多系统导航电文下载与分析

目录

概述

文件下载

命名规则

文件示例

文件格式

文件头

数据记录

读取程序

---

概述

多系统导航电文文件记录了GPS/GLO/GAL/BDS/QZS/SBAS/IRNSS等系统的导航电文信息。

文件下载

下载地址：ftp://cddis.gsfc.nasa.gov/pub/gps/data/campaign/mgex/daily/rinex3

文件选择：选择需要年份文件夹，打开文件夹中brdm文件夹，根据年积日选择需要的文件

命名规则

命名规则为：ssssdddf.yyt。

其中：ssss表示观测站代号；ddd表示第一个记录所对应的年积日；f表示一天内的文件序号，有时也称时间段，当为0时表示文件包含当天所有数据；yy表示年份；t表示文件类型，O为观测值文件，N为GPS导航电文文件，M为气象数据文件，G为GLONASS导航电文文件，H为地球同步卫星GPS有效载荷导航电文文件，C为钟文件，P为混合多系统导航电文文件。文件名如：brdm1570.20p，其中brdm为观测站代号，157为年积日，0表示文件包含当天所有数据，20为年份，p表示文件为混合多系统导航电文文件。

年积日计算程序网址：https://download.csdn.net/download/guokai4545/10230976

这个网址中处理计算年积日matlab程序，还有计算GPS周程序，有积分的可以下载，没有积分的可以给我留言，并留下邮箱地址。

文件示例

2020年6月5日导航电文rinex文件部分内容如下：

     3.04           NAVIGATION DATA     M (Mixed)           RINEX VERSION / TYPE
BCEmerge            congo               20200606 004603 GMT PGM / RUN BY / DATE 
Merged GPS/GLO/GAL/BDS/QZS/SBAS/IRNSS navigation file       COMMENT 
based on CONGO and IGS tracking data                        COMMENT 
DLR/GSOC: O. Montenbruck; P. Steigenberger                  COMMENT 
BDUT  4.6566128731e-09 9.769962617e-15     14 2108          TIME SYSTEM CORR    
GAGP  2.4156179279e-09 1.332267630e-15 432000 2108          TIME SYSTEM CORR    
GAUT  1.8626451492e-09 0.000000000e+00 345600 2108          TIME SYSTEM CORR    
GLUT -0.0000000000e+00 0.000000000e+00 345600 2108          TIME SYSTEM CORR    
GPUT -4.6566128731e-09-1.065814104e-14 589824 2108          TIME SYSTEM CORR    
QZUT -9.3132257462e-10 0.000000000e+00   8192 2109          TIME SYSTEM CORR    
    18                                                      LEAP SECONDS        
                                                            END OF HEADER       
G01 2020 06 05 01 59 28-3.877906128764e-04-1.250555214938e-12 0.000000000000e+00
     1.020000000000e+02-9.950000000000e+01 3.875875731496e-09-1.121471817528e+00
    -5.079433321953e-06 9.937067050487e-03 1.136399805546e-05 5.153627182007e+03
     4.391680000000e+05 2.216547727585e-07 2.947752401994e+00 1.043081283569e-07
     9.806720586190e-01 1.687187500000e+02 7.857143804549e-01-7.624603309618e-09
     1.703642392115e-10 1.000000000000e+00 2.108000000000e+03 0.000000000000e+00
     2.000000000000e+00 6.300000000000e+01 5.122274160385e-09 1.020000000000e+02
     4.320180000000e+05 4.000000000000e+00                                      
G01 2020 06 05 04 00 00-3.877999261022e-04-1.250555214938e-12 0.000000000000e+00
     1.090000000000e+02-1.035312500000e+02 3.801944080517e-09-6.645246565764e-02
    -5.366280674934e-06 9.938157745637e-03 1.098401844501e-05 5.153630491257e+03
     4.464000000000e+05 5.029141902924e-08 2.947696641408e+00 1.378357410431e-07
     9.806726891367e-01 1.834375000000e+02 7.855652930105e-01-7.753180093929e-09
     1.625067690592e-10 1.000000000000e+00 2.108000000000e+03 0.000000000000e+00
     2.000000000000e+00 6.300000000000e+01 5.122274160385e-09 1.090000000000e+02
     4.392000000000e+05 4.000000000000e+00                                      
G01 2020 06 05 03 59 28-3.877999261022e-04-1.250555214938e-12 0.000000000000e+00
     3.100000000000e+01-1.035625000000e+02 3.801229765049e-09-6.798434715808e-02
    -5.368143320084e-06 9.928062791005e-03 1.098215579987e-05 5.153716800690e+03
     4.463680000000e+05 5.029141902924e-08 2.947696792089e+00 1.378357410431e-07
     9.806727081546e-01 1.834375000000e+02 7.823393947989e-01-7.751751462992e-09
     1.625067690592e-10 1.000000000000e+00 2.108000000000e+03 0.000000000000e+00
     2.800000000000e+00 6.300000000000e+01 5.122274160385e-09 3.100000000000e+01
     4.456200000000e+05 4.000000000000e+00                                      
G01 2020 06 05 05 59 28-3.878087736666e-04-1.250555214938e-12 0.000000000000e+00
     3.500000000000e+01-1.143125000000e+02 3.743370212109e-09 9.821318007031e-01
    -6.027519702911e-06 9.927230770700e-03 1.097470521927e-05 5.153715692520e+03
     4.535680000000e+05-1.005828380585e-07 2.947641888773e+00 6.891787052155e-08
     9.806735507954e-01 1.810000000000e+02 7.823732408716e-01-7.693177594584e-09
     3.964450849577e-11 1.000000000000e+00 2.108000000000e+03 0.000000000000e+00
     4.000000000000e+00 6.300000000000e+01 5.122274160385e-09 3.500000000000e+01
     4.464000000000e+05 4.000000000000e+00                                      
G01 2020 06 05 08 00 00-3.878176212311e-04-1.136868377216e-12 0.000000000000e+00
     3.600000000000e+01-1.430625000000e+02 3.516575050895e-09 2.036529899542e+00
    -7.370486855507e-06 9.928055806085e-03 1.150555908680e-05 5.153723543167e+03
     4.608000000000e+05-1.750886440277e-07 2.947585973119e+00-1.117587089539e-07
     9.806745265618e-01 1.690000000000e+02 7.827884579842e-01-7.563886494805e-09
     1.246480492344e-10 1.000000000000e+00 2.108000000000e+03 0.000000000000e+00
     4.000000000000e+00 6.300000000000e+01 5.122274160385e-09 3.600000000000e+01
     4.536000000000e+05 4.000000000000e+00                                      
G01 2020 06 05 10 00 00-3.878260031343e-04-1.136868377216e-12 0.000000000000e+00
     3.700000000000e+01-1.422500000000e+02 3.487288116691e-09 3.086801851104e+00
    -7.295981049538e-06 9.929232182913e-03 1.208297908306e-05 5.153720426559e+03
     4.680000000000e+05 2.235174179077e-08 2.947532484445e+00-5.774199962616e-08
     9.806762542680e-01 1.552500000000e+02 7.826609705252e-01-7.372807107010e-09
     1.085759511956e-10 1.000000000000e+00 2.108000000000e+03 0.000000000000e+00
     4.000000000000e+00 6.300000000000e+01 5.122274160385e-09 3.700000000000e+01
     4.608180000000e+05 4.000000000000e+00                                      
G01 2020 06 05 12 00 00-3.878343850374e-04-1.136868377216e-12 0.000000000000e+00
     4.100000000000e+01-1.349062500000e+02 3.482287908412e-09-2.146328164143e+00
    -6.970018148422e-06 9.929293766618e-03 1.157633960247e-05 5.153719551086e+03
     4.752000000000e+05-5.587935447693e-09 2.947479695046e+00-1.210719347000e-07
     9.806769403766e-01 1.645312500000e+02 7.827497082101e-01-7.362806690452e-09
     5.714523747137e-11 1.000000000000e+00 2.108000000000e+03 0.000000000000e+00
     4.000000000000e+00 6.300000000000e+01 5.122274160385e-09 4.100000000000e+01
     4.680000000000e+05 4.000000000000e+00                                      
G01 2020 06 05 14 00 00-3.878423012793e-04-1.136868377216e-12 0.000000000000e+00
     4.200000000000e+01-1.142500000000e+02 3.752299155464e-09-1.096493174508e+00
    -6.040558218956e-06 9.930350701325e-03 1.082569360733e-05 5.153713565826e+03
     4.824000000000e+05 2.551823854446e-07 2.947427328430e+00 1.303851604462e-07
     9.806757480984e-01 1.805625000000e+02 7.830632042399e-01-7.616745839466e-09
    -1.564350875779e-10 1.000000000000e+00 2.108000000000e+03 0.000000000000e+00
     4.000000000000e+00 6.300000000000e+01 5.122274160385e-09 4.200000000000e+01
     4.752180000000e+05 4.000000000000e+00                                      
G01 2020 06 05 16 00 00-3.878497518599e-04-1.023181539495e-12 0.000000000000e+00
     4.300000000000e+01-1.154062500000e+02 3.841588589013e-09-4.619180512552e-02
    -6.001442670822e-06 9.931743494235e-03 9.898096323013e-06 5.153717348099e+03
     4.896000000000e+05 9.313225746155e-09 2.947371471292e+00 1.303851604462e-07
     9.806737102535e-01 1.965625000000e+02 7.829114762284e-01-7.821754378894e-09
    -1.546492989069e-10 1.000000000000e+00 2.108000000000e+03 0.000000000000e+00
     5.700000000000e+00 6.300000000000e+01 5.122274160385e-09 4.300000000000e+01
     4.824000000000e+05 4.000000000000e+00                                      
G01 2020 06 05 17 59 44 6.426125764847e-08-1.023181539495e-12 0.000000000000e+00
     4.500000000000e+01-1.272187500000e+02 3.950521697943e-09 1.001633787531e+00
    -6.409361958504e-06 9.930384927429e-03 1.005828380585e-05 5.153714967728e+03
     4.967840000000e+05-6.705522537231e-08 2.947315658042e+00 1.173466444016e-07
     9.806724887169e-01 1.992500000000e+02 7.829033482555e-01-7.794253233361e-09
    -1.967939115420e-10 1.000000000000e+00 2.108000000000e+03 0.000000000000e+00
     2.000000000000e+00 6.300000000000e+01 5.122274160385e-09 4.500000000000e+01
     4.967700000000e+05 4.000000000000e+00                                      
G01 2020 06 05 19 59 44 5.727633833885e-08-1.023181539495e-12 0.000000000000e+00
     4.700000000000e+01-1.574375000000e+02 3.785871982478e-09 2.051352445920e+00
    -8.199363946915e-06 9.930995409377e-03 1.049414277077e-05 5.153723051071e+03
     5.039840000000e+05-2.365559339523e-07 2.947259146979e+00-9.126961231232e-08
     9.806721873558e-01 1.904062500000e+02 7.833331638276e-01-7.614602893061e-09
    -5.393081786361e-11 1.000000000000e+00 2.108000000000e+03 0.000000000000e+00
     2.000000000000e+00 6.300000000000e+01 5.122274160385e-09 4.700000000000e+01
     4.968000000000e+05 4.000000000000e+00                                      
G01 2020 06 05 22 00 00 5.029141902924e-08-9.094947017729e-13 0.000000000000e+00
     4.800000000000e+01-1.591250000000e+02 3.823016386835e-09 3.103961564184e+00
    -8.266419172287e-06 9.932424873114e-03 1.103244721889e-05 5.153719547272e+03
     5.112000000000e+05-2.421438694000e-08 2.947204792258e+00-1.974403858185e-07
     9.806724243485e-01 1.758125000000e+02 7.832047386382e-01-7.501026733586e-09
    -2.250093725435e-11 1.000000000000e+00 2.108000000000e+03 0.000000000000e+00
     2.000000000000e+00 6.300000000000e+01 5.122274160385e-09 4.800000000000e+01
     5.040000000000e+05 4.000000000000e+00                                      
G02 2020 06 05 02 00 00-4.670931957662e-04-6.025402399246e-12 0.000000000000e+00
     6.600000000000e+01-1.181875000000e+02 4.384825502725e-09-8.778417108651e-01
    -6.070360541344e-06 1.970281463582e-02 1.208111643791e-05 5.153718938828e+03
     4.392000000000e+05-3.017485141754e-07 2.871318792993e+00 2.067536115646e-07
     9.596142262300e-01 1.537187500000e+02-1.626573855821e+00-8.194269895661e-09
     1.825076021742e-10 1.000000000000e+00 2.108000000000e+03 0.000000000000e+00
     2.000000000000e+00 0.000000000000e+00-1.769512891769e-08 6.600000000000e+01
     4.320180000000e+05 4.000000000000e+00                                      
G02 2020 06 05 04 00 00-4.671365022659e-04-6.025402399246e-12 0.000000000000e+00
     7.500000000000e+01-1.185312500000e+02 4.327680265254e-09 1.723183815923e-01
    -6.465241312981e-06 1.970136107411e-02 1.119077205658e-05 5.153716415405e+03
     4.464000000000e+05-3.539025783539e-07 2.871260064147e+00-4.842877388000e-08
     9.596154009533e-01 1.672187500000e+02-1.626582209084e+00-8.205698943155e-09
     6.928860043404e-11 1.000000000000e+00 2.108000000000e+03 0.000000000000e+00
     2.000000000000e+00 0.000000000000e+00-1.769512891769e-08 7.500000000000e+01
     4.392000000000e+05 4.000000000000e+00                                      
G02 2020 06 05 06 00 00-4.671798087656e-04-6.025402399246e-12 0.000000000000e+00
     8.500000000000e+01-1.257812500000e+02 4.175531070486e-09 1.222419511136e+00
    -6.662681698799e-06 1.970136316959e-02 1.058913767338e-05 5.153717714310e+03
     4.536000000000e+05-2.924352884293e-07 2.871200703320e+00-3.930181264877e-07
     9.596162128728e-01 1.774062500000e+02-1.626529425536e+00-8.055692694793e-09
     9.643258823294e-11 1.000000000000e+00 2.108000000000e+03 0.000000000000e+00
     2.000000000000e+00 0.000000000000e+00-1.769512891769e-08 8.500000000000e+01
     4.464180000000e+05 4.000000000000e+00                                      

文件格式

文件整体上可以分为文件头与文件正文两部分

文件头

文件头标签：文件头标签表示文件头内容表示的含义。

文件头实际内容：文件信息

第一行：文件版本号（RINEX VERSION，3.04） 文件类型（TYPE，NAVIGATION DATA     M (Mixed)，多系统导航电文）

第二行：创建文件使用程序名称（PGM，BCEmerge） 创建单位（RUN BY，congo） 创建日气（DATE，20200606 004603 GMT）

第三行：注释（COMMENT，Merged GPS/GLO/GAL/BDS/QZS/SBAS/IRNSS navigation file，GPS/GLO/GAL/BDS/QZS/SBAS/IRNSS多系统导航电文 ）

第四行：注释（COMMENT，based on CONGO and IGS tracking data，基于CONGO和IGS的跟踪数据）

第五行：注释（COMMENT，DLR/GSOC: O. Montenbruck; P. Steigenberger）

第六至十一行：时间系统改正（TIME SYSTEM CORR，BDUT  4.6566128731e-09 9.769962617e-15     14 2108 ）

第十二行：闰秒（LEAP SECONDS，18）

第十三行：头文件结束（END OF HEADER ）

数据记录

系统代号：‘G’表示‘GPS卫星’，‘R’表示'GLONASS卫星'，‘E’表示‘伽利略卫星’，‘C’表示‘北斗卫星’，‘S’,'J','I'有待确认

PRN编号：01

历元：2020 06 05 01 59 28

卫星钟偏差：-3.877906128764e-04

卫星钟偏移：-1.250555214938e-12

卫星钟漂移速度：0.000000000000e+00

IODE(星历发布时间):1.020000000000e+02

Crs（m）：-9.950000000000e+01

deltaN（rad/s）：3.875875731496e-09

M0（rad）：-1.121471817528e+00

Cuc（rad）：-5.079433321953e-06

e（轨道偏心率）：9.937067050487e-03

Cus（rad）1.136399805546e-05

sqrt（A）（m1/2）：5.153627182007e+03

TOE星历参考时间（GPS周内秒数）：4.391680000000e+05

Cic（rad）：2.216547727585e-07

omega（rad）：2.947752401994e+00

Cis（rad）：1.043081283569e-07

i0（rad）：9.806720586190e-01

Crc（m）：1.687187500000e+02

w（rad）：7.857143804549e-01

omega dot（rad/s）：-7.624603309618e-09

idot（rad/s）：1.703642392115e-10

L2上的码：1.000000000000e+00

GPS周数：2.108000000000e+03

L2 P码数据标记：0.000000000000e+00

卫星精度（m）：2.000000000000e+00

卫星健康状态：6.300000000000e+01

TGD(sec)：5.122274160385e-09

IODC钟的数据龄期：1.020000000000e+02

电文发送时刻：4.320180000000e+05

拟合区间（h）：4.000000000000e+00

读取程序

format long;
%%%%%%%%
[filename,filepath]=uigetfile('*.*','读取多系统导航星历文件');
fid=fopen(strcat(filepath,filename),'rt');
if(fid==-1)
   msgbox('输入的文件或者路径不正确,无法正确打开文件','警告信息');
   return;
end
  
while 1
    tline=fgets(fid);           
    if findstr(tline, 'END OF HEADE')>1        
        break;
    end
end  
i=1;
while ~feof(fid)  
    line = fgets(fid);
    if strcmp(line(1:3), 'C01') == 0
        continue;
    end
    rinex(i).prn= line(1:3);
    rinex(i).yyyy= str2num(line(5:8));
    rinex(i).mm= str2num(line(9:11));
    rinex(i).dd= str2num(line(12:14));
    rinex(i).hh= str2num(line(15:17));
    rinex(i).mi= str2num(line(18:20));
    rinex(i).ss= str2num(line(21:23));
    rinex(i).a_f0        = str2num(line(24:43));
    rinex(i).a_f1        = str2num(line(44:62));
    rinex(i).a_f2        = str2num(line(63:81));
    %%1
    line = fgets(fid);
    rinex(i).IODE        = str2num(line(5:23));
    rinex(i).C_rs        = str2num(line(24:42));%
    rinex(i).deltan      = str2num(line(43:61));%
    rinex(i).M_0         = str2num(line(62:81));%
    %%2
    line = fgets(fid);
    rinex(i).C_uc        = str2num(line(5:23));
    rinex(i).e           = str2num(line(24:42));%
    rinex(i).C_us        = str2num(line(44:62));%
    rinex(i).sqrtA       = str2num(line(62:81));%
    %%3
    line = fgets(fid);
    rinex(i).t_oe        = str2num(line(5:23));
    rinex(i).C_ic        = str2num(line(24:42));%
    rinex(i).OMEGA       = str2num(line(43:61));%
    rinex(i).C_is        = str2num(line(62:81));%
    %%4
    line = fgets(fid);
    rinex(i).i_0         = str2num(line(5:23));
    rinex(i).C_rc        = str2num(line(24:42));%
    rinex(i).omega       = str2num(line(43:61));%
    rinex(i).OMEGADot    = str2num(line(62:81));%
    %%5
    line = fgets(fid);
    rinex(i).iDot        = str2num(line(5:23));
    rinex(i).L2data      = str2num(line(24:42));%
    rinex(i).zhoushu     = str2num(line(43:61));%
    rinex(i).L2dataMark  = str2num(line(62:81));%
    %%6
    line = fgets(fid);
    rinex(i).accuracy    = str2num(line(5:23));
    rinex(i).health      = str2num(line(24:42));%
    rinex(i).T_GD        = str2num(line(43:61));%
    rinex(i).IODC        = str2num(line(62:81));%
    %%7
    line = fgets(fid);
    rinex(i).t_oc        = str2num(line(5:23));
    rinex(i).nihequjian  = str2num(line(24:42));%
    %%%    rinex(i).data=tmp;
    i=i+1;
    save('rinex');
end
fclose(fid);