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RINEX3.03格式说明.pdf
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.
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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
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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
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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
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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
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RINEX Version 3.03 1
0. REVISION HISTORY
Version 3.00
02 Feb 2006 A few typos and obsolete paragraphs removed.
08 Mar 2006 Epochs of met data of met files version 2.11 are in GPS time only
(Table A20).
31 Mar 2006 DCB header record label corrected in Table A6: SYS / DCBS
APPLIED.
June 2006
10 Aug 2006 Table A3: Error in format of EPOCH record: One 6X removed.
Filenames for mixed GNSS nav mess files.
Trailing 3X removed.
12 Sep 2006 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“.
03 Oct 2006 Table A11: Mixed GPS/GLONASS navigation message file
26 Oct 2006 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)
14 Nov 2006 Tables A6/10/12: Format error in BROADCAST ORBIT – n: 3X
→ 4X. Examples were OK.
21 Nov 2006 Marker type NON_PHYSICAL added
19-Dec-2006 Table A4: Example of SYS / DCBS APPLIED was wrong.
13-Mar-2007 Paragraph 3.3: Leftover from RINEX version 2 regarding wavelength
factor for squaring- type receiver removed and clarified.
14-Jun-2007 Paragraph 5.11: Clarification regarding the observation record length
28-Nov-2007 Frequency numbers for GLONASS –7..+12 (BROADCAST ORBIT
– 2)
Version 3.01
22-Jun-2009 Phase cycle shifts
RINEX Version 3.03
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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
19-Nov-2011 Added Quasi Zenith Satellite System (QZSS) Constellation
21-Jan-2012
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
9-May-2012 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
29-Nov-2012 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
11-Mar-2013 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.
26-Mar-2013 Changed BeiDou to BDS for conform to ICD.
In table 7 changed BDS signals from: C2x to C1x to more closely
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RINEX Version 3.03
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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.
RINEX 3.02 Released
03-Dec-2013 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 (header-
changed 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.
24-Jan-2014
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
4-Apr-2014
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.
6-May-2014
Corrected typo in Appendix 23 note 1: L2E changed to L2W
21-May-2014 Appendix A4 added two observation file header examples
RINEX 3.03.IGS.RTCM.doc
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