diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
index 6ef870b65..d3fa0af34 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
@@ -1181,6 +1181,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                                         }
 
                                     // ####################### RTCM MESSAGES #################
+                                    //TODO Add RTCM logic for GLONASS satellites
                                     if(b_rtcm_writing_started)
                                         {
                                             if(type_of_rx == 1) // GPS L1 C/A
diff --git a/src/algorithms/PVT/libs/rinex_printer.h b/src/algorithms/PVT/libs/rinex_printer.h
index d9aee967e..c4029f868 100644
--- a/src/algorithms/PVT/libs/rinex_printer.h
+++ b/src/algorithms/PVT/libs/rinex_printer.h
@@ -61,8 +61,10 @@
 #include "gps_navigation_message.h"
 #include "gps_cnav_navigation_message.h"
 #include "galileo_navigation_message.h"
+#include "glonass_gnav_navigation_message.h"
 #include "GPS_L1_CA.h"
 #include "Galileo_E1.h"
+#include "GLONASS_L1_CA.h"
 #include "gnss_synchro.h"
 
 class Sbas_Raw_Msg;
@@ -88,6 +90,7 @@ public:
     std::fstream navFile ; //<! Output file stream for RINEX navigation data file
     std::fstream sbsFile ; //<! Output file stream for RINEX SBAS raw data file
     std::fstream navGalFile ; //<! Output file stream for RINEX Galileo navigation data file
+    std::fstream navGloFile ; //<! Output file stream for RINEX GLONASS navigation data file
     std::fstream navMixFile ; //<! Output file stream for RINEX Mixed navigation data file
 
     /*!
@@ -110,6 +113,26 @@ public:
      */
     void rinex_nav_header(std::fstream & out, const Gps_Iono & gps_iono, const Gps_Utc_Model & gps_utc_model, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac & galileo_almanac);
 
+    /*!
+     *  \brief Generates the GLONASS L1, L2 C/A Navigation Data header
+     */
+    void rinex_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
+
+    /*!
+     *  \brief Generates the Mixed (GLONASS/Galileo) Navigation Data header
+     */
+    void rinex_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac & galileo_almanac);
+
+    /*!
+     *  \brief Generates the Mixed (GLONASS L1, L2/GPS L1 C/A) Navigation Data header
+     */
+    void rinex_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac, const Gps_Iono & gps_iono, const Gps_Utc_Model & gps_utc_model);
+
+    /*!
+     *  \brief Generates the Mixed (GLONASS L1, L2/GPS L2C ) Navigation Data header
+     */
+    void rinex_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac, const Gps_CNAV_Iono & gps_CNAV_iono, const Gps_CNAV_Utc_Model & gps_CNAV_utc_model);
+
     /*!
      *  \brief Generates the GPS Observation data header
      */
@@ -135,6 +158,26 @@ public:
      */
     void rinex_obs_header(std::fstream & out, const Gps_Ephemeris & gps_eph, const Galileo_Ephemeris & galileo_eph, const double d_TOW_first_observation, const std::string galileo_bands = "1B");
 
+    /*!
+     *  \brief Generates the GLONASS GNAV Observation data header. Example: bands("1C"), bands("1C 2C"), bands("2C"), ... Default: "1C".
+     */
+    void rinex_obs_header(std::fstream & out, const Glonass_Gnav_Ephemeris & eph, const double d_TOW_first_observation, const std::string bands = "1C");
+
+    /*!
+     *  \brief Generates the Mixed (GPS L1 C/A /GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
+     */
+    void rinex_obs_header(std::fstream & out, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Gps_Ephemeris & gps_eph, const double d_TOW_first_observation, const std::string gps_bands = "1C");
+
+    /*!
+     *  \brief Generates the Mixed (GPS L2C/GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
+     */
+    void rinex_obs_header(std::fstream & out, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Gps_Ephemeris & gps_CNAV_eph, const double d_TOW_first_observation, const std::string gps_bands = "1C");
+
+    /*!
+     *  \brief Generates the Mixed (Galileo/GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
+     */
+    void rinex_obs_header(std::fstream & out, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Galileo_Ephemeris & galileo_eph, const double d_TOW_first_observation, const std::string gps_bands = "1B");
+
     /*!
      *  \brief Generates the SBAS raw data header
      */
@@ -160,6 +203,11 @@ public:
      */
     boost::posix_time::ptime compute_Galileo_time(const Galileo_Ephemeris & eph, const double obs_time);
 
+    /*!
+     *  \brief Computes the GLONASS System Time and returns a boost::posix_time::ptime object
+     */
+    boost::posix_time::ptime compute_GLONASS_time(const Glonass_Gnav_Ephemeris & eph, const double obs_time);
+
     /*!
      *  \brief Writes data from the GPS L1 C/A navigation message into the RINEX file
      */
@@ -205,6 +253,26 @@ public:
      */
     void log_rinex_obs(std::fstream & out, const Gps_Ephemeris & gps_eph, const Galileo_Ephemeris & galileo_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables);
 
+    /*!
+     *  \brief Writes GLONASS GNAV observables into the RINEX file. Example: glonass_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
+     */
+    void log_rinex_obs(std::fstream & out, const Glonass_Gnav_Ephemeris & eph, double obs_time, const std::map<int, Gnss_Synchro> & observables, const std::string glonass_bands = "1C");
+
+    /*!
+     *  \brief Writes Mixed GLONASS / GPS L1 C/A observables into the RINEX file
+     */
+    void log_rinex_obs(std::fstream & out, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Gps_Ephemeris & gps_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables);
+
+    /*!
+     *  \brief Writes Mixed GLONASS / GPS L2C observables into the RINEX file
+     */
+    void log_rinex_obs(std::fstream & out, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Gps_CNAV_Ephemeris & gps_CNAV_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables);
+
+    /*!
+     *  \brief Writes Mixed GLONASS / Galileo observables into the RINEX file
+     */
+    void log_rinex_obs(std::fstream & out, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Galileo_Ephemeris & galileo_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables);
+
     /*!
      * \brief Represents GPS time in the date time format. Leap years are considered, but leap seconds are not.
      */
@@ -223,12 +291,22 @@ public:
 
     void update_nav_header(std::fstream & out, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & utc_model, const Galileo_Almanac & galileo_almanac);
 
+    void update_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
+
+    void update_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac, const Gps_Utc_Model & gps_utc, const Gps_Iono & gps_iono);
+
+    void update_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac, const Gps_CNAV_Utc_Model & gps_CNAV_utc, const Gps_CNAV_Iono & gps_CNAV_iono);
+
+    void update_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac& galileo_almanac);
+
     void update_obs_header(std::fstream & out, const Gps_Utc_Model & utc_model);
 
     void update_obs_header(std::fstream & out, const Gps_CNAV_Utc_Model & utc_model);
 
     void update_obs_header(std::fstream & out, const Galileo_Utc_Model & galileo_utc_model);
 
+    void update_obs_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model);
+
     std::map<std::string,std::string> satelliteSystem; //<! GPS, GLONASS, SBAS payload, Galileo or Compass
     std::map<std::string,std::string> observationType; //<! PSEUDORANGE, CARRIER_PHASE, DOPPLER, SIGNAL_STRENGTH
     std::map<std::string,std::string> observationCode; //<! GNSS observation descriptors
@@ -238,6 +316,7 @@ public:
     std::string obsfilename;
     std::string sbsfilename;
     std::string navGalfilename;
+    std::string navGlofilename;
     std::string navMixfilename;
 
 private: