RINEX crate

Parser

RINEX files contain a lot of data and this library is capable of parsing most of it.
To fully understand how to operate this lib, refer to the RinexType section you are interested in.

Production (writer)

RINEX file production (writer) is work in progress and will be supported in next releases

File naming convention

This parser does not care for the RINEX file name, it is possible to parse a file
that does not respect standard naming conventions.

Known weaknesses

• Unusual RINEX files with a unique epoch may not be parsed correctly in some cases
• Only Observation Data V > 2 currently has a format restriction, see dedicated page

Getting started

The Rinex::from_file method parses a local RINEX file:

let rinex = rinex::Rinex::from_file("test_resources/NAV/V2/amel0010.21g")
  .unwrap();

The test_resources/ folder contains short but relevant RINEX files, spanning almost all revisions and supported types, mainly for CI purposes.

For data analysis and manipulation, you must refer to the official RINEX definition

This interactive portal is also a nice interface to discover RINEX.

Header & general information

The header contains high level information.

println!("{:#?}", rinex.header);

This includes Rinex:

• revision number
• GNSS constellation
• possible file compression infos
• recorder & station infos
• hardware, RF infos
• comments are exposed in a string array, by order of appearance
• and much more

println!("{:#?}", rinex.header.version);
assert_eq!(rinex.header.constellation, Constellation::Glonass)
println!("{:#?}", rinex.header.crinex)
println!("pgm: \"{}\"", rinex.header.program);
println!("run by: \"{}\"", rinex.header.run_by);
println!("station: \"{}\"", rinex.header.station);
println!("observer: \"{}\"", rinex.header.observer);
println!("{:#?}", rinex.header.leap);
println!("{:#?}", rinex.header.coords);

RINEX record

The Rinex structure comprises the header previously defined, and the record which contains the data payload.

Most record content are sorted by epochs, but that is RINEX dependent: refer to the main page for more information. When a record is indexed by epochs, that means it is sorted by sampling timestamps and an epoch::Flag validating this epoch. Note that epochs Flags are only relevant in Observation Data; it is fixed to "Ok" in other records. RINEX files usually span 24h at a steady sampling interval.

record is a complex structure, which depends on the RINEX type. In this paragraph, we expose how to iterate (browse) every supported record types. Advanced users must differentiate between Vector inner data and Map (Hash or BTree) inner data. The only difference is basically how you reference the internal data:

• Vector: by position index (integer)
• Map (hash or btree): by an object. This provides efficient data classification right away.

The difference between a Hash and a BTree map, is that the btreemap is naturally sorted. This is the type we use anytime we need to guarantee classification at all times. For example, in epochs so the record is chronologically sorted.

• Navigation Record browsing

let record = record.as_nav()
    .unwrap(); // user must verify this is feasible
for (epoch, classes) in record.iter() { // Navigation frame classes, per epoch
    for (class, frames) in classes.iter() { // Per frame class
        for frame in frames.iter() { // all frames for this epoch and this kind of frame
          // several frame classes exist
          if *class = navigation::record::FrameClass::Ephemeris {
              // Ephemeris are the most common NAV frames
              // Until V < 4, their the only ones provided.
              let (msgtype, sv, clk, clk_dr, clk_drr, map) = frame.as_eph() // Unwrap as Ephemeris
                .unwrap(); // you're fine, thanks to the previous == check
              
              // several MsgTypes exist, 
              // up until V < 4, they are marked as Legacy NAV whatever happens.
              // Modern NAV can also contain Legacy frames.
              assert_eq!(msgtype, navigation::record::MsgType::LNAV);

              // All ephemeris contain a satellite vehicule,
              // its internal clock bias [s], clock drift [s/s] and clock drift rate [s/s^2]
              assert_eq!(sv.constellation, Constellation::GPS);
              assert_eq!(clk, 1.0);
              asssert_eq!(clk_dr, 2.0);
              asssert_eq!(clk_drr, 3.0);

              // Remaining data is integrated to a complex map,
              // as it depends on the File Revision & the current Constellation.
              // Index keys can be found in the db/NAV/navigation.json descriptor,
              // it follows RINEX specifications. 
              // All data is currently interprated a floating point double precision (f64),
              // other interpratation like Binary Flags remain to do to this day
              let iode = map["iode"].as_f64();
              assert_eq!(iode, 12345.0);
              let satPosX = map["satPosX"].as_f64();
              assert_eq!(satPosX, 5678.0);
          
          } else if *class == navigation::record::FrameClass::IonosphericMdodel {
            // Ionospheric models can be found in Modern NAV RINEX.
            let model = frame.as_ion() // unwrap as Ionospheric Model
              .unwrap(); // you're fine, thanks to the previous == check
              
            // Several Ionospheric models exist,
            // refer to RINEX specifications to understand the inner data and their units
            if let Some(model) = model.as_klobuchar() {
              assert_eq!(model.alpha.0, 0.0);
              assert_eq!(model.beta.3, 1.0);
              assert_eq!(model.region, navigation::ionmessage::KbRegionCode::WideArea);
              
            } else if let Some(model) = model.as_nequick_g() {
              assert_eq!(model.a.0, 0.0);
              assert_eq!(model.a.1, 1.0);
              // NG model region is a rust bitflag object, which allows convenient bit masking
              assert_eq!(model.region, navigation::ionmessage::NgRegionFlags::REGION5);
              assert_eq!(model.region.intersects(navigation::ionmessage::NgRegionlags::REGION1), true); // AND mask

            } else if let Some(model) = model.as_bdgim() {
              assert_eq!(model.alpha.0, 0.0);
              assert_eq!(model.alpha.1, 1.0);
            }
          
          } else if *class == navigation::record::FrameClass::SystemTimeOffset {
            let sto = frame.as_sto() // unwrap as STO message
              .unwrap(); // you're fine, thanks to the previous == check
            assert_eq!(sto.system, "GPUT"); // Time System descriptor
            assert_eq!(a.0, 1.0);
            assert_eq!(a.1, 2.0);
            assert_eq!(a.t_tm, 10000); // GNSS week counter
          }
        }
    }
}

• Observation Record browsing

let record = record.as_obs()
    .unwrap(); // user must verify this is feasible
for (epoch, (clk, sv)) in record.iter() { // Complex structures, on an `Epoch` basis
    // clk : is an optionnal (f32) clock offset for this epoch,
    for (sv, data) in sv.iter() { // Complex struct, on a `Space Vehicule` basis
        for (code, data) in data.iter() {
           // code is an observable: use this to determine the physics measured
           // data is an ObservationData,
           // which comprises the raw data, and possible an LLI flag and an SSI value
        }
    }
}

• Meteo Record browsing

let record = record.as_nav()
    .unwrap(); // user must verify this is feasible
for (epoch, data) in record.iter() { // Complex structures, on an `Epoch` basis
    for (obs, data) in data.iter() { 
        // obs: is a Meteo Observable: determines the physics measured
        // data: f32 raw data
    }
}

• Antex Record browsing

let record = record.as_antex()
  .unwrap(); // user must verify this is feasible
for (antenna, frequencies) in record.iter() {
  // several calibration methods exist
  assert_eq!(antenna.calibration.method, antex::record::Method::Chamber);
  assert_eq!(antenna.calibration.agency, "Some Agency");
  assert_eq!(antenna.calibration.date, "Some DateTime description");
  assert_eq!(antenna.sn, "Some Serial Number");
  assert_eq!(antenna.dazi, 1.0);
  assert_eq!(antenna.valid_from, Some(chrono::NaiveDateTime));
  assert_eq!(antenna.valid_until, Some(chrono::NaiveDateTime));
  for frequency in frequencies.iter() {
    assert_eq!(frequency.channel, channel::Channel::L1);
    assert_eq!(frequency.north, 10.0);
    assert_eq!(frequency.up, 20.0);
    for pattern in frequency.patterns {
      assert_eq!(pattern.is_azimuth_dependent(), true);
      let Some((azimuth, phase_pattern)) = pattern.azimuth_pattern() {
        for raw_phase in phase_pattern.iter() {
        
        }
      }
    }
  }
}

Epoch object

Epoch structure

epoch is a chrono::NaiveDateTime object with an EpochFlag associated to it.

To demonstrate how to operate the epoch API, we'll take a Navigation Rinex file as an example:

let rinex = rinex::Rinex::from_file("test_resource/NAV/V2/amel0010.21g")
  .unwrap();
let record = rinex.record
    .as_nav() // NAV record unwrapping
    .unwrap(); // would fail on other RINEX types

epochs is used to browse most common RINEX files. The keys() iterator is the easiest way to to determine which epochs were idenfitied.
Here we are only interested in the .date field of an epoch, to determine the encountered timestamps:

let epochs: Vec<_> = record
    .keys() // keys interator
    .map(|k| k.date) // building a key.date vector
    .collect();

epochs = [ // epochs are sorted by timestamps 
    2021-01-01T00:00:00,
    2021-01-01T01:00:00,
    2021-01-01T03:59:44,
    2021-01-01T04:00:00,
    2021-01-01T05:00:00,
    ...
]

unique() to filter epochs makes no sense - and is not available, because a valid RINEX exposes a unique data set per epoch.

For RINEX files that do not expose an Epoch flag, like Navigation or Meteo data, we assign Ok (valid epoch) by default.

Sv object

Sv for Satellite Vehicule, is also used to sort and idenfity datasets.
For instance, in a NAV file we have on set of data per vehicule and per epoch.

Sv is tied to a rinex::constellation and comprises an 8 bit identification number ("prn").

High level methods

It is possible to perform several operations on the Rinex structure, refer to the API.

Specific documentation

Work in progress

Topics to be unlocked by next releases

• RINEX file production : provide to_file methods to produce supported RINEX formats
• RINEX special operations like merging when producing a new file
• Merging + compression for OBS data

Contribute

How to contribute