RINEX The Receiver Independent Exchange Format

RINEXⅤersion3.02ii 5.9Antennaphasecenterheaderrecord..................................................................................19 5.10Antennaorientation 5.11obServationdatarecords.wwwwwwwwwwwwwwwwwwowww.19 Table10:Exampleforalistofobservationtypes 19 Table11:Exampleforobservationdatarecords........………… 5.12ionospheredelayaspseudo-observables 20 5.13Channelnumbersaspseudo-observables ….20 5.l4Correctionsofdifferentialcodebiases(DCBs)…………… 21 5.15Correctionsofantennaphasecentervariations(PCvs)... 5.16Navigationmessagefiles 22 6.ADDITIONALHINTSANDTIPS 23 6.lⅤersIons…………...…………………123 6.2LeadingblanksinChaRaCtERfields.…… :::::::·:·::::·:·.:.::·::·:·:·:::::.::.::::·::: 23 6.3Variable-lengthrecords…… 23 6.4Blankfields a::::: 123 6.5Orderoftheheaderrecords,orderofdatarecords...............................................23 66Missingitems,durationofthevalidityofvalues…………..…..,....24 6.7Unknown/Undefinedobservationtypesandheaderrecords……………24 6.8Eventflagrecords......... 24 6.9Receiverclockoffset 25 6.10Two-digityears… 25 6.1IFitinterval(GPSnavigationmessagefile) 25 6.12Satellitehealth(GPSnavigationmessagefile) .26 6.13Transmissiontimeofmessage(GPSnavigationmessagefile 26 6.14Antennareferences,phasecenters………… 26 7.RINEXUNDERANTISPOOFING(AS) 27 8.DEALINGWITHDIFFERENTSATELLITESYSTEMS 28 8.1Timesystemidentifier...........28 Table12:RelationsbetweenGPS,QZss,GSt,GaLandbdsweeks...............29 8.2Pseudorangedefinition......... .31 8.3RINEXnavigationmessagefiles 31 8.3.IRINEXnavigationmessagefilesforGLONAsS 32 RINeX3.02.IGSRTCM.doc 2013-04-17 RINEXⅤersion3.02i 8.3.2RINEXnavigationmessagefilesforGalileo........................32 8.3.3RINEXnavigationmessagefilesforGeosatellites 33 8.3.4RINEXnavigationmessagefilesforQZssL1-SAIF 34 8.3.5RINEXnavigationmessagefilesforBDs 34 8.4RINEXobservationfilesforgeosatellites............................................................................35 9.MODIFICATIONSFORVERSION3,01and3.02 36 9.1PhasecycleShifts.....…… ∴.36 9.2Galileo:BOC-TrackingofanmboC-Modulatedsignal 37 9.3BDSSatelliteSystemCode 38 9.4NewObservationCodesforgPsLICandBds ..38 9.5HeaderRecordsforGLONASSSlotandFrequencyNumbers..........38 9.6GNSSNavigationMessageFile:LeapSecondsrecord .38 9.7ClarificationsintheGalileoNavigationMessageFile:.......38 9.8RINEXMeteorologicalDataFiles 38 9.9AddedQuasi-ZenithSatelliteSystem(QZSS)Version3.02 38 9.10AddedGlONASSMandatoryCode-PhaseAlignmentHeaderrecord.............39 9.l1AddedBDssystem(ReplacesCompass)………….....….……....139 10.REFERENCES APPENDIX:RINEXFORMATDEFINITIONSANDEⅩAMPLES∴… A1RINEXFilenamedescription…… 1 A2GNSSObservationDataFile-HeaderSectionDescription a3GNSSObservationDataFile-DataRecordDescription 12 a4gnSSObServationdataFileexample 4 a5GNSSNavigationMessageFile-HeaderSectionDescription 16 A6GNSSNavigationMessage a7GPSNavigationMessageFile-Example 19 a8GNSSNavigationMessageFile-GALILEODataRecorddescription 20 a9GALILEONavigationMessageFile-Example 22 A10GNSSNavigationMessageFlle-GLONASSDataRecordDescription........23 A1lGNSSNavigationMessageFileExample:MixedGPS/GLONASS 24 A12GNSSNavigationMessageFile-QZSSDataRecordDescription A13GNSSNavigationMessageFile-BDSDataRecorddescription……… 27 RINeX3.02.IGSRTCM.doc 2013-04-17 RINEXⅤersion3.02iv A14GNSSNavigationMessageFile-SBASDataRecordDescription.…………,,,29 A15SBASNavigationMessageFile-Example 30 A16MeteorologicalDataFile-HeaderSectionDescription……… ::::::::.:. 31 A17MeteorologicalDataFile-DataRecordDescription 22 A18MeteorologicalDataFileExample………3 A19ReferenceCodeandPhasealignmentbyConstellationandFrequencyBand 34 RINeX3.02.IGSRTCM.doc 2013-04-17 RINEXVerSion3.021 OREVISIONHISTORY Ⅴersion3.00 02Feb2006Afewtyposandobsoleteparagraphsremoved 08Mar2006Epochsofmetdataofmetfilesversion2.11areinGPStimeonly (Tableal5 31Mar2006DCbheaderrecordlabelcorrectedinTablea6 SYS/DCBSAPPLIED June2006 Filenamesformixedgnssnavmessfiles 10Aug2006TableA3:ErrorinformatofEPOCHrecord One6Xremoved.Trailing3Xremoved 12Sep2006GNSsnavigationmessagefilesversion3.00included (includingGalileo) Tablea4:Exampleofthekinematiceventwaswrong (kinematiceventrecord) sYsDCBSAPPLIEDheaderrecordsimplified Tablesa6andA&:Clarificationforadjustmentof Transmissiontimeofmessage 03Oct2006TableAll:MixedGPS/GLONASSnavigationmessagefile 26Oct2006TableA4:Removedobsoleteantispoofingflag TablesA6/8/10:FormaterrorinSV/EPOCH/SVCLK Spacebetweensvnandyearwasmissing ClarificationofreportedGLONASStime(8.1O Half-cycleambiguityflag(re-introduced(5.4andtableas NewheaderrecordSYS/PCVSAPPLIED NewTable10:relationsbetweenGPs.gstandGAlweeks Recommendationtoavoidstoringredundantnavigationmessages(8.3) 14Nov2006Tablesa6/10/12:Formaterrorin BROADCASTORB工T-n:3X→4X.ExampleswereOK. 21Nov2006MarkertypeNONPHYSICALadded 19-Dec-2006TableA4:ExampleofsysDCBSAPPlIEDwaswrong 13-Mar-2007Paragraph3.3:LeftoverfromRiNEXversion2regardingwavelength actorforsquaring-typereceiverremovedandclarified 14-Jun-2007Paragraph5.11:Clarificationregardingtheobservationrecordlength 28-Nov-2007FrequencynumbersforGLONASS-7+12(BROADCASTORBIT Ⅴersion3.01 22-Jun-2009Phasecycleshifts Galileo:BoC-trackingofanMboc-modulatedsignal Compasssatellitesystem:Identifierandobservationcodes CodeforgPslic Headerrecordsforglonassslotandfrequencynumbers Orderofdatarecords RINEXVerSion3.022 GalileonavmessrecordBROADCASTORBIT-5 Bits34reservedforgalileointernaluse Version302-igsandrTCM-sc104 19-Nov-2011AddedQuasiZenithSatelliteSystem(QZSS)Constellation Updatedtext,tablesandgraphics AddedAppendixTable19phasealignmenttable 21-Jan-2012SplittheConstellationtableintoatableforeachGNsS AddedQzsstothedocumentation Editedtexttoimproveclarity Correctedsigninthephasealignmenttable,removedQzsspsignals Removed 9-May-2012Editedtexttoimproveclarity Updatedphasealignmenttable, ChangedMetpGM/RUNBYDATEtosupport4digityearasinall otherrecordsalsochangedformattosupport4digityearformet Observationrecord Changedsys/PHaseShiFtstoSHIFT 29-Nov-2012ChangedTableland2toFigureland2.UpdatedallTablenumbers Changedfilenamingconvention,Section4AddedAppendixtable AlandincreasedallupdatedallAppendixnumbers Removedtheoptionofsupportingunknowntrackingmodefrom Section5.1 Harmonizedlic(new)signalidentifiersforQZSSandGPsSee able2and6 UpdatedBeiDouSystem(BDs)(wasCompass)informationthroughou documentaddednewBDsephemerisdefinitiontoAppendix Basedoninputfromthebdsoffice) CorrectedGLONASSSLOT/FRQformatinsection9.5,changed messagestatusfromoptionaltomandatory(See:Appendix TableA2) AddednewmandatoryglonassCodePhasebiasheaderrecord Seesection9.10 Figure2;9.1toclarifytheuseofthephasealignmentheader;A/cd 11-Mar-2013UpdatedSections:4.x,made.rnxthefilenameextensionandupdat Editedtoreflectfileextensionof=mx;Al3-BDsephemeris changedaodctoiodCandaodetoIode(asindicatedby BDSAuthorityandnewICD);Appendixtable19 ChangedGLONASSReferenceSignalstoC1-C2)andexplicitly identifiedreferencesignalforallconstellationsandfrequencies 26-Mar-2013ChangedbeidoutobdsforconformtoICD Intable7changedBDSsignalsfrom:C2x,Clxtomoreclosely reflectexistingbandsintables2-6andAppendixTablesa2andA19 UpdatedSection8.1:Firstparagraphupdatedtoindicatecurrent numberofleapsecondsaddedarowtotable12toshowthe relationshipbetweenGPSweekandbdtweek.Addedatableto showtheapproximaterelationshipofbdttoGPstime RINeX3.02.IGSRTCM.doc 2013-04-17 RINEXVerSion3.023 ChangedorderoffiletypefromogtoGoetcinAppendixtable1 UpdatedAppendixtablea19toshowXsignalsandindicatethatthe Xphaseistobealignedtothefrequenciesreferencesignal Fixedafewsmalltyposina19forGPS:LIC-D/Pandd+P RINeX3.02.IGSRTCM.doc 2013-04-17 RINEXVerSion3.024 THEPHILOSOPHYANDHISTORYOFRINEX ThefirstproposalfortheReceiverIndependentExchangeFormatRINEXwasdevelopedby theAstronomicalInstituteoftheUniversityofbernefortheeasyexchangeoftheGlobal PositioningSystem(GPs)datatobecollectedduringthefirstlargeEuropeanGPscampaign eureF89,whichinvolvedmorethan60GPsreceiversof4differentmanufacturersThe governingaspectduringthedevelopmentwasthefollowingfact MostgeodeticprocessingsoftwareforgpSdatauseawell-definedsetofobservables thecarrier-phasemeasurementatoneorbothcarriers(actuallybeingameasurementon thebeatfrequencybetweenthereceivedcarrierofthesatellitesignalandareceiver eneratedreferencefrequency) thepseudorange(code)measurement,equivalenttothedifferenceofthetimeof reception(expressedinthetimeframeofthereceiver)andthetimeoftransmission (expressedinthetimeframeofthesatellite)ofadistinctsatellitesignal theobservationtimebeingthereadingofthereceiverclockattheinstantofvalidityof thecarrier-phaseand/orthecodemeasurements Usuallythesoftwareassumesthattheobservationtimeisvalidforboththephaseandthecode measurementsandforallsatellitesobserved Consequentlyalltheseprogramsdonotneedmostoftheinformationthatisusuallystoredbythe receivers:Theyneedphase,code,andtimeintheabovementioneddefinitions,andsomestation relatedinformationlikestationnameantennaheightetc Uptillnowtwomajorformatversionshavebcendevelopedandpublished TheoriginalrinEXVcrSion1presentedatandacceptedbythe5hInternational GeodeticSymposiumonSatellitePositioninginLasCruces,1989.[Gurtneretal.1989 Evans1989 RINEXVersion2presentedatandacceptedbythesecondInternationalSymposiumof PrecisePositioningwiththeglobalPositioningsysteminOttawa,1990,mainlyadding thepossibilitytoincludetrackingdatafromdifferentsatellitesystems(GLONASS SBAS).[GurtnerandMader1990a,1990b],[Gurtner1994 SeveralsubversionsofrineXversion2havebeendefined Version2.10:Amongotherminorchangesallowingforsamplingratesother thanintegersecondsandincludingrawsignalstrengthsasnewobservables Gurtner2002] L2CpseudorangesandsomemodificationsintheGEONAVMESSfiles Version2.11:Includesthedefinitionofatwo-characterobservationcodefo Gurtnerandestey2005 RINeX3.02.IGSRTCM.doc 2013-04-17 RINEXVerSion3.025 Version2.20:Unofficialversionusedfortheexchangeoftrackingdatafrom spacebornereceiverswithintheigsleopilotproject[GurtnerandEstey 2002 Asspin-offsofthisideaofareceiver-independentgPsexchangeformatotherrineX-like exchangefileformatshavebeendefinedmainlyusedbytheInternationalgnssServiceIGS Exchangeformatforsatelliteandreceiverclockoffsets determincdbyprocessingdataofagnsstrackingnetworkRay andgurtner199 Exchangeformatforthecompletebroadcastdataofspace basedaugmentationsystemsSBas.[Suardetal.2004 IONEX:Exchangeformatforionospheremodelsdeterminedby processingdataofagnsstrackingnetwork[schaeretal.1998 ANTEX:Exchangeformatforphasecentervariationsof geodeticGNSSantennae[RothacherandSchmid2005 TheupcomingEuropeanNavigationSatelliteSystemGalileoandtheenhancedgpswithnew frequenciesandobservationtypesespeciallythepossibilitytotrackfrequenciesondifferent hannels.askforamoreflexibleandmoredetaileddefinitionoftheobservationcodes Toimprovethehandlingofthedatafilesincascof"mixed"files,i.c.filescontainingtracking dataofmorethanonesatellitesystem,eachonewithdifferentobservationtypes,therecord structureofthedatarecordhasbeenmodifiedsignificantlyand,followingseveralrequests,the limitationto80characterslengthhasbeenremoved Asthechangesarequitesignificant,theyleadtoanewrineXVersion3.Thenewversionalso includestheunofficialVersion2.20definitionsforspace-bornereceivers lemajorchangeaskingforaversion3.01wastherequirementtogenerateconsistentphase RINEXfilegeneration,ifnecessary,tofacilitatetheprocessingofsuchdata,cleshiftspriorto observationsacrossdifferenttrackingmodesorchannels,i.e.toapply74 RINeX3.02.IGSRTCM.doc 2013-04-17