JOURNAL OF APPLIED ENGINEERING SCIENCES VOL.

14(27), ISSUE 1/2024

ISSN: 2247-3769 / e-ISSN: 2284-7197 ART.NO. 409 pp. 167-177

ANALYZING RINEX DATA FILES USING THE PYTHON PROGRAMMING

LANGUAGE

Alina Corina Bălăa,*, B.C. Drăgulescub, Floarea-Maria Brebua

a
Politehnica University Timisoara, Faculty of Civil Engineering, Department of Overland Communication Ways, Foundations and
Cadastral Survey, 2 Traian Lalescu Street, Romania; E-mails: * [email protected], [email protected]
b
Politehnica University Timisoara, Faculty of Electronics, Telecommunications and Information Technologies, Communications
Department, 2 Bd. Vasile Pârvan, Romania; E-mail: [email protected]

Received: 20.02.2024 / Accepted: 05.03.2024 / Revised: 09.04.2024 / Available online: 31.05.2024

DOI: 10.2478/jaes-2024-0021

KEY WORDS: GNSS, RTK, Fast Static, RINEX, GeoRinex.

ABSTRACT:

The techniques and tools developed for geodetic determinations have made it possible, over the past half century, to carry out
measurements using global navigation satellite systems. As the accuracy and precision of positioning solutions, such as Fast Static
and RTK, improve through technological advances, more applications will become available that can provide users with positioning
information over time, autonomously verify the integrity of transmitted data, and ensure sufficient accuracy for their intended
purposes. In our study for the interpretation, analysis, and visualization of raw and/or processed RINEX GNSS data recorded over
time at a geodetic point using the information available from the Fast Static technique, we used the GeoRinex library from the
Python programming language. This library converts data to xarray.data set, for easy use in processing parameter sets, from Rinex
files: of ROMPOS reference stations and of the new B10 point resulting from measurements using the Fast Static technique:
pseudorange (C1, C2, P1, P2....), carrier phase (L1, L2,…), doppler (D1, D2....) and signal strength (S1, S2....). All this information
will help us to analyse and interpret the degradation of the parameters associated with Rinex version 2.11 epoch positioning files
12.02.2023, time interval 12:00-14:00 (fast static) and to understand their accuracy and behavior in different environments. Based on
this study, our aim was to evaluate the error in determining the positioning accuracy of the B10 point located in a crowded and
heavily trafficked area, which allows sufficient coverage of the GNSS satellites.

1. INTRODUCTION The purpose of developing these satellite systems is to

determine the position of a point in the three-dimensional
For the past few decades, the Global Positioning System (GPS) coordinate system with high accuracy, either relative to each
has been the number one positioning tool in a few geodetic and other or relative to a reference system.
geophysical applications. Emerging regional and global
navigation satellite systems (RNSS/GNSS) can enhance The quality of this positioning information is normally
positioning and non-positioning applications (Odolinski, demonstrated by seven key parameters: accuracy, integrity,
Teunissen, and Zhang 2020). continuity, availability, time to first fix, robustness, and
authentication, which are defined as follows: system accuracy is
Today, we have four operational global constellations of the degree of overlap between the estimated, measured position
positioning satellites: GPS (USA), GLONASS (Russia), Galileo and the actual position at a given time.
(Europe), and BDS (China), with the word GNSS attached to
them, and two regional augmented constellations: QZSS (Japan) The performance of GNSS systems (Figure 1) is assessed using
and NavIC (India), generally known as Regional Navigation four indicators (Mora et al. 2022):
Satellite System (RNSS) ((Li et al. 2023). The successful  Accuracy: the difference between the actual position,
completion of the work of the International Committee for speed or time and the position measured by a receiver.
Global Navigation Systems (ICG), in establishing  Integrity: the ability of a system to provide a confidence
interoperability between global systems, has enabled GNSS threshold and, in the event of an anomaly in positioning data, an
users to use a single instrument to receive signals from multiple alarm.
satellite systems. This has provided additional data, especially  Continuity: the ability of a system to operate without
in urban and mountain regions, and greater accuracy in time or interruption.
position measurements (“GNSS,” n.d.).  Availability: the percentage of time a signal meets the
criteria of accuracy, integrity, and continuity.

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and accurate methods for positioning and navigation

applications.

2. BACKGROUND

The development of measurement technology and point

positioning on the earth is rapidly evolving as satellite systems
are available around the world. The application of measuring
instruments has become easier and faster, and the dream has
become a reality (Nordin, Mustapa, and Abdul Satar 2021).
Figure 1. Global Navigation Satellite Systems (copyright Inside
GNSS Magazine, Digital Edition, “The International GNSS There are two basic approaches to GNSS measurements:
Monitoring and Assessment Service “, 2016, accessed absolute and relative. In geodesy, for accurate determination of
20.01.2023) the receiver position, relative methods are most often used, as
they provide a level of accuracy down to a few centimetres (Ltd.
Below are some relevant research studies in the field that 2022). The main feature of these methods is that there must be
examine the accuracy of determining a point through GNSS at least two receivers, one of which is located on a point with
positioning techniques. National Continuously Operating known and predefined coordinates and the other on a new point.
Reference Station (CORS) networks, operating on the Real Relative GNSS methods are RTK and Static with the common
Time Kinematic (RTK) principle, are multifunctional geodetic characteristics summarized in Table 1:
networks and provide services to a large part of society,
including all public institutions and other organizations, military Positioning Static Real Time
and civilian users, and scientific researchers (Tusat 2018). techniques Kinematic (RTK)
These networks are used in real-time positioning applications, Number of GNSS At least 4 At least 1 base + 1
using the Network Real-Time Kinematic (NRTK) method, as receivers receivers: 3 base rover
well as in static applications, using Receiver Independent + 1 rover
EXchange (RINEX) format data from reference stations. Based Real-time Not necessary 4G/Radio
on these remarks, the authors performed static and virtual transmission
reference station (VRS) GNSS measurements based on a Measuring time ≥ 40 min 1 – 10s per point
continuous operating reference station-Turkey (CORS-TR) Processing time Processing Real-time
network in a test network established in Turkey (Tusat 2018). measurements processing
As a result of the measurements, the repeatability obtained by Distance between ≥ 50 km 10 – 20 km
the VRS method was examined. Based on the accuracy obtained
base and rover
of better than 5 cm for planimetric accuracy and better than 10
Positioning Until 50 Hz 1 – 2 Hz
cm for ellipsoidal height accuracy, it was found that NRTK
frequency
techniques in real-time GNSS networks can be used to produce
Positioning 2.5 mm + 1 ppm 8mm +1 ppm
spatial data and create topographic maps (Tusat 2018).
accuracy Horizontal Horizontal
5 mm + 1 ppm 15mm+1ppm
The effects of Non-Line-Of-Sight (NLOS) measurement error
Vertical Vertical
on relative GNSS positioning for a short base, both theoretically
and through field tests, are demonstrated by (Ye et al. 2020). Applications Control points Topographic
The results show that the effects of NLOS signal, both in surveys, stake-out
pseudo-distance and carrier phase, make ambiguity survey, etc.
unresolvable successfully. In addition, the authors found that Table 1. The difference between Static and RTK
after removing the labelled NLOS observations, positioning (copyright Geo Matching Magazine, Digital Edition, "Which is
accuracy can be significantly improved (Ye et al. 2020). The Better Among Static Survey, RTK or PPK?", 2022, accessed
larger the number of available LOS satellites, the higher the 20.01.2023)
robustness of the resolution of the ambiguity for NLOS
satellites.  RTK (real-time kinematic) measurement system
generally consists of three parts: GNSS receivers, data
The accuracy of planimetric precision at the centimetre level is transmission system, and dynamic measurement software
examined and solutions at three test sites in United States (Mora system. The RTK measurement technique (Figure 2) is based on
et al. 2022). The solutions were characterized to examine the carrier phase observations and features differential carrier phase
dispersion of vertical measurements in the context of different measurement technology with fast and high accuracy
environments. The results of this study suggest that both positioning functions. It can obtain real-time three-dimensional
methods have advantages and disadvantages; in particular, the station positioning results in the specified coordinate system
data showed that the distribution and network density of the and has centimeter-level positioning accuracy.
reference stations, the coverage of the cellular network, and
environmental dynamics have a significant impact on the
vertical accuracy, where it was observed to be 2-4 times lower
compared to the measurements of RTK (Mora et al. 2022).
Estimating the quality of the accuracy performance in the
research gives us the possibility to interpret the data resulting
from the two tested methods, without indicating which is the
most accurate, proposing the introduction of the most reliable

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Positioning Advantages Disadvantages

techniques
Real Time Real-time Significant increase in
Kinematic corrected equipment cost (higher
(RTK) positions in a number of channels) and
known grid of logistics.
fixed Must have a radio
coordinates connection between base
and rover.
Rapid Static Reduced Requires a longer standing
equipment time of up to 2 hours or
costs compared more.
to RTK Lower accuracy than RTK,
because data formats from
base stations are needed for
processing
Figure 2. Real Time Kinematic Measurement Principle Table 2. Advantages and disadvantages of GNSS positioning
(copyright Geo Matching Magazine, Digital Edition, "Which is techniques (copyright Ian Lauer, "Static GPS/GNSS Survey
Better Among Static Survey, RTK or PPK?", 2022, accessed Methods Manual", Version January 19, 2018)
20.01.2023)
The purpose of these GNSS systems is to determine the position
 Static measurement principle (figure 3): Based on the of a point in the three-dimensional coordinate system with high
carrier phase observations measured by several GNSS accuracy, either relative to each other or to a reference system.
receivers tracking GNSS satellite signals, using the These reference systems can provide high accuracy of
differential method, the coordinate difference between positioning a point. In Romania, users of GNSS technology
the observing stations, i.e. the baseline vector, is benefit from the national reference station system: Romanian
obtained. Then, depending on the coordinates of the Position Determination System (ROMPOS), which consists of
known points and the baseline vector, the coordinates 98 stations, 81 of which are operational (Figure 4).
of the other stations are obtained. Relative positioning
can eliminate or greatly reduce errors (such as satellite
clock errors, ionospheric delays, and process delays,
etc.) so that a highly accurate relative position can be
obtained, which is widely used in control
measurements.

Figure 4. ROMPOS network of GNSS reference stations

(Source: Rompos)

With advancements in technology enhancing the accuracy and

precision of positioning solutions like Fast Static and RTK, an
array of applications will emerge to harness the information
generated by these methods and systems. Using the GeoRinex
library for the Python programming language (Michael Hirsch
2019), we analysed and interpreted the degradation of
parameters (pseudorange (C1, C2, P1, P2....), carrier phase (L1,
L2...), Doppler (D1, D2....) and signal strength (S1, S2....))
Figure 3. Static Measurement Principle (copyright Geo associated with Rinex data formats (technique Fast Static) and
Matching Magazine, Digital Edition, "Which is Better Among to understand their accuracy and behaviour in different
Static Survey, RTK or PPK?", 2022, accessed 20.01.2023) environments.

From these references described above, Ian Lauer presents in All this information will help us to evaluate the error in
his article the advantages and disadvantages of two techniques, determining the positioning accuracy of points located in dense
RTK and Rapid Static (Lauer, 2018). The data is described in and heavily trafficked urban areas, allowing sufficient coverage
Table 2. of GNSS satellites using the two GNSS measurement
techniques.

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3. MATERIALS AND METHODS The GNSS equipment used to perform the 12.02.2023
positioning epoch phase (RTK and Fast Static measurements)
For our research, we chose a geodetic point in Timisoara and data recording is a Trimble R10 dual-frequency (L1, L2)
municipality (latitude: 45.7445892, longitude: 21.23011121) 492-band GNSS receiver (Table 3). The data was converted to
materialized on Victor Babeș street (Figure 5), located in a Rinex 2.1 version (Pestana 2015). Following the conversion of a
dense area with heavy traffic, which allows sufficient coverage Rinex 2.1 file at geodetic point B10 with the Convert to Rinex
of GNSS satellites. Fast static and RTK measurements were programme, we wanted to have the same type of Rinex files
carried out at this point on 12.02.2023, during the time interval from the three ROMPOS reference stations (ARAD, FAGE, and
1200-1400. RESI) to use the same parameters (C1, C2, L1, L2, P1, P2, S1,
S2) for post-processing (Table 3).

Item Point Parameters File Type Type

no. name type receiver antenna
1 ARAD - G, R: Rinex TPS TPSCR
ROMP C1L1L2 2.11 NETG3 .G3
OS P1P2S1S2
2 FAGE- G, R: Rinex LEICA LEIAR
ROMP C1C2L1L2 2.11 GRX12 25
OS P2S1S2 00+GN
SS
3 RESI - G, R: Rinex TPS TPSCR
ROMP C1L1L2 2.11 NETG3 .G3
OS P1P2S1S2
4 Geodeti G și R: Rinex TRIMB R10
Figure 5. Geodetic point location on the Google Maps c Point- C1C2L1L2 2.11 LE R10 internal
B10 P2 –Fast
Before performing the GNSS measurements in the 12.02.2023 Static
1200-1400, positioning epoch, the quality of the reference file
stations in the ROMPOS network was analysed online to obtain Table 3. Information from Rinex files 12.02.2023
centimetre accuracy in RTK measurement (Figure 6).
The Stereographic Projection System 1970 is used as a
reference system in Romania and Trimble Business Center
a (TBC) gives us the possibility to set this reference system
before post-processing the GNSS data (Figure 7).

Figure 7. Coordinate System Setting using Trimble Business

Center

Trimble Business Center (TBC) software enables surveyors to

analyse and compensate for metadata, such as vector quality,
c then enhance raw observations with least squares or GNSS post-
processing (Figure 8).

Figure 6. Determination accuracy as a function of the ROMPOS

reference station in the positioning epoch: (a) FAGE, (b) ARAD
and (c) RESI (copyright http://monitoringeupos.gku.sk/)

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To run the experiment and manipulate the GNSS data volumes,

the Python programming language version 3.10.11 with the
GeoRinex 1.16.1 library was used to interpret, analyse, and
visualize the parameters in the RINEX data files.

The RINEX data files format allows efficient and unambiguous

archiving of GNSS data and associated metadata in one place
(in a human-readable form), while also facilitating the easy
transfer and distribution of such data, independent of the
equipment used to collect it and the engine employed for data
processing (“Coordinates : A Resource on Positioning,
Navigation and beyond » Blog Archive » Understanding the
Figure 8. GNSS data processing from 12.02.2023 using RINEX Format for GNSS Data Transfer and Storage,” n.d.).
Trimble Business Center

Most geodetic processing software for GNSS data use a well- 4. RESULTS AND DISCUSSION
defined set of observables (Pestana 2015):
 The carrier-phase measurement at one or both The post-processing of the GNSS data from the positioning
carriers (being a measurement on the beat frequency epoch 12.02.2023 time interval 1200-1400 resulted in the
between the received carrier of the satellite signal and following three-dimensional coordinates of point B10 obtained
a receiver-generated reference frequency). using the two techniques Fast Static and RTK (Table 5).
 The pseudorange (code) measurement is equivalent
to the difference between the time of reception Test X (m) Y (m) Z (m)
(expressed in the time frame of the receiver) and the Fast Static 478571.094 206866.223 87.718
time of transmission (expressed in the time frame of RTK 478570.917 206866.596 87.650
the satellite) of a distinct satellite signal.
 The observation time being the reading of the Table 5. Three-dimensional coordinates of geodetic point B10
receiver clock at the instant of validity of the carrier on 12.02.2023
phase and/or the code measurements.
After post-processing, it can be seen from Figure 8 that we have
Usually, the software assumes that the observation time is valid a horizontal deviation of 0.023m on the B10-Resi vector. To
for both the phase and code measurements, and for all observed understand what happened to the parameters in the Rinex files
satellites. Consequently, all these programmes do not need most during the fast static measurement, we will run the algorithm
of the information that is usually stored by the receivers. They using the GeoRinex library, the following steps:
need phase, code, and time in the above-mentioned definitions,  installing the GeoRinex library for Python 3
and some station-related information like station name, antenna https://pypi.org/project/georinex/
height, etc.  Collection of data from Rinex files according to
positioning epochs from 12.02.2023 in the interval 12:00-14:00
It is necessary to select the most representative group of (Table 3 and Table 4). These data should include the time
stations, providing GNSS observations of the best quality, that ("time"), parameters C1, C2, L1, L2, P1, P2, S1, S2 for each of
is, considering factors, such as the number of observations and the common satellites.
the measured signal-to-noise ratio (Gałdyn, Zajdel, and Sośnica  Visualizing all the parameters (C1, C2, L1, L2, P1,
2023). P2, S1, S2) from Rinex data for each reference station in the
ROMPOS network (ARAD, FAGE, and RESI) and geodetic
To use the GeoRinex library in Python, GNSS data files point B10 using the common satellites for each satellite system
containing actual measurements. These data are raw Rinex file GPS and GLONASS as follows:
formats (Table 3 and Tabel 4) from registered reference stations  GPS satellite system: G06, G11, G12, G24, G25,
and satellites common to the geodetic point (Table 3 and Tabel G29; G32 (figure 9 and figure 10) parameters
4) from the positioning epoch 12.02.2023 as time interval 12 00- Pseudorange C1, C2, P1, P2
1400.

Item Point name Visible satellites

no.
1 ARAD - G06, G11, G12, G24, G25,
ROMPOS G29, G32, R01, R11, R21
2 FAGE- G06, G11, G12, G24, G25,
ROMPOS G29, G32, R01, R11, R21
3 RESI - G06, G11, G12, G24, G25,
ROMPOS G29, G32, R01, R11, R21
4 Geodetic point- G06, G11, G12, G24, G25,
B10 G29, G32, R01, R11, R21
Tabel 4. Information common satellites visible from Rinex files a
12.02.2023

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b
a

d c

Figure 9. View parameters pseudorange C1, C2 for GPS

satellite system from the Rinex file of: (a) ARAD station
reference; (b) FAGE station reference, (c) RESI station
reference and (d) geodetic point B10

Figure 10. View parameters pseudorange P1, P2 for GPS

satellite system from the Rinex file of: (a) ARAD station
reference; (b) FAGE station reference, (c) RESI station
reference and (d) geodetic point B10

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 GPS satellite system: G06, G11, G12, G24, G25,  GPS satellite system: G06, G11, G12, G24, G25,
G29; G32 (Figure 11) parameters Carrier Phase L1, G29; G32 (Figure 12) parameters Signal Strength S1,
L2 S2

a a

b
b

c
c

Figure 12. View parameters signal strength S1, S2 for GPS

satellite system from the Rinex file of: (a) ARAD station
reference; (b) FAGE station reference and (c) RESI station
reference

 GLONASS satellite system: R01, R11, R21 (Figure

13 and Figure 14) Pseudorange C1, C2, P1, P2

Figure 11. View parameters carrier phase L1, L2 for GPS

satellite system from the Rinex file of: (a) ARAD station
reference; (b) FAGE station reference, (c) RESI station
reference and (d) geodetic point B10

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a
a

b b

d
d

Figure 13. View parameters pseudorange C1, C2 for the

GLONASS satellite system from Rinex file of: (a) ARAD
station reference; (b) FAGE station reference; (c) RESI station
Figure 14. View parameters pseudorange P1 P2 for the
reference and (d) geodetic point B10
GLONASS satellite system from Rinex file of: (a) ARAD
station reference; (b) FAGE station reference; (c) RESI station
reference and (d) geodetic point B10

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 GLONASS satellite system: R01, R11, R21 (Figure  GLONASS satellite system: G06, G11, G12, G24,
15) parameters Carrier phase L1, L2 G25, G29; G32 (Figure 16) parameters Signal
Strength S1, S2

a
a

b
b

c
Figure 16. View parameters signal strenght S1, S2 for
GLONASS satellite system from Rinex file of: (a) ARAD
station reference; (b) FAGE station reference and (c) RESI
station reference

The techniques and tools developed for geodetic determinations

have enabled measurements over the last half century to be
made using systems consisting of one or more satellite
constellations, which allow position, velocity, and time
information to be received.

GNSS surveying technology can provide an efficient and

effective option for measuring points even in dense urban areas.
To determine such points, there are several conditions: satellite
d geometry, a larger number of visible satellites, satellite cut-off
angle, signal blockage, data latency, signal interference,
distance between base and rover, location of the rover within
reference station networks, and number of channels of this rover
to record data from multiple satellite systems (Figure 17). For
Figure 15. View parameters carrier phase L1, L2 for the Fast Static measurement dual-frequency receivers can be used
GLONASS satellite system from Rinex file of: (a) ARAD for faster acquisition of correct ambiguities that provide
station reference; (b) FAGE station reference; (c) RESI station centimetre-level positioning accuracy.
reference and (d) geodetic point B10

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files in determining the position of point B10, it can

be observed that in the positioning epoch 12.02.2023,
1200-1400, the satellite R01 has a short period of
parameter transmission (45 minutes according to
figure 12, figure 13, figure 14 and figure 15).
 It can be observed that pseudorange parameters: C1,
C2, and P1, P2 determined from the three GLONASS
satellites: R01, R11, R21 in RESI reference stations
coincide in the measurement epoch.

Therefore, the accuracy of position determination is influenced

by these parameters of the raw RINEX datasets. The observed
results can be used to understand the accuracy of the Fast Static
technique (as can be seen in Figure 8) and to better interpret
their behavior in different environments.

For future work one direction is to investigate the effectiveness

Figure 17. Satellite geometry and PDOP value on 12.02.2023 of using machine learning algorithms to improve the quality of
positioning information (RINEX files) of geodetic points in
Our research explored the accuracy of GNSS Fast Static dense urban areas provided by Global Navigation Satellite
measurement for a set of measurements at geodetic points Systems (GNSS) receivers.
located in dense, high-traffic urban areas. Our main objective
was to better interpret their behaviour in different environments. The multipath propagation mitigation method based on these
Therefore, we analysed and interpreted the degradation of the machine learning algorithms is efficient, easy to use, and can be
information obtained from fast static measurements using the easily extended by adding auxiliary input features, such as
GeoRinex library in Python, paying attention to the known signal-to-noise ratio, during model training (Pan, Möller, and
parameters in the Rinex files: pseudorange, carrier phase, and Soja 2023).
signal strength.
In conclusion, when characterising the accuracy performance of
5. CONCLUSIONS Fast Static measurements, the results showed that the method
requires careful analysis of the types of data used to ensure that
The input data features in the RINEX files were selected based
we benefit from the reliability, availability, and accuracy of
on the knowledge gained from years of work in the field of
each system without having to invest in additional solutions to
GNSS measurements; however, the selection was limited to a
determine the accuracy of a point located in dense urban areas.
set of indicators that can be measured using GNSS reference
station systems and technology in the field.
Authors’ Contributions
Based on research from the results obtained using the GeoRinex The authors made the following contribution to this paper:
library in the Python programming language to evaluate the Conceptualization (ACB); Data curation and formal analysis
error in determining the positioning accuracy of geodetic point (ACB, BCD, FMB); Methodology (ACB, FMB); GeoRinex
B10 located in a crowded and heavily trafficked area using the work (BCD, ACB); Writing - original draft (ACB); Writing -
Fast Static technique, which allows sufficient coverage of review and editing (ACB, BCD, FMB). In addition, the authors
GNSS satellites, is due to the inconsistency of parameters in the thank National Cartography Center for helping with collection
Rinex version 2 files. Rinex data from ROMPOS network. All authors read and
approved the final manuscript.
Therefore, attention was paid to the variations of parameters C1,
C2, L1, L2, P1, P2, S1, and S2 in the Rinex files from the
ROMPOS reference stations and the geodetic point B10. The References
following differences can be observed according to the resulting
graphs (Figure 8, Figure 9, Figure 10, Figure 11, Figure 12, “Coordinates: A Resource on Positioning, Navigation and
Figure 13, Figure 14, and Figure 15) using the GeoRinex library beyond » Blog Archive » Understanding the RINEX Format for
in the Python programming language: GNSS Data Transfer and Storage.” n.d. Accessed May 9, 2024.
 The ARAD and RESI reference stations lack the C2 https://mycoordinates.org/understanding-the-rinex-format-for-
pseudorange parameter for both GPS and GLONASS gnss-data-transfer-and-storage/.
satellite systems.
 Contrary to the two previous stations mentioned Gałdyn, Filip, Radosław Zajdel, and Krzysztof Sośnica. 2023.
above, the FAGE reference station lacks the “RINEXAV: GNSS Global Network Selection Open-Source
pseudorange parameter P1 (both GPS and GLONASS Software Based on Qualitative Analysis of RINEX Files.”
satellite systems) and C2 for the GLONASS satellite SoftwareX 22 (May): 101372.
system. https://doi.org/10.1016/j.softx.2023.101372.
 At geodetic point B10 the parameters: pseudorange
P1 and signal strength S1, S2 for both GPS and “GNSS.” n.d. Accessed May 9, 2024.
GLONASS satellite systems are missing. https://www.unoosa.org/oosa/en/ourwork/psa/gnss/gnss.html.
 Also the fact that from the GLONASS satellite system
we have only three satellites (R01, R11, R21) that
have been taken into account according to the Rinex

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