'\" t
.\"     Title: gpsrinex
.\"    Author: [see the "AUTHOR" section]
.\" Generator: DocBook XSL Stylesheets vsnapshot <http://docbook.sf.net/>
.\"      Date: 6 December 2020
.\"    Manual: GPSD Documentation
.\"    Source: The GPSD Project
.\"  Language: English
.\"
.TH "GPSRINEX" "1" "6 December 2020" "The GPSD Project" "GPSD Documentation"
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.SH "NAME"
gpsrinex \- Read data from gpsd convert to RINEX3 and save to a file\&.
.SH "SYNOPSIS"
.HP \w'\fBgpsrinex\fR\ 'u
\fBgpsrinex\fR [\-\-agency\ \fIAGENCY\fR] [\-\-ant_e\ \fIEASTING\fR] [\-\-ant_h\ \fIHEIGHT\fR] [\-\-ant_n\ \fINORTHING\fR] [\-\-ant_num\ \fINUM\fR] [\-\-ant_type\ \fITYPE\fR] [\-\-count\ \fICOUNT\fR] [\-\-debug\ \fILVL\fR] [\-\-fileout\ \fIFILE\fR] [\-\-help] [\-\-interval\ \fIINTERVAL\fR] [\-\-marker_name\ \fINAME\fR] [\-\-marker_type\ \fITYPE\fR] [\-\-observer\ \fIOBSERVER\fR] [\-\-rec_num\ \fINUM\fR] [\-\-rec_type\ \fITYPE\fR] [\-\-rec_vers\ \fIVERS\fR] [\-\-version] [\-D\ \fILVL\fR] [\-f\ \fIFILE\fR] [\-h] [\-i\ \fIINTERVAL\fR] [\-n\ \fICOUNT\fR] [\-V] [\fIserver\fR [\fI:port\fR [\fI:device\fR]]]
.SH "DESCRIPTION"
.PP
gpsrinex
is a tool to connect to
gpsd
and output the received raw measurements as a RINEX 3 observation file\&. This is useful for sending raw measurements (pseudorange and carrierphase) from
gpsd
to a Precise Point Positioning (PPP) program or service\&.
.PP
gpsrinex
does not require root privileges, and can be run concurrently with other tools connecting to a local or remote
gpsd
without causing problems\&.
.PP
gpsrinex needs the GPS receiver to be sending raw measurements to
gpsd\&. Only a few GPS have this capability\&. In addition, the
gpsd
driver for that GPS must support raw mode\&. Currently only the u\-blox driver has this support\&. Only a few u\-blox 8 GPS implement the required UBX\-RXM\-RAWX message\&. The NEO\-M8T is known to work, but requires configuration with
ubxtool\&.
.PP
Before using
ubxtool
be sure to set the UBXOPTS environment variable with the correct protocol version for your u\-blox receiver\&. If your protocol version is 32\&.00, you would do this:
.sp
.if n \{\
.RS 4
.\}
.nf
export UBXOPTS="\-P 32\&.00"
.fi
.if n \{\
.RE
.\}
.PP
RINEX has its own definitions and abbreviations\&. Be sure to consult their documentation\&. An observation file (\&.obs) contains data sets, called epochs, that contain the pseudorange and carrierphase for each satellite seen\&.
.PP
gpsrinex
by default will acquire 20 epochs spaced apart by 30 seconds\&. That will take 10 minutes to complete\&. Most users consider the 30 second interval to be optimal\&. Many PPP programs require at least 1 or 2 hours data, but no more than 24 or 48 hours of data\&. Most users consider 4 to 6 hours of data as a minimum for good accuracy\&. Additional hours will not yield much improvement\&.
.PP
The output will consist of one RINEX 3 observation file that is ready to be read by your PPP program\&. The default filename will be in the form: gpsrinexYYYYJJJHHMMSS\&.obs\&. You can override this filename with the
\fB\-f\fR
option\&.
.PP
Optionally a server, TCP/IP port number and remote device can be given\&. If omitted,
gpsrinex
connects to localhost on the default port (2947) and watches all devices opened by
gpsd\&.
.SH "OPTIONS"
.PP
\fB\-?\fR, \fB\-h\fR, \fB\-\-help\fR
.RS 4
Print a usage message and exit\&.
.RE
.PP
\fB\-D LVL\fR, \fB\-debug LVL\fR
.RS 4
Set debug level to LVL\&.
.RE
.PP
\fB\-f FILE\fR, \fB\-\-fileout FILE\fR
.RS 4
save RINEX into FILE\&.
.RE
.PP
\fB\-i SECS\fR, \fB\-\-interval SECS\fR
.RS 4
wait [interval] seconds between epochs\&. The interval can be specified to the millisecond\&. OPUS accepts intervals of 1, 2, 3, 5, 10, 15 or,30 seconds\&. OPUS then reduces the data to 30 second intervals\&. Default is 30\&.000\&.
.RE
.PP
\fB\-n COUNT\fR, \fB\-\-count COUNT\fR
.RS 4
Causes COUNT epochs to be output\&. OPUS requires a minimum af 15 minutes, and a maximum of 48 hours, of data\&.
.RE
.PP
\fB\-V\fR, \fB\-\-version\fR
.RS 4
makes
gpsrinex
print its version and exit\&.
.RE
.PP
The following options set strings that are placed in the generated RINEX 3 obs file\&. They do not change how gpsrinex computes anything\&.
.PP
\fB\-\-agency AGENCY\fR
.RS 4
The name of the agency creating the current file\&.
.RE
.PP
\fB\-\-ant_num NUMBER\fR
.RS 4
The antenna serial number\&.
.RE
.PP
\fB\-\-ant_type TYPE\fR
.RS 4
The antenna type\&.
.RE
.PP
\fB\-\-marker_name NAME\fR
.RS 4
The marker name\&.
.RE
.PP
\fB\-\-marker_type TYPE\fR
.RS 4
The marker type
.RE
.PP
\fB\-\-observer OBSERVER\fR
.RS 4
The name of the observer (you)\&.
.RE
.PP
\fB\-\-rec_num NUM\fR
.RS 4
The receiver serial number\&.
.RE
.PP
\fB\-\-rec_type TYPE\fR
.RS 4
The receiver type\&.
.RE
.PP
\fB\-\-rec_vers VERS\fR
.RS 4
The receiver version\&.
.RE
.PP
The following options set floating point numbers that are placed in the generated RINEX 3 obs file\&. They do not change how gpsrinex computes anything\&.
.PP
\fB\-\-ant_e EASTING\fR
.RS 4
The antenna easting from marker in meters\&.
.RE
.PP
\fB\-\-ant_h HEIGHT\fR
.RS 4
The antenna height from marker in meters\&.
.RE
.PP
\fB\-\-ant_n NORTHING\fR
.RS 4
The antenna northing from marker in meters\&.
.RE
.SH "EXAMPLES"
.PP
Example 1:
.PP
Create a 4 hour \&.obs file\&. With a running
gpsd
accessible on the localhost do all of the following, in order\&. Order matters\&.
.PP
The raw measurement messages are long\&. Be sure your serial port speed is high enough:
.sp
.if n \{\
.RS 4
.\}
.nf
gpsctl \-s 115200
.fi
.if n \{\
.RE
.\}
.PP
Disable all NMEA messages, and enable binary messages:
.sp
.if n \{\
.RS 4
.\}
.nf
ubxtool \-d NMEA
ubxtool \-e BINARY
.fi
.if n \{\
.RE
.\}
.PP
The NEO\-M8N will only reliably output raw measurements when only the GPS and QZSS constellations are enabled\&. If your PPP service can use GLONASS, then enable that as well\&. Be sure to disable, before enable, so as not to momentarily have too many constellations selected\&.
ubxtool, as recommended by u\-blox, enables the QZSS constellation in tandem with GPS\&. Disable all constellations, except GPS (and QZSS):
.sp
.if n \{\
.RS 4
.\}
.nf
ubxtool \-d BEIDOU
ubxtool \-d GALILEO
ubxtool \-d GLONASS
ubxtool \-d SBAS
ubxtool \-e GPS
.fi
.if n \{\
.RE
.\}
.PP
Verify the constellations enabled:
.sp
.if n \{\
.RS 4
.\}
.nf
ubxtool \-p CFG\-GNSS
.fi
.if n \{\
.RE
.\}
.PP
Enable the good stuff, the raw measurement messages:
.sp
.if n \{\
.RS 4
.\}
.nf
ubxtool \-e RAWX
.fi
.if n \{\
.RE
.\}
.PP
Verify raw data messages are being sent:
.sp
.if n \{\
.RS 4
.\}
.nf
ubxtool | fgrep RAWX
.fi
.if n \{\
.RE
.\}
.sp
You should see this output:
.sp
.if n \{\
.RS 4
.\}
.nf
UBX\-RXM\-RAWX:
UBX\-RXM\-RAWX:
.fi
.if n \{\
.RE
.\}
.PP
Collect 4 hours of samples at 30 second intervals, save the RINEX 3 observations in the file today\&.obs:
.sp
.if n \{\
.RS 4
.\}
.nf
gpsrinex \-i 30 \-n 480 \-f today\&.obs
.fi
.if n \{\
.RE
.\}
.PP
Wait 4 hours\&. Enjoy a meal, or do some exercise\&. When
gpsrinex
finishes, upload the file today\&.obs to your favorite PPP service\&.
.PP
Example 2:
.PP
Collect raw measurement data from a remote gpsd\&. The process it later with
gpsrinex
and
gpsprof\&.
.PP
Ensure the GPS is configured properly, as shown in Example 1\&.
.PP
Grab 4 hours of raw live data from remote
gpsd
at 10\&.168\&.1\&.2:
.sp
.if n \{\
.RS 4
.\}
.nf
gpspipe \-x 14400 \-R 10\&.168\&.1\&.2 > 4h\-raw\&.ubx
.fi
.if n \{\
.RE
.\}
.PP
When
gpspipe
is complete, feed the data to
gpsfake:
.sp
.if n \{\
.RS 4
.\}
.nf
gpsfake \-1 \-P 3000 4h\-raw\&.ubx
.fi
.if n \{\
.RE
.\}
.PP
In another window, feed the data to
gpsrinex\&. Use \-n 10000000 so that all the data from the raw file is used::
.sp
.if n \{\
.RS 4
.\}
.nf
gpsrinex \-i 30 \-n 1000000 :3000
.fi
.if n \{\
.RE
.\}
.PP
Repeat the process with
gpsfake
to send the data to
gpsprof\&.
.SH "SEE ALSO"
.PP
One service known to work with gbsrinex output is at: https://webapp\&.geod\&.nrcan\&.gc\&.ca/geod/tools\-outils/ppp\&.php
.PP
OPUS requires 2 frequency observation files\&. https://www\&.ngs\&.noaa\&.gov/OPUS/
.PP
The curious can find the RINEX 3\&.04 format described here: ftp://igs\&.org/pub/data/format/rinex304\&.pdf
.PP
\fBgpsd\fR(8),
\fBgpsfake\fR(1),
\fBubxtool\fR(1)\&.
.SH "AUTHOR"
.PP
Gary E\&. Miller
<gem@rellim\&.com>\&.