Rinex biography and Introduction for version 2

梦里梦外; 2023-02-16 10:59 119阅读 0赞

**只放英文，原汁原味！**

**RINEX: The Receiver Independent Exchange Format Version 2**

**Rinex格式文件结构：节、记录、字段、列；**

**节：文件头和数据记录**

**记录：每一节有若干记录**

**记录：一般为一行，每行最大字符数为80；**

## 一、 THE PHILOSOPHY OF RINEX ##

Rinex格式起源于一个项目，需要将不同接收机的数据汇总归类，以方便处理：

一般Rinex格式数据包括：载波相位、伪距、信号观测时间。

The first proposal for the "Receiver Independent Exchange Format" RINEX has
    been developed by the Astronomical Institute of the University of Berne for
    the easy exchange of the GPS data to be collected during the large European
    GPS campaign EUREF 89, which involved more than 60 GPS receivers of 4
    different manufacturers. The governing aspect during the development was
    the following fact:
    
    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.

## 二、GENERAL FORMAT DESCRIPTION ##

Currently the format consists of four ASCII file types: 文件类型

1. Observation Data File  
2. Navigation Message File  
3. Meteorological Data File  
4. GLONASS Navigation Message File

## 三、 DEFINITION OF THE OBSERVABLES ##

Time、伪距/Range、Phase、Doppler术语在Rinex中表示的内容：

GPS observables include three fundamental quantities that need to be
    defined: Time, Phase, and Range.
    
    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. It is expressed in GPS time (not
      Universal Time).
    
    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 behavior of the receiver
      and satellite clocks. The pseudo-range is stored in units of meters.
    
      See also clarifications for pseudoranges in mixed GPS/GLONASS files in
      chapter 8.1.
    
    PHASE:
    
      The phase is the carrier-phase measured in whole cycles at both L1 and
      L2. The half-cycles measured by sqaring-type receivers must be converted
      to whole cycles and flagged by the wavelength factor in the header
      section.
    
      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 phase observations will not contain any
      systematic drifts from intentional offsets of the reference oscillators.
    
    The observables are not corrected for external effects like atmospheric
    refraction, satellite clock offsets, etc.
    
    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
    
    DOPPLER:
    
    The sign of the doppler shift as additional observable is defined as usual:
    Positive for approaching satellites.

## 四、文件的命名方式 THE EXCHANGE OF RINEX FILES: ##

We recommend using the following naming convention for RINEX files:
    
            ssssdddf.yyt      ssss:    4-character station name designator
                               ddd:    day of the year of first record
                                 f:    file sequence number within day
                                       0: file contains all the existing
                                          data of the current day
                                yy:    year
                                 t:    file type:
                                       O: Observation file
                                       N: Navigation file
                                       M: Meteorological data file
                                       G: GLONASS Navigation file

## 五、RINEX VERSION 2 FORMAT DEFINITIONS AND EXAMPLES ##

### 1、GPS观测文件  ###

**1.1、观测文件之头文件介绍：**

其中 \*/星号标记部分为可有可无。（Records marked with \* are optional）

**1.2、观测文件之数据部分介绍：**

### 2、GPS导航文件  ###

**2.1、导航文件之头文件介绍：**

其中 \*/星号标记部分为可有可无。（Records marked with \* are optional）

+----------------------------------------------------------------------------+
     |                                   TABLE A3                                 |
     |             NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTION           |
     +--------------------+------------------------------------------+------------+
     |    HEADER LABEL    |               DESCRIPTION                |   FORMAT   |
     |  (Columns 61-80)   |                                          |            |
     +--------------------+------------------------------------------+------------+
     |RINEX VERSION / TYPE| - Format version (2)                     |   I6,14X,  |
     |                    | - File type ('N' for Navigation data)    |   A1,19X   |
     +--------------------+------------------------------------------+------------+
     |PGM / RUN BY / DATE | - Name of program creating current file  |     A20,   |
     |                    | - Name of agency  creating current file  |     A20,   |
     |                    | - Date of file creation                  |     A20    |
     +--------------------+------------------------------------------+------------+
    *|COMMENT             | Comment line(s)                          |     A60    |*
     +--------------------+------------------------------------------+------------+
    *|ION ALPHA           | Ionosphere parameters A0-A3 of almanac   |  2X,4D12.4 |*
     |                    | (page 18 of subframe 4)                  |            |
     +--------------------+------------------------------------------+------------+
    *|ION BETA            | Ionosphere parameters B0-B3 of almanac   |  2X,4D12.4 |*
     +--------------------+------------------------------------------+------------+
    *|DELTA-UTC: A0,A1,T,W| Almanac parameters to compute time in UTC| 3X,2D19.12,|*
     |                    | (page 18 of subframe 4)                  |     2I9    |
     |                    | A0,A1: terms of polynomial               |            |
     |                    | T    : reference time for UTC data       |            |
     |                    | W    : UTC reference week number         |            |
     +--------------------+------------------------------------------+------------+
    *|LEAP SECONDS        | Delta time due to leap seconds           |     I6     |*
     +--------------------+------------------------------------------+------------+
     |END OF HEADER       | Last record in the header section.       |    60X     |
     +--------------------+------------------------------------------+------------+

**2.2、导航文件之数据部分介绍：**

### 3、气象文件 ###

**3.1 气象文件之头文件**

**3.2 气象文件之数据部分：**

### 4、Glonass 导航文件 ###

4.1 Glonass 导航文件、头部分

Records marked with \* are optional

+----------------------------------------------------------------------------+
     |                                   TABLE A10                                |
     |        GLONASS NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTION        |
     +--------------------+------------------------------------------+------------+
     |    HEADER LABEL    |               DESCRIPTION                |   FORMAT   |
     |  (Columns 61-80)   |                                          |            |
     +--------------------+------------------------------------------+------------+
     |RINEX VERSION / TYPE| - Format version (2)                     |   I6,14X,  |
     |                    | - File type ('G' = GLONASS nav mess data)|   A1,39X   |
     +--------------------+------------------------------------------+------------+
     |PGM / RUN BY / DATE | - Name of program creating current file  |     A20,   |
     |                    | - Name of agency  creating current file  |     A20,   |
     |                    | - Date of file creation (dd-mmm-yy hh:mm)|     A20    |
     +--------------------+------------------------------------------+------------+
    *|COMMENT             | Comment line(s)                          |     A60    |*
     +--------------------+------------------------------------------+------------+
    *|CORR TO SYSTEM TIME | - Time of reference for system time corr |            |*
     |                    |   (year, month, day)                     |     3I6,   |
     |                    | - Correction to system time scale (sec)  |  3X,D19.12 |
     |                    |   to correct GLONASS system time to      |            |
     |                    |   UTC(SU)                                |            |
     +--------------------+------------------------------------------+------------+
    *|LEAP SECONDS        | Number of leap seconds since 6-Jan-1980  |     I6     |*
     +--------------------+------------------------------------------+------------+
     |END OF HEADER       | Last record in the header section.       |    60X     |
     +--------------------+------------------------------------------+------------+

4.2 Glonass 导航文件、数据部分

## 六、 RINEX 2. 10 格式说明 ##

**格式说明项如下：**

**\[ r\] fw. \[ m\]**

**其中:  
r: 重复因子, 表示后面的内容将重复的次数, 该部分是可选的;  
f: 数据类型符, 在 RINEX 格式的说明中, 用到了如下数据类型:**

*   **X, 空格**
 *   **A, 字符型**
 *   **I, 整型**
 *   **F, 单精度浮点型**
 *   **D, 双精度浮点型**

**w: 字段宽度;  
m: 在字段中最少的数字或字符数, 当数据类型为单精度浮点型或双精度浮点型时,表示小数位数, 该部分是可选的。**

例如:

1、格式说明符“ F9 . 2, 11 X, A1, 19X”

表示这一行的内容从第 1 列开始依次是宽度为9 位、小数点后有2位的单精度浮点数, 11个空格、宽度为1的字符串和 19个空格;

2、格式说明符“ 3F14 . 4”

表示这一行内容从第 1 列开始依次是 3 个宽度为 14 、 小数点后有 4 位的单精度浮点数;

3、格式说明符“ 7( 3X, A1, I2) ”

表示这一 行内容从第 1 列开始, 将 3 个空格、宽度为1的字符串和宽度为 2 的整型这些内容重复 7 次；

### 6.1 GPS观测数据：文件头和数据记录 ###

6.1.1 文件头

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70][]

![20200616151234775.png][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 1][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 2][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 3][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 4][]

6.1.2 数据记录

在RINEX格式GPS观测值文件的数据记录节中,为按历元依次存放的观测数据或在观测过程中所发生事件的信息。每个历元的数据包含两部分:第一部分为“历元/卫星或事件标志”,用于存放该观测历元时刻的时标和在该历元所观测到卫星的数量及其列表或表明事件性质的标志,这一部分通常为该历元数据的第一行;第二部分为“观测值”,用于存放在该历元所采集到的所有观测值,这一部分紧接在“历元/卫星或事件标志”之后,所占行数与在该历元中所观测卫星的数量有关。表9-2为GPS观测数据文件数据记录节的历元/卫星或事件标志格式说明,表9-3为GPS观测数据文件数据记录节的观测值格式说明。

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 5][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 6][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 7][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 8][]

### 6.2 GPS导航电文：文件头和数据记录 ###

6.2.1 文件头

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 9][]

6.2.2 数据记录

RINEX格式GPS导航电文文件数据记录节中的内容为按卫星和参考时刻存放的各颗卫星的时钟和轨道数据。每颗卫星一个参考时刻的数据占8行,第1行为卫星的PRN号和该卫星时钟的参考时刻及其改正模型参数,第2～8行为该卫星的广播轨道数据。由于导航电文通常每2h就更新一次,因此,某些卫星可能会有多个不同参考时刻的数据。表9-5为RINEX格式GPS导航电文文件数据记录节的格式说明。

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 10][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 11][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 12][]

### 6.3 气象数据文件：文件头和数据记录 ###

6.3.1 文件头

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 13][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 14][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 15][]

6.3.2 数据记录

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 16][]

### 6.4 GLONASS导航电文：文件头和数据记录 ###

6.4.1 文件头

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 17][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 18][]

6.4.2 数据记录

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3d1d3VrdTEyMw_size_16_color_FFFFFF_t_70 19][]

![20200616160214457.png][]

## 七、 RINEX 2. 10 实例 ##

### 7.1 Rinex GPS观测数据 ###

2.10           OBSERVATION DATA    G (GPS)             RINEX VERSION / TYPE
    Convert                                 22-Apr-2010 13:07   PGM / RUN BY / DATE 
    Signal Strength values S1,S2 are in dBHz                    COMMENT             
    N01A                                                        MARKER NAME         
                                                                MARKER NUMBER       
                                                                OBSERVER / AGENCY   
    SVA05500089         NOV RT2             2.312               REC # / TYPE / VERS 
                        GPS702                                  ANT # / TYPE        
     -2196708.5654  5177520.9227  2998179.7203                  APPROX POSITION XYZ 
            0.0000        0.0000        0.0000                  ANTENNA: DELTA H/E/N
         1     1                                                WAVELENGTH FACT L1/2
         1     1     7   G03   G06   G07   G11   G13   G14   G16WAVELENGTH FACT L1/2
         1     1     7   G19   G20   G21   G22   G23   G24   G29WAVELENGTH FACT L1/2
         1     1     3   G30   G31   G32                        WAVELENGTH FACT L1/2
                                                                COMMENT             
                                                                COMMENT             
         8    C1    L1    D1    S1    P2    L2    D2    S2      # / TYPES OF OBSERV 
         1.000                                                  INTERVAL            
      2010    04    22    09    09    24.0000000    GPS         TIME OF FIRST OBS   
      2010    04    22    13    43     1.0000000    GPS         TIME OF LAST OBS    
        15                                                      LEAP SECONDS        
                                                                END OF HEADER       
     10 04 22 09 09 24.0000000  0  8G20G30G22G29G14G31G32G16                        
      24465528.83045 128567213.01845      2609.57845        39.905    24465527.75443
     100182241.86753      2033.43443        36.271  
      22698830.00148 119283156.21048     -3191.03948        46.685    22698828.24544
      92947906.63744     -2486.52744        38.250  
      23361066.21247 122763207.11647     -3476.83247        44.238    23361068.36544
      95659638.27254     -2709.23844        37.805  
      23457826.03047 123271713.02547       898.46947        45.326    23457826.54745
      96055874.77745       700.10245        39.263  
      20965301.46849 110173399.50749      -704.93049        49.829    20965298.74947
      85849392.78457      -549.30147        43.339  
      21186264.14849 111334569.02749      -328.90649        50.032    21186260.90448
      86754197.66148      -256.29348        45.592  
      22655993.91548 119058049.62348      1701.77348        47.210    22655992.67545
      92772502.73855      1326.05545        39.961  
      21929695.82649 115241341.53549      2951.33249        47.840    21929694.92645
      89798444.92755      2299.82845        39.933  
     10 04 22 09 09 25.0000000  0  8G20G30G22G29G14G31G32G16                        
      24465032.23045 128564603.51445      2609.14845        39.810    24465031.14741
     100180208.50251      2033.10241        31.319  
      22699437.26248 119286347.35748     -3191.21148        46.170    22699435.50844
      92950393.24044     -2486.66044        37.427  
      23361727.89447 122766684.16747     -3477.09447        43.768    23361730.04444
      95662347.64254     -2709.44144        37.870  
      23457655.11647 123270814.87147       897.98447        45.004    23457655.64245
      96055174.91945       699.72745        39.075  
      20965435.65449 110174104.61949      -705.32049        49.613    20965432.92647
      85849942.22057      -549.60247        43.793  
      21186326.74249 111334897.95549      -328.95349        49.937    21186323.50348
      86754453.96948      -256.33248        45.683  
      22655670.12948 119056348.09248      1701.25448        47.057    22655668.88245
      92771176.86955      1325.64845        39.946  
      21929134.22448 115238390.33248      2951.07048        47.627    21929133.32245
      89796145.29455      2299.53545        39.427

### 7.2 Rinex GPS导航电文 ###

2.10           N: GPS NAV DATA                         RINEX VERSION / TYPE
    Convert             NUDT                22-Apr-10 13:07     PGM / RUN BY / DATE 
        0.9313D-08  0.1490D-07 -0.5960D-07 -0.1192D-06          ION ALPHA           
        0.8806D+05  0.4915D+05 -0.1311D+06 -0.3277D+06          ION BETA            
        -.279396772385D-08 -.186517468137D-13   589824     1580 DELTA-UTC: A0,A1,T,W
        15                                                      LEAP SECONDS        
                                                                END OF HEADER       
    12 10 04 22 10 00 00.0 -.123794656247D-03  .443378667114D-11  .000000000000D+00
         .105000000000D+03 -.793437500000D+02  .442339853802D-08  .284026412746D+01
        -.414066016674D-05  .355840614066D-02  .637210905552D-05  .515371054077D+04
         .381600000000D+06 -.596046447754D-07 -.209086100635D+01  .141561031342D-06
         .970242127119D+00  .256968750000D+03 -.482454414791D+00 -.812676708390D-08
         .321441960776D-11  .100000000000D+01  .158000000000D+04  .000000000000D+00
         .000000000000D+00  .000000000000D+00 -.121071934700D-07  .105000000000D+03
         .377196000000D+06  .000000000000D+00                                      
    14 10 04 22 10 00 00.0  .369166955352D-04  .454747350886D-11  .000000000000D+00
         .200000000000D+01  .606562500000D+02  .375694220601D-08 -.113111546860D+01
         .309012830257D-05  .497235741932D-02  .988505780697D-05  .515373614883D+04
         .381600000000D+06  .115483999252D-06  .213556246222D+01  .119209289551D-06
         .986261160548D+00  .204000000000D+03 -.212194049029D+01 -.780889670046D-08
        -.120004998690D-09  .100000000000D+01  .158000000000D+04  .000000000000D+00
         .000000000000D+00  .000000000000D+00 -.884756445885D-08  .258000000000D+03
         .378546000000D+06  .000000000000D+00                                      
    16 10 04 22 10 00 00.0 -.640708021820D-04 -.386535248253D-11  .000000000000D+00
         .850000000000D+02 -.934687500000D+02  .442589864216D-08  .525397810322D+00
        -.480748713017D-05  .591101672035D-02  .603683292866D-05  .515375069237D+04
         .381600000000D+06  .132247805595D-06 -.207347884927D+01 -.186264514923D-07
         .971475583572D+00  .267593750000D+03 -.245204156777D+00 -.823962892790D-08
        -.728601777760D-10  .100000000000D+01  .158000000000D+04  .000000000000D+00
         .000000000000D+00  .000000000000D+00 -.977888703346D-08  .850000000000D+02
         .378546000000D+06  .000000000000D+00                                      
    18 10 04 22 10 00 00.0  .634770840406D-04  .250111042988D-11  .000000000000D+00
         .114000000000D+03  .120312500000D+02  .525879047830D-08  .782802627809D+00
         .774860382080D-06  .111971297301D-01  .745244324207D-05  .515368296242D+04
         .381600000000D+06 -.651925802231D-07  .106470785016D+01  .119209289551D-06
         .937752948992D+00  .225781250000D+03 -.234597594304D+01 -.859642950437D-08
        -.580024160334D-09  .100000000000D+01  .158000000000D+04  .000000000000D+00
         .000000000000D+00  .000000000000D+00 -.107102096081D-07  .114000000000D+03
         .376656000000D+06  .000000000000D+00

具体文件：[RINEX格式官方说明并有example][RINEX_example]

## 参考： ##

1、Rinex2.0

2、GPS原理及其应用 李征航

3、[http://www.360doc.com/content/14/0727/16/9024860\_397437407.shtm][http_www.360doc.com_content_14_0727_16_9024860_397437407.shtm]

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[20200616151234775.png]: https://img-blog.csdnimg.cn/20200616151234775.png
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[20200616160214457.png]: https://img-blog.csdnimg.cn/20200616160214457.png
[RINEX_example]: https://download.csdn.net/download/wuwuku123/12507379
[http_www.360doc.com_content_14_0727_16_9024860_397437407.shtm]: http://www.360doc.com/content/14/0727/16/9024860_397437407.shtml