Rinex: The Receiver Independent Exchange Format

RINEX
The Receiver Independent Exchange Format
Version 3.04
International GNSS Service (IGS), RINEX Working

Group and Radio Technical Commission for Maritime
Services Special Committee 104 (RTCM-SC104)
November 23, 2018
Acknowledgement: RINEX Version 3.02, 3.03 and 3.04 are 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.
RINEX Version 3.04 i
Table of Contents
0. REVISION HISTORY.............................................................................................................................. 1
1. THE PHILOSOPHY AND HISTORY OF RINEX .................................................................................. 9
2. GENERAL FORMAT DESCRIPTION ................................................................................................. 11
3. BASIC DEFINITIONS ........................................................................................................................... 12
3.1 Time .................................................................................................................................................. 12
3.2 Pseudo-Range ................................................................................................................................... 12
3.3 Phase ................................................................................................................................................. 12
Table 1: Observation Corrections for Receiver Clock Offset ............................................................. 13
3.4 Doppler ............................................................................................................................................. 13
3.5 Satellite numbers............................................................................................................................... 13
4. THE EXCHANGE OF RINEX FILES ................................................................................................... 14
Figure 2: Recommended filename parameters.................................................................................... 14
Table 2: Description of Filename Parameters ..................................................................................... 15
5. RINEX VERSION 3 FEATURES .......................................................................................................... 16
5.1 Observation codes ............................................................................................................................. 16
Table 3: Observation Code Components ............................................................................................ 16
Table 4 : RINEX Version 3.04 GPS Observation Codes .................................................................... 17
Table 5 : RINEX Version 3.04 GLONASS Observation Codes ......................................................... 18
Table 6 : RINEX Version 3.04 Galileo Observation Codes ............................................................... 19
Table 7 : RINEX Version 3.04 SBAS Observation Codes ................................................................. 19
Table 8 : RINEX Version 3.04 QZSS Observation Codes ................................................................. 20
Table 9 : RINEX Version 3.04 BDS Observation Codes ................................................................... 21
Table 10 : RINEX Version 3.04 IRNSS Observation Codes .............................................................. 22
5.2 Satellite system-dependent list of observables.................................................................................. 22
5.3 Marker type ....................................................................................................................................... 23
Table 11: Proposed Marker Type Keywords ...................................................................................... 23
5.4 Half-wavelength observations, half-cycle ambiguities ..................................................................... 24
5.5 Scale factor........................................................................................................................................ 24
5.6 Information about receivers on a vehicle .......................................................................................... 24
5.7 Signal strength .................................................................................................................................. 25
RINEX Version 3.04 ii
Table 12: Standardized S/N Indicators ............................................................................................... 25

5.8 Date/time format in the PGM / RUN BY / DATE header record ..................................................... 25
5.9 Antenna phase center header record ................................................................................................. 26
5.10 Antenna orientation ......................................................................................................................... 26
5.11 Observation data records................................................................................................................. 26
Table 13: Example Observation Type Records .................................................................................. 26
Table 14: Example Observation Data Records ................................................................................... 26
5.12 Ionosphere delay as pseudo-observables ........................................................................................ 27
Table 15: Ionosphere Pseudo-Observable Coding .............................................................................. 27
Table 16: Ionosphere Pseudo-Observable Corrections to Observations ............................................. 27
5.13 Channel numbers as pseudo-observables ........................................................................................ 27
5.14 Corrections of differential code biases (DCBs) .............................................................................. 28
5.15 Corrections of antenna phase center variations (PCVs) .................................................................. 28
5.16 Navigation message files ................................................................................................................ 28
Table 17: Example of Navigation File Satellite System and Number Definition Record .................. 28
Table 18: Example of Navigation File Header IONOSPHERIC CORR Record ................................ 28
6. ADDITIONAL HINTS AND TIPS ........................................................................................................ 29
6.1 Versions ............................................................................................................................................ 29
6.2 Leading blanks in CHARACTER fields ........................................................................................... 29
6.3 Variable-length records ..................................................................................................................... 29
6.4 Blank fields ....................................................................................................................................... 29
6.5 Order of the header records, order of data records............................................................................ 29
6.6 Missing items, duration of the validity of values .............................................................................. 30
6.7 Unknown / Undefined observation types and header records ........................................................... 30
6.8 Event flag records ............................................................................................................................. 30
6.9 Receiver clock offset......................................................................................................................... 30
6.10 Two-digit years ............................................................................................................................... 30
6.11 Fit interval (GPS navigation message file) ..................................................................................... 31
6.12 Satellite health (GPS navigation message file) ............................................................................... 31
Table 19: Description of GPS Satellite Health Field .......................................................................... 31
6.13 Transmission time of message (GPS navigation message file)....................................................... 31
6.14 Antenna references, phase centers .................................................................................................. 31
RINEX 3.04.IGS.RTCM.doc 2018-11-23

RINEX Version 3.04 iii
7. RINEX UNDER ANTISPOOFING (AS) ............................................................................................... 32

8. DEALING WITH DIFFERENT SATELLITE SYSTEMS .................................................................... 33
8.1 Time system identifier ...................................................................................................................... 33
Table 20: Relationship between GPS, QZSS, IRN, GST, GAL, BDS and RINEX Week Numbers .. 34
Table 21: Constellation Time Relationships ....................................................................................... 35
Table 22: GPS and BeiDou UTC Leap Second Relationship ............................................................. 35
8.2 Pseudorange definition...................................................................................................................... 36
Table 23: Constellation Pseudorange Corrections .............................................................................. 36
8.3 RINEX navigation message files ...................................................................................................... 37
8.3.1 RINEX navigation message files for GLONASS............................................................................ 37
Table 24: GLONASS Navigation File Data, Sign Convention........................................................... 37
8.3.2 RINEX navigation message files for Galileo ............................................................................. 37
8.3.3 RINEX navigation message files for GEO satellites ................................................................. 38
8.3.4 RINEX navigation message files for BDS ................................................................................. 39
8.3.5 RINEX navigation message files for IRNSS ............................................................................. 39
8.4 RINEX observation files for GEO satellites ..................................................................................... 40
9. MODIFICATIONS FOR VERSION 3.01, 3.02, 3.03 and 3.04 ............................................................. 40
9.1 Phase Cycle Shifts............................................................................................................................. 40
Table 25: RINEX Phase Alignment Correction Convention .............................................................. 42
Table 26: Example SYS / PHASE SHIFT Record............................................................................. 42
9.2 Galileo: BOC-Tracking of an MBOC-Modulated Signal ................................................................. 42
Table 27: Example of RINEX Coding of Galileo BOC Tracking of an MBOC Signal Record ......... 42
9.3 BDS Satellite System Code............................................................................................................... 42
9.4 New Observation Codes for GPS L1C and BDS .............................................................................. 43
9.5 Header Records for GLONASS Slot and Frequency Numbers ........................................................ 43
Table 28: Example of a GLONASS Slot- Frequency Records ........................................................... 43
9.6 GNSS Navigation Message File: Leap Seconds Record................................................................... 43
9.7 Clarifications in the Galileo Navigation Message File: .................................................................... 43
9.8 Quasi-Zenith Satellite System (QZSS) RINEX Version 3.02........................................................... 43
9.9 GLONASS Mandatory Code-Phase Alignment Header Record....................................................... 43
Table 29: Example of GLONASS Code Phase Bias Correction Record ............................................ 44
Table 30: Example of Unknown GLONASS Code Phase Bias Record ............................................. 44

RINEX Version 3.04 iv
9.10 BDS system (Replaces Compass) ................................................................................................... 44

9.11 Indian Regional Navigation Satellite System (IRNSS) Version 3.03 ............................................. 44
9.12 Updates for Quasi-Zenith Satellite System (QZSS), BeiDou and GLONASS (CDMA) RINEX
Version 3.04 ............................................................................................................................................ 44
Table 31: QZSS PRN to RINEX Satellite Identifier ........................................................................... 45
10 References .......................................................................................................................................... 47
APPENDIX: RINEX FORMAT DEFINITIONS AND EXAMPLES ......................................................... 1
A 1 RINEX File name description ............................................................................................................ 1
A 2 GNSS Observation Data File -Header Section Description ............................................................... 5
A 3 GNSS Observation Data File -Data Record Description ................................................................. 13
A 4 GNSS Observation Data File – Example #1 .................................................................................... 15
A 5 GNSS Navigation Message File – Header Section Description ...................................................... 19
A 6 GNSS Navigation Message File – GPS Data Record Description................................................... 23
A 7 GPS Navigation Message File – Example ....................................................................................... 24
A 8 GNSS Navigation Message File – GALILEO Data Record Description ......................................... 25
A 9 GALILEO Navigation Message File – Examples ............................................................................ 27
A 10 GNSS Navigation Message File – GLONASS Data Record Description...................................... 29
A 11 GNSS Navigation Message File – Example: Mixed GPS / GLONASS ........................................ 30
A 12 GNSS Navigation Message File – QZSS Data Record Description .............................................. 31
A 13 QZSS Navigation Message File – Example ................................................................................... 32
A 14 GNSS Navigation Message File – BDS Data Record Description ................................................ 33
A 15 BeiDou Navigation Message File – Example ................................................................................ 34
A 16 GNSS Navigation Message File – SBAS Data Record Description .............................................. 35
A 17 SBAS Navigation Message File -Example .................................................................................... 36
A 18 GNSS Navigation Message File – IRNSS Data Record Description............................................. 37
A 19 IRNSS Navigation Message File – Example ................................................................................. 39
A 20 Meteorological Data File -Header Section Description ................................................................. 40
A 21 Meteorological Data File -Data Record Description...................................................................... 42
A 22 Meteorological Data File – Example ............................................................................................. 42
A 23 Reference Code and Phase Alignment by Constellation and Frequency Band .............................. 43

RINEX Version 3.04 1
0. REVISION HISTORY
Version 3.00
02 Feb 2006 A few typos and obsolete paragraphs removed.
08 Mar 2006 Epochs of met data of met files version 2.11 are in GPS time only
(Table A20).
31 Mar 2006 DCB header record label corrected in Table A6: SYS / DCBS
APPLIED.
June 2006 Filenames for mixed GNSS nav mess files.
10 Aug 2006 Table A3: Error in format of EPOCH record: One 6X removed.
Trailing 3X removed.
12 Sep 2006 GNSS navigation message files version 3.00 included (including
Galileo).
Table A4: Example of the kinematic event was wrong (kinematic
event record).
SYS / DCBS APPLIED header record simplified.
Tables A6 and A8: Clarification for adjustment of “Transmission time
of message“.
03 Oct 2006 Table A11: Mixed GPS/GLONASS navigation message file
26 Oct 2006 Table A4: Removed obsolete antispoofing flag
Tables A6/8/10: Format error in SV / EPOCH / SV CLK: Space
between svn and year was missing
Half-cycle ambiguity flag (re-)introduced (5.4 and Table A4).
Clarification of reported GLONASS time (8.1).
New header record SYS / PCVS APPLIED
New Table 10: Relations between GPS, GST, and GAL weeks
Recommendation to avoid storing redundant navigation messages
(8.3)
14 Nov 2006 Tables A6/10/12: Format error in BROADCAST ORBIT – n: 3X
→ 4X. Examples were OK.
21 Nov 2006 Marker type NON_PHYSICAL added
19-Dec-2006 Table A4: Example of SYS / DCBS APPLIED was wrong.
13-Mar-2007 Paragraph 3.3: Leftover from RINEX version 2 regarding wavelength
factor for squaring- type receiver removed and clarified.
14-Jun-2007 Paragraph 5.11: Clarification regarding the observation record length
28-Nov-2007 Frequency numbers for GLONASS –7..+12 (BROADCAST ORBIT
– 2)
Version 3.01
22-Jun-2009 Phase cycle shifts
Galileo: BOC-tracking of an MBOC-modulated signal

Compass satellite system: Identifier and observation codes

Code for GPS L1C
Header records for GLONASS slot and frequency numbers
Order of data records
Galileo nav. mess record BROADCAST ORBIT – 5: Bits 3-4
reserved for Galileo internal use
Version 3.02 – IGS and RTCM-SC104
19-Nov-2011 Added Quasi Zenith Satellite System (QZSS) Constellation
Updated text, tables and graphics
Added Appendix Table 19 - phase alignment table
21-Jan-2012 Split the Constellation table into a table for each GNSS
Added QZSS to the documentation
Edited text to improve clarity
Corrected sign in the phase alignment table,
Removed QZSS P signals
9-May-2012 Edited text to improve clarity,
Updated phase alignment table,
Changed Met PGM / RUN BY / DATE to support 4 digit year as in all
other records also changed format to support 4 digit year for met.
Observation record, Changed SYS / PHASE SHIFTS to SHIFT
29-Nov-2012 Changed Table1 and 2 to Figure 1 and 2.
Updated all Table numbers.
Changed file naming convention, Section 4. Added Appendix Table
A1 and increased all, updated all Appendix numbers
Removed the option of supporting unknown tracking mode from
Section 5.1.
Harmonized L1C(new) signal identifiers for QZSS and GPS See :
Table 2 and 6.
Updated BeiDou System (BDS) (was Compass) information
throughout the document added new BDS ephemeris definition to
Appendix. (Based on input from the BDS Office)
Corrected GLONASS SLOT/FRQ format in section 9.5, changed
message status from optional to mandatory (See: Appendix Table
A2).
Added new mandatory GLONASS Code Phase Bias header record
See section 9.9
11-Mar-2013 Updated Sections: 4.x, made .rnx the file name extension and updated
Figure 2; 9.1 to clarify the use of the phase alignment header; A1
Edited to reflect file extension of *.rnx; A14 - BDS ephemeris
changed AODC to IODC and AODE to IODE (as indicated by
BDS Authority and new ICD); Appendix Table A19
(Changed GLONASS Reference Signals to C1-C2) and explicitly
identified reference signal for all constellations and frequencies.
26-Mar-2013 Changed BeiDou to BDS for conform to ICD.
In table 7 changed BDS signals from: C2x to C1x to more closely
reflect existing bands in tables 2-6 and Appendix Tables A2 and A21.

Updated Section 8.1: First paragraph updated to indicate current

number of leap seconds; added a row to Table 12 to show the
relationship between GPS week and BDT week. Added a table to
show the approximate relationship of BDT to GPS time.
Changed order of file type: from OG to GO etc in Appendix Table
A1.
Updated Appendix table A21 to show X signals and indicate that the
X phase is to be aligned to the frequencies reference signal.
Fixed a few small typos in A21 for GPS: L1C-D/P and D+P.
RINEX 3.02 Released

03-Dec-2013  Corrected Sections 3.1 to read: TIME OF FIRST OBS rather than
start time record.
 Added text to Section 5.4 and A3 to indicate that the Loss of Lock
Bit is the least significant bit.
 In section 9.5 GLONASS Slot and Frequency Numbers, changed
optional to mandatory (as it was changed from optional to
mandatory in version 3.02).
 In Table A2 record: SYS / # / OBS TYPES changed Satellite
system code (G/R/E/J/C/S/M to G/R/E/J/C/S).
 In Section 5.7 added descriptive text to Table 12 (header-
changed Signal to Carrier and in the body) .
 In Table A3 record OBSERVATION changed 5: from average
to good.
 In note 4 after A8 …Galileo System Time added (GST) to make
the following description more explicit.
 Appendix A14 BeiDou Nav. removed the – sign in front of Cis
24-Jan-2014  Appendix A10 Section SV / EPOCH / SV CLK changed TauN to
–TauN to agree with section 8.3.1
4-Apr-2014  Galileo Table A8 , BROADCAST ORBIT-5 - Bits 0-2 : changed
from non-exclusive to exclusive (only one bit can be set). In
****) section added (GST)
 Corrected Table A23 - BeiDou B1 phase correction column signal
indicator to agree with BeiDou Table 9.
 Corrected Table A2 - Band 1 = E1 (Was E2-L1-E1) to agree with
Galileo Table 6.
 In Table A5 - optional message TIME SYSTEM CORR added text
to clarify the parameters T and W for BeiDou.
 Section 8.3.1 Corrected typo in last line of first paragraph.
6-May-2014  Updated Section 10 Document References
 Changed A6 from GPS/QZSS to GPS only as A12 contains a
description of the QZSS ephemeris.
 Corrected typo in Appendix 23 note 1: L2E changed to L2W
21-May-2014  Appendix A4 added two observation file header examples
 Appendix A6 GPS Navigation, Broadcast Orbit-7 Fit Interval,

clarified in accordance with IS-GPS-200H section 20.3.3.4.3.1

 Appendix A9 added Galileo navigation file example
 Appendix A12 QZSS Navigation, Broadcast Orbit-5 field 4 allow
define L2P flag to be set to one section 5.2.2.2.3(6)); Broadcast
Orbit-7 Fit Interval clarified in accordance with section
5.2.2.2.4(4), IS-QZSS 1.5.
 Appendix A13 added QZSS navigation file example
 Appendix A15 added BeiDou navigation file example
26-May-2014  Removed “Added” from section 9.8, 9.9 and 9.10 titles
 Added a note to section 9.9 (GLONASS COD/PHS/BIS) to allow
unknown GLONASS code/phase, observation alignment in
exceptional cases. Added a note to Appendix A2: GLONASS
COD/PHS/BIS record definition.
9-June-2014  Edited Section 6.11 and Table A6:BO7 (GPS) to indicate that the
GPS fit interval field should contain a period in hours. Edited
Table A12:BO7 (QZSS) to make it clear that the fit interval is a
flag and not a time period. Added support for unknown fit interval
(specified as an empty field).
10-June-2014  Removed the reference to QZSS in Appendix 6 SC/EPOCH/SV
CLK record as there is now a QZSS navigation file in Appendix
12.
 Corrected A12 QZSS ICD reference from 5.1.2.3.2 to 5.1.2.1.3.2
12-June-2014  Added text to section 9.9 to indicate that when the GLONASS
COD/PHS/BIS measurements are unknown then all fields in the
record should be left blank (added an example). Updated the
descriptive text in Table A2 GLONASS COD/PHS/BIS.
10-July-2014  Corrected Appendix numbers in body of the text
 Added Note after BeiDou Table 9 to indicate that some RINEX
3.02 files may still use the 3.01 B1 coding convention
16-Jul-2014 - Section 9.1 Replaced: 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 with: All phase
observations must be aligned to the designated constellation and
frequency reference signal as specified in Appendix Table A23,
either directly by the receiver or by a correction program or the
RINEX conversion program, prior to RINEX file generation.
Additionally, all data must be aligned with the appropriate
reference signal indicated in Appendix Table A23 even when the
receiver or reporting device is not tracking and/or providing data
from that reference signal e.g. Galileo L5X phase data must be
aligned to L5I.
29-Jul-2014 - Minor edits
- Updated last paragraph of section 8.4 re TIME SYSTEM CORR
- Corrected QZSS Appendix Table A12 PRN/EPOCH/SV CLK

record format specification

- Reformatted Appendix Table A12 and A14
31-Oct-2014 - BeiDou updates: changed B1 signal identifiers to C2x;
observation and navigation Header “LEAP SECONDS messages
changed to support both GPS and BDS leap seconds; updated the
navigation header message “IONOSPHERIC CORR” to support
different ionospheric correction parameters from each satellite.
Updated BDS navigation message Table A14. Updated Sections
8.1 and 8.2.
- Added Description of the Indian Regional Navigation Satellite
System (IRNSS) to the document, Updated RINEX release
number to 3.03 Draft 1
19-Jan-2015 - Table 2 grammatical error corrections
- Updated broken http: link on page 17
- Updated Leap Second definition in section 8.1 and Appendix A2
and A5
- Update Galileo Appendix A8 navigation line 5 to indicate the
exclusive and non-exclusive bits
- Added text to further clarify BeiDou Appendix A14 AODE and
AODC definition
- Updated IRNSS Appendix 18 line 5, week number to indicate
that the Week Number is aligned with the GPS week number
- Added IRNSS phase alignment information to Appendix 23
15-April-2015 - Editorial changes/corrections: in section 6.6 specified a new

acronym Blank Not Known (BNK), 8.1 added text to indicate the
relationship between BDT and GPS Time at start of BDT,
corrected typo in Section 8.2 last paragraph changed GLO to
UTC, clarified Section 9.2 Galileo Tracking, clarified Section 9.6
re BDS, removed Section 9.8 RINEX Meteorological section
- Re-formatted Appendix Table A2 and A5
- Clarified Observation (A2) and Navigation (A5) “LEAP
SECONDS” record
- Clarified Navigation (A5) file “IONOSPHERIC CORR” record
- QZSS A12-BO-6, TGD blank if not know
- Corrected typo in A22,
- Clarified filename start time
- Minor punctuation and grammatical corrections throughout the
document.
- Removed reference to unknown tracking mode in Appendix Table
A2 message SYS / # / OBS TYPE.
- Updated all table numbers (some tables were not identified),
improved table descriptions.
- Minor format changes
15-May-2015 - Added paragraph to section 8.3.2 to specify that RINEX parsers

should expect to encounter F/NAV and I/NAV messages in the

same file…
- Removed “The attribute can be left blank if not known. See text!”
text from the end of A2, SYS/#/OBS TYPES as it was decided in
3.02 not to allow unknown signals therefore this no longer applies
- Updated A8 (Galileo Nav. Message), Record 5 Field 2-
Description to specify only I/NAV or F/NAV can be specified
- Corrected A9 (Galileo Nav. Example), Record 5 Field 2 from 519
to 517 to indicate I/NAV in accordance with the field
specification
- Corrected A9, Record 6 Field 1 from 107(broadcast raw value) to
3.12m
25-May-2015 - Corrected Table of contents to show Section 10.0, References
- Section 2 second last paragraph added IRNSS to list of supported
constellations
- Section 5.3 last paragraph concerning event flags added reference
to Appendix A3
- Section 7, last paragraph, edited second sentence to make it more
clear
1-June-2015 - Minor punctuation corrections
- Added C2X signal tracking example to Section 5.1 example list
- Added paragraph 3 to section 5.1, to indicate only know tracking
modes are supported in RINEX 3.02 and 3.03
- Added note to Appendix A2, SYS/#/OBS TYPES to indicate only
know tracking modes are allowed in RINEX 3.02 and 3.03
- Table 4 in L1 and L2 frequency bands, changed P to P (AS off) to
improve clarity
- Added :”(e.g. units employing a Selective Availability Anti-
Spoofing Module (SAASM))“ to last paragraph on page 18 to
improve clarity.
24-June-2015 - Updated the last paragraph of Section 1 (RINEX 3.03)
- Clarified Section 4: Changed Obs. Freq. To Data Frequency and
update Appendix Table A1 to match
- Added text to Section 8.3.2 (Galileo Navigation) to describe Issue
of Data and related parameters
- Added reference to Galileo ICD in Appendix A8 BROADCAST
ORBIT-6
- Added Galileo Examples to Appendix Table A9
29-June-2015 - Updated BeiDou RINEX 3.02 C1x-C2x Note below Table 9 for
clarity
- Section 8.3.2 added Galileo ICD publication year to reference
- Corrected Beidou C1 to C2 encoding in Appendix A2 SYS/#/OBS
TYPES and in Appendix A4 example 2 and 3
- Appendix A2 and A5 Clarified LEAP SECONDS Day number to
be 0-6 for BeiDou and 1-7 for GPS and other constellations.
- Updated all Appendix table references to contain Axx, to

differentiate between body and Appendix tables.

14-July-2015 - Updated LEAP SECONDS record description in Appendix A2
and A5
- Converted Galileo SISA values in Appendix A9 from broadcast
value into metres in accordance with RINEX specification and
Galileo ICD Section 5.1.11 Table 76
- RINEX 3.03 Released
7-Sept.-2016 - GLONASS Table 5 G2 Section: added missing / to 7/16 to
indicate frequency offset spacing
- Updated Tables 29 and 30 to remove errant # from end of message
type tag to conform to Appendix A2 definition and examples
- Appendix A3 Observation definition clarified
- Appendix A10 GLONASS Navigation message, clarified the
health indicator to be: 0 = healthy and 1 = unhealthy
03-Oct.-2016 - Appendix A3 Observation definition use of Signal Strength
Indicator (SSI) further clarified
- Appendix A16 SBAS and QZSS SAIF Navigation message:
clarified the health bit mask to be in accordance with Section
8.3.3.
06-Oct.-2016 - Appendix A1 Added Meteorological file name example
28-Oct.-2016 - Corrected http link to PRN Assignment Information on page 19
02-Dec-2016 - Minor punctuation, typographical and grammatical corrections
- Updated Leap second information in Table 22
- Section 8.3.3 and 8.3.4 Transmission Time of Message
paragraphs, Changed PRN/EPOCH/SV CLK to SV/EPOCH/SV
CLK, reorganized last sentence to improve clarity
- Changed PRN/EPOCH/SV CLK to SV/EPOCH/SV CLK in Table
A12
24-Jan-2017 - Released RINEX 3.03 Update 1
25-Apr-2018 - Updated GLONASS, QZSS and BeiDou signal tables 5, 8 and 9
and related information in Appendix Table A23.
- Added Section 9.12 to describe the new signals and features.
- Changed RINEX 3.03 to 3.04 throughout the document.
- Added the new Constellation ICD information to the References
section.
30-July-2018 - Corrected format typo in table 26
- Clarified A10 Health Field by specifying most significant bit of 3-
bit Bn
- Changed A8 and A10 Label from OBS. RECORD to NAV
RECORD
- Table 5 Changed the GLONASS CDMA signals for G1a to G4
and G2a to G6 to be consistent with labeling conventions used for
other constellations
- Added new signals in BeiDou Table 9
- Added new Band to Constellation information to A2
- Corrected typo in Table A4 example #3 changed L2Q to L5Q

30-Aug.-2018 - Clarified QZSS Block I and II signals in Table 8

- Clarified BDS Generation 2 and 3 tracking signal in Table 9
- Updated Table A5 TIME SYSTEM CORR and related examples
in appendix tables
- Added Text to specify that the body of RINEX 3.0x files names
should be ASCII capital letters and numbers. File extension must
be lower case.
11-Sept-2018 - Minor edits and document date update
01-Oct-2018 - Add clarification information to QZSS Table 8, L6 Channel
information column.
- Updated Section 9.12 QZSS Block I and II signal coding
description.
15-Oct-2018 - Updated format of BeiDou Table 9
- Appendix A2 - corrected 4 = G1a (GLO), reordered signal
attribute codes to be in alphabetical order (page A8)
- Corrected A5 –W Reference week number by removing BDS
from the group in parentheses so that it is clear that BDS week
starts on 1-Jan-2006, as week zero. Also corrected BDUT
example in A9
- Appendix A8 updated definition of SISA for -1.0 to read No
Accuracy Precision Available/Unknown
- Updated A23 New GLONASS G1 and G2 Frequency Band
identifiers to G1a and G2a
22-Oct-2018 - Minor format and editorial updates:
- Table #9 added text to specify new BDS-3 signals in Frequency
Band/Frequency Column
- Section 5.12, Table #15, n: band/frequency changed from 1-8 to
1-9.
- Header of Table A6, A12, A14, A16 and A18: replaced OBS. with
NAV.
- Updated release dates for QZSS documents in References section
- Corrected A23 QZSS linkage of notes 5 and 6
23-Nov-2018 - Changed IGS ftp://igscb.jpl.nasa.gov to ftp://igs.org and
ftp://ftp.unibe.ch/aiub to ftp://ftp.aiub.unibe.ch in References
section. Minor naming consistency edits.
23-Nov-2018 - RINEX 3.04 Released

1. THE PHILOSOPHY AND HISTORY OF RINEX

The first proposal for the Receiver Independent Exchange Format RINEX was developed by the
Astronomical Institute of the University of Bern 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 receiver-generated
reference frequency)
 the pseudorange (code) measurement, 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
 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 the
receivers: they need phase, code, and time in the above mentioned definitions, and some station-
related information like station name, antenna height, etc.
Until 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 of
Precise 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 other
than 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]
 Version 2.20: Unofficial version used for the exchange of tracking data from

spaceborne 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-like

exchange 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 [Ray
and Gurtner 2010]
 Exchange format for the complete broadcast data of space-
based augmentation systems SBAS. [Suard et al. 2004]
 IONEX: Exchange format for ionosphere models determined by
processing data of a GNSS tracking network [Schaer et al. 1998]
 ANTEX: Exchange format for phase center variations of
geodetic GNSS antennae [Rothacher and Schmid 2010]
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, requires 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, the limitation 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 leading to the release of version 3.01 was the requirement to generate consistent
phase observations 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.
RINEX 3.02 added support for the Japanese, Quasi Zenith Satellite System (QZSS), additional
information concerning BeiDou (based on the released ICD) and a new message to enumerate
GLONASS code phase biases.
RINEX 3.03 adds support for the Indian Regional Satellite System (IRNSS) and clarifies several
implementation issues in RINEX 3.02. RINEX 3.03 also changes the BeiDou B1 signal
convention back to the 3.01 convention where all B1 signals are identified as C2x (not C1 as in
RINEX 3.02). Another issue with the implementation of 3.02 was the GPS navigation message
fit interval field. Some implementations wrote the flag and others wrote a time interval. This
release specifies that the fit interval should be a time period for GPS and a flag for QZSS. The
Galileo Navigation section 8.3.2 was updated to clarify the Issue of Data (IOD). RINEX 3.03
was also modified to specify that only known observation tracking modes can be encoded in the
standard.

2. GENERAL FORMAT DESCRIPTION

The RINEX version 3.XX format consists of three ASCII file types:
1. Observation data file

2. Navigation message file
3. 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. These labels 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 number of
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 site
and 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 insertion of certain header records into the data section, it is
not recommended to concatenate data from 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 in
order 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 contain
navigation messages of more than one satellite system (GPS, GLONASS, Galileo, Quasi Zenith
Satellite System (QZSS), BeiDou System (BDS), Indian Regional Navigation Satellite System
(IRNSS) and SBAS).
The actual format descriptions as well as examples are given in the Appendix Tables at the end of
the document.

3. BASIC DEFINITIONS
GNSS observables include three fundamental quantities that need to be defined: Time, Phase, and
Range.
3.1 Time
The time of the measurement is the receiver time of the received signals. It is identical for the
phase 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.
For mixed files, the actual time system used must be indicated in the TIME OF FIRST OBS header
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 in

chapter 8.2.
3.3 Phase
The phase is the carrier-phase measured in whole cycles. The half-cycles measured by squaring-
type receivers must be converted to whole cycles and flagged by the respective observation code
(see Table 4 and Section 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 such as: atmospheric refraction, satellite
clock offsets, 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 A23).
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:

Time (corr) = Time(r) - dT(r)
PR (corr) = PR (r) - dT(r)*c
phase (corr) = phase (r) - dT(r)*freq
Table 1: Observation Corrections for Receiver Clock Offset
3.4 Doppler
The sign of the doppler shift as additional observable is defined as usual: Positive for approaching
satellites.
3.5 Satellite numbers
Starting with RINEX Version 2 the former two-digit satellite numbers nn are preceded by a one-
character system identifier s as shown in Figure 1.
Figure 1: Satellite numbers and Constellation Identifiers

* ) For detailed definition of QZSS, please refer the section 9.12 )
The same satellite system identifiers are also used in all header records when appropriate.

4. THE EXCHANGE OF RINEX FILES
The original RINEX file naming convention was implemented in the MS-DOS era when file
names 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 the
elements of the RINEX 3.02 (and subsequent versions) file naming convention.
Figure 2: Recommended filename parameters.

All elements of the main body of the file name must contain capital ASCII letters or numbers
and all elements are fixed length and are separated by an underscore “_”.The file type and
compression fields (extension) use a period “.” as a separator and must be ASCII characters and
lower case. Fields must be padded with zeros to fill the field width. The file compression field is
optional. See Appendix A1 for a detailed description of the RINEX 3.02 (and subsequent
versions) file naming convention. Table 2 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 file
containing 1 hour of data, with an
observation 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 file
containing 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 file
containing 1 day of data, with an
observation every 30 seconds
ALGO00CAN_R_20121600000_01D_GN.rnx RINEX GPS navigation file, containing
one day’s data
ALGO00CAN_R_20121600000_01D_RN.rnx RINEX GLONASS navigation file,
containing one day’s data
ALGO00CAN_R_20121600000_01D_MN.rnx RINEX mixed navigation file, containing
one day’s data
Table 2: 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 higher-
order 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 standard compression programs.
More information on the Hatanaka compression scheme can be found in:
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.
5. RINEX VERSION 3 FEATURES

This chapter 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 phase
observations based on one or a combination of several channels: Two-channel signals are
composed of I and Q components, three-channel signals of A, B, and C components. Moreover, a
wideband tracking of a combined E5a + E5b Galileo frequency is possible. In order to keep the
observation 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 a signal
generation attribute. The observation code tna consists of three parts:
t :observation type C = pseudorange, L = carrier phase, D = doppler, S = signal
strength
n :band / frequency 1, 2,...,9
a : attribute tracking mode or channel, e.g., I, Q, etc
Table 3: Observation Code Components
Examples:
 L1C: C/A code-derived L1 carrier phase (GPS, GLONASS) Carrier phase on E2-L1-
E1 derived from C channel (Galileo)
 C2L: L2C pseudorange derived from the L channel (GPS)
 C2X: L2C pseudorange derived from the mixed (M+L) codes (GPS)
Tables 4 to 10 describe each GNSS constellation and the frequencies and signal encoding
methods used.
Unknown tracking modes are not supported in RINEX 3.02 and 3.03. Only the complete
specification of all signals is allowed i.e. all three fields must be defined as specified in Tables 4-
10.

Observation Codes
GNSS Freq. Band
Channel or Code Pseudo Carrier Signal
System /Frequency Doppler
Range Phase Strength
GPS C/A C1C L1C D1C S1C
L1C (D) C1S L1S D1S S1S
L1C (P) C1L L1L D1L S1L
L1C (D+P) C1X L1X D1X S1X
P (AS off) C1P L1P D1P S1P
L1/1575.42
Z-tracking and similar
C1W L1W D1W S1W
(AS on)
Y C1Y L1Y D1Y S1Y
M C1M L1M D1M S1M
codeless L1N D1N S1N
C/A C2C L2C D2C S2C
L1(C/A)+(P2-P1)
C2D L2D D2D S2D
(semi-codeless)
L2C (M) C2S L2S D2S S2S
L2C (L) C2L L2L D2L S2L
L2C (M+L) C2X L2X D2X S2X
L2/1227.60
P (AS off) C2P L2P D2P S2P
Z-tracking and similar
C2W L2W D2W S2W
(AS on)
Y C2Y L2Y D2Y S2Y
M C2M L2M D2M S2M
codeless L2N D2N S2N
I C5I L5I D5I S5I
L5/1176.45 Q C5Q L5Q D5Q S5Q
I+Q C5X L5X D5X S5X
Table 4 : RINEX Version 3.04 GPS Observation Codes

Observation Codes
GNSS Freq. Band Channel or
Pseudo Carrier Signal
System /Frequency Code Doppler
GLONASS G1/ C/A C1C L1C D1C S1C
1602+k*9/16
P C1P L1P D1P S1P
k= -7….+12
L1OCd C4A L4A D4A S4A
G1a/
L1OCp C4B L4B D4B S4B
1600.995
L1OCd+ L1OCp C4X L4X D4X S4X
C/A
C2C L2C D2C S2C
G2/ (GLONASS M)
1246+k*7/16 P C2P L2P D2P S2P
G2a/ L2CSI C6A L6A D6A S6A
1248.06 L2OCp C6B L6B D6B S6B
L2CSI+ L2OCp C6X L6X D6X S6X
I C3I L3I D3I S3I
G3 / 1202.025 Q C3Q L3Q D3Q S3Q
I+Q C3X L3X D3X S3X
Table 5 : RINEX Version 3.04 GLONASS Observation Codes

Observation Codes
GNSS Freq. Band
Channel or Code Pseudo Carrier Signal
System /Frequency Doppler
Galileo A PRS C1A L1A D1A S1A
B I/NAV OS/CS/SoL C1B L1B D1B S1B
E1 / 1575.42 C no data C1C L1C D1C S1C
B+C C1X L1X D1X S1X
A+B+C C1Z L1Z D1Z S1Z
I F/NAV OS C5I L5I D5I S5I
E5a / 1176.45 Q no data C5Q L5Q D5Q S5Q
I+Q C5X L5X D5X S5X
I I/NAV OS/CS/SoL C7I L7I D7I S7I
E5b / 1207.140 Q no data C7Q L7Q D7Q S7Q
I+Q C7X L7X D7X S7X
I C8I L8I D8I S8I
E5(E5a+E5b) /
Q C8Q L8Q D8Q S8Q
1191.795
I+Q C8X L8X D8X S8X
A PRS C6A L6A D6A S6A
B C/NAV CS C6B L6B D6B S6B
E6 / 1278.75 C no data C6C L6C D6C S6C
B+C C6X L6X D6X S6X
A+B+C C6Z L6Z D6Z S6Z
Table 6 : RINEX Version 3.04 Galileo 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.
Observation Codes
GNSS Freq. Band/ Channel or
Pseudo Carrier Doppler Signal
System Frequency Code
L1 / 1575.42 C/A C1C L1C D1C S1C
I C5I L5I D5I S5I
SBAS
L5 / 1176.45 Q C5Q L5Q D5Q S5Q
I+Q C5X L5X D5X S5X
Table 7 : RINEX Version 3.04 SBAS Observation Codes

Observation Codes
GNSS Freq. Band / Channel or
Pseudo Carrier Signal
System Frequency Code Doppler
QZSS C/A C1C L1C D1C S1C
L1C (D) C1S L1S D1S S1S
L1 / 1575.42 L1C (P) C1L L1L D1L S1L
L1C (D+P) C1X L1X D1X S1X
L1S/L1-SAIF C1Z L1Z D1Z S1Z
L2C (M) C2S L2S D2S S2S
L2 / 1227.60 L2C (L) C2L L2L D2L S2L
L2C (M+L) C2X L2X D2X S2X
I * C5I L5I D5I S5I
L5 / 1176.45 Q * C5Q L5Q D5Q S5Q
*(Block I Signals)
I+Q * C5X L5X D5X S5X
**(Block II L5S
L5D ** C5D L5D D5D S5D
Signals)
L5P ** C5P L5P D5P S5P
L5(D+P) ** C5Z L5Z D5Z S5Z
L6 / 1278.75 L6D *,** C6S L6S D6S S6S
*(Block I LEX L6P * C6L L6L D6L S6L
Signals) L6(D+P) * C6X L6X D6X S6X
**(Block II L6E ** C6E L6E D6E S6E
Signals) L6(D+E) ** C6Z L6Z D6Z S6Z
Table 8 : RINEX Version 3.04 QZSS Observation Codes

Note: RINEX 1Z signal coding is used for both the initial Block I L1-SAIF signal and the
updated L1S signal. L6D is the “code 1” of the L61(BlockI) and L62 (Block II) signals, L6P is
the “code 2” (or pilot) signal of the L61(Block I) signal and L6E is the “code 2” of the
L62(Block II) signal as specified in IS-QZSS-L6. See section 9.12 and Table 31 for QZSS PRN
to RINEX identifier coding.

Observation Codes
GNSS
Freq. Band / Frequency Channel or Code
System Pseudo Carrier Signal
Doppler
BDS I C2I L2I D2I S2I
B1-2 / 1561.098 Q C2Q L2Q D2Q S2Q
I+Q C2X L2X D2X S2X
Data C1D L1D D1D S1D
Pilot C1P L1P D1P S1P
B1 / 1575.42 Data+Pilot C1X L1X D1X S1X
(BDS-3 Signals) B1A C1A L1A D1A S1A
Codeless L1N D1N S1N
Data C5D L5D D5D S5D
B2a / 1176.45 Pilot C5P L5P D5P S5P
(BDS-3 Signals) Data+Pilot C5X L5X D5X S5X
B2b / 1207.140 I C7I L7I D7I S7I
(BDS-2 Signals) Q C7Q L7Q D7Q S7Q
I+Q C7X L7X D7X S7X
B2b / 1207.140 Data C7D L7D D7D S7D
(BDS-3 Signals) Pilot C7P L7P D7P S7P
Data+Pilot C7Z L7Z D7Z S7Z
B2(B2a+B2b)/1191.795 Data C8D L8D D8D S8D
(BDS-3 Signals) Pilot C8P L8P D8P S8P
Data+Pilot C8X L8X D8X S8X
B3/1268.52 I C6I L6I D6I S6I
Q C6Q L6Q D6Q S6Q
I+Q C6X L6X D6X S6X
B3A C6A L6A D6A S6A
Table 9 : RINEX Version 3.04 BDS Observation Codes

Note: When reading a RINEX 3.02 file, both C1x and C2x coding should be accepted and treated
as C2x in RINEX 3.03.

Observation Codes
GNSS
Freq. Band / Frequency Channel or Code
System Pseudo Carrier Signal
Doppler
IRNSS A SPS C5A L5A D5A S5A
B RS (D) C5B L5B D5B S5B
L5 / 1176.45
C RS (P) C5C L5C D5C S5C
B+C C5X L5X D5X S5X
A SPS C9A L9A D9A S9A
B RS (D) C9B L9B D9B S9B
S / 2492.028
C RS (P) C9C L9C D9C S9C
B+C C9X L9X D9X S9X
Table 10 : RINEX Version 3.04 IRNSS Observation Codes
GPS-SBAS and –pseudorandom noise (PRN) code assignments see:

https://media.defense.gov/2016/Jul/26/2001583103/-1/-1/1/PRN%20CODE%20ASSIGNMENT%20PROCESS.PDF
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 recover
pseudorange and phase on the “P-code” band use attribute W. Y-code tracking receivers (e.g. units
employing a Selective Availability Anti-Spoofing Module (SAASM)) use attribute Y.
Appendix Table A23 enumerates the fractional phase corrections required to align each signal to
the frequencies reference signal.
As all observations affected by “AS on” now get their own attribute (codeless, semi-codeless, Z-
tracking 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 a
list of observation codes in a header record. As the types of the observations actually generated by a
receiver may heavily depend on the satellite system, RINEX Version 3 requests system-dependent
observation code lists (header record type SYS / # / OBS TYPES).

5.3 Marker type
In order to indicate the nature of the marker, a MARKER TYPE header record has been defined.
Proposed keywords are given in Table 11.
Marker Type Description

Geodetic Earth-fixed high-precision monument
Non Geodetic Earth-fixed low-precision monument
Non_Physical Generated from network processing
Space borne Orbiting space vehicle
Air borne Aircraft, balloon, etc.
Water Craft Mobile water craft
Ground Craft Mobile terrestrial vehicle
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
Animal Animal carrying a receiver
Human Human being
Table 11: 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. However, event flags 2 and 3
(See Appendix A3) are still necessary to flag alternating kinematic and static phases of a receiver
visiting multiple earth-fixed monuments. Users may define other project-dependent keywords.

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 the
observation records are no longer necessary. If a receiver changed between squaring and full cycle
tracking within the time period of a RINEX file, observation codes for both types of observations
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., during
acquisition or after loss of lock) are to be flagged with Loss of Lock Indicator bit 1 set (see
Appendix Table A3). Note: The loss of lock bit is the least significant bit.
5.5 Scale factor

The optional SYS / SCALE FACTOR record allows the storage of phase data with 0.0001 of a
cycle resolution, if the data was multiplied by a scale factor of 10 before being stored into the
RINEX file. This feature is 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
 Boresight 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 XYZ
 Antenna orientation: Zero-direction of the antenna. Used for the application of “azimuth”-
dependent phase center variation models (see 6.14 below): ANTENNA: ZERODIR
XYZ
 Current center of mass of the vehicle (for space borne 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.

5.7 Signal strength

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 in dbHz:
sn_rnx = MIN(MAX(INT(sn_raw/6),1),9)
Carrier to Noise ratio(dbHz) Carrier to Noise ratio(RINEX)

< 12 1 (minimum possible signal strength)
12-17 2
18-23 3
24-29 4
30-35 5 (threshold for good tracking)
36-41 6
42-47 7
48-53 8
≥ 54 9 (maximum possible signal strength)
Table 12: Standardized S/N Indicators
The raw carrier to noise ratio can be optionally (preferred) stored as Sna observations in the data
records and should be given in dbHz if possible. The new SIGNAL STRENGTH UNIT header
record can be 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 the time zone. Set zone to LCL if local time was used with
unknown local time system code.
1
S/N is the raw S/N at the output of the correlators, without attempting to recover any correlation losses

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. See section 5.15 regarding the use of
phase center variation corrections.
5.10 Antenna orientation

Header records have been defined to report the orientation of the antenna zero-direction as well as
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

Aside 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 with
the satellite number snn, the epoch record starts with special character >. It is now also much
easier 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,R,E,S :
G 5 C1P L1P L2X C2X S2X SYS / # / OBS TYPES
R 2 C1C L1C SYS / # / OBS TYPES
E 2 L1B L5I SYS / # / OBS TYPES
S 2 C1C L1C SYS / # / OBS TYPES
Table 13: Example Observation Type Records
The epoch and observation records are as follows:

> 2006 03 24 13 10 54.0000000 0 7 -0.123456789210
G06 23619095.450 -53875.632 8 -41981.375 5 23619112.008 24.158
G09 20886075.667 -28688.027 9 -22354.535 6 20886082.101 38.543
G12 20611072.689 18247.789 9 14219.770 8 20611078.410 32.326
R21 21345678.576 12345.567 5
R22 22123456.789 23456.789 5
E11 65432.123 5 48861.586 7
S20 38137559.506 335849.135 9
Table 14: Example Observation Data Records

The receiver clock correction in the epoch record has been placed such that it could be preceded
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 from
an ionosphere model. We add the ionosphere phase delay expressed in full cycles of the
respective 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, ...,9
a: attribute blank
Table 15: Ionosphere Pseudo-Observable Coding

The ionosphere pseudo-observable has to be included into the list of observables of the
respective 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 and
converts 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)
Table 16: Ionosphere Pseudo-Observable Corrections to Observations

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
another pseudo-observable:
- t : observation type: X = Receiver channel number

- n : band / frequency : 1
- a : attribute: blank

The lowest channel number allowed is 1 (re-number channels beforehand, if necessary). In the
case of a receiver 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 with
corrections 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 the
file containing the applied corrections.
5.15 Corrections of antenna phase center variations (PCVs)

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
used. For special applications, it might be useful to generate RINEX files with these variations
already applied. This can be reported by special header records SYS / PCVS APPLIED
pointing to the file containing the PCV correction models.
5.16 Navigation message files

The header portion has been unified (with respect to the format definitions) for all satellite
systems. The first record of each data block now contains the code for the satellite system and
the satellite number.
G06 1999 09 02 17 51 44 -.839701388031D-03 -.165982783074D-10 .000000000000D+00
Table 17: Example of Navigation File Satellite System and Number Definition Record
Header records with system-dependent contents also contain the system identifier. They are
repeated for each system, if applicable.
GPSA .1676D-07 .2235D-07 .1192D-06 .1192D-06 IONOSPHERIC CORR
GPSB .1208D+06 .1310D+06 -.1310D+06 -.1966D+06 IONOSPHERIC CORR
GAL .1234D+05 .2345D+04 -.3456D+03 IONOSPHERIC CORR
Table 18: Example of Navigation File Header IONOSPHERIC CORR Record

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 should 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 a
record 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 to
be 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 / DCBS
APPLIED and SYS / SCALE FACTOR records
 The # OF SATELLITES record (if present) should be immediately followed by the
corresponding number of PRN / # OF OBS records. These records may be handy for
documentary purposes. However, since they may only be created after having read the
whole raw data file, we define them to be optional
 The END OF HEADER of course is the last record in the header
2
Record is defined by the satellite system with the largest number of possible observables plus any
“pseudo-observables” such as ionosphere etc. The length limitation to 80 characters of RINEX Versions
1 and 2 has been removed.

Data records: Multiple epoch observation 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 (Blank if Not Known
- BNK) or the respective record may be completely omitted. Consequently, items of missing
header records will be set to zero or blank by the program reading RINEX files. Trailing blanks
may be truncated from the record.
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 with
unknown observation types, header records or event flags by skipping them and/or reporting them
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.
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 been corrected
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 can
easily 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: 1980-1999
00-79: 2000-2079
Full 4-digit year fields are defined in 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 used
by the GPS Control Segment in determining the ephemeris parameters, as follows (see IS-GPS-
200H, 20.3.3.4.3.1):
0 = 4 hours
1 = greater than 4 hours.
Together with the IODC values and Table 20-XII (of the ICD) the actual fit interval can be
determined. The second value in the last record of each message shall contain the fit interval in
hours determined using IODC, fit flag, and Table 20-XII, according to the Interface Document IS-
GPS-200H. Note: The QZSS fit interval is not defined the same way as it is in GPS, see Appendix
Table A12.
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: 0 Health OK

RINEX Value: 1 Health not OK (bits 18-22 not stored)
RINEX Value: >32 Health not OK (bits 18-22 stored)
Table 19: Description of GPS Satellite Health Field
6.13 Transmission time of message (GPS navigation message file)

The transmission time of a message can be shortly before midnight Saturday/Sunday, with 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 with
ToE (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 the same
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., the
center of the bottom surface of the preamplifier. The antenna height is measured from the
marker to the ARP and reported in the ANTENNA: DELTA H/E/N header record. Small
horizontal eccentricities of the ARP with respect 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-angle-

dependent 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 absolute
sense 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 applica-
tions, an elevation-dependent 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 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 the
zero-direction in an ANTENNA: ZERODIR AZI header record. On vehicles, the zero-
direction 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 boresight direction of an antenna on a vehicle: The “vertical” symmetry axis of the
antenna pointing towards the GNSS satellites. It can be reported as unit vector in the body-
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.
In order to interpret the various positions correctly, it is important that the MARKER TYPE record
be 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 phase
observations 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. To enable post-processing
programs to take special actions, 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 RINEX 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.

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 a
continuous 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 with
week zero at 00:00:00 UTC (midnight) on January 6, 1980.
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 a
continuous 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); the
QZSS 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 to
UTC(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.
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
an SI second. BDT zero time started at 00:00:00 UTC on January 1st, 2006 (GPS week 1356)
therefore BDT is 14 seconds behind GPS time. 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.
IRNSS runs on Indian Regional Navigation Satellite System Time (IRNSST). The IRNSST
start epoch is 00:00:00 on Sunday August 22nd, 1999, which corresponds to August 21st, 1999,
23:59:47 UTC (same time as the first GPS week roll over). Seconds of week are counted from
00:00:00 IRNSST hours Saturday/Sunday midnight which also corresponds to the start of the
GPS week. Week numbers are consecutive from the start time and will roll over after week 1023
(at the same time as GPS and QZSS roll over).
We use IRN as the time system identifier for the reported IRNSS time.
Constellation GPS GPS GPS GPS GPS GPS

/Archival Time Ephemeris Ephemeris Ephemeris Ephemeris Ephemeris Ephemeris
Representation Week Week Week Week Week Week
Period #1 Period #2 Period #3 Period #4 Period #5 Period #6
GPS Broadcast 0 – 1023 0 – 1023 0 – 1023 0 – 1023 0 – 1023 0 – 1023
QZSS Broadcast 0 – 1023 0 – 1023 0 – 1023 0 – 1023 0 – 1023
IRNSS 0 – 1023 0 – 1023 0 – 1023 0 – 1023 0 – 1023
Broadcast
GST Broadcast 0 – 1023 1024 – 2047 2048 – 3071 3072 – 4095 0 – 1023
BDS Broadcast 0(RINEX 692 – 1715 1716 – 2739 2740 – 3763 3764 – 4787
and RINEX Week 1356)
– 691
GPS/QZS/IRN/ 0 – 1023 1024 – 2047 2048 – 3071 3072 – 4095 4096 – 5119 5120 -6143
GAL RINEX
Table 20: Relationship between GPS, QZSS, IRN, GST, GAL, BDS and RINEX Week Numbers
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
GPS/GLONASS/Galileo/QZSS/BDS/IRNSS 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
• IRN to identify IRNSS 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 (same for QZSS and
IRNSS).
Apart from the small errors in the realizations of the different time systems, the relations between
the systems are:
GLO = UTC = GPS - ΔtLS

GPS = GAL = UTC + ΔtLS
GPS = QZS = UTC + ΔtLS
GPS = IRN = UTC + ΔtLS
BDT = UTC + ΔtLSBDS
Table 21: Constellation Time Relationships
Where:
Delta time between GPS and UTC due to leap seconds,
ΔtLS = as transmitted by the GPS satellites in the almanac
(1999-01-01 - 2006-01-01: ΔtLS = 13, 2006-01-01 -
2009-01-01: ΔtLS = 14, 2009-01-01 - 2012-07-01: ΔtLS
= 15, 2012-07-01 - 2015-07-01: ΔtLS = 16, 2015-07-01 -
2017-01-01: ΔtLS = 17 and 2017-01-01 - ????-??-??:
ΔtLS = 18 ).
Delta time between BDT and UTC due to leap seconds,

ΔtLSBDS = as transmitted by the BDS satellites in the almanac
(2006-01-01 - 2009-01-01: ΔtLSBDS = 0, 2009-01-01 -
2012-07-01: ΔtLSBDS = 1, 2012-07-01 - 2015-07-01:
ΔtLSBDS = 2, 2015-07-01 - 2017-00-01: ΔtLSBDS = 3 and
2017-01-01 - ????-??-??: ΔtLS = 4). See BDS-SIS-ICD-
2.0 Section 5.2.4.17
Table 22: GPS and BeiDou UTC Leap Second Relationship
In order to have the current number of leap seconds available, we recommend including ΔtLS by
adding a LEAP SECOND line into the RINEX file header.
If there are known non-integer biases between “GPS receiver clock”, “GLONASS receiver clock”,
“BDS receiver clock” 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 corrected also (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: BDS system time, 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.
8.2 Pseudorange definition

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.
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* ΔtLS if generated with a receiver clock

running in the GLONASS time frame
PR_mod(GAL) = PR(GAL) + C* ΔtLS if generated with a receiver clock
PR_mod(BDT) = PR(BDT) + C* ΔtLSBDS if generated with a receiver clock
PR_mod(GLO) = PR(GLO) - C* ΔtLS if generated with a receiver clock
running in the GPS or GAL time frame
PR_mod(GLO) = PR(GLO) - C*ΔtLSBDS if generated with a receiver clock
running in the BDT time frame
PR_mod(GPS) = PR(GPS) + C*(ΔtLS- if generated with a receiver clock
ΔtLSBDS) running in the BDT time frame
Table 23: Constellation Pseudorange Corrections
to remove the contributions of the leap seconds from the pseudoranges.
ΔtLS 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.
ΔtLSBDS is the actual number of leap seconds between BDT and UTC time, as broadcast in the
BDT almanac.

8.3 RINEX navigation message files

The header section of the RINEX Version 3.XX 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: GPS, GLONASS, Galileo, SBAS, QZSS and IRNSS. One exception is that
BDS “IONOSPHERIC CORR” message has a few extra fields (See: Appendix Table A5).
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 the
contents, however, are satellite system-dependent. The format of the version 3 data records has
been changed slightly; the satellite codes now also contain the satellite system identifier.
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 identifier
of the satellite code, the reading program can determine the number of data records to be read
for 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) in the RINEX file.
8.3.1 RINEX navigation message files for GLONASS

The 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 and
acceleration, the clock and frequency biases, as well as auxiliary information such as health,
satellite frequency (channel) and age of the information.
The corrections of the satellite time to UTC are as follows:
GPS: Tutc = Tsv –af0 –af1 *(Tsv-Toc) -... –A0 -... –ΔtLS
GLONASS: Tutc = Tsv + TauN –GammaN*(Tsv-Tb) + TauC
In order to use the same sign conventions for the GLONASS cor-
rections as in the GPS navigation files, the broadcast GLONASS
values are stored as: -TauN, +GammaN, -TauC.
Table 24: GLONASS Navigation File Data, Sign Convention
The time tags in the GLONASS navigation files are given in UTC (i.e. not Moscow time or
GPS time).
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 content of the two messages differs
in various items, however, in general it is very similar to the content of the GPS navigation message,

e.g. the orbit parameterization is the same.
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) indicates the frequency pair the 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 = 24+20 -> Bits 4 and 0 are set, all others are zero
RINEX file encoders should encode one RINEX Galileo navigation message for each I/NAV and
F/NAV signal decoded. Therefore if both: I/Nav and F/Nav messages are decoded, then the
relevant bit fields must be set in the RINEX message and both should be written in separate
messages. The Galileo ICD (2010) Section 5.1.9.2 indicates that some of the contents of the
broadcast navigation message may change, yet the issue of data (IOD) may not change. To
ensure that all relevant information is available message encoders should monitor the contents of
the file and write new navigation messages when the contents have changed.
RINEX file parsers should expect to encounter F/NAV and I/NAV messages with the same IOD
in the same file. Additionally, parsers should also expect to encounter more than one F/NAV or
I/NAV ephemeris message with the same IOD, as the navigation message Data Validity Status
(DVS) and other parameters may change independently of the IOD, yet some other data may be
the same, however, the transmission time will be updated (See Note in Galileo ICD (2010) Section
5.1.9.2 Issue of Data).
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 the
difference 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 –ΔtLS
W0 being the correction to transform the GEO system time to UTC. See Toe, aGf0, aGf1 in the
Appendix Table A16 format definition table.
The Transmission Time of Message (SV / EPOCH / SV CLK header record) is expressed in
GPS seconds of the week. It marks the beginning of the message transmission. It has to refer to
the same GPS week as the Epoch of Ephemerides. If necessary, the Transmission Time of Message
may have to be adjusted by - or + 604800 seconds (which would make it lower than zero or larger
than 604800, respectively and then further corrected to correspond to the Epoch of Ephemeris) so
that it is referenced to the GPS week of the Epoch of Ephemeris. This 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
8.3.4 RINEX navigation message files for BDS
The BDS Open Service broadcast navigation message is similar in content to the GPS navigation
message.
GPS navigation file. The following six records are similar to GPS.
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 on: 1-Jan-2006, hence BDT week = BDT week_BRD
+ (n*8192) (Where n: number of BDT roll-overs). See Appendix Table A14 for details.
8.3.5 RINEX navigation message files for IRNSS
The IRNSS Open Service broadcast navigation message is similar in content to the GPS
navigation message.
GPS navigation file. See Appendix Tables A18 and A19 for a description and example of each
field.

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, is 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, the
fields 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 word 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 D-UTC A0, A1, T, W, S, U record in Version 2.11 has been renamed the TIME SYSTEM
CORR record in RINEX 3.x.
9. MODIFICATIONS FOR VERSION 3.01, 3.02, 3.03 and 3.04
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, in
some exceptional cases, by other fractional parts of a cycle. Appendix Table A23 specifies the
reference 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 A2 for the messages definition. If
the phase 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:
 All phase observations must be aligned to the designated constellation and frequency
reference signal as specified in Appendix Table A23, either directly by the receiver or by
a correction program or the RINEX conversion program, prior to RINEX file generation.
Additionally, all data must be aligned with the appropriate reference signal indicated in
Appendix Table A23 even when the receiver or reporting device is not tracking and/or
providing data from that reference signal e.g. Galileo L5X phase data must be aligned to
L5I.
 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 uncorrected
reference signal group of observations are left blank in the SYS / PHASE SHIFT
records. Appendix Table A23 specifies the reference signal that should be used by each
constellation and frequency band. Additionally, Appendix Table A23 indicates the
relationship 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, then
either the raw data provided by the receiver or the data format (RTCM-Multiple Signal
Messages format for example) have already been aligned and the RINEX conversion
program did not apply any phase corrections since they had already been applied. In this
case, Appendix Table A23 can be used to determine the fractional cycles that had been
added to each signal’s phase observation to align the phase observations to the reference
signal.
 If the file does not contain any observation pairs affected by phase shifts (i.e. only
reference signals reported), then 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 the
same system, then the header record allows for the affected satellites to be indicated.
 If the applied phase corrections or the phase alignment is unknown, then 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 Δφ:
φRINEX = φ original + Δφ
φ original : Uncorrected or corrected, i.e. as issued by the GNSS receiver or
in a standardized data stream such as RTCM-MSM
Δφ : Phase correction to align the phase to other phases of
the same frequency but different channel / modulation
band
Table 25: RINEX Phase Alignment Correction Convention
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
Table 26: Example SYS / PHASE SHIFT Record
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 a
receiver to track the signal also in a BOC mode, though leading to different noise characteristics.
In order to keep this non-standard tracking mode of a MBOC signal apart, bit 2 of the loss-of-
lock indicator LLI (the antispoofing flag not used for Galileo) in the observation data records is
used.
Non-standard BOC tracking of an MBOC-modulated signal: Increase the LLI by 4.
Note: This flag is intended for experimental applications and is optional. In future releases of
RINEX, this non-standard tracking mode flag may be removed.
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 TYPES
E 2 L1C L5I SYS / # / OBS TYPES
18.000 INTERVAL
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 38.123
G12 20607600.189 -.430 9 .394 5 20607600.848 35.234
E11 .32448 .178 7
S20 38137559.506 335849.135 9
Table 27: Example of RINEX Coding of Galileo BOC Tracking of an MBOC Signal Record
9.3 BDS Satellite System Code

The satellite system code for BeiDou navigation satellite System (BDS) has been defined as “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 4 and
9.
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, a
mandatory observation file header record is assigned. This allows processing of GLONASS files
without having to get this information from GLONASS navigation message files or other sources.
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 #
Table 28: Example of a GLONASS Slot- Frequency Records
9.6 GNSS Navigation Message File: Leap Seconds Record

The optional LEAP SECONDS record was modified to also include ΔtLS (or ΔtLSBDS for BDS),
WNLSF (adjusted to continuous 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 Quasi-Zenith Satellite System (QZSS) RINEX Version 3.02

The version number is adjusted to 3.02. Version 3.02 added QZSS: specifications, parameters and
definitions to the document. 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 In a RINEX SBAS
file the PRN code is: broadcast prn - 100, yielding: S83, S84 etc.
See Appendix Table A23 to convert each signal’s aligned phase observations back to raw satellite
phase.
9.9 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 same
time. To remedy this problem, a mandatory GLONASS Code-Phase header bias record is required.
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 that issue biased data must 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:
 AlignedL1C phase in cycles (written to RINEX file)
 ObservedL1C phase 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 (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
Table 29: Example of GLONASS Code Phase Bias Correction Record
Note: If the GLONASS code phase alignment is unknown, then all fields within GLONASS
COD/PHS/BIS header record are left blank (see example below). This use case is intended for
exceptional situations where the data is intended for special projects and analysis.
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
GLONASS COD/PHS/BIS
Table 30: Example of Unknown GLONASS Code Phase Bias Record
9.10 BDS system (Replaces Compass)

Added BDS: naming convention, time system definition, header section description, and
parameters throughout the document. Updated: Sections: 8.1, 8.2, 8.3.5, 9.11 and Appendix
Table A2, added ephemeris Table A14 and updated Table A23.
9.11 Indian Regional Navigation Satellite System (IRNSS) Version 3.03
The RINEX version number was changed to 3.03. Version 3.03 adds IRNSS, specifications,
parameters and definitions to this document.
9.12 Updates for Quasi-Zenith Satellite System (QZSS), BeiDou and GLONASS
(CDMA) RINEX Version 3.04
Added new signal codes to: Table #5, for GLONASS, Table #8 for QZSS and Table #9 for BeiDou
The phase alignment of L1C has changed in QZSS Block II satellites to maintain compatibility

with GPS Block III. See Appendix Table A23 and related notes to convert each signal’s aligned
phase observations back to raw satellite phase.
RINEX Standard PNT Sub-meter Level Centimeter Level Positioning

Signal ID Signals and Augmentation Augmentation for Technology
Centimeter Experiments (L6E) Verification
Level (L1-SAIF/L1S) Service (L5S)
Augmentation (PRN-202)
(PRN-182) (PRN Code)
(LEX/L6D)
(PRN-192)
J01 193 183
J02 194 184 204 196
J03 195 185 205 200
J04 196 186 206
J05 197 187 207
J06 198 188 208
J07 199 189 209 197
J08 200 190 210
J09 201 191 211
Table 31: QZSS PRN to RINEX Satellite Identifier
In RINEX 3.04 all QZSS signals are identified the using the standard PRN numbering conventions
i.e. Jxx and the Sxx identifier has been dropped. All QZSS signals are identified in RINEX 3.04
as J01-J09 as shown in Table 31.
QZSS Block I satellites have replaced the L1-SAIF signal with the L1S signal. For QZSS Block
I observations prior to the introduction of the L1S signal, the observation codes "1Z" refer to
tracking of the "L1-SAIF" signal. Similarly, the "6S", "6L", "6X" observation codes refer to
tracking of the LEX data channel, LEX pilot channel, and combined LEX pilot+data tracking
prior to the introduction of the L61 signal on QZSS Block I.
QZSS Block II satellites broadcast the L1S signal. The L1S signal broadcasts the Sub-Meter-
Level Augmentation Service (SLAS) correction data using PRN 183-191. In a RINEX
observation file the signal ID of L1S is: broadcast prn-182, yielding J01, J02….J09. QZSS Block
II satellites also broadcast the L5S signal. The L5S signals broadcasts the Positioning
Technology Verification Service (PTVS) correction data using PRN, 196, 200, 197. PTVS

broadcasts the experimental Dual Frequency Multi-Constellation (DFMC) signal. In a RINEX

observation file the signal ID of L5S is PRN 196, 200, 197and is assigned to J02, J03 and J07
respectively.
The second data channel L6E was introduced on the L6 signal of QZSS Block II. In a RINEX
observation file the RINEX signal ID of L6E is: broadcast prn-202, yielding J02, J03…J09.
Updated Tables 5, 8 and 9 and A23 signals codes and information to support new GLONASS
CDMA, QZSS and BeiDou 3 signals.
Updated Appendix table A5 TIME SYSTEM CORR message description.

10 References
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Fifth International Geodetic Symposium on Satellite Systems, pp. 917ff, Las Cruces.
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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://igs.org/pub/data/format/rinex210.txt
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Orbiter Data”. ftp://ftp.aiub.unibe.ch/rinex/rnx_leo.txt
Gurtner, W., L. Estey (2005): “RINEX: The Receiver Independent Exchange Format Version
2.11”. ftp://igs.org/pub/data/format/rinex211.txt
Gurtner, W., L. Estey (2007): “RINEX: The Receiver Independent Exchange Format Version
3.00”. ftp://igs.org/pub/data/format/rinex300.pdf
Hatanaka, Y (2008): “ A Compression Format and Tools for GNSS Observation Data”. Bulletin
of the Geographical Survey Institute, Vol. 55, pp 21-30, Tsukuba, March 2008.
http://www.gsi.go.jp/ENGLISH/Bulletin55.html
Ray, J., W. Gurtner (2010): “RINEX Extensions to Handle Clock Information”.

ftp://igs.org/pub/data/format/rinex_clock302.txt.
Ray, J. (2005): “Final update for P1-C1 bias values & cc2noncc”. IGSMail 5260
Rothacher, M., R. Schmid (2010): “ANTEX: The Antenna Exchange Format Version 1.4”.
ftp://igs.org/pub/station/general/antex14.txt.
Schaer, S., W. Gurtner, J. Feltens (1998): “IONEX: The Ionosphere Map Exchange Format
Version 1“. ftp://igs.org/pub/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://igs.org/pub/data/format/geo_sbas.txt

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Interface Specification IS-GPS-200H, Navstar GPS Space Segment/Navigation User Interfaces,
Sept. 24, 2013
Document: GLObal NAvigation Satellite System (GLONASS), Interface Control Document,

(Edition 5.1), 2008.
Document: Global Navigation Satellite System GLONASS, Interface Control Document,

General Description of Code Division Multiple Access Signal System, Edition 1.0, 2016.
Document: Global Navigation Satellite System GLONASS, Interface Control Document, Code
Division Multiple Access, Open Service Navigation Signal in L1 frequency band, Edition 1.0,
2016.
2016.
2016.
Document: European GNSS (Galileo) Open Service, Signal In Space, Interface Control Document, Issue
1.3, December, 2016. : (https://www.gsc-europa.eu/system/files/galileo_documents/Galileo-OS-SIS-
ICD.pdf)
Document: Quasi-Zenith Satellite System, Interface Specification, Satellite Positioning,

Navigation and Timing Service (IS-QZSS-PNT-002), Cabinet Office, January 29, 2018
Document: Quasi-Zenith Satellite System, Interface Specification, Sub-meter Level

Augmentation Service (IS-QZSS-L1S-002), Cabinet Office, April 13, 2018
Document: Quasi-Zenith Satellite System, Interface Specification, Centimeter Level

Augmentation Service (IS-QZSS-L6-001) Draft, Cabinet Office, August 31, 2018
Document: Quasi-Zenith Satellite System, Interface Specification, Positioning Technology

Verification Service (IS-QZSS-TV), Draft Edition, Cabinet Office, July 12, 2016
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RINEX Version 3.04 Appendix A1
APPENDIX: RINEX FORMAT DEFINITIONS AND EXAMPLES

A 1 RINEX File name description
Table A1
RINEX File name description
Field Field Description Example Required Comment/Example
<SITE/ XXXXMRCCC ALGO00CAN Yes File name supports a maximum
STATION- Where: of 10 monuments at the same
MONUMENT/ XXXX - existing station and a maximum of 10
RECEIVER/ IGS station name receivers per monument.
COUNTRY/ M – monument or
marker number (0-9) Country codes follow : ISO
R – receiver number 3166-1 alpha-3
(0-9)
CCC – ISO Country
code
(Total 9 characters)
<DATA SOURCE> Data Source R Yes This field is used to indicate how
R – From Receiver the data was collected either
data using vendor or from the receiver at the station or
other software from a data stream
S – From data Stream
(RTCM or other)
U – Unknown
(1 character)
<START TIME> YYYYDDDHHMM 2012150 Yes For GPS files use : GPS Year,
YYYY – Gregorian 1200 day of year, hour of day, minute
year 4 digits, of day (see text below for
DDD – day of Year, details)
HHMM – hours and Start time should be the nominal
minutes of day start time of the first observation.
GLONASS, Galileo, BeiDou etc
(11 characters) use respective time system.
<FILE PERIOD> DDU 15M Yes File Period
DD – file period 15M–15 Minutes
U – units of file 01H–1 Hour
period. 01D–1 Day
File period is used to 01Y–1 Year
specify intended 00U-Unspecified
collection period of
the file.
(3 characters)
RINEX3.04.IGS.RTCM.doc 2018-11-23
Table A1
RINEX File name description
Field Field Description Example Required Comment/Example
<DATA FREQ> DDU 05Z Mandatory XXC – 100 Hertz
for RINEX XXZ – HertZ,
DD – data frequency Obs. Data. XXS – Seconds,
U – units of data rate NOT XXM – Minutes,
(3 characters) required XXH – Hours,
for XXD – Days
Navigation XXU – Unspecified
Files.
<DATA TYPE > DD MO Yes Two characters represent the
DD – Data type data type:
GO - GPS Obs.,
(2 characters) RO - GLONASS Obs.,
EO - Galileo Obs.
JO - QZSS Obs.
CO - BDS Obs.
IO – IRNSS Obs.
SO - SBAS Obs.
MO Mixed Obs.
GN - Nav. GPS,
RN- GLONASS Nav.,
EN- Galileo Nav.,
JN- QZSS Nav.,
CN- BDS Nav.
IN – IRNSS Nav.
SN- SBAS Nav.
MN- Nav. All GNSS
Constellations)
MM-Meteorological Observation
Etc
<FORMAT> FFF rnx Yes Three character indicating the
FFF – File format data format :
RINEX - rnx,
(3 characters) Hatanaka Compressed RINEX –
crx, ETC
<COMPRESSION> (2-3 Characters) gz No gz

Sub Total 34 or 35 Fields
Separators (7 characters –Obs. _ underscore between all fields
File) and “.” Between data type and
(6 characters –Eph. file format and the compression
File) method
Total 41-42(Obs. File) Mandatory IGS RINEX obs.

37-38 (Eph. File) Characters

Filename Details and Examples:

<STATION/PROJECT NAME>: IGS users should follow XXXXMRCCC (9 char) site and
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 be
created 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 start time which should coincide with the first
observation in the file. GPS file start time is specified in GPS Time. Mixed observation file start
times are defined in the same time system as the file observation time system specified in the
header. 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 data 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
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. GLONASS
ALGO00CAN_R_20121601000_15M_01S_EO.rnx.gz //RINEX obs. Galileo
ALGO00CAN_R_20121601000_15M_01S_JO.rnx.gz //RINEX obs. QZSS
ALGO00CAN_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. GLONASS
ALGO00CAN_R_20121600000_01H_EN.rnx.gz //RINEX nav. Galileo
ALGO00CAN_R_20121600000_01H_JN.rnx.gz //RINEX nav. QZSS
ALGO00CAN_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
Meteorological filename example:
ALGO00CAN_R_20121600000_01D_30M_MM.rnx.gz //RINEX Met.

<COMPRESSION>:
Valid compression methods include: gzip - “.gz”, bzip2 - “.bz2” and “.zip”.
Note: The main body of the file name should contain only ASCII capital letters and numbers. The file
extension .rnx.gz should be lowercase.
A 2 GNSS Observation Data File -Header Section Description

TABLE A2
GNSS OBSERVATION DATA FILE - HEADER SECTION DESCRIPTION
HEADER LABEL DESCRIPTION FORMA
(Columns 61-80) T
RINEX VERSION / TYPE  Format version : 3.04 F9.2, 11X,
 File type: O for Observation Data A1,19X,
 Satellite System: A1,19X
G: GPS
R: GLONASS
E: Galileo
J: QZSS
C: BDS
I: IRNSS
S: SBAS payload
M: Mixed
PGM / RUN BY / DATE  Name of program creating current file A20,
 Name of agency creating current file A20,
 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  Comment line(s) A60
MARKER NAME  Name of antenna marker A60
* MARKER NUMBER  Number of antenna marker A20
MARKER TYPE  Type of the marker: A20,40X
GEODETIC : Earth-fixed, high- precision
monument
NON_GEODETIC : Earth-fixed, low- precision
monument
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

TABLE A2
FLOATING_BUOY: Floating on water surface
FLOATING_ICE : Floating ice sheet, etc.
GLACIER : "Fixed" on a glacier
BALLISTIC : Rockets, shells, etc
ANIMAL : Animal carrying a receiver
HUMAN : Human being
Record required except for GEODETIC and
NON_GEODETIC marker types. Users may define
other project-dependent keywords.
OBSERVER / AGENCY  Name of observer / agency A20,A40
REC # / TYPE / VERS  Receiver number, type, and version (Version: 3A20
e.g. Internal Software Version)
ANT # / TYPE  Antenna number and type 2A20
APPROX POSITION XYZ  Geocentric approximate marker position (Units: 3F14.4
Meters, System: ITRS recommended) Optional
for moving platforms
ANTENNA: DELTA H/E/N  Antenna height: Height of the antenna reference F14.4,
point (ARP) above the marker
 Horizontal eccentricity of ARP relative to the 2F14.4
marker (east/north)
All units in meters
* ANTENNA: DELTA X/Y/Z - Position of antenna reference point for antenna 3F14.4
on vehicle (m): XYZ vector in body-fixed
coordinate system
*ANTENNA:PHASECENTER Average phase center position with respect to
antenna reference point (m)
 Satellite system (G/R/E/J/C/I/S) A1,
 Observation code 1X,A3,
 North/East/Up (fixed station) or F9.4,
 X/Y/Z in body-fixed system (vehicle) 2F14.4
* ANTENNA: B.SIGHT XYZ  Direction of the “vertical” antenna axis towards 3F14.4
the GNSS satellites.
Antenna on vehicle: Unit vector in body-fixed
coordinate system.
Tilted antenna on fixed station: Unit vector in N/E/Up
left-handed system.
* ANTENNA: ZERODIR AZI  Azimuth of the zero-direction of a fixed antenna F14.4
(degrees, from north)
* ANTENNA: ZERODIR XYZ  Zero-direction of antenna 3F14.4
Antenna on vehicle: Unit vector in body-fixed
coordinate system
Tilted antenna on fixed station: Unit vector in
N/E/Up left-handed system

TABLE A2
* CENTER OF MASS: XYZ  Current center of mass (X,Y,Z, meters) of 3F14.4
vehicle in body-fixed coordinate system. Same
system as used for attitude.
SYS / # / OBS TYPES  Satellite system code (G/R/E/J/C/I/S) A1,

 Number of different observation types for the 2X,I3,
specified satellite system
Observation descriptors: Type, Band, Attribute 13(1X,A3
 Use continuation line(s) for more than 13 )
observation descriptors.
In mixed files: Repeat for each satellite system.
These records should precede any SYS / SCALE
FACTOR records (see below). 6X,
The following observation descriptors are defined in 13(1X,A3
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,BDS)
G1 (GLO)
E1 (GAL)
B1 (BDS)
2= L2 (GPS, QZSS)
G2 (GLO)
B1-2 (BDS)
4= G1a (GLO)
5= L5 (GPS, QZSS, SBAS,
IRNSS)
E5a (GAL)
B2/B2a (BDS)
6= E6 (GAL)
L6 (QZSS)
B3 (BDS)
G2a (GLO)
7= E5b (GAL)
B2/B2b (BDS)
8= E5a+b (GAL)
B2a+b (BDS)

TABLE A2
9= S (IRNSS)
0 for type X (all)
Attribute:
A= A channel (GAL, IRNSS, GLO)
B= B channel (GAL, IRNSS, GLO)
C= C channel (GAL, IRNSS)
C code-based (SBAS,GPS,GLO,QZSS)
D= Semi-codeless (GPS)
Data Channel (BDS)
I= I channel (GPS,GAL, QZSS, BDS)
L= L channel (L2C GPS, QZSS)
P channel (GPS, QZSS)
M= M code-based (GPS)
N= Codeless (GPS)
P= P code-based (GPS,GLO)
Pilot Channel (BDS)
Q= Q channel (GPS,GAL,QZSS,BDS)
S= D channel (GPS, QZSS)
M channel (L2C GPS, QZSS)
W= Based on Z-tracking (GPS)(see text)
X= B+C channels (GAL, IRNSS)
I+Q channels (GPS,GAL, QZSS,BDS)
M+L channels (GPS, QZSS)
D+P channels (GPS, QZSS, BDS)
Y= Y code-based (GPS)
Z= A+B+C channels (GAL)
D+P channels (BDS)
All characters in uppercase only!

Units :
Phase : full cycles
Pseudorange : meters
Doppler : Hz
SNR etc. : receiver-dependent
Ionosphere : full cycles
Channel # : See text
Sign definition: See text.
The sequence of the observations in the observation

records has to correspond to the sequence of the types
in this record of the respective satellite system.

TABLE A2
Note: In RINEX 3.02, 3.03 and 3.04 all fields

(Type, Band and Attribute) must be defined. Only
known tracking modes are allowed.
* SIGNAL STRENGTH UNIT  Unit of the carrier to noise ratio observables Snn A20,40X
(if present) DBHZ : S/N given in dbHz
* INTERVAL  Observation interval in seconds F10.3
TIME OF FIRST OBS  Time of first observation record (4-digit-year, 5I6,F13.7,
month, day, hour, min, sec)
 Time system: 5X,A3
GPS (=GPS time system)
GLO (=UTC time system)
GAL (=Galileo time system)
QZS (= QZSS time system)
BDT (= BDS time system)
IRN (= IRNSS 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
IRN for pure IRNSS files
* TIME OF LAST OBS  Time of last observation record (4-digit-year, 5I6,F13.7,
month, day, hour, min, sec)
 Time system: Same value as in TIME OF 5X,A3
FIRST OBS record
* RCV CLOCK OFFS APPL  Epoch, code, and phase are corrected by I6
applying the real-time-derived receiver clock
offset: 1=yes, 0=no; default: 0=no Record
required if clock offsets are reported in the
EPOCH/SAT records
* SYS / DCBS APPLIED  Satellite system (G/R/E/J/C/I/S) A1,

 Program name used to apply differential code 1X,A17,
bias corrections
 Source of corrections (URL) 1X,A40
Repeat for each satellite system.
No corrections applied: Blank fields or record not
present.
* SYS / PCVS APPLIED  Satellite system (G/R/E/J/C/I/S) A1,
 Program name used to apply phase center 1X,A17,

TABLE A2
variation corrections
 Source of corrections (URL) 1X,A40
Repeat for each satellite system.
No corrections applied: Blank fields or record not
present.
* SYS / SCALE FACTOR  Satellite system (G/R/E/J/C/I/S) A1,
 Factor to divide stored observations with before 1X,I4,
use (1,10,100,1000)
 Number of observation types involved. 0 or 2X,I2,
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 to )
different observation types.
A value of 1 is assumed if record is missing.
SYS / PHASE SHIFT Phase shift correction used to generate phases
consistent with respect to cycle shifts
 Satellite system (G/R/E/J/C/I/S) A1,1X,
 Carrier phase observation code: A3,1X,
Type
Band
Attribute
 Correction applied (cycles) F8.5
 Number of satellites involved 0 or blank: All 2X,I2.2,
satellites of system
 List of satellites 10(1X,A3
 Use continuation line(s) for more than 10 )
satellites. 18X,
Repeat the record for all affected codes. 10(1X,A3
See chapter 9.1 for more details! )
GLONASS SLOT / FRQ # GLONASS slot and frequency numbers

 Number of satellites in list I3,1X,
List of :
 Satellite numbers (system code, slot) 8(A1,I2.2,
 Frequency numbers (-7...+6) 1X,I2,1X)
 Use continuation lines for more than 8 Satellites 4X,8(A1,
I2.2,1X,I2
,1X)
GLONASS COD/PHS/BIS  GLONASS Phase bias correction used to align 4(X1,A3,

TABLE A2
code and phase observations. X1,F8.3)
 GLONASS signal identifier : C1C and Code
Phase bias correction (metres)
 GLONASS signal identifier : C1P and Code
 GLONASS signal identifier : C2C and Code
 GLONASS signal identifier : C2P and Code
Note: If the GLONASS code phase bias values are
unknown then all fields in the record are left blank
(see example in Section 9.9) and only the record
header is defined.
* LEAP SECONDS  Current Number of leap seconds I6,
 Future or past leap seconds ΔtLSF(BNK) , i.e. I6,
future leap second if the week and day number I6,
are in the future.
 Respective week number WN_LSF (continuous
number) (BNK). For GPS, GAL, QZS and IRN,
weeks since 6-Jan-1980. When BDS only file
leap seconds specified, weeks since 1-Jan-2006. I6
 Respective day number DN (0-6) BeiDou and
(1-7) for GPS and others constellations, (BNK).
The day number is the GPS or BeiDou day
before the leap second (See Note 1 below). In
the case of the Tuesday, June 30/2015 (GPS
Week 1851, DN 3) the UTC leap second actually
occurred 16 seconds into the next GPS day. A3
 Time system identifier: only GPS and BDS are
valid identifiers. Blank defaults to GPS see
Notes section below.
Notes:
1. GPS, GAL, QZS and IRN time systems are
aligned and are equivalent with respect to leap
seconds (Leap seconds since 6-Jan-1980).See the
GPS almanac, and DN reference IS-GPS-200H
20.3.3.5.2.4.
2. For BDS only observation files, the Number of
leap seconds since 1-Jan-2006 as transmitted by
the BDS almanac ΔtLS(see BDS-SIS-ICD-2.0
5.2.4.17)
* # OF SATELLITES  Number of satellites, for which observations are I6
stored in the file
* PRN / # OF OBS  Satellite numbers, number of observations for 3X,

TABLE A2
each observation type indicated in the SYS / # / A1,I2.2,
OBS TYPES record. 9I6
 If more than 9 observation types: 6X,9I6
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 each

satellite present in the data file.
END OF HEADER Last record in the header section. 60X
Records marked with * are optional

A 3 GNSS Observation Data File -Data Record Description

TABLE A3
GNSS OBSERVATION DATA FILE – DATA RECORD DESCRIPTION
DESCRIPTION FORMAT
EPOCH record
 Record identifier : > A1,
Epoch
 year (4 digits): 1X,I4,
 month, day, hour, min (two digits) 4(1X,I2.2),
 sec F11.7,
 Epoch flag, 2X,I1,
0: OK
1: power failure between previous and current epoch
>1: Special event
 Number of satellites observed in current epoch I3,
 (reserved) 6X,
 Receiver clock offset (seconds, optional) F15.12
Epoch flag = 0 or 1: OBSERVATION records follow
 Satellite number A1,I2.2,
 m fields of observation data (in the same sequence as given in the m(F14.3,
respective SYS / # / OBS TYPES record), each containing the specified I1,
observations for example: pseudorange, phase, LLI, Doppler and SNR.
This record is repeated for each satellite having been observed in the current I1)
epoch. The record length is given by the number of observation types for this
satellite.
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 slip
possible. For phase observations only. Note: Bit 0 is the least significant
bit.
Bit 1 set: Half-cycle ambiguity/slip possible. Software not capable of

handling half cycles should skip this observation. Valid for the current
epoch only.
Bit 2 set: Galileo BOC-tracking of an MBOC-modulated signal (may

suffer from increased noise).

TABLE A3
GNSS OBSERVATION DATA FILE – DATA RECORD DESCRIPTION
Signal Strength Indicator (SSI) projected into interval 1-9:
1: minimum possible signal strength
5: average/good S/N ratio
9: maximum possible signal strength
0 or blank: not known, don't care
Standardization for S/N values given in dbHz: See text.
Notes:
1. Loss of Lock Indicator (LLI) should only be associated with the phase
observation.
2. Signal Strength Indicator (SSI) should be deprecated and replaced by a
defined SNR field for each signal. However if this is not possible/practical
then SSI should be specified for each phase signal type for example. GPS:
L1C, L1W, L2W, L2X and L5X.
3. If only the pseudorange measurements are observed then the SSI should be
associated with the code measurements.
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 no [I3]
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 [2X,I1]
 6: cycle slip records follow to optionally report detected and repaired
cycle slips (same format as OBSERVATIONS records;
 slip instead of observation;
 LLI and signal strength blank or zero)

A 4 GNSS Observation Data File – Example #1

+------------------------------------------------------------------------------+
| TABLE A4 |
| GNSS OBSERVATION DATA FILE - EXAMPLE #1 |
+------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
3.04 OBSERVATION DATA M RINEX VERSION / TYPE

G = GPS R = GLONASS E = GALILEO S = GEO M = MIXED COMMENT
XXRINEXO V9.9 AIUB 20060324 144333 UTC PGM / RUN BY / DATE
EXAMPLE OF A MIXED RINEX FILE VERSION 3.04 COMMENT
The file contains L1 pseudorange and phase data of the COMMENT
geostationary AOR-E satellite (PRN 120 = S20) COMMENT
A 9080 MARKER NAME
9080.1.34 MARKER NUMBER
BILL SMITH ABC INSTITUTE OBSERVER / 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 APPL
G 5 C1C L1W L2W C1W S2W SYS / # / OBS TYPES
E 2 L1B L5I SYS / # / OBS TYPES
18.000 INTERVAL
G 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 #
G L1C SYS / PHASE SHIFT
G L1W 0.00000 SYS / PHASE SHIFT
G L2W SYS / PHASE SHIFT
R L1C SYS / PHASE SHIFT
E L1B SYS / PHASE SHIFT
E L5I SYS / PHASE SHIFT
S L1C SYS / PHASE SHIFT
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 38.123
G12 20607600.189 -.430 9 .394 5 20607600.848 35.234
E11 .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 42.231
G12 20611072.689 18247.789 9 14219.770 6 20611072.410 36.765
R21 21345678.576 12345.567 5
R22 22123456.789 23456.789 5
E11 65432.123 5 48861.586 7
S20 38137559.506 335849.135 9
> 2006 03 24 13 11 12.0000000 2 2
*** FROM NOW ON KINEMATIC DATA! *** COMMENT
TWO COMMENT LINES FOLLOW DIRECTLY THE EVENT RECORD COMMENT

> 2006 3 24 13 11 12.0000000 0 4 -0.123456789876

G06 21110991.756 16119.980 7 12560.510 4 21110991.441 25.543
G09 23588424.398 -215050.557 6 -167571.734 6 23588424.570 41.824
G12 20869878.790 -113803.187 8 -88677.926 6 20869878.938 36.961
G16 20621643.727 73797.462 7 57505.177 2 20621644.276 15.368
> 3 4
A 9081 MARKER NAME
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 41.725
G12 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 COMMENT
AND AN EVENT FLAG 4 TO ESCAPE FOR THE TWO COMMENT LINES COMMENT
> 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 42.124
G12 20828010.354 -333820.093 6 -260119.395 6 20828010.129 37.002
G16 20650944.902 227775.130 7 177487.651 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|


+------------------------------------------------------------------------------+
| TABLE A4 |
+------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
3.04 OBSERVATION DATA M RINEX VERSION / TYPE
sbf2rin-9.3.3 20140511 000610 LCL PGM / RUN BY / DATE
faa1 MARKER NAME
92201M012 MARKER NUMBER
Unknown Unknown OBSERVER / AGENCY
3001320 SEPT POLARX4 2.5.1p1 REC # / TYPE / VERS
725235 LEIAR25.R4 NONE ANT # / TYPE
-5246415.0000 -3077260.0000 -1913842.0000 APPROX POSITION XYZ
0.1262 0.0000 0.0000 ANTENNA: DELTA H/E/N
G 18 C1C L1C D1C S1C C1W S1W C2W L2W D2W S2W C2L L2L D2L SYS / # / OBS TYPES
S2L C5Q L5Q D5Q S5Q SYS / # / OBS TYPES
E 16 C1C L1C D1C S1C C5Q L5Q D5Q S5Q C7Q L7Q D7Q S7Q C8Q SYS / # / OBS TYPES
L8Q D8Q S8Q SYS / # / OBS TYPES
S 4 C1C L1C D1C S1C SYS / # / OBS TYPES
R 12 C1C L1C D1C S1C C2P L2P D2P S2P C2C L2C D2C S2C SYS / # / OBS TYPES
C 8 C2I L2I D2I S2I C7I L7I D7I S7I SYS / # / OBS TYPES
J 12 C1C L1C D1C S1C C2L L2L D2L S2L C5Q L5Q D5Q S5Q SYS / # / OBS TYPES
G L2L 0.00000 SYS / PHASE SHIFT
G L5Q 0.00000 SYS / PHASE SHIFT
E L1C 0.00000 SYS / PHASE SHIFT
E L5Q 0.00000 SYS / PHASE SHIFT
R L2P 0.00000 SYS / PHASE SHIFT
C L2I SYS / PHASE SHIFT
J L1C SYS / PHASE SHIFT
J L2L 0.00000 SYS / PHASE SHIFT
J L5Q 0.00000 SYS / PHASE SHIFT
30.000 INTERVAL
2014 5 10 23 59 30.0000000 GPS TIME OF LAST OBS
72 # OF SATELLITES
C1C 0.000 C2C 0.000 C2P 0.000 GLONASS COD/PHS/BIS
24 R01 1 R02 -4 R03 5 R04 6 R05 1 R06 -4 R07 5 R08 6 GLONASS SLOT / FRQ #
R09 -2 R10 -7 R11 0 R12 -1 R13 -2 R14 -7 R15 0 R16 -1 GLONASS SLOT / FRQ #
R17 4 R18 -3 R19 3 R20 2 R21 4 R22 -3 R23 3 R24 2 GLONASS SLOT / FRQ #
END OF HEADER
> 2014 05 10 00 00 0.0000000 0 28
END OF FILE COMMENT
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|


+------------------------------------------------------------------------------+
| TABLE A4 |
+------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
3.04 OBSERVATION DATA M: MIXED RINEX VERSION / TYPE
GR25 V3.08 20140513 072944 UTC PGM / RUN BY / DATE
SNR is mapped to RINEX snr flag value [1-9] COMMENT
LX: < 12dBHz -> 1; 12-17dBHz -> 2; 18-23dBHz -> 3 COMMENT
24-29dBHz -> 4; 30-35dBHz -> 5; 36-41dBHz -> 6 COMMENT
42-47dBHz -> 7; 48-53dBHz -> 8; >= 54dBHz -> 9 COMMENT
Tokio MARKER NAME
TOKI MARKER NUMBER
SU Japan - Leica Geosystems OBSERVER / AGENCY
1870023 LEICA GR25 3.08/6.401 REC # / TYPE / VERS
LEIAS10 NONE ANT # / TYPE
-3956196.8609 3349495.1794 3703988.8347 APPROX POSITION XYZ
0.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N
G 16 C1C L1C D1C S1C C2S L2S D2S S2S C2W L2W D2W S2W C5Q SYS / # / OBS TYPES
R 12 C1C L1C D1C S1C C2P L2P D2P S2P C2C L2C D2C S2C SYS / # / OBS TYPES
E 16 C1C L1C D1C S1C C5Q L5Q D5Q S5Q C7Q L7Q D7Q S7Q C8Q SYS / # / OBS TYPES
C 8 C2I L2I D2I S2I C7I L7I D7I S7I SYS / # / OBS TYPES
J 12 C1C L1C D1C S1C C2S L2S D2S S2S C5Q L5Q D5Q S5Q SYS / # / OBS TYPES
S 4 C1C L1C D1C S1C SYS / # / OBS TYPES
1.000 INTERVAL
2014 05 13 07 34 59.0000000 GPS TIME OF LAST OBS
0 RCV CLOCK OFFS APPL
G L2S -0.25000 SYS / PHASE SHIFT
G L5Q -0.25000 SYS / PHASE SHIFT
R L2P 0.25000 SYS / PHASE SHIFT
E L1C +0.50000 SYS / PHASE SHIFT
E L5Q -0.25000 SYS / PHASE SHIFT
J L1C SYS / PHASE SHIFT
J L2S SYS / PHASE SHIFT
J L5Q -0.25000 SYS / PHASE SHIFT
24 R01 1 R02 -4 R03 5 R04 6 R05 1 R06 -4 R07 5 R08 6 GLONASS SLOT / FRQ #
R09 -2 R10 -7 R11 0 R12 -1 R13 -2 R14 -7 R15 0 R16 -1 GLONASS SLOT / FRQ #
R17 4 R18 -3 R19 3 R20 2 R21 4 R22 -3 R23 3 R24 2 GLONASS SLOT / FRQ #
C1C 0.000 C1P 0.000 C2C 0.000 C2P 0.000 GLONASS COD/PHS/BIS
16 1694 7 LEAP SECONDS
END OF HEADER
> 2014 05 13 07 30 0.0000000 0 25
END OF FILE COMMENT
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|

A 5 GNSS Navigation Message File – Header Section Description

TABLE A5
GNSS NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTION
HEADER LABEL DESCRIPTION FORMAT
(Columns 61-80)
RINEX VERSION / TYPE  Format version : 3.04 F9.2,11X,
 File type ('N' for navigation data) A1,19X,
 Satellite System: A1,19X
G: GPS
R: GLONASS
E: Galileo
J: QZSS
C: BDS
I: IRNSS
S: SBAS Payload
M: Mixed
PGM / RUN BY / DATE  Name of program creating current file A20,
 Name of agency creating current file A20,
 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 Comment line(s) A60
* IONOSPHERIC CORR Ionospheric correction parameters
 Correction type: A4,1X,
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
IRNA = IRNSS alpha0 - alpha3
IRNB = IRNSS beta0 - beta3
 Parameters: 4D12.4
GAL: ai0, ai1, ai2, Blank
GPS: alpha0-alpha3 or beta0-beta3
QZS: alpha0-alpha3 or beta0-beta3
BDS: alpha0-alpha3 or beta0-beta3
IRN: alpha0-alpha3 or beta0-beta3
 Time mark, Transmission Time (seconds of
1X,A1
week) converted to hours of day and then to A-
X. See BDS example below:

TABLE A5
(Columns 61-80)
A=BDT 00h-01h;
B=BDT 01h-02h;
...
X= BDT 23h-24h.
This field is mandatory for BDS and optional for the

other constellations, (BNK).
 SV ID, identify which satellite provided the 1X,I2

ionospheric parameters. This field is
mandatory for BDS and optional for the other
constellations (BNK).
Note 1: Multiple IONOSPHERIC CORR message

can be written in the header.
Note 2: It is recommended that BDS ionospheric

broadcast model parameters from BDS GEO
satellites, be given the most priority. Then the
parameters from BDS IGSO satellites should be
given secondary priority and then tertiary priority is
given to BDS MEO satellite ionospheric correction
parameters.
* TIME SYSTEM CORR Difference between GNSS system time and UTC or
other time systems
 Type: A4,1X,
GPUT = GPS - UTC (a0, a1)
GLUT = GLO - UTC (a0= -TauC, a1=zero)
GAUT = GAL - UTC ( a0, a1)
BDUT =BDS - UTC (a0=A0UTC, a1=A1UTC )
QZUT = QZS - UTC (a0, a1)
IRUT = IRN - UTC (a0=A0UTC, a1=A1UTC )
SBUT = SBAS - UTC (a0, a1)
GLGP = GLO - GPS (a0=TauGPS, a1=zero)

GAGP = GAL – GPS (See **Note Below)
(a0 = A0G, a1 = A1G for GAL INAV/FNAV;
a0 = –A0GGTO, a1 = –A1 GGTO for GPS CNAV)
QZGP = QZS - GPS (a0, a1)
IRGP =IRN - GPS (a0=A0, a1=A1 )
 a0,a1 coefficients of linear polynomial D17.10,

TABLE A5
(Columns 61-80)
Δt = a0 + a1·(t-tref) for fractional part D16.9,
(excluding leap seconds) of time system
difference (a0 sec, a1 sec/sec)
 T Reference time for polynomial (Seconds into
GPS/GAL/BDS/QZS/IRN/SBAS week) 1XI6,
 W Reference week number
(GPS/GAL/QZS/IRN/SBAS week, continuous 1XI4,
number from 6-Jan-1980), T and W zero for
GLONASS. BDS week, continuous from: 1-
Jan-2006
 S Source
System and number Snn of GNSS satellite 1X,A5,1X
broadcasting the time system difference or
SBAS satellite broadcasting the MT12. Use
EGNOS, WAAS, or MSAS for SBAS time
differences from MT17.
 U UTC Identifier (0 if unknown)
1=UTC(NIST), 2=UTC(USNO), 3=UTC(SU), I2,1X
4=UTC(BIPM), 5=UTC(Europe Lab),
6=UTC(CRL), 7=UTC(NTSC) (BDS), >7 =
not assigned yet S and U for SBAS only.
**Note: RINEX 3.04 and 3:03 provides the same
sign and value for the Galileo minus GPS time offset
but the GPGA label is replaced by GAGP in RINEX
3.04.
* LEAP SECONDS  Current Number of leap seconds I6,

 Future or past leap seconds ΔtLSF (BNK), i.e. I6,
future leap second if the week and day number
are in the future.
 Respective week number WN_LSF I6,
(continuous number) (BNK). For GPS, GAL,
QZS and IRN, weeks since 6-Jan-1980. When
BDS only file leap seconds specified, weeks
since 1-Jan-2006.
 Respective day number DN (0-6) BeiDou and I6
(1-7) for GPS and others constellations,
(BNK). The day number is the GPS or BeiDou
day before the leap second (See Note 1 below).
In the case of the Tuesday, June 30/2015 (GPS
Week 1851, DN 3) the UTC leap second
actually occurred 16 seconds into the next GPS

TABLE A5
(Columns 61-80)
day.
 Time system identifier: only GPS and BDS are A3
valid identifiers. Blank defaults to GPS, see
Notes section below.
Notes:
1. GPS, GAL, QZS and IRN time systems are
aligned and are equivalent with respect to leap
seconds (Leap seconds since 6-Jan-1980).See
the GPS almanac and DN reference IS-GPS-
200H 20.3.3.5.2.4.
2. For BDS only navigation files, the Number of
leap seconds since 1-Jan-2006 as transmitted by
the BDS almanac ΔtLS(see BDS-SIS-ICD-2.0
5.2.4.17)
END OF HEADER
Records marked with * are optional, BNK- Blank if Not Know/Defined

A 6 GNSS Navigation Message File – GPS Data Record Description

TABLE A6
GNSS NAVIGATION MESSAGE FILE – GPS DATA RECORD DESCRIPTION
NAV. RECORD DESCRIPTION FORMAT
SV / EPOCH / SV CLK - Satellite system (G), sat number (PRN) A1,I2.2,
- Epoch: Toc - Time of Clock (GPS) year (4 1X,I4,
digits)
- month, day, hour, minute, second 5(1X,I2.2),
- SV clock bias (seconds) 3D19.12
- SV clock drift (sec/sec)
- SV clock drift rate (sec/sec2) *)
BROADCAST ORBIT - 1 - IODE Issue of Data, Ephemeris 4X,4D19.12
- Crs (meters)
- Delta n (radians/sec) ***)
- M0 (radians)
BROADCAST ORBIT - 2 - Cuc (radians) 4X,4D19.12
- e Eccentricity
- Cus (radians)
- sqrt(A) (sqrt(m))
BROADCAST ORBIT - 3 - Toe Time of Ephemeris (sec of GPS week) 4X,4D19.12
- Cic (radians)
- OMEGA0 (radians)
- Cis (radians)
BROADCAST ORBIT - 4 - i0 (radians) 4X,4D19.12
- Crc (meters)
- omega (radians)
- OMEGA DOT (radians/sec)
BROADCAST ORBIT - 5 - IDOT (radians/sec) 4X,4D19.12
- Codes on L2 channel
- GPS Week # (to go with TOE) Continuous
number, not mod(1024)!
- L2 P data flag
BROADCAST ORBIT - 6 - SV accuracy (meters) See GPS ICD 200H 4X,4D19.12
Section 20.3.3.3.1.3 use specified
equations to define nominal values, N = 0-
6: use 2(1+N/2) (round to one decimal place
i.e. 2.8, 5.7 and 11.3) , N= 7-15:use 2 (N-2),
8192 specifies use at own risk
- SV health (bits 17-22 w 3 sf 1)
- TGD (seconds)
- IODC Issue of Data, Clock
BROADCAST ORBIT - 7 - Transmission time of message **) 4X,4D19.12
(sec of GPS week, derived e.g.from Z-
count in Hand Over Word (HOW))
- Fit Interval in hours see section 6.11.
(BNK).

TABLE A6
GNSS NAVIGATION MESSAGE FILE – GPS DATA RECORD DESCRIPTION
- Spare
- Spare
*) In order to account for the various compilers, E,e,D, and d are allowed letters between the
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|
3.04 N: GNSS NAV DATA G: GPS RINEX VERSION / TYPE

XXRINEXN V3 AIUB 19990903 152236 UTC PGM / RUN BY / DATE
EXAMPLE OF VERSION 3.04 FORMAT COMMENT
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 G12 2 TIME SYSTEM CORR
13 LEAP SECONDS
END 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 .400000000000E+01
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 .400000000000E+01
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|

A 8 GNSS Navigation Message File – GALILEO Data Record Description

TABLE A8
GNSS NAVIGATION MESSAGE FILE - GALILEO DATA RECORD DESCRIPTION
SV / EPOCH / SV CLK - Satellite system (E), satellite number A1,I2.2,
- Epoch: Toc - Time of Clock GALyear (4 1X,I4,
digits)
- 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)
BROADCAST ORBIT - 1 - IODnav Issue of Data of the nav batch 4X,4D19.12
- Crs (meters)
- Delta n (radians/sec) ***)
- M0 (radians)
- e Eccentricity
- Cus (radians)
- sqrt(a) (sqrt(m))
BROADCAST ORBIT - 3 - Toe Time of Ephemeris (sec of GAL week) 4X,4D19.12
- Cic (radians)
- OMEGA0 (radians)
- Cis (radians)
- Crc (meters)
- omega (radians)
- 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 and 2 : Both can be set if the
navigation messages were merged, however,
bits 0-2 cannot all be set, as the I/NAV and
F/NAV messages contain different
information
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
Bits 8-9 : exclusive (only one bit can be set)
- GAL Week # (to go with Toe) ****)
- Spare

TABLE A8
GNSS NAVIGATION MESSAGE FILE - GALILEO DATA RECORD DESCRIPTION
BROADCAST ORBIT - 6 - SISA Signal in space accuracy (meters) No 4X,4D19.12
Accuracy Prediction Available(NAPA) /
unknown: -1.0
- SV health (FLOAT converted to INTEGER) *****)
See Galileo ICD Section 5.1.9.3
Bit 0: E1B DVS
Bits 1-2: E1B HS
Bit 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)
(sec of GAL week, derived from WN and
TOW of page type 1)
- spare
- spare
- spare
***) 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) the
continuous GPS week number used in the RINEX navigation message files. The broadcast 12-bit
Galileo System Time (GST) 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

A 9 GALILEO Navigation Message File – Examples

+------------------------------------------------------------------------------+
| TABLE A9 |
| GALILEO NAVIGATION MESSAGE FILE - EXAMPLES |
+------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
3.04 N: GNSS NAV DATA E: GALILEO NAV DATA RINEX VERSION / TYPE
NetR9 5.01 Receiver Operator 20150619 000000 UTC PGM / RUN BY / DATE
GAL .1248D+03 .5039D+00 .2377D-01 .0000D+00 IONOSPHERIC CORR
GAUT .3725290298D-08 .532907052D-14 345600 1849 E10 5 TIME SYSTEM CORR
16 17 1851 3 LEAP SECONDS
END OF HEADER
E12 2015 06 19 02 10 00 -.138392508961D-02 -.131464616970D-09 .000000000000D+00
.930000000000D+02 -.165531250000D+03 .285797618904D-08 .138275888459D+01
-.782497227192D-05 .346679124050D-03 .114385038614D-04 .544062509727D+04
.439800000000D+06 .298023223877D-07 -.296185101312D+01 -.111758708954D-07
.965683294025D+00 .993750000000D+02 -.629360976005D+00 -.541593988135D-08
-.571452374714D-11 .516000000000D+03 .184900000000D+04
.312000000000D+01 .000000000000D+00 -.651925802231D-08 -.605359673500D-08
.440734000000D+06
E12 2015 06 19 02 10 00 -.138392508961D-02 -.131464616970D-09 .000000000000D+00
.930000000000D+02 -.165531250000D+03 .285797618904D-08 .138275888459D+01
-.782497227192D-05 .346679124050D-03 .114385038614D-04 .544062509727D+04
.439800000000D+06 .298023223877D-07 -.296185101312D+01 -.111758708954D-07
.965683294025D+00 .993750000000D+02 -.629360976005D+00 -.541593988135D-08
-.571452374714D-11 .513000000000D+03 .184900000000D+04
.312000000000D+01 .000000000000D+00 -.651925802231D-08 -.605359673500D-08
.440725000000D+06
E12 2015 06 19 02 10 00 -.138392532244D-02 -.131450406116D-09 .000000000000D+00
.930000000000D+02 -.165531250000D+03 .285797618904D-08 .138275888459D+01
-.782497227192D-05 .346679124050D-03 .114385038614D-04 .544062509727D+04
.439800000000D+06 .298023223877D-07 -.296185101312D+01 -.111758708954D-07
.965683294025D+00 .993750000000D+02 -.629360976005D+00 -.541593988135D-08
-.571452374714D-11 .258000000000D+03 .184900000000D+04
.312000000000D+01 .000000000000D+00 -.651925802231D-08 .000000000000D+00
.440730000000D+06
3.04 NAVIGATION DATA M (Mixed) RINEX VERSION / TYPE
BCEmerge congo 20150620 012902 GMT PGM / RUN BY / DATE
Merged GPS/GLO/GAL/BDS/QZS/SBAS navigation file COMMENT
based on CONGO and MGEX tracking data COMMENT
DLR: O. Montenbruck; TUM: P. Steigenberger COMMENT
BDUT 5.5879354477e-09-2.042810365e-14 14 492 B10 7 TIME SYSTEM CORR
GAUT 3.7252902985e-09 5.329070518e-15 345600 1849 E10 5 TIME SYSTEM CORR
GLGP -3.7252902985e-09 0.000000000e+00 345600 1849 R10 0 TIME SYSTEM CORR
GLUT 1.0710209608e-08 0.000000000e+00 345600 1849 R10 0 TIME SYSTEM CORR
GAGP -2.0081643015e-09-9.769962617e-15 432000 1849 E12 0 TIME SYSTEM CORR
GPUT 4.5110937208e-09 7.105427358e-15 372608 1849 G10 2 TIME SYSTEM CORR
QZUT 1.9557774067e-08 1.598721155e-14 61440 1850 J01 0 TIME SYSTEM CORR
18 LEAP SECONDS
END OF HEADER
E12 2015 06 19 02 10 00-1.383925089613e-03-1.314646169703e-10 0.000000000000e+00
9.300000000000e+01-1.655312500000e+02 2.857976189037e-09 1.382758884589e+00
-7.824972271919e-06 3.466791240498e-04 1.143850386143e-05 5.440625097275e+03
4.398000000000e+05 2.980232238770e-08-2.961851013120e+00-1.117587089539e-08
9.656832940254e-01 9.937500000000e+01-6.293609760051e-01-5.415939881349e-09
-5.714523747137e-12 5.130000000000e+02 1.849000000000e+03
3.120000000000e+00 0.000000000000e+00-6.519258022308e-09-6.053596735001e-09
4.404850000000e+05

E12 2015 06 19 02 10 00-1.383925322443e-03-1.314504061156e-10 0.000000000000e+00

9.300000000000e+01-1.655312500000e+02 2.857976189037e-09 1.382758884589e+00
-7.824972271919e-06 3.466791240498e-04 1.143850386143e-05 5.440625097275e+03
4.398000000000e+05 2.980232238770e-08-2.961851013120e+00-1.117587089539e-08
9.656832940254e-01 9.937500000000e+01-6.293609760051e-01-5.415939881349e-09
-5.714523747137e-12 2.580000000000e+02 1.849000000000e+03
3.120000000000e+00 0.000000000000e+00-6.519258022308e-09 0.000000000000e+00
4.405300000000e+05
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|

A 10 GNSS Navigation Message File – GLONASS Data Record Description

TABLE A10
GNSS NAVIGATION MESSAGE FILE – GLONASS DATA RECORD DESCRIPTION
SV / EPOCH / SV CLK - Satellite system (R), satellite number A1,I2.2,
(slot number in sat. constellation)
- Epoch: Toc - Time of Clock (UTC) 1X,I4,
year (4 digits)
- SV clock bias (sec) (-TauN) 3D19.12
- SV relative frequency bias
(+GammaN)
- Message frame time (tk+nd*86400) in
seconds of the UTC week *)
BROADCAST ORBIT - 1 - Satellite position X (km) 4X,4D19.12
- velocity X dot (km/sec)
- X acceleration (km/sec2)
- health (0=healthy, 1=unhealthy) (MSB
of 3-bit Bn)
BROADCAST ORBIT - 2 - Satellite position Y (km) 4X,4D19.12
- velocity Y dot (km/sec)
- Y acceleration (km/sec2)
- frequency number(-7...+13) (-7...+6
ICD 5.1)
BROADCAST ORBIT - 3 - Satellite position Z (km) 4X,4D19.12
- velocity Z dot (km/sec)
- Z acceleration (km/sec2)
- Age of oper. information (days) (E)
fraction and exponent of all floating point numbers in the navigation message files. Zero-padded two-
digit exponents are required, however.

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|
3.04 N: GNSS NAV DATA M: MIXED RINEX VERSION / TYPE

XXRINEXN V3 AIUB 20061002 000123 UTC PGM / RUN BY / DATE
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 G10 2 TIME SYSTEM CORR
GLUT 0.7823109626E-06 0.000000000E+00 0 1395 R10 0 TIME SYSTEM CORR
14 LEAP SECONDS
END 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|

A 12 GNSS Navigation Message File – QZSS Data Record Description

TABLE A12
QZSS NAVIGATION MESSAGE FILE – QZSS DATA RECORD DESCRIPTION
(Columns 61-80)
SV / EPOCH / SV CLK - Satellite system (J), Satellite PRN-192 A1,I2,
- Epoch: Toc - Time of Clock year (4 1X,I4,
digits)
- month, day, hour, minutes, seconds 5(1X,I2),
BROADCAST ORBIT - 1 - IODE Issue of Data, Ephemeris 4X,4D19.12
- Crs (meters)
- Delta n (radians/sec)
- M0 (radians)
- e Eccentricity
- Cus (radians)
- sqrt(A) (sqrt(m))
BROADCAST ORBIT - 3 - Toe Time of Ephemeris (sec of GPS 4X,4D19.12
week)
- Cic (radians)
- OMEGA (radians)
- CIS (radians)
- Crc (meters)
- omega (radians)
BROADCAST ORBIT – 5 - IDOT (radians/sec) 4X,4D19.12
- Codes on L2 channel (fixed to 2, see
IS-QZSS-PNT 4.1.2.7)
- GPS Week # (to go with TOE)
Continuous number, not mod(1024)!
- L2P data flag set to 1 since QZSS does
not track L2P
BROADCAST ORBIT – 6 - SV accuracy (meters) (IS -QZSS-PNT, 4X,4D19.12
Section 5.4.3.1) which refers to: IS GPS
200H Section 20.3.3.3.1.3 use specified
equations to define nominal values, N =
0-6: use 2(1+N/2) (round to one decimal
place i.e. 2.8, 5.7 and 11.3) , N= 7-
15:use 2 (N-2), 8192 specifies use at own
risk
- SV health (bits 17-22 w 3 sf 1) (see IS-
QZSS-PNT 5.4.1)

TABLE A12
QZSS NAVIGATION MESSAGE FILE – QZSS DATA RECORD DESCRIPTION
(Columns 61-80)
- TGD (seconds) The QZSS ICD
specifies a do not use bit pattern
"10000000" this condition is
represented by a blank field.
- IODC Issue of Data, Clock
BROADCAST ORBIT – 7 - Transmission time of message **) (sec 4X,4D19.12

of GPS week, derived e.g. from Z-count
in Hand Over Word (HOW)
- Fit interval flag (0 / 1) (see IS-QZSS-
PNT, 4.1.2.4(3) 0 – two hours), 1 –
more than 2 hours. Blank if not known.
- Spare
- Spare
**) 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 the
A 13 QZSS Navigation Message File – Example

+------------------------------------------------------------------------------+
| TABLE A13 |
| QZSS NAVIGATION MESSAGE FILE - EXAMPLE |
+------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
3.04 N: GNSS NAV DATA J: QZSS RINEX VERSION / TYPE
GR25 V3.08 20140513 072944 UTC PGM / RUN BY / DATE
16 1694 7 LEAP SECONDS
END OF HEADER
J01 2014 05 13 08 15 12 3.323303535581D-04-1.818989403546D-11 0.000000000000D+00
6.900000000000D+01-4.927812500000D+02 2.222949737636D-09 7.641996743610D-01
-1.654587686062D-05 7.542252133135D-02 1.197867095470D-05 6.492895933151D+03
2.025120000000D+05-8.381903171539D-07-9.211997910060D-01-2.041459083557D-06
7.082252892260D-01-1.558437500000D+02-1.575843337115D+00-2.349740733276D-09
-6.793140104410D-10 2.000000000000D+00 1.792000000000D+03 1.000000000000D+00
2.000000000000D+00 1.000000000000D+00-4.656612873077D-09 6.900000000000D+01
1.989000000000D+05 0.000000000000D+00
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|

A 14 GNSS Navigation Message File – BDS Data Record Description

Table A14
GNSS NAVIGATION MESSAGE FILE – BDS DATA RECORD DESCRIPTION
- Satellite system (C), sat number (PRN) A1,I2.2,

- Epoch: Toc - Time of Clock (BDT) year 1X,I4
(4 digits)
SV /EPOCH / SV CLK - month, day, hour, minute, second 5,1X,I2.2,
- AODE Age of Data, Ephemeris (as 4X,4D19.12
specified in BeiDou ICD Table Section
BROADCAST ORBIT – 5.2.4.11 Table 5-8) and field range is: 0-
1 31.
- Crs (meters)
- Delta n (radians/sec) **)
- M0 (radians)
- Cuc (radians) 4X,4D19.12
BROADCAST ORBIT –
- e Eccentricity
2 - Cus (radians)
- sqrt(A) (sqrt(m))
- Toe Time of Ephemeris (sec of BDT 4X,4D19.12
BROADCAST ORBIT – week)
3 - Cic (radians)
- OMEGA0 (radians)
- Cis (radians)
- i0 (radians) 4X,4D19.12
BROADCAST ORBIT –
- Crc (meters)
4 - omega (radians)
- IDOT (radians/sec) 4X,4D19.12
BROADCAST ORBIT –
- Spare
5 - BDT Week # ***)
- Spare
- SV accuracy (meters See: BDS 4X,4D19.12
ICD Section 5.2.4.: to define nominal
values, N = 0-6: use 2(1+N/2) (round to one
BROADCAST ORBIT – decimal place i.e. 2.8, 5.7 and 11.3) , N=
6 7-15:use 2 (N-2), 8192 specifies use at own
risk)
- SatH1
- TGD1 B1/B3 (seconds)
- TGD2 B2/B3 (seconds)

- Transmission time of message ****) 4X,4D19.12

(sec of BDT week,)
BROADCAST ORBIT – - AODC Age of Data Clock (as specified
7 in BeiDou ICD Table Section 5.2.4.9
Table 5-6) and field range is: 0-31.
- Spare
- Spare
fraction and exponent of all floating point numbers in the navigation message files. Zero-
padded two-digit exponents are required, however.
**) 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 BDT week number is a continuous number. The broadcast 13-bit BDS System Time
week has a roll-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.
A 15 BeiDou Navigation Message File – Example

+------------------------------------------------------------------------------+
| TABLE A15 |
| BeiDou NAVIGATION MESSAGE FILE - EXAMPLE |
+------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
3.04 NAVIGATION DATA M (Mixed) RINEX VERSION / TYPE
BCEmerge montenbruck 20140517 072316 GMT PGM / RUN BY / DATE
DLR: O. Montenbruck; TUM: P. Steigenberger COMMENT
BDUT -9.3132257462e-10 9.769962617e-15 14 435 TIME SYSTEM CORR
END OF HEADER
C01 2014 05 10 00 00 00 2.969256602228e-04 2.196998138970e-11 0.000000000000e+00
1.000000000000e+00 4.365468750000e+02 1.318269196918e-09-3.118148933476e+00
1.447647809982e-05 2.822051756084e-04 8.092261850834e-06 6.493480609894e+03
5.184000000000e+05-2.654269337654e-08 3.076630958509e+00-3.864988684654e-08
1.103024081152e-01-2.506406250000e+02 2.587808789012e+00-3.039412318009e-10
2.389385241772e-10 0.000000000000e+00 4.350000000000e+02 0.000000000000e+00
2.000000000000e+00 0.000000000000e+00 1.420000000000e-08-1.040000000000e-08
5.184000000000e+05 0.000000000000e+00
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|

A 16 GNSS Navigation Message File – SBAS Data Record Description

TABLE A16
GNSS NAVIGATION MESSAGE FILE – SBAS DATA RECORD DESCRIPTION
SV / EPOCH / SV CLK - Satellite system (S), satellite number (slot A1,I2.2,
number in sat. constellation)
- Epoch: Toc - Time of Clock (GPS) year (4 1X,I4,
digits)
- 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
BROADCAST ORBIT - 1 - Satellite position X (km) 4X,4D19.12
- velocity X dot (km/sec)
- X acceleration (km/sec2)
- Health: SBAS: See Section 8.3.3 bit mask for:
health, health availability and User Range
Accuracy.
BROADCAST ORBIT - 2 - Satellite position Y (km) 4X,4D19.12
- velocity Y dot (km/sec)
- Y acceleration (km/sec2)
- Accuracy code (URA, meters)
BROADCAST ORBIT - 3 - Satellite position Z (km) 4X,4D19.12
- velocity Z dot (km/sec)
- Z acceleration (km/sec2)
- IODN (Issue of Data Navigation, DO229, 8
first bits after Message Type if MT9)

A 17 SBAS Navigation Message File -Example

+------------------------------------------------------------------------------+
| TABLE A17 |
| SBAS NAVIGATION MESSAGE FILE - EXAMPLE |
+------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
3.04 N: GNSS NAV DATA S: SBAS RINEX VERSION / TYPE

SBAS2RINEX 3.0 CNES 20031018 140100 PGM / RUN BY / DATE
SBUT -.1331791282D-06 -.107469589D-12 552960 1025 EGNOS 5 TIME SYSTEM CORR
13 LEAP SECONDS
This file contains navigation message data from a SBAS COMMENT
(geostationary) satellite, here AOR-W (PRN 122 = # S22) COMMENT
END 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|

A 18 GNSS Navigation Message File – IRNSS Data Record Description

TABLE A18
GNSS NAVIGATION MESSAGE FILE – IRNSS DATA RECORD DESCRIPTION
SV / EPOCH / SV CLK - Satellite system (I), sat number (PRN) A1,I2.2,
- Epoch: Toc - Time of Clock (IRNSS) year 1X,I4,
(4 digits)
BROADCAST ORBIT - 1 - IODEC Issue of Data, Ephemeris and 4X,4D19.12
Clock
- Crs (meters) ***)
- Delta n (radians/sec)
- M0 (radians)
- e Eccentricity
- Cus (radians)
- sqrt(A) (sqrt(m))
BROADCAST ORBIT - 3 - Toe Time of Ephemeris (sec of IRNSS 4X,4D19.12
week)
- Cic (radians)
- OMEGA0 (radians)
- Cis (radians)
- Crc (meters)
- omega (radians)
- Blank
- IRN Week # (to go with TOE) Continuous
number, not mod (1024), counted from
1980 (same as GPS).
- Blank
BROADCAST ORBIT - 6 - User Range Accuracy(m), See IRNSS 4X,4D19.12
ICD Section 6.2.1.4 , use specified
equations to define nominal values, N = 0-
6: use 2(1+N/2) (round to one decimal place
i.e. 2.8, 5.7 and 11.3) , N= 7-15:use 2 (N-2),
8192 specifies use at own risk
- Health (Sub frame 1,bits 155(most
significant) and 156(least significant)),
where 0 = L5 and S healthy, 1 = L5
healthy and S unhealthy, 2= L5 unhealthy
and S healthy, 3= both L5 and S unhealthy

TABLE A18
GNSS NAVIGATION MESSAGE FILE – IRNSS DATA RECORD DESCRIPTION
- TGD (seconds)
- Blank
(sec of IRNSS week)
- Blank
- Blank
- Blank

A 19 IRNSS Navigation Message File – Example

+------------------------------------------------------------------------------+
| TABLE A19 |
| IRNSS NAVIGATION MESSAGE FILE - EXAMPLE |
+------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
3.04 NAVIGATION DATA I (IRNSS) RINEX VERSION / TYPE

DecodIRNSS montenbruck 20141004 164512 GMT PGM / RUN BY / DATE
Source: IRNSS-1A Navbits COMMENT
END OF HEADER
I01 2014 04 01 00 00 00-9.473115205765e-04 1.250555214938e-12 0.000000000000e+00
0.000000000000e+00-5.820625000000e+02 4.720196615135e-09-1.396094758025e+00
-1.898035407066e-05 2.257102518342e-03-1.068413257599e-05 6.493487739563e+03
1.728000000000e+05 6.705522537231e-08-8.912102146884e-01-5.215406417847e-08
4.758105460020e-01 4.009375000000e+02-2.999907424014e+00-4.414469594664e-09
-4.839487298357e-10 1.786000000000e+03
1.130000000000e+01 0.000000000000e+00-4.190951585770e-09
1.728000000000e+05
I01 2014 04 01 02 00 00-9.473022073507e-04 1.250555214938e-12 0.000000000000e+00
1.000000000000e+00-5.101875000000e+02 4.945920303147e-09-8.741766987741e-01
-1.684948801994e-05 2.254169434309e-03-1.182407140732e-05 6.493469217300e+03
1.800000000000e+05 2.346932888031e-07-8.912408598963e-01-1.117587089539e-08
4.758065024964e-01 4.403750000000e+02-2.996779607145e+00-4.508759236491e-09
-5.464513333200e-10 1.786000000000e+03
1.130000000000e+01 0.000000000000e+00-4.190951585770e-09
1.800000000000e+05
I01 2014 04 01 04 00 00-9.472924284637e-04 1.250555214938e-12 0.000000000000e+00
2.000000000000e+00-5.100000000000e+02 5.217360181136e-09-3.491339518362e-01
-1.697987318039e-05 2.254509832710e-03-1.212581992149e-05 6.493469842911e+03
1.872000000000e+05 1.378357410431e-07-8.912725364615e-01 2.942979335785e-07
4.758010370344e-01 4.460625000000e+02-2.996772972812e+00-4.790199531038e-09
-6.039537285256e-10 1.786000000000e+03
1.130000000000e+01 0.000000000000e+00-4.190951585770e-09
1.872000000000e+05
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|

A 20 Meteorological Data File -Header Section Description

TABLE A20
METEOROLOGICAL DATA FILE - HEADER SECTION DESCRIPTION
(Columns 61-80)
RINEX VERSION / - Format version : 3.04 F9.2,11X,
TYPE - File type: M for Meteorological 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 (See section 5.8) A20
* COMMENT - Comment line(s) A60
MARKER NAME - Station Name (preferably identical to A60
MARKER NAME in the associated
Observation File)
* MARKER NUMBER - Station Number (preferably identical to A20
MARKER NUMBER in the associated
Observation File)
# / TYPES OF OBSERV - Number of different observation types stored I6,
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), (for WVR
data)
ZD : Dry component of zen.path delay (mm)
ZT : Total zenith path delay (mm)
WD : Wind azimuth (deg) from where the
wind 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 the
measurements in the data records.
- If more than 9 observation types are being (6X,9(4X,A
used, use continuation lines with format 2))
SENSOR Description of the met sensor

MOD/TYPE/ACC - Model (manufacturer) A20,

TABLE A20
METEOROLOGICAL DATA FILE - HEADER SECTION DESCRIPTION
(Columns 61-80)
- Type A20,6X,
- Accuracy (same units as obs values) F7.1,4X,
- Observation type A2,1X
Record is repeated for each observation type
found in # / TYPES OF OBSERV record
SENSOR POS XYZ/H - Approximate position of the met sensor -
Geocentric coordinates X,Y,Z (ITRF or 3F14.4,
WGS84) 1F14.4,
- Ellipsoidal height H 1X,A2,1X
- Observation type
Set X, Y, Z to (BNK).
Make sure H refers to ITRF or WGS-84!
Record required for barometer, recommended
for other sensors.
END OF HEADER Last record in the header section. 60X

A 21 Meteorological Data File -Data Record Description

TABLE A21
METEOROLOGICAL DATA FILE - DATA RECORD DESCRIPTION
OBS. RECORD DESCRIPTION FORMAT
EPOCH / MET - Epoch in GPS time (not local time!) year (4 1X,I4.4,
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
header
- More than 8 met data types: Use continuation 4X,10F7.1
lines
A 22 Meteorological Data File – Example
+------------------------------------------------------------------------------+
| TABLE A22 |
| METEOROLOGICAL DATA FILE - EXAMPLE |
+------------------------------------------------------------------------------+
----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|
3.04 METEOROLOGICAL DATA RINEX VERSION / TYPE
XXRINEXM V9.9 AIUB 19960401 144333 UTC PGM / RUN BY / DATE
EXAMPLE OF A MET DATA FILE COMMENT
A 9080 MARKER NAME
3 PR TD HR # / TYPES OF OBSERV
PAROSCIENTIFIC 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
0.0000 0.0000 0.0000 1234.5678 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|

A 23 Reference Code and Phase Alignment by Constellation and Frequency Band

TABLE A23
Reference Code and Phase Alignment by Frequency Band
System Frequency Frequency Signal RINEX Phase Correction
Band [MHz] Observation applied to each
Code observed phase to
obtain aligned phase.
(φRINEX = φ
original(as issued by
the SV) + Δφ)
GPS L1 1575.42 C/A L1C None (Reference Signal)
L1C-D L1S +¼ cycle
L1C-P L1L +¼ cycle
L1C-(D+P) L1X +¼ cycle
P L1P +¼ cycle
Z-tracking L1W +¼ cycle
Codeless L1N +¼ cycle
L2 1227.60 C/A L2C For Block II/IIA/IIR –
None;
See Note 1 For Block IIR-M/IIF/III
-¼ cycle
See Note 2
Semi- L2D None
codeless
L2C(M) L2S -¼ cycle
L2C(L) L2L -¼ cycle
L2C(M+L) L2X -¼ cycle
P L2P None (Reference Signal)
Z-tracking L2W None
Codeless L2N None
L5 1176.45 I L5I None (Reference Signal)
Q L5Q -¼ cycle
I+Q L5X Must be aligned to L5I
GLONASS G1 1602+k*9/16 C/A L1C None (Reference Signal)
GLONASS P L1P +¼ cycle
G1a 1600.995 L1OCd L4A None (Reference Signal)
L1OCp L4B None
L1OCd+ L4X None
L1OCd
G2 1246+k*7/16 C/A L2C None (Reference Signal)
P L2P +¼ cycle

TABLE A23
(φRINEX = φ
the SV) + Δφ)
G2a 1248.06 L2CSI L6A None (Reference Signal)
L2OCp L6B None
L2CSI+ L6X None
L2OCp
G3 1202.025 I L3I None (Reference Signal)
Q L3Q +¼ cycle
Galileo E1 1575.42 B I/NAV L1B None (Reference Signal)
OS/CS/SoL
C no data L1C +½ cycle
B+C L1X Must be aligned to L1B
E5A 1176.45 I L5I None(Reference Signal)
Q L5Q -¼ cycle
E5B 1207.140 I L7I None (Reference Signal)
Q L7Q -¼ cycle
E5(A+B) 1191.795 I L8I None (Reference Signal)
Q L8Q -¼ cycle
E6 1278.75 B L6B None (Reference Signal)
C L6C -½ cycle
B+C L6X Must be aligned to L6B
QZSS L1 1575.42 C/A L1C None (Reference Signal)
L1C (D) L1S +¼ cycle
(See Note 5 Below)
L1C (P) L1L +¼ cycle
L1C-(D+P) L1X +¼ cycle
L1S L1Z N/A
L2 1227.60 L2C (M) L2S None (Reference Signal)
L2C (L) L2L None
L2C L2X None
(M+L)
L5 1176.45 I L5I None (Reference Signal)
Q L5Q -¼ cycle

TABLE A23
(φRINEX = φ
the SV) + Δφ)
QZSS I+Q L5X Must be aligned to L5I
L5S 1176.45 I L5D None Reference Signal
Q L5P -¼ cycle
I+Q L5Z None must be aligned to
L5D
1278.75 L6D L6S None (Reference Signal)
L6 (See Note L6P L6L None
6 Below) L6(D+P) L6X None
L6E L6E None
L6(D+E) L6Z None
BDS B1-2 1561.098 I L2I None (Reference Signal)
(See Note 4 Below)
Q L2Q -¼ cycle
Data (D) L1D None Reference Signal
B1 1575.42 Pilot(P) L1P +¼ cycle(preliminary)
D+P L1X Must be aligned to L1D
Data (D) L5D None Reference Signal
B2a 1176.45 Pilot(P) L5P +¼ cycle(preliminary)
B2b 1207.140 I L7I None (Reference
(BDS-2) Signal)
Q L7Q -¼ cycle
B2b 1207.140 Data (D) L7D None Reference Signal
(BDS-3) Pilot(P) L7P +¼ cycle(preliminary)
D+P L7Z Must be aligned to L7D
B2a+B2b 1191.795 Data (D) L8D None Reference Signal
Pilot(P) L8P +¼ cycle(preliminary)
B3 1268.52 I L6I None (Reference Signal)
Q L6Q -¼ cycle
B3A L6A Must be aligned to L6I
IRNSS L5 1176.45 A SPS L5A None (Reference Signal)

TABLE A23
(φRINEX = φ
the SV) + Δφ)
B RS(D) L5B Restricted(See Note 3)
C RS(P) L5C None
B+C L5X Must be aligned to L5A
S 2492.028 A SPS L9A None (Reference Signal)
IRNSS B RS(D) L9B Restricted(See Note 3)
C RS(P) L9C None
B+C L9X Must be aligned to L9A
NOTES:
1) The GPS L2 phase shift values ignore FlexPower when the phases of the L2W and L2C can be
changed on the satellite.
2) The phase of the L2 C/A signal is dependent on the GPS satellite generation.
3) There is no public information available concerning the restricted service signals.
4) Note: Both C1x and C2x (RINEX 3.01 definition) have been used to identify the B1 frequency signals
in RINEX 3.02 files. If C2x coding is read in a RINEX 3.02 file treat it as equivalent to C1x.
5) There has been a phase alignment change between the QZSS Block I and Block II satellites. The table
above shows the Block II alignment. Block I corrections: L1S none, L1L +¼.
6) L6D,L6P, L6E are identical to L61/L62(code1),L61(code2),L62(code2) in IS-QZSS-L6 respectively.

Rinex: The Receiver Independent Exchange Format

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RINEX

The Receiver Independent Exchange Format

International GNSS Service (IGS), RINEX Working

November 23, 2018

Table 12: Standardized S/N Indicators ............................................................................................... 25

RINEX 3.04.IGS.RTCM.doc 2018-11-23

7. RINEX UNDER ANTISPOOFING (AS) ............................................................................................... 32

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9.10 BDS system (Replaces Compass) ................................................................................................... 44

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Galileo: BOC-tracking of an MBOC-modulated signal

Compass satellite system: Identifier and observation codes

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Updated Section 8.1: First paragraph updated to indicate current

RINEX 3.02 Released

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clarified in accordance with IS-GPS-200H section 20.3.3.4.3.1

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record format specification

15-April-2015 - Editorial changes/corrections: in section 6.6 specified a new

RINEX 3.04.IGS.RTCM.doc 2018-11-23

should expect to encounter F/NAV and I/NAV messages in the

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differentiate between body and Appendix tables.

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30-Aug.-2018 - Clarified QZSS Block I and II signals in Table 8

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1. THE PHILOSOPHY AND HISTORY OF RINEX

Several subversions of RINEX Version 2 have been defined:

 Version 2.11: Includes the definition of a two-character observation code for

RINEX 3.04.IGS.RTCM.doc 2018-11-23

As spin-offs of this idea of a receiver-independent GPS exchange format, other RINEX-like

 Exchange format for satellite and receiver clock offsets

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2. GENERAL FORMAT DESCRIPTION

1. Observation data file

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PR = distance + c * (receiver clock offset –satellite clock offset + other biases)

See also clarifications for pseudoranges in mixed GPS/GLONASS/Galileo/QZSS/BDS files in

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

PR (corr) = PR (r) - dT(r)*c

phase (corr) = phase (r) - dT(r)*freq

Table 1: Observation Corrections for Receiver Clock Offset

3.5 Satellite numbers

Figure 1: Satellite numbers and Constellation Identifiers

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4. THE EXCHANGE OF RINEX FILES

Figure 2: Recommended filename parameters.

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File Name Comments

Table 2: Description of Filename Parameters

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5. RINEX VERSION 3 FEATURES

5.1 Observation codes

a : attribute tracking mode or channel, e.g., I, Q, etc

Table 3: Observation Code Components

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Table 4 : RINEX Version 3.04 GPS Observation Codes