rinexread

Read data from RINEX file

Since R2022a

Syntax

data = rinexread(filename)

[___,header] = rinexread(filename)

Description

data = rinexread(filename) reads data from the RINEX version 3 file filename and returns a structure, data. The content of data depends on the RINEX file type and the satellite system in the file.

example

[___,header] = rinexread(filename) gets the header information from the specified RINEX version 3 file filename, and returns it as a structure, header. The contents of header depend on the RINEX file type and the satellite system in the file.

example

Examples

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Read Navigation and Observation Data from RINEX File

Open Live Script

Read navigation data from a RINEX file that contains GPS navigation message data.

filename = "GODS00USA_R_20211750000_01D_GN.rnx"; 
data = rinexread(filename)

data = struct with fields:
    GPS: [178×32 timetable]

View the GPS data read from the RINEX file.

data.GPS(1:4,:)

ans=4×32 timetable
            Time            SatelliteID    SVClockBias    SVClockDrift    SVClockDriftRate    IODE      Crs       Delta_n        M0          Cuc        Eccentricity        Cus        sqrtA        Toe            Cic        OMEGA0         Cis          i0        Crc       omega       OMEGA_DOT        IDOT       L2ChannelCodes    GPSWeek    L2PDataFlag    SVAccuracy    SVHealth        TGD        IODC    TransmissionTime    FitInterval    BRDCOrbit7Spare3    BRDCOrbit7Spare4
    ____________________    ___________    ___________    ____________    ________________    ____    _______    __________    ______    ___________    ____________    ___________    ______    __________    ___________    _______    ___________    _______    ______    ________    ___________    __________    ______________    _______    ___________    __________    ________    ___________    ____    ________________    ___________    ________________    ________________

    24-Jun-2021 01:59:44        27         -0.00015208    -6.1391e-12            0             15      72.312    4.3363e-09    2.0809     3.5968e-06      0.009451      -1.4156e-07    5153.7    3.5278e+05    -1.6764e-07     1.2866    -1.8626e-08    0.97551    389.44     0.63488    -8.3371e-09    1.8715e-10          1            2163           0             2            0         1.8626e-09     15        3.5214e+05            4               NaN                 NaN       
    24-Jun-2021 01:59:44        32          1.7294e-05    -1.5916e-12            0              4      13.344     5.122e-09    2.8368     6.4075e-07     0.0050207        5.506e-06    5153.7    3.5278e+05    -4.4703e-08    -1.8617     -9.872e-08    0.95692    270.06     -2.3609    -8.0468e-09    2.6001e-10          1            2163           0             2            0         4.6566e-10      4        3.4779e+05            4               NaN                 NaN       
    24-Jun-2021 02:00:00         5         -4.5857e-05    -1.1369e-12            0             85     -72.969    4.4023e-09    2.5741    -3.7141e-06     0.0061384       1.2752e-05    5153.9     3.528e+05    -4.2841e-08    -2.9385    -6.5193e-08    0.95703    132.41     0.91319    -7.6064e-09    6.7574e-10          1            2163           0             2            0        -1.1176e-08     85        3.4566e+05            4               NaN                 NaN       
    24-Jun-2021 02:00:00         8         -2.6249e-05    -1.4779e-12            0            118      68.562     4.488e-09    2.1771     3.4925e-06      0.006354      -3.8743e-07    5153.6     3.528e+05    -2.9802e-08     1.2691     1.1362e-07    0.96693    390.12    0.060807    -8.4093e-09    1.4572e-10          1            2163           0             2            0         5.1223e-09    118        3.4944e+05            4               NaN                 NaN

Read mixed observation data from a RINEX file that contains GPS, GLONASS, Galileo, and BeiDou observation message data.

filename = "GODS00USA_R_20211750000_01H_30S_MO.rnx";
data = rinexread(filename)

data = struct with fields:
     BeiDou: [1303×45 timetable]
    Galileo: [859×38 timetable]
    GLONASS: [1102×38 timetable]
        GPS: [1245×45 timetable]

View the GPS data read from the RINEX file.

data.GPS(1:4,:)

ans=4×45 timetable
       Time        SatelliteID    EpochFlag    ReceiverClockOffset       C1C        C1C_SSI       L1C        L1C_LLI    L1C_SSI     S1C     S1C_SSI       C1W        C1W_SSI       L1W        L1W_LLI    L1W_SSI     S1W     S1W_SSI       C2X        C2X_SSI       L2X        L2X_LLI    L2X_SSI    S2X     S2X_SSI       C2W        C2W_SSI       L2W        L2W_LLI    L2W_SSI     S2W     S2W_SSI       C5X        C5X_SSI       L5X        L5X_LLI    L5X_SSI    S5X    S5X_SSI    C1X    C1X_SSI    L1X    L1X_LLI    L1X_SSI    S1X    S1X_SSI
    ___________    ___________    _________    ___________________    __________    _______    __________    _______    _______    _____    _______    __________    _______    __________    _______    _______    _____    _______    __________    _______    __________    _______    _______    ____    _______    __________    _______    __________    _______    _______    _____    _______    __________    _______    __________    _______    _______    ___    _______    ___    _______    ___    _______    _______    ___    _______

    24-Jun-2021         5             0            -0.00047787         2.266e+07      NaN      1.1908e+08      NaN         7          45      NaN       2.266e+07      NaN      1.1908e+08      NaN         7          43      NaN       2.266e+07      NaN      9.2788e+07      NaN          7      42.5      NaN       2.266e+07      NaN      9.2788e+07      NaN         7          43      NaN             NaN      NaN             NaN      NaN        NaN      NaN      NaN      NaN      NaN      NaN      NaN        NaN      NaN      NaN  
    24-Jun-2021        10             0            -0.00047787        2.4266e+07      NaN      1.2752e+08      NaN         6       37.25      NaN      2.4266e+07      NaN      1.2752e+08      NaN         4       25.25      NaN      2.4266e+07      NaN      9.9367e+07      NaN          7      42.5      NaN      2.4266e+07      NaN      9.9367e+07      NaN         4       25.25      NaN      2.4266e+07      NaN      9.5226e+07      NaN          7       47      NaN      NaN      NaN      NaN      NaN        NaN      NaN      NaN  
    24-Jun-2021        13             0            -0.00047787        2.1788e+07      NaN       1.145e+08      NaN         7       47.25      NaN      2.1788e+07      NaN       1.145e+08      NaN         6       36.25      NaN             NaN      NaN             NaN      NaN        NaN       NaN      NaN      2.1788e+07      NaN      8.9217e+07      NaN         6       36.25      NaN             NaN      NaN             NaN      NaN        NaN      NaN      NaN      NaN      NaN      NaN      NaN        NaN      NaN      NaN  
    24-Jun-2021        15             0            -0.00047787             2e+07      NaN       1.051e+08      NaN         8          50      NaN           2e+07      NaN       1.051e+08      NaN         7          46      NaN           2e+07      NaN      8.1898e+07      NaN          8      51.5      NaN           2e+07      NaN      8.1898e+07      NaN         7          46      NaN             NaN      NaN             NaN      NaN        NaN      NaN      NaN      NaN      NaN      NaN      NaN        NaN      NaN      NaN

Estimate Receiver Position Using GNSS Measurements from RINEX Files

Open Live Script

Read observation and navigation data from the RINEX files.

[obsdata,obshdr] = rinexread("GODS00USA_R_20211750000_01H_30S_MO.rnx");
[navmsg,navhdr] = rinexread("GODS00USA_R_20211750000_01D_GN.rnx");

Get GNSS measurements from the observation and navigation data.

meas = gnssmeasurements(obsdata.GPS,navmsg.GPS);

Estimate the receiver position from the GNSS measurements and display the receiver position for the first time stamp of the RINEX file.

lla = receiverposition(meas);
lla(1,:)

ans = 1×3

   39.0205  -76.8273   36.6238

Input Arguments

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`filename` — Name of RINEX version 3 file
string scalar | character vector

Name of the RINEX version 3 file to read data from, specified as a string scalar or character vector.

Example: "GODS00USA_R_20211750000_01D_GN.rnx"

Data Types: string | char

Output Arguments

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`data` — Satellite system data from RINEX version 3 file
structure

Satellite system data from the RINEX version 3 file, returned as a structure. The structure has a timetable containing different fields depending on the type of RINEX file and the header entries in the file.

`GPS` — GPS Navigation Message
structure

Field	Data Type	Description
`Time`	`datetime`	GPS clock time
`SatelliteID`	`double`	Satellite system (G) number (PRN)
`SVClockBias`	`double`	SV clock bias in seconds
`SVClockDrift`	`double`	SV clock drift in seconds per second
`SVClockDriftRate`	`double`	SV clock drift rate in seconds per second squared
`IODE`	`double`	Issue number of the satellite ephemeris data set, Issue of Data, Ephemeris (IODE)
`Crs`	`double`	Amplitude of the sine harmonic correction term to the orbit radius, in meters
`Delta_n`	`double`	Mean motion difference from the computed value at reference time, in radians per second.
`M0`	`double`	Mean anomaly at the reference time, in radians
`Cuc`	`double`	Amplitude of the cosine harmonic correction term to the argument of latitude, in radians
`Eccentricity`	`double`	Eccentricity
`Cus`	`double`	Amplitude of the sine harmonic correction term to the argument of latitude, in radians
`sqrtA`	`double`	Square root of the semimajor axis (`sqrt(m)`)
`Toe`	`double`	Time of ephemeris (seconds of respective satellite week)
`Cic`	`double`	Amplitude of the cosine harmonic correction term to the angle of inclination, in radians
`OMEGA0`	`double`	Longitude of ascending node of orbit plane at weekly epoch, in radians.
`Cis`	`double`	Amplitude of the sine harmonic correction term to the angle of inclination, in radians.
`i0`	`double`	Inclination angle at reference time, in radians
`Crc`	`double`	Amplitude of the cosine harmonic correction term to the orbit radius, in meters
`omega`	`double`	Argument of perigee, in radians
`OMEGA_DOT`	`double`	Reference rate of right ascension, in radians per second
`IDOT`	`double`	Rate of inclination angle, in radians per second
`L2ChannelCodes`	`double`	Codes on L2 channel
`GPSWeek`	`double`	GPS week number, with time of ephemeris. This is a continuous number, not `mod(1024)`
`L2PDataFlag`	`double`	L2P data flag
`SVAccuracy`	`double`	SV accuracy in meters
`SVHealth`	`double`	SV health indicated by bits 17-22 (See GPS ICD Section 20.3.3.3.1.4)
`TGD`	`double`	Timing group delay in seconds
`IODC`	`double`	Issue number of the satellite clock data set, Issue of Data, Clock (IODC). (See GPS ICD Section 20.3.3.3.1.5)
`TransmissionTime`	`double`	Transmission time of the message
`FitInterval`	`double`	Fit interval in hours. Bit 17 w 10 sf 2 + IODC and Table 20-XII of the GPS ICD.
`BRDCOrbit7Spare3`	`double`	Spare entry. May be used in a future version.
`BRDCOrbit7Spare4`	`double`	Spare entry. May be used in a future version.

Data Types: struct

`Galileo` — Galileo Navigation Message
structure

Field	Data Type	Description
`Time`	`datetime`	Galileo (GAL) clock time
`SatelliteID`	`double`	Satellite system (E) number
`SVClockBias`	`double`	SV clock bias in seconds
`SVClockDrift`	`double`	SV clock drift in seconds per second
`SVClockDriftRate`	`double`	SV clock drift rate in seconds per second squared
`IODnav`	`double`	Issue of data of the navigation batch
`Crs`	`double`	Amplitude of the sine harmonic correction term to the orbit radius, in meters
`Delta_n`	`double`	Mean motion difference from the computed value at reference time, in radians per second.
`M0`	`double`	Mean anomaly at the reference time, in radians
`Cuc`	`double`	Amplitude of the cosine harmonic correction term to the argument of latitude, in radians
`Eccentricity`	`double`	Eccentricity
`Cus`	`double`	Amplitude of the sine harmonic correction term to the argument of latitude, in radians
`sqrtA`	`double`	Square root of the semimajor axis (`sqrt(m)`)
`Toe`	`double`	Time of ephemeris (seconds of respective satellite week)
`Cic`	`double`	Amplitude of the cosine harmonic correction term to the angle of inclination, in radians
`OMEGA0`	`double`	Longitude of ascending node of orbit plane at weekly epoch, in radians.
`Cis`	`double`	Amplitude of the sine harmonic correction term to the angle of inclination, in radians.
`i0`	`double`	Inclination angle at reference time, in radians
`Crc`	`double`	Amplitude of the cosine harmonic correction term to the orbit radius, in meters
`omega`	`double`	Argument of perigee, in radians
`OMEGA_DOT`	`double`	Reference rate of right ascension, in radians per second
`IDOT`	`double`	Rate of inclination angle, in radians per second
`DataSources`	`double`	Data sources 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)
`GALWeek`	`double`	GAL week number, with Toe. Continuous number, not mod(1024).
`BRDCOrbit5Spare4`	`double`	Spare entry. May be used in a future version.
`SISAccuracy`	`double`	Signal in space accuracy in meters (-1.0 – no accuracy prediction available (NAPA) or unknown)
`SVHealth`	`double`	SV health (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
`BGDE5aE1`	`double`	BGD E5a/E1 in seconds
`BGDE5bE1`	`double`	BGD E5b/E1 in seconds
`TransmissionTime`	`double`	Transmission time of the message
`BRDCOrbit7Spare2`	`double`	Spare entry. May be used in a future version.
`BRDCOrbit7Spare3`	`double`	Spare entry. May be used in a future version.
`BRDCOrbit7Spare4`	`double`	Spare entry. May be used in a future version.

Data Types: struct

`GLONASS` — GLONASS Navigation Message
structure

Field	Data Type	Description
`Time`	`datetime`	UTC clock time
`SatelliteID`	`double`	Satellite system (R) number
`SVClockBias`	`double`	SV clock bias in seconds
`SVFrequencyBias`	`double`	SV relative frequency bias in hertz
`MessageFrameTime`	`double`	Message frame time in seconds of the UTC week
`PositionX`	`double`	Satellite position X in kilometers
`VelocityX`	`double`	Satellite velocity X dot in kilometers per second
`AccelerationX`	`double`	Satellite acceleration X in kilometers per second squared
`Health`	`double`	Satellite health (0 = healthy, 1 = unhealthy)
`PositionY`	`double`	Satellite position Y in kilometers
`VelocityY`	`double`	Satellite velocity Y dot in kilometers per second
`AccelerationY`	`double`	Satellite acceleration Y in kilometers per second squared
`FrequencyNumber`	`double`	Frequency number (ICD 5.1)
`PositionZ`	`double`	Satellite position Z in kilometers
`VelocityZ`	`double`	Satellite velocity Z dot in kilometers per second
`AccelerationZ`	`double`	Satellite acceleration Z in kilometers per second squared
`AgeOperationInfo`	`double`	Age of operation information in days
`StatusFlags`	`double`	Status flags, 9-bit binary number: M ; bit 7-8, GLO type indicator (00=GLO, 01=GLO-M/K) P4 ; bit 6, GLO-M/K only, 1=data updated, 0=data not updated P3 ; bit 5, num of satellites in current frame almanac (0 = 4 sats, 1 = 5 sats) P2 ; bit 4, indicate even (0) or odd (1) of time interval P1 ; bit 2-3, update and validity interval (00 = 0 min, 01 = 30 min, 10=45 min, 11=60 min) P ; bit 0-1, GLO-M/K only, time offset parameters tc, tGPS source (00 =ground, 01 = tc ground, tGPS onboard, 10 = tc on-board, tGPS ground, 11 = on-board)
`GroupDelay`	`double`	L1/L2 group delay difference in seconds
`URAI`	`double`	Raw accuracy index
`HealthFlags`	`double`	Health flags, 3-bit binary number l(3) ; bit 2, GLO-M/K only, health bit of string 3 AC ; bit 1, 1 = almanac health reported in ephemerides record, 0 = not reported C ; bit 0, almanac health bit (1 = healthy, 0 = not healthy)

Data Types: struct

`BeiDou` — BeiDou Navigation Message
structure

Field	Data Type	Description
`Time`	`datetime`	BeiDou (BDT) time. This is a combination of entries from the record (Time of clock year, month, day, hour, minute, second).
`SatelliteID`	`double`	Satellite system (C) number
`SVClockBias`	`double`	SV clock bias in seconds
`SVClockDrift`	`double`	SV clock drift in seconds per second
`SVClockDriftRate`	`double`	SV clock drift rate in seconds per second squared
`AODE`	`double`	Age of satellite ephemeris data, Age of Data, Ephemeris (AODE). See BeiDou ICD Table Section 5.2.4.11 Table 5-8) and field range is: 0-31.
`Crs`	`double`	Amplitude of the sine harmonic correction term to the orbit radius, in meters
`Delta_n`	`double`	Mean motion difference from the computed value at reference time, in radians per second.
`M0`	`double`	Mean anomaly at the reference time, in radians
`Cuc`	`double`	Amplitude of the cosine harmonic correction term to the argument of latitude, in radians
`Eccentricity`	`double`	Eccentricity
`Cus`	`double`	Amplitude of the sine harmonic correction term to the argument of latitude, in radians
`sqrtA`	`double`	Square root of the semimajor axis (`sqrt(m)`)
`Toe`	`double`	Time of ephemeris (seconds of respective satellite week)
`Cic`	`double`	Amplitude of the cosine harmonic correction term to the angle of inclination, in radians
`OMEGA0`	`double`	Longitude of ascending node of orbit plane at weekly epoch, in radians.
`Cis`	`double`	Amplitude of the sine harmonic correction term to the angle of inclination, in radians.
`i0`	`double`	Inclination angle at reference time, in radians
`Crc`	`double`	Amplitude of the cosine harmonic correction term to the orbit radius, in meters
`omega`	`double`	Argument of perigee, in radians
`OMEGA_DOT`	`double`	Reference rate of right ascension, in radians per second
`IDOT`	`double`	Rate of inclination angle, in radians per second
`BRDCOrbit5Spare2`	`double`	Spare entry. May be used in a future version.
`BDTWeek`	`double`	BDT week number
`BRDCOrbit5Spare4`	`double`	Spare entry. May be used in a future version.
`SVAccuracy`	`double`	SV accuracy in meters (See BDS ICD Section 5.2.4)
`SatH1`	`double`	SatH1
`TGD1`	`double`	TGD1 B1/B3 in seconds
`TGD2`	`double`	TGD2 B2/B3 in seconds
`TransmissionTime`	`double`	Transmission time of the message
`AODC`	`double`	Age of satellite clock data, Age of Data, Clock (AODC). See BeiDou ICD Table Section 5.2.4.9 Table 5-6) and field range is: 0-31.
`BRDCOrbit7Spare3`	`double`	Spare entry. May be used in a future version.
`BRDCOrbit7Spare4`	`double`	Spare entry. May be used in a future version.

Data Types: struct

`NavIC/IRNSS` — NavIC/IRNSS Navigation Message
structure

Field	Data Type	Description
`Time`	`datetime`	NavIC/IRNSS clock time (same as GPS time)
`SatelliteID`	`double`	Satellite system (I) number (PRN)
`SVClockBias`	`double`	SV clock bias in seconds
`SVClockDrift`	`double`	SV clock drift in seconds per second
`SVClockDriftRate`	`double`	SV clock drift rate in seconds per second squared
`IODEC`	`double`	Issue number of the satellite ephemeris and clock data sets, Issue of Data, Ephemeris and Clock (IODEC)
`Crs`	`double`	Amplitude of the sine harmonic correction term to the orbit radius, in meters
`Delta_n`	`double`	Mean motion difference from the computed value at reference time, in radians per second.
`M0`	`double`	Mean anomaly at the reference time, in radians
`Cuc`	`double`	Amplitude of the cosine harmonic correction term to the argument of latitude, in radians
`Eccentricity`	`double`	Eccentricity
`Cus`	`double`	Amplitude of the sine harmonic correction term to the argument of latitude, in radians
`sqrtA`	`double`	Square root of the semimajor axis (`sqrt(m)`)
`Toe`	`double`	Time of ephemeris (seconds of respective satellite week)
`Cic`	`double`	Amplitude of the cosine harmonic correction term to the angle of inclination, in radians
`OMEGA0`	`double`	Longitude of ascending node of orbit plane at weekly epoch, in radians.
`Cis`	`double`	Amplitude of the sine harmonic correction term to the angle of inclination, in radians.
`i0`	`double`	Inclination angle at reference time, in radians
`Crc`	`double`	Amplitude of the cosine harmonic correction term to the orbit radius, in meters
`omega`	`double`	Argument of perigee, in radians
`OMEGA_DOT`	`double`	Reference rate of right ascension, in radians per second
`IDOT`	`double`	Rate of inclination angle, in radians per second
`BRDCOrbit5Spare2`	`double`	Spare entry. May be used in a future version.
`IRNWeek`	`double`	IRN week number, with Toe. Continuous number, not mod(1024), counted from 1980 (same as GPS)
`BRDCOrbit5Spare4`	`double`	Spare entry. May be used in a future version.
`UserRangeAccuracy`	`double`	User range accuracy in meters. See NavIC/IRNSS ICD Section 6.2.1.4
`HealthFlags`	`double`	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
`TGD`	`double`	Timing group delay in seconds
`BRDCOrbit6Spare4`	`double`	Spare entry. May be used in a future version.
`TransmissionTime`	`double`	Transmission time of the message
`BRDCOrbit7Spare2`	`double`	Spare entry. May be used in a future version.
`BRDCOrbit7Spare3`	`double`	Spare entry. May be used in a future version.
`BRDCOrbit7Spare4`	`double`	Spare entry. May be used in a future version.

Data Types: struct

`QZSS` — QZSS Navigation Message
structure

Field	Data Type	Description
`Time`	`datetime`	QZSS clock time
`SatelliteID`	`double`	Satellite system (J) Satellite PRN-192
`SVClockBias`	`double`	SV clock bias in seconds
`SVClockDrift`	`double`	SV clock drift in seconds per second
`SVClockDriftRate`	`double`	SV clock drift rate in seconds per second squared
`IODE`	`double`	Issue number of the satellite ephemeris data set, Issue of Data, Ephemeris (IODE)
`Crs`	`double`	Amplitude of the sine harmonic correction term to the orbit radius, in meters
`Delta_n`	`double`	Mean motion difference from the computed value at reference time, in radians per second.
`M0`	`double`	Mean anomaly at the reference time, in radians
`Cuc`	`double`	Amplitude of the cosine harmonic correction term to the argument of latitude, in radians
`Eccentricity`	`double`	Eccentricity
`Cus`	`double`	Amplitude of the sine harmonic correction term to the argument of latitude, in radians
`sqrtA`	`double`	Square root of the semimajor axis (`sqrt(m)`)
`Toe`	`double`	Time of ephemeris (seconds of respective satellite week)
`Cic`	`double`	Amplitude of the cosine harmonic correction term to the angle of inclination, in radians
`OMEGA0`	`double`	Longitude of ascending node of orbit plane at weekly epoch, in radians.
`Cis`	`double`	Amplitude of the sine harmonic correction term to the angle of inclination, in radians.
`i0`	`double`	Inclination angle at reference time, in radians
`Crc`	`double`	Amplitude of the cosine harmonic correction term to the orbit radius, in meters
`omega`	`double`	Argument of perigee, in radians
`OMEGA_DOT`	`double`	Reference rate of right ascension, in radians per second
`IDOT`	`double`	Rate of inclination angle, in radians per second
`L2ChannelCodes`	`double`	Codes on L2 channel (fixed to 2, see IS-QZSS-PNT 4.1.2.7)
`GPSWeek`	`double`	GPS week number, with Toe. Continuous number, not mod(1024).
`L2PDataFlag`	`double`	L2 P data flag set to 1 since QZSS does not track L2P
`SVAccuracy`	`double`	SV accuracy (m) (See IS-QZSS-PNT Section 5.4.3.1)
`SVHealth`	`double`	SV health (bits 17-22 w 3 sf 1) (See IS-QZSS-PNT 5.4.1)
`TGD`	`double`	Timing group delay (s) (The QZSS ICD specifies a do not use bit pattern “10000000”, this condition is represented by a blank field.)
`IODC`	`double`	Issue number of the satellite clock data set, Issue of Data, Clock (IODC)
`TransmissionTime`	`double`	Transmission time of the message
`FitIntervalFlag`	`double`	Fit interval flag (0/1) (See IS-QZSS-PNT, 4.1.2.4(3) 0 – two hours), 1 – more than 2 hours.
`BRDCOrbit7Spare3`	`double`	Spare entry. May be used in a future version.
`BRDCOrbit7Spare4`	`double`	Spare entry. May be used in a future version.

Data Types: struct

`SBAS` — SBAS Navigation Message
structure

Field	Data Type	Description
`Time`	`datetime`	SBAS clock time
`SatelliteID`	`double`	Satellite system (S) number
`SVClockBias`	`double`	SV clock bias in seconds
`SVFrequencyBias`	`double`	SV relative frequency bias in hertz
`TransmissionTime`	`double`	Transmission time of the message
`PositionX`	`double`	Satellite position X in kilometers
`VelocityX`	`double`	Satellite velocity X dot in kilometers per second
`AccelerationX`	`double`	Satellite acceleration X in kilometers per second squared
`Health`	`double`	Health: SBAS: See RINEX 3.05 Standard section 5.4.4 for: health, health availability and User Range Accuracy.
`PositionY`	`double`	Satellite position Y in kilometers
`VelocityY`	`double`	Satellite velocity Y dot in kilometers per second
`AccelerationY`	`double`	Satellite acceleration Y in kilometers per second squared
`AccuracyCode`	`double`	Accuracy code (URA, m)
`PositionZ`	`double`	Satellite position Z in kilometers
`VelocityZ`	`double`	Satellite velocity Z dot in kilometers per second
`AccelerationZ`	`double`	Satellite acceleration Z in kilometers per second squared
`IODN`	`double`	Issue number of the satellite navigation data set, Issue of Data, Navigation (IODN). See reference RTCA DO-229, 8 first bits after Message Type if MT9

Data Types: struct

`Mixed` — Mixed Observation Data
structure

Mixed observation data may have multiple timetables in the output structure. Unlike the navigation messages, the most of the fields of the mixed observation files change depending on the observation types in the observation data. However, all observation data contains the same first fields.

Main Observation Data Fields

Field	Data Type	Description
`Time`	`datetime`	Satellite clock time.
`SatelliteID`	`double`	Satellite system number.
`EpochFlag`	nonnegative integer	Epoch flag indicating the status of the satellite system. `0` — OK. `1` — Power failure between previous epoch and current epoch. `>1` — Special event. See RINEX Version 3.05 File Section 5.3.2 for more information.
`ReceiverClockOffset`	`double`	Receiver clock offset in seconds

The rest of the headers are observation codes comprised of three digits that represent type, band, and attribute. See Observation Type Descriptors for more information about the possible types, bands, and attributes.

Each descriptor code has corresponding field for signal strength indicator (SSI) and, if the observation type is phase (L), a field for loss-of-lock indicator (LLI). For example, type L, band 1, and attribute X has the field L1X and has two additional fields, L1X_SSI and L1X_LLI.

The SSI fields are ratios specified as an integer in the range [1, 9]. A ratio of 1 is considered unreliable, above 5 is considered good, and 9 is the maximum possible signal strength.

The LLI fields are three-bit codes that are specified as an integer in the range [0, 7]. A value of 0 indicates no loss of lock or unknown. The least significant bit indicates a lost lock between the previous and current observations, the second bit indicates half-cycle ambiguity or slip is possible, and the most significant bit indicates binary offset carrier (BOC) tracking of a multiplexed BOC (MBOC) modulated signal.

Data Types: struct

`header` — RINEX file contents
structure

RINEX file contents, returned as a structure. The structure has different fields depending on the type of RINEX file and the header entries in the file.

`Navigation Message Files` — Navigation Message Files
structure

If the specified RINEX file is a navigation message file, the fileinfo output is a structure with these fields:

Field	Type	Description
`FileVersion`	`double`	Format Version
`FileSatelliteSystem`	`char`	`'G'` — GPS `'R'` — GLONASS `'S'` — SBAS `'E'` — Galileo `'C'` — BeiDou `'J'` — QZSS `'I'` — IRNSS `'M'` — Mixed
`FileType`	`char`	File type, specified as either `'N'` for navigation message files and `'O'` for observation data files.
`PGM`	`string`	Name of the program that created the file
`RunBy`	`string`	Name of the agency that created the file
`CreationDate`	`string`	Date and time of file creation
`Comments` (Optional)	`string`	Comment lines from file header
`IonosphericCorrections` (Optional)	structure array	An array of structures with a number of elements equal to the number of `IONOSPHERIC CORR` header lines in the file. Each structure has the `CorrectionType`, `Parameters`, `TimeMark`, and `SVID` fields. `TimeMark` and `SVID` are optional for all satellite systems except BeiDou. Correction type: GAL — Galileo ai0 to ai2 GPSA — GPS alpha0 to alpha3 GPSB — GPS beta0 to beta3 QZSA — QZS alpha0 to alpha3 QZSB — QZS beta0 to beta3 BDSA — BDS alpha0 to alpha3 BDSB — BDS beta0 to beta3 IRNA — NavIC/IRNSS alpha0 to alpha3 IRNB — NavIC/IRNSS beta0 to beta3 Parameters: GAL — ai0, ai1, ai2, Blank GPS — alpha0 to alpha3 or beta0 to beta3 QZS — alpha0 to alpha3 or beta0 to beta3 BDS — alpha0 to alpha3 or beta0 to beta3 IRN — alpha0 to alpha3 or beta0 to beta3 Time mark, Transmission Time (seconds of week) converted to hours of day and then to A—X. A is 00h—01h, B is 01h—02h, …, X is 23—24h satellite system time. SV ID, identify which satellite provided the ionospheric parameters
`TimeSystemCorrections`	structure	An array of structures with a number of elements equal to the number of `TIME SYSTEM CORR` header lines in the file. Each structure has the `CorrectionType`, `Parameters`, `ReferenceTime`, `ReferenceWeekNumber`, `SVID`, and `UTCID` fields. Correction type: 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 (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 ) Parameters: a0, a1 coefficients of linear polynomial Δt = a0 + a1 · (t - tref) for fractional part (excluding leap seconds) of time system difference (a0; sec, a1; sec/sec) Reference time (T) for polynomial (Seconds into GPS/GAL/BDS/QZS/IRN/SBAS week) Reference week number (W) GPS/GAL/QZS/IRN/SBAS week aligned to GPS, continuous number from 6-Jan-1980 GLONASS T and W zero. BDS week, continuous from: 1-Jan-2006 SV ID, System identifier and PRN/slot number ‘snn’ of the GNSS satellite broadcasting the time system difference or SBAS satellite broadcasting the MT12. Use EGNOS, WAAS, or MSAS for SBAS time differences from MT17. UTC Identifier 0 if unknown 1 = UTC(NIST) 2 = UTC(USNO) 3 = UTC(SU) 4 = UTC(BIPM) 5 = UTC(Europe Lab) 6 = UTC(CRL) 7 = UTC(NTSC) (BDS) >7 = not assigned yet.
`LeapSecondParameters` (Optional)	structure	Leap second parameters in a structure with fields `LeapSeconds`, `DeltaTimeLeapSeconds`, `WeekNumber`, `DayNumber`, and `TimeSystemID` . `LeapSeconds` — Current number of leap seconds. `DeltaTimeLeapSeconds` — Future or past leap seconds. For example, it is future leap seconds if the week and day numbers are in the future. `WeekNumber` — For GPS, GAL, QZS, and IRN, number of weeks since January 6, 1980. For BDS, it is number of weeks since January 1, 2006. `DayNumber` — The day number is the GPS or BeiDou day before the leap second. For GPS, this number is in the range [1, 7]. For Beidou, this number is in the range [0, 6]. `TimeSystemID` — Only `"GPS"` and `"BDT"` are valid values. If blank the field defaults to `"GPS"`.

Note that optional fields are not present in the structure unless specified in the RINEX file.

Data Types: struct

`Observation Data Files` — Observation Data Files
structure

If the specified RINEX file is an observation data file, the output is a structure with these fields:

Field	Type	Entry
`FileVersion`	`double`	Format Version
`FileSatelliteSystem`	`char`	`'G'` — GPS `'R'` — GLONASS `'S'` — SBAS `'E'` — Galileo `'C'` — BeiDou `'J'` — QZSS `'I'` — IRNSS `'M'` — Mixed
`FileType`	`char`	File type, specified as either `'N'` for navigation message files and `'O'` for observation data files.
`PGM`	`string`	Name of the program that created the file
`RunBy`	`string`	Name of the agency that created the file
`CreationDate`	`string`	Date and time of file creation
`Comments` (Optional)	`string`	Comment lines from file header
`MarkerName`	`string`	Name of antenna marker
`MarkerNumber` (Optional)	`string`	Number of antenna marker
`MarkerType` (Optional for `GEODETIC` and `NON_GEODETIC` marker types)	`string`	Type of marker
`Observer`	`string`	Name of observer
`Agency`	`string`	Name of agency
`ReceiverNumber`	`string`	Receiver number
`ReceiverType`	`string`	Receiver type
`ReceiverVersion`	`string`	Receiver version
`AntennaNumber`	`string`	Antenna number
`AntennaType`	`string`	Antenna type
`ApproxPosition`	`double`	Approximate marker position in meters.
`AntennaDeltaHEN`	`double`	Height of the antenna reference point (ARP) above marker, and horizontal eccentricity of ARP relative to marker (East/North) in meters.
`AntennaDeltaXYZ`	`double`	Position of antenna reference point for antenna on vehicle in meters.
`AntennaPhaseCenter (Optional)`	structure array	A structure array with number of elements equal to the number of `ANTENNA: PHASECENTER` header lines in the file. Each structure has `SatelliteSystem`, `ObservationCode`, and `PhaseCenter`fields. Where: `SatelliteSystem` — The specified satellite system. `ObservationCode` — The observation code. See the Observation Type Descriptors section for more information. `PhaseCenter` — The average phase center position with respect to the antenna reference point, in meters, North/East/Up for fixed station, XYZbody-fixed system for a vehicle.
`AntennaBSightXYZ`	`double`	Direction of the vertical antenna axis toward the GNSS satellites. If the antenna is on a vehicle, the direction is a unit vector in a body-fixed coordinate system. If the antenna is a tilted antenna on fixed station, the direction is a unit vector in East-North-Up (ENU) left-handed system.
`AntennaZeroDirXYZ` (Optional)	`double`	Zero direction of the antenna. If the antenna is on a vehicle, the zero direction is unit vector is in a body-fixed coordinate system. If the tilted antenna is on a fixed station, the zero direction is a unit vector in East-North-Up (ENU) left-handed system.
`CenterOfMassXYZ`	`double`	Current center of mass of the vehicle in a body-fixed coordinate system, in meters.
`ObservationTypes`	structure array	A structure array with number of elements equal to the number of satellite systems in the file. Each structure has `SatelliteSystem` and `Descriptors` fields. Where: `SatelliteSystem` — String specifying the satellite system. `Descriptors` — String array of 3-element observation descriptors. The first element is the Type, the second is the Band, and the third is the Attribute. See the Observation Type Descriptors section for more information.
`SignalStrengthUnit` (Optional)	`string`	Unit of the carrier to noise ratio observables SNN (if present) DBHZ: S/N given in dbHz.
`Interval` (Optional)	`double`	Observation interval in seconds.
`FirstObsTime` (Optional, unless RINEX file is a mixed GNSS file)	`datetime`	Time of first observation record. Time systems are: GPS — GPS time system GLO — UTC time system GAL — Galileo time system QZS — QZSS time system BDT — BDS time system IRN — NavIC/IRNSS time system
`HasReceiverClockOffset` (Optional, unless, the epoch lines of the data section reports clock offsets)	`logical`	Epoch, code, and phase are corrected by applying the real-time-derived receiver clock offset.
`DCBS` (Optional)	structure array	An array with number of elements equal to number of satellite systems in the file. Each structure has `SatelliteSystem`, `Program`, and `Source` fields. Where: `SatelliteSystem` — String specifying satellite system `Program` — String specifying the program used to apply differential code bias corrections (DCBS) `Source` — String URL of source of corrections
`PCVS` (Optional)	structure array	An array with number of elements equal to number of satellite systems in the file. Each structure has `SatelliteSystem`, `Program`, and `Source` fields. Where: `SatelliteSystem` — String specifying satellite system `Program` — String specifying the program used to apply phase center variation corrections (PCVS) `Source` — String URL of source of corrections
`ScaleFactor`	structure array	An array with number of elements equal to number of `“SYS / SCALE FACTOR”` header lines in the file. Each structure has `SatelliteSystem`, `Factor`, and `ObservationTypes` fields. Where: `SatelliteSystem` — String specifying satellite system `Factor` — is a factor to divide stored observations with before use `ObservationTypes` — is a list of observation types
`PhaseShift` (Optional)	structure array	An array with number of elements equal to number of `“SYS / PHASE SHIFT”` header lines in the file. Each structure has `SatelliteSystem`, `ObservationType`, `Correction`, `SatelliteIDs` fields. Where: `SatelliteSystem` — String specifying the satellite system. `ObservationType` — String specifying carrier phase observation code. `Correction` — Value of correction applied (cycles). `SatelliteIDs` — String array of satellites where correction is applied.
`GLONASSFrequencyNumbers` (Optional unless using files with GLONASS satellites)	structure	A structure with fields `Slot` and `FrequencyNumber`. Where: `Slot` — String array of satellite numbers (system code (R), slot) `FrequencyNumber` — Vector of integer doubles.
`GLONASSCodePhaseBias`	structure	A structure with fields `ObservationTypes` and `Bias`. Where: `ObservationTypes` — String array of observation types. Valid values are “C1C”, “C1P”, “C2C”, or “C2P”. `Bias` — Vector of code phase bias corrections in meters.
`LeapSecondParameters` (Optional)	structure	Leap second parameters in a structure with fields `LeapSeconds`, `DeltaTimeLeapSeconds`, `WeekNumber`, `DayNumber`, and `TimeSystemID` . `LeapSeconds` — Current number of leap seconds. `DeltaTimeLeapSeconds` — Future or past leap seconds. For example, it is future leap seconds if the week and day numbers are in the future. `WeekNumber` — For GPS, GAL, QZS, and IRN, number of weeks since January 6, 1980. For BDS, it is number of weeks since January 1, 2006. `DayNumber` — The day number is the GPS or BeiDou day before the leap second. For GPS, this number is in the range [1, 7]. For Beidou, this number is in the range [0, 6]. `TimeSystemID` — Only `"GPS"` and `"BDT"` are valid values. If blank the field defaults to `"GPS"`.
`NumSatellites (Optional)`	`double`	Number of satellites, for which observations are stored in the file.
`TotalObservations` (Optional)	structure array	An array of structure with the number of elements equal to the number of `PRN / # OF OBS` header lines in the file. Each structure has a `SatelliteID` and `NumObservations` field.

Note that optional fields are not present in the structure unless specified in the RINEX file.

Data Types: struct

More About

collapse all

Observation Type Descriptors

Observation type descriptors is a string comprised of three parts. The first part is the observation type, the second is the frequency band, and the third is the attribute which indicates the tracking mode or channel.

The observation type can be one of five types.

Type

C — Code or pseudorange, is the distance, in meters, between the receiver antenna and the satellite antenna including delays and other biases.
L — Phase is the carrier phase range from the antenna to the satellite, measured in whole cycles.
D — Doppler shift indicating the approach of satellites, where a positive value indicates an approaching satellite.
S — Raw signal strength (carrier to noise ratio) as an integer in the range [1, 9].
X — Receiver channel numbers.

You can identify the frequency band code number given a frequency band and a satellite system.

Frequency Band vs Satellite System

Frequency Band Code Number	GPS	QZSS	SBAS	BDS	GLO	GAL	NavIC/IRNSS
1	L1	L1	L1	L1	G1	E1	—
2	L2	L2	—	B1	G2	—	—
3	—	—	—	—	G3	—	—
4	—	—	—	—	G1a	—	—
5	L5	L5	L5	B2a	—	E5a	L5
6	—	L6	—	B3 or B3A	G2a	E6	—
7	—	—	—	B2 or B2b	—	E5b	—
8	—	—	—	B2a and B2b	—	E5a and E5b	—
9	—	—	—	—	—	—	S

You can identify the attribute letter given a channel or code and a satellite system.

Attribute vs Satellite System

Attribute Letter	GPS	QZSS	SBAS	BDS	GLO	GAL	NavIC/IRNSS
A	—	—	—	—	A channel	A channel	A channel
B	—	—	—	—	A channel	A channel	A channel
C	C code-based	C code-based	C code-based	—	C code-based	C channel	C channel
D	Semi-codeless	Semi-codeless	—	Data channel	—	—	—
E	—	E channel	—	—	—	—	—
I	I channel	I channel	—	I channel	—	I channel	—
L	L channel (L2C GPS) P channel	L channel P channel	—	—	—	—	—
M	M-based code	—	—	—	—	—	—
N	Codeless	—	—	—	—	—	—
P	P code-based	—	—	Pilot channel	P code-based	—	—
Q	Q channel	Q channel	—	Q channel	—	Q channel	—
S	D channel M channel (L2C GPS)	D channel M channel	—	—	—	—	—
W	Based on Z-tracking	—	—	—	—	—	—
X	I and Q channels M and L channels D and P channels	I and Q channels M and L channels D and P channels	—	I and Q channels D and P channels	—	B and C channels I and Q channels	B and C channels
Y	Y code-based	—	—	—	—	—	—
Z	—	I and Q channels D and E channels	—	D and P channels	—	A, B, and C channels	—

These are examples of codes:

C1M — L1 pseudorange derived from the M channel for a GPS satellite.
L5X — E5a carrier phase derived from the B and C channels for a Galileo satellite.
S3I — G3 signal strength derived from the I channels for a GLONASS satellite.

References

[1] International GNSS Service (for Daily 30-Second GPS Broadcast Ephemeris Data, NASA Crustal Dynamics Data Information System (CDDIS), Greenbelt, MD, USA, Jun. 24, 2021; accessed June 25, 2021). https://dx.doi.org/10.5067/GNSS/gnss_daily_n_001.

[2] International GNSS Service (for Daily 30-Second Galileo Broadcast Ephemeris Data, NASA Crustal Dynamics Data Information System (CDDIS), Greenbelt, MD, USA, Jun. 24, 2021; accessed June 25, 2021). https://dx.doi.org/10.5067/GNSS/gnss_daily_l_001.

[3] International GNSS Service (for Daily 30-Second GLONASS Broadcast Ephemeris Data, NASA Crustal Dynamics Data Information System (CDDIS), Greenbelt, MD, USA, Jun. 24, 2021; accessed August 19, 2021). https://dx.doi.org/10.5067/GNSS/gnss_daily_g_001.

[4] International GNSS Service (for Daily 30-Second BeiDou Broadcast Ephemeris Data, NASA Crustal Dynamics Data Information System (CDDIS), Greenbelt, MD, USA, Jun. 24, 2021; accessed August 19, 2021). https://dx.doi.org/10.5067/GNSS/gnss_daily_f_001.

[5] International GNSS Service (for Daily 30-Second NavIC/IRNSS Broadcast Ephemeris Data, NASA Crustal Dynamics Data Information System (CDDIS), Greenbelt, MD, USA, Jun. 24, 2021; accessed August 19, 2021). https://dx.doi.org/10.5067/GNSS/gnss_daily_i_001.

[6] International GNSS Service (for Daily 30-Second QZSS Broadcast Ephemeris Data, NASA Crustal Dynamics Data Information System (CDDIS), Greenbelt, MD, USA, Jun. 24, 2021; accessed August 19, 2021). https://dx.doi.org/10.5067/GNSS/gnss_daily_q_001.

[7] International GNSS Service (for Daily 30-Second SBAS Broadcast Ephemeris Data, NASA Crustal Dynamics Data Information System (CDDIS), Greenbelt, MD, USA, Jun. 24, 2021; accessed August 19, 2021). https://dx.doi.org/10.5067/GNSS/gnss_daily_h_001.

[8] International GNSS Service (for Hourly 30-Second Observation Data, NASA Crustal Dynamics Data Information System (CDDIS), Greenbelt, MD, USA, Jun. 24, 2021; accessed August 19, 2021). https://dx.doi.org/10.5067/GNSS/gnss_hourly_o_001.

[9] Romero, Ignacio, ed. RINEX The Receiver Independent Exchange Format Version 3.05. Darmstadt, Germany: IGS/RTCM ESA/ESOC/Navigation Support Office. December, 2020. Accessed on: Dec. 22, 2021. https://files.igs.org/pub/data/format/rinex305.pdf .

Version History

Introduced in R2022a

rinexread

Syntax

Description

Examples

Read Navigation and Observation Data from RINEX File

Estimate Receiver Position Using GNSS Measurements from RINEX Files

Input Arguments

`filename` — Name of RINEX version 3 file
string scalar | character vector

Output Arguments

`data` — Satellite system data from RINEX version 3 file
structure

`GPS` — GPS Navigation Message
structure

`Galileo` — Galileo Navigation Message
structure

`GLONASS` — GLONASS Navigation Message
structure

`BeiDou` — BeiDou Navigation Message
structure

`NavIC/IRNSS` — NavIC/IRNSS Navigation Message
structure

`QZSS` — QZSS Navigation Message
structure

`SBAS` — SBAS Navigation Message
structure

`Mixed` — Mixed Observation Data
structure

`header` — RINEX file contents
structure

`Navigation Message Files` — Navigation Message Files
structure

`Observation Data Files` — Observation Data Files
structure

More About

Observation Type Descriptors

References

Version History

See Also

Functions

Topics

rinexread

Syntax

Description

Examples

Read Navigation and Observation Data from RINEX File

Estimate Receiver Position Using GNSS Measurements from RINEX Files

Input Arguments

filename — Name of RINEX version 3 file string scalar | character vector

Output Arguments

data — Satellite system data from RINEX version 3 file structure

GPS — GPS Navigation Message structure

Galileo — Galileo Navigation Message structure

GLONASS — GLONASS Navigation Message structure

BeiDou — BeiDou Navigation Message structure

NavIC/IRNSS — NavIC/IRNSS Navigation Message structure

QZSS — QZSS Navigation Message structure

SBAS — SBAS Navigation Message structure

Mixed — Mixed Observation Data structure

header — RINEX file contents structure

Navigation Message Files — Navigation Message Files structure

Observation Data Files — Observation Data Files structure

More About

Observation Type Descriptors

References

Version History

See Also

Functions

Topics

`filename` — Name of RINEX version 3 file
string scalar | character vector

`data` — Satellite system data from RINEX version 3 file
structure

`GPS` — GPS Navigation Message
structure

`Galileo` — Galileo Navigation Message
structure

`GLONASS` — GLONASS Navigation Message
structure

`BeiDou` — BeiDou Navigation Message
structure

`NavIC/IRNSS` — NavIC/IRNSS Navigation Message
structure

`QZSS` — QZSS Navigation Message
structure

`SBAS` — SBAS Navigation Message
structure

`Mixed` — Mixed Observation Data
structure

`header` — RINEX file contents
structure

`Navigation Message Files` — Navigation Message Files
structure

`Observation Data Files` — Observation Data Files
structure