GPSの研究　その3

#概要
GPSを理解したかった。

#RINEXとは
高級なGPS受信機だと、生データを出力できる。そのフォーマット。


##OBSERVATION DATA
```
     2.11           OBSERVATION DATA    M (MIXED)           RINEX VERSION / TYPE
BLANK OR G = GPS,  R = GLONASS,  E = GALILEO,  M = MIXED    COMMENT             
gLAB                gAGE                 17-MAR-10 12:14    PGM / RUN BY / DATE 
EXAMPLE OF A MIXED RINEX FILE                               COMMENT             
MRKR                                                        MARKER NAME         
9080.1.34                                                   MARKER NUMBER       
gAGE                UPC: Technical University of Catalonia  OBSERVER / AGENCY   
THIS FILE IS PART OF THE gLAB TOOL SUITE                    COMMENT             
FILE PREPARED BY: ADRIA ROVIRA GARCIA                       COMMENT             
PLEASE EMAIL ANY COMMENT OR REQUEST TO:   glab @ gage.es    COMMENT             
IR2200716006        ASHTECH UZ-12       CQ00                REC # / TYPE / VERS 
482                 AOAD/M_T        NONE                    ANT # / TYPE        
   4789028.4701    176610.0133   4195017.0310               APPROX POSITION XYZ 
         0.9030         0.0000         0.0000               ANTENNA: DELTA H/E/N
     1     1                                                WAVELENGTH FACT L1/2
     1     2     3   G14   G18   G19                        WAVELENGTH FACT L1/2
     7    L1    L2    P1    P2    C1    S1    S2            # / TYPES OF OBSERV 
    30.000                                                  INTERVAL            
  2010     3     5     0     0     0.0000000     GPS        TIME OF FIRST OBS   
  2010     3     5    23    59    30.0000000     GPS        TIME OF LAST OBS    
     1                                                      RCV CLOCK OFFS APPL 
    15                                                      LEAP SECONDS        
    14                                                      # OF SATELLITES     
   G07   815   815   815   815   815   815   815            PRN / # OF OBS      
   G09   246   246   246   246   246   246   246            PRN / # OF OBS      
   G12   687   687   687   687   687   687   687            PRN / # OF OBS      
   G13   762   762   762   762   762   762   762            PRN / # OF OBS      
   G15   454   454   454   454   454   454   454            PRN / # OF OBS      
   G20   599   599   599   599   599   599   599            PRN / # OF OBS      
   G21   636   636   636   636   636   636   636            PRN / # OF OBS      
   G26   210   210   210   210   210   210   210            PRN / # OF OBS      
   G31   874   874   874   874   874   874   874            PRN / # OF OBS      
   G32   457   457   457   457   457   457   457            PRN / # OF OBS      
   R11   907                     907   907                  PRN / # OF OBS      
   R19   348                     348   348                  PRN / # OF OBS      
   R23   936                     936   936                  PRN / # OF OBS      
   S24   198                     198   198                  PRN / # OF OBS      
                                                            END OF HEADER       
 10  3  5  0  0  0.0000000  0 14G13R19G32G 7R23G31G20R11G12G26G 9G21    -0.12345
                                G15S24                                          
 121367582.20508  94572134.49208  23095489.677 9  23095481.949 9  23095483.463 7
        42.000          40.000                                                  
 134357446.85408                                                  23095483.463 7
        51.000                                                                  
  34357446.85408 104694102.10708  25567381.585 9  25567371.841 9  25567379.659 7
        76.000          84.000                                                  
 118767195.32608  91018570.22508  22600658.277 9  22600648.232 9  22227666.760 7
        57.000          32.000                                                  
 132798887.20808                                                  22600648.288 7
        39.000                                                                  
 130586522.29708 101755719.98608  24849779.954 9  24849799.921 9  24849797.341 7
        56.000          24.000                                                  
 135891004.29908 105889081.83208  25859215.981 9  25859207.736 9  25859205.875 7
        44.000          46.000                                                  
 132678281.64008                                                  25247845.883 7
        38.000                                                                  
 106712807.73208  83152833.16108  20306772.310 9  20306771.779 9  20306772.510 7
        44.000          46.000                                                  
 116571368.18108  90834826.58108  22182792.370 9  22182793.119 9  22182794.240 7
        35.000          27.000                                                  
 132197034.89008 103010636.32308  25156289.677 9  25156300.244 9  25156289.059 7
        51.000          40.000                                                  
 119360658.19908  93008298.09808  22713580.654 9  22713581.674 9  22713580.663 7
        78.000          35.000                                                  
 117320174.24208  91418311.51708  22325286.941 9  22325287.194 9  22325287.806 7
        63.000          65.000                                                  
 195486861.41208                                                  37199916.954 7
        45.000                                                                  
 10  3  5  0  0 30.0000000  0  8G13R19G32G 7R23G31G20R11                -0.12345
 130321269.80108 101549030.34908  24799319.672 9  24799319.752 9  24799318.768 7
        62.000          80.000                                                  
 129262004.57708                                                  24597748.629 7
        47.000                                                                  
 133135049.38708 103741584.18208  25334766.349 9  25334768.879 9  25334766.309 7
        75.000          83.000                                                  
 133174968.81808 103772690.97708  25342359.815 9  25342359.952 9  25342359.370 7
        65.000          45.000                                                  
 119323293.47908                                                  22706470.024 7
        79.000                                                                  
 114311363.56508  92979182.85108  21752728.352 9  21752728.204 9  21752729.338 7
        72.000          63.000                                                  
 135891004.29908 105889081.83208  25859215.981 9  25859207.736 9  25859205.875 7
        44.000          46.000                                                  
 131986783.86108                                                  25116253.066 7
        38.000                                                                  

```

![image.png](https://qiita-image-store.s3.amazonaws.com/0/18104/70abc91f-15e0-ffe5-3314-39fedc8e24e0.png)



##GPS NAVIGATION MESSAGE
```
     2.11           N: GPS NAV. MESSAGE                     RINEX VERSION / TYPE
gLAB                gAGE / UPC          17-MAR-10 12:14     PGM / RUN BY / DATE 
EXAMPLE OF A NAVIGATION RINEX FILE                          COMMENT             
THIS FILE IS PART OF THE gLAB TOOL SUITE                    COMMENT             
FILE PREPARED BY: ADRIA ROVIRA GARCIA                       COMMENT             
PLEASE EMAIL ANY COMMENT OR REQUEST TO:   glab @ gage.es    COMMENT             
     0.1676D-07     0.2235D-07    -0.1192D-07    -0.1192D-07ION ALPHA           
     0.1208D+06     0.1310D+06    -0.1310D+06    -0.1966D+06ION BETA            
   0.133179128170D-06   0.107469588780D-12   552960     1025DELTA-UTC: A0,A1,T,W
    15                                                      LEAP SECONDS        
                                                            END OF HEADER       
 6 99  9  2 19  0  0.0 -.839701388031D-03 -.165982783074D-10  .000000000000D+00 
     .910000000000D+02  .934062500000D+02  .116040547840D-08  .162092304801D+00 
     .484101474285D-05  .626740418375D-02  .652112066746D-05  .515365489006D+04 
     .409904000000D+06 -.242143869400D-07  .329237003460D+00 -.596046447754D-07 
     .942817490922D+00  .326593750000D+03  .206958726335D+01 -.638312302555D-08 
     .307155651409D-09  .000000000000D+00  .102500000000D+04  .000000000000D+00 
     .000000000000D+00  .000000000000D+00  .000000000000D+00  .910000000000D+02 
     .406800000000D+06  .000000000000D+00                                       
13 99  9  2 19  0  0.0  .490025617182D-03  .204636307899D-11  .000000000000D+00 
     .133000000000D+03 -.963125000000D+02  .146970407622D-08  .292961152146D+01 
    -.498816370964D-05  .200239347760D-02  .928156077862D-05  .515328476143D+04 
     .414000000000D+06 -.279396772385D-07  .243031939942D+01 -.558793544769D-07 
     .986307770581D+00  .271187500000D+03 -.232757915425D+01 -.619632953057D-08 
    -.785747015231D-11  .000000000000D+00  .102500000000D+04  .000000000000D+00 
     .000000000000D+00  .000000000000D+00  .000000000000D+00  .389000000000D+03 
     .410400000000D+06  .000000000000D+00  

```

![image.png](https://qiita-image-store.s3.amazonaws.com/0/18104/3009e1cb-701f-af65-f18b-d25e890949d1.png)


以上。