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3/4/17, 3:17 PM

Page 1 of 32https://igscb.jpl.nasa.gov/igscb/data/format/rinex211.txt

10 Dec 2007 (original)

26-June 2012 (minor clarifications)

RINEX: The Receiver Independent Exchange Format Version 2.11

************************************************************

Werner Gurtner

Astronomical Institute

University of Berne

Lou Estey

UNAVCO

Boulder, Co.

IGS/RTCM RINEX Working Group

Contents:

********

0. Revision History

0.1 Revision Summary

0.2 First Revision

0.3 Later Revisions

0.4 Version 2.10 Modifications

0.5 Version 2.10 Revisions

0.6 Version 2.11 Modifications

0.7 Version 2.11 Minor corrections

1. THE PHILOSOPHY OF RINEX

2. GENERAL FORMAT DESCRIPTION

3. DEFINITION OF THE OBSERVABLES

4. THE EXCHANGE OF RINEX FILES:

5. RINEX VERSION 2 FEATURES

5.1 Satellite Numbers:

5.2 Order of the Header Records:

5.3 Missing Items, Duration of the Validity of Values

5.4 Event Flag Records

5.5 Receiver Clock Offset

6. ADDITIONAL HINTS AND TIPS

6.1 Version 1 / Version 2

6.2 Leading Blanks in CHARACTER fields

6.3 Variable-length Records

6.4 Blank Fields

6.5 2-Digit Years

6.6 Fit Interval

6.7 Satellite Health

6.8 Transmission Time of Message (Navigation message file)

6.9 Unknown / Undefined Observation Types and Header Records

7. RINEX UNDER ANTISPOOFING (AS)

8. GLONASS Extensions

8.1 RINEX Observation File

8.1.1 Time System Identifier

8.1.2 Pseudorange Definition

8.1.3 More Than 12 Satellites per Epoch

8.2 RINEX Navigation Files for GLONASS

9. RINEX Extensions for Geostationary Satellites (GPS Signal Payloads)

9.1 RINEX Observation Files for GEO Satellites

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Page 2 of 32https://igscb.jpl.nasa.gov/igscb/data/format/rinex211.txt

9.1 RINEX Observation Files for GEO Satellites

9.2 RINEX Navigation Message Files for GEO Satellites

10. Version 2.11 Modifications

10.1 Galileo and New GPS Observables

10.1.1 New Observation Codes

10.1.2 Wavelength Factors

10.2 Clarifications in the GEO Navigation Message File

10.3 New observables for RINEX met files

REFERENCES

APPENDIX: RINEX VERSION 2.11 FORMAT DEFINITIONS AND EXAMPLES

A 1 GPS OBSERVATION DATA FILE - HEADER SECTION DESCRIPTION

A 2 GPS OBSERVATION DATA FILE - DATA RECORD DESCRIPTION

A 3 GPS NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTION

A 4 GPS NAVIGATION MESSAGE FILE - DATA RECORD DESCRIPTION

A 5 METEOROLOGICAL DATA FILE - HEADER SECTION DESCRIPTION

A 5 METEOROLOGICAL DATA FILE - DATA RECORD DESCRIPTION

A 7 MIXED OBSERVATION DATA FILE - EXAMPLE

A 8 GPS NAVIGATION MESSAGE FILE - EXAMPLE

A 9 METEOROLOGICAL DATA FILE - EXAMPLE

A10 GLONASS NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTION

A11 GLONASS NAVIGATION MESSAGE FILE - DATA RECORD DESCRIPTION

A12 GLONASS NAVIGATION MESSAGE FILE - EXAMPLE

A13 GLONASS OBSERVATION FILE - EXAMPLE

A14 MIXED GPS/GLONASS OBSERVATION FILE - EXAMPLE

A15 GEOSTATIONARY NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTION

A16 GEOSTATIONARY NAVIGATION MESSAGE FILE - DATA RECORD DESCRIPTION

A17 MIXED GPS/GEO OBSERVATION FILE - EXAMPLE

A18 GEO NAVIGATION MESSAGE FILE - EXAMPLE

0. REVISION HISTORY

0.1 Revision Summary

First Revision, April 1993

Clarification December 1993

Doppler Definition: January 1994

PR Clarification: October 1994

Wlfact Clarification: February 1995

Event Time Frame Clarification: May 1996

Minor errors in the examples A7/A8: May 1996

Naming convention for compressed met files; January 1997

Continuation line clarifications: April 1997

GLONASS Extensions: April 1997

Met sensor description and position records: April 1997

Wavelength factor clarifications: April 1997

Error in example A12: CORR TO SYSTEM TIME, April 1997

Redefinition of sv clock params in GLONASS Nav Mess Files: March 1998

Naming conventions for compressed RINEX obs files: March 1998

GPS week: No roll-over, continuous number: March 1998

Error in compressed DOS file naming convention: July 1998

Table A13 contained blank satellite identifiers: Sept 1998

Discrepancy between Tables A5 and A9 removed: Sept 1998

Phase data format overflow: Clarification: Oct 1998

Message frame time Table A11: Clarification: Oct 1998

RINEX Version 2.10 Modifications: July 1999

Typo in paragraph 0.4 (epoch flag >1): Nov 1999

Clarification regarding trailing blanks: Dec 1999

Clarification regarding units of ZD,ZT, URA(GEO)

Clarification regarding time system identifier of GEO obs files

Clarification regarding time system identifier in TIME OF LAST record: Feb 2000

Addition of GEO examples: February 2000

Clarification of epoch field for event flag records: May 2000

Table A6: Typos in format definition of epoch: May 2000

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Page 3 of 32https://igscb.jpl.nasa.gov/igscb/data/format/rinex211.txt

Table A6: Typos in format definition of epoch: May 2000

Clarification of the GLONASS satellite identifier: June 2001

Clarification of the floating point exponent format: January 2002

RINEX Version 2.11 modifications: October 2004

Some clarifications in the GEO D-UTC A0,A1,T,W,S,U record November 2005

Wind, rain and hail observables in met files: December 2005

Unknown/undefined observation types and header records: December 2005

References to clock and SBAS RINEX files. Extended filenames: December 2005

Header continuation lines have to include the respective header label

Glonass frequency numbers -7 ... +13: December 2007 |

Changed 2.10 to 2.11 in Appendix files and as specified in Revision 0.7 below: June 26,2012

0.2 First Revision

The first documentation of the RINEX Version 2 Format was published by

W. Gurtner and G. Mader in the CSTG GPS Bulletin of September/October 1990.

The main reason for a revision is the new treatment of antispoofing data by

the RINEX format (see chapter 7). Chapter 4 gives a recommendation for data

compression procedures, especially useful when large amounts of data are

exchanged through computer networks. In Table A3 in the original paper the

definition of the "PGM / RUN BY / DATE" navigation header record was

missing, although the example showed it. The redefinition of AODE/AODC to

IODE/IODC also asked for an update of the format description. For consistency

reasons we also defined a Version 2 format for the Meteorological Data files

(inclusion of a END OF HEADER record and an optional MARKER NUMBER record).

The slight modification (or rather the definition of a bit in the Loss of Lock

Indicator unused so far) to flag AS data is so small a change that we decided

to NOT increase the version number!

0.3 Later Revisions

* URA Clarification (10-Dec-93):

The user range accuracy in the Navigation Message File did not contain

a definition of the units: There existed two ways of interpretation:

Either the 4 bit value from the original message or the converted value

in meters according to GPS ICD-200. In order to simplify the interpretation

for the user of the RINEX files I propose the bits to be converted into

meters prior to RINEX file creation.

* GLONASS Extensions:

In March 1997 a proposal for extensions to the current RINEX definitions

based on experiences collected with GLONASS only and mixed GPS/GLONASS data

files was circulated among several instrument manufacturers and software

developers.

The results of the call for comments have been worked into this document.

A separate document (glonass.txt) summarizes just the necessary extensions.

* A blank satellite identifier is allowed in pure GPS files only

* Met sensor description and position records were added to facilitate the

precise use of met values.

* Description and examples for wavelength factors and their temporary changes

(bit 1 of LLI) clarified.

* The RINEX documentation distributed in spring 1997 contained definitions for

the GLONASS satellite clock offset and drift with the intention to have them

defined identically to the GPS values. Unfortunately the GLONASS Interface

Document consulted had a sign error in one of the formulae.

The values should be stored into the RINEX file as -TauN, +GammaN, -TauC.

The original definition asked for -TauN, -GammaN, +TauC. See paragraph 8.2.

To avoid problems with files created with the original definitions a real

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Page 4 of 32https://igscb.jpl.nasa.gov/igscb/data/format/rinex211.txt

To avoid problems with files created with the original definitions a real

valued version number (2.01) has been introduced for GLONASS nav mess files.

* IGS decided to use the Hatanaka compression scheme for RINEX observation

files. Below the corresponding RINEX file name conventions are included

as recommendations. The DOS naming (extension .yyE) was wrongly set to

.yyY in the March 1998 version of the document.

* GPS week: The GPS week number in all RINEX files is a continuous number

not affected by the 1024 roll-over, it runs from 1023 over 1024 to 1025 etc.

* A discrepancy between the definition of the header line fields of met sensor

description and position in Table A5 and the example in Table A9 was removed.

The latter was correct.

* Clarification for phase data format overflows: Add or subtract a suitable

number of cycles, set LLI flag.

* Clarification for the GLONASS satellite identifier: "Almanac number" was

somewhat ambiguous. It has been replaced by "slot number" within the

satellite constellation.

0.4 Version 2.10 Modifications

The modifications leading to Version 2.10 include:

- Fractional version number

- Zero padding of 2-digit year values (years 2000-2009 --> 00-09)

- Field length of time of first obs (1/10 microsecond resolution)

- Non-integer sampling rate (INTERVAL header record)

- Header records now allowed after all epoch flags >1

- Additional obs types in obs files: S1, S2 (raw signal strength values)

- Receiver clock offset header line to clarify applied corrections

- Default wavelength factor header line mandatory

- Inmarsat GPS payloads: New satellite system definition, new nav mess files

- Curve fit interval in GPS nav mess file

- Redefinition of SV health value in GPS nav mess file

- Additional obs types in met files (ZD, ZT)

0.5 Version 2.10 Revisions

* "Header records now allowed after all epoch flags >2" in paragraph 0.4

should read ">1"

* The original intention of the RINEX format was to allow for variable record

lengths of the ASCII files to minimize the file size. Empty fields or

unknown values can either be represented by zeroes or blank space. Most

RINEX converters removed trailing blank to further reduce the file size. The

documentation was not clear enough to explicitly allow for this practice

(paragraphs 2, 5.3, 9.1).

* The time system identifier of GPS observations generated by GEO payloads

defaults to GPS (explicitly stated now in paragraph 9.1)

* The time system identifier in the TIME OF LAST OBS header record has to

be identical to the one in the TIME OF FIRST OBS record

* Clarification of Table A2 to be compatible with examples of Table A7:

For event flags without significant epoch the epoch fields can be left blank.

Table A6: Format for epoch contained obvious errors

* Clarification of the floating point exponent format in navigation message

files (two digits, E,e,D,d letters)

0.6 Version 2.11

The modifications of 2.10 leading to Version 2.11 include

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Page 5 of 32https://igscb.jpl.nasa.gov/igscb/data/format/rinex211.txt

- Definition of the Galileo satellite system code

- Definition of the code for Galileo System Time (GAL)

- Definition of the frequency numbers for Galileo and new GPS observables

- Observation code for L2C pseudorange (C2)

- Some clarifications in the GEO NAV Message files

- Transmission time of message

- Health

- URA

- CORR TO SYSTEM TIME replaced by more general D-UTC A0,A1,T,W,S,U record

- Introduction of wind speed and direction, rain fall increment, hail indicator

- Recommendation regarding unknown/undefined observation types and header

records

- Recommendations for extended filenames for high-rate observation files

0.7 Version 2.11 June 26,2012

Minor edits to the Version 2.11 release:

- Updated revision Summary

- Changed Table of Contents, Appendix reference to 2.11 from 2.10

- Updated Section 4 to reflect new links to Hatanaka compression information.

- Changed Section 6.7 Satelite Health (Version 2.10 to Version 2.11)

- Changed Section 9.

From: RINEX Version 2.10 defines the necessary extensions to handle

such data in RINEX files for data exchange and postprocessing purposes.

To : The necessary extensions to handle data exchange and post-processing

were originally defined in RINEX Version 2.10 and apply in 2.11 as well."

- Changed the Format label for GPS Navigation File in Table A3

from 2.10 to 2.11

- Changed the Format label for Meteo Data in Table A5

from 2.10 to 2.11

- Changed the Format label for the GPS Observation File - Example in Table A7

from 2.10 to 2.11

- Changed the Format label for the GPS Navigation File - Example in Table A8

from 2.10 to 2.11

- Changed the COMMENT for the GPS Navigation File - Example in Table A8

from 2.10 to 2.11

- Changed the Format label for the Meteo Data File - Example in Table A9

from 2.10 to 2.11

- Changed the Format label for GLONASS Navigation File in Table A10

from 2.10 to 2.11

- Changed the COMMENT for the GLONASS Navigation File - Example in Table A12

from 2.10 to 2.11

- Changed the Format label for the GLONASS Observation File - Example in Table A13

from 2.10 to 2.11

- Changed the Format label for the Mixed GPS/GLONASS Observation File -

Example in Table A14 from 2.10 to 2.11

- Changed the Format label for the Mixed GPS/GEO Observation File -

Example in Table A17 from 2.10 to 2.11

Clarifications:

- Continuation records in RINEX headers: They also have to include the

respective header label in colums 61-80.

- The newer GLONASS satellites started using frequency numbers in the 0 to |

-7 range. Table A11 BROADCAST ORBIT - 2 was modified accordingly. |

1. THE PHILOSOPHY OF RINEX

The first proposal for the "Receiver Independent Exchange Format" RINEX has

been developed by the Astronomical Institute of the University of Berne for

the easy exchange of the GPS data to be collected during the 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:

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