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Reference Specifications (ICDs & Vendor Guides)

This page catalogs the interface-control documents (ICDs) and receiver vendor guides that MRTKLIB's decoders and positioning engines were implemented against.

The PDFs themselves are not in this repository

These documents are copyrighted by their respective issuers and are kept local only — docs/reference/icd/*.pdf is gitignored and never pushed to the remote. This page (the provenance catalog) is tracked. To obtain a copy, download the official version from the Source column. Drop the PDF into docs/reference/icd/ and it will be available locally without being committed.

Public open ICDs

These are freely published by their issuing authority and can be downloaded by anyone from the official source.

File Document / Issue Issuer Source Used by
is-qzss-l6-008.pdf IS-QZSS-L6-008 (QZSS L6 signal / CLAS · MADOCA-PPP) Cabinet Office (QZSS) https://qzss.go.jp/en/technical/ps-is-qzss/ps-is-qzss.html src/clas/, src/madoca/, L6 frame decoders
is-qzss-mdc-004.pdf IS-QZSS-MDC-004 (QZSS MADOCA-PPP / CLAS) Cabinet Office (QZSS) https://qzss.go.jp/en/technical/ps-is-qzss/ps-is-qzss.html src/madoca/, src/clas/, src/pos/mrtk_ppp.c
sli-mdc-ion-draft.pdf MADOCA L6D wide-area ionosphere (draft) Cabinet Office (QZSS) QZSS technical documents (draft distribution) src/madoca/mrtk_madoca_iono.c, src/pos/mrtk_ppp_iono.c
IS-GPS-200N.pdf IS-GPS-200N — Navstar GPS Space Segment / Navigation User Interfaces US SMC / GPS Directorate https://www.gps.gov/technical/icwg/ src/data/ (ephemeris), RINEX nav
Galileo_HAS_SIS_ICD_v1.0.pdf Galileo HAS SIS ICD, Issue 1.0 (May 2022) EUSPA / European Union https://www.gsc-europa.eu/electronic-library/programme-reference-documents src/has/
BeiDou_PPP_B2b_ICD_v1.0.pdf BDS-SIS-ICD-PPP-B2b-1.0 CSNO (China Satellite Navigation Office) http://en.beidou.gov.cn/SYSTEMS/ICD/ src/pos/ (PPP-B2b)

Vendor firmware reference guides

Restricted distribution

Septentrio reference guides are distributed through registered customer accounts and are not freely redistributable. Do not post them anywhere public. Obtain them from your own Septentrio account.

File Document / Version Vendor Source Used by
mosaic-CLAS Firmware v4.15.1 Reference Guide.pdf mosaic-CLAS Reference Guide, fw v4.15.1 Septentrio Septentrio account (login required) docs/hardware/, two-receiver QZSS L6 (v0.7.1)
mosaic-G5 Firmware v1.1.0 Reference Guide.pdf mosaic-G5 Reference Guide, fw v1.1.0 Septentrio Septentrio account (login required) docs/hardware/cssr2rtcm3-mosaic-g5.md

Standards and ICDs referenced in the references : headers of upstream/RTKLIB/src/* and reused by MALIB / CLASLIB / MADOCALIB. These are not held locally — download from the official issuer when needed. Near-identical versions are folded into one row (the cited editions are listed). Vendor receiver protocol specs (u-blox/NovAtel/Septentrio/Javad/… UBX, BINR, GREIS, OEM) are intentionally excluded — they are not open standards.

🎯 = collection candidate (actually exercised by MRTKLIB positioning, worth holding a local copy). Documents already held above are cross-referenced.

GNSS signal ICDs

Document (cited editions) Issuer Source Cited by
IS-GPS-200 — Navstar GPS Space Segment / Navigation User Interfaces (200D 2006, 200K 2019; 200N → held, see above) US SMC / GPS Directorate https://www.gps.gov/technical/icwg/ ephemeris.c, rinex.c, rcvraw.c
IS-QZSS — QZSS Navigation Service IS (v1.1 2009, v1.5 2014, PNT IS-QZSS-PN-003 2018) Cabinet Office (QZSS) https://qzss.go.jp/en/technical/ps-is-qzss/ps-is-qzss.html ephemeris.c, rcvraw.c, qzslex.c, sbas.c
IS-QZSS-MDC — MADOCA-PPP / CLAS (MDC-002 2023; MDC-004 2025 → held, see above) 🎯 Cabinet Office (QZSS) https://qzss.go.jp/en/technical/ps-is-qzss/ps-is-qzss.html mdciono.c, mdccssr.c, ppp.c, ppp_ar.c
European GNSS (Galileo) Open Service SIS ICD (Issue 1 2010, 1.2 2015, 1.3 2016) EUSPA / EU https://www.gsc-europa.eu/electronic-library/programme-reference-documents ephemeris.c
BeiDou (BDS) SIS ICD — Open Service Signal B1I (v1.0 2012, v3.0 2019) CSNO http://en.beidou.gov.cn/SYSTEMS/ICD/ rtkcmn.c, ephemeris.c, rcvraw.c
GLONASS ICD — Navigational radiosignal in bands L1, L2 (v5.1 2008) Russian Space Systems https://glonass-iac.ru/en/documents/ ephemeris.c, rcvraw.c
ISRO-IRNSS-ICD-SPS-1.1 — IRNSS/NavIC SPS (2017) ISRO https://www.isro.gov.in/ rcvraw.c

Augmentation / integrity standards

Document Issuer Source Cited by
RTCA/DO-229C — MOPS for GPS/WAAS Airborne Equipment (2001) RTCA https://www.rtca.org/ ephemeris.c, rtkcmn.c, sbas.c

RINEX family

Document (cited editions) Issuer Source Cited by
RINEX — Receiver Independent Exchange Format (2.11, 2.12, 3.00–3.05, 4.00, 4.01) IGS RINEX WG / RTCM-SC104 https://igs.org/wg/rinex/ rinex.c
RINEX clock-information extensions (1998, 3.02 2010, 3.04 2017) IGS / J.Ray, W.Gurtner https://files.igs.org/pub/data/format/ rinex.c

RTCM standards & SSR

Document (cited editions) Issuer Source Cited by
RTCM 10403.x — Differential GNSS Services v3 (10403.1 2006 + Amdt 3/5, 10403.2 2013, 10403.3 2020) 🎯 RTCM SC-104 https://www.rtcm.org/publications rtcm.c, ephemeris.c
RTCM Recommended Standards for DGNSS v2.3 (2001) RTCM SC-104 https://www.rtcm.org/publications rtcm.c
RTCM Ntrip (Networked Transport via Internet Protocol) v1.0 (2004) RTCM SC-104 https://www.rtcm.org/publications stream.c
RTCM SC-104 draft/proposal papers — SSR & MSM & ephemeris (012-2009-528/-582, 059-2011-635, 019-2012-689, 163-2012-725, 034-2012-693, 133-2012-709, 122-2012-707.r1, 107-2014-818; "Proposed SSR Messages" 2010; ssr_1_gal_qzss_sbas_dbs_v05 2014) RTCM SC-104 https://www.rtcm.org/ rtcm.c, ephemeris.c

IGS / GNSS exchange formats

Document Issuer Source Cited by
SP3 — Extended Standard Product 3 Orbit Format (SP3-c 2007, SP3-d 2016) 🎯 IGS / S.Hilla https://files.igs.org/pub/data/format/sp3d.pdf preceph.c
ANTEX — The Antenna Exchange Format v1.4 (2010) 🎯 IGS / Rothacher, Schmid https://files.igs.org/pub/data/format/antex14.txt rtkcmn.c
IONEX — The IONosphere Map Exchange Format v1 (1998) IGS / Schaer, Gurtner, Feltens https://files.igs.org/pub/data/format/ionex1.pdf ionex.c
SINEX-Bias — Solution INdependent EXchange for GNSS Biases v1.00 (2018) 🎯 IGS / S.Schaer https://files.igs.org/pub/data/format/sinex_bias_100.pdf biassnx.c
IGS State Space Representation (SSR) Format v1.00 (2020) IGS https://files.igs.org/pub/data/format/igs_ssr_v1.pdf rtcm.c

Timekeeping / reference frames

Document Issuer Source Cited by
IERS Conventions — IERS Technical Notes 21 (1996), 32 (2003), 36 (2010) 🎯 IERS / McCarthy, Petit, Luzum https://www.iers.org/IERS/EN/Publications/TechnicalNotes/ ppp.c, mrtk_tides.c, cssr2osr.c

Output / peripheral I/O formats

Document Issuer Source Cited by
NMEA 0183 v4.10 (2012) + Talker Identifier Mnemonics (2019) NMEA https://www.nmea.org/ solution.c
OGC KML 2.2 (07-147r2, 2008) Open Geospatial Consortium https://www.ogc.org/standard/kml/ convkml.c
GPX — The GPS Exchange Format TopoGrafix https://www.topografix.com/gpx.asp convgpx.c
ESRI Shapefile Technical Description (1998) ESRI https://www.esri.com/ gis.c
BINEX — Binary Exchange Format UNAVCO https://binex.unavco.org/ binex.c

Adding a new specification

  1. Download the official PDF and place it in docs/reference/icd/.
  2. Add a row to the appropriate table above: filename, full title + issue/version, issuer, official source URL, and which MRTKLIB modules cite it.
  3. Commit only index.md — the PDF is gitignored automatically.