RINEX Observation Files *********************** Included modifications: Use "GLO" instead of "UTC" to denote the Glonass time frame in observation files. Text changed accordingly. (Nov-94) Explicitly specify ephemeris epoch to be in Glonass time frame (Glonass navigation message file) Allow for leap second line in Glonass navigation message file (Jan 97) Clarification for the RINEX pseudorange definition (Feb 97) The RINEX Version 2 observation files have been defined in view of a possible inclusion of Glonass pseudorange and phase observations. Glonass observables are very similar to the GPS ones: There are also phase observations L1,L2 on the two carriers as well as a C/A code (C1) and two P-code (P1,P2) pseudoranges. RINEX Version 2 needs one supplement, the explicit definition of the time system: Glonass is basically running on UTC (or, more precisely, Glonass system time linked to UTC(SU)), i.e. the time tags are given in UTC and not GPS time. In order to remove possible misunderstandings and ambiguities the header records "TIME OF FIRST OBS" and (if present) "TIME OF LAST OBS" in Glonass and GPS observation files CAN, in mixed Glonass/GPS observation files MUST contain a time system denominator defining the system that all time tags in the file are referring to (pure GPS files default to GPS and pure Glonass files default to GLOnass time system): Example: 1994 3 24 0 0 0.000000 GPS TIME OF FIRST OBS 1994 3 24 23 59 30.000000 GPS TIME OF LAST OBS or 1994 3 23 23 59 51.000000 GLO TIME OF FIRST OBS 1994 3 24 23 59 51.000000 GLO TIME OF LAST OBS Format: The pseudorange (code) measurement is defined to be equivalent to the difference of the time of reception (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. If a mixed-mode GPS/Glonass receiver refers all pseudorange observations to one receiver clock only, - the raw Glonass pseudoranges will show the current number of leap seconds between GPS time and Glonass time if the receiver clock is running in the GPS time frame - the raw GPS pseudoranges will show the negative number of leap seconds between GPS time and Glonass time if the receiver clock is running in the Glonass time frame In order to keep the code observations within the format fields the pseudoranges must be corrected as follows: PR(GPS) := PR(GPS) + c * leap_seconds if generated with a receiver clock running in the Glonass time frame PR(GLO) := PR(GLO) - c * leap_seconds if generated with a receiver clock running in the GPS time frame "leap_seconds" is the actual number of leap seconds between GPS and Glonass (UTC) time, as broadcast in the GPS almanac and distributed in Circular T of BIPM. +--------------------+------------------------------------------+------------+ |TIME OF FIRST OBS | - Time of first observation record | 5I6,F12.6, | | | (4-digit-year, month,day,hour,min,sec) | | | | - Time system: GPS or GLO | 6X,A3 | | | compulsory in mixed GPS/Glonass files | | | | Defaults: GPS for pure GPS files | | | | GLO for pure Glonass files | | +--------------------+------------------------------------------+------------+ *|TIME OF LAST OBS | - Time of last observation record | 5I6,F12.6, |* | | (4-digit-year, month,day,hour,min,sec) | | | | - Time system (GPS or GLO) | 6X,A3 | | | compulsory in mixed GPS/Glonass files | | | | Defaults: GPS for pure GPS files | | | | GLO for pure Glonass files | | +--------------------+------------------------------------------+------------+ (Modification of Table A1 in the RINEX document) RINEX navigation files for Glonass ********************************** As the Glonass navigation message differs in contents from the GPS message too much, we have to define a special Glonass navigation message file. The header section and the first data record (epoch, satellite clock information) is similar to the GPS navigation file. The following records contain the satellite position, velocity and acceleration as well as auxiliary information as health, satellite frequency (channel) and the information if the message has been derived from C/A or P code frames. We recommend using the following naming convention for the Glonass navigation message files: ssssdddf.yyt ssss: 4-character station or center name designator ddd: day of the year of first record f: file sequence number within day 0: file contains all the collected messages of the current day yy: year t: file type: G: Glonass navigation message file +----------------------------------------------------------------------------+ | TABLE A10 | | GLONASS NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTION | +--------------------+------------------------------------------+------------+ | HEADER LABEL | DESCRIPTION | FORMAT | | (Columns 61-80) | | | +--------------------+------------------------------------------+------------+ |RINEX VERSION / TYPE| - Format version (1) | I6,14X, | | | - File type ('G' = Glonass nav mess data)| A1,39X | +--------------------+------------------------------------------+------------+ |PGM / RUN BY / DATE | - Name of program creating current file | A20, | | | - Name of agency creating current file | A20, | | | - Date of file creation | A20 | +--------------------+------------------------------------------+------------+ *|COMMENT | Comment line(s) | A60 |* +--------------------+------------------------------------------+------------+ *|CORR TO SYSTEM TIME | Time of reference for system time corr | |* | | (year, month, day) | 3I6, | | | correction to system time scale (sec) | 3X,D19.12 | +--------------------+------------------------------------------+------------+ *|LEAP SECONDS | Number of leap seconds since 6-Jan-1980 | I6 |* +--------------------+------------------------------------------+------------+ |END OF HEADER | Last record in the header section. | 60X | +--------------------+------------------------------------------+------------+ Records marked with * are optional +----------------------------------------------------------------------------+ | TABLE A11 | | GLONASS NAVIGATION MESSAGE FILE - DATA RECORD DESCRIPTION | +--------------------+------------------------------------------+------------+ | OBS. RECORD | DESCRIPTION | FORMAT | +--------------------+------------------------------------------+------------+ |PRN / EPOCH / SV CLK| - Satellite almanac number | I2, | | | - Epoch: Toc - Time of Clock (Glonass | | | | year (2 digits) System Time)| 5I3, | | | month | | | | day | | | | hour | | | | minute | | | | second | F5.1, | | | - SV clock bias (sec) (tau)| D19.12 | | | - SV relative frequency bias (gamma)| D19.12 | | | - message frame time (sec of day) (tk)| D19.12 | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 1| - Satellite position X (km) | 3X,4D19.12 | | | - velocity X dot (km/sec) | | | | - X acceleration (km/sec2) | | | | - health (0=OK) (Bn)| | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 2| - Satellite position Y (km) | 3X,4D19.12 | | | - velocity Y dot (km/sec) | | | | - Y acceleration (km/sec2) | | | | - frequency number (1-24) | | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 3| - Satellite position Z (km) | 3X,4D19.12 | | | - velocity Z dot (km/sec) | | | | - Z acceleration (km/sec2) | | | | - 0: C/A , 1: P code message | | +--------------------+------------------------------------------+------------+ +------------------------------------------------------------------------------+ | TABLE A12 | | GLONASS NAVIGATION MESSAGE FILE - EXAMPLE | +------------------------------------------------------------------------------+ ----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8| 1 GLONASS NAVMESS DATA RINEX VERSION / TYPE 3SRINEXN V1.3 VAX University of Berne 30-AUG-93 17:57 PGM / RUN BY / DATE Test of 3S Rinex Navigation File Creation COMMENT 1993 8 7 -0.141188502312D-04 CORR TO SYSTEM TIME END OF HEADER 1 93 8 7 15 15 0.0-0.161942094564D-03 0.181898940355D-11 0.542700000000D+05 0.129469794922D+05-0.130014419556D+01 0.186264514923D-08 0.000000000000D+00 -0.380712744141D+04 0.266516971588D+01 0.000000000000D+00 0.170000000000D+02 0.216525634766D+05 0.124328994751D+01-0.186264514923D-08 0.000000000000D+00 17 93 8 7 15 15 0.0 0.717733055353D-04 0.272848410532D-11 0.542700000000D+05 0.305286718750D+04 0.311648464203D+01 0.000000000000D+00 0.000000000000D+00 -0.108431787109D+05-0.317855834961D+00 0.000000000000D+00 0.210000000000D+00 0.229024404297D+05-0.575817108154D+00-0.186264514923D-08 0.000000000000D+00 7 93 8 7 15 15 0.0-0.902833417058D-04 0.181898940355D-11 0.542700000000D+05 -0.548300732422D+04-0.442504882813D+00-0.931322574615D-09 0.000000000000D+00 0.227251596680D+05 0.131087875366D+01-0.931322574615D-09 0.130000000000D+00 0.998504833984D+04-0.323978710175D+01-0.931322574615D-09 0.000000000000D+00 2 93 8 7 15 15 0.0-0.975374132395D-04 0.181898940355D-11 0.542700000000D+05 0.138356103516D+05-0.716581344604D+00 0.279396772385D-08 0.000000000000D+00 -0.190140761719D+05 0.116566944122D+01 0.000000000000D+00 0.500000000000D+01 0.991978125000D+04 0.322995281219D+01 0.000000000000D+00 0.000000000000D+00 8 93 8 7 15 15 0.0-0.292631797493D-03 0.363797880709D-11 0.542700000000D+05 0.419437841797D+04-0.111876964569D+01 0.000000000000D+00 0.000000000000D+00 0.141901040039D+05 0.262095737457D+01-0.931322574615D-09 0.200000000000D+01 0.207799843750D+05-0.155530166626D+01-0.186264514923D-08 0.000000000000D+00 24 93 8 7 15 15 0.0 0.176711939275D-03 0.109139364213D-10 0.544500000000D+05 0.204199819336D+05 0.176556110382D+01 0.279396772385D-08 0.000000000000D+00 -0.796999316406D+04-0.311827659607D+00 0.000000000000D+00 0.100000000000D+01 0.130460561523D+05-0.295512390137D+01-0.931322574615D-09 0.000000000000D+00 ----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8| +------------------------------------------------------------------------------+ | TABLE A13 | | GLONASS OBSERVATION FILE - EXAMPLE | +------------------------------------------------------------------------------+ ----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8| 2 OBSERVATION DATA R (GLONASS) RINEX VERSION / TYPE 3SRINEXO V1.1 AIUB 27-AUG-93 07:23 PGM / RUN BY / DATE 3SNAVIGATION GLONASS RECEIVER COMMENT TST1 MARKER NAME VIEWEG BRAUNSCHWEIG OBSERVER / AGENCY 0 R-100 REC # / TYPE / VERS 0 R-100 ANT # / TYPE 3844808.114 715426.767 5021804.854 APPROX POSITION XYZ .0000 .0000 .0000 ANTENNA: DELTA H/E/N 1 1 WAVELENGTH FACT L1/2 2 C1 L1 # / TYPES OF OBSERV 10 INTERVAL 1993 8 23 14 24 40.049000 GLO TIME OF FIRST OBS END OF HEADER 93 8 23 14 24 40.0490000 0 3 2 1 21 23986839.824 20520.565 5 23707804.625 19937.231 5 23834065.096 -9334.581 5 93 8 23 14 24 50.0490000 0 3 2 1 21 23992341.033 49856.525 5 23713141.002 48479.290 5 23831189.435 -24821.796 5 93 8 23 14 25 .0490000 0 3 2 1 21 23997824.854 79217.202 5 23718494.110 77092.992 5 23828329.946 -40219.918 5 93 8 23 14 25 10.0490000 0 5 2 5 17 1 21 24003328.910 108602.422 5 24933965.449 -19202.780 5 22203326.578 -2987.327 5 23723851.686 105777.849 5 23825485.526 -55529.205 5 93 8 23 14 25 20.0490010 0 5 2 5 17 1 21 24008828.023 138012.178 5 24927995.616 -51188.500 5 22202547.907 -7213.298 5 23729236.758 134533.636 5 23822662.277 -70749.590 5 93 8 23 14 25 30.0490000 0 5 2 5 17 1 21 24014330.779 167446.477 5 24922041.288 -83151.666 5 22201767.457 -11388.909 5 23734633.024 163360.131 5 23819848.894 -85881.102 5 ----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|