RINEXThe Receiver Independent Exchange Format

Version 3.02

International GNSS Service (IGS), RINEX Working
Group and Radio Technical Commission for Maritime
Services Special Committee 104 (RTCM-SC104),

April 3, 2013
Acknowledgment: RINEX Version 3.02 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.................................................................................. 4
2. GENERAL FORMAT DESCRIPTION ................................................................................................... 6
3. BASIC DEFINITIONS ............................................................................................................................. 7
3.1 Time .................................................................................................................................................... 7
3.2 Pseudo-Range: .................................................................................................................................... 7
3.3 Phase ................................................................................................................................................... 7
3.4 Doppler ............................................................................................................................................... 8
3.5 Satellite numbers................................................................................................................................. 8
Figure 1: Satellite numbers and Constellation Identifiers..................................................................... 8
4. THE EXCHANGE OF RINEX FILES:.................................................................................................... 9
Figure 2: Recommended filename parameters...................................................................................... 9
Table 1: Description of filename parameters ...................................................................................... 10
5. RINEX VERSION 3 FEATURES.......................................................................................................... 11
5.1 Observation codes............................................................................................................................. 11
Table 2 : RINEX Version 3.02 GPS observation codes...................................................................... 12
Table 3 : RINEX Version 3.02 GLONASS observation codes........................................................... 13
Table 4 : RINEX Version 3.02 Galileo observation codes ................................................................. 13
Table 5 : RINEX Version 3.02 SBAS observation codes................................................................... 14
Table 6 : RINEX Version 3.02 QZSS observation codes ................................................................... 14
Table 7 : RINEX Version 3.02 BDS observation codes ..................................................................... 15
5.2 Satellite system-dependent list of observables.................................................................................. 15
5.3 Marker type....................................................................................................................................... 16
Table 8: Proposed marker type keywords........................................................................................... 16
5.4 Half-wavelength observations, half-cycle ambiguities ..................................................................... 17
5.5 Scale factor........................................................................................................................................ 17
5.6 Information about receivers on a vehicle .......................................................................................... 17
5.7 Signal strengths................................................................................................................................. 18
Table 9: Standardized S/N indicators.................................................................................................. 18
5.8 Date/time format in the PGM / RUN BY / DATE header record ..................................................... 18

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5.9 Antenna phase center header record ................................................................................................. 19
5.10 Antenna orientation......................................................................................................................... 19
5.11 Observation data records................................................................................................................. 19
Table 10: Example for a list of observation types............................................................................... 19
Table 11: Example for observation data records................................................................................. 19
5.12 Ionosphere delay as pseudo-observables ........................................................................................ 20
5.13 Channel numbers as pseudo-observables........................................................................................ 20
5.14 Corrections of differential code biases (DCBs) .............................................................................. 21
5.15 Corrections of antenna phase center variations (PCVs).................................................................. 21
5.16 Navigation message files ................................................................................................................ 22
6. ADDITIONAL HINTS AND TIPS ........................................................................................................ 23
6.1 Versions ............................................................................................................................................ 23
6.2 Leading blanks in CHARACTER fields ........................................................................................... 23
6.3 Variable-length records..................................................................................................................... 23
6.4 Blank fields ....................................................................................................................................... 23
6.5 Order of the header records, order of data records............................................................................ 23
6.6 Missing items, duration of the validity of values.............................................................................. 24
6.7 Unknown / Undefined observation types and header records........................................................... 24
6.8 Event flag records ............................................................................................................................. 24
6.9 Receiver clock offset......................................................................................................................... 25
6.10 Two-digit years ............................................................................................................................... 25
6.11 Fit interval (GPS navigation message file) ..................................................................................... 25
6.12 Satellite health (GPS navigation message file) ............................................................................... 26
6.13 Transmission time of message (GPS navigation message file)....................................................... 26
6.14 Antenna references, phase centers .................................................................................................. 26
7. RINEX UNDER ANTISPOOFING (AS)............................................................................................... 27
8. DEALING WITH DIFFERENT SATELLITE SYSTEMS.................................................................... 28
8.1 Time system identifier ...................................................................................................................... 28
Table 12: Relations between GPS, QZSS, GST, GAL and BDS weeks............................................ 29
8.2 Pseudorange definition...................................................................................................................... 31
8.3 RINEX navigation message files ...................................................................................................... 31
8.3.1 RINEX navigation message files for GLONASS ...................................................................... 32

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8.3.2 RINEX navigation message files for Galileo............................................................................. 32
8.3.3 RINEX navigation message files for GEO satellites ................................................................. 33
8.3.4 RINEX navigation message files for QZSS L1-SAIF ............................................................... 34
8.3.5 RINEX navigation message files for BDS................................................................................. 34
8.4 RINEX observation files for GEO satellites ..................................................................................... 35
9. MODIFICATIONS FOR VERSION 3.01 and 3.02 ............................................................................... 36
9.1 Phase Cycle Shifts............................................................................................................................. 36
9.2 Galileo: BOC-Tracking of an MBOC-Modulated Signal ................................................................. 37
9.3 BDS Satellite System Code............................................................................................................... 38
9.4 New Observation Codes for GPS L1C and BDS .............................................................................. 38
9.5 Header Records for GLONASS Slot and Frequency Numbers ........................................................ 38
9.6 GNSS Navigation Message File: Leap Seconds Record................................................................... 38
9.7 Clarifications in the Galileo Navigation Message File: .................................................................... 38
9.8 RINEX Meteorological Data Files.................................................................................................... 38
9.9 Added Quasi-Zenith Satellite System (QZSS) Version 3.02 ............................................................ 38
9.10 Added GLONASS Mandatory Code-Phase Alignment Header Record ......................................... 39
9.11 Added BDS system (Replaces Compass) ....................................................................................... 39
10. REFERENCES ..................................................................................................................................... 40
APPENDIX: RINEX FORMAT DEFINITIONS AND EXAMPLES ......................................................... 1A 1 RINEX File name description............................................................................................................ 1A 2 GNSS Observation Data File -Header Section Description............................................................... 5A 3 GNSS Observation Data File -Data Record Description ................................................................. 12A 4 GNSS Observation Data File - Example.......................................................................................... 14A 5 GNSS Navigation Message File – Header Section Description....................................................... 16A 6 GNSS Navigation Message File – GPS Data Record Description................................................... 18A 7 GPS Navigation Message File – Example ....................................................................................... 19A 8 GNSS Navigation Message File – GALILEO Data Record Description......................................... 20A 9 GALILEO Navigation Message File – Example ............................................................................. 22
A 10 GNSS Navigation Message File – GLONASS Data Record Description...................................... 23
A 11 GNSS Navigation Message File – Example: Mixed GPS / GLONASS ........................................ 24
A 12 GNSS Navigation Message File – QZSS Data Record Description .............................................. 25
A 13 GNSS Navigation Message File – BDS Data Record Description ................................................ 27

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A 14 GNSS Navigation Message File – SBAS Data Record Description .............................................. 29
A 15 SBAS Navigation Message File -Example .................................................................................... 30
A 16 Meteorological Data File -Header Section Description ................................................................. 31
A 17 Meteorological Data File -Data Record Description...................................................................... 33
A 18 Meteorological Data File – Example ............................................................................................. 33
A 19 Reference Code and Phase Alignment by Constellation and Frequency Band.............................. 34

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0. REVISION HISTORY

02 Feb 200608 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
22-Jun-2009

Version 3.00
A few typos and obsolete paragraphs removed.
Epochs of met data of met files version 2.11 are in GPS time only
(Table A15).
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 –Version 3.01
Phase cycle shifts
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

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19-Nov-2011
21-Jan-2012

9-May-2012

29-Nov-2012

11-Mar-2013

26-Mar-2013

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
RemovedEdited text to improve clarity,
Updated phase alignment table,
Changed Met PGM / RUN BY / DATE to support 4digit year as in allother 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 through ou
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 9.10
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; A13 - BDS ephemerischanged AODC to IODC and AODE to IODE (as indicated by
BDS Authority and new ICD); Appendix Table 19(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, C1x to more closelyreflect existing bands in tables 2-6 and Appendix Tables A2 and A19.
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 toshow the approximate relationship of BDT to GPS time.

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Changed order of file type: from OG to GO etc in Appendix Table 1.
Updated Appendix table A19 to show X signals and indicate that theX phase is to be aligned to the frequencies reference signal.
Fixed a few small typos in A19 for GPS: L1C-D/P and D+P.

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1. THE PHILOSOPHY AND HISTORY OF RINEXThe first proposal for the Receiver Independent Exchange Format RINEX was developed by
the Astronomical Institute of the University of Berne 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 ofreception (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 thereceivers: They need phase, code, and time in the above mentioned definitions, and some stationrelated information like station name, antenna height, etc.
Up till 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 ofPrecise 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 otherthan 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]

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Version 2.20: Unofficial version used for the exchange of tracking data fromspaceborne 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-likeexchange 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 [Rayand Gurtner 1999]•

Exchange format for the complete broadcast data of spacebased augmentation systems SBAS. [Suard et al. 2004]•

IONEX: Exchange format for ionosphere models determined byprocessing data of a GNSS tracking network [Schaer et al. 1998]•

ANTEX: Exchange format for phase center variations ofgeodetic GNSS antennae [Rothacher and Schmid 2005]

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, ask for 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, thelimitation 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 asking for a version 3.01 was the requirement to generate consistent phaseobservations 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.

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2. GENERAL FORMAT DESCRIPTION
The RINEX version 3.00 format consists of three ASCII file types:
1.
2.
3.

Observation data File
Navigation message File
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. Theselabels 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 numberof 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 siteand 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 to insert header records into the data section it
is not recommended to concatenate data of 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 inorder 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 containnavigation messages of more than one satellite system (GPS, GLONASS, Galileo, Quasi Zenith
Satellite System (QZSS), BeiDou System (BDS) and SBAS).
The actual format descriptions as well as examples are given in the Appendix Tables at the endof the document.

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3. BASIC DEFINITIONS
GPS observables include three fundamental quantities that need to be defined: Time, Phase, andRange.

3.1 Time
The time of the measurement is the receiver time of the received signals. It is identical for thephase 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. Otherwise the actual time can (for mixed files must) be indicated in the Start Timeheader 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 inchapter 8.1.

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 2 and paragraph 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 like atmospheric refraction, satellite clockoffsets, 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 A19).
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:

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Time (corr)=

Time(r)-dT(r)PR (corr)=

PR (r)-

dT(r)*cphase (corr)=

phase (r)-dT(r)*freq

8

3.4 Doppler
The sign of the doppler shift as additional observable is defined as usual: Positive forapproaching satellites.

3.5 Satellite numbers
Starting with RINEX Version 2 the former two-digit satellite numbers nn are preceded by aone-character system identifier s:, see Figure 1.

S

NN
NN:
PRN
Slot number
PRN-100
PRN-192(GPS, Galileo, BeiDou)(Glonass)(SBAS, QZSS (L1 - SAIF))(QZSS)

Satellite System identifier
G: GPS
R: GLONASS
S: SBAS payload
E: Galileo
C: BeiDou
J: QZSS
Figure 1: Satellite numbers and Constellation Identifiers

The same satellite system identifiers are also used in all header records when appropriate.
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4. THE EXCHANGE OF RINEX FILES:The original RINEX file naming convention was implemented in the MS-DOS era when filenames 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 theelements of the RINEX 3.02 file naming convention.
Name S Start Time Period Obs. Freq. Content Format Compression

2-3
Char. defining
thecompression
method3 Characters –defining the file format
2 Characters –defining the content type
3 Characters – defining theobservation frequency
3 Characters - defining the intended(nominal) file period
11 Characters - defining YYYYDDDHHMM
1 Character – defining the data source
9 Characters – defining the site, station and country code

Figure 2: Recommended filename parameters.

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All elements are fixed length and are separated by an underscore “_” except for the: file type andcompression fields that uses a period “.” separator. Fields must be padded with zeros to fill thefield width. The file compression field is optional. See Appendix A1 for a detailed description of
the RINEX 3.02 file naming convention. Table 1 below lists sample file names for GNSS
observation and navigation files.
File Name
Comments
ALGO00CAN_R_20121601000_01H_01S_MO.rnx Mixed RINEX GNSS observation filecontaining 1 hour of data, with anobservation every second.
ALGO00CAN_R_20121601000_15M_01S_GO.rnx GPS RINEX observation file containing
15 minutes of data, with an observation
every second.
ALGO00CAN_R_20121601000_01H_05Z_MO.rnx Mixed RINEX GNSS observation filecontaining 1 hour of data, with 5
observations per second.
ALGO00CAN_R_20121601000_01D_30S_GO.rnx GPS RINEX observation file containing 1
day of data, with an observation every 30
seconds.
ALGO00CAN_R_20121601000_01D_30S_MO.rnx Mixed RINEX GNSS observation filecontaining 1 day of data, with anobservation every 30 seconds.
ALGO00CAN_R_20121600000_01D_GN.rnx
RINEX GPS navigation file, containing
one days data.
ALGO00CAN_R_20121600000_15M_RN.rnx
RINEX GLONASS navigation file,containing one days data
Table 1: 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 the above mentioned
standard compression programs.
References for the Hatanaka compression scheme: See e.g.
• 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
format definition. However, they significantly facilitate the exchange of RINEX data in large
user communities like IGS.
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5. RINEX VERSION 3 FEATURES
The following section 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 phaseobservations based on one or a combination of several channels: Two-channel signals arecomposed of I and Q components, three-channel signals of A, B, and C components. Moreover a
wideband tracking of a combined E5a + E5b frequency tracking is possible. In order to keep theobservation 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 asignal generation attribute:
The observation code tna consists of three parts:
t :observation type

C = pseudorange,

n :band / frequency

1, 2,...,8a : attributetracking mode or channel, e.g., I, Q, etc

L = carrier phase,

D = doppler,S = signal
strength)

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)Tables 2 to 7 describe each GNSS constellation and the frequencies and signal encoding methods
used.

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GNSS
SystemFreq. Band
/Frequency

GPS

L1/1575.42

L2/1227.60

L5/1176.45

Channel or CodeC/A
L1C (D)
L1C (P)
L1C (D+P)P
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
Z-tracking and similar(AS on)Y
M
codeless
I
Q
I+Q

Pseudo
Range
C1C
C1S
C1L
C1X
C1P

Observation Codes
Carrier
Doppler
Phase
L1C
D1C
L1S
D1S
L1L
D1L
L1X
D1X
L1P
D1P

C1W

L1W

D1W

S1W

C1Y
C1M
C2C

L1Y
L1M
L1N
L2C

D1Y
D1M
D1N
D2C

S1Y
S1M
S1N
S2C

C2D

L2D

D2D

S2D

C2S
C2L
C2X
C2P

L2S
L2L
L2X
L2P

D2S
D2L
D2X
D2P

S2S
S2L
S2X
S2P

C2W

L2W

D2W

S2W

C2Y
C2M

L2Y
L2M
L2N
L5I
L5Q
L5X

D2Y
D2M
D2N
D5I
D5Q
D5X

S2Y
S2M
S2N
S5I
S5Q
S5X

C5I
C5Q
C5X

Table 2 : RINEX Version 3.02 GPS observation codes

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SignalStrength
S1C
S1S
S1L
S1X
S1P

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Observation Codes
Carrier
SignalDoppler
Phase
Strength
L1C
D1C
S1C

GNSS
SystemFreq. Band
/Frequency

Channel or
Code

GLONASS

G1/
1602+k*9/16
k= -7….+12

C/A

Pseudo
Range
C1C

P

C1P

L1P

D1P

S1P

C2C

L2C

D2C

S2C

C2P
C3I
C3Q
C3X

L2P
L3I
L3Q
L3X

D2P
D3I
D3Q
D3X

S2P
S3I
S3Q
S3X

G2/
1246+k*716
G3 / 1202.025

C/A(GLONASS M)
P
I
Q
I+Q

Table 3 : RINEX Version 3.02 GLONASS observation codes

GNSS
SystemFreq. Band
/Frequency

Galileo
E1 / 1575.42

E5a / 1176.45

E5b / 1207.140
E5(E5a+E5b) /1191.795

E6 / 1278.75

Channel or CodeA PRS
B I/NAV OS/CS/SoL
Cno 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
SignalDoppler
Phase
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 4 : RINEX Version 3.02 Galileo observation codes

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GNSS
SystemFreq. Band/
Frequency
L1 / 1575.42

SBAS

L5 / 1176.45

Channel or
Code
C/A
I
Q
I+Q

Pseudo
Range
C1C
C5I
C5Q
C5X

Observation Codes
Carrier Doppler
SignalPhase
Strength
L1C
D1C
S1C
L5I
D5I
S5I
L5Q
D5Q
S5Q
L5X
D5X
S5X

Table 5 : RINEX Version 3.02 SBAS observation codes

GNSS
SystemFreq. Band /Frequency

QZSS
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
CarrieSignalDopplerr PhaseStrength
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 6 : RINEX Version 3.02 QZSS observation codes

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GNSS
SystemObservation Codes
Freq. Band / Frequency Channel or CodeBDS
B1 / 1561.098

B2 / 1207.14

B3 / 1268.52

I
Q
I+Q
I
Q
I+Q
I
Q
I+Q

Pseudo Carrier
Doppler
Range Phase
C1I
L1I
D1I
C1Q
L1Q
D1Q
C1X
L1X
D1X
C7I
L7I
D7I
C7Q
L7Q
D7Q
C7X
L7X
D7X
C6I
L6I
D6I
C6Q
L6Q
D6Q
C6X
L6X
D6X

SignalStrength
S1I
S1Q
S1X
S7I
S7Q
S7X
S6I
S6Q
S6X

Table 7 : RINEX Version 3.02 BDS 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.
GPS-SBAS and –pseudorandom noise (PRN) code assignments:
See e.g., http://www.losangeles.af.mil/library/factsheets/factsheet.aspid=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 recoverpseudorange and phase on the “P-code” band use attribute W. Y-code tracking receivers use
attribute Y.
Appendix Table A19 enumerates the fractional phase corrections required to align each signal to
the frequencies reference signal.
As all observations affected by “AS on” get now 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 alist of observation codes in a header record. As the types of the observations actually generated by areceiver may heavily depend on the satellite system RINEX Version 3 requests system-dependent
observation code list (header record type SYS / # / OBS TYPES).

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5.3 Marker type
In order to indicate the nature of the marker a MARKER TYPE header record has been defined:
Marker Type
Geodetic
Non Geodetic
Non_PhysicalSpace borne
Air borne
Water Craft
Ground Craft
Fixed Buoy
Floating Buoy
Floating Ice
Glacier
Ballistic
AnimalHuman

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 glacierRockets, shells, etc
Animal carrying a receiver
Human being
Table 8: Proposed marker type keywords

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 arestill necessary to flag alternating kinematic and static phases of a receiver visiting multiple earthfixed monuments, however.
Users may define other project-dependent keywords.

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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 theobservation records are not necessary anymore. If a receiver changed between squaring and fullcycle tracking within the time period of a RINEX file, observation codes for both types ofobservations 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., duringacquisition or after loss of lock) are to be flagged with Loss of Lock Indicator bit 1 set (seeAppendix Table A3).

5.5 Scale factor
The optional SYS / SCALE FACTOR record allows e.g., to store phase data with 0.0001
cycles resolution if the data was multiplied by a scale factor of 10 before being stored into
RINEX file. 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
Bore-sight 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 XYZAntenna orientation: Zero-direction of the antenna. Used for the application of“azimuth”-dependent phase center variation models (see 6.14 below):
ANTENNA: ZERODIR XYZCurrent center of mass of the vehicle (for spaceborne 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.

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5.7 Signal strengths
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 indbHz:
sn_rnx=MIN(MAX(INT(sn_raw/6),1),9)Signal to Noise ratio(dbHz)
< 12
12-17
18-23
24-29
30-35
36-41
42-47
48-53
≥ 54

Signal to Noise ratio(RINEX)
1
2
3
4
5
6
7
8
9

Table 9: Standardized S/N indicators

The raw carrier to noise ratio can be optionally stored as Sna observations in the data records
should be stored in dbHz if possible. The new SIGNAL STRENGTH UNIT header record canbe 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 time zone. Set zone to LCL if local time was used withunknown local time system code.

1

S/N is the raw S/N at the output of the correlators, without attempting to recover any correlation

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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. Regarding the use of phasecenter variation corrections see 5.15.

5.10 Antenna orientation
Header records have been defined to report the orientation of the antenna zero-direction as wellas 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
Apart 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 withthe satellite number snn, the epoch record starts with special character >. It is now also mucheasier 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 :GRES

5 C1P L1P L2C C2C S2C
2 C1C L1C
2 L1B L5I
2 C1C L1C

SYS / # / OBS TYPESSYS / # / OBS TYPESSYS / # / OBS TYPESSYS / # / OBS TYPES

Table 10: Example for a list of observation types

The epoch and observation records look 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 5E1165432.123 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

24.15838.54332.326

Table 11: Example for observation data records

The receiver clock correction in the epoch record has been placed such that it could be preceded
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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 froman ionosphere model. We add the ionosphere phase delay expressed in full cycles of therespective satellite system-dependent wavelength as pseudo-observable to the list of the RINEX
observables.
T: observation type

I = Ionosphere phase delay

n: band/frequency

1, 2, ...,8a: attributeblank

The ionosphere pseudo-observable has to be included into the list of observables of therespective 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 andconverts it to other wavelengths and to pseudorange corrections in meters:
corr_phase(fi)=raw_phase(fi)+d_ion(fi)corr_prange(fi)=raw_prange(fi)-d_ion(fi) • c/fi

d_ion(fk)=d_ion(fi)•(fi/fk)**2 (accounting for 1st order effects only)

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 anotherpseudo-observable:-t : observation type:

X = Receiver channel number-

n : band / frequency :1-

a : attribute:

blank

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Lowest channel number allowed is 1 (re-number channels beforehand, if necessary). In case of areceiver 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 withcorrections 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 thefile containing the applied corrections.

5.15 Corrections of antenna phase center variations (PCVs)
For more precise applications an elevation-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 alreadyapplied. This can be reported by special header records SYS / PCVS APPLIED pointing to
the file containing the PCV correction models.

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5.16 Navigation message files
The header portion has been unified (with respect to the format definitions) for all satellite
systems. The data portion contains now in the first record of each message block in addition to
the satellite number also the code for the satellite system.
G06 1999 09 02 17 51 44 -.839701388031D-03 -.165982783074D-10.000000000000D+00

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-07.1310D+06.2345D+04

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IONOSPHERIC CORR
IONOSPHERIC CORR
IONOSPHERIC CORR

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6. ADDITIONAL HINTS AND TIPS
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 arecord 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 tobe 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 / DCBSAPPLIED and SYS / SCALE FACTOR records.
The # OF SATELLITES record (if present) should be immediately followed by thecorresponding number of PRN / # OF OBS records. (These records may be handy for
documentary purposes. However, since they may only be created after having read wholeraw data file we define them to be optional.
The END OF HEADER of course is the last record in the header

2

Defined by the satellite system with the largest number of possible observables plus any“pseudo-observables” like ionosphere, etc. The length limitation to 80 characters of RINEX Versions
1 and 2 has been removed.

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Data records: Multiple epoch 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 or the respective
record may be completely omitted. Consequently items of missing header records will be set tozero or blank by the program reading RINEX files. Trailing blanks may be truncated from therecord.
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 withunknown observation types, header records or event flags by skipping them and/or reportingthem 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.

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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 beencorrected 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 caneasily 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/will be defined in the RINEX version 3 files.

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 usedby the GPS Control Segment in determining the ephemeris parameters, as follows (see ICDGPS-200, 20.3.3.4.3.1):
0 = 4 hours
1 = greater than 4 hours.
Together with the IODC values and Table 20-XII the actual fit interval can be determined. The
second value in the last record of each message shall contain the fit interval in hours determinedusing IODC, fit flag, and Table 20-XII, according to the Interface Document ICD-GPS-200.

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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:
RINEX Value:
RINEX Value:

0
1
>32

Health OK
Health not OK (bits 18-22 not stored)
Health not OK (bits 18-22 stored)

6.13 Transmission time of message (GPS navigation message file)
The transmission time of a message can be shortly before midnight Saturday/Sunday, 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 withToE (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 thesame 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., thecenter of the bottom surface of the preamplifier. The antenna height is measured from themarker to the ARP and reported in the ANTENNA: DELTA H/E/N header record.
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 absolutesense 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

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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 thezero-direction in an ANTENNA: ZERODIR AZI header record. On vehicles the zerodirection 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 bore-sight direction of an antenna on a vehicle: The “vertical” symmetry axis of theantenna pointing towards the GNSS satellites. It can be reported as unit vector in thebody-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 phaseobservations 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. In order to enable the postprocessing programs to take special actions, such 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 the observable (codeless, semi-codeless, Z-tracking or similar techniques
when AS on, L2C, P-code when AS off, Y-code tracking), making the AS flag obsolete.

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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 acontinuous 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 withweek 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 acontinuous 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); theQZSS 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 toUTC(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.

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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 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 a SI second. BDT zero time started at 00:00:00 UTC on January 1st, 2006 (GPS week1356). 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.
Constellation/Archival Time
Representation

GPS
Ephemeris
Week
Period #1

GPS
Ephemeris
Week
Period #2

GPS
Ephemeris
Week Period#3

GPS
Ephemeris
Week
Period #4

GPS
Ephemeris
Week Period#5GPS
Ephemeris
Week Period#6

GPS
Broadcast
QZSS
Broadcast
GPS/QZSS
RINEX
GST
GAL
BDS

0 – 1023

0 – 1023

0 – 1023

0 – 1023

0 – 1023

0 – 1023

0 – 1023

0 – 1023

0 – 1023

0 – 1023

0 – 1023

1024 – 2047

2048 – 3071

3072 – 4095

4096 – 5119

5120 -6143

0 – 1023
1024 – 2047
0(1356) –691

1024 – 2047
2048 – 3071
692 – 1715

2048 – 3071
3072 – 4095
1716 – 2739

3072 – 4095
4096 – 5119
2740 – 3763

0 – 1023
5120 – 6143
3764 – 4787

0 – 1023

Table 12: Relations between GPS, QZSS, GST, GAL and BDS weeks

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
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GPS/GLONASS/Galileo/QZSS/BDS 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.

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.
Apart from the small errors in the realizations of the different time systems, the relations between
the sys-terms are:
GLO
GPS

=
=

UTC
GAL

=
=

GPS
UTC

+

GPS

=

BDT

+

∆tLS(2006)

∆tLS
∆tLS

Where :

∆tLS=

Delta time between GPS and UTC due to leap seconds,
as transmitted by the GPS satellites in the almanac(2005: ∆tLS = 13, 2006: ∆tLS = 14, 2008: ∆tLS = 15
and 2012: ∆tLS = 16 ).

In order to have the current number of leap seconds available we recommend to include ∆tLS by
a LEAP SECOND line into the RINEX file headers.
If there are known non-integer biases between “GPS receiver clock”, “GLONASS receiverclock” 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 correctedtoo (c * bias if expressed in meters).
Unknown biases will have to be solved for during the post processing
The small differences (modulo 1 second) between 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.

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8.2 Pseudorange definition
The pseudorange (code) measurement is defined to be equivalent to the difference of the time ofreception (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* ∆tLSif generated with a receiver clock
running in the GLONASS time frame

PR_mod(GAL)=

PR(GAL)+C* ∆tLSif generated with a receiver clock
running in the GLONASS time frame

PR_mod(BDT)=

PR(BDT)+C* ∆tLSif generated with a receiver clock
running in the GLONASS time frame

PR_mod(GLO)=

PR(GLO)-C* ∆tLSif generated with a receiver clock
running in the GPS or GAL time frame

to remove the contributions of the leap seconds from the pseudoranges.
∆tLS 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.

8.3 RINEX navigation message files
The header section of the RINEX version 3.00 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, i.e., GPS, GLONASS, Galileo, SBAS, QZSS and BDS.
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 thecontents, however, are satellite system-dependent. The format of the version 3 data records has
been changed slightly, the satellite codes now contain also the satellite system identifier.

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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 identifierof the satellite code the reading program can determine the number of data records to be readfor 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) into the RINEX file.
8.3.1 RINEX navigation message files for GLONASSThe 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 andacceleration, the clock and frequency biases as well as auxiliary information as health, satellite
frequency (channel), age of the information.
The corrections of the satellite time to UTC are as follows:
GPS: Tutc = Tsv –af0 –af1 *(Tsv-Toc) -... –A0 -... –∆tLS
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.
The time tags in the GLONASS navigation files are given in UTC (i.e. not Moscow time or
GPS time). File naming convention: See above.
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 contents of the two messages
differs in various items, however, in general it is very similar to the contents of the GPS
navigation, e.g. the orbit parameterization is the same. The data blocks of the Galileo RINEX
navigation messages are identical to a large extent.
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
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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 = 2 +2 -> Bits 4 and 0 are set, all others are zero
40

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.
The header section contains information about the generating program, comments, and thedifference 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 –∆tLS
W0 being the correction to transform the GEO 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 expressedin GPS seconds of the week. It marks the beginning of the message transmission. It has to referto 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

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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.
The header section contains information about the generating program, comments, and thedifference 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 –∆tLS
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 expressedin GPS seconds of the week. It marks the beginning of the message transmission. It has to referto 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 A14
8.3.5 RINEX navigation message files for BDS

The BDS Open Service broadcast navigation message; in general, is similar to the contents of 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 seven records are similar to the GPS navigation.

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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 at : 1-Jan-2006, Hence BDT week = BDT week_BRD+ (n*8192) (Where n: number of BDT roll-overs). See Appendix Table A13 for details.

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, 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
In mixed dual frequency GPS satellite / single frequency GEO payload observation files thefields 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 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 CORR TO SYSTEM TIME header record has been replaced by the more general record
D-UTC. A0, A1, T, W, S, U in Version 2.11.

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9. MODIFICATIONS FOR VERSION 3.01 and 3.02
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, insome exceptional cases, by other fractional parts of a cycle. Appendix Table19 specifies thereference 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 2 for the messages definition. If thephase 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: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.



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 uncorrectedreference signal group of observations are left blank in the SYS / PHASE SHIFT
records. Appendix Table19 specifies the reference signal that should be used by eachconstellation and frequency band. Additionally, Appendix Table19 indicates therelationship 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, theneither the raw data provided by the receiver or the data format (RTCM-Multiple Signal
Messages format for example) have been already aligned the phase observations and the
RINEX conversion program did not apply any phase corrections since they had alreadybeen applied. In this case Appendix Table19 can be used to determine the fractional
cycles that had been added to each signal’s phase observation to align the phaseobservations 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 thesame system, the header record allows for the affected satellites to be indicated.

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

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 ∆φ:
φRINEX=φ original

:

∆φ

:

φ original+∆φ

Uncorrected or corrected, i.e. as issued by the GNSS receiver orin a standardized data stream such as RTCM-MSM
Phase correction to align the phase to other phases ofthe same frequency but different channel / modulationband

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

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 areceiver to track the signal also in a BOC mode, leading to different noise characteristics, though.
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 isused.
Non-standard BOC tracking of an MBOC-modulated signal: Increase the LLI by 4.
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 TYPESR
2 C1C L1C
SYS / # / OBS TYPES
E
2 L1C L5I
SYS / # / OBS TYPESS
2 C1C L1C
SYS / # / OBS TYPES
18.000
INTERVALEND 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
38.123G12 20607600.189-.430 9.394 5 20607600.848
35.234E11.32448.178 7
S20 38137559.506
335849.135 9

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9.3 BDS Satellite System CodeA satellite system code for BeiDou navigation satellite System (BDS) has been defined 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 2 and
7.

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, an
optional observation file header record is assigned. This allows processing of GLONASS files
without having to get this information from GLONASS navigation message files or othersources.
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 #R17 5 R18 -5
GLONASS SLOT / FRQ #9.6 GNSS Navigation Message File: Leap Seconds Record
The optional LEAP SECONDS record was modified to also include TLS, WNLSF (adjusted tocontinuous 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 RINEX Meteorological Data Files
The version number is adjusted to 3.01.

9.9 Added Quasi-Zenith Satellite System (QZSS) Version 3.02
The version number is adjusted to 3.02. Added QZSS : specifications, parameters anddefinitions to the documentation. 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 broadcasts 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..
Added Appendix Table 19 to enable users to convert each signal’s aligned phase observations
back to raw satellite phase.
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9.10 Added 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 sametime. To remedy this problem a mandatory GLONASS Code-Phase header bias record isrequired. 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 thatissues 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 :AlignedL1Cphase in cycles (written to RINEX file)
ObservedL1Cphase 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.
Example (Definition 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#

9.11 Added BDS system (Replaces Compass)
Added BDS : naming convention, time system definition, header section description, andparameters through out the document. Updated: Sections: 8.1, 8.2, 8.3.5, 9.11 and Appendix
Table A2, added ephemeris Table A13 and updated Table A19.

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10. REFERENCES
Evans, A. (1989): “Summary of the Workshop on GPS Exchange Formats.” Proceedings of theFifth 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”. Bulletinof the Geographical Survey Institute, Vol. 55, pp 21-30, Tsukuba, March 2008.
http://www.gsi.go.jp/ENGLISH/Bulletin55.html
Ray, J., W. Gurtner (1999): “RINEX Extensions to Handle Clock Information”.
ftp://igscb.jpl.nasa.gov/igscb/data/format/rinex_clock.txt.
Ray, J. (2005): “Final update for P1-C1 bias values & cc2noncc”. IGSMail 5260
Rothacher, M., R. Schmid (2005): “ANTEX: The Antenna Exchange Format Version 1.3”.
ftp://igscb.jpl.nasa.gov/pub/station/general/antex13.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
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RINEX Version 3.02 41
Document RTCA DO 229, Appendix A
Document GAL OS SIS ICD/D.0: Galileo Interface Control Document, Revision 0, 23/05/2006,
Chapter 9.
Quasi-Zenith Satellite System, Navigation Service, Interface Specification for QZSS (IS-QZSS),
V1.4, Japan Aerospace Exploration Agency, February 28, 2012
BeiDou Navigation Satellite System, Signal In Space, Interface Control Document, Open Service
Signal, B1I (Version1.0), China Satellite Navigation Office December 2012

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A1

APPENDIX: RINEX FORMAT DEFINITIONS AND EXAMPLES
A 1 RINEX File name description
Table A1

RINEX File name description
Field<SITE/STATIONMONUMENT/RECEIVER/
COUNTRY/<DATA SOURCE><START TIME><FILE PERIOD><DATA FREQ>

Field Description
XXXXMRCCC
Where:XXXX - existing
IGS station nameM – monument ormarker number (0-9)
R – receiver number(0-9)
CCC – ISO Countrycode(Total 9 characters)
Data Source
R – From Receiverdata using vendor orother software
S – From data Stream(RTCM or other)U – Unknown(1 character)YYYYDDDHHMM
YYYY – Gregorianyear 4 digits,
DDD – day of Year,
HHMM – hours andminutes 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

ExampleALGO00CAN

RequiredYes

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

R

Yes

This field is used to indicate how
the data was collected either fromthe receiver at the station or froma data stream

2012150
1200

Yes

15M

Yes

For GPS and Mixed files use :GPS Year, day of year, hour ofday, minute of day (see text
below for details)
Start time should be the nominal
start time of the first observation.
GLONASS, Galileo etc use
respective time system.
File Period
15M–15 Minutes
01H–1 Hour
01D–1 Day
01Y–1 Year
00U-Unspecified

05Z

Mandatory for

XXC – 100 Hertz
XXZ – HertZ,2013-04-17 RINEX Version 3.02

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A2

Table A1

RINEX File name description
Field<DATA TYPE >Field Description
DD – data rateU – units of data rate
(3 characters)

ExampleDD
DD – Data typeMO

Required
RINEX
Obs. Data.
NOT
requiredfor
Navigation Files.
Yes

rnx

Yes

gz

No

(2 characters)<FORMAT>FFF
FFF – File format(3 characters)<COMPRESSION>
Sub Total
Separators(2-3 Characters)
34 or 35
(7 characters –Obs.
File)(6 characters –Eph.
File)

Total

41-42(Obs. File)37-38 (Eph. File)Two characters represent the datatype:
GO - GPS Obs.,
RO - GLONASS Obs.,
EO - Galileo Obs.
JO - QZSS Obs.
CO - BDS Obs.
SO - SBAS Obs.
MO Mixed Obs.
GN - Nav. GPS,RN- Glonass Nav.,EN- Galileo Nav.,JN- QZSS Nav.,CN- BDS Nav.
SN- SBAS Nav.
MN- Nav. All GNSS
Constellations)
MM-Meteorological Observation
Etc
Three character indicating thedata format :RINEX - rnx,
Hatanaka Compressed RINEX –crx, ETC
gz
Fields_ under score between all fields
and “.” Between data type and fileformat and the compression
methodMandatory IGS RINEX obs.
Characters

Filename Details and Examples:
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Comment/Example
XXS – Seconds,
XXM – Minutes,
XXH – Hours,
XXD – Days
XXU – Unspecified

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A3<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 becreated 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 intended start time which should coincide with thefirst observation in the file. GPS file start time is specified in GPS Time. Mixed observation filestart times are defined in GPS Time. 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 intended 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
ALGO00CAN_R_20121601000_01D_05M_JO.rnx.gz //5 minute data rate
ALGO00CAN_R_20121601000_01D_01H_CO.rnx.gz //1 hour data rate
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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. GLONASSALGO00CAN_R_20121601000_15M_01S_EO.rnx.gz //RINEX obs. Galileo
ALGO00CAN_R_20121601000_15M_01S_JO.rnx.gz //RINEX obs. QZSSALGO00CAN_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. GLONASSALGO00CAN_R_20121600000_01H_EN.rnx.gz //RINEX nav. Galileo
ALGO00CAN_R_20121600000_01H_JN.rnx.gz //RINEX nav. QZSSALGO00CAN_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: UNIX Compress “.Z”, gzip - “.gz”, bzip2 - “.bz2” and“.zip”.

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A 2 GNSS Observation Data File -Header Section Description
TABLE A2
GNSS OBSERVATION DATA FILE - HEADER SECTION DESCRIPTIONHEADER LABELDESCRIPTIONFORMAT(Columns 61-80)
Format version : 3.02
F9.2, 11X,
RINEX VERSION /File type: O for Observation Data
A1,19X,
TYPE
Satellite System:
A1,19X
G: GPS
R: GLONASS
E: Galileo
J: QZSS
C: BDS
S: SBAS payload
M: Mixed
PGM / RUN BY /DATE* COMMENT
MARKER NAME
* MARKER
NUMBER
MARKER TYPE-

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 timesystem code
Comment line(s)Name of antenna marker
Number of antenna marker

A20,
A20,
A20

Type of the marker:
GEODETIC : Earth-fixed, high- precisionmonument
NON_GEODETIC : Earth-fixed, low- precisionmonument
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

A20,40X

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A60
A60
A20

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TABLE A2
GNSS OBSERVATION DATA FILE - HEADER SECTION DESCRIPTIONANIMAL : Animal carrying a receiver
HUMAN : Human being
Record required except for GEODETIC andNON_GEODETIC marker types. Users may
define other project-dependent keywords.
Name of observer / agency

A20,A40

Receiver number, type, and version (Version: e.g.
Internal Software Version)
Antenna number and type
Geocentric approximate marker position (Units:Meters, System: ITRS recommended) Optional formoving platforms- Antenna height: Height of the antenna reference
ANTENNA: DELTA
point (ARP) above the marker
H/E/N- Horizontal eccentricity of ARP relative to themarker (east/north)All units in meters* ANTENNA: DELTA Position of antenna reference point for antenna on
vehicle (m): XYZ vector in body-fixed coord.
X/Y/Z
systemAverage phase center position w/r to antenna*ANTENNA:PHASE
reference point (m)CENTER
Satellite system (G/R/E/J/C/S)- Observation code
- North/East/Up (fixed station) or
X/Y/Z in body-fixed system (vehicle)
Direction of the “vertical” antenna axis towards the* ANTENNA:
GNSS satellites.
B.SIGHT XYZAntenna on vehicle: Unit vector in body-fixed
coord. System
Tilted antenna on fixed station: Unit vector in
N/E/Up left-handed system
Azimuth of the zero-direction of a fixed antenna* ANTENNA:(degrees, from north)
ZERODIR AZI
Zero-direction of antenna* ANTENNA:
Antenna on vehicle: Unit vector in body-fixed
ZERODIR XYZ
coord. system
Tilted antenna on fixed station: Unit vector in
N/E/Up left-handed system
Current center of mass (X,Y,Z, meters) of vehicle* CENTER OF
in body-fixed coordinate system. Same system as
MASS: XYZ
used for attitude.

3A20

OBSERVER /AGENCYREC # / TYPE /VERS
ANT # / TYPEAPPROX POSITIONXYZRINEX 3.02.IGS.RTCM.doc

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2A20
3F14.4F14.4,
2F14.4

3F14.4

A1,
1X,A3,
F9.4,
2F14.4
3F14.4F14.4
3F14.4

3F14.4

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TABLE A2
GNSS OBSERVATION DATA FILE - HEADER SECTION DESCRIPTION
Satellite system code (G/R/E/J/C/S/M)
A1,
SYS / # / OBS TYPES Number of different observation types for
2X,I3,
the specified satellite system
Observation descriptors:
13(1X,A3)
o
Type
o
Band
o
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 definedin 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)
E2-L1-E1
(GAL)
B1
(BDS)
2=
L2
(GPS, QZSS)
G2
(GLO)
5=
L5
(GPS, QZSS, SBAS)
E5a
(GAL)
6=
E6
(GAL)
LEX
(QZSS)
B3
(BDS)
7=
E5b
(GAL)
B2
(BDS)
8=
E5a+b
(GAL)
0
for type X(all)
SYS / # / OBS TYPES(Continued)

Attribute:
P = P code-based (GPS,GLO)
C = C code-based (SBAS,GPS,GLO,
QZSS)
D=
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TABLE A2
GNSS OBSERVATION DATA FILE - HEADER SECTION DESCRIPTION
M = M code-based (GPS)N=
codeless(GPS)A=
A channel(GAL)
B=
B channel(GAL)
C=
C channel(GAL)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)
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)
blank : for types I and X (all) or unknown trackingmode
All characters in uppercase only!
Units :
Phase :
Pseudorange :Doppler :SNR etc :Ionosphere :Channel # :full cycles
metersHz
receiver-dependent
full cycles
See text

Sign definition: See text.
The sequence of the observations in the observation
records has to correspond to the sequence of thetypes in this record of the respective satellite
system.

* SIGNAL
STRENGTH UNIT

The attribute can be left blank if not known. See
text!
Unit of the carrier to noise ratio observables Snn (ifpresent) DBHZ : S/N given in dbHz...

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TABLE A2
GNSS OBSERVATION DATA FILE - HEADER SECTION DESCRIPTION
Observation interval in seconds
F10.3* INTERVAL- Time of first observation record (4-digit5I6,F13.7,
TIME OF FIRST
year, month, day, hour, min, sec)
OBS
Time system:- GPS (=GPS time system)
5X,A3- GLO (=UTC time system)- GAL (=Galileo System Time)- QZS (= QZSS time system)- BDT (=BDS 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* TIME OF LASTOBS* RCV CLOCKOFFS APPL* SYS / DCBSAPPLIED* SYS / PCVSAPPLIED* SYS / SCALE
FACTOR

Time of last observation record (4-digityear, month,day,hour,min,sec)
Time system: Same value as in TIME OFFIRST OBS record
Epoch, code, and phase are corrected by 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

5I6,F13.7,- Satellite system (G/R/E/J/C/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 notpresent.
- Satellite system (G/R/E/J/C/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 notpresent.
- Satellite system (G/R/E/J/C/S)- Factor to divide stored observations with beforeuse (1,10,100,1000)- Number of observation types involved. 0 orA1,
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5X,A3
I6

1X,A40A1,
1X,A17,
1X,A40A1,
1X,I4,
2X,I2,

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A10

TABLE A2
GNSS OBSERVATION DATA FILE - HEADER SECTION DESCRIPTION
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)

Repeat record if different factors are applied todifferent observation types.
SYS / PHASE SHIFTGLONASS SLOT /FRQ #GLONASS
COD/PHS/BIS

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/S)- Carrier phase observation code
- Type- Band- Attribute- Correction applied (cycles)- Number of satellites involved 0 or blank: Allsatellites of system
List of satellites
Use continuation line(s) for more than 10 satellites.
Repeat the record for all affected codes.
Leave observation code and rest of the field blank if
applied corrections for the respective satellite
system are unknown.
phase(RINEX) = phase(orig) + correction. See
chapter 9.1!
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 codeand phase observations.
- GLONASS signal identifier : C1C and CodePhase bias correction (metres)- GLONASS signal identifier : C1P and CodePhase bias correction (metres)- GLONASS signal identifier : C2C and CodeRINEX 3.02.IGS.RTCM.doc

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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)

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TABLE A2
GNSS OBSERVATION DATA FILE - HEADER SECTION DESCRIPTION
Phase bias correction (metres)- GLONASS signal identifier : C2P and CodePhase bias correction (metres)* LEAP SECONDS- Number of leap seconds since 6-Jan-1980 as
I6,transmitted by the GPS almanac _t_LS- Future or past leap seconds _t_LSF
I6,- Respective week number WN_LSF (continuous
I6,
number)- Respective day number DN
I6(see ICD-GPS-200C 20.3.3.5.2.4)
Zero or blank if not known* # OF SATELLITES Number of satellites, for which observations are
I6
stored in the file
* PRN / # OF OBSSatellite numbers, number of observations for each
3X,
observation type indicated
A1,I2.2,in the SYS / # / OBS TYPES record.
9I6
If more than 9 observation types:
Use continuation line(s)In order to avoid format overflows, 99999 indicates>= 99999 observations in the RINEX file.
This record is (these records are) repeated for eachsatellite present in the data file.
Last record in the header section.
END OF HEADER
Records marked with * are optional

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A 3 GNSS Observation Data File -Data Record Description
TABLE A3
GNSS OBSERVATION DATA FILE – DATA RECORD DESCRIPTIONDESCRIPTIONFORMAT
EPOCH record-

Record identifier : >Epochyear (4 digits):month, day, hour, min (two digits)sec
Epoch flag
0: OK
1: power failure between previous and current epoch>1: Special event- Number of satellites observed in current epoch- (reserved)- Receiver clock offset (seconds, optional)
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
TYPES record)- Signal strength
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 thissatellite.
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
slippossible. For phase observations only.
Bit 1 set : Half-cycle ambiguity/slip possible. Software not capable ofhandling half cycles should skip this observation. Valid for the current
epoch only.
Bit 2 set : Galileo BOC-tracking of an MBOC-modulated signal (maysuffer from increased noise).

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A1,
1X,I4,
4(1X,I2.2),
F11.7,
2X,I1,

I3,
6X,
F15.12,
A1,I2.2,m(F14.3,
I1,
I1)

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TABLE A3
GNSS OBSERVATION DATA FILE – DATA RECORD DESCRIPTION
Signal strength projected into interval 1-9:
1: minimum possible signal strength
5: average S/N ratio
9: maximum possible signal strength
0 or blank: not known, don't careStandardization for S/N values given in dbHz: See text.
- Epoch flag 2-5: EVENT: Special records may follow- Epoch flag
[2X,I1]- 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
[I3]
no special records follow.
- Maximum number of records: 999
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;
o slip instead of observation;o LLI and signal strength blank or zero)

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A14

A 4 GNSS Observation Data File - Example+------------------------------------------------------------------------------+|TABLE A4||GNSS OBSERVATION DATA FILE - EXAMPLE|+------------------------------------------------------------------------------+----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|03.02
OBSERVATION DATAMRINEX VERSION / TYPE
G = GPS R = GLONASS E = GALILEO S = GEO M = MIXEDCOMMENTXXRINEXO V9.9
AIUB
20060324 144333 UTC PGM / RUN BY / DATEEXAMPLE OF A MIXED RINEX FILE VERSION 3.02
COMMENTThe file contains L1 pseudorange and phase data of the
COMMENT
geostationary AOR-E satellite (PRN 120 = S20)COMMENTA 9080
MARKER NAME
9080.1.34
MARKER NUMBER
BILL SMITH
ABC INSTITUTEOBSERVER / 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 APPLG
5 C1C L1W L2W C1W S2W
SYS / # / OBS TYPESR
2 C1C L1C
SYS / # / OBS TYPESE
2 L1B L5I
SYS / # / OBS TYPESS
2 C1C L1C
SYS / # / OBS TYPES
18.000
INTERVALG 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 #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
38.123G12 20607600.189-.430 9.394 5 20607600.848
35.234E11.324 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
42.231G12 20611072.689
18247.789 914219.770 6 20611072.410
36.765
R21 21345678.576
12345.567 5
R22 22123456.789
23456.789 5E1165432.123 5
48861.586 7
S20 38137559.506
335849.135 9> 2006 03 24 13 11 12.0000000 2 2*** FROM NOW ON KINEMATIC DATA! ***COMMENTTWO COMMENT LINES FOLLOW DIRECTLY THE EVENT RECORDCOMMENT> 2006 3 24 13 11 12.0000000 0 4-0.123456789876
G06 21110991.756
16119.980 712560.510 4 21110991.441
25.543
G09 23588424.398-215050.557 6-167571.734 6 23588424.570
41.824G12 20869878.790-113803.187 8-88677.926 6 20869878.938
36.961
G16 20621643.727
73797.462 757505.177 2 20621644.276
15.368>
3 4
A 9081
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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
41.725G12 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
COMMENTAND AN EVENT FLAG 4 TO ESCAPE FOR THE TWO COMMENT LINESCOMMENT> 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
42.124G12 20828010.354-333820.093 6-260119.395 6 20828010.129
37.002
G16 20650944.902
227775.130 7177487.651 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|0-

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A 5 GNSS Navigation Message File – Header Section Description
TABLE A5GNSS NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTIONHEADER LABELDESCRIPTIONFORMAT(Columns 61-80)
Format version : 3.02
F9.2,11X,
RINEX VERSION /A1,19X,
TYPE
File type ('N' for navigation data)
Satellite System:
A1,19X
G: GPS
R: GLONASS
E: Galileo
J: QZSS
C: BDS
S: SBAS Payload
M: Mixed
A20,
PGM / RUN BY /Name of program creating current file
A20,
DATE
Name of agency creating current file
Date and time of file creation
A20
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* IONOSPHERIC
CORR* TIME SYSTEM
CORR

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
Parameters
GPS: alpha0-alpha3 or beta0-beta3
GAL: ai0, ai1, ai2, zero
QZS: alpha0-alpha3 or beta0-beta3
BDS: alpha0-alpha3 or beta0-beta3
Corrections to transform the system time to UTC orother time systems
Correction type
GAUT = GAL to UTC a0, a1
GPUT = GPS to UTC a0, a1

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TABLE A5GNSS NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTIONHEADER LABELDESCRIPTIONFORMAT(Columns 61-80)
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
D17.10,D16.9,
a0,a1 Coefficients of 1-deg polynomial (a0I7,sec, a1 sec/sec) CORR(s) = a0 + a1*DELTATT Reference time for polynomial (Seconds
I5,
into GPS/GAL week)
W Reference week number (GPS/GAL week,
continuous number) T and W zero for GLONASS.
1X,A5,1X
S EGNOS, WAAS, or MSAS ... (leftjustified) Derived from MT17 service provider. If not
known: Use Snn with:
nn = PRN-100 of satellite broadcasting the
MT12
I2,1X
U UTC Identifier (0 if unknown)
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 SECONDSEND OF HEADER

Number of leap seconds since 6-Jan-1980 astransmitted by the GPS almanac or since 1-Jan-2006
as transmitted by BDS almanac _t_LS,
Future or past leap seconds _t_LSF
Respective week number WN_LSF (continuous
number)Respective day number DN (see ICD-GPS-200C
20.3.3.5.2.4)
Zero or blank if not known
Last record in the header section.
Records marked with * are optional

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I6,
I6,
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A 6 GNSS Navigation Message File – GPS Data Record Description
TABLE A6GNSS NAVIGATION MESSAGE FILE – GPS/QZSS DATA RECORD DESCRIPTION
OBS. RECORDDESCRIPTIONFORMAT- Satellite system (G/J), sat number (PRN,
A1,I2.2,
SV / EPOCH / SV CLK(QZSS: PRN-192))- Epoch: Toc - Time of Clock (GPS) year
1X,I4,(4 digits)
5(1X,I2.2),- month, day, hour, minute, second
3D19.12- SV clock bias (seconds)- SV clock drift (sec/sec)*)- SV clock drift rate (sec/sec2)
4X,4D19.12
BROADCAST ORBIT - 1 - IODE Issue of Data, Ephemeris- Crs (meters)- Delta n (radians/sec)***)- M0 (radians)
4X,4D19.12
BROADCAST ORBIT - 2 - Cuc (radians)- e Eccentricity- Cus (radians)- sqrt(A) (sqrt(m))
4X,4D19.12
BROADCAST ORBIT - 3 - Toe Time of Ephemeris (sec of GPS
week)- Cic (radians)- OMEGA0 (radians)- Cis (radians)
4X,4D19.12
BROADCAST ORBIT - 4 - i0 (radians)- Crc (meters)- omega (radians)- OMEGA DOT (radians/sec)
4X,4D19.12
BROADCAST ORBIT - 5 - IDOT (radians/sec)- Codes on L2 channel- GPS Week # (to go with TOE)
Continuous number, not mod(1024)!
- L2 P data flag
4X,4D19.12
BROADCAST ORBIT - 6 - SV accuracy (meters)- SV health (bits 17-22 w 3 sf 1)- TGD (seconds)- IODC Issue of Data, Clock**)
4X,4D19.12
BROADCAST ORBIT - 7 - Transmission time of message(sec of GPS week, derived e.g.from Zcount in Hand Over Word (HOW))- Fit interval (hours) (see ICD-GPS-200,
20.3.4.4) 0 = 4 hours, 1 = 6 hours- Spare- Spare*) In order to account for the various compilers, E,e,D, and d are allowed letters between the
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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|
3.02
N: GNSS NAV DATA
G: GPSRINEX VERSION / TYPEXXRINEXN V3
AIUB
19990903 152236 UTC PGM / RUN BY / DATEEXAMPLE OF VERSION 3.02 FORMATCOMMENT
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 SECONDSEND 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 .000000000000D+00
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 .000000000000D+00----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|

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A 8 GNSS Navigation Message File – GALILEO Data Record Description
TABLE A8GNSS NAVIGATION MESSAGE FILE - GALILEO DATA RECORD DESCRIPTION
OBS. RECORDDESCRIPTIONFORMAT- Satellite system (E), satellite number
A1,I2.2,
SV / EPOCH / SV CLK- Epoch: Toc - Time of Clock GALyear (4digits)
1X,I4,- month, day, hour, minute, second
5(1X,I2.2),- SV clock bias (seconds) af0
3D19.12- SV clock drift (sec/sec) af1- SV clock drift rate (sec/sec2) af2 (see*)
Br.Orbit-5, data source, bits 8+9)
4X,4D19.12
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- Cus (radians)- sqrt(a) (sqrt(m))
4X,4D19.12
BROADCAST ORBIT - 3 - Toe Time of Ephemeris (sec of GAL week)- Cic (radians)- OMEGA0 (radians)- Cis (radians)
4X,4D19.12
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 0-2 : non-exclusive
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- GAL Week # (to go with Toe)
- spare****)4X,4D19.12
BROADCAST ORBIT - 6 - SISA Signal in space accuracy (meters)
Undefined/unknown: -1.0
- SV health (FLOAT converted to INTEGER)*****)
Bit 0: E1B DVS
Bits 1-2: E1B HS
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TABLE A8GNSS NAVIGATION MESSAGE FILE - GALILEO DATA RECORD DESCRIPTION
OBS. RECORDDESCRIPTIONFORMATBit 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)**) 4X,4D19.12
BROADCAST ORBIT - 7 - Transmission time of message(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 thefraction 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) thecontinuous GPS week number used in the RINEX navigation message files. The broadcast 12-bit
Galileo System Time 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

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A 9 GALILEO Navigation Message File – Example+------------------------------------------------------------------------------+|TABLE A9||GALILEO NAVIGATION MESSAGE FILE - EXAMPLE|+------------------------------------------------------------------------------+----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
3.02
N: GNSS NAV DATAXXRINEXN V3
AIUBEXAMPLE OF VERSION 3.02 FORMAT

E: GALILEORINEX VERSION / TYPE
20060902 192236 UTC PGM / RUN BY / DATECOMMENTTo be supplied later----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|

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A 10 GNSS Navigation Message File – GLONASS Data Record Description
TABLE A10GNSS NAVIGATION MESSAGE FILE – GLONASS DATA RECORD DESCRIPTION
OBS. RECORDDESCRIPTIONFORMAT- Satellite system (R), satellite number (slot
A1,I2.2,
SV / EPOCH / SVnumber in sat. constellation)
CLK- Epoch: Toc - Time of Clock (UTC) year (4digits)
1X,I4,- 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
- Satellite position X (km)4X,4D19.12
BROADCAST- velocity X dot (km/sec)
ORBIT - 1
- X acceleration (km/sec2)- health (0=OK) (Bn)
- Satellite position Y (km)4X,4D19.12
BROADCAST- velocity Y dot (km/sec)
ORBIT - 2
- Y acceleration (km/sec2)- frequency number(-7...+13) (-7...+6 ICD 5.1)
- Satellite position Z (km)4X,4D19.12
BROADCAST- velocity Z dot (km/sec)
ORBIT - 3
- Z acceleration (km/sec2)- Age of oper. information (days) (E)*) In order to account for the various compilers, E,e,D, and d are allowed letters between thefraction and exponent of
all floating point numbers in the navigation message files. Zero-padded two-digit exponents are
required, however.

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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|
3.02
N: GNSS NAV DATA
M: MIXEDRINEX VERSION / TYPEXXRINEXN V3
AIUB
20061002 000123 UTC PGM / RUN BY / DATEEXAMPLE OF VERSION 3.02 FORMATCOMMENT
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 SECONDSEND 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|

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A 12 GNSS Navigation Message File – QZSS Data Record Description
TABLE A12QZSS NAVIGATION MESSAGE FILE – QZSS DATA RECORD DESCRIPTION
OBS. RECORDDESCRIPTIONFORMAT(Columns 61-80)
A1,I2,
PRN / EPOCH / SV CLK- Satellite system (J), Satellite PRN-192- Epoch: Toc - Time of Clock year (2 digits,
padded with 0 if necessary)
1X,I2.2,
month
1X,I2,
day
1X,I2,
hour
1X,I2,
minutes
1X,I2,
seconds
F5.1,− SV clock bias (seconds)
3D19.12− SV clock drift (sec/sec)
SV clock drift rate (sec/sec2)*)
4X,4D19.12
BROADCAST ORBIT - 1− IODE Issue of Data, Ephemeris− Crs (meters)− Delta n (radians/sec)− M0 (radians)
4X,4D19.12
BROADCAST ORBIT - 2− Cuc (radians)− e Eccentricity− Cus (radians)− sqrt(A) (sqrt(m))
4X,4D19.12
BROADCAST ORBIT - 3− Toe Time of Ephemeris (sec of GPS
week)− Cic (radians)− OMEGA (radians)− CIS (radians)
4X,4D19.12
BROADCAST ORBIT - 4− i0 (radians)− Crc (meters)− omega (radians)− OMEGA DOT (radians/sec)
4X,4D19.12
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)!
spare
4X,4D19.12
BROADCAST ORBIT – 6− SV accuracy (meters) (see IS-GPS200, 20.3.3.3.1.3)− SV health (bits 17-22 w 3 sf 1) (seeIS-QZSS 5.2.2.2.3(4))
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TABLE A12QZSS NAVIGATION MESSAGE FILE – QZSS DATA RECORD DESCRIPTION
OBS. RECORDDESCRIPTIONFORMAT(Columns 61-80)− TGD (seconds)− 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 (hours) (see IS-QZSS,
5.2.2.2.4(4)) Zero – one hour, 1 –more than 2 hours
Spare
Spare

4X,4D19.12

Records marked with * are optional**)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 thefraction and exponent of all floating point numbers in the navigation message files. However,zero-padded two-digit exponents are required.

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A 13 GNSS Navigation Message File – BDS Data Record Description
Table A13
GNSS NAVIGATION MESSAGE FILE – BDS DATA RECORD DESCRIPTIONFORMAT
OBS. RECORDDESCRIPTION
Satellite system (C), sat number (PRN)
A1,I2.2,
Epoch: Toc - Time of Clock (BDT) year (41X,I4
digits)SV /EPOCH / SV CLK
month, day, hour, minute, second
5,1X,I2.2,
SV clock bias (seconds)
3D19.12
SV clock drift (sec/sec)*)
2
SV clock drift rate (sec/sec )IODE Issue of Data, Ephemeris
4X,4D19.12
Crs(meters)
BROADCAST ORBIT – 1
Delta n(radians/sec)
M0(radians)**)Cuc(radians)
4X,4D19.12
e Eccentricity
BROADCAST ORBIT – 2
Cus(radians)
sqrt(A)(sqrt(m))
Toe Time of Ephemeris (sec of BDT week)
4X,4D19.12
Cic(radians)
BROADCAST ORBIT – 3
OMEGA0(radians)-Cis(radians)i0(radians)
4X,4D19.12
Crc(meters)
BROADCAST ORBIT – 4
omega(radians)
OMEGA DOT
(radians/sec)
IDOT(radians/sec)
4X,4D19.12
Spare
BROADCAST ORBIT – 5***)
BDT Week #Spare
SV accuracy(meters)
4X,4D19.12
SatH1
BROADCAST ORBIT – 6
TGD1 B1/B3(seconds)
TGD2 B2/B3(seconds)
Transmission time of message ****) (sec of
4X,4D19.12
BDT week,)
BROADCAST ORBIT – 7
IODC Issue of Data Clock
Spare
Spare
*) In order to account for the various compilers, E,e,D, and d are allowed letters between the fraction andexponent of all floating point numbers in the navigation message files. Zero-padded two-digit exponents

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A28

are required, however.
**) Angles and their derivatives transmitted in units of semi-circles and semi-circles/sec have to beconverted to radi¬ans by the RINEX generator.
***) The BDT week number is a continuous number. The broadcast 13-bit BDS System Time week has aroll-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.

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A 14 GNSS Navigation Message File – SBAS Data Record Description
TABLE A14GNSS NAVIGATION MESSAGE FILE – SBAS/QZSS L1 SAIF DATA RECORDDESCRIPTION
OBS. RECORDDESCRIPTIONFORMAT- Satellite system (S), satellite number (slot
A1,I2.2,
SV / EPOCH / SV CLK
number in sat. constellation)- Epoch: Toc - Time of Clock (GPS) year (4digits)
1X,I4,- 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
4X,4D19.12
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)- Y acceleration (km/sec2)- Accuracy code (URA, meters)
4X,4D19.12
BROADCAST ORBIT - 3 - Satellite position Z (km)- velocity Z dot (km/sec)- 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 thefraction 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 andsatellite position can be computed based on equations in Section A.3.1.2 of GLONASS ICD
version 5.0.

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A 15 SBAS Navigation Message File -Example+------------------------------------------------------------------------------+|TABLE A15||
SBAS NAVIGATION MESSAGE FILE - EXAMPLE|+------------------------------------------------------------------------------+----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
3.02
N: GNSS NAV DATA
S: SBAS
SBAS2RINEX 3.0
CNES20031018 140100
EXAMPLE OF VERSION 3.02 FORMATSBUT -.1331791282D-06 -.107469589D-12 552960 1025 EGNOS
13This file contains navigation message data from a SBAS
(geostationary) satellite, here AOR-W (PRN 122 = # S22)RINEX VERSION / TYPEPGM / RUN BY / DATECOMMENT
5 TIME SYSTEM CORR
LEAP SECONDSCOMMENTCOMMENTEND 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|

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A 16 Meteorological Data File -Header Section Description
TABLE A16
METEOROLOGICAL DATA FILE - HEADER SECTION DESCRIPTIONHEADER LABELDESCRIPTIONFORMAT(Columns 61-80)- Format version : 3.02
F9.2,11X,
RINEX VERSION /- File type: M for Meteorological Data
A1,39X
TYPE
A20,
PGM / RUN BY / DATE - Name of program creating current file
- Name of agency creating current file
A20,
- Date of file creation (See section 5.8)
A20
* COMMENT- Comment line(s)A60- Station Name (preferably identical to
A60
MARKER NAME
MARKER NAME in the associatedObservation File)* MARKER NUMBER- Station Number (preferably identical to
A20
MARKER NUMBER in the associatedObservation File)
I6,# / TYPES OF OBSERV - Number of different observation types stored
in the file- Observation types
9(4X,A2)- 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), (forWVR data)- ZD : Dry component of zen.path delay(mm)- ZT : Total zenith path delay (mm)- WD : Wind azimuth (deg) from where thewind 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 themeasurements in the data records.
- If more than 9 observation types are being
used, use continuation lines with format(6X,9(4X,A2))

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TABLE A16
METEOROLOGICAL DATA FILE - HEADER SECTION DESCRIPTIONHEADER LABELDESCRIPTIONFORMAT(Columns 61-80)
Description of the met sensor
SENSOR- Model (manufacturer)
A20,
MOD/TYPE/ACC- TypeA20,6X,- Accuracy (same units as obs values)
F7.1,4X,- Observation type
A2,1X
Record is repeated for each observation typefound in # / TYPES OF OBSERV record- Approximate position of the met sensor SENSOR POS XYZ/H
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 zero if not known.
Make sure H refers to ITRF or WGS-84!
Record required for barometer, recommended
for other sensors.
Last record in the header section.
60X
END OF HEADER
Records marked with * are optional

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A 17 Meteorological Data File -Data Record Description
TABLE A17
METEOROLOGICAL DATA FILE - DATA RECORD DESCRIPTION
OBS. RECORDDESCRIPTIONFORMAT- Epoch in GPS time (not local time!) year (41X,I4.4,
EPOCH / MET
digits, padded with 0 if necessary)- month, day, hour, min, sec
5(1X,I2),- Met data in the same sequence as given in the
mF7.1
headerMore than 8 met data types: Use continuation lines
4X,10F7.1

A 18 Meteorological Data File – Example+------------------------------------------------------------------------------+|TABLE A18||
METEOROLOGICAL DATA FILE - EXAMPLE|+------------------------------------------------------------------------------+----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
3.02
METEOROLOGICAL DATARINEX VERSION / TYPEXXRINEXM V9.9
AIUB
19960401 144333 UTC PGM / RUN BY / DATEEXAMPLE OF A MET DATA FILE
COMMENTA 9080
MARKER NAME
3
PR
TD
HR
# / TYPES OF OBSERVPAROSCIENTIFIC
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
0.00000.00000.00001234.5678 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|

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A 19 Reference Code and Phase Alignment by Constellation and Frequency BandTABLE A19
Reference Code and Phase Alignment by Frequency Band
SystemGPS

Frequency
Band

Frequency
[MHz]

L1

L2

SignalRINEX
Observation
Code1575.42

C/A

L1C

1227.60

L1C-D
L1C-P
L1C-(D+P)P
Z-tracking
Codeless
C/A

L1S
L1L
L1X
L1P
L1W
L1N
L2C

See Note 1

Phase Correction
applied to eachobserved phase to
obtain aligned phase.
(φRINEX = φoriginal(as issued by
the SV) + ∆φ)None (Reference
Signal)+¼ cycle+¼ cycle+¼ cycle+¼ cycle+¼ cycle+¼ cycle
For Block II/IIA/IIR –None;
For Block IIRM/IIF/III-¼ cycle

Semicodeless
L2C(M)
L2C(L)
L2C(M+L)P

L2D

1176.45

Z-tracking
Codeless
I

L2W
L2N
L5I

1602+k*9/16

Q
I+Q
C/A

L5Q
L5X
L1C

1246+k*7/16

P
C/A

L1P
L2C

L5

GLONASSG1
G2

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L2S
L2L
L2X
L2P

See Note 2None-¼ cycle-¼ cycle-¼ cycle
None (Reference
Signal)None
None
None (Reference
Signal)-¼ cycleMust be aligned to L5I
None (Reference
Signal)+¼ cycle
None (Reference2013-04-17 RINEX Version 3.02

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TABLE A19
Reference Code and Phase Alignment by Frequency Band
SystemFrequency
Band

G3

GalileoFrequency
[MHz]

L2P
L3I

Q
I+Q
B I/NAV
OS/CS/SoL
C no data

L3Q
L3X
L1B

B+C

L1X

1176.45I

L5I

1207.140

Q
I+Q
I

L5Q
L5X
L7I

1191.795

Q
I+Q
I

L7Q
L7X
L8I

1278.75

Q
I+Q
B

L8Q
L8X
L6B

C
B+C

L6C
L6X

1575.42

C/A

L1C

1227.60

L1C (D)
L1C (P)
L1C-(D+P)
L1-SAIF
L2C (M)

L1S
L1L
L1X
L1Z
L2S

1575.42

E5A

E5(A+B)

E6

QZSS

RINEX
Observation
Code

P
I

1202.025

E1

E5B

SignalL1

L2
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L1C

Phase Correction
applied to eachobserved phase to
obtain aligned phase.
(φRINEX = φoriginal(as issued by
the SV) + ∆φ)
Signal)+¼ cycle
None (Reference
Signal)-¼ cycleMust be aligned to L3I
None (Reference
Signal)+½ cycleMust be aligned to
L1B
None(Reference
Signal)-¼ cycleMust be aligned to L5I
None (Reference
Signal)-¼ cycleMust be aligned to L7I
None (Reference
Signal)-¼ cycleMust be aligned to L8I
None (Reference
Signal)-½ cycleMust be aligned to
L6B
None (Reference
Signal)None+¼ cycle+¼ cycle
N/A
None (Reference2013-04-17 RINEX Version 3.02

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TABLE A19
Reference Code and Phase Alignment by Frequency Band
SystemFrequency
Band

Frequency
[MHz]

L5

1176.45

SignalRINEX
Observation
Code

L2C (L)L2C (M+L)
I

L2L
L2X
L5I

Q
I+Q
1278.75

S

L5Q
L5X
L6S

1561.098

L
S+L
I

L6L
L6X
L1I

1207.140

Q
I+Q
I

L1Q
L1X
L7I

1268.52

Q
I+Q
I

L7Q
L7X
L6I

Q
I+Q

L6Q
L6X

LEX(6)
BDS

B1

B2

B3

Phase Correction
applied to eachobserved phase to
obtain aligned phase.
(φRINEX = φoriginal(as issued by
the SV) + ∆φ)
Signal)None
None
None (Reference
Signal)-¼ cycleMust be aligned to L5I
None (Reference
Signal)None
None
None (Reference
Signal)-¼ cycleMust be aligned to L2I
None (Reference
Signal)-¼ cycleMust be aligned to L7I
None (Reference
Signal)-¼ cycleMust be aligned to L6I

NOTES:
1) The GPS L2 phase shift values ignore FlexPower when the phases of the L2E and L2C can be changedon the satellite.
2) The phase of the L2 C/A signal is dependent on the GPS satellite generation.

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