CODA RINEX Mapping Description
CODA provides access to RINEX Observation (V3.0), Navigation (V3.0), and Clock (V2.0 and V3.0) data. Support for Meteorological data or other versions of the format is currently not available. Data access is implemented in CODA by first importing the full file and then providing access to an in-memory structure of the data via the CODA data types. Below we will describe how CODA maps the RINEX product structure to one that is based on the CODA data types. We assume you already have a decent understanding of the RINEX format and its details.
A RINEX file consists of a header section followed by a series of data records. CODA supports all mandatory header elements and most of the optional header elements for Observation, Navigation, and Clock data.
CODA will try to provide as direct a mapping to the RINEX data as possible. This means that the in memory data structure will follow to a large extend the order in which data is stored in the file. Below the mapping for the RINEX Observation, Navigation, and Clock data is provided.
RINEX Observation data
The following table gives the mapping of header sections to CODA parameters
| CODA path to variable | type class | read type | rinex header |
|---|---|---|---|
| /header/format_version | real | float | RINEX VERSION / TYPE |
| /header/file_type | text | char | RINEX VERSION / TYPE |
| /header/satellite_system | text | char | RINEX VERSION / TYPE |
| /header/program | text | string | PGM / RUN BY / DATE |
| /header/run_by | text | string | PGM / RUN BY / DATE |
| /header/datetime | time | double | PGM / RUN BY / DATE |
| /header/datetime_time_zone | text | string | PGM / RUN BY / DATE |
| not supported | COMMENT | ||
| /header/marker_name | text | string | MARKER NAME |
| /header/marker_number | text | string | MARKER NUMBER |
| /header/marker_type | text | string | MARKER TYPE |
| /header/observer | text | string | OBSERVER / AGENCY |
| /header/agency | text | string | OBSERVER / AGENCY |
| /header/receiver_number | text | string | REC # / TYPE / VERS |
| /header/receiver_type | text | string | REC # / TYPE / VERS |
| /header/receiver_version | text | string | REC # / TYPE / VERS |
| /header/antenna_number | text | string | ANT # / TYPE |
| /header/antenna_type | text | string | ANT # / TYPE |
| /header/approx_position_x | real | double | APPROX POSITION XYZ |
| /header/approx_position_y | real | double | APPROX POSITION XYZ |
| /header/approx_position_z | real | double | APPROX POSITION XYZ |
| /header/antenna_delta_h | real | double | ANTENNA: DELTA H/E/N |
| /header/antenna_delta_e | real | double | ANTENNA: DELTA H/E/N |
| /header/antenna_delta_n | real | double | ANTENNA: DELTA H/E/N |
| not supported | ANTENNA: DELTA X/Y/Z | ||
| not supported | ANTENNA: PHASECENTER | ||
| not supported | ANTENNA: B.SIGHT XYZ | ||
| not supported | ANTENNA: ZERODIR AZI | ||
| not supported | ANTENNA: ZERODIR XYZ | ||
| not supported | CENTER OF MASS: XYZ | ||
| /header/sys[]/code | text | char | SYS / # / OBS TYPES |
| /header/sys[]/num_obs_types | integer | int16 | SYS / # / OBS TYPES |
| /header/sys[]/descriptor[] | text | string | SYS / # / OBS TYPES |
| /header/signal_strength_unit | text | string | SIGNAL STRENGTH UNIT |
| /header/obs_interval | real | double | INTERVAL |
| /header/time_of_first_obs | time | double | TIME OF FIRST OBS |
| /header/time_of_first_obs_time_zone | text | string | TIME OF FIRST OBS |
| /header/time_of_last_obs | time | double | TIME OF LAST OBS |
| /header/time_of_last_obs_time_zone | text | string | TIME OF LAST OBS |
| /header/rcv_clock_offs_appl | integer | uint8 | RCV CLOCK OFFS APPL |
| not supported | SYS / DCBS APPLIED | ||
| not supported | SYS / PCVS APPLIED | ||
| not supported | SYS / SCALE FACTOR | ||
| /header/leap_seconds | integer | int32 | LEAP SECONDS |
| /header/num_satellites | integer | uint16 | # OF SATELLITES |
| not supported | PRN / # OF OBS |
The following table gives the mapping of the epoch records structure to CODA parameters. A RINEX observation file can contain multiple epoch records. Each epoch record contains the epoch (time of observation) and observations for one or more satellites. Since per satellite system the list of observation types is fixed (as defined by the 'SYS / # / OBS TYPES' header content) the observations are grouped per satellite system. Within the epoch record you will thus, if the system is applicable to the overall file, find fields for each of the type of satellite systems (system can be 'gps', 'glonass', 'galileo', and/or 'sbas'). The field per satellite system will then contain an array of records with the observations of the satellites of that system. Each such record contains the 2-digit number of the satellite and fields (observation_type) for each of the observation types (based on the names as defined by the 'SYS / # / OBS TYPES' header content). Examples of paths that you may encounter to observations are thus e.g. /record[]/gps[]/C1C/observation and /record[]/galileo[]/L1B/observation. If the LLI and/or signal strength values are not explicitly provided in the file, they will be set to 0.
| CODA path to variable | type class | read type |
|---|---|---|
| /record[]/epoch | time | double |
| /record[]/flag | text | char |
| /record[]/receiver_clock_offset | real | double |
| /record[]/system[]/number | integer | uint8 |
| /record[]/system[]/observation_type/observation | real | double |
| /record[]/system[]/observation_type/lli | integer | uint8 |
| /record[]/system[]/observation_type/signal_strength | integer | uint8 |
RINEX Navigation data
The following table gives the mapping of header sections to CODA parameters
| CODA path to variable | type class | read type | rinex header |
|---|---|---|---|
| /header/format_version | real | float | RINEX VERSION / TYPE |
| /header/file_type | text | char | RINEX VERSION / TYPE |
| /header/satellite_system | text | char | RINEX VERSION / TYPE |
| /header/program | text | string | PGM / RUN BY / DATE |
| /header/run_by | text | string | PGM / RUN BY / DATE |
| /header/datetime | time | double | PGM / RUN BY / DATE |
| /header/datetime_time_zone | text | string | PGM / RUN BY / DATE |
| not supported | COMMENT | ||
| /header/ionospheric_corr[]/type | text | string | IONOSPHERIC CORR |
| /header/ionospheric_corr[]/parameter[] | real | double | IONOSPHERIC CORR |
| /header/time_system_corr[]/type | real | double | TIME SYSTEM CORR |
| /header/time_system_corr[]/a0 | real | double | TIME SYSTEM CORR |
| /header/time_system_corr[]/a1 | real | double | TIME SYSTEM CORR |
| /header/time_system_corr[]/T | integer | int32 | TIME SYSTEM CORR |
| /header/time_system_corr[]/W | integer | uint8 | TIME SYSTEM CORR |
| /header/time_system_corr[]/S | text | string | TIME SYSTEM CORR |
| /header/time_system_corr[]/U | real | double | TIME SYSTEM CORR |
| /header/leap_seconds | integer | int32 | LEAP SECONDS |
The following tables give the mapping of the navigation records structure to CODA parameters. Since the record definition for a Navigation record depends on the satellite system, CODA groups all records of the same satellite type together into a single array of Navigation records. At top level these arrays can be accessed using the name of the satellite system ('gps', 'glonass', 'galileo', or 'sbas'). Below you will find the CODA record definitions for each of the different satellite types.
RINEX Navigation record for GPS
| CODA path to variable | type class | read type |
|---|---|---|
| /gps[]/number | integer | uint8 |
| /gps[]/epoch | time | double |
| /gps[]/sv_clock_bias | real | double |
| /gps[]/sv_clock_drift | real | double |
| /gps[]/sv_clock_drift_rate | real | double |
| /gps[]/iode | real | double |
| /gps[]/crs | real | double |
| /gps[]/delta_n | real | double |
| /gps[]/m0 | real | double |
| /gps[]/cuc | real | double |
| /gps[]/e | real | double |
| /gps[]/cus | real | double |
| /gps[]/sqrt_a | real | double |
| /gps[]/toe | real | double |
| /gps[]/cic | real | double |
| /gps[]/omega0 | real | double |
| /gps[]/cis | real | double |
| /gps[]/i0 | real | double |
| /gps[]/crc | real | double |
| /gps[]/omega | real | double |
| /gps[]/omega_dot | real | double |
| /gps[]/idot | real | double |
| /gps[]/l2_codes | real | double |
| /gps[]/gps_week | real | double |
| /gps[]/l2_p_data_flag | real | double |
| /gps[]/sv_accuracy | real | double |
| /gps[]/sv_health_gps | real | double |
| /gps[]/tgd | real | double |
| /gps[]/iodc | real | double |
| /gps[]/transmission_time | real | double |
| /gps[]/fit_interval | real | double |
RINEX Navigation record for GLONASS
| CODA path to variable | type class | read type |
|---|---|---|
| /glonass[]/number | integer | uint8 |
| /glonass[]/epoch | time | double |
| /glonass[]/sv_clock_bias | real | double |
| /glonass[]/sv_rel_freq_bias | real | double |
| /glonass[]/msg_frame_time | real | double |
| /glonass[]/sat_pos_x | real | double |
| /glonass[]/sat_vel_x | real | double |
| /glonass[]/sat_acc_x | real | double |
| /glonass[]/sat_health | real | double |
| /glonass[]/sat_pos_y | real | double |
| /glonass[]/sat_vel_y | real | double |
| /glonass[]/sat_acc_y | real | double |
| /glonass[]/sat_frequency_number | real | double |
| /glonass[]/sat_pos_z | real | double |
| /glonass[]/sat_vel_z | real | double |
| /glonass[]/sat_acc_z | real | double |
| /glonass[]/age_of_oper_info | real | double |
RINEX Navigation record for Galileo
| CODA path to variable | type class | read type |
|---|---|---|
| /galileo[]/number | integer | uint8 |
| /galileo[]/epoch | time | double |
| /galileo[]/sv_clock_bias | real | double |
| /galileo[]/sv_clock_drift | real | double |
| /galileo[]/sv_clock_drift_rate | real | double |
| /galileo[]/iodnav | real | double |
| /galileo[]/crs | real | double |
| /galileo[]/delta_n | real | double |
| /galileo[]/m0 | real | double |
| /galileo[]/cuc | real | double |
| /galileo[]/e | real | double |
| /galileo[]/cus | real | double |
| /galileo[]/sqrt_a | real | double |
| /galileo[]/toe | real | double |
| /galileo[]/cic | real | double |
| /galileo[]/omega0 | real | double |
| /galileo[]/cis | real | double |
| /galileo[]/i0 | real | double |
| /galileo[]/crc | real | double |
| /galileo[]/omega | real | double |
| /galileo[]/omega_dot | real | double |
| /galileo[]/idot | real | double |
| /galileo[]/data_sources | integer | uint32 |
| /galileo[]/gal_week | real | double |
| /galileo[]/sisa | real | double |
| /galileo[]/sv_health | integer | uint32 |
| /galileo[]/bgd_e5a_e1 | real | double |
| /galileo[]/bgd_e5b_e1 | real | double |
| /galileo[]/transmission_time | real | double |
RINEX Navigation record for SBAS
| CODA path to variable | type class | read type |
|---|---|---|
| /sbas[]/number | integer | uint8 |
| /sbas[]/epoch | time | double |
| /sbas[]/sv_clock_bias | real | double |
| /sbas[]/sv_rel_freq_bias | real | double |
| /sbas[]/transmission_time | real | double |
| /sbas[]/sat_pos_x | real | double |
| /sbas[]/sat_vel_x | real | double |
| /sbas[]/sat_acc_x | real | double |
| /sbas[]/sat_health | real | double |
| /sbas[]/sat_pos_y | real | double |
| /sbas[]/sat_vel_y | real | double |
| /sbas[]/sat_acc_y | real | double |
| /sbas[]/sat_accuracy_code | real | double |
| /sbas[]/sat_pos_z | real | double |
| /sbas[]/sat_vel_z | real | double |
| /sbas[]/sat_acc_z | real | double |
| /sbas[]/iodn | real | double |
RINEX Clock data
The following table gives the mapping of header sections to CODA parameters
| CODA path to variable | type class | read type | rinex header v2.0 | rinex header v3.0 |
|---|---|---|---|---|
| /header/format_version | real | float | RINEX VERSION / TYPE | RINEX VERSION / TYPE |
| /header/file_type | text | char | RINEX VERSION / TYPE | RINEX VERSION / TYPE |
| /header/satellite_system | text | char | RINEX VERSION / TYPE | |
| /header/program | text | string | PGM / RUN BY / DATE | PGM / RUN BY / DATE |
| /header/run_by | text | string | PGM / RUN BY / DATE | PGM / RUN BY / DATE |
| /header/datetime | time | double | PGM / RUN BY / DATE | PGM / RUN BY / DATE |
| /header/datetime_time_zone | text | string | PGM / RUN BY / DATE | PGM / RUN BY / DATE |
| not supported | COMMENT | COMMENT | ||
| /header/sys[]/code | text | char | SYS / # / OBS TYPES | |
| /header/sys[]/num_obs_types | integer | int16 | SYS / # / OBS TYPES | |
| /header/sys[]/descriptor[] | text | string | SYS / # / OBS TYPES | |
| /header/time_system_id | text | string | TIME SYSTEM ID | |
| /header/leap_seconds | integer | int32 | LEAP SECONDS | LEAP SECONDS |
| not supported | SYS / DCBS APPLIED | |||
| not supported | SYS / PCVS APPLIED | |||
| not supported | # / TYPES OF DATA | # / TYPES OF DATA | ||
| not supported | STATION NAME / NUM | STATION NAME / NUM | ||
| not supported | STATION CLK REF | STATION CLK REF | ||
| not supported | ANALYSIS CENTER | ANALYSIS CENTER | ||
| not supported | # OF CLK REF | # OF CLK REF | ||
| not supported | ANALYSIS CLK REF | ANALYSIS CLK REF | ||
| not supported | # OF SOLN STA / TRF | # OF SOLN STA / TRF | ||
| not supported | SOLN STA NAME / NUM | SOLN STA NAME / NUM | ||
| not supported | # OF SOLN SATS | # OF SOLN SATS | ||
| not supported | PRN LIST | PRN LIST |
There are a few considerations when dealing with files using the V2.0 format:
- The 'satellite_system' will have a hard-coded value of 'G' (V2.0 data is always about GPS data)
- If the 'datetime' field in the header does not follow the format as specified by V3.0 then the value for 'datetime' will be set to NaN
- The field 'time_system_id' will not be available for V2.0 data (it is an optional record field that will be set to 'no data' when you try to access it)
- The 'sys' array will always be empty (i.e. 0 element array)
The following table gives the mapping of the clock records structure to CODA parameters.
| CODA path to variable | type class | read type |
|---|---|---|
| /record[]/type | text | string |
| /record[]/name | text | string |
| /record[]/epoch | time | double |
| /record[]/bias | real | double |
| /record[]/bias_sigma | real | double |
| /record[]/rate | real | double |
| /record[]/rate_sigma | real | double |
| /record[]/acceleration | real | double |
| /record[]/acceleration_sigma | real | double |