New RINEX Features (V 2.12) *************************** 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. Phases stored in the RINEX files have to be consistent across all satellites of a satellite system and a specific frequency within the current RINEX file with respect to such cycle shifts: Either one or the other group of phase observations have to be shifted by the respective fraction of a cycle, prior to RINEX file generation to align them to each other. The applied corrections are to be reported in a new PHASE SHIFT CORR header record to the RINEX file header. +--------------------+------------------------------------------+------------+ | PHASE SHIFT CORR | Phase shift correction used to generate | | | | phases consistent w/r to cycle shifts | | | | - Satellite system (G/R/E/S/C) | A1,1X, | | | - Carrier phase observation code | A2,2X, | | | - Type | | | | - Band | | | | - Correction applied (cycles) | F8.5 | | | | | | | Repeat the record for all affected codes.| | +--------------------+------------------------------------------+------------+ Example: G LC -0.25000 PHASE BIAS CORR New Observation Codes for L1C, L2C and L1(C/A) ---------------------------------------------- +--------------------+------------------------------------------+------------+ |# / TYPES OF OBSERV | - Number of different observation types | I6, | | | stored in the file | | | | - Observation types | | | | - Observation code | 9(4X,A1, | | | - Frequency code | A1)| | | If more than 9 observation types: | | | | Use continuation line(s) (including |6X,9(4X,2A1)| | | the header label in cols. 61-80!) | | | | | | | | The following observation types are | | | | defined in RINEX Version 2.12: | | | | | | | | Observation code (use uppercase only): | | | | C: Pseudorange GPS: C/A, L2C | | | | Glonass: C/A | | | | Galileo: All | | | | P: Pseudorange GPS and Glonass: P code| | | | L: Carrier phase | | | | D: Doppler frequency | | | | S: Raw signal strengths or SNR values | | | | as given by the receiver for the | | | | respective phase observations | | | | | | | | Frequency code | | | | GPS Glonass Galileo SBAS Compass| | | | 1: L1 (P.Y) G1 E2-L1-E1 L1 E1 | | | | A: L1 (C/A) -- -- -- | | | | B: L1 (L1C) -- -- -- | | | | 2: L2 (P.Y) G2 -- -- E2 | | | | C: L2 (L2C) -- -- -- | | | | 5: L5 -- E5a L5 | | | | 6: -- -- E6 -- E6 | | | | 7: -- -- E5b -- E5b | | | | 8: -- -- E5a+b -- | | | | | | | | Observations collected under Antispoofing| | | | are converted to "L2" or "P2" and flagged| | | | with bit 2 of loss of lock indicator | | | | (see Table A2). | | | | | | | | Units : Phase : full cycles | | | | Pseudorange : meters | | | | Doppler : Hz | | | | SNR etc : receiver-dependent | | | | | | | | The sequence of the types in this record | | | | has to correspond to the sequence of the | | | | observations in the observation records | | +--------------------+------------------------------------------+------------+ Compass Satellite System ------------------------ +--------------------+------------------------------------------+------------+ |RINEX VERSION / TYPE| - Format version (2.12) | F9.2,11X, | | | - File type ('O' for Observation Data) | A1,19X, | | | - Satellite System: blank or 'G': GPS | A1,19X | | | 'R': GLONASS | | | | 'S': Geostationary | | | | signal payload | | | | 'E': Galileo | | | | 'C': Compass | | | | 'M': Mixed | | +--------------------+------------------------------------------+------------+ snn s: satellite system identifier G or blank : GPS R : GLONASS S : Geostationary signal payload E : Galileo C : Compass nn: - PRN (GPS, Galileo, Compass), - slot number (GLONASS) - PRN-100 (GEO) Galileo Navigation Message File ------------------------------- +----------------------------------------------------------------------------+ | TABLE A19 | | GALILEO NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTION | +--------------------+------------------------------------------+------------+ | HEADER LABEL | DESCRIPTION | FORMAT | | (Columns 61-80) | | | +--------------------+------------------------------------------+------------+ |RINEX VERSION / TYPE| - Format version : 2.12 | F9.2,11X, | | | - File type ('N' for navigation data) | A1,19X, | | | - Satellite System: G: GPS | A1,19X | +--------------------+------------------------------------------+------------+ |PGM / RUN BY / DATE | - Name of program creating current file | A20, | | | - Name of agency creating current file | A20, | | | - Date and time of file creation | | | | Format: yyyymmdd hhmmss zone | A20 | | | zone: 3-4 char. code for time zone. | | | | 'UTC ' recommended! | | | | 'LCL ' if local time with un- | | | | known local time system code | | +--------------------+------------------------------------------+------------+ *|COMMENT | Comment line(s) | A60 |* +--------------------+------------------------------------------+------------+ *|IONOSPHERIC CORR | Ionospheric correction parameters | |* | | - Correction type | A4,1X, | | | GAL = Galileo ai0 - ai2 | | | | - Parameters | 4D12.4 | | | GAL: ai0, ai1, ai2, zero | | +--------------------+------------------------------------------+------------+ *|TIME SYSTEM CORR | Corrections to transform the system time | |* | | to UTC or other time systems | | | | - Correction type | A4,1X, | | | GAUT = GAL to UTC a0, a1 | | | | - a0,a1 Coefficients of 1-deg polynomial | D17.10, | | | (a0 sec, a1 sec/sec) | D16.9, | | | CORR(s) = a0 + a1*DELTAT | | | | - T Reference time for polynomial | I7, | | | (Seconds into GAL week) | | | | - W Reference week number | I5, | | | (GAL week, continuous number) | 10X | +--------------------+------------------------------------------+------------+ |END OF HEADER | Last record in the header section. | 60X | +--------------------+------------------------------------------+------------+ +----------------------------------------------------------------------------+ | TABLE A20 | | GALILEO NAVIGATION MESSAGE FILE - DATA RECORD DESCRIPTION | +--------------------+------------------------------------------+------------+ | OBS. RECORD | DESCRIPTION | FORMAT | +--------------------+------------------------------------------+------------+ |SV / EPOCH / SV CLK | - Satellite system (E), satellite number | A1,I2.2, | | | - Epoch: Toc - Time of Clock GAL| | | | - year (4 digits) | 1X,I4, | | | - month,day,hour,minute,second | 5(1X,I2.2),| | | - SV clock bias (seconds) af0| 3D19.12 | | | - SV clock drift (sec/sec) af1| | | | - SV clock drift rate (sec/sec2) af2| *) | | | (see Br.Orbit-5, data source, bits 8+9)| | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 1| - IODnav Issue of Data of the nav batch | 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 GAL 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 | | | - Data sources (FLOAT --> INTEGER) | | | | Bit 0 set: I/NAV E1-B | | | | Bit 1 set: F/NAV E5a-I | | | | Bit 2 set: I/NAV E5b-I | | | | Bits 0-2 : non-exclusive | | | | Bit 8 set: af0-af2, Toc, SISA are | | | | for E5a,E1 | | | | Bit 9 set: af0-af2, Toc, SISA are | | | | for E5b,E1 | | | | - GAL Week # (to go with Toe) | ****) | | | - spare | | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 6| - SISA Signal in space accuracy (meters) | 4X,4D19.12 | | | Undefined/unknown: -1.0 | | | | - SV health (FLOAT converted to INTEGER) | *****) | | | 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) | | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 7| - Transmission time of message **) | 4X,4D19.12 | | | (sec of GAL week, derived | | | | from WN and TOW of page type 1) | | | | - spare | | | | - spare | | | | - spare | | +--------------------+------------------------------------------+------------+ *) In order to account for the various compilers, E,e,D, and d are allowed letters between 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. ***) 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 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 Unification of the TIME SYSTEM CORR record ------------------------------------------ Replacement for - GPS: DELTA-UTC: A0,A1,T,W - SBAS: D-UTC A0,A1,T,W,S,U - GLONASS: CORR TO SYSTEM TIME +----------------------------------------------------------------------------+ | TABLE A3 | | GPS NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTION | +--------------------+------------------------------------------+------------+ *|TIME SYSTEM CORR | Corrections to transform the system time | |* | | to UTC | | | | - Correction type | A4,1X, | | | GPUT = GPS to UTC a0, a1 | | | | - a0,a1 Coefficients of 1-deg polynomial | D17.10, | | | (a0 sec, a1 sec/sec) | D16.9, | | | CORR(s) = a0 + a1*DELTAT | | | | - T Reference time for polynomial | I7, | | | (Seconds into GPS week) | | | | - W Reference week number | I5, | | | (GPS week, continuous number) | 10X | +--------------------+------------------------------------------+------------+ +----------------------------------------------------------------------------+ | TABLE A10 | | GLONASS NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTION | +--------------------+------------------------------------------+------------+ *|TIME SYSTEM CORR | Corrections to transform the system time | |* | | to UTC | | | | - Correction type | A4,1X, | | | GLUT = GLO to UTC | | | | - a0 Correction in seconds (a0=TauC) | D17.10, | | | CORR(s) = a0 | 16X, | | | - T Reference time for polynomial | I7, | | | (Seconds into GPS week) | | | | - W Reference week number | I5, | | | (GPS week, continuous number) | 10X | +--------------------+------------------------------------------+------------+ +----------------------------------------------------------------------------+ | TABLE A15 | | GEOSTATIONARY NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTION | +--------------------+------------------------------------------+------------+ *|TIME SYSTEM CORR | Corrections to transform the system time | |* | | to UTC | | | | - Correction type | A4,1X, | | | SBUT = SBAS to UTC a0, a1 | | | | - a0,a1 Coefficients of 1-deg polynomial | D17.10, | | | (a0 sec, a1 sec/sec) | D16.9, | | | CORR(s) = a0 + a1*DELTAT | | | | - T Reference time for polynomial | I7, | | | (Seconds into GPS week) | | | | - W Reference week number | I5, | | | (GPS week, continuous number) | | | | - S EGNOS, WAAS, or MSAS ... | 1X,A5,1X | | | (left-justified) | | | | Derived from MT17 service provider. | | | | If not known: Use Snn with | | | | nn = PRN-100 of satellite | | | | broadcasting the MT12 | | | | - U UTC Identifier (0 if unknown) | I2,1X | | | 1=UTC(NIST), 2=UTC(USNO), 3=UTC(SU), | | | | 4=UTC(BIPM), 5=UTC(Europe Lab), | | | | 6=UTC(CRL), >6 = not assigned yet | | +--------------------+------------------------------------------+------------+ 6.10 Order of data records Explicitly exclude multiple epoch data records with identical time tag (exception: Event records). Epochs have to appear ordered in time.