Additionally, all data must be aligned with the appropriate reference signal indicated in Appendix Table A23 even when the receiver or reporting device is not tracking and/or providing data from that reference signal e.g. Galileo L5X phase data must be aligned to L5I.
29-Jul-2014 - Minor edits
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 5
- Updated last paragraph of section 8.4 re TIME SYSTEM CORR - Corrected QZSS Appendix Table A12 PRN/EPOCH/SV CLK
record format specification - Reformatted Appendix Table A12 and A14 31-Oct-2014 - BeiDou updates: changed B1 signal identifiers to C2x;
observation and navigation Header “LEAP SECONDS messages changed to support both GPS and BDS leap seconds; updated the navigation header message “IONOSPHERIC CORR” to support different ionospheric correction parameters from each satellite. Updated BDS navigation message Table A14. Updated Sections 8.1 and 8.2.
- Added Description of the Indian Regional Navigation Satellite System (IRNSS) to the document, Updated RINEX release number to 3.03 Draft 1
19-Jan-2015
- Table 2 grammatical error corrections - Updated broken http: link on page 17 - Updated Leap Second definition in section 8.1 and Appendix A2
and A5 - Update Galileo Appendix A8 navigation line 5 to indicate the
exclusive and non-exclusive bits - Added text to further clarify BeiDou Appendix A14 AODE and
AODC definition - Updated IRNSS Appendix 18 line 5, week number to indicate
that the Week Number is aligned with the GPS week number - Added IRNSS phase alignment information to Appendix 23
15-April-2015 -
-
Editorial changes/corrections: in section 6.6 specified a new acronym Blank Not Known (BNK), 8.1 added text to indicate the relationship between BDT and GPS Time at start of BDT, corrected typo in Section 8.2 last paragraph changed GLO to UTC, clarified Section 9.2 Galileo Tracking, clarified Section 9.6 re BDS, removed Section 9.8 RINEX Meteorological section Re-formatted Appendix Table A2 and A5 Clarified Observation (A2) and Navigation (A5) “LEAP SECONDS” record Clarified Navigation (A5) file “IONOSPHERIC CORR” record QZSS A12-BO-6, TGD blank if not know Corrected typo in A22, Clarified filename start time Minor punctuation and grammatical corrections throughout the document. Removed reference to unknown tracking mode in Appendix Table A2 message SYS / # / OBS TYPE. Updated all table numbers (some tables were not identified), improved table descriptions.
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 6
15-May-2015 -
-
-
25-May-2015 -
1-June-2015 -
24-June-2015 -
29-June-2015 -
Minor format changes Added paragraph to section 8.3.2 to specify that RINEX parsers should expect to encounter F/NAV and I/NAV messages in the same file… Removed “The attribute can be left blank if not known. See text!” text from the end of A2, SYS/#/OBS TYPES as it was decided in 3.02 not to allow unknown signals therefore this no longer applies Updated A8 (Galileo Nav. Message), Record 5 Field 2Description to specify only I/NAV or F/NAV can be specified Corrected A9 (Galileo Nav. Example), Record 5 Field 2 from 519 to 517 to indicate I/NAV in accordance with the field specification Corrected A9, Record 6 Field 1 from 107(broadcast raw value) to 3.12m Corrected Table of contents to show Section 10.0, References Section 2 second last paragraph added IRNSS to list of supported constellations Section 5.3 last paragraph concerning event flags added reference to Appendix A3 Section 7, last paragraph, edited second sentence to make it more clear Minor punctuation corrections Added C2X signal tracking example to Section 5.1 example list Added paragraph 3 to section 5.1, to indicate only know tracking modes are supported in RINEX 3.02 and 3.03 Added note to Appendix A2, SYS/#/OBS TYPES to indicate only know tracking modes are allowed in RINEX 3.02 and 3.03 Table 4 in L1 and L2 frequency bands, changed P to P (AS off) to improve clarity Added :”(e.g. units employing a Selective Availability AntiSpoofing Module (SAASM))“ to last paragraph on page 18 to improve clarity. Updated the last paragraph of Section 1 (RINEX 3.03) Clarified Section 4: Changed Obs. Freq. To Data Frequency and update Appendix Table A1 to match Added text to Section 8.3.2 (Galileo Navigation) to describe Issue of Data and related parameters Added reference to Galileo ICD in Appendix A8 BROADCAST ORBIT-6 Added Galileo Examples to Appendix Table A9 Updated BeiDou RINEX 3.02 C1x-C2x Note below Table 9 for clarity Section 8.3.2 added Galileo ICD publication year to reference Corrected Beidou C1 to C2 encoding in Appendix A2 SYS/#/OBS TYPES and in Appendix A4 example 2 and 3 Appendix A2 and A5 Clarified LEAP SECONDS Day number to
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 7
be 0-6 for BeiDou and 1-7 for GPS and other constellations. - Updated all Appendix table references to contain Axx, to
differentiate between body and Appendix tables. 14-July-2015 - Updated LEAP SECONDS record description in Appendix A2
and A5 - Converted Galileo SISA values in Appendix A9 from broadcast
value into metres in accordance with RINEX specification and Galileo ICD Section 5.1.11 Table 76 - RINEX 3.03 Released
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 8
1. THE PHILOSOPHY AND HISTORY OF RINEX
The first proposal for the Receiver Independent Exchange Format RINEX was developed by the Astronomical Institute of the University of Bern for the easy exchange of the Global Positioning System (GPS) data to be collected during the first large European GPS campaign EUREF 89, which involved more than 60 GPS receivers of 4 different manufacturers. The governing aspect during the development was the following fact:
Most geodetic processing software for GPS data use a well-defined set of observables:
 the carrier-phase measurement at one or both carriers (actually being a measurement on the beat frequency between the received carrier of the satellite signal and a receivergenerated reference frequency)
 the pseudorange (code) measurement, equivalent to the difference of the time of reception (expressed in the time frame of the receiver) and the time of transmission (expressed in the time frame of the satellite) of a distinct satellite signal
 the observation time being the reading of the receiver clock at the instant of validity of the carrier-phase and/or the code measurements
Usually the software assumes that the observation time is valid for both the phase and the code measurements, and for all satellites observed.
Consequently all these programs do not need most of the information that is usually stored by the receivers: they need phase, code, and time in the above mentioned definitions, and some stationrelated information like station name, antenna height, etc.
Until now two major format versions have been developed and published:
 The original RINEX Version 1 presented at and accepted by the 5th International Geodetic Symposium on Satellite Positioning in Las Cruces, 1989. [Gurtner et al. 1989], [Evans 1989]
 RINEX Version 2 presented at and accepted by the Second International Symposium of Precise Positioning with the Global Positioning system in Ottawa, 1990, mainly adding the possibility to include tracking data from different satellite systems (GLONASS, SBAS). [Gurtner and Mader 1990a, 1990b], [Gurtner 1994].
Several subversions of RINEX Version 2 have been defined:
 Version 2.10: Among other minor changes allowing for sampling rates other than integer seconds and including raw signal strengths as new observables. [Gurtner 2002]
 Version 2.11: Includes the definition of a two-character observation code for L2C pseudoranges and some modifications in the GEO NAV MESS files [Gurtner and Estey 2005]
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 9
 Version 2.20: Unofficial version used for the exchange of tracking data from spaceborne receivers within the IGS LEO pilot project [Gurtner and Estey 2002]
As spin-offs of this idea of a receiver-independent GPS exchange format, other RINEX-like exchange file formats have been defined, mainly used by the International GNSS Service IGS:
 Exchange format for satellite and receiver clock offsets determined by processing data of a GNSS tracking network [Ray and Gurtner 2010]
 Exchange format for the complete broadcast data of spacebased augmentation systems SBAS. [Suard et al. 2004]
 IONEX: Exchange format for ionosphere models determined by processing data of a GNSS tracking network [Schaer et al. 1998]
 ANTEX: Exchange format for phase center variations of geodetic GNSS antennae [Rothacher and Schmid 2010]
The upcoming European Navigation Satellite System Galileo and the enhanced GPS with new frequencies and observation types, especially the possibility to track frequencies on different channels, requires a more flexible and more detailed definition of the observation codes.
To improve the handling of the data files in case of “mixed” files, i.e. files containing tracking data of more than one satellite system, each one with different observation types, the record structure of the data record has been modified significantly and following several requests, the limitation to 80 characters length has been removed.
As the changes are quite significant, they lead to a new RINEX Version 3. The new version also includes the unofficial Version 2.20 definitions for space-borne receivers.
The major change leading to the release of version 3.01 was the requirement to generate consistent phase observations across different tracking modes or channels, i.e. to apply ¼-cycle shifts prior to RINEX file generation, if necessary, to facilitate the processing of such data.
RINEX 3.02 added support for the Japanese, Quasi Zenith Satellite System (QZSS), additional information concerning Beidou (based on the released ICD) and a new message to enumerate GLONASS code phase biases.
RINEX 3.03 adds support for the Indian Regional Satellite System (IRNSS) and clarifies several implementation issues in RINEX 3.02. RINEX 3.03 also changes the BeiDou B1 signal convention back to the 3.01 convention where all B1 signals are identified as C2x (not C1 as in RINEX 3.02). Another issue with the implementation of 3.02 was the GPS navigation message fit interval field. Some implementations wrote the flag and others wrote a time interval. This release specifies that the fit interval should be a time period for GPS and a flag for QZSS. Updated Galileo Navigation section 8.3.2 to clarify the issues related to Issue of Data (IOD). Updated document to clarify that only known tracking modes can be encoded in RINEX 3.03.
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 10
2. GENERAL FORMAT DESCRIPTION
The RINEX version 3.XX format consists of three ASCII file types:
1. Observation data file 2. Navigation message file 3. Meteorological data file
Each file type consists of a header section and a data section. The header section contains global information for the entire file and is placed at the beginning of the file. The header section contains header labels in columns 61-80 for each line contained in the header section. These labels are mandatory and must appear exactly as given in these descriptions and examples.
The format has been optimized for minimum space requirements independent from the number of different observation types of a specific receiver or satellite system by indicating in the header the types of observations to be stored for this receiver and the satellite systems having been observed. In computer systems allowing variable record lengths, the observation records may be kept as short as possible. Trailing blanks can be removed from the records. There is no maximum record length limitation for the observation records.
Each Observation file and each Meteorological Data file basically contain the data from one site and one session. Starting with Version 2 RINEX also allows including observation data from more than one site subsequently occupied by a roving receiver in rapid static or kinematic applications. Although Version 2 and higher allow insertion of certain header records into the data section, it is not recommended to concatenate data from more than one receiver (or antenna) into the same file, even if the data do not overlap in time.
If data from more than one receiver have to be exchanged, it would not be economical to include the identical satellite navigation messages collected by the different receivers several times. Therefore, the navigation message file from one receiver may be exchanged or a composite navigation message file created, containing non-redundant information from several receivers in order to make the most complete file.
The format of the data records of the RINEX Version 1 navigation message file was identical to the former NGS exchange format. RINEX version 3 navigation message files may contain navigation messages of more than one satellite system (GPS, GLONASS, Galileo, Quasi Zenith Satellite System (QZSS), BeiDou System (BDS), Indian Regional Navigation Satellite System (IRNSS) and SBAS).
The actual format descriptions as well as examples are given in the Appendix Tables at the end of the document.
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 11
3. BASIC DEFINITIONS
GNSS observables include three fundamental quantities that need to be defined: Time, Phase, and Range.
3.1 Time The time of the measurement is the receiver time of the received signals. It is identical for the phase and range measurements and is identical for all satellites observed at that epoch. For single-system data files, it is by default expressed in the time system of the respective satellite system. For mixed files, the actual time system used must be indicated in the TIME OF FIRST OBS header record.
3.2 Pseudo-Range: The pseudo-range (PR) is the distance from the receiver antenna to the satellite antenna including receiver and satellite clock offsets (and other biases, such as atmospheric delays):
PR = distance + c * (receiver clock offset –satellite clock offset + other biases)
so that the pseudo-range reflects the actual behaviour of the receiver and satellite clocks. The pseudo-range is stored in units of meters.
See also clarifications for pseudoranges in mixed GPS/GLONASS/Galileo/QZSS/BDS files in chapter 8.2.
3.3 Phase The phase is the carrier-phase measured in whole cycles. The half-cycles measured by squaringtype receivers must be converted to whole cycles and flagged by the respective observation code (see Table 4 and Section 5.4, GPS only).
The phase changes in the same sense as the range (negative doppler). The phase observations between epochs must be connected by including the integer number of cycles.
The observables are not corrected for external effects such as: atmospheric refraction, satellite clock offsets, etc.
If necessary, phase observations are corrected for phase shifts needed to guarantee consistency between phases of the same frequency and satellite system based on different signal channels (See Section 9.1 and Appendix A23).
If the receiver or the converter software adjusts the measurements using the real-time-derived receiver clock offsets dT(r), the consistency of the 3 quantities phase / pseudo-range / epoch must be maintained, i.e. the receiver clock correction should be applied to all 3 observables:
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 12
Time (corr) PR (corr) phase (corr)
= Time(r) = PR (r) = phase (r)
- dT(r) - dT(r)*c - dT(r)*freq
Table 1: Observation Corrections for Receiver Clock Offset
3.4 Doppler The sign of the doppler shift as additional observable is defined as usual: Positive for approaching satellites.
3.5 Satellite numbers
Starting with RINEX Version 2 the former two-digit satellite numbers nn are preceded by a one-character system identifier s as per Figure 1.
Figure 1: Satellite numbers and Constellation Identifiers The same satellite system identifiers are also used in all header records when appropriate.
RINEX 3.03.IGS.RTCM.doc
2015-07-14
4. THE EXCHANGE OF RINEX FILES
RINEX Version 3.03 13
The original RINEX file naming convention was implemented in the MS-DOS era when file names were restricted to 8.3 characters. Modern operating systems typically support 255 character file names. The goal of the new file naming convention is to be more descriptive, flexible and extensible than the RINEX 2.11 file naming convention. Figure 2 below lists the elements of the RINEX 3.02 (and subsequent versions) file naming convention.
Figure 2: Recommended filename parameters.
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 14
All elements are fixed length and are separated by an underscore “_” except for the: file type and compression fields that use a period “.” as a separator. Fields must be padded with zeros to fill the field width. The file compression field is optional. See Appendix A1 for a detailed description of the RINEX 3.02 (and subsequent versions) file naming convention. Table 2 below lists sample file names for GNSS observation and navigation files.
File Name ALGO00CAN_R_20121601000_01H_01S_MO.rnx
ALGO00CAN_R_20121601000_15M_01S_GO.rnx
ALGO00CAN_R_20121601000_01H_05Z_MO.rnx
ALGO00CAN_R_20121601000_01D_30S_GO.rnx
ALGO00CAN_R_20121601000_01D_30S_MO.rnx
ALGO00CAN_R_20121600000_01D_GN.rnx ALGO00CAN_R_20121600000_01D_RN.rnx ALGO00CAN_R_20121600000_01D_MN.rnx
Comments Mixed RINEX GNSS observation file containing 1 hour of data, with an observation every second. GPS RINEX observation file containing 15 minutes of data, with an observation every second. Mixed RINEX GNSS observation file containing 1 hour of data, with 5 observations per second. GPS RINEX observation file containing 1 day of data, with an observation every 30 seconds. Mixed RINEX GNSS observation file containing 1 day of data, with an observation every 30 seconds. RINEX GPS navigation file, containing one day’s data. RINEX GLONASS navigation file, containing one day’s data RINEX mixed navigation file, containing one day’s data
Table 2: Description of Filename Parameters
In order to further reduce the size of observation files Yuki Hatanaka developed a compression scheme that takes advantage of the structure of the RINEX observation data by forming higherorder differences in time between observations of the same type and satellite. This compressed file is also an ASCII file that is subsequently compressed again using standard compression programs.
More information on the Hatanaka compression scheme can be found in:  http://terras.gsi.go.jp/ja/crx2rnx.html  IGSMails 1525,1686,1726,1763,1785,4967,4969,4975
The file naming and compression recommendations are strictly speaking not part of the RINEX
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 15
format definition. However, they significantly facilitate the exchange of RINEX data in large user communities like IGS.
5. RINEX VERSION 3 FEATURES
This chapter contains features that have been introduced for RINEX Version 3.
5.1 Observation codes The new signal structures for GPS, Galileo and BDS make it possible to generate code and phase observations based on one or a combination of several channels: Two-channel signals are composed of I and Q components, three-channel signals of A, B, and C components. Moreover a wideband tracking of a combined E5a + E5b Galileo frequency is possible. In order to keep the observation codes short but still allow for a detailed characterization of the actual signal generation, the length of the codes is increased from two (Version 1 and 2) to three by adding a signal generation attribute. The observation code tna consists of three parts:
t :observation type n :band / frequency a : attribute
C = pseudorange, L = carrier phase, D = doppler, 1, 2,...,8
S = signal strength)
tracking mode or channel, e.g., I, Q, etc
Table 3: Observation Code Components
Examples:
 L1C: C/A code-derived L1 carrier phase (GPS, GLONASS) Carrier phase on E2-L1E1 derived from C channel (Galileo)
 C2L: L2C pseudorange derived from the L channel (GPS)  C2X: L2C pseudorange derived from the mixed (M+L) codes (GPS)
Tables 4 to 10 describe each GNSS constellation and the frequencies and signal encoding methods used.
Unknown tracking modes are not supported in RINEX 3.02 and 3.03. Only the complete specification of all signals is allowed i.e. all three fields must be defined as specified in Tables 410.
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 16
GNSS System
GPS
Freq. Band /Frequency L1/1575.42
L2/1227.60 L5/1176.45
Channel or Code
C/A L1C (D) L1C (P) L1C (D+P) P (AS off) Z-tracking and similar (AS on) Y M codeless C/A L1(C/A)+(P2-P1) (semi-codeless) L2C (M) L2C (L) L2C (M+L) P (AS off) Z-tracking and similar (AS on) Y M codeless I Q I+Q
Pseudo Range
C1C C1S C1L C1X C1P
C1W
C1Y C1M
C2C
C2D
C2S C2L C2X C2P
C2W
C2Y C2M
C5I C5Q C5X
Table 4 : RINEX Version 3.03 GPS Observation Codes
Observation Codes
Carrier Phase
Doppler
L1C
D1C
L1S
D1S
L1L
D1L
L1X
D1X
L1P
D1P
Signal Strength
S1C S1S S1L S1X S1P
L1W
D1W
S1W
L1Y
D1Y
S1Y
L1M
D1M
S1M
L1N
D1N
S1N
L2C
D2C
S2C
L2D
D2D
S2D
L2S
D2S
S2S
L2L
D2L
S2L
L2X
D2X
S2X
L2P
D2P
S2P
L2W
D2W
S2W
L2Y
D2Y
S2Y
L2M
D2M
S2M
L2N
D2N
S2N
L5I
D5I
S5I
L5Q
D5Q
S5Q
L5X
D5X
S5X
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 17
GNSS System
GLONASS
Freq. Band /Frequency
G1/ 1602+k*9/16 k= -7….+12
G2/ 1246+k*716
G3 / 1202.025
Channel or Code
C/A
Pseudo Range
C1C
P
C1P
C/A (GLONASS M)
C2C
P
C2P
I
C3I
Q
C3Q
I+Q
C3X
Observation Codes
Carrier Phase
Doppler
Signal Strength
L1C
D1C
S1C
L1P
D1P
S1P
L2C
D2C
S2C
L2P
D2P
S2P
L3I
D3I
S3I
L3Q
D3Q
S3Q
L3X
D3X
S3X
Table 5 : RINEX Version 3.03 GLONASS Observation Codes
GNSS System
Galileo
Freq. Band /Frequency
Channel or Code
E1 / 1575.42
E5a / 1176.45 E5b / 1207.140 E5(E5a+E5b) /
1191.795
E6 / 1278.75
A PRS B I/NAV OS/CS/SoL C no data B+C A+B+C I F/NAV OS Q no data I+Q I I/NAV OS/CS/SoL Q no data I+Q I Q I+Q A PRS B C/NAV CS C no data B+C A+B+C
Pseudo Range
C1A C1B C1C C1X C1Z C5I C5Q C5X C7I C7Q C7X C8I C8Q C8X C6A C6B C6C C6X C6Z
Observation Codes
Carrier Phase
Doppler
Signal Strength
L1A
D1A
S1A
L1B
D1B
S1B
L1C
D1C
S1C
L1X
D1X
S1X
L1Z
D1Z
S1Z
L5I
D5I
S5I
L5Q
D5Q
S5Q
L5X
D5X
S5X
L7I
D7I
S7I
L7Q
D7Q
S7Q
L7X
D7X
S7X
L8I
D8I
S8I
L8Q
D8Q
S8Q
L8X
D8X
S8X
L6A
D6A
S6A
L6B
D6B
S6B
L6C
D6C
S6C
L6X
D6X
S6X
L6Z
D6Z
S6Z
Table 6 : RINEX Version 3.03 Galileo Observation Codes For Galileo the band/frequency number n does not necessarily agree with the official frequency numbers: n = 7 for E5b, n = 8 for E5a+b.
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 18
GNSS System
SBAS
Freq. Band/ Frequency
L1 / 1575.42
L5 / 1176.45
Channel or Code
C/A I Q I+Q
Pseudo Range C1C
C5I C5Q C5X
Observation Codes
Carrier Doppler Signal
Phase
Strength
L1C
D1C
S1C
L5I
D5I
S5I
L5Q
D5Q
S5Q
L5X
D5X
S5X
Table 7 : RINEX Version 3.03 SBAS Observation Codes
GNSS System
QZSS
Freq. Band / Frequency
L1 / 1575.42
L2 / 1227.60 L5 / 1176.45 LEX(6) / 1278.75
Channel or Code
C/A L1C (D) L1C (P) L1C (D+P) L1-SAIF L2C (M) L2C (L) L2C (M+L) I Q I+Q S L S+L
Pseudo Range
C1C C1S C1L C1X C1Z C2S C2L C2X C5I C5Q C5X C6S C6L C6X
Observation Codes
Carrier Phase
Doppler
Signal Strength
L1C D1C
S1C
L1S
D1S
S1S
L1L
D1L
S1L
L1X D1X
S1X
L1Z
D1Z
S1Z
L2S
D2S
S2S
L2L
D2L
S2L
L2X D2X
S2X
L5I
D5I
S5I
L5Q D5Q
S5Q
L5X D5X
S5X
L6S
D6S
S6S
L6L
D6L
S6L
L6X D6X
S6X
Table 8 : RINEX Version 3.03 QZSS Observation Codes
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 19
GNSS System
BDS
Observation Codes
Freq. Band / Frequency Channel or Code
I
B1 / 1561.098 Q
I+Q
I
B2 / 1207.14
Q
I+Q
I
B3 / 1268.52
Q
I+Q
Pseudo Range
C2I C2Q C2X C7I C7Q C7X C6I C6Q C6X
Carrier Phase
Doppler
L2I D2I
L2Q D2Q
L2X D2X
L7I D7I
L7Q D7Q
L7X D7X
L6I D6I
L6Q D6Q
L6X D6X
Signal Strength
S2I S2Q S2X S7I S7Q S7X S6I S6Q S6X
Table 9 : RINEX Version 3.03 BDS Observation Codes Note: When reading a RINEX 3.02 file, both C1x and C2x coding should be accepted and treated as C2x in RINEX 3.03.
GNSS System
IRNSS
Observation Codes
Freq. Band / Frequency Channel or Code
L5 / 1176.45 S / 2492.028
A SPS B RS (D) C RS (P) B+C A SPS B RS (D) C RS (P) B+C
Pseudo Range C5A C5B C5C C5X C9A C9B C9C C9X
Carrier Phase
Doppler
L5A D5A
L5B D5B
L5C D5C
L5X D5X
L9A D9A
L9B D9B
L9C D9C
L9X D9X
Signal Strength
S5A S5B S5C S5X S9A S9B S9C S9X
Table 10 : RINEX Version 3.03 IRNSS Observation Codes
GPS-SBAS and –pseudorandom noise (PRN) code assignments: See e.g., http://www.losangeles.af.mil/library/factsheets/factsheet.asp?id=8618
Antispoofing (AS) of GPS: True codeless GPS receivers (squaring-type receivers) use the attribute N. Semi-codeless receivers tracking the first frequency using C/A code and the second frequency using some codeless options use attribute D. Z-tracking under AS or similar techniques to recover pseudorange and phase on the “P-code” band use attribute W. Y-code tracking receivers (e.g. units employing a Selective Availability Anti-Spoofing Module (SAASM)) use attribute Y.
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 20
Appendix Table A23 enumerates the fractional phase corrections required to align each signal to the frequencies reference signal.
As all observations affected by “AS on” now get their own attribute (codeless, semi-codeless, Ztracking and similar) the Antispoofing flag introduced into the observation data records of RINEX Version 2 has become obsolete.
5.2 Satellite system-dependent list of observables The order of the observations stored per epoch and satellite in the observation records is given by a list of observation codes in a header record. As the types of the observations actually generated by a receiver may heavily depend on the satellite system, RINEX Version 3 requests system-dependent observation code lists (header record type SYS / # / OBS TYPES).
5.3 Marker type
In order to indicate the nature of the marker, a MARKER TYPE header record has been defined. Proposed keywords are given in Table 11.
Marker Type Geodetic
Non Geodetic Non_Physical Space borne
Air borne Water Craft Ground Craft Fixed Buoy Floating Buoy Floating Ice
Glacier Ballistic Animal Human
Table 11: Proposed Marker Type Keywords
Description Earth-fixed high-precision monument Earth-fixed low-precision monument Generated from network processing
Orbiting space vehicle Aircraft, balloon, etc.
Mobile water craft Mobile terrestrial vehicle “Fixed” on water surface Floating on water surface
Floating ice sheet, etc “Fixed” on a glacier Rockets, shells, etc Animal carrying a receiver
Human being
The record is required except for GEODETIC and NON_GEODETIC marker types.
Attributes other than GEODETIC and NON_GEODETIC will tell the user program that the data were collected by a moving receiver. The inclusion of a “start moving antenna” record (event flag 2) into the data body of the RINEX file is therefore not necessary. Event flags 2 and 3 (See Appendix A3) are still necessary to flag alternating kinematic and static phases of a receiver visiting multiple earth-fixed monuments, however. Users may define other project-dependent keywords.
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 21
5.4 Half-wavelength observations, half-cycle ambiguities Half-wavelength observations (collected by codeless squaring techniques) get their own observation codes. A special wavelength factor header line and bit 1 of the LLI flag in the observation records are no longer necessary. If a receiver changed between squaring and full cycle tracking within the time period of a RINEX file, observation codes for both types of observations have to be inserted into the respective SYS / # / OBS TYPES header record. Half-wavelength phase observations are stored in full cycles. Ambiguity resolution however has to account for half wavelengths!
Full-cycle observations collected by receivers with possible half cycle ambiguity (e.g., during acquisition or after loss of lock) are to be flagged with Loss of Lock Indicator bit 1 set (see Appendix Table A3). Note: The loss of lock bit is the least significant bit.
5.5 Scale factor The optional SYS / SCALE FACTOR record allows the storage of phase data with 0.0001 of a cycle resolution, if the data was multiplied by a scale factor of 10 before being stored into the RINEX file. This feature is used to increase resolution by 10, 100, etc only. It is a modification of the Version 2.20 OBS SCALE FACTOR record.
5.6 Information about receivers on a vehicle For the processing of data collected by receivers on a vehicle, the following additional information can be provided by special header records:
 Antenna position (position of the antenna reference point) in a body-fixed coordinate system: ANTENNA: DELTA X/Y/Z
 Boresight of antenna: The unit vector of the direction of the antenna axis towards the GNSS satellites. It corresponds to the vertical axis on earth-bound antenna: ANTENNA: B.SIGHT XYZ
 Antenna orientation: Zero-direction of the antenna. Used for the application of “azimuth”-dependent phase center variation models (see 6.14 below): ANTENNA: ZERODIR XYZ
 Current center of mass of the vehicle (for space borne receivers): CENTER OF MASS: XYZ
 Average phase center position: ANTENNA: PHASECENTER (see below)
All three quantities have to be given in the same body-fixed coordinate system. The attitude of the vehicle has to be provided by separate attitude files in the same body-fixed coordinate system.
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 22
5.7 Signal strength The generation of the RINEX signal strength indicators sn_rnx in the data records (1 = very weak,…,9 = very strong) are standardized in case the raw signal strength1 sn_raw is given in dbHz:
sn_rnx = MIN(MAX(INT(sn_raw/6),1),9)
Carrier to Noise ratio(dbHz) < 12 12-17 18-23 24-29 30-35 36-41 42-47 48-53 ≥ 54
Table 12: Standardized S/N Indicators
Carrier to Noise ratio(RINEX) 1 (minimum possible signal strength)
2 3 4 5 (threshold for good tracking) 6 7 8 9 (maximum possible signal strength)
The raw carrier to noise ratio can be optionally (preferred) stored as Sna observations in the data records and should be given in dbHz if possible. The new SIGNAL STRENGTH UNIT header record can be used to indicate the units of these observations. 5.8 Date/time format in the PGM / RUN BY / DATE header record The format of the generation time of the RINEX files stored in the second header record PGM / RUN BY / DATE is now defined to be
yyyymmdd hhmmss zone
zone: 3 – 4 character code for the time zone
It is recommended to use UTC as the time zone. Set zone to LCL if local time was used with unknown local time system code.
1S/N is the raw S/N at the output of the correlators, without attempting to recover any correlation losses
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 23
5.9 Antenna phase center header record
An optional header record for antenna phase center positions ANTENNA: PHASECENTER is
defined to allow for higher precision positioning without need of additional external antenna information. It can be useful in well-defined networks or applications. It contains the position of an average phase center relative to the antenna reference point (ARP) for a specific frequency and satellite system. On vehicles the phase center position can be reported in the body-fixed coordinate system (ANTENNA: DELTA X/Y/Z). See 6.14 below. See section 5.15 regarding
the use of phase center variation corrections.
5.10 Antenna orientation
Header records have been defined to report the orientation of the antenna zero-direction as well as the direction of its vertical axis (bore-sight) if mounted tilted on a fixed station. The header records can also be used for antennas on vehicles. See 6.14 below.
5.11 Observation data records
Aside from the new observation code definitions, the most conspicuous modification of the RINEX format concerns the observation records. As the types of the observations and their order within a data record depend on the satellite system, the new format should make it easier for programs as well as human beings to read the data records. Each observation record begins with the satellite number snn, the epoch record starts with special character >. It is now also much
easier to synchronize the reading program with the next epoch record in case of a corrupted data file or when streaming observation data in a RINEX-like format. The record length limitation to 80 characters of RINEX Versions 1 and 2 has been removed.
For the following list of observation types for the four satellite systems G,S,E,R :
G 5 C1P L1P L2X C2X S2X R 2 C1C L1C E 2 L1B L5I S 2 C1C L1C
Table 13: Example Observation Type Records
SYS / # / OBS TYPES SYS / # / OBS TYPES SYS / # / OBS TYPES SYS / # / OBS TYPES
The epoch and observation records are as follows:
> 2006 03 24 13 10 54.0000000 0 7
G06 23619095.450
-53875.632 8
G09 20886075.667
-28688.027 9
G12 20611072.689
18247.789 9
R21 21345678.576
12345.567 5
R22 22123456.789
23456.789 5
E11
65432.123 5
48861.586 7
S20 38137559.506
335849.135 9
-0.123456789210 -41981.375 5 23619112.008 -22354.535 6 20886082.101
14219.770 8 20611078.410
Table 14: Example Observation Data Records
24.158 38.543 32.326
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 24
The receiver clock correction in the epoch record has been placed such that it could be preceded by an identifier to make it system-dependent in a later format revision, if necessary. The clock correction is optional and is given in units of seconds.
5.12 Ionosphere delay as pseudo-observables
RINEX files could also be used to make available additional information linked to the actual observations. One such element is the ionosphere delay having been determined or derived from an ionosphere model. We add the ionosphere phase delay expressed in full cycles of the respective satellite system-dependent wavelength as pseudo-observable to the list of the RINEX observables.
T: observation type n: band/frequency a: attribute
I = Ionosphere phase delay 1, 2, ...,8 blank
Table 15: Ionosphere Pseudo-Observable Coding The ionosphere pseudo-observable has to be included into the list of observables of the respective satellite system. Only one ionosphere observable per satellite is allowed.
The user adds the ionosphere delay to the raw phase observation of the same wavelength and converts it to other wavelengths and to pseudorange corrections in meters:
corr_phase(fi) = raw_phase(fi) + d_ion(fi)
corr_prange(fi) d_ion(fk)
= raw_prange(fi) = d_ion(fi)
- d_ion(fi)  c/fi  (fi/fk)**2 (accounting for 1st order effects only)
Table 16: Ionosphere Pseudo-Observable Corrections to Observations d_ion(fi): Given ionospheric phase correction for frequency fi
5.13 Channel numbers as pseudo-observables
For special applications it might be necessary to know the receiver channel numbers having been assigned by the receiver to the individual satellites. We may include this information as another pseudo-observable:
-
t : observation type:
-
n : band / frequency :
-
a : attribute:
X = Receiver channel number 1 blank
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 25
The lowest channel number allowed is 1 (re-number channels beforehand, if necessary). In case of a receiver using multiple channels for one satellite, the channels could be packed with two digits each right-justified into the same data field, order corresponding to the order of the observables concerned. Format F14.3 according to (<5-nc>(2X),<nc>I2.2,’.000’), nc being the number of channels.
Restriction: Not more than 5 channels and channel numbers <100.
Examples:  0910.000 for channels 9 and 10
 010203.000 for channels 1, 2, and 3 -----F14.3----
5.14 Corrections of differential code biases (DCBs) For special high-precision applications it might be useful to generate RINEX files with corrections of the differential code biases (DCBs) already applied. There are programs available to correct the observations in RINEX files for differential code biases (e.g., cc2noncc, J. Ray 2005). This can be reported by special header records SYS / DCBS APPLIED pointing to the
file containing the applied corrections.
5.15 Corrections of antenna phase center variations (PCVs)
For more precise applications, an elevation-dependent or elevation and azimuth-dependent phase center variation (pcv) model for the antenna (referring to the agreed-upon ARP) should be used. For special applications it might be useful to generate RINEX files with these variations already applied. This can be reported by special header records SYS / PCVS APPLIED pointing to
the file containing the PCV correction models.
5.16 Navigation message files The header portion has been unified (with respect to the format definitions) for all satellite systems. The first record of each data block now contains the code for the satellite system and the satellite number.
G06 1999 09 02 17 51 44 -.839701388031D-03 -.165982783074D-10 .000000000000D+00
Table 17: Example of Navigation File Satellite System and Number Definition Record Header records with system-dependent contents also contain the system identifier. They are repeated for each system, if applicable.
GPSA GPSB GAL
.1676D-07 .1208D+06 .1234D+05
.2235D-07 .1192D-06 .1192D-06 .1310D+06 -.1310D+06 -.1966D+06 .2345D+04 -.3456D+03
IONOSPHERIC CORR IONOSPHERIC CORR IONOSPHERIC CORR
Table 18: Example of Navigation File Header IONOSPHERIC CORR Record
RINEX 3.03.IGS.RTCM.doc
2015-07-14
6. ADDITIONAL HINTS AND TIPS
RINEX Version 3.03 26
6.1 Versions
Programs developed to read RINEX files have to verify the version number. Files of newer versions may look different even if they do not use any of the newer features
6.2 Leading blanks in CHARACTER fields We propose that routines to read files automatically delete leading blanks in any CHARACTER input field. Routines creating RINEX files should also left-justify all variables in the CHARACTER fields.
6.3 Variable-length records ASCII files usually have variable record lengths, so we recommend to first read each observation record into a blank string long enough to accommodate the largest possible observation record2 and decode the data afterwards. In variable length records, empty data fields at the end of a record may be missing, especially in the case of the optional receiver clock offset.
6.4 Blank fields In view of future modifications we recommend to carefully skip any fields currently defined to be blank (format fields nX), because they may be assigned to new contents in future versions.
6.5 Order of the header records, order of data records As the header record descriptors in columns 61-80 are mandatory, the programs reading a RINEX Version 3 header must decode the header records with formats according to the record descriptor, provided the records have been first read into an internal buffer.
We therefore propose to allow free ordering of the header records, with the following exceptions:
 The RINEX VERSION / TYPE record must be the first record in a file  The SYS / # / OBS TYPES record(s) should precede any SYS / DCBS
APPLIED and SYS / SCALE FACTOR records  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 whole raw data file we define them to be optional.  The END OF HEADER of course is the last record in the header
2 Record is defined by the satellite system with the largest number of possible observables plus any “pseudo-observables” such as ionosphere etc. The length limitation to 80 characters of RINEX Versions 1 and 2 has been removed.
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 27
Data records: Multiple epoch observation data records with identical time tags are not allowed (exception: Event records). Epochs have to appear ordered in time.
6.6 Missing items, duration of the validity of values
Items that are not known at the file creation time can be set to zero or blank (Blank if Not Known - BNK) or the respective record may be completely omitted. Consequently items of missing header records will be set to zero or blank by the program reading RINEX files. Trailing blanks may be truncated from the record.
Each value remains valid until changed by an additional header record.
6.7 Unknown / Undefined observation types and header records
It is a good practice for a program reading RINEX files to make sure that it properly deals with unknown observation types, header records or event flags by skipping them and/or reporting them to the user. The program should also check the RINEX version number in the header record and take proper action if it cannot deal with it.
6.8 Event flag records The “number of satellites” also corresponds to the number of records of the same epoch following the EPOCH record. Therefore, it may be used to skip the appropriate number of data records if certain event flags are not to be evaluated in detail.
6.9 Receiver clock offset
A receiver-derived clock offset can optionally be reported in the RINEX observation files. In order to remove uncertainties about whether the data (epoch, pseudorange, phase) have been corrected or not by the reported clock offset, RINEX Versions 2.10 onward requests a clarifying header record: RCV CLOCK OFFS APPL. It would then be possible to reconstruct the original
observations, if necessary.
6.10 Two-digit years RINEX version 2 stores the years of data records with two digits only. The header of observation files contains a TIME OF FIRST OBS record with the full four-digit year; the GPS nav.
messages contain the GPS week numbers. From these two data items the unambiguous year can easily be reconstructed.
A hundred-year ambiguity occurs in the met data and GLONASS and GEO nav. messages: instead of introducing a new TIME OF FIRST OBS header line it is safe to stipulate that any two-digit years in RINEX Version 1 and Version 2.xx files are understood to represent
80-99: 00-79:
1980-1999 2000-2079
Full 4-digit year fields are defined in RINEX version 3 files.
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 28
6.11 Fit interval (GPS navigation message file) Bit 17 in word 10 of subframe 2 is a “fit interval” flag which indicates the curve-fit interval used by the GPS Control Segment in determining the ephemeris parameters, as follows (see IS-GPS200H, 20.3.3.4.3.1):
0 = 4 hours 1 = greater than 4 hours.
Together with the IODC values and Table 20-XII (of the ICD) 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 IS-GPS-200H. Note: The QZSS fit interval is not defined the same way as it is in GPS, See Appendix 12.
6.12 Satellite health (GPS navigation message file) The health of the signal components (bits 18 to 22 of word three in subframe one) are included from version 2.10 on using the health value reported in the second field of the sixth navigation message record.
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) Table 19: Description of GPS Satellite Health Field
6.13 Transmission time of message (GPS navigation message file) The transmission time of a message can be shortly before midnight Saturday/Sunday, with the ToE and ToC of the message already in the next week.
As the reported week in the RINEX nav message (BROADCAST ORBIT -5 record) goes with ToE (this is different from the GPS week in the original satellite message!), the transmission time of message should be reduced by 604800 (i.e., will become negative) to also refer to the same week.
6.14 Antenna references, phase centers We distinguish between
 The marker, i.e. the geodetic reference monument, on which an antenna is mounted directly with forced centering or on a tripod
 The antenna reference point (ARP), i.e., a well-defined point on the antenna, e.g., the center of the bottom surface of the preamplifier. The antenna height is measured from the marker to the ARP and reported in the ANTENNA: DELTA H/E/N header record.
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 29
Small horizontal eccentricities of the ARP w/r to the marker can be reported in the same record. On vehicles the position of the ARP is reported in the body-fixed coordinate system in an ANTENNA: DELTA X/Y/Z header record.
 The average phase center: A frequency-dependent and minimum elevation-angledependent position of the average phase center above the antenna reference point. Its position is important to know in mixed-antenna networks. It can be given in an absolute sense or relative to a reference antenna using the optional header record: ANTENNA:
PHASECENTER. For fixed stations the components are in north/east/up direction, on
vehicles the position is reported in the body-fixed system X,Y,Z. For more precise applications an elevation-dependent or elevation and azimuth-dependent phase center variation (PCV) model for the antenna (referring to the agreed-upon ARP) should be used. For special applications it might be useful to generate RINEX files with these corrections already applied. This can be reported by special header records SYS /
PCVS APPLIED pointing to the file containing the PCV correction models.
 The orientation of the antenna: The “zero direction” is usually oriented towards north on fixed stations. Deviations from the north direction can be reported with the azimuth of the zero-direction in an ANTENNA: ZERODIR AZI header record. On vehicles the zero-
direction is reported as a unit vector in the body-fixed coordinate system in an ANTENNA: ZERODIR XYZ header record. The zero direction of a tilted antenna on a
fixed station can be reported as unit vector in the left-handed north/east/up local coordinate system in an ANTENNA: ZERODIR XYZ header record.
 The boresight direction of an antenna on a vehicle: The “vertical” symmetry axis of the antenna pointing towards the GNSS satellites. It can be reported as unit vector in the body-fixed coordinate system in the ANTENNA: B.SIGHT XYZ record. A tilted antenna on a fixed station could be reported as unit vector in the left-handed north/east/up local coordinate system in the same type of header record.
To be able to interpret the various positions correctly it is important that the MARKER TYPE record is included in the RINEX header.
7. RINEX UNDER ANTISPOOFING (AS)
Some receivers generate code (pseudorange) delay differences between the first and second frequency using cross-correlation techniques when AS is on and may recover the phase observations on L2 in full cycles. Using the C/A code delay on L1 and the observed difference it is possible to generate a code delay observation for the second frequency. Other receivers recover P code observations by breaking down the Y code into P and W code.
Most of these observations may suffer from an increased noise level. To enable post-processing programs to take special actions, AS-infected observations have been flagged in RINEX Version 2 using bit number 2 of the Loss of Lock Indicators (i.e. their current values are increased by 4). In Version 3 there are special attributes for the observation type to more precisely characterize
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 30
the observable (codeless, semi-codeless, Z-tracking or similar techniques when AS on, L2C, Pcode when AS off, Y-code tracking), making the AS flag obsolete.
8. DEALING WITH DIFFERENT SATELLITE SYSTEMS
8.1 Time system identifier
GPS time runs, apart from small differences (<< 1 microsecond), parallel to UTC. But it is a continuous time scale, i.e. it does not insert any leap seconds. GPS time is usually expressed in GPS weeks and GPS seconds past 00:00:00 (midnight) Saturday/Sunday. GPS time started with week zero at 00:00:00 UT (midnight) on January 6, 1980. Between 1980 and 2012 16 leap seconds have been introduced into UTC.
The GPS week is transmitted by the satellites as a 10 bit number. It has a roll-over after week 1023. The first roll-over happened on August 22, 1999, 00:00:00 GPS time.
In order to avoid ambiguities, the GPS week reported in the RINEX navigation message files is a continuous number without roll-over, i.e. …1023, 1024, 1025, …
We use GPS as time system identifier for the reported GPS time.
QZSS runs on QZSS time, which conforms to UTC Japan Standard Time Group (JSTG) time and the offset with respect to GPS time is controlled. The following properties apply to the QZSS time definition: the length of one second is defined with respect to International Atomic Time (TAI); QZSS time is aligned with GPS time (offset from TAI by integer seconds); the QZSS week number is defined with respect to the GPS week.
We use QZS as a time system identifier for the reported QZSS time
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. It is not a continuous time, i.e. it introduces the same leap seconds as UTC. The reported GLONASS time has the same hours as UTC and not UTC+3 h as the original GLONASS System Time!
We use GLO as time system identifier for the reported GLONASS time.
Galileo runs on Galileo System Time (GST), which is, apart from small differences (tens of nanoseconds), nearly identical to GPS time:
 The Galileo week starts at midnight Saturday/Sunday at the same second as the GPS week
 The GST week as transmitted by the satellites is a 12 bit value with a roll-over after week 4095. The GST week started at zero at the first roll-over of the broadcast GPS week after 1023, i.e. at Sun, 22-Aug-1999 00:00:00 GPS time.
In order to remove possible misunderstandings and ambiguities, the Galileo week reported in the
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 31
RINEX navigation message files is a continuous number without roll-over, i.e., …4095,4096,4097,… and it is aligned to the GPS week.
We use GAL as time system identifier for this reported Galileo time.
The BDS Time (BDT) System is a continuous timekeeping system, with its length of second being an SI second. BDT zero time started at 00:00:00 UTC on January 1st, 2006 (GPS week 1356) therefore BDT is 14 seconds behind GPS time. BDT is synchronized with UTC within 100 nanoseconds (modulo 1 second).
 The BDT week starts at midnight Saturday/Sunday  The BDT week is transmitted by the satellites as a 13 bit number. It has a roll-over after
week 8191. In order to avoid ambiguities, the BDT week reported in the RINEX navigation message files is a continuous number without roll-over, i.e. …8191, 8192, 8193, …
We use BDT as time system identifier for the reported BDS time.
IRNSS runs on Indian Regional Navigation Satellite System Time (IRNSST). The IRNSST start epoch is 00:00:00 on Sunday August 22nd, 1999, which corresponds to August 21st, 1999, 23:59:47 UTC (same time as the first GPS week roll over). Seconds of week are counted from 00:00:00 IRNSST hours Saturday/Sunday midnight which also corresponds to the start of the GPS week. Week numbers are consecutive from the start time and will roll over after week 1023 (at the same time as GPS and QZSS roll over).
We use IRN as the time system identifier for the reported IRNSS time.
Constellation /Archival Time Representation
GPS Broadcast QZSS Broadcast
IRNSS Broadcast GST Broadcast BDS Broadcast and RINEX
GPS/QZS/IRN/ GAL RINEX
GPS Ephemeris
Week Period #1 0 – 1023
0 – 1023
GPS Ephemeris
Week Period #2
0 – 1023 0 – 1023 0 – 1023
0 – 1023 0(RINEX Week 1356)
– 691 1024 – 2047
GPS Ephemeris
Week Period #3 0 – 1023 0 – 1023 0 – 1023
1024 – 2047 692 – 1715
2048 – 3071
GPS Ephemeris
Week Period #4
0 – 1023 0 – 1023 0 – 1023
GPS Ephemeris
Week Period #5
0 – 1023 0 – 1023 0 – 1023
GPS Ephemeris
Week Period #6
0 – 1023 0 – 1023 0 – 1023
2048 – 3071 3072 – 4095 0 – 1023 1716 – 2739 2740 – 3763 3764 – 4787
3072 – 4095 4096 – 5119 5120 -6143
Table 20: Relationship between GPS, QZSS, IRN, GST, GAL, BDS and RINEX Week Numbers
The header records TIME OF FIRST OBS and (if present) TIME OF LAST OBS in pure GPS, GLONASS, Galileo, QZSS or BDS observation files can (in mixed
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 32
GPS/GLONASS/Galileo/QZSS/BDS/IRNSS observation files must) contain the 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
•
GAL to identify Galileo time
•
QZS to identify QZSS time
•
BDT to identify BDS time
•
IRN to identify IRNSS time
Pure GPS observation files default to GPS, pure GLONASS files default to GLO, pure Galileo files default to GAL and similarly pure BDS observation files default to BDT (same for QZSS and IRNSS).
Apart from the small errors in the realizations of the different time systems, the relations between the systems are:
GLO GPS GPS GPS BDT
= UTC = GAL = QZS = IRN =
= GPS = UTC = UTC = UTC
UTC
- ΔtLS + ΔtLS + ΔtLS + ΔtLS + ΔtLSBDS
Table 21: Constellation Time Relationships
Where:
Delta time between GPS and UTC due to leap seconds,
ΔtLS
=
as transmitted by the GPS satellites in the almanac
(2005: ΔtLS = 13, 2006: ΔtLS = 14, 2008: ΔtLS = 15
and 2012: ΔtLS = 16).
Delta time between BDT and UTC due to leap seconds,
ΔtLSBDS
=
as transmitted by the BDS satellites in the almanac
(2006: ΔtLSBDS = 0, 2008: ΔtLSBDS = 1 and 2012:
ΔtLSBDS = 2). See BDS-SIS-ICD-2.0 Section 5.2.4.17
Table 22: GPS and BeiDou UTC Leap Second Relationship
In order to have the current number of leap seconds available, we recommend including ΔtLS by adding a LEAP SECOND line into the RINEX file header.
If there are known non-integer biases between “GPS receiver clock”, “GLONASS receiver clock”, “BDS receiver clock” or “Galileo receiver clock” in the same receiver, they should be applied in the process of RINEX conversion. In this case, the respective code and phase observations have to be corrected too (c * bias if expressed in meters).
Unknown biases will have to be solved for during the post processing.
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 33
The small differences (modulo 1 second) between: BDS system time, Galileo system time, GLONASS system time, UTC(SU), UTC(USNO) and GPS system time have to be dealt with during the post-processing and not before the RINEX conversion. It may also be necessary to solve for remaining differences during the post-processing.
8.2 Pseudorange definition
The pseudorange (code) measurement is defined to be equivalent to the difference of the time of reception (expressed in the time frame of the receiver) and the time of transmission (expressed in the time frame of the satellite) of a distinct satellite signal.
In a mixed-mode GPS/GLONASS/Galileo/QZSS/BDS receiver referring all pseudorange observations to one receiver clock only,
 the raw GLONASS pseudoranges will show the current number of leap seconds between GPS/GAL/BDT time and GLONASS time if the receiver clock is running in the GPS, GAL or BDT time frame
 the raw GPS, Galileo and BDS pseudoranges will show the negative number of leap seconds between GPS/GAL/BDT time and GLONASS time if the receiver clock is running in the GLONASS time frame
In order to avoid misunderstandings and to keep the code observations within the format fields, the pseudo-ranges must be corrected in this case as follows:
PR_mod(GPS) = PR(GPS) + C* ΔtLS if generated with a receiver clock running in the GLONASS time frame
PR_mod(GAL) = PR(GAL) + C* ΔtLS if generated with a receiver clock running in the GLONASS time frame
PR_mod(BDT) = PR(BDT) + C* ΔtLSBDS if generated with a receiver clock running in the GLONASS time frame
PR_mod(GLO) = PR(GLO) - C* ΔtLS if generated with a receiver clock running in the GPS or GAL time frame
PR_mod(GLO) = PR(GLO) - C*ΔtLSBDS if generated with a receiver clock running in the BDT time frame
PR_mod(GPS) = PR(GPS) + C*(ΔtLSΔtLSBDS)
Table 23: Constellation Pseudorange Corrections
if generated with a receiver clock running in the BDT time frame
to remove the contributions of the leap seconds from the pseudoranges.
ΔtLS is the actual number of leap seconds between GPS/GAL and GLO time, as broadcast in the GPS almanac and distributed in Circular T of BIPM.
ΔtLSBDS is the actual number of leap seconds between BDT and UTC time, as broadcast in the BDT almanac.
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 34
8.3 RINEX navigation message files The header section of the RINEX version 3.XX navigation message files have been slightly changed compared to the previous version 2. The format of the header section is identical for all satellite systems: GPS, GLONASS, Galileo, SBAS, QZSS and IRNSS. One exception is that BDS “IONOSPHERIC CORR” message has a few extra fields (See: Appendix Table A5 ).
The data portion of the navigation message files contains records with floating point numbers. The format is identical for all satellite systems; the number of records per message and the contents, however, are satellite system-dependent. The format of the version 3 data records has been changed slightly; the satellite codes now also contain the satellite system identifier.
It is possible to generate mixed navigation message files, i.e. files containing navigation messages of more than one satellite system. Header records with system-dependent contents have to be repeated for each satellite system, if applicable. Using the satellite system identifier of the satellite code the reading program can determine the number of data records to be read for each message block.
The time tags of the navigation messages (e.g., time of ephemeris, time of clock) are given in the respective satellite time systems!
It is recommended to avoid storing redundant navigation messages (e.g., the same message broadcast at different times) in the RINEX file.
8.3.1 RINEX navigation message files for GLONASS The header section and the first data record (epoch, satellite clock information) are equal to the GPS navigation file. The following three records contain the satellite position, velocity and acceleration, the clock and frequency biases, as well as auxiliary information such as health, satellite frequency (channel) and age of the information.
The corrections of the satellite time to UTC are as follows:
GPS: Tutc = Tsv –af0 –af1 *(Tsv-Toc) -... –A0 -... –ΔtLS 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. Table 24: GLONASS Navigation File Data, Sign Convention
The time tags in the GLONASS navigation files are given in UTC (i.e. not Moscow time or GPS time).
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 35
8.3.2 RINEX navigation message files for Galileo The Galileo Open Service allows access to two navigation message types: F/NAV (Freely Accessible Navigation) and I/NAV (Integrity Navigation). The content of the two messages differs in various items, however, in general it is very similar to the content of the GPS navigation message, e.g. the orbit parameterization is the same.
There are items in the navigation message that depend on the origin of the message (F/NAV or I/NAV): The SV clock parameters actually define the satellite clock for the dual-frequency ionosphere-free linear combination. F/NAV reports the clock parameters valid for the E5a-E1 combination, the I/NAV reports the parameters for the E5b-E1 combination. The second parameter in the Broadcast Orbit 5 record (bits 8 and 9) indicate the frequency pair the stored clock corrections are valid for.
Some parameters contain the information stored bitwise. The interpretation is as follows:
 Convert the floating point number read from the RINEX file into the nearest integer  Extract the values of the requested bits from the integer
Example:
0.170000000000D+02 -> 17 = 24+20 -> Bits 4 and 0 are set, all others are zero
RINEX file encoders should encode one RINEX Galileo navigation message for each I/NAV and F/NAV signal decoded. Therefore if both: I/Nav and F/Nav messages are decode, then the relevant bit fields must be set in the RINEX message and both should be written in separate messages. The Galileo ICD (2010) Section 5.1.9.2 indicates that some of the contents of the broadcast navigation message may change, yet the issue of data (IOD) may not change. So that all relevant information is available message encoders should monitor the contents of the file and write new navigation messages when the contents have changed.
RINEX file parsers should expect to encounter F/NAV and I/NAV messages with the same IOD in the same file. Additionally, parsers should also expect to encounter more than one F/NAV or I/NAV ephemeris message with the same IOD, as the navigation message Data Validity Status (DVS) and other parameters may change independently of the IOD, yet some other data may be the same, however, the transmission time will be updated (See Note in Galileo ICD (2010) Section 5.1.9.2 Issue of Data).
As mentioned above, the GAL week in the RINEX navigation message files is a continuous number; it has been aligned to the GPS week by the program creating the RINEX file.
8.3.3 RINEX navigation message files for GEO satellites
As the GEO broadcast orbit format differs from the GPS message, a special GEO navigation message file format has been defined which is nearly identical with the GLONASS navigation message file format.
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 36
The header section contains information about the generating program, comments, and the difference between the GEO system time and UTC.
The first data record contains the epoch and satellite clock information; the following records contain the satellite position, velocity and acceleration and auxiliary information (health, URA and IODN).
The time tags in the GEO navigation files are given in the GPS time frame, i.e. not UTC.
The corrections of the satellite time to UTC are as follows:
GEO: Tutc = Tsv –aGf0 –aGf1 *(Tsv-Toe) –W0 –ΔtLS
W0 being the correction to transform the GEO system time to UTC. See Toe, aGf0, aGf1 in the Appendix A16 format definition table.
The Transmission Time of Message (PRN / EPOCH / SV CLK header record) is expressed in GPS seconds of the week. It marks the beginning of the message transmission. It has to refer to the same GPS week as the Epoch of Ephemerides. It has to be adjusted by –or + 604800 seconds, if necessary (which would make it lower than zero or larger than 604800, respectively). It is a redefinition of the Version 2.10 Message frame time.
Health shall be defined as follows:
 bits 0 to 3 equal to health in Message Type 17 (MT17)  bit 4 is set to 1 if MT17 health is unavailable  bit 5 is set to 1 if the URA index is equal to 15
8.3.4 RINEX navigation message files for QZSS L1-SAIF
As the QZSS L1-SAIF broadcast orbit format differs from the GPS message, a special L1-SAIF navigation message file format has been defined which is nearly identical with the GEO navigation message file format (See A16).
The header section contains information about the generating program, comments, and the difference between the L1-SAIF 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. To compute L1-SAIF satellite position, note that acceleration in navigation message represents only perturbation term and it is necessary to add :
The time tags in the L1-SAIF navigation files are given in the GPS time frame, i.e. not UTC.
The corrections of the satellite time to UTC are as follows:
SAIF: Tutc = Tsv –aGf0 –aGf1 *(Tsv-Toe) –W0 –ΔtLS
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 37
W0 being the correction to transform the L1-SAIF system time to UTC. Toe, aGf0, aGf1 see below in the format definition tables.
The Transmission Time of Message (PRN / EPOCH / SV CLK header record) is expressed in GPS seconds of the week. It marks the beginning of the message transmission. It has to refer to the same GPS week as the Epoch of Ephemerides. It has to be adjusted by –or + 604800 seconds, if necessary (which would make it lower than zero or larger than 604800, respectively).
Health shall be defined as follows:
 bits 0 to 3 equal to health in Message Type 17 (MT17)  bit 4 is set to 1 if MT17 health is unavailable  bit 5 is set to 1 if the URA index is equal to 15
Note that accelerations represent only lunar and solar perturbation terms and satellite position can be computed based on equations in Section A.3.1.2 of GLONASS ICD version 5.0. See Appendix A16
8.3.5 RINEX navigation message files for BDS
The BDS Open Service broadcast navigation message is similar in content to the GPS navigation message.
The header section and the first data record (epoch, satellite clock information) are equal to the GPS navigation file. The following six records are similar to GPS.
The BDT week number is a continuous number. The broadcast 13-bit BDS System Time week has a roll-over after 8191. It starts at zero on: 1-Jan-2006, hence BDT week = BDT week_BRD + (n*8192) (Where n: number of BDT roll-overs). See Appendix Table A14 for details.
8.3.6 RINEX navigation message files for IRNSS
The IRNSS Open Service broadcast navigation message is similar in content to the GPS navigation message.
The header section and the first data record (epoch, satellite clock information) are equal to the GPS navigation file. See Appendix Tables A18 and A19 for a description and example of each field.
8.4 RINEX observation files for GEO satellites A separate satellite system identifier has been defined for the Satellite-Based Augmentation System (SBAS) payloads. S, is to be used in the RINEX VERSION / TYPE header line and in the satellite identifier snn, nn being the GEO PRN number minus 100.
e.g.: PRN = 120 ⇒snn = S20
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 38
In mixed dual frequency GPS satellite / single frequency GEO payload observation files, the fields for the second frequency observations of SBAS satellites remain blank, are set to zero values or (if last in the record) can be truncated.
The time system identifier of GEO satellites generating GPS signals defaults to GPS time. In the SBAS message definitions, bit 3 of the health word is currently marked as reserved. In case of bit 4 set to 1, it is recommended to set bits 0,1,2,3 to 1, as well.
User Range Accuracy (URA):
The same convention for converting the URA index to meters is used as with GPS. Set URA = 32767 meters if URA index = 15.
Issue Of Data Navigation (IODN)
The IODN is defined as the 8 first bits after the message type 9, called IODN in RTCA DO229, Annex A and Annex B and called spare in Annex C. The D-UTC A0, A1, T, W, S, U record in Version 2.11 has been renamed the TIME SYSTEM CORR record in RINEX 3.x.
9. MODIFICATIONS FOR VERSION 3.01, 3.02 and 3.03
9.1 Phase Cycle Shifts
Carrier phases tracked on different signal channels or modulation bands of the same frequency may differ in phase by 1/4 (e.g., GPS: P/Y-code-derived L2 phase vs. L2C-based phase) or, in some exceptional cases, by other fractional parts of a cycle. Appendix Table23 specifies the reference signal and the phase shifts that are specified by the Interface Control Documentation (ICD) for each constellation.
All phase observations must be aligned in RINEX 3.01 and later files and the new SYS /
PHASE SHIFT header is mandatory. See Appendix Table A2 for the messages definition. If
the phase alignment is not known, then the observation data should not be published in a RINEX 3.0x file. In order to facilitate data processing, phase observations stored in RINEX files must be consistent across all satellites of a satellite system and across each frequency band. Within a RINEX 3.0x file:
 All phase observations must be aligned to the designated constellation and frequency reference signal as specified in Appendix Table A23, either directly by the receiver or by a correction program or the RINEX conversion program, prior to RINEX file generation. Additionally, all data must be aligned with the appropriate reference signal indicated in Appendix Table A23 even when the receiver or reporting device is not tracking and/or
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 39
providing data from that reference signal e.g. Galileo L5X phase data must be aligned to L5I.
 Phase corrections must be reported in a new mandatory SYS / PHASE SHIFT header record to allow the reconstruction of the original values, if needed. The uncorrected reference signal group of observations are left blank in the SYS / PHASE SHIFT records. Appendix Table A23 specifies the reference signal that should be used by each constellation and frequency band. Additionally, Appendix Table A23 indicates the relationship between the phase observations for each frequency’s signals.
Concerning the mandatory SYS / PHASE SHIFT header records:  If the SYS / PHASE SHIFT record values are set to zero in the RINEX file, then either the raw data provided by the receiver or the data format (RTCM-Multiple Signal Messages format for example) have already been aligned and the RINEX conversion program did not apply any phase corrections since they had already been applied. In this case Appendix Table A23 can be used to determine the fractional cycles that had been added to each signal’s phase observation to align the phase observations to the reference signal.
 If the file does not contain any observation pairs affected by phase shifts (i.e. only reference signals reported), the observation code field is defined and the rest of the SYS / PHASE SHIFT header record field of the respective satellite system(s) are left blank.
 If the reported phase correction of an observation type does not affect all satellites of the same system, the header record allows for the affected satellites to be indicated.
 If the applied phase corrections or the phase alignment is unknown, the observation code field and the rest of the SYS / PHASE SHIFT header record field of the respective satellite system(s) are left blank. This use case is intended for exceptional situations where the data is intended for special projects and analysis.
Sign of the correction Δφ:
φRINEX φ original
Δφ
=
φ original
+
Δφ
: Uncorrected or corrected, i.e. as issued by the GNSS receiver or in a standardized data stream such as RTCM-MSM
: Phase correction to align the phase to other phases of the same frequency but different channel / modulation band
Table 25: RINEX Phase Alignment Correction Convention
Example (Definition see Appendix Table A2):
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
G L2S -0.25000 03 G15 G16 G17
SYS / PHASE SHIFT
Table 26: Example SYS / PHASE SHIFT Record
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 40
9.2 Galileo: BOC-Tracking of an MBOC-Modulated Signal Galileo E1 will be modulated by the so-called MBOC modulation. Obviously it is possible for a receiver to track the signal also in a BOC mode, though leading to different noise characteristics. In order to keep this non-standard tracking mode of a MBOC signal apart, bit 2 of the loss-oflock indicator LLI (the antispoofing flag not used for Galileo) in the observation data records is used.
Non-standard BOC tracking of an MBOC-modulated signal: Increase the LLI by 4.
Note: This flag is intended for experimental applications and is optional. In future releases of RINEX this non-standard tracking mode flag may be removed.
Example: Satellite E11, BOC tracking on L1C, LLI = 4:
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
G 5 C1C L1W L2W C1W S2W
SYS / # / OBS TYPES
R 2 C1C L1C
SYS / # / OBS TYPES
E 2 L1C L5I
SYS / # / OBS TYPES
S 2 C1C L1C
SYS / # / OBS TYPES
18.000
INTERVAL
END OF HEADER
> 2006 03 24 13 10 36.0000000 0 5
-0.123456789012
G06 23629347.915
.300 8
-.353 4 23629347.158
24.158
G09 20891534.648
-.120 9
-.358 6 20891545.292
38.123
G12 20607600.189
-.430 9
.394 5 20607600.848
35.234
E11
.32448
.178 7
S20 38137559.506
335849.135 9
Table 27: Example of RINEX Coding of Galileo BOC Tracking of an MBOC Signal Record
9.3 BDS Satellite System Code The satellite system code for BeiDou navigation satellite System (BDS) has been defined as “C”, see Figure 1.
9.4 New Observation Codes for GPS L1C and BDS New observation codes for GPS L1C and BDS observables have been defined: See Tables 4 and 9.
9.5 Header Records for GLONASS Slot and Frequency Numbers In order to make available a cross-reference list between the GLONASS slot numbers used in the RINEX files to designate the GLONASS satellites and the allotted frequency numbers, a mandatory observation file header record is assigned. This allows processing of GLONASS files without having to get this information from GLONASS navigation message files or other sources.
Example (Definition See Appendix Table A2):
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8| 18 R01 1 R02 2 R03 3 R04 4 R05 5 R06 -6 R07 -5 R08 -4 GLONASS SLOT / FRQ # R09 -3 R10 -2 R11 -1 R12 0 R13 1 R14 2 R15 3 R16 4 GLONASS SLOT / FRQ #
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 41
R17 5 R18 -5
Table 28: Example of a GLONASS Slot- Frequency Records
GLONASS SLOT / FRQ #
9.6 GNSS Navigation Message File: Leap Seconds Record The optional LEAP SECONDS record was modified to also include ΔtLS (or ΔtLSBDS for BDS), WNLSF (adjusted to continuous week number) and DN.
9.7 Clarifications in the Galileo Navigation Message File: Some clarifications in the Galileo BROADCAST ORBIT – 5 and BROADCAST ORBIT – 6 records were added (see Table A8).
9.8 Quasi-Zenith Satellite System (QZSS) Version 3.02 The version number is adjusted to 3.02. Version 3.02 added QZSS: specifications, parameters and definitions to the document. Each QZSS satellite broadcasts signals using two PRN codes. The GPS compatible signals are broadcast using PRN codes in the range of 193-197. In a RINEX observation file the PRN code is: broadcast prn - 192, yielding: J01, J02 etc.. QZSS satellites also broadcast a SBAS signal (QZSS-SAIF) using PRN codes in the range of 183-187. In a RINEX SBAS file the PRN code is: broadcast prn - 100, yielding: S83, S84 etc..
See Appendix Table A23 to convert each signal’s aligned phase observations back to raw satellite phase.
9.9 GLONASS Mandatory Code-Phase Alignment Header Record Recent analysis has revealed that some GNSS receivers produce biased GLONASS observations. The code-phase bias results in the code and phase observations not being measured at the same time. To remedy this problem, a mandatory GLONASS Code-Phase header bias record is required. Although this header message is mandatory, it can contain zeros if the GLONASS data issued by the receiver is aligned. See the GLONASS CODE/PHASE BIAS (GLONASS COD/PHS/BIS) definition in Appendix Table A2. The GLONASS code-phase alignment message contains: L1C, L1P, L2C and L2P corrections. Phase data from GNSS receivers that issue biased data has to be corrected by the amount specified in the GLONASS COD/PHS/BIS record before it is written in RINEX format.
To align the non-aligned L1C phase to the pseudo range observation, the following correction is required:
AlignedL1Cphase = ObservedL1Cphase + (GLONASSC1C_CodePhaseBias_M / Lambda)
where:
 AlignedL1C phase in cycles (written to RINEX file)  ObservedL1C phase in cycles  GLONASSC1C_CodePhaseBias_M is in metres  Lamba is the wavelength for the particular GLONASS frequency
GLONASS L1P, L2C and L2P are handled in the same manner.
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 42
Example (See Appendix Table A2 for details) :
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
C1C -10.000 C1P -10.123 C2C -10.432 C2P -10.634
GLONASS COD/PHS/BIS#
Table 29: Example of GLONASS Code Phase Bias Correction Record
Note: If the GLONASS code phase alignment is unknown, then all fields within GLONASS COD/PHS/BIS header record are left blank (see example below). This use case is intended for exceptional situations where the data is intended for special projects and analysis.
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8| GLONASS COD/PHS/BIS#
Table 30: Example of Unknown GLONASS Code Phase Bias Record
9.10 BDS system (Replaces Compass) Added BDS: naming convention, time system definition, header section description, and parameters throughout the document. Updated: Sections: 8.1, 8.2, 8.3.5, 9.11 and Appendix Table A2, added ephemeris Table A14 and updated Table A23.
9.11 Indian Regional Navigation Satellite System (IRNSS) Version 3.03
The RINEX version number was changed to 3.03. Version 3.03 adds IRNSS, specifications, parameters and definitions to this document.
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 43
10 References
Evans, A. (1989): “Summary of the Workshop on GPS Exchange Formats.” Proceedings of the Fifth International Geodetic Symposium on Satellite Systems, pp. 917ff, Las Cruces.
Gurtner, W., G. Mader, D. Arthur (1989): “A Common Exchange Format for GPS Data.” CSTG GPS Bulletin Vol.2 No.3, May/June 1989, National Geodetic Survey, Rockville.
Gurtner, W., G. Mader (1990a): “The RINEX Format: Current Status, Future Developments.” Proceedings of the Second International Symposium of Precise Positioning with the Global Positioning system, pp. 977ff, Ottawa.
Gurtner, W., G. Mader (1990b): “Receiver Independent Exchange Format Version 2.” CSTG GPS Bulletin Vol.3 No.3, Sept/Oct 1990, National Geodetic Survey, Rockville.
Gurtner, W. (1994): “RINEX: The Receiver-Independent Exchange Format.” GPS World, Volume 5, Number 7, July 1994.
Gurtner, W. (2002): “RINEX: The Receiver Independent Exchange Format Version 2.10”. ftp://igscb.jpl.nasa.gov/igscb/data/format/rinex210.txt
Gurtner, W., L. Estey (2002),: “RINEX Version 2.20 Modifications to Accommodate Low Earth Orbiter Data”. ftp://ftp.unibe.ch/aiub/rinex/rnx_leo.txt
Gurtner, W., L. Estey (2005): “RINEX: The Receiver Independent Exchange Format Version 2.11”. ftp://igscb.jpl.nasa.gov/igscb/data/format/rinex211.txt
Gurtner, W., L. Estey (2007): “RINEX: The Receiver Independent Exchange Format Version 3.00”. ftp://igscb.jpl.nasa.gov/igscb/data/format/rinex300.pdf
Hatanaka, Y (2008): “ A Compression Format and Tools for GNSS Observation Data”. Bulletin of the Geographical Survey Institute, Vol. 55, pp 21-30, Tsukuba, March 2008. http://www.gsi.go.jp/ENGLISH/Bulletin55.html
Ray, J., W. Gurtner (2010): “RINEX Extensions to Handle Clock Information”. ftp://igscb.jpl.nasa.gov/igscb/data/format/rinex_clock302.txt.
Ray, J. (2005): “Final update for P1-C1 bias values & cc2noncc”. IGSMail 5260
Rothacher, M., R. Schmid (2010): “ANTEX: The Antenna Exchange Format Version 1.4”. ftp://igscb.jpl.nasa.gov/pub/station/general/antex14.txt.
Schaer, S., W. Gurtner, J. Feltens (1998): “IONEX: The Ionosphere Map Exchange Format Version 1“. ftp://igscb.jpl.nasa.gov/igscb/data/format/ionex1.pdf
Suard, N., W. Gurtner, L. Estey (2004): “Proposal for a new RINEX-type Exchange File for GEO SBAS Broadcast Data”. ftp://igscb.jpl.nasa.gov/igscb/data/format/geo_sbas.txt
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03 44
Document: RTCA DO 229, Appendix A
Document: Global Positioning Systems Directorate, Systems Engineering and Integration Interface Specification IS-GPS-200H, Navstar GPS Space Segment/Navigation User Interfaces, Sept. 24, 2013
Document: GLObal NAvigation Satellite System (GLONASS), Interface Control Document, (Edition 5.1), 2008.
Document: European GNSS (Galileo) Open Service, Signal In Space, Interface Control Document, Issue 1.1, September, 2010.
Document: Quasi-Zenith Satellite System, Navigation Service, Interface Specification for QZSS (IS-QZSS), V1.6, Japan Aerospace Exploration Agency, November 28, 2014
Document: BeiDou Navigation Satellite, System, Signal In Space, Interface Control Document, Open Service Signal, (Version2.0), China Satellite Navigation Office December 2013
Document: RTCM Standard 10403.2, Differential GNSS (Global Navigation Satellite Systems) Services – Version 3, November 7, 2013.
Document: Indian Regional Navigation Satellite System Signal in Space ICD for Standard Positioning Service, Version 1.0, June 2014 (Indian Space Research Organization, Bangalore, 2014)
RINEX 3.03.IGS.RTCM.doc
2015-07-14
RINEX Version 3.03
Appendix
A1
APPENDIX: RINEX FORMAT DEFINITIONS AND EXAMPLES
A 1 RINEX File name description
Field <SITE/ STATIONMONUMENT/ RECEIVER/ COUNTRY/
<DATA SOURCE>
<START TIME>
<FILE PERIOD>
<DATA FREQ>
Table A1
RINEX File name description
Field Description
Example Required
XXXXMRCCC ALGO00CAN Yes
Where:
XXXX - existing IGS station name
M – monument or marker number (0-9)
R – receiver number
(0-9)
CCC – ISO Country
code
(Total 9 characters)
Data Source
R
Yes
R – From Receiver
data using vendor or other software
S – From data Stream
(RTCM or other)
U – Unknown
(1 character)
YYYYDDDHHMM
2012150
Yes
YYYY – Gregorian year 4 digits,
1200
DDD – day of Year, HHMM – hours and
minutes of day
(11 characters) DDU
DD – file period U – units of file period. File period is used to specify intended collection period of the file. (3 characters)
DDU
15M
Yes
05Z
Mandator
y for
Comment/Example File name supports a maximum of 10 monuments at the same station and a maximum of 10 receivers per monument.
Country codes follow : ISO 31661 alpha-3
This field is used to indicate how the data was collected either from the receiver at the station or from
a data stream
For GPS files use : GPS Year, day of year, hour of day, minute of day (see text below for details) Start time should be the nominal start time of the first observation. GLONASS, Galileo, BeiDou etc
use respective time system.
File Period 15M–15 Minutes 01H–1 Hour 01D–1 Day 01Y–1 Year 00U-Unspecified
XXC – 100 Hertz XXZ – HertZ,
RINEX3.03.IGS.RTCM.doc 2015-04-14
RINEX Version 3.03 Appendix
A2
Field <DATA TYPE >
<FORMAT>
Table A1
RINEX File name description
Field Description
Example Required
DD – data frequency
RINEX
U – units of data rate
Obs. Data.
(3 characters)
NOT required
for Navigatio
n Files.
DD
MO
Yes
DD – Data type
(2 characters)
FFF FFF – File format
(3 characters)
rnx
Yes
Comment/Example XXS – Seconds, XXM – Minutes, XXH – Hours, XXD – Days XXU – Unspecified
Two characters represent the data type: GO - GPS Obs., RO - GLONASS Obs., EO - Galileo Obs. JO - QZSS Obs. CO - BDS Obs. IO – IRNSS Obs. SO - SBAS Obs. MO Mixed Obs. GN - Nav. GPS, RN- Glonass Nav., EN- Galileo Nav., JN- QZSS Nav., CN- BDS Nav. IN – IRNSS Nav. SN- SBAS Nav. MN- Nav. All GNSS Constellations) MM-Meteorological Observation Etc Three character indicating the data format : RINEX - rnx, Hatanaka Compressed RINEX – crx, ETC
<COMPRESSION> (2-3 Characters)
gz
Sub Total
34 or 35
Separators
(7 characters –Obs.
File)
(6 characters –Eph.
File)
No
gz
Fields
_ under score between all fields
and “.” Between data type and file
format and the compression
method
Total
41-42(Obs. File) 37-38 (Eph. File)
Mandatory IGS RINEX obs. Characters
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A3
Filename Details and Examples:
<STATION/PROJECT NAME>: IGS users should follow XXXXMRCCC (9 char) site nd station naming convention described above. GNSS industry users could use the 9 characters to indicate the project name and/or number.
<DATA SOURCE>: With real-time data streaming RINEX files for the same station can be created at many locations. If the RINEX file is derived from data collected at the receiver (official file) then the source is specified as R. On the other hand if the RINEX file is derived from a real-time data stream then the data source is marked as S to indicate Streamed data source. If the data source is unknown the source is marked as U.
<START TIME>: The start time is the file start time which should coincide with the first observation in the file. GPS file start time is specified in GPS Time. Mixed observation file start times are defined in the same time system as the file observation time system specified in the header. Files containing only: GLONASS, Galileo, QZSS, BDS or SBAS observations are all based on their respective time system.
<FILE PERIOD>: Is used to specify the data collection period of the file. GNSS observation file name - file period examples: ALGO00CAN_R_20121601000_15M_01S_GO.rnx.gz //15 min, GPS Obs. 1 sec. ALGO00CAN_R_20121601000_01H_05Z_MO.rnx.gz //1 hour, Obs Mixed and 5Hz ALGO00CAN_R_20121601000_01D_30S_GO.rnx.gz //1 day, Obs GPS and 30 sec ALGO00CAN_R_20121601000_01D_30S_MO.rnx.gz //1 day, Obs. Mixed, 30 sec
GNSS navigation file name - file period examples: ALGO00CAN_R_20121600000_15M_GN.rnx.gz // 15 minute GPS only ALGO00CAN_R_20121600000_01H_GN.rnx.gz // 1 hour GPS only ALGO00CAN_R_20121600000_01D_MN.rnx.gz // 1 day mixed
<DATA FREQ>: Used to distinguish between observation files that cover the same period but contain data at a different sampling rate. GNSS data file - observation frequency examples:
ALGO00CAN_R_20121601000_01D_01C_GO.rnx.gz //100 Hz data rate ALGO00CAN_R_20121601000_01D_05Z_RO.rnx.gz //5 Hz data rate ALGO00CAN_R_20121601000_01D_01S_EO.rnx.gz //1 second data rate
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A4
ALGO00CAN_R_20121601000_01D_05M_JO.rnx.gz //5 minute data rate ALGO00CAN_R_20121601000_01D_01H_CO.rnx.gz //1 hour data rate ALGO00CAN_R_20121601000_01D_01D_SO.rnx.gz //1 day data rate ALGO00CAN_R_20121601000_01D_00U_MO.rnx.gz //Unspecified
Note : Data frequency field not required for RINEX Navigation files.
< DATA TYPE/ FORMAT/>: The data type describes the content of the file. The first character indicates constellation and the second indicates whether the files contains observations or navigation data. The next three characters indicate the data file format. GNSS observation filename - format/data type examples:
ALGO00CAN_R_20121601000_15M_01S_GO.rnx.gz //RINEX obs. GPS ALGO00CAN_R_20121601000_15M_01S_RO.rnx.gz //RINEX obs. GLONASS ALGO00CAN_R_20121601000_15M_01S_EO.rnx.gz //RINEX obs. Galileo ALGO00CAN_R_20121601000_15M_01S_JO.rnx.gz //RINEX obs. QZSS ALGO00CAN_R_20121601000_15M_01S_CO.rnx.gz //RINEX obs. BDS ALGO00CAN_R_20121601000_15M_01S_SO.rnx.gz //RINEX obs. SBAS ALGO00CAN_R_20121601000_15M_01S_MO.rnx.gz //RINEX obs. mixed
GNSS navigation filename examples:
ALGO00CAN_R_20121600000_01H_GN.rnx.gz //RINEX nav. GPS ALGO00CAN_R_20121600000_01H_RN.rnx.gz //RINEX nav. GLONASS ALGO00CAN_R_20121600000_01H_EN.rnx.gz //RINEX nav. Galileo ALGO00CAN_R_20121600000_01H_JN.rnx.gz //RINEX nav. QZSS ALGO00CAN_R_20121600000_01H_CN.rnx.gz //RINEX nav. BDS ALGO00CAN_R_20121600000_01H_SN.rnx.gz //RINEX nav. SBAS ALGO00CAN_R_20121600000_01H_MN.rnx.gz //RINEX nav. mixed
<COMPRESSION>:
Valid compression methods include: gzip - “.gz”, bzip2 - “.bz2” and “.zip”.
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A5
A 2 GNSS Observation Data File -Header Section Description
TABLE A2 GNSS OBSERVATION DATA FILE - HEADER SECTION DESCRIPTION
HEADER LABEL (Columns 61-80)
RINEX VERSION / TYPE
PGM / RUN BY / DATE
* COMMENT MARKER NAME * MARKER NUMBER MARKER TYPE
DESCRIPTION
FORMAT
 Format version : 3.03  File type: O for Observation Data  Satellite System:
G: GPS R: GLONASS E: Galileo J: QZSS C: BDS I: IRNSS S: SBAS payload M: Mixed
 Name of program creating current file  Name of agency creating current file  Date and time of file creation Format: yyyymmdd hhmmss zone zone: 3-4 char. code for time zone. 'UTC ' recommended! 'LCL ' if local time with unknown local time system code
 Comment line(s)
 Name of antenna marker
 Number of antenna marker
 Type of the marker: GEODETIC : Earth-fixed, high- precision monument NON_GEODETIC : Earth-fixed, lowprecision monument NON_PHYSICAL : Generated from network processing SPACEBORNE : Orbiting space vehicle GROUND_CRAFT : Mobile terrestrial vehicle WATER_CRAFT : Mobile water craft AIRBORNE: Aircraft, balloon, etc. FIXED_BUOY : "Fixed" on water surface FLOATING_BUOY: Floating on water surface FLOATING_ICE : Floating ice sheet, etc. GLACIER : "Fixed" on a glacier BALLISTIC : Rockets, shells, etc ANIMAL : Animal carrying a receiver HUMAN : Human being
F9.2, 11X, A1,19X, A1,19X
A20, A20, A20
A60 A60 A20 A20,40X
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A6
TABLE A2
GNSS OBSERVATION DATA FILE - HEADER SECTION DESCRIPTION
Record required except for GEODETIC and
NON_GEODETIC marker types. Users may
define other project-dependent keywords.
OBSERVER / AGENCY
 Name of observer / agency
A20,A40
REC # / TYPE / VERS
 Receiver number, type, and version (Version:
3A20
e.g. Internal Software Version)
ANT # / TYPE
 Antenna number and type
2A20
APPROX POSITION XYZ  Geocentric approximate marker position
3F14.4
(Units: Meters, System: ITRS recommended)
Optional for moving platforms
ANTENNA: DELTA H/E/N
 Antenna height: Height of the antenna
F14.4,
reference point (ARP) above the marker
 Horizontal eccentricity of ARP relative to the
2F14.4
marker (east/north)
All units in meters
* ANTENNA: DELTA X/Y/Z - Position of antenna reference point for antenna 3F14.4
on vehicle (m): XYZ vector in body-fixed
coord. system
*ANTENNA:PHASECENTER Average phase center position w/r to antenna
reference point (m)
 Satellite system (G/R/E/J/C/I/S)
A1,
 Observation code
1X,A3,
 North/East/Up (fixed station) or  X/Y/Z in body-fixed system (vehicle)
F9.4, 2F14.4
* ANTENNA: B.SIGHT XYZ  Direction of the “vertical” antenna axis
3F14.4
towards the GNSS satellites.
Antenna on vehicle: Unit vector in body-fixed
coordinate system.
Tilted antenna on fixed station: Unit vector in
N/E/Up left-handed system.
* ANTENNA: ZERODIR AZI  Azimuth of the zero-direction of a fixed
F14.4
antenna (degrees, from north)
* ANTENNA: ZERODIR XYZ  Zero-direction of antenna
3F14.4
Antenna on vehicle: Unit vector in body-fixed
coordinate system
Tilted antenna on fixed station: Unit vector in
N/E/Up left-handed system
* CENTER OF MASS: XYZ  Current center of mass (X,Y,Z, meters) of
3F14.4
vehicle in body-fixed coordinate system. Same
system as used for attitude.
SYS / # / OBS TYPES
 Satellite system code (G/R/E/J/C/I/S)  Number of different observation types for the
A1, 2X,I3,
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A7
TABLE A2
GNSS OBSERVATION DATA FILE - HEADER SECTION DESCRIPTION
specified satellite system
 Observation descriptors: Type
13(1X,A3)
Band
Attribute
 Use continuation line(s) for more than 13
6X,
observation descriptors.
13(1X,A3)
In mixed files: Repeat for each satellite system.
These records should precede any SYS / SCALE
FACTOR records (see below).
The following observation descriptors are defined
in RINEX Version 3.XX:
Type:
C = Code / Pseudorange
L = Phase
D = Doppler
S = Raw signal strength(carrier to noise ratio)
I = Ionosphere phase delay
X = Receiver channel numbers
Band:
1 = L1
(GPS, QZSS, SBAS)
G1
(GLO)
E1
(GAL)
2 = L2
(GPS, QZSS)
G2
(GLO)
B1
(BDS)
5 = L5
(GPS, QZSS, SBAS)
E5a
(GAL)
L5
(IRNSS)
6 = E6
(GAL)
LEX
(QZSS)
B3
(BDS)
7 = E5b
(GAL)
B2
(BDS)
8 = E5a+b
(GAL)
9= S
(IRNSS)
0 for type X (all)
Attribute:
P = P code-based (GPS,GLO)
C = C code-based (SBAS,GPS,GLO,
QZSS)
D = semi-codeless (GPS)
Y = Y code-based (GPS)
M = M code-based (GPS)
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A8
TABLE A2
GNSS OBSERVATION DATA FILE - HEADER SECTION DESCRIPTION
N = codeless
(GPS)
A = A channel (GAL, IRNSS)
B = B channel (GAL, IRNSS)
C = C channel (GAL, IRNSS)
I = I channel (GPS,GAL, QZSS,
BDS)
Q = Q channel (GPS,GAL, QZSS,
BDS)
S = M channel (L2C GPS, QZSS)
L = L channel (L2C GPS, QZSS)
S = D channel (GPS, QZSS)
L = P channel (GPS, QZSS)
X = B+C channels (GAL, IRNSS)
I+Q channels (GPS,GAL, QZSS,
BDS)
M+L channels (GPS, QZSS)
D+P channels (GPS, QZSS)
W = based on Z-tracking (GPS)
(see text)
Z = A+B+C channels (GAL)
All characters in uppercase only!
Units :
Phase :
full cycles
Pseudorange : meters
Doppler :
Hz
SNR etc :
receiver-dependent
Ionosphere : full cycles
Channel # : See text
Sign definition: See text.
The sequence of the observations in the observation records has to correspond to the sequence of the types in this record of the respective satellite system.
* SIGNAL STRENGTH UNIT
* INTERVAL TIME OF FIRST OBS
Note: In RINEX 3.02 and 3.03 all fields (Type, Band and Attribute) must be defined. Only known tracking modes are allowed.  Unit of the carrier to noise ratio observables
Snn (if present) DBHZ : S/N given in dbHz  Observation interval in seconds  Time of first observation record (4-digit-year,
A20,40X
F10.3 5I6,F13.7,
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A9
TABLE A2
GNSS OBSERVATION DATA FILE - HEADER SECTION DESCRIPTION
month, day, hour, min, sec)
 Time system: GPS (=GPS time system)
5X,A3
GLO (=UTC time system)
GAL (=Galileo time system)
QZS (= QZSS time system)
BDT (= BDS time system)
IRN (= IRNSS time system)
Compulsory in mixed GNSS files
Defaults:
GPS for pure GPS files
GLO for pure GLONASS files
GAL for pure Galileo files
QZS for pure QZSS files
BDT for pure BDS files
IRN for pure IRNSS files
* TIME OF LAST OBS
 Time of last observation record (4-digit-year, 5I6,F13.7,
month,day,hour,min,sec)
 Time system: Same value as in TIME OF
5X,A3
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
* SYS / DCBS APPLIED * SYS / PCVS APPLIED * SYS / SCALE FACTOR
 Satellite system (G/R/E/J/C/I/S)  Program name used to apply differential code
bias corrections  Source of corrections (URL) Repeat for each satellite system. No corrections applied: Blank fields or record not present.
 Satellite system (G/R/E/J/C/I/S)  Program name used to apply phase center
variation corrections  Source of corrections (URL) Repeat for each satellite system. No corrections applied: Blank fields or record not present.
 Satellite system (G/R/E/J/C/I/S)  Factor to divide stored observations with
before use (1,10,100,1000)
A1, 1X,A17, 1X,A40
A1, 1X,A17, 1X,A40
A1, 1X,I4,
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A10
TABLE A2
GNSS OBSERVATION DATA FILE - HEADER SECTION DESCRIPTION
 Number of observation types involved. 0 or
2X,I2,
blank: All observation types
 List of observation types
12(1X,A3)
 Use continuation line(s) for more than 12 observation types.
10X, 12(1X,A3)
SYS / PHASE SHIFT
GLONASS SLOT / FRQ # GLONASS COD/PHS/BIS
Repeat record if different factors are applied to different observation types. A value of 1 is assumed if record is missing. Phase shift correction used to generate phases consistent w/r to cycle shifts  Satellite system (G/R/E/J/C/I/S)  Carrier phase observation code:
Type Band Attribute  Correction applied (cycles)  Number of satellites involved 0 or blank: All satellites of system  List of satellites  Use continuation line(s) for more than 10 satellites. Repeat the record for all affected codes. See chapter 9.1 for more details! GLONASS slot and frequency numbers  Number of satellites in list List of :  Satellite numbers (system code, slot)  Frequency numbers (-7...+6)  Use continuation lines for more than 8 Satellites
 GLONASS Phase bias correction used to align code and phase observations.  GLONASS signal identifier : C1C and Code Phase bias correction (metres)  GLONASS signal identifier : C1P and Code Phase bias correction (metres)  GLONASS signal identifier : C2C and Code Phase bias correction (metres)  GLONASS signal identifier : C2P and Code Phase bias correction (metres)
A1,1X, A3,1X,
F8.5 2X,I2.2,
10(1X,A3) 18X,
10(1X,A3)
I3,1X,
8(A1,I2.2, 1X,I2,1X) 4X,8(A1, I2.2,1X,I2,1
X) 4(X1,A3,X1
,F8.3)
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A11
TABLE A2
GNSS OBSERVATION DATA FILE - HEADER SECTION DESCRIPTION
Note: If the GLONASS code phase bias values are
unknown then all fields in the record are left blank
(see example in Section 9.9) and only the record
header is defined.
* LEAP SECONDS
 Current Number of leap seconds
I6,
 Future or past leap seconds ΔtLSF(BNK) , i.e.
I6,
future leap second if the week and day number
I6,
are in the future.
 Respective week number WN_LSF
(continuous number) (BNK). For GPS, GAL,
QZS and IRN, weeks since 6-Jan-1980. When
BDS only file leap seconds specified, weeks
I6
since 1-Jan-2006.
 Respective day number DN (0-6) BeiDou and
(1-7) for GPS and others constellations,
(BNK). The day number is the GPS or BeiDou
day before the leap second (See Note 1 below).
In the case of the Tuesday, June 30/2015 (GPS
Week 1851, DN 3) the UTC leap second
A3
actually occurred 16 seconds into the next GPS
day.
 Time system identifier: only GPS and BDS are
valid identifiers. Blank defaults to GPS see
Notes section below.
Notes:
1. GPS, GAL, QZS and IRN time systems are
aligned and are equivalent with respect to leap
seconds (Leap seconds since 6-Jan-1980).See
the GPS almanac, and DN reference IS-GPS-
200H 20.3.3.5.2.4.
2. For BDS only observation files, the Number of
leap seconds since 1-Jan-2006 as transmitted by
the BDS almanac ΔtLS(see BDS-SIS-ICD-2.0
5.2.4.17)
* # OF SATELLITES
 Number of satellites, for which observations
I6
are stored in the file
* PRN / # OF OBS
 Satellite numbers, number of observations for
3X,
each observation type indicated in the SYS / # / A1,I2.2,
OBS TYPES record.
9I6
 If more than 9 observation types:
6X,9I6
Use continuation line(s)
In order to avoid format overflows, 99999 indicates
>= 99999 observations in the RINEX file.
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A12
TABLE A2
GNSS OBSERVATION DATA FILE - HEADER SECTION DESCRIPTION
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
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A13
A 3 GNSS Observation Data File -Data Record Description
TABLE A3 GNSS OBSERVATION DATA FILE – DATA RECORD DESCRIPTION
DESCRIPTION
FORMAT
EPOCH record
 Record identifier : >
A1,
Epoch
 year (4 digits):  month, day, hour, min (two digits)  sec  Epoch flag,
0: OK 1: power failure between previous and current epoch >1: Special event
1X,I4, 4(1X,I2.2),
F11.7, 2X,I1,
 Number of satellites observed in current epoch  (reserved)  Receiver clock offset (seconds, optional)
I3, 6X, F15.12
Epoch flag = 0 or 1: OBSERVATION records follow  Satellite number  Observation - repeat within record for each observation  LLI - type (same sequence as given in the respective SYS / # / OBS
A1,I2.2, m(F14.3,
I1,
TYPES record)
 Signal strength
I1)
This record is repeated for each satellite having been observed in the current
epoch. The record length is given by the number of observation types for this
satellite.
Observations: For definition see text.
Missing observations are written as 0.0 or blanks. Phase values overflowing the
fixed format F14.3 have to be clipped into the valid interval (e.g add or subtract
10**9), set bit 0 of LLI indicator.
Loss of lock indicator (LLI).
0 or blank: OK or not known
Bit 0 set: Lost lock between previous and current observation: Cycle slip possible. For phase observations only. Note: Bit 0 is the least significant bit.
Bit 1 set: Half-cycle ambiguity/slip possible. Software not capable of handling half cycles should skip this observation. Valid for the current epoch only.
Bit 2 set: Galileo BOC-tracking of an MBOC-modulated signal (may suffer from increased noise).
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A14
TABLE A3 GNSS OBSERVATION DATA FILE – DATA RECORD DESCRIPTION
Signal strength projected into interval 1-9: 1: minimum possible signal strength 5: average/good S/N ratio 9: maximum possible signal strength 0 or blank: not known, don't care Standardization for S/N values given in dbHz: See text. Epoch flag 2-5: EVENT: Special records may follow
 Epoch flag  2: start moving antenna  3: new site occupation (end of kinematic data) (at least MARKER NAME record follows)  4: header information follows  5: external event (epoch is significant, same time frame as observation time tags)
 "Number of satellites" contains number of special records to follow. 0 if no special records follow. Maximum number of records: 999
[2X,I1] [I3]
For events without significant epoch the epoch fields in the EPOCH RECORD can be left blank
Epoch flag = 6: EVENT: Cycle slip records follow  Epoch flag
 6: cycle slip records follow to optionally report detected and repaired cycle slips (same format as OBSERVATIONS records;  slip instead of observation;  LLI and signal strength blank or zero)
[2X,I1]
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A15
A 4 GNSS Observation Data File – Example #1
+------------------------------------------------------------------------------+
|
TABLE A4
|
|
GNSS OBSERVATION DATA FILE - EXAMPLE #1
|
+------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
3.03
OBSERVATION DATA M
RINEX VERSION / TYPE
G = GPS R = GLONASS E = GALILEO S = GEO M = MIXED
COMMENT
XXRINEXO V9.9
AIUB
20060324 144333 UTC PGM / RUN BY / DATE
EXAMPLE OF A MIXED RINEX FILE VERSION 3.03
COMMENT
The file contains L1 pseudorange and phase data of the
COMMENT
geostationary AOR-E satellite (PRN 120 = S20)
COMMENT
A 9080
MARKER NAME
9080.1.34
MARKER NUMBER
BILL SMITH
ABC INSTITUTE
OBSERVER / AGENCY
X1234A123
GEODETIC
1.3.1
REC # / TYPE / VERS
G1234
ROVER
ANT # / TYPE
4375274.
587466.
4589095.
APPROX POSITION XYZ
.9030
.0000
.0000
ANTENNA: DELTA H/E/N
0
RCV CLOCK OFFS APPL
G 5 C1C L1W L2W C1W S2W
SYS / # / OBS TYPES
R 2 C1C L1C
SYS / # / OBS TYPES
E 2 L1B L5I
SYS / # / OBS TYPES
S 2 C1C L1C
SYS / # / OBS TYPES
18.000
INTERVAL
G APPL_DCB
xyz.uvw.abc//pub/dcb_gps.dat
SYS / DCBS APPLIED
DBHZ
SIGNAL STRENGTH UNIT
2006 03 24 13 10 36.0000000
GPS
TIME OF FIRST OBS
18 R01 1 R02 2 R03 3 R04 4 R05 5 R06 -6 R07 -5 R08 -4 GLONASS SLOT / FRQ #
R09 -3 R10 -2 R11 -1 R12 0 R13 1 R14 2 R15 3 R16 4 GLONASS SLOT / FRQ #
R17 5 R18 -5
GLONASS SLOT / FRQ #
G L1C
SYS / PHASE SHIFT
G L1W 0.00000
SYS / PHASE SHIFT
G L2W
SYS / PHASE SHIFT
R L1C
SYS / PHASE SHIFT
E L1B
SYS / PHASE SHIFT
E L5I
SYS / PHASE SHIFT
S L1C
SYS / PHASE SHIFT
C1C -10.000 C1P -10.123 C2C -10.432 C2P -10.634
GLONASS COD/PHS/BIS
END OF HEADER
> 2006 03 24 13 10 36.0000000 0 5
-0.123456789012
G06 23629347.915
.300 8
-.353 4 23629347.158
24.158
G09 20891534.648
-.120 9
-.358 6 20891545.292
38.123
G12 20607600.189
-.430 9
.394 5 20607600.848
35.234
E11
.324 8
.178 7
S20 38137559.506
335849.135 9
> 2006 03 24 13 10 54.0000000 0 7
-0.123456789210
G06 23619095.450
-53875.632 8 -41981.375 4 23619095.008
25.234
G09 20886075.667
-28688.027 9 -22354.535 7 20886076.101
42.231
G12 20611072.689
18247.789 9
14219.770 6 20611072.410
36.765
R21 21345678.576
12345.567 5
R22 22123456.789
23456.789 5
E11
65432.123 5
48861.586 7
S20 38137559.506
335849.135 9
> 2006 03 24 13 11 12.0000000 2 2
*** FROM NOW ON KINEMATIC DATA! ***
COMMENT
TWO COMMENT LINES FOLLOW DIRECTLY THE EVENT RECORD COMMENT
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A16
> 2006 3 24 13 11 12.0000000 0 4
-0.123456789876
G06 21110991.756
16119.980 7
12560.510 4 21110991.441
25.543
G09 23588424.398
-215050.557 6 -167571.734 6 23588424.570
41.824
G12 20869878.790
-113803.187 8 -88677.926 6 20869878.938
36.961
G16 20621643.727
73797.462 7
57505.177 2 20621644.276
15.368
>
3 4
A 9081
MARKER NAME
9081.1.34
MARKER NUMBER
.9050
.0000
.0000
ANTENNA: DELTA H/E/N
--> THIS IS THE START OF A NEW SITE <--
COMMENT
> 2006 03 24 13 12 6.0000000 0 4
-0.123456987654
G06 21112589.384
24515.877 6
19102.763 4 21112589.187
25.478
G09 23578228.338
-268624.234 7 -209317.284 6 23578228.398
41.725
G12 20625218.088
92581.207 7
72141.846 5 20625218.795
35.143
G16 20864539.693
-141858.836 8 -110539.435 2 20864539.943
16.345
> 2006 03 24 13 13 1.2345678 5 0
>
4 2
AN EVENT FLAG 5 WITH A SIGNIFICANT EPOCH
COMMENT
AND AN EVENT FLAG 4 TO ESCAPE FOR THE TWO COMMENT LINES COMMENT
> 2006 03 24 13 14 12.0000000 0 4
-0.123456012345
G06 21124965.133
0.30213
-0.62614 21124965.275
27.528
G09 23507272.372
-212616.150 7 -165674.789 7 23507272.421
42.124
G12 20828010.354
-333820.093 6 -260119.395 6 20828010.129
37.002
G16 20650944.902
227775.130 7 177487.651 3 20650944.363
18.040
>
4 1
*** LOST LOCK ON G 06
COMMENT
.
.
.
>
4 1
END OF FILE
COMMENT
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A17
A 4 GNSS Observation Data File – Example #2
+------------------------------------------------------------------------------+
|
TABLE A4
|
|
GNSS OBSERVATION DATA FILE - EXAMPLE #2
|
+------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
3.03
OBSERVATION DATA M
RINEX VERSION / TYPE
sbf2rin-9.3.3
20140511 000610 LCL PGM / RUN BY / DATE
faa1
MARKER NAME
92201M012
MARKER NUMBER
Unknown
Unknown
OBSERVER / AGENCY
3001320
SEPT POLARX4
2.5.1p1
REC # / TYPE / VERS
725235
LEIAR25.R4
NONE
ANT # / TYPE
-5246415.0000 -3077260.0000 -1913842.0000
APPROX POSITION XYZ
0.1262
0.0000
0.0000
ANTENNA: DELTA H/E/N
G 18 C1C L1C D1C S1C C1W S1W C2W L2W D2W S2W C2L L2L D2L SYS / # / OBS TYPES
S2L C5Q L5Q D5Q S5Q
SYS / # / OBS TYPES
E 16 C1C L1C D1C S1C C5Q L5Q D5Q S5Q C7Q L7Q D7Q S7Q C8Q SYS / # / OBS TYPES
L8Q D8Q S8Q
SYS / # / OBS TYPES
S 4 C1C L1C D1C S1C
SYS / # / OBS TYPES
R 12 C1C L1C D1C S1C C2P L2P D2P S2P C2C L2C D2C S2C
SYS / # / OBS TYPES
C 8 C2I L2I D2I S2I C7I L7I D7I S7I
SYS / # / OBS TYPES
J 12 C1C L1C D1C S1C C2L L2L D2L S2L C5Q L5Q D5Q S5Q
SYS / # / OBS TYPES
G L1C
SYS / PHASE SHIFT
G L2W
SYS / PHASE SHIFT
G L2L 0.00000
SYS / PHASE SHIFT
G L5Q 0.00000
SYS / PHASE SHIFT
E L1C 0.00000
SYS / PHASE SHIFT
E L5Q 0.00000
SYS / PHASE SHIFT
E L7Q 0.00000
SYS / PHASE SHIFT
E L8Q 0.00000
SYS / PHASE SHIFT
S L1C
SYS / PHASE SHIFT
R L1C
SYS / PHASE SHIFT
R L2P 0.00000
SYS / PHASE SHIFT
R L2C
SYS / PHASE SHIFT
C L2I
SYS / PHASE SHIFT
C L7I
SYS / PHASE SHIFT
J L1C
SYS / PHASE SHIFT
J L2L 0.00000
SYS / PHASE SHIFT
J L5Q 0.00000
SYS / PHASE SHIFT
30.000
INTERVAL
2014
5 10
0
0 0.0000000
GPS
TIME OF FIRST OBS
2014
5 10 23 59 30.0000000
GPS
TIME OF LAST OBS
72
# OF SATELLITES
C1C 0.000 C2C 0.000 C2P 0.000
GLONASS COD/PHS/BIS
DBHZ
SIGNAL STRENGTH UNIT
24 R01 1 R02 -4 R03 5 R04 6 R05 1 R06 -4 R07 5 R08 6 GLONASS SLOT / FRQ #
R09 -2 R10 -7 R11 0 R12 -1 R13 -2 R14 -7 R15 0 R16 -1 GLONASS SLOT / FRQ #
R17 4 R18 -3 R19 3 R20 2 R21 4 R22 -3 R23 3 R24 2 GLONASS SLOT / FRQ #
END OF HEADER
> 2014 05 10 00 00 0.0000000 0 28
END OF FILE
COMMENT
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A18
A 4 GNSS Observation Data File – Example #3
+------------------------------------------------------------------------------+
|
TABLE A4
|
|
GNSS OBSERVATION DATA FILE - EXAMPLE #3
|
+------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
3.03
OBSERVATION DATA M: MIXED
RINEX VERSION / TYPE
GR25 V3.08
20140513 072944 UTC PGM / RUN BY / DATE
SNR is mapped to RINEX snr flag value [1-9]
COMMENT
LX:
< 12dBHz -> 1; 12-17dBHz -> 2; 18-23dBHz -> 3
COMMENT
24-29dBHz -> 4; 30-35dBHz -> 5; 36-41dBHz -> 6
COMMENT
42-47dBHz -> 7; 48-53dBHz -> 8; >= 54dBHz -> 9
COMMENT
Tokio
MARKER NAME
TOKI
MARKER NUMBER
SU Japan - Leica Geosystems
OBSERVER / AGENCY
1870023
LEICA GR25
3.08/6.401
REC # / TYPE / VERS
LEIAS10
NONE
ANT # / TYPE
-3956196.8609 3349495.1794 3703988.8347
APPROX POSITION XYZ
0.0000
0.0000
0.0000
ANTENNA: DELTA H/E/N
G 16 C1C L1C D1C S1C C2S L2S D2S S2S C2W L2W D2W S2W C5Q SYS / # / OBS TYPES
L5Q D5Q S5Q
SYS / # / OBS TYPES
R 12 C1C L1C D1C S1C C2P L2P D2P S2P C2C L2C D2C S2C
SYS / # / OBS TYPES
E 16 C1C L1C D1C S1C C5Q L5Q D5Q S5Q C7Q L7Q D7Q S7Q C8Q SYS / # / OBS TYPES
L8Q D8Q S8Q
SYS / # / OBS TYPES
C 8 C2I L2I D2I S2I C7I L7I D7I S7I
SYS / # / OBS TYPES
J 12 C1C L1C D1C S1C C2S L2S D2S S2S C5Q L5Q D5Q S5Q
SYS / # / OBS TYPES
S 4 C1C L1C D1C S1C
SYS / # / OBS TYPES
DBHZ
SIGNAL STRENGTH UNIT
1.000
INTERVAL
2014 05 13 07 30 0.0000000
GPS
TIME OF FIRST OBS
2014 05 13 07 34 59.0000000
GPS
TIME OF LAST OBS
0
RCV CLOCK OFFS APPL
G L1C
SYS / PHASE SHIFT
G L2S -0.25000
SYS / PHASE SHIFT
G L2W
SYS / PHASE SHIFT
G L2Q -0.25000
SYS / PHASE SHIFT
R L1C
SYS / PHASE SHIFT
R L2P 0.25000
SYS / PHASE SHIFT
R L2C
SYS / PHASE SHIFT
E L1C +0.50000
SYS / PHASE SHIFT
E L5Q -0.25000
SYS / PHASE SHIFT
E L7Q -0.25000
SYS / PHASE SHIFT
E L8Q -0.25000
SYS / PHASE SHIFT
C L2I
SYS / PHASE SHIFT
C L7I
SYS / PHASE SHIFT
J L1C
SYS / PHASE SHIFT
J L2S
SYS / PHASE SHIFT
J L5Q -0.25000
SYS / PHASE SHIFT
S L1C
SYS / PHASE SHIFT
24 R01 1 R02 -4 R03 5 R04 6 R05 1 R06 -4 R07 5 R08 6 GLONASS SLOT / FRQ #
R09 -2 R10 -7 R11 0 R12 -1 R13 -2 R14 -7 R15 0 R16 -1 GLONASS SLOT / FRQ #
R17 4 R18 -3 R19 3 R20 2 R21 4 R22 -3 R23 3 R24 2 GLONASS SLOT / FRQ #
C1C 0.000 C1P 0.000 C2C 0.000 C2P 0.000
GLONASS COD/PHS/BIS
16
1694
7
LEAP SECONDS
END OF HEADER
> 2014 05 13 07 30 0.0000000 0 25
END OF FILE
COMMENT
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A19
A 5 GNSS Navigation Message File – Header Section Description
TABLE A5 GNSS NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTION
HEADER LABEL (Columns 61-80) RINEX VERSION / TYPE 
 
DESCRIPTION
Format version : 3.03 File type ('N' for navigation data) Satellite System: G: GPS R: GLONASS E: Galileo J: QZSS C: BDS I: IRNSS S: SBAS Payload M: Mixed
FORMAT
F9.2,11X, A1,19X, A1,19X
PGM / RUN BY / DATE
* COMMENT * IONOSPHERIC CORR
 Name of program creating current file  Name of agency creating current file  Date and time of file creation Format: yyyymmdd hhmmss zone zone: 3-4 char. code for time zone.
'UTC ' recommended! 'LCL ' if local time with unknown local time system code Comment line(s)
Ionospheric correction parameters  Correction type:
GAL= Galileo ai0 – ai2 GPSA= GPS alpha0 - alpha3 GPSB= GPS beta0 - beta3 QZSA = QZS alpha0 - alpha3 QZSB = QZS beta0 - beta3 BDSA = BDS alpha0 - alpha3 BDSB = BDS beta0 - beta3 IRNA = IRNSS alpha0 - alpha3 IRNB = IRNSS beta0 - beta3  Parameters: GPS: alpha0-alpha3 or beta0-beta3 GAL: ai0, ai1, ai2, Blank QZS: alpha0-alpha3 or beta0-beta3 BDS: alpha0-alpha3 or beta0-beta3 IRN: alpha0-alpha3 or beta0-beta3
A20, A20, A20
A60 A4,1X,
4D12.4
 Time mark, Transmission Time (seconds of week) converted to hours of day and then to AX. See BDS example below:
1X,A1
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A20
TABLE A5
GNSS NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTION
HEADER LABEL
DESCRIPTION
FORMAT
(Columns 61-80)
A=BDT 00h-01h;
B=BDT 01h-02h;
...
X= BDT 23h-24h.
This field is mandatory for BDS and optional for the other constellations, (BNK).
 SV ID, identify which satellite provided the ionospheric parameters. This field is mandatory for BDS and optional for the other constellations (BNK).
1X,I2
Note 1: Multiple IONOSPHERIC CORR message can be written in the header.
* TIME SYSTEM CORR
Note 2: It is recommended that BDS ionospheric broadcast model parameters from BDS GEO satellites, be given the most priority. Then the parameters from BDS IGSO satellites should be given secondary priority and then tertiary priority is given to BDS MEO satellite ionospheric correction parameters. Corrections to transform the system time to UTC or
other time systems
 Correction type: GAUT = GAL to UTC a0, a1 GPUT = GPS to UTC a0, a1 SBUT = SBAS to UTC a0, a1 GLUT = GLO to UTC a0= -TauC, a1=zero GPGA = GPS to GAL a0=A0G, a1=A1G GLGP = GLO to GPS a0=TauGPS, a1=zero QZGP = QZS to GPS a0, a1 QZUT = QZS to UTC a0, a1 BDUT =BDS to UTC a0=A0UTC, a1=A1UTC IRUT =IRN to UTC a0=A0UTC, a1=A1UTC IRGP =IRN to GPS a0=A0, a1=A1
 a0,a1 Coefficients of 1-deg polynomial (a0 sec, a1 sec/sec) CORR(s) = a0 + a1*DELTAT
 T Reference time for polynomial (Seconds into GPS/GAL/ BDS week)
 W Reference week number
A4,1X,
D17.10, D16.9,
I7, I5,
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A21
TABLE A5
GNSS NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTION
HEADER LABEL
DESCRIPTION
FORMAT
(Columns 61-80)
(GPS/GAL/BDS/IRN/SBAS week, continuous
number from 6-Jan-1980), T and W zero for
GLONASS. BDS week, continuous from: 1-
Jan-2006
 S EGNOS, WAAS, or MSAS ... (left-justified) 1X,A5,1X
Derived from MT17 service provider. If not
known: Use Snn with: nn = PRN-100 of
satellite broadcasting the MT12
 U UTC Identifier (0 if unknown)
I2,1X
1=UTC(NIST), 2=UTC(USNO), 3=UTC(SU),
4=UTC(BIPM), 5=UTC(Europe Lab),
6=UTC(CRL), 7=UTC(NTSC) (BDS), >7 =
not assigned yet S and U for SBAS only.
* LEAP SECONDS
 Current Number of leap seconds
I6,
 Future or past leap seconds ΔtLSF (BNK), i.e.
I6,
future leap second if the week and day number
are in the future.
 Respective week number WN_LSF
I6,
(continuous number) (BNK). For GPS, GAL,
QZS and IRN, weeks since 6-Jan-1980. When
BDS only file leap seconds specified, weeks
since 1-Jan-2006.
 Respective day number DN (0-6) BeiDou and
I6
(1-7) for GPS and others constellations,
(BNK). The day number is the GPS or BeiDou
day before the leap second (See Note 1 below).
In the case of the Tuesday, June 30/2015 (GPS
Week 1851, DN 3) the UTC leap second
actually occurred 16 seconds into the next GPS
day.
 Time system identifier: only GPS and BDS are
A3
valid identifiers. Blank defaults to GPS, see
Notes section below.
Notes:
1. GPS, GAL, QZS and IRN time systems are
aligned and are equivalent with respect to leap
seconds (Leap seconds since 6-Jan-1980).See
the GPS almanac and DN reference IS-GPS-
200H 20.3.3.5.2.4.
2. For BDS only navigation files, the Number of
leap seconds since 1-Jan-2006 as transmitted by
the BDS almanac ΔtLS(see BDS-SIS-ICD-2.0
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A22
TABLE A5
GNSS NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTION
HEADER LABEL (Columns 61-80)
DESCRIPTION
FORMAT
5.2.4.17)
END OF HEADER
Records marked with * are optional, BNK- Blank if Not Know/Defined
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A23
A 6 GNSS Navigation Message File – GPS Data Record Description
TABLE A6
GNSS NAVIGATION MESSAGE FILE – GPS DATA RECORD DESCRIPTION
OBS. RECORD
DESCRIPTION
FORMAT
SV / EPOCH / SV CLK
- Satellite system (G), sat number (PRN)
A1,I2.2,
- Epoch: Toc - Time of Clock (GPS) year (4
1X,I4,
digits)
- month, day, hour, minute, second - SV clock bias (seconds) - SV clock drift (sec/sec)
5(1X,I2.2), 3D19.12
- SV clock drift rate (sec/sec2)
*)
BROADCAST ORBIT - 1 - IODE Issue of Data, Ephemeris
4X,4D19.12
- Crs (meters)
- Delta n (radians/sec)
***)
- M0 (radians)
BROADCAST ORBIT - 2 - Cuc (radians)
4X,4D19.12
- e Eccentricity
- Cus (radians)
- sqrt(A) (sqrt(m))
BROADCAST ORBIT - 3 - Toe Time of Ephemeris (sec of GPS week) 4X,4D19.12
- Cic (radians)
- OMEGA0 (radians)
- Cis (radians)
BROADCAST ORBIT - 4 - i0 (radians)
4X,4D19.12
- Crc (meters)
- omega (radians)
- OMEGA DOT (radians/sec)
BROADCAST ORBIT - 5 - IDOT (radians/sec)
4X,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) See GPS ICD 200H 4X,4D19.12
Section 20.3.3.3.1.3 use specified
equations to define nominal values, N = 06: use 2(1+N/2) (round to one decimal place i.e. 2.8, 5.7 and 11.3) , N= 7-15:use 2 (N-2),
8192 specifies use at own risk
- SV health (bits 17-22 w 3 sf 1)
- TGD (seconds)
- IODC Issue of Data, Clock
BROADCAST ORBIT - 7 - Transmission time of message **)
4X,4D19.12
(sec of GPS week, derived e.g.from Z-
count in Hand Over Word (HOW))
- Fit Interval in hours see section 6.11.
(BNK).
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A24
TABLE A6
GNSS NAVIGATION MESSAGE FILE – GPS DATA RECORD DESCRIPTION
OBS. RECORD
DESCRIPTION
FORMAT
- Spare
- Spare
*) In order to account for the various compilers, E,e,D, and d are allowed letters between the
fraction and exponent of all floating point numbers in the navigation message files. Zero-padded
two-digit exponents are required, however.
**) Adjust the Transmission time of message by + or -604800 to refer to the reported week in BROADCAST ORBIT 5, if necessary. Set value to 0.9999E9 if not known.
A 7 GPS Navigation Message File – Example
+------------------------------------------------------------------------------+
|
TABLE A7
|
|
GPS NAVIGATION MESSAGE FILE - EXAMPLE
|
+------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
3.03
N: GNSS NAV DATA G: GPS
RINEX VERSION / TYPE
XXRINEXN V3
AIUB
19990903 152236 UTC PGM / RUN BY / DATE
EXAMPLE OF VERSION 3.03 FORMAT
COMMENT
GPSA .1676D-07 .2235D-07 .1192D-06 .1192D-06
IONOSPHERIC CORR
GPSB .1208D+06 .1310D+06 -.1310D+06 -.1966D+06
IONOSPHERIC CORR
GPUT .1331791282D-06 .107469589D-12 552960 1025
TIME SYSTEM CORR
13
LEAP SECONDS
END OF HEADER
G06 1999 09 02 17 51 44 -.839701388031D-03 -.165982783074D-10 .000000000000D+00
.910000000000D+02 .934062500000D+02 .116040547840D-08 .162092304801D+00
.484101474285D-05 .626740418375D-02 .652112066746D-05 .515365489006D+04
.409904000000D+06 -.242143869400D-07 .329237003460D+00 -.596046447754D-07
.111541663136D+01 .326593750000D+03 .206958726335D+01 -.638312302555D-08
.307155651409D-09 .000000000000D+00 .102500000000D+04 .000000000000D+00
.000000000000D+00 .000000000000D+00 .000000000000D+00 .910000000000D+02
.406800000000D+06 .400000000000E+01
G13 1999 09 02 19 00 00 .490025617182D-03 .204636307899D-11 .000000000000D+00
.133000000000D+03 -.963125000000D+02 .146970407622D-08 .292961152146D+01
-.498816370964D-05 .200239347760D-02 .928156077862D-05 .515328476143D+04
.414000000000D+06 -.279396772385D-07 .243031939942D+01 -.558793544769D-07
.110192796930D+01 .271187500000D+03 -.232757915425D+01 -.619632953057D-08
-.785747015231D-11 .000000000000D+00 .102500000000D+04 .000000000000D+00
.000000000000D+00 .000000000000D+00 .000000000000D+00 .389000000000D+03
.410400000000D+06 .400000000000E+01
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A25
A 8 GNSS Navigation Message File – GALILEO Data Record Description
TABLE A8
GNSS NAVIGATION MESSAGE FILE - GALILEO DATA RECORD DESCRIPTION
OBS. RECORD
DESCRIPTION
FORMAT
SV / EPOCH / SV CLK
- Satellite system (E), satellite number - Epoch: Toc - Time of Clock GALyear (4
digits) - month, day, hour, minute, second - SV clock bias (seconds) af0 - SV clock drift (sec/sec) af1 - SV clock drift rate (sec/sec2) af2 (see
Br.Orbit-5, data source, bits 8+9)
A1,I2.2, 1X,I4,
5(1X,I2.2), 3D19.12
*)
BROADCAST ORBIT - 1 - IODnav Issue of Data of the nav batch - Crs (meters) - Delta n (radians/sec) - M0 (radians)
4X,4D19.12 ***)
BROADCAST ORBIT - 2 - Cuc (radians) - e Eccentricity
4X,4D19.12
- Cus (radians)
- sqrt(a) (sqrt(m))
BROADCAST ORBIT - 3 - Toe Time of Ephemeris (sec of GAL week) 4X,4D19.12 - Cic (radians)
- OMEGA0 (radians)
- Cis (radians)
BROADCAST ORBIT - 4 - i0 (radians) - Crc (meters) - omega (radians) - OMEGA DOT (radians/sec)
4X,4D19.12
BROADCAST ORBIT - 5
- IDOT (radians/sec) - Data sources (FLOAT --> INTEGER)
Bit 0 set: I/NAV E1-B Bit 1 set: F/NAV E5a-I Bit 2 set: I/NAV E5b-I Bits 0 and 2 : Both can be set if the navigation messages were merged, however, bits 0-2 cannot all be set, as the I/NAV and F/NAV messages contain different information Bit 3 reserved for Galileo internal use Bit 4 reserved for Galileo internal use Bit 8 set: af0-af2, Toc, SISA are for E5a,E1 Bit 9 set: af0-af2, Toc, SISA are for E5b,E1 Bits 8-9 : exclusive (only one bit can be set) - GAL Week # (to go with Toe) - spare
4X,4D19.12 ****)
BROADCAST ORBIT - 6 - SISA Signal in space accuracy (meters)
4X,4D19.12
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A26
TABLE A8
GNSS NAVIGATION MESSAGE FILE - GALILEO DATA RECORD DESCRIPTION
OBS. RECORD
DESCRIPTION
FORMAT
Undefined/unknown: -1.0
- SV health (FLOAT converted to INTEGER) *****)
See Galileo ICD Section 5.1.9.3
Bit 0: E1B DVS
Bits 1-2: E1B HS
Bit 3: E5a DVS
Bits 4-5: E5a HS
Bit 6: E5b DVS
Bits 7-8: E5b HS
- BGD E5a/E1 (seconds)
- BGD E5b/E1 (seconds)
BROADCAST ORBIT - 7 - Transmission time of message
**) 4X,4D19.12
(sec of GAL week, derived from WN and
TOW of page type 1)
- spare
- spare
- spare
*) In order to account for the various compilers, E,e,D, and d are allowed letters between the
fraction and exponent of all floating point numbers in the navigation message files. Zero-padded
two-digit exponents are required, however.
**) Adjust the Transmission time of message by + or -604800 to refer to the reported week in BROADCAST ORBIT 5, if necessary. Set value to 0.9999E9 if not known.
***) Angles and their derivatives transmitted in units of semi-circles and semi-circles/sec have to be converted to radians by the RINEX generator.
****) The GAL week number is a continuous number, aligned to (and hence identical to) the continuous GPS week number used in the RINEX navigation message files. The broadcast 12-bit Galileo System Time (GST) week has a roll-over after 4095. It started at zero at the first GPS roll-over (continuous GPS week 1024). Hence GAL week = GST week + 1024 + n*4096 (n: number of GST roll-overs).
*****) -If bit 0 or bit 2 of Data sources (BROADCAST ORBIT – 5) is set, E1B DVS & HS, E5b DVS & HS and both BGDs are valid. -If bit 1 of Data sources is set, E5a DVS & HS and BGD E5a/E1 are valid. -Non valid parameters are set to 0 and to be ignored
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A27
A 9 GALILEO Navigation Message File – Examples
+------------------------------------------------------------------------------+
|
TABLE A9
|
|
GALILEO NAVIGATION MESSAGE FILE - EXAMPLES
|
+------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
3.03
N: GNSS NAV DATA E: GALILEO NAV DATA RINEX VERSION / TYPE
NetR9 5.01
Receiver Operator 20150619 000000 UTC PGM / RUN BY / DATE
GAL
.1248D+03 .5039D+00 .2377D-01 .0000D+00
IONOSPHERIC CORR
GAUT .3725290298D-08 .532907052D-14 345600 1849
TIME SYSTEM CORR
16 17 1851
3
LEAP SECONDS
END OF HEADER
E12 2015 06 19 02 10 00 -.138392508961D-02 -.131464616970D-09 .000000000000D+00
.930000000000D+02 -.165531250000D+03 .285797618904D-08 .138275888459D+01
-.782497227192D-05 .346679124050D-03 .114385038614D-04 .544062509727D+04
.439800000000D+06 .298023223877D-07 -.296185101312D+01 -.111758708954D-07
.965683294025D+00 .993750000000D+02 -.629360976005D+00 -.541593988135D-08
-.571452374714D-11 .516000000000D+03 .184900000000D+04
.312000000000D+01 .000000000000D+00 -.651925802231D-08 -.605359673500D-08
.440734000000D+06
E12 2015 06 19 02 10 00 -.138392508961D-02 -.131464616970D-09 .000000000000D+00
.930000000000D+02 -.165531250000D+03 .285797618904D-08 .138275888459D+01
-.782497227192D-05 .346679124050D-03 .114385038614D-04 .544062509727D+04
.439800000000D+06 .298023223877D-07 -.296185101312D+01 -.111758708954D-07
.965683294025D+00 .993750000000D+02 -.629360976005D+00 -.541593988135D-08
-.571452374714D-11 .513000000000D+03 .184900000000D+04
.312000000000D+01 .000000000000D+00 -.651925802231D-08 -.605359673500D-08
.440725000000D+06
E12 2015 06 19 02 10 00 -.138392532244D-02 -.131450406116D-09 .000000000000D+00
.930000000000D+02 -.165531250000D+03 .285797618904D-08 .138275888459D+01
-.782497227192D-05 .346679124050D-03 .114385038614D-04 .544062509727D+04
.439800000000D+06 .298023223877D-07 -.296185101312D+01 -.111758708954D-07
.965683294025D+00 .993750000000D+02 -.629360976005D+00 -.541593988135D-08
-.571452374714D-11 .258000000000D+03 .184900000000D+04
.312000000000D+01 .000000000000D+00 -.651925802231D-08 .000000000000D+00
.440730000000D+06
3.03
NAVIGATION DATA
M (Mixed)
RINEX VERSION / TYPE
BCEmerge
congo
20150620 012902 GMT PGM / RUN BY / DATE
Merged GPS/GLO/GAL/BDS/QZS/SBAS navigation file
COMMENT
based on CONGO and MGEX tracking data
COMMENT
DLR: O. Montenbruck; TUM: P. Steigenberger
COMMENT
BDUT 5.5879354477e-09-2.042810365e-14
14 1849
TIME SYSTEM CORR
GAUT 3.7252902985e-09 5.329070518e-15 345600 1849
TIME SYSTEM CORR
GLGP -3.7252902985e-09 0.000000000e+00 345600 1849
TIME SYSTEM CORR
GLUT 1.0710209608e-08 0.000000000e+00 345600 1849
TIME SYSTEM CORR
GPGA -2.0081643015e-09-9.769962617e-15 432000 1849
TIME SYSTEM CORR
GPUT 4.5110937208e-09 7.105427358e-15 372608 1849
TIME SYSTEM CORR
QZUT 1.9557774067e-08 1.598721155e-14 61440 1850
TIME SYSTEM CORR
16
LEAP SECONDS
END OF HEADER
E12 2015 06 19 02 10 00-1.383925089613e-03-1.314646169703e-10 0.000000000000e+00
9.300000000000e+01-1.655312500000e+02 2.857976189037e-09 1.382758884589e+00
-7.824972271919e-06 3.466791240498e-04 1.143850386143e-05 5.440625097275e+03
4.398000000000e+05 2.980232238770e-08-2.961851013120e+00-1.117587089539e-08
9.656832940254e-01 9.937500000000e+01-6.293609760051e-01-5.415939881349e-09
-5.714523747137e-12 5.130000000000e+02 1.849000000000e+03
3.120000000000e+00 0.000000000000e+00-6.519258022308e-09-6.053596735001e-09
4.404850000000e+05
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A28
E12 2015 06 19 02 10 00-1.383925322443e-03-1.314504061156e-10 0.000000000000e+00 9.300000000000e+01-1.655312500000e+02 2.857976189037e-09 1.382758884589e+00
-7.824972271919e-06 3.466791240498e-04 1.143850386143e-05 5.440625097275e+03 4.398000000000e+05 2.980232238770e-08-2.961851013120e+00-1.117587089539e-08 9.656832940254e-01 9.937500000000e+01-6.293609760051e-01-5.415939881349e-09
-5.714523747137e-12 2.580000000000e+02 1.849000000000e+03 3.120000000000e+00 0.000000000000e+00-6.519258022308e-09 0.000000000000e+00 4.405300000000e+05
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A29
A 10 GNSS Navigation Message File – GLONASS Data Record Description
TABLE A10 GNSS NAVIGATION MESSAGE FILE – GLONASS DATA RECORD DESCRIPTION
OBS. RECORD
DESCRIPTION
FORMAT
SV / EPOCH / SV CLK
- Satellite system (R), satellite number (slot number in sat. constellation)
A1,I2.2,
- Epoch: Toc - Time of Clock (UTC)
1X,I4,
year (4 digits)
- month, day, hour, minute, second
5(1X,I2.2),
- SV clock bias (sec) (-TauN)
3D19.12
- SV relative frequency bias
(+GammaN)
- Message frame time (tk+nd*86400) in
seconds of the UTC week
*)
BROADCAST ORBIT - 1 - Satellite position X (km) - velocity X dot (km/sec)
4X,4D19.12
- X acceleration (km/sec2)
- health (0=OK) (Bn)
BROADCAST ORBIT - 2 - Satellite position Y (km) - velocity Y dot (km/sec) - Y acceleration (km/sec2) - frequency number(-7...+13) (-7...+6 ICD 5.1)
4X,4D19.12
BROADCAST ORBIT - 3 - Satellite position Z (km) - velocity Z dot (km/sec) - Z acceleration (km/sec2) - Age of oper. information (days) (E)
4X,4D19.12
*) In order to account for the various compilers, E,e,D, and d are allowed letters between the fraction and exponent of all floating point numbers in the navigation message files. Zero-padded twodigit exponents are required, however.
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A30
A 11 GNSS Navigation Message File – Example: Mixed GPS / GLONASS
+------------------------------------------------------------------------------+
|
TABLE A11
|
|
GNSS NAVIGATION MESSAGE FILE – EXAMPLE MIXED GPS/GLONASS
|
+------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
3.03
N: GNSS NAV DATA M: MIXED
RINEX VERSION / TYPE
XXRINEXN V3
AIUB
20061002 000123 UTC PGM / RUN BY / DATE
EXAMPLE OF VERSION 3.03 FORMAT
COMMENT
GPSA 0.1025E-07 0.7451E-08 -0.5960E-07 -0.5960E-07
IONOSPHERIC CORR
GPSB 0.8806E+05 0.0000E+00 -0.1966E+06 -0.6554E+05
IONOSPHERIC CORR
GPUT 0.2793967723E-08 0.000000000E+00 147456 1395
TIME SYSTEM CORR
GLUT 0.7823109626E-06 0.000000000E+00
0 1395
TIME SYSTEM CORR
14
LEAP SECONDS
END OF HEADER
G01 2006 10 01 00 00 00 0.798045657575E-04 0.227373675443E-11 0.000000000000E+00
0.560000000000E+02-0.787500000000E+01 0.375658504827E-08 0.265129935612E+01
-0.411644577980E-06 0.640150101390E-02 0.381097197533E-05 0.515371852875E+04
0.000000000000E+00 0.782310962677E-07 0.188667086536E+00-0.391155481338E-07
0.989010441512E+00 0.320093750000E+03-0.178449589759E+01-0.775925177541E-08
0.828605943335E-10 0.000000000000E+00 0.139500000000E+04 0.000000000000E+00
0.200000000000E+01 0.000000000000E+00-0.325962901115E-08 0.560000000000E+02
-0.600000000000E+02 0.400000000000E+01
G02 2006 10 01 00 00 00 0.402340665460E-04 0.386535248253E-11 0.000000000000E+00
0.135000000000E+03 0.467500000000E+02 0.478269921862E-08-0.238713891022E+01
0.250712037086E-05 0.876975362189E-02 0.819191336632E-05 0.515372778320E+04
0.000000000000E+00-0.260770320892E-07-0.195156738598E+01 0.128522515297E-06
0.948630520258E+00 0.214312500000E+03 0.215165003775E+01-0.794140221985E-08
-0.437875382124E-09 0.000000000000E+00 0.139500000000E+04 0.000000000000E+00
0.200000000000E+01 0.000000000000E+00-0.172294676304E-07 0.391000000000E+03
-0.600000000000E+02 0.400000000000E+01
R01 2006 10 01 00 15 00-0.137668102980E-04-0.454747350886E-11 0.900000000000E+02
0.157594921875E+05-0.145566368103E+01 0.000000000000E+00 0.000000000000E+00
-0.813711474609E+04 0.205006790161E+01 0.931322574615E-09 0.700000000000E+01
0.183413398438E+05 0.215388488770E+01-0.186264514923E-08 0.100000000000E+01
R02 2006 10 01 00 15 0-0.506537035108E-04 0.181898940355E-11 0.300000000000E+02
0.155536342773E+05-0.419384956360E+00 0.000000000000E+00 0.000000000000E+00
-0.199011298828E+05 0.324192047119E+00-0.931322574615E-09 0.100000000000E+01
0.355333544922E+04 0.352666091919E+01-0.186264514923E-08 0.100000000000E+01
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A31
A 12 GNSS Navigation Message File – QZSS Data Record Description
TABLE A12 QZSS NAVIGATION MESSAGE FILE – QZSS DATA RECORD DESCRIPTION
OBS. RECORD
DESCRIPTION
(Columns 61-80)
PRN / EPOCH / SV CLK - Satellite system (J), Satellite PRN-192
- Epoch: Toc - Time of Clock year (4
digits)
- month, day, hour, minutes, seconds
- SV clock bias (seconds)
- SV clock drift (sec/sec)
- SV clock drift rate (sec/sec2)
BROADCAST ORBIT - 1 - IODE Issue of Data, Ephemeris
- Crs (meters)
- Delta n (radians/sec)
- M0 (radians)
BROADCAST ORBIT - 2 - Cuc (radians)
- e Eccentricity
- Cus (radians)
- sqrt(A) (sqrt(m))
BROADCAST ORBIT - 3 - Toe Time of Ephemeris (sec of GPS
week)
- Cic (radians)
- OMEGA (radians)
- CIS (radians)
BROADCAST ORBIT - 4 - i0 (radians)
- Crc (meters)
- omega (radians)
- OMEGA DOT (radians/sec)
BROADCAST ORBIT – 5 - IDOT (radians/sec)
- Codes on L2 channel (see IS-QZSS
5.2.2.2.3(2))
- GPS Week # (to go with TOE)
Continuous number, not mod(1024)!
- L2P data flag set to 1 since QZSS does
not track L2P
BROADCAST ORBIT – 6 - SV accuracy (meters) (IS -QZSS,
Section 5.1.2.1.3.2) which refers to: IS
GPS 200H Section 20.3.3.3.1.3 use
specified equations to define nominal values, N = 0-6: use 2(1+N/2) (round to
one decimal place i.e. 2.8, 5.7 and 11.3) , N= 7-15:use 2 (N-2), 8192
specifies use at own risk
- SV health (bits 17-22 w 3 sf 1) (see IS-
QZSS 5.2.2.2.3(4))
FORMAT A1,I2, 1X,I4,
5(1X,I2), 3D19.12
*) 4X,4D19.12
4X,4D19.12
4X,4D19.12
4X,4D19.12
4X,4D19.12
4X,4D19.12
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A32
TABLE A12
QZSS NAVIGATION MESSAGE FILE – QZSS DATA RECORD DESCRIPTION
OBS. RECORD
DESCRIPTION
FORMAT
(Columns 61-80)
- TGD (seconds) The QZSS ICD
specifies a do not use bit pattern
"10000000" this condition is
represented by a blank field.
- IODC Issue of Data, Clock
BROADCAST ORBIT – 7 - Transmission time of message **) (sec of GPS week, derived e.g. from Z-count in Hand Over Word (HOW)
- Fit interval flag (0 / 1) (see IS-QZSS, 5.2.2.2.4(4) 0 – two hours), 1 – more than 2 hours. Blank if not known.
- Spare - Spare Records marked with * are optional
4X,4D19.12
**) Adjust the Transmission time of message by -604800 to refer to the reported week, if necessary.
*) In order to account for the various compilers, letters E,e,D, and d are allowed between the fraction and exponent of all floating point numbers in the navigation message files. Zero-padded two-digit exponents are required, however.
A 13 QZSS Navigation Message File – Example
+------------------------------------------------------------------------------+
|
TABLE A13
|
|
QZSS NAVIGATION MESSAGE FILE - EXAMPLE
|
+------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
3.03
N: GNSS NAV DATA J: QZSS
RINEX VERSION / TYPE
GR25 V3.08
20140513 072944 UTC PGM / RUN BY / DATE
16
1694
7
LEAP SECONDS
END OF HEADER
J01 2014 05 13 08 15 12 3.323303535581D-04-1.818989403546D-11 0.000000000000D+00
6.900000000000D+01-4.927812500000D+02 2.222949737636D-09 7.641996743610D-01
-1.654587686062D-05 7.542252133135D-02 1.197867095470D-05 6.492895933151D+03
2.025120000000D+05-8.381903171539D-07-9.211997910060D-01-2.041459083557D-06
7.082252892260D-01-1.558437500000D+02-1.575843337115D+00-2.349740733276D-09
-6.793140104410D-10 2.000000000000D+00 1.792000000000D+03 1.000000000000D+00
2.000000000000D+00 1.000000000000D+00-4.656612873077D-09 6.900000000000D+01
1.989000000000D+05 0.000000000000D+00
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A33
A 14 GNSS Navigation Message File – BDS Data Record Description
Table A14
GNSS NAVIGATION MESSAGE FILE – BDS DATA RECORD DESCRIPTION
OBS. RECORD
DESCRIPTION
FORMAT
-
SV /EPOCH / SV CLK
-
-
-
-
-
BROADCAST ORBIT – 1
BROADCAST ORBIT – 2 -
BROADCAST ORBIT – 3 -
BROADCAST ORBIT – 4 -
BROADCAST ORBIT – 5 -
BROADCAST ORBIT – 6
-
Satellite system (C), sat number (PRN)
Epoch: Toc - Time of Clock (BDT) year
(4 digits)
month, day, hour, minute, second
SV clock bias (seconds)
SV clock drift (sec/sec) SV clock drift rate (sec/sec2)
AODE Age of Data, Ephemeris (as
specified in BeiDou ICD Table Section
5.2.4.11 Table 5-8) and field range is: 0-
31.
Crs
(meters)
Delta n
(radians/sec)
M0
(radians)
Cuc e Eccentricity Cus sqrt(A)
(radians)
(radians) (sqrt(m))
Toe Time of Ephemeris (sec of BDT
week)
Cic
(radians)
OMEGA0
(radians)
Cis
(radians)
i0 Crc omega OMEGA DOT
(radians) (meters) (radians) (radians/sec)
IDOT Spare BDT Week # Spare
(radians/sec)
SV accuracy
(meters See: BDS
ICD Section 5.2.4.: to define nominal values, N = 0-6: use 2(1+N/2) (round to one
decimal place i.e. 2.8, 5.7 and 11.3) , N= 7-15:use 2 (N-2), 8192 specifies use at own
risk)
SatH1
TGD1 B1/B3 (seconds)
TGD2 B2/B3 (seconds)
A1,I2.2, 1X,I4 5,1X,I2.2, 3D19.12
*) 4X,4D19.12
**) 4X,4D19.12
4X,4D19.12
4X,4D19.12
4X,4D19.12 ***)
4X,4D19.12
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A34
- Transmission time of message ****) (sec of BDT week,)
4X,4D19.12
- AODC Age of Data Clock (as specified
BROADCAST ORBIT – 7
in BeiDou ICD Table Section 5.2.4.9
Table 5-6) and field range is: 0-31.
- Spare
- Spare
*) In order to account for the various compilers, E,e,D, and d are allowed letters between the
fraction and exponent of all floating point numbers in the navigation message files. Zero-padded
two-digit exponents are required, however.
**) Angles and their derivatives transmitted in units of semi-circles and semi-circles/sec have to be converted to radians by the RINEX generator.
***) The BDT week number is a continuous number. The broadcast 13-bit BDS System Time week has a roll-over after 8191. It started at zero at 1-Jan-2006, Hence BDT week = BDT week_BRD + (n*8192) where (n: number of BDT roll-overs).
****) Adjust the Transmission time of message by + or -604800 to refer to the reported week in BROADCAST ORBIT -5, if necessary. Set value to 0.9999E9 if not known.
A 15 BeiDou Navigation Message File – Example
+------------------------------------------------------------------------------+
|
TABLE A15
|
|
BeiDou NAVIGATION MESSAGE FILE - EXAMPLE
|
+------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
3.03
NAVIGATION DATA
M (Mixed)
RINEX VERSION / TYPE
BCEmerge
montenbruck
20140517 072316 GMT PGM / RUN BY / DATE
DLR: O. Montenbruck; TUM: P. Steigenberger
COMMENT
BDUT -9.3132257462e-10 9.769962617e-15
14 435
TIME SYSTEM CORR
END OF HEADER
C01 2014 05 10 00 00 00 2.969256602228e-04 2.196998138970e-11 0.000000000000e+00
1.000000000000e+00 4.365468750000e+02 1.318269196918e-09-3.118148933476e+00
1.447647809982e-05 2.822051756084e-04 8.092261850834e-06 6.493480609894e+03
5.184000000000e+05-2.654269337654e-08 3.076630958509e+00-3.864988684654e-08
1.103024081152e-01-2.506406250000e+02 2.587808789012e+00-3.039412318009e-10
2.389385241772e-10 0.000000000000e+00 4.350000000000e+02 0.000000000000e+00
2.000000000000e+00 0.000000000000e+00 1.420000000000e-08-1.040000000000e-08
5.184000000000e+05 0.000000000000e+00
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A35
A 16 GNSS Navigation Message File – SBAS Data Record Description
TABLE A16 GNSS NAVIGATION MESSAGE FILE – SBAS/QZSS L1 SAIF DATA RECORD
DESCRIPTION
OBS. RECORD
DESCRIPTION
FORMAT
SV / EPOCH / SV CLK
- Satellite system (S), satellite number (slot A1,I2.2,
number in sat. constellation)
- Epoch: Toc - Time of Clock (GPS) year (4 1X,I4,
digits)
- month, day, hour, minute, second
5(1X,I2.2),
- SV clock bias (sec) (aGf0)
3D19.12,
- SV relative frequency bias (aGf1)
- Transmission time of message (start of the
*)
message) in GPS seconds of the week
BROADCAST ORBIT - 1 - Satellite position X (km) - velocity X dot (km/sec) - X acceleration (km/sec2) - health (0=OK)
4X,4D19.12
BROADCAST ORBIT - 2 - Satellite position Y (km) - velocity Y dot (km/sec)
4X,4D19.12
- Y acceleration (km/sec2)
- Accuracy code (URA, meters)
BROADCAST ORBIT - 3 - Satellite position Z (km) - velocity Z dot (km/sec)
4X,4D19.12
- Z acceleration (km/sec2)
- IODN (Issue of Data Navigation, DO229, 8
first bits after Message Type if MT9)
*) In order to account for the various compilers, E,e,D, and d are allowed letters between the fraction and exponent of all floating point numbers in the navigation message files. Zero-padded two-digit exponents are required, however.
For QZSS L1-SAIF, note that accelerations represent only lunar and solar perturbation terms and satellite position can be computed based on equations in Section A.3.1.2 of GLONASS ICD version 5.0.
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A36
A 17 SBAS Navigation Message File -Example
+------------------------------------------------------------------------------+
|
TABLE A17
|
|
SBAS NAVIGATION MESSAGE FILE - EXAMPLE
|
+------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
3.03
N: GNSS NAV DATA S: SBAS
RINEX VERSION / TYPE
SBAS2RINEX 3.0
CNES
20031018 140100
PGM / RUN BY / DATE
EXAMPLE OF VERSION 3.03 FORMAT
COMMENT
SBUT -.1331791282D-06 -.107469589D-12 552960 1025 EGNOS 5 TIME SYSTEM CORR
13
LEAP SECONDS
This file contains navigation message data from a SBAS
COMMENT
(geostationary) satellite, here AOR-W (PRN 122 = # S22)
COMMENT
END OF HEADER
S22 2003 10 18 0 1 4-1.005828380585D-07 6.366462912410D-12 5.184420000000D+05
2.482832392000D+04-3.593750000000D-04-1.375000000000D-07 0.000000000000D+00
-3.408920872000D+04-1.480625000000D-03-5.000000000000D-08 4.000000000000D+00
-1.650560000000D+01 8.360000000000D-04 6.250000000000D-08 2.300000000000D+01
S22 2003 10 18 0 5 20-9.872019290924D-08 5.456968210638D-12 5.186940000000D+05
2.482822744000D+04-3.962500000000D-04-1.375000000000D-07 0.000000000000D+00
-3.408958936000D+04-1.492500000000D-03-5.000000000000D-08 4.000000000000D+00
-1.628960000000D+01 8.520000000000D-04 6.250000000000D-08 2.400000000000D+01
S22 2003 10 18 0 9 36-9.732320904732D-08 4.547473508865D-12 5.189510000000D+05
2.482812152000D+04-4.325000000000D-04-1.375000000000D-07 0.000000000000D+00
-3.408997304000D+04-1.505000000000D-03-5.000000000000D-08 4.000000000000D+00
-1.606960000000D+01 8.800000000000D-04 6.250000000000D-08 2.500000000000D+01
S22 2003 10 18 0 13 52-9.592622518539D-08 4.547473508865D-12 5.192110000000D+05
2.482800632000D+04-4.681250000000D-04-1.375000000000D-07 0.000000000000D+00
-3.409035992000D+04-1.518125000000D-03-3.750000000000D-08 4.000000000000D+00
-1.584240000000D+01 8.960000000000D-04 6.250000000000D-08 2.600000000000D+01
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A37
A 18 GNSS Navigation Message File – IRNSS Data Record Description
TABLE A18 GNSS NAVIGATION MESSAGE FILE – IRNSS DATA RECORD DESCRIPTION
OBS. RECORD
DESCRIPTION
SV / EPOCH / SV CLK
- Satellite system (I), sat number (PRN)
- Epoch: Toc - Time of Clock (IRNSS) year
(4 digits)
- month, day, hour, minute, second
- SV clock bias (seconds)
- SV clock drift (sec/sec)
- SV clock drift rate (sec/sec2)
BROADCAST ORBIT - 1 - IODEC Issue of Data, Ephemeris and
Clock
- Crs (meters)
- Delta n (radians/sec)
- M0 (radians)
BROADCAST ORBIT - 2 - Cuc (radians)
- e Eccentricity
- Cus (radians)
- sqrt(A) (sqrt(m))
BROADCAST ORBIT - 3 - Toe Time of Ephemeris (sec of IRNSS
week)
- Cic (radians)
- OMEGA0 (radians)
- Cis (radians)
BROADCAST ORBIT - 4 - i0 (radians)
- Crc (meters)
- omega (radians)
- OMEGA DOT (radians/sec)
BROADCAST ORBIT - 5 - IDOT (radians/sec)
- Blank
- IRN Week # (to go with TOE) Continuous
number, not mod (1024), counted from
1980 (same as GPS).
- Blank
BROADCAST ORBIT - 6 - User Range Accuracy(m), See IRNSS
ICD Section 6.2.1.4 , use specified
equations to define nominal values, N = 06: use 2(1+N/2) (round to one decimal place i.e. 2.8, 5.7 and 11.3) , N= 7-15:use 2 (N-2),
8192 specifies use at own risk
- Health (Sub frame 1,bits 155(most
significant) and 156(least significant)),
where 0 = L5 and S healthy, 1 = L5
healthy and S unhealthy, 2= L5 unhealthy
and S healthy, 3= both L5 and S unhealthy
FORMAT A1,I2.2, 1X,I4,
5(1X,I2.2), 3D19.12
*) 4X,4D19.12
***) 4X,4D19.12
4X,4D19.12
4X,4D19.12
4X,4D19.12
4X,4D19.12
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A38
TABLE A18
GNSS NAVIGATION MESSAGE FILE – IRNSS DATA RECORD DESCRIPTION
OBS. RECORD
DESCRIPTION
FORMAT
- TGD (seconds)
- Blank
BROADCAST ORBIT - 7 - Transmission time of message **)
4X,4D19.12
(sec of IRNSS week)
- Blank
- Blank
- Blank
*) In order to account for the various compilers, E,e,D, and d are allowed letters between the
fraction and exponent of all floating point numbers in the navigation message files. Zero-padded
two-digit exponents are required, however.
**) Adjust the Transmission time of message by + or -604800 to refer to the reported week in BROADCAST ORBIT 5, if necessary. Set value to 0.9999E9 if not known.
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A39
A 19 IRNSS Navigation Message File – Example
+------------------------------------------------------------------------------+
|
TABLE A19
|
|
IRNSS NAVIGATION MESSAGE FILE - EXAMPLE
|
+------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
3.03
NAVIGATION DATA
I (IRNSS)
RINEX VERSION / TYPE
DecodIRNSS
montenbruck
20141004 164512 GMT PGM / RUN BY / DATE
Source: IRNSS-1A Navbits
COMMENT
END OF HEADER
I01 2014 04 01 00 00 00-9.473115205765e-04 1.250555214938e-12 0.000000000000e+00
0.000000000000e+00-5.820625000000e+02 4.720196615135e-09-1.396094758025e+00
-1.898035407066e-05 2.257102518342e-03-1.068413257599e-05 6.493487739563e+03
1.728000000000e+05 6.705522537231e-08-8.912102146884e-01-5.215406417847e-08
4.758105460020e-01 4.009375000000e+02-2.999907424014e+00-4.414469594664e-09
-4.839487298357e-10
1.786000000000e+03
1.130000000000e+01 0.000000000000e+00-4.190951585770e-09
1.728000000000e+05
I01 2014 04 01 02 00 00-9.473022073507e-04 1.250555214938e-12 0.000000000000e+00
1.000000000000e+00-5.101875000000e+02 4.945920303147e-09-8.741766987741e-01
-1.684948801994e-05 2.254169434309e-03-1.182407140732e-05 6.493469217300e+03
1.800000000000e+05 2.346932888031e-07-8.912408598963e-01-1.117587089539e-08
4.758065024964e-01 4.403750000000e+02-2.996779607145e+00-4.508759236491e-09
-5.464513333200e-10
1.786000000000e+03
1.130000000000e+01 0.000000000000e+00-4.190951585770e-09
1.800000000000e+05
I01 2014 04 01 04 00 00-9.472924284637e-04 1.250555214938e-12 0.000000000000e+00
2.000000000000e+00-5.100000000000e+02 5.217360181136e-09-3.491339518362e-01
-1.697987318039e-05 2.254509832710e-03-1.212581992149e-05 6.493469842911e+03
1.872000000000e+05 1.378357410431e-07-8.912725364615e-01 2.942979335785e-07
4.758010370344e-01 4.460625000000e+02-2.996772972812e+00-4.790199531038e-09
-6.039537285256e-10
1.786000000000e+03
1.130000000000e+01 0.000000000000e+00-4.190951585770e-09
1.872000000000e+05
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A40
A 20 Meteorological Data File -Header Section Description
TABLE A20 METEOROLOGICAL DATA FILE - HEADER SECTION DESCRIPTION
HEADER LABEL (Columns 61-80)
DESCRIPTION
FORMAT
RINEX VERSION / TYPE
- Format version : 3.03 - File type: M for Meteorological Data
F9.2,11X, A1,39X
PGM / RUN BY / DATE - Name of program creating current file - Name of agency creating current file - Date of file creation (See section 5.8)
A20, A20, A20
* COMMENT
- Comment line(s)
A60
MARKER NAME
- Station Name (preferably identical to
A60
MARKER NAME in the associated
Observation File)
* MARKER NUMBER - Station Number (preferably identical to
A20
MARKER NUMBER in the associated
Observation File)
# / TYPES OF OBSERV
- Number of different observation types stored in the file
- Observation types The following meteorological observation types are defined in RINEX Version 3:
PR : Pressure (mbar) TD : Dry temperature (deg Celsius) HR : Relative humidity (percent) ZW : Wet zenith path delay (mm), (for WVR data) ZD : Dry component of zen.path delay (mm) ZT : Total zenith path delay (mm) WD : Wind azimuth (deg) from where the wind blows WS : Wind speed (m/s) RI : "Rain increment" (1/10 mm): Rain accumulation since last measurement HI : Hail indicator non-zero: Hail detected since last measurement The sequence of the types in this record must correspond to the sequence of the measurements in the data records. - If more than 9 observation types are being used, use continuation lines with format
I6, 9(4X,A2)
(6X,9(4X,A 2))
SENSOR MOD/TYPE/ACC
Description of the met sensor - Model (manufacturer)
A20,
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A41
TABLE A20
METEOROLOGICAL DATA FILE - HEADER SECTION DESCRIPTION
HEADER LABEL
DESCRIPTION
FORMAT
(Columns 61-80)
- 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 (BNK).
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
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A42
A 21 Meteorological Data File -Data Record Description
TABLE A21 METEOROLOGICAL DATA FILE - DATA RECORD DESCRIPTION
OBS. RECORD
DESCRIPTION
FORMAT
EPOCH / MET
- Epoch in GPS time (not local time!) year (4 digits, padded with 0 if necessary)
- month, day, hour, min, sec - Met data in the same sequence as given in the
header - More than 8 met data types: Use continuation
lines
1X,I4.4,
5(1X,I2), mF7.1
4X,10F7.1
A 22 Meteorological Data File – Example
+------------------------------------------------------------------------------+
|
TABLE A22
|
|
METEOROLOGICAL DATA FILE - EXAMPLE
|
+------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
3.03
METEOROLOGICAL DATA
RINEX VERSION / TYPE
XXRINEXM V9.9
AIUB
19960401 144333 UTC PGM / RUN BY / DATE
EXAMPLE OF A MET DATA FILE
COMMENT
A 9080
MARKER NAME
3 PR TD HR
# / TYPES OF OBSERV
PAROSCIENTIFIC
740-16B
0.2 PR SENSOR MOD/TYPE/ACC
HAENNI
0.1 TD SENSOR MOD/TYPE/ACC
ROTRONIC
I-240W
5.0 HR SENSOR MOD/TYPE/ACC
0.0000
0.0000
0.0000
1234.5678 PR SENSOR POS XYZ/H
END OF HEADER
1996 4 1 0 0 15 987.1 10.6 89.5
1996 4 1 0 0 30 987.2 10.9 90.0
1996 4 1 0 0 45 987.1 11.6 89.0
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A43
A 23 Reference Code and Phase Alignment by Constellation and Frequency Band
TABLE A23
Reference Code and Phase Alignment by Frequency Band
System Frequency Frequency
Band
[MHz]
Signal
RINEX Observation
Code
Phase Correction applied to each observed phase to obtain aligned phase.
(φRINEX = φ
original(as issued by
the SV) + Δφ)
GPS
L1
1575.42
C/A
L1C
None (Reference
Signal)
L1C-D
L1S
+¼ cycle
L1C-P
L1L
+¼ cycle
L1C-(D+P)
L1X
+¼ cycle
P
L1P
+¼ cycle
Z-tracking
L1W
+¼ cycle
Codeless
L1N
+¼ cycle
L2
1227.60
C/A
L2C
For Block II/IIA/IIR –
None;
See Note 1
For Block IIR-M/IIF/III
-¼ cycle
Semicodeless L2C(M) L2C(L) L2C(M+L)
P
Z-tracking
Codeless
L5
1176.45
I
Q
I+Q
GLONASS
G1
1602+k*9/1
C/A
6
P
G2
1246+k*7/1
C/A
6
L2D
L2S L2L L2X L2P
L2W L2N L5I
L5Q L5X L1C
L1P L2C
See Note 2 None
-¼ cycle -¼ cycle -¼ cycle None (Reference Signal)
None None None (Reference Signal) -¼ cycle Must be aligned to L5I None (Reference Signal) +¼ cycle None (Reference Signal)
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A44
System Galileo QZSS
TABLE A23
Reference Code and Phase Alignment by Frequency Band
Frequency Frequency Signal
RINEX
Phase Correction
Band
[MHz]
Observation
applied to each
Code
observed phase to
obtain aligned phase.
(φRINEX = φ
original(as issued by
the SV) + Δφ)
P
L2P
+¼ cycle
G3
1202.025
I
L3I
None (Reference
Signal)
Q
L3Q
-¼ cycle
I+Q
L3X
Must be aligned to L3I
E1
1575.42 B I/NAV
L1B
None (Reference
OS/CS/SoL
Signal)
C no data
L1C
+½ cycle
B+C
L1X
Must be aligned to L1B
E5A
1176.45
I
L5I
None(Reference Signal)
Q
L5Q
-¼ cycle
I+Q
L5X
Must be aligned to L5I
E5B
1207.140
I
L7I
None (Reference
Signal)
Q
L7Q
-¼ cycle
I+Q
L7X
Must be aligned to L7I
E5(A+B) 1191.795
I
L8I
None (Reference
Signal)
Q
L8Q
-¼ cycle
I+Q
L8X
Must be aligned to L8I
E6
1278.75
B
L6B
None (Reference
Signal)
C
L6C
-½ cycle
B+C
L6X
Must be aligned to L6B
L1
1575.42
C/A
L1C
None (Reference
Signal)
L1C (D)
L1S
None
L1C (P)
L1L
+¼ cycle
L1C-(D+P)
L1X
+¼ cycle
L1-SAIF
L1Z
N/A
L2
1227.60 L2C (M)
L2S
None (Reference
Signal)
L2C (L)
L2L
None
L2C (M+L)
L2X
None
L5
1176.45
I
L5I
None (Reference
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A45
System BDS IRNSS
TABLE A23
Reference Code and Phase Alignment by Frequency Band
Frequency Frequency Signal
RINEX
Phase Correction
Band
[MHz]
Observation
applied to each
Code
observed phase to
obtain aligned phase.
Q
I+Q
1278.75
S
LEX(6)
L
S+L
B1
1561.098
I
Q
I+Q
B2
1207.140
I
Q
I+Q
B3
1268.52
I
Q
I+Q
L5
1176.45
A SPS
B RS(D)
C RS(P)
B+C
S
2492.028 A SPS
B RS(D) C RS(P)
B+C
(φRINEX = φ
original(as issued by
the SV) + Δφ)
Signal)
L5Q
-¼ cycle
L5X
Must be aligned to L5I
L6S
None (Reference
Signal)
L6L
None
L6X
None
L2I
None (Reference
Signal) (See Note 4
Below)
L2Q
-¼ cycle
L2X
Must be aligned to L2I
L7I
None (Reference
Signal)
L7Q
-¼ cycle
L7X
Must be aligned to L7I
L6I
None (Reference
Signal)
L6Q
-¼ cycle
L6X
Must be aligned to L6I
L5A
None (Reference
Signal)
L5B
Restricted(See Note 3)
L5C
None
L5X
Must be aligned to L5A
L9A
None (Reference
Signal)
L9B
Restricted(See Note 3)
L9C
None
L9X
Must be aligned to L9A
RINEX 3.03.IGS.RTCM.doc 2015-07-14
RINEX Version 3.03 Appendix
A46
NOTES:
1) The GPS L2 phase shift values ignore FlexPower when the phases of the L2W and L2C can be changed on the satellite.
2) The phase of the L2 C/A signal is dependent on the GPS satellite generation.
3) There is no public information available concerning the restricted service signals.
4) Note: Both C1x and C2x (RINEX 3.01 definition) have been used to identify the B1 frequency signals in RINEX 3.02 files. If C2x coding is read in a RINEX 3.02 file treat it as equivalent to C1x.
RINEX 3.03.IGS.RTCM.doc 2015-07-14