ubx2rinex is a small command line utility to deserialize
a U-Blox data stream into standardized RINEX file(s).
This application is part of the RTK-rs framework which is delivered under the Mozilla V2 Public license.
You can directly install the tool from Cargo with internet access:
cargo install ubx2rinexDownload the version you are interested in:
git clone https://github.com/rtk-rs/ubx2rinexAnd build it using cargo:
cargo build --all-features -rThe most basic deployment consists in connecting to your U-blox to a serial port, defining the UBX Uart port on your device (assuming your USB/UART is connect to the correct interface), activating at least one constellation (always required),
RUST_LOG=trace ubx2rinex -p /dev/ttyUSB1 --gps
./target/release/ubx2rinex -p /dev/ttyACM0 --gps
[2025-02-23T10:48:22Z INFO ubx2rinex] Connected to U-Blox
[2025-02-23T10:48:22Z DEBUG ubx2rinex] Software version: EXT CORE 3.01 (111141)
[2025-02-23T10:48:22Z DEBUG ubx2rinex] Firmware version: 00080000Not defining any collection option nor selecting a mode of operation, will deploy the default behavior, which is Observation RINEX collection, with default options.
Not defining a baud rate value means you are using our 115_200 default value.
In summary, the mandatory flags are:
-p,--portto define your serial port- at least one constellation activation flags, like
--gps - define a specific baud rate if you want
To determine your U-Blox port on linux, for example:
dmesg | tail -n 20
Follow through this tutorial to understand all the options we offer, especially:
- the application default behavior
- U-Blox configuration options
- select your constellation
- Observation RINEX collection
ubx2rinex uses the Rust logger for tracing events in real-time and not disturb the collection process.
To activate the application logs, simply define the $RUST_LOG variable:
export RUST_LOG=infoSeveral sensitivity options exist:
- info
- error
- debug
- trace
U-Blox receivers are very user friendly yet still require a little knowledge to operate.
That is especially true to advanced use cases.
The most basic configuration your need to understand, is how to parametrize the streaming options
of your U-Blox device. ubx2rinex allows partial reconfiguration of the U-Blox receiver:
(1) Define the streaming interface(s) and options (2) Customize the receiver for this application's need
(1): means you can actually use ubx2rinex to parametrize how your U-Blox streams.
It is also necessary to activate streaming on at least the USB/UART port that you intend to use.
(2): configuring the receiver, in particular what frames it will transmit, will modify the RINEX content we are able to collect obviously.
TODO
TODO
ubx2rinex is a collecter, in the sense that it gathers a real-time stream from your u-Blox,
and dumps it into supported RINEX formats. It is important to keep in mind that, in order to format
a meaningful (and correct) RINEX header, we can only redact it after completion of a first entire epoch,
every time a new gathering period starts.
The default ubx2rinex collection mode is Observation RINEX collection.
Using this mode, you can use your U-Blox as a real-time signal source (sampler) which is then collected as Receiver Independent EXchange for distribution, post processing and much more. The default RINEX format garantees 17 digits of precision on sampled signal and 14 digits on the local clock state.
Observation RINEX collection is the default mode and deploys at all-times, unless you
use the --no-obs flag, which will turn this collection option.
./target/release/ubx2rinex \
-p /dev/ttyACM0 \
-b 115200 \
--rx-clock \
--gps \
--v2 \
-m "M8T u-Blox"
[2025-02-25T20:30:01Z DEBUG ubx2rinex::device] U-Blox Software version: EXT CORE 3.01 (111141)
[2025-02-25T20:30:01Z DEBUG ubx2rinex::device] U-Blox Firmware version: 00080000
[2025-02-25T20:30:01Z INFO ubx2rinex::device] Enabled constellations: GPS, Glonass,
[2025-02-25T20:30:01Z INFO ubx2rinex::device] Supported constellations: GPS, Galileo, BeiDou, Glonass,
[2025-02-25T20:30:01Z DEBUG ubx2rinex] UBX-NAV-EOE enabled
[2025-02-25T20:30:02Z DEBUG ubx2rinex] UBX-NAV-PVT enabled
[2025-02-25T20:30:02Z DEBUG ubx2rinex] UBX-NAV-CLK enabled
[2025-02-25T20:30:02Z DEBUG ubx2rinex] UBX-NAV-PVT enabled
[2025-02-25T20:30:02Z DEBUG ubx2rinex] Measurement rate is 30 s (Gps)
[2025-02-25T20:30:03Z INFO ubx2rinex] Observation RINEX mode deployed
[2025-02-25T20:30:03Z INFO ubx2rinex] 2025-02-25T20:30:18.313672551 GPST - program deployed
[2025-02-25T20:30:12Z TRACE ubx2rinex::collecter] 2025-02-25T20:30:30.006000000 GPST - (G02 RAWX) - pr=2.2654484E7 cp=1.1905012E8 dop=-1.1215144E3 cno=25
[2025-02-25T20:30:12Z TRACE ubx2rinex::collecter] 2025-02-25T20:30:30.006000000 GPST - (G03 RAWX) - pr=2.1846652E7 cp=1.1480491E8 dop=6.1150366E2 cno=37
[2025-02-25T20:30:12Z TRACE ubx2rinex::collecter] 2025-02-25T20:30:30.006000000 GPST - (R19 RAWX) - pr=2.4613278E7 cp=1.3166441E8 dop=-3.8444370E3 cno=23
[2025-02-25T20:30:12Z DEBUG ubx2rinex] NAV PVT: NavPvt { itow: 246630000, year: 2025, month: 2, day: 25, hour: 20, min: 30, sec: 12, valid: 55, time_accuracy: 50, nanosecond: 371019, fix_type: Fix3D, flags: NavPvtFlags(GPS_FIX_OK), flags2: NavPvtFlags2(RESERVED1 | RESERVED3 | CONFIRMED_AVAI | CONFIRMED_DATE | CONFIRMED_TIME), num_satellites: 8, lon: 4.635316899999999, lat: 43.6876077, height_meters: 65.992, height_msl: 18.155, horiz_accuracy: 21079, vert_accuracy: 24241, vel_north: 0.081, vel_east: 0.092, vel_down: -0.129, ground_speed: 0.123, heading: 0.0, speed_accuracy_estimate: 0.20400000000000001, heading_accuracy_estimate: 162.7699, pdop: 204, reserved1: [0, 0, 74, 100, 35, 0], heading_of_vehicle: 0.0, magnetic_declination: 0.0, magnetic_declination_accuracy: 0.0 }
[2025-02-25T20:30:12Z DEBUG ubx2rinex] nav-sat: NavSat { itow: 246630000, version: 1, num_svs: 21, reserved: [0, 0], [...] }
[2025-02-25T20:30:12Z DEBUG ubx2rinex] NAV CLK: NavClock { itow: 246630000, clk_b: 628984, clk_d: 187, t_acc: 50, f_acc: 736 }
[...]ubx2rinex is smart, it will adapt the main Timescale to your Constellation choices.
Observation RINEX allows describing the receiver clock state with 14 digits precision.
This is optional and disabled by default. If you are interested in capturing and distributing your local
clock state, you should turn activate this option with --rx-clock.
When collecting signal observations, it is important to define your sampling period. The default sampling period is set to 30s, which is compatible with standard Observation RINEX publications.
You can use any custom value above 50ms.
In this example, we reduce the sampling period to 1s:
ubx2rinex -p /dev/ttyACM0 \
--gps \
-s "1 s"The snapshot period defines how often we release a RINEX of each kind. When the snapshot is being released, the file handled is released and the file is ready to be distributed or post processed.
By default, the snapshot period is set to Daily, which is compatible with standard RINEX publications.
Several options exist (you can only select one at once):
--hourlyfor Hourly RINEX publication--quarterlyfor one publication every 6 hours--noonfor one publication every 12 hours--custom $dtfor custom publication period. Every validDurationdescription may apply. For example, these are all valid durations: `--period
NB:
- the first signal observation is released everyday at midnight 00:00:00 in the main Timescale
- the last signal observation is released everyday at 23:59:30 in the main Timescale
ubx2rinex does not support graceful interruption. If you abort the ongoing period by killing this program, you may wind-up with an incomplete epoch at the very end.