GPS 观测O文件头部分 rinex格式-详细说明

RINEX VERSION 2.11 FORMAT DEFINITIONS AND EXAMPLES
+----------------------------------------------------------------------------+ | TABLE A1 | | GNSS OBSERVATION DATA FILE - HEADER SECTION DESCRIPTION | +--------------------+------------------------------------------+------------+ | HEADER LABEL | DESCRIPTION | FORMAT | | (Columns 61-80) | | | +--------------------+------------------------------------------+------------+ |RINEX VERSION / TYPE| - Format version (2.11) | 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 | | | | 'M': Mixed | | +--------------------+------------------------------------------+------------+ |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 |* +--------------------+------------------------------------------+------------+ |MARKER NAME | Name of antenna marker | A60 | +--------------------+------------------------------------------+------------+ *|MARKER NUMBER | Number of antenna marker | A20 |* +--------------------+------------------------------------------+------------+ |OBSERVER / AGENCY | Name of observer / agency | A20,A40 | +--------------------+------------------------------------------+------------+ |REC # / TYPE / VERS | Receiver number, type, and version | 3A20 | | | (Version: e.g. Internal Software Version)| | +--------------------+------------------------------------------+------------+ |ANT # / TYPE | Antenna number and type | 2A20 | +--------------------+------------------------------------------+------------+ |APPROX POSITION XYZ | Approximate marker position (WGS84) | 3F14.4 | +--------------------+------------------------------------------+------------+ |ANTENNA: DELTA H/E/N| - Antenna height: Height of bottom | 3F14.4 | | | surface of antenna above marker | | | | - Eccentricities of antenna center | | | | relative to marker to the east | | | | and north (all units in meters) | | +--------------------+------------------------------------------+------------+ *|WAVELENGTH FACT L1/2| - Default wavelength factors for | |* | | L1 and L2 (GPS only) | 2I6, |
| | 1: Full cycle ambiguities | | | | 2: Half cycle ambiguities (squaring) | | | | 0 (in L2): Single frequency instrument | | | | - zero or blank | I6 | | | | | | | The wavelength factor record is optional | | | | for GPS and obsolete for other systems. | | | | Wavelength factors default to 1. | | | | If the record exists it must precede any | | | | satellite-specific records (see below). | | +--------------------+------------------------------------------+------------+ *|WAVELENGTH FACT L1/2| - Wavelength factors for L1 and L2 (GPS) | 2I6, |* | | 1: Full cycle ambiguities | | | | 2: Half cycle ambiguities (squaring) | | | | 0 (in L2): Single frequency instrument | | | | - Number of satellites to follow in list | I6, | | | for which these factors are valid. | | | | - List of PRNs (satellite numbers with | 7(3X,A1,I2)| | | system identifier) | | | | | | | | These optional satellite specific lines | | | | may follow, if they identify a state | | | | different from the default values. | | | | | | | | Repeat record if necessary. | | +--------------------+------------------------------------------+------------+ |# / 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 2.11: | | | | | | | | 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 | | | | 1: L1 G1 E2-L1-E1 L1 | | | | 2: L2 G2 -- -- | | | | 5: L5 -- E5a L5 | | | | 6: -- -- E6 -- | | | | 7: -- -- 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 | | +--------------------+------------------------------------------+------------+ *|INTERVAL | Observation interval in seconds | F10.3 |* +--------------------+------------------------------------------+------------+ |TIME OF FIRST OBS | - Time of first observation record | 5I6,F13.7, | | | (4-digit-year, month,day,hour,min,sec) | | | | - Time system: GPS (=GPS time system) | 5X,A3 | | | GLO (=UTC time system) | | | | GAL (=Galileo System Time)| | | | Compulsory in mixed GPS/GLONASS files | | | | Defaults: GPS for pure GPS files | | | | GLO for pure GLONASS files | | | | GAL for pure Galileo files | | +--------------------+------------------------------------------+------------+ *|TIME OF LAST OBS | - Time of last observation record | 5I6,F13.7, |* | | (4-digit-year, month,day,hour,min,sec) | | | | - Time system: Same value as in | 5X,A3 | | | TIME OF FIRST OBS record | |
+--------------------+------------------------------------------+------------+
*|RCV CLOCK OFFS APPL | Epoch, code, and phase are corrected by | I6 |*
| | applying the realtime-derived receiver | |
| | clock offset: 1=yes, 0=no; default: 0=no | |
| | Record required if clock offsets are | |
| | reported in the EPOCH/SAT records | |
+--------------------+------------------------------------------+------------+
*|LEAP SECONDS | Number of leap seconds since 6-Jan-1980 | I6 |*
| | Recommended for mixed files | |
+--------------------+------------------------------------------+------------+
*|# OF SATELLITES | Number of satellites, for which | I6 |*
| | observations are stored in the file | |
+--------------------+------------------------------------------+------------+
*|PRN / # OF OBS | PRN (sat.number), number of observations |3X,A1,I2,9I6|*
| | for each observation type indicated | |
| | in the "# / TYPES OF OBSERV" - record. | |
| | | |
| | If more than 9 observation types: | |
| | Use continuation line(s) including | 6X,9I6 |
| | the header label in cols. 61-80! | |
| | | |
| | 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 |
/igscb/data/format/rinex211.txt
+--------------------+------------------------------------------+------------+ GPR Rinex文件之o文件说明
标签：GPR Rinex o说明分类：我的测绘2009-02-09 19:45
2.10 OBSERVATION DATA G (GPS) RINEX VERSION /
TYPE RINEX版本/观测数据类型
DAT2RINW 3.10 001 WuXuepeng 01APR06 9:47:37 PGM / RUN BY / DATE 项目/执行者/日期
WuXuepeng GCEDD OBSERVER / AGENCY 观测者/公司
20253469 TRIMBLE 4600LS Nav 2.50 Sig 0.11 REC # / TYPE / VERS 接收机编号/接收机类型/接收机版本
20253469 4600LS INTERNAL ANT # / TYPE 天线编号/天线类型
----------------------------------------------------------- COMMENT 注释
Offset from BOTTOM OF ANTENNA to PHASE CENTER is 107.0 mm COMMENT 补偿从天线底部到相位中心107.0毫米注释
----------------------------------------------------------- COMMENT 注释
I1234 MARKER NAME 标识点名称
I1234 MARKER NUMBER 标识点数量
-2666295.7398 4700154.0487 3376886.4779 APPROX POSITION XYZ 标识点概略坐标XYZ(WGS-84)
1.4065 0.0000 0.0000 ANTENNA: DELTA H/E/N 改正到相位中心的天线高度H高程/E东坐标/N北坐标
*** Above antenna height is from mark to PHASE CENTER. COMMENT 上面的天线高是从测量标志到天线相位中心注释
----------------------------------------------------------- COMMENT 注释
Note: The above height is to the antenna phase center. COMMENT 注释：上面的天线高是到天线相位中心注释
The RINEX specification calls for this to be the COMMENT RINEX 规格要求注释
height from the bottom surface of the antenna mount COMMENT 天线高是从天线座底部注释
to the survey mark. COMMENT 到测量标志。

注释
Note: The above offsets are CORRECTED. COMMENT 注释：上面的补偿是改正后的。

注释
Raw Offsets: H= 1.3450 E= 0.0000 N= 0.0000 COMMENT 原始补偿：H=1.3450(原始天线高) E=0.0000 N=0.0000 注释
----------------------------------------------------------- COMMENT 注释
1 0 0 WAVELENGTH FACT L1/
2 基线长度事实上是L1/2
3 L1 C1 D1 # / TYPES OF OBSERV 观测类型数及观测类型
15.000 INTERVAL GPS采集数据间隔(s) 2006 3 10 1 41 0.0000000 TIME OF FIRST OBS 开始观测时间年月日小时分秒(UTC时间+8小时=北京时间)
2006 3 10 2 12 30.0000000 TIME OF LAST OBS 结束观测时间年月日小时分秒(UTC时间+8小时=北京时间)
0 RCV CLOCK OFFS APPL RCV时钟偏移APPL
6 # OF SATELLITES 有效卫星个数
4 126 126 126 PRN / # OF OBS 卫星号/观测数
11 127 127 127 PRN / # OF OBS 卫星号/观测数
17 127 127 127 PRN / # OF OBS 卫星号/观测数
20 127 127 127 PRN / # OF OBS 卫星号/观测数
24 127 127 127 PRN / # OF OBS 卫星号/观测数
28 127 127 127 PRN / # OF OBS 卫星号/观测数
END OF HEADER 结束表头
06 3 10 1 41 0.0000000 0 6 4 11 17 20 24 28 年月日小时分秒(UTC时间+8小时=北京时间) 0 卫星号(6,4,11,17,20,24,28)
-120787.22515 22767438.46105 2823.89100 数据117464.66816 22881624.10206 -2614.96900
-66214.14017 21312857.78107 1622.20300
-5.46317 21442391.46907 0.29700
-20539.06417 20497493.03907 470.39100
5916.88617 20264899.55507 -133.56300
06 3 10 1 41 15.0000000 0 6 4 11 17 20 24 28
-163196.32406 22759368.50006 2830.51600
156608.05206 22889073.26606 -2604.46900
-90618.13207 21308213.80507 1631.45300
-20.16207 21442389.14807 1.57800
-27631.16707 20496143.37507 474.92200
7903.18507 20265277.59407 -131.59400
RINEX观测文件格式
GPS 2010-03-29 20:32:06 阅读494 评论0 字号：大中小订阅
RINEX(Receiver Independent Exchange)，共有三种格式观测文件、导航文件和气象文件（meteorological）。

1.观测文件
1)观测文件的文件头
带*的内容为可选内容，在格式中，以类型开头，紧跟所占字节数。

F（float）表示浮点数，如F9.2理解为9位（含小数点）浮点数，保留到小数点后两位；
X表示空格，如11X表示11位空位；
A（ASCII）表示ASCII字码，如A1表示1位ASCII字码；
I（integer）表示整数，如I6表示，6位整数；
数据和数据之间以“，”隔开；
连续多个相同类型则在类型前面加上总个数，如2I6表示两组6位整数。

2)观测文件数据记录
广播星历表一样，观测文件也有一个表头
默认分类2011-03-01 17:07:23 阅读1 评论0 字号：大中小订阅
与广播星历表一样，观测文件也有一个表头，表头也以“END OF HEADER”或空行表示结束，表头中每行的60—80字符给出本行内容的说明，如表2.1.3所示，观测文件的表头中列出了RINEX版本号、形成文件的单位、人员、点号、点名、观测者与单位、接收机号码类型版本、天线号码类型、台站近似坐标、天线L1相位中心与点位的关系（向上、向东、向北的偏离量）、采样间隔、波长因子、观测值种类数及观测值类型、第一个观测历元时刻、最后一个观测历元时刻、测得卫星的号码，说明为“COMMENT”的注解行等。

其中的波长因子为1指采用相关技术恢复载波，整周模糊度和失周数只能是整数；波长因子为2指采用平方技术生成载波，整周模糊度和失周数可能是0.5周的倍数。

观测类型中的：L1-L1上的载波相位；L2-L2上的载波相位；0l-LI上的C/A码伪距；PI-L1上的P码伪距；P2-L2上的P码伪距；Dl-L1上的频率变化；D2-12上的频率变化。

表头结束后，是各历元的观测数据，每历元数据由一个历元时
间行和多个观测数据行组成，每个历元时间行的内容为：其中c 1)当质量标记（Eventnag）为：o-浚历元观测数据正常；1-在前一历元和本历元之间停电；2-开始移动天线；3-在新的台站重新开始观测（紧接着会出现新的点号）；4-以下会出现新的头信息；卜一其他外部事件；6-出现失阔指示。

2)卫星导航仪数指该历元观测到的卫星总数，紧接着的是观测到的卫星号码序列。

3)卫星号码计为snn：s：卫星系统：C-GPS; R-GLONASS系统（前苏联研制的类似于GPS的卫星定位系统）；卜一多普勒卫星定位系统。

nn,：如果是CPS 系统，PRN编号；如果是CLONASS东统，通道号；如果是其它卫星系统，两位数的编号。

4)历元行中的钟差（选项），是接收机钟差，处在68—80位，如果此项存在，则应对历元对刻、测得的伪距相位作如下修正：历元时刻=给出历元时刻一钟差伪距=测得伪距一钟差x光速相位=测得相位一钟差x频率所元行后的几行（行数等于卫星总数），是对应的每个卫星观测值，每行中的数据个数等于表头中的观测值种类数，数据类型接表头中的观测值类型排列，每个观测值后面紧跟着一个一位数的失周指示和一个一位鼓的信号强度指示。

相位观测值的单位是周，伪距的单位是m．当某个数据没有测到时，计为o.o或空格。

当失周指示（取值范围是O。

7）为O或空格时，表示接收机束发现失周。

当信号强度指示为：0或空格——正常；1-信号最弱情况；5-最理想的信噪比；9-信号最强情况。

(3)气象文件在高精度观测时，有时需要记录气象数据，RUVEX2格式的气象数据文件如表2.1.4所示：褒2.1.4RINEX2格式的气象数据文件 2 ME7EOROLOOCAL DATA rBRNX取x日Ⅺ辨- 07 - 2022：20:20 l 3 PR 芎DHR RINEX VERSION／TYPE PGM／RUFI BY／DATE IvlARXER NAME #／TYPES OF OBSERV END OF HEADER 表头及
结束符与星历和观测数据文件类似，记录的是各气象观测时刻（年月月时分秒），台站周围的气压(mhar>、干温(℃)、相对湿度(%)。

§2.1.3由广播皇历计算卫星位置如果要汁算时刻t某卫星的空间坐标，根据前面的广播星历格式，读出该卫星广播星历的有关参数，按如下步骤计算：I．求长半轴d A=（怕）2 2。

计算平角速度no %2 、式中的CM为地球引力常数。

3．计算从需要时刻到参考时刻的时间差‰ 4．改正平角速度n 5．计算平近点角帆按下式迭代计算偏近点角7．由下两式计算真近点角叱^=总o+△n 帆=帆+吨峨=q - esinEh 8．计算纬度参数屯^=v^+甜9.周期改正项&=屯sin(24,t;)+Cuccos(2+ta)
8r&=Crsin(2^)+C~cos(2+k) 魄= C"sin(2丸)+Ciccosc2^) lo.计算改正后的纬度参数‰ II=屯+81Lk 11,计算改正后的向经心r -A（1- ecosEir;）+ &k 12.计算改正后的倾角‘ /=‘十8k^ 13.计算卫星在轨道平面内的坐标（xk，五）茹：=“嘲(‰) ，，k=rrl:sin( itLk) 14.改正升交点的经度n‘=no+(n—n。

)缸-曲。

k 式中的疗。

是地球自转的角速度。

15．最后计算卫星在地固系1VCS84中的坐标（Xk，K，Z）xt;= xjt,cos(nI)- iCOS(‘)siri( t2k) K= x,r,sin(nI)+五∞s(k)cos(鼎I) z&=
y,esin（吐）
MATLAB读取RINEX格式GPS导航电文
文件用UltraEdith32打开如下：
2.11 NAVIGATION DATA G (GPS) RINEX VERSION / TYPE
DAT2RINW 3.10 001 1 16APR08 9:51:13 PGM / RUN BY / DATE
COMMENT
.0000D+00 .0000D+00 .0000D+00 .0000D+00 ION ALPHA
.0000D+00 .0000D+00 .0000D+00 .0000D+00 ION BETA
.000000000000D+00 .000000000000D+00 0 1536 DELTA-UTC: A0,A1,T,W
0 LEAP SECONDS
END OF HEADER
3 08 1 8 2 0 0.0 .169645063579D-03 .545696821064D-11 .000000000000D+00
.360000000000D+02 .168125000000D+02 .566059288332D-08 .187730600259D+01 .827014446259D-06 .103016884532D-01 .574626028538D-05 .515365054893D+04 .180000000000D+06 -.223517417908D-06 .119458216673D+01 -.614672899246D-07 .925474060201D+00 .250531250000D+03 .804069353196D+00 -.846213854544D-08 .442875597306D-09 .100000000000D+01 .146100000000D+04 .000000000000D+00 .240000000000D+01 .000000000000D+00 -.419095158577D-08 .360000000000D+02 .175626000000D+06 .400000000000D+01
8 08 1 8 2 0 0.0 -.136284623295D-03 -.136424205266D-11 .000000000000D+00
.630000000000D+02 -.134843750000D+03 .393373511542D-08 -.219239155871D+00
-.722706317902D-05 .101347706513D-01 .461563467979D-05 .515365814018D+04
.180000000000D+06 .195577740669D-06 -.746096452266D+00 -.108033418655D-06
.981573463389D+00 .300781250000D+03 .285613712656D+01 -.800961963421D-08
-.336085437258D-09 .100000000000D+01 .146100000000D+04 .000000000000D+00
.340000000000D+01 .000000000000D+00 -.419095158577D-08 .630000000000D+02
.175638000000D+06 .400000000000D+01
一个同学让我帮忙用MATLAB读取GPS导航电文数据，我现在对GPS还不了解，也没仔细看数据文件的格式说明，（我本来把D当E，不知道怎么回事儿MATLAB自己就这么处理了），试着读了下。

下面是MATL AB的脚本文件
%%%%%%%%%%%%%
%打开文件
fid=fopen('90540080.nav');
%跳过文件头方法比较笨
while 1
tline=fgets(fid);
if findstr(tline, 'END OF HEADE')>1
break;
end
end
%读取导航电文数据
i=1;
while ~feof(fid)
tmpstr= fscanf(fid,'%s',7);%之所以这样是因为文件最后有空白行，只用feof不能很好的结束文件if tmpstr %或者数据最后的空白行本来没有吧
h(i).p = tmpstr; %最近喜欢MATLAB中的structure，就用了
for j=1:29
q(j)=str2num(fscanf(fid,'%s',1));
end
h(i).d=q;
i=i+1;
else
break;
end
end
fclose(fid);
format long; %%%%%%%%%%%%%。