From mujibur.inmind.com!uunet!in1.uu.net!newsfeed.pitt.edu!gatech!newsjunkie.ans.net!news-m01.ny.us.ibm.net!usenet Wed Feb 7 09:47:37 1996 Path: mujibur.inmind.com!uunet!in1.uu.net!newsfeed.pitt.edu!gatech!newsjunkie.ans.net!news-m01.ny.us.ibm.net!usenet From: dmulcar@ibm.net (Donald M. Mulcare) Newsgroups: sci.geo.satellite-nav Subject: RINEX-2 data format (22K file) Date: 5 Feb 1996 18:34:32 GMT Organization: National Geodetic Survey Advisor to Maryland Lines: 299 Message-ID: <4f5ijo$35p6@news-s01.ny.us.ibm.net> Reply-To: dmulcar@ibm.net NNTP-Posting-Host: slip166-72-222-98.md.us.ibm.net X-Newsreader: IBM NewsReader/2 v1.2.5 ////////////////////////////////////////////////////////////////////////// / / In response to inquiries, I have extracted portions of the file / / RINEX-2.txt which comprehensively describes the data format. / / / / The complete file is available via anonymous ftp / / at proton.ngs.noaa.gov. / / The file is located in the cors directory. / / / / Donald M. Mulcare / / / ////////////////////////////////////////////////////////////////////////// RINEX: The Receiver Independent Exchange Format Version 2 ********************************************************* Werner Gurtner Astronomical Institute University of Berne 1. THE PHILOSOPHY OF RINEX The first proposal for the "Receiver Independent Exchange Format" RINEX has been developed by the Astronomical Institute of the University of Berne for the easy exchange of the GPS data to be collected during the large European GPS campaign EUREF 89, which involved more than 60 GPS receivers of 4 different manufacturers. The governing aspect during the development was the following fact: Most geodetic processing software for GPS data use a well-defined set of observables: ///////////////////////////////////////////////////////////////////// data format -- note column and row placement of data is critical //////////////////////////////////////////////////////////////////// 9. RINEX VERSION 2 FORMAT DEFINITION +----------------------------------------------------------------------------+ | TABLE A1 | | OBSERVATION DATA FILE - HEADER SECTION DESCRIPTION | +--------------------+------------------------------------------+------------+ | HEADER LABEL | DESCRIPTION | FORMAT | | (Columns 61-80) | | | +--------------------+------------------------------------------+------------+ |RINEX VERSION / TYPE| - Format version (2) | I6,14X, | | | - File type ('O' for Observation Data) | A1,19X, | | | - Satellite System: blank or 'G': GPS | A1,19X | | | 'R': GLONASS | | | | 'T': NNSS Transit | | | | 'M': Mixed | | +--------------------+------------------------------------------+------------+ |PGM / RUN BY / DATE | - Name of program creating current file | A20, | | | - Name of agency creating current file | A20, | | | - Date of file creation | A20 | +--------------------+------------------------------------------+------------+ *|COMMENT | Comment line(s) | A60 |* +--------------------+------------------------------------------+------------+ |MARKER NAME | Name of antenna marker | A60 | +--------------------+------------------------------------------+------------+ *|MARKER NUMBER | Number of antenna marker | A20 |* +--------------------+------------------------------------------+------------+ |OBSERVER / AGENCY | Name of observer / agency | A20,A40 | +--------------------+------------------------------------------+------------+ |REC # / TYPE / VERS | Receiver number, type, and version | 3A20 | | | (Version: e.g. Internal Software Version)| | +--------------------+------------------------------------------+------------+ |ANT # / TYPE | Antenna number and type | 2A20 | +--------------------+------------------------------------------+------------+ |APPROX POSITION XYZ | Approximate marker position (WGS84) | 3F14.4 | +--------------------+------------------------------------------+------------+ |ANTENNA: DELTA H/E/N| - Antenna height: Height of bottom | 3F14.4 | | | surface of antenna above marker | | | | - Eccentricities of antenna center | | | | relative to marker to the east | | | | and north (all units in meters) | | +--------------------+------------------------------------------+------------+ |WAVELENGTH FACT L1/2| - Wavelength factors for L1 and L2 | 2I6, | | | 1: Full cycle ambiguities | | | | 2: Half cycle ambiguities (squaring) | | | | 0 (in L2): Single frequency instrument | | | | - Number of satellites to follow in list | I6, | | | 0 or blank: Default wavelength factors | | | | Maximum 7. If more than 7 satellites: | | | | Repeat record. | | | | - List of PRNs (satellite numbers) | 7(3X,A1,I2)| +--------------------+------------------------------------------+------------+ |# / TYPES OF OBSERV | - Number of different observation types | I6, | | | stored in the file | | | | - Observation types | 9(4X,A2) | | | | | | | The following observation types are | | | | defined in RINEX Version 2: | | | | | | | | L1, L2: Phase measurements on L1 and L2 | | | | C1 : Pseudorange using C/A-Code on L1 | | | | P1, P2: Pseudorange using P-Code on L1,L2| | | | D1, D2: Doppler frequency on L1 and L2 | | | | T1, T2: Transit Integrated Doppler on | | | | 150 (T1) and 400 MHz (T2) | | | | | | | | Observations collected under Antispoofing| | | | are converted to "L2" or "P2" and flagged| | | | with bit 2 of loss of lock indicator | | | | (see Table A2). | | | | | | | | Units : Phase : full cycles | | | | Pseudorange : meters | | | | Doppler : Hz | | | | Transit : cycles | | | | | | | | The sequence of the types in this record | | | | has to correspond to the sequence of the | | | | observations in the observation records | | +--------------------+------------------------------------------+------------+ *|INTERVAL | Observation interval in seconds | I6 |* +--------------------+------------------------------------------+------------+ |TIME OF FIRST OBS | Time of first observation record | 5I6,F12.6 | | | year (4 digits), month,day,hour,min,sec| | +--------------------+------------------------------------------+------------+ *|TIME OF LAST OBS | Time of last observation record | 5I6,F12.6 |* | | year (4 digits), month,day,hour,min,sec| | +--------------------+------------------------------------------+------------+ *|# OF SATELLITES | Number of satellites, for which | I6 |* | | observations are stored in the file | | +--------------------+------------------------------------------+------------+ *|PRN / # OF OBS | PRN (sat.number), number of observations |3X,A1,I2,9I6|* | | for each observation type indicated | | | | in the "# / TYPES OF OBSERV" - record. | | | | This record is repeated for each | | | | satellite present in the data file | | +--------------------+------------------------------------------+------------+ |END OF HEADER | Last record in the header section. | 60X | +--------------------+------------------------------------------+------------+ Records marked with * are optional +----------------------------------------------------------------------------+ | TABLE A2 | | OBSERVATION DATA FILE - DATA RECORD DESCRIPTION | +-------------+-------------------------------------------------+------------+ | OBS. RECORD | DESCRIPTION | FORMAT | +-------------+-------------------------------------------------+------------+ | EPOCH/SAT | - Epoch : | 5I3,F11.7, | | or | year (2 digits), month,day,hour,min,sec | | | EVENT FLAG | - Epoch flag 0: OK | I3, | | | 1: power failure between | | | | previous and current epoch | | | | >1: Event flag | | | | - Number of satellites in current epoch | I3, | | | - List of PRNs (sat.numbers) in current epoch | 12(A1,I2), | | | If more than 12 satellites: Continued in | | | | next line with n(A1,I2) | | | | - receiver clock offset (seconds, optional) | F12.9 | | | | | | | If EVENT FLAG record (epoch flag > 1): | | | | - Event flag: | | | | 2: start moving antenna | | | | 3: new site occupation (end of kinem. data) | | | | (at least MARKER NAME record follows) | | | | 4: header information follows | | | | 5: external event (epoch is significant) | | | | 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) | | | | - "Number of satellites" contains number of | | | | records to follow (0 for event flags 2,5) | | +-------------+-------------------------------------------------+------------+ |OBSERVATIONS | - Observation | rep. within record for | m(F14.3, | | | - LLI | each obs.type (same seq | I1, | | | - Signal strength | as given in header) | I1) | | | This record is repeated for each satellite | | | | given in EPOCH/SAT - record. | | | | If more than 5 observation types (=80 char): | | | | Continue observations in next record. | | | | | | | | Observations: | | | | Phase : Units in whole cycles of carrier | | | | Code : Units in meters | | | | Missing observations are written as 0.0 | | | | or blanks. | | | | | | | | Loss of lock indicator (LLI). Range: 0-7 | | | | 0 or blank: OK or not known | | | | Bit 0 set : lost lock between previous and | | | | current observation: cycle slip possible | | | | Bit 1 set : Inverse wavelength factor to | | | | default (does NOT change default) | | | | Bit 2 set : observation under Antispoofing | | | | (may suffer from increased noise) | | | | | | | | Bits 0 and 1 for phase only. | | | | | | | | Signal strength projected into interval 1-9: | | | | 1: minimum possible signal strength | | | | 5: threshold for good S/N ratio | | | | 9: maximum possible signal strength | | | | 0 or blank: not known, don't care | | +-------------+-------------------------------------------------+------------+ +----------------------------------------------------------------------------+ | TABLE A3 | | NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTION | +--------------------+------------------------------------------+------------+ | HEADER LABEL | DESCRIPTION | FORMAT | | (Columns 61-80) | | | +--------------------+------------------------------------------+------------+ |RINEX VERSION / TYPE| - Format version (2) | I6,14X, | | | - File type ('N' for Navigation data) | A1,19X | +--------------------+------------------------------------------+------------+ |PGM / RUN BY / DATE | - Name of program creating current file | A20, | | | - Name of agency creating current file | A20, | | | - Date of file creation | A20 | +--------------------+------------------------------------------+------------+ *|COMMENT | Comment line(s) | A60 |* +--------------------+------------------------------------------+------------+ *|ION ALPHA | Ionosphere parameters A0-A3 of almanac | 2X,4D12.4 |* | | (page 18 of subframe 4) | | +--------------------+------------------------------------------+------------+ *|ION BETA | Ionosphere parameters B0-B3 of almanac | 2X,4D12.4 |* +--------------------+------------------------------------------+------------+ *|DELTA-UTC: A0,A1,T,W| Almanac parameters to compute time in UTC| 3X,2D19.12,|* | | (page 18 of subframe 4) | 2I9 | | | A0,A1: terms of polynomial | | | | T : reference time for UTC data | | | | W : UTC reference week number | | +--------------------+------------------------------------------+------------+ *|LEAP SECONDS | Delta time due to leap seconds | I6 |* +--------------------+------------------------------------------+------------+ |END OF HEADER | Last record in the header section. | 60X | +--------------------+------------------------------------------+------------+ Records marked with * are optional +----------------------------------------------------------------------------+ | TABLE A4 | | NAVIGATION MESSAGE FILE - DATA RECORD DESCRIPTION | +--------------------+------------------------------------------+------------+ | OBS. RECORD | DESCRIPTION | FORMAT | +--------------------+------------------------------------------+------------+ |PRN / EPOCH / SV CLK| - Satellite PRN number | I2, | | | - Epoch: Toc - Time of Clock | | | | year (2 digits) | 5I3, | | | month | | | | day | | | | hour | | | | minute | | | | second | F5.1, | | | - SV clock bias (seconds) | 3D19.12 | | | - SV clock drift (sec/sec) | | | | - SV clock drift rate (sec/sec2) | | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 1| - IODE Issue of Data, Ephemeris | 3X,4D19.12 | | | - Crs (meters) | | | | - Delta n (radians/sec) | | | | - M0 (radians) | | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 2| - Cuc (radians) | 3X,4D19.12 | | | - e Eccentricity | | | | - Cus (radians) | | | | - sqrt(A) (sqrt(m)) | | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 3| - Toe Time of Ephemeris | 3X,4D19.12 | | | (sec of GPS week) | | | | - Cic (radians) | | | | - OMEGA (radians) | | | | - CIS (radians) | | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 4| - i0 (radians) | 3X,4D19.12 | | | - Crc (meters) | | | | - omega (radians) | | | | - OMEGA DOT (radians/sec) | | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 5| - IDOT (radians/sec) | 3X,4D19.12 | | | - Codes on L2 channel | | | | - GPS Week # (to go with TOE) | | | | - L2 P data flag | | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 6| - SV accuracy (meters) | 3X,4D19.12 | | | - SV health (MSB only) | | | | - TGD (seconds) | | | | - IODC Issue of Data, Clock | | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 7| - Transmission time of message | 3X,4D19.12 | | | (sec of GPS week, derived e.g. | | | | from Z-count in Hand Over Word (HOW) | | | | - spare | | | | - spare | | | | - spare | | +--------------------+------------------------------------------+------------+