@neilberkman/sidereon 0.19.0 → 0.20.0

package/pkg/sidereon.js

@@ -5042,6 +5042,104 @@ export class FrameStates {
 }
 if (Symbol.dispose) FrameStates.prototype[Symbol.dispose] = FrameStates.prototype.free;
 
+/**
+ * Recorded fusion forward-pass history accepted by `smoothFusionRts`.
+ */
+export class FusionRtsHistory {
+    static __wrap(ptr) {
+        const obj = Object.create(FusionRtsHistory.prototype);
+        obj.__wbg_ptr = ptr;
+        FusionRtsHistoryFinalization.register(obj, obj.__wbg_ptr, obj);
+        return obj;
+    }
+    __destroy_into_raw() {
+        const ptr = this.__wbg_ptr;
+        this.__wbg_ptr = 0;
+        FusionRtsHistoryFinalization.unregister(this);
+        return ptr;
+    }
+    free() {
+        const ptr = this.__destroy_into_raw();
+        wasm.__wbg_fusionrtshistory_free(ptr, 0);
+    }
+    /**
+     * Number of recorded epochs.
+     * @returns {number}
+     */
+    get epochCount() {
+        const ret = wasm.fusionrtshistory_epochCount(this.__wbg_ptr);
+        return ret >>> 0;
+    }
+    /**
+     * Recorded epochs in forward time order.
+     * @returns {any}
+     */
+    get epochs() {
+        const ret = wasm.fusionrtshistory_epochs(this.__wbg_ptr);
+        if (ret[2]) {
+            throw takeFromExternrefTable0(ret[1]);
+        }
+        return takeFromExternrefTable0(ret[0]);
+    }
+}
+if (Symbol.dispose) FusionRtsHistory.prototype[Symbol.dispose] = FusionRtsHistory.prototype.free;
+
+/**
+ * Builder for recording a fusion forward pass before RTS smoothing.
+ */
+export class FusionRtsHistoryBuilder {
+    static __wrap(ptr) {
+        const obj = Object.create(FusionRtsHistoryBuilder.prototype);
+        obj.__wbg_ptr = ptr;
+        FusionRtsHistoryBuilderFinalization.register(obj, obj.__wbg_ptr, obj);
+        return obj;
+    }
+    __destroy_into_raw() {
+        const ptr = this.__wbg_ptr;
+        this.__wbg_ptr = 0;
+        FusionRtsHistoryBuilderFinalization.unregister(this);
+        return ptr;
+    }
+    free() {
+        const ptr = this.__destroy_into_raw();
+        wasm.__wbg_fusionrtshistorybuilder_free(ptr, 0);
+    }
+    /**
+     * Return a validated recorded history.
+     * @returns {FusionRtsHistory}
+     */
+    finish() {
+        const ret = wasm.fusionrtshistorybuilder_finish(this.__wbg_ptr);
+        if (ret[2]) {
+            throw takeFromExternrefTable0(ret[1]);
+        }
+        return FusionRtsHistory.__wrap(ret[0]);
+    }
+    /**
+     * Start a history from the filter's current checkpoint.
+     * @param {GnssInsFilter} filter
+     * @returns {FusionRtsHistoryBuilder}
+     */
+    static fromFilter(filter) {
+        _assertClass(filter, GnssInsFilter);
+        const ret = wasm.fusionrtshistorybuilder_fromFilter(filter.__wbg_ptr);
+        if (ret[2]) {
+            throw takeFromExternrefTable0(ret[1]);
+        }
+        return FusionRtsHistoryBuilder.__wrap(ret[0]);
+    }
+    /**
+     * Start an empty history for manual recording.
+     */
+    constructor() {
+        const ret = wasm.fusionrtshistorybuilder_new();
+        this.__wbg_ptr = ret;
+        FusionRtsHistoryBuilderFinalization.register(this, this.__wbg_ptr, this);
+        return this;
+    }
+}
+if (Symbol.dispose) FusionRtsHistoryBuilder.prototype[Symbol.dispose] = FusionRtsHistoryBuilder.prototype.free;
+
 /**
  * WGS84 geodesic input failure class exposed as a stable enum symbol.
  * @enum {0}
@@ -5755,6 +5853,20 @@ export class GnssInsFilter {
         }
         return takeFromExternrefTable0(ret[0]);
     }
+    /**
+     * Propagate and record the transition for later fusion RTS smoothing.
+     * @param {any} sample
+     * @param {FusionRtsHistoryBuilder} history
+     * @returns {any}
+     */
+    propagateRecorded(sample, history) {
+        _assertClass(history, FusionRtsHistoryBuilder);
+        const ret = wasm.gnssinsfilter_propagateRecorded(this.__wbg_ptr, sample, history.__wbg_ptr);
+        if (ret[2]) {
+            throw takeFromExternrefTable0(ret[1]);
+        }
+        return takeFromExternrefTable0(ret[0]);
+    }
     /**
      * Restore this filter from versioned fusion-state bytes.
      * @param {Uint8Array} bytes
@@ -5812,6 +5924,20 @@ export class GnssInsFilter {
         }
         return takeFromExternrefTable0(ret[0]);
     }
+    /**
+     * Apply a loose GNSS fix and record checkpoints for fusion RTS smoothing.
+     * @param {any} measurement
+     * @param {FusionRtsHistoryBuilder} history
+     * @returns {any}
+     */
+    updateLooseRecorded(measurement, history) {
+        _assertClass(history, FusionRtsHistoryBuilder);
+        const ret = wasm.gnssinsfilter_updateLooseRecorded(this.__wbg_ptr, measurement, history.__wbg_ptr);
+        if (ret[2]) {
+            throw takeFromExternrefTable0(ret[1]);
+        }
+        return takeFromExternrefTable0(ret[0]);
+    }
     /**
      * Apply a loose GNSS fix, replaying retained IMU checkpoints when it is late.
      * @param {any} measurement
@@ -5838,6 +5964,22 @@ export class GnssInsFilter {
         }
         return takeFromExternrefTable0(ret[0]);
     }
+    /**
+     * Apply a tight broadcast update and record checkpoints for fusion RTS smoothing.
+     * @param {BroadcastEphemeris} broadcast
+     * @param {any} epoch
+     * @param {FusionRtsHistoryBuilder} history
+     * @returns {any}
+     */
+    updateTightBroadcastRecorded(broadcast, epoch, history) {
+        _assertClass(broadcast, BroadcastEphemeris);
+        _assertClass(history, FusionRtsHistoryBuilder);
+        const ret = wasm.gnssinsfilter_updateTightBroadcastRecorded(this.__wbg_ptr, broadcast.__wbg_ptr, epoch, history.__wbg_ptr);
+        if (ret[2]) {
+            throw takeFromExternrefTable0(ret[1]);
+        }
+        return takeFromExternrefTable0(ret[0]);
+    }
     /**
      * Apply a tight broadcast update, replaying retained IMU checkpoints when it is late.
      * @param {BroadcastEphemeris} broadcast
@@ -5866,6 +6008,22 @@ export class GnssInsFilter {
         }
         return takeFromExternrefTable0(ret[0]);
     }
+    /**
+     * Apply a tight SP3 update and record checkpoints for fusion RTS smoothing.
+     * @param {Sp3} sp3
+     * @param {any} epoch
+     * @param {FusionRtsHistoryBuilder} history
+     * @returns {any}
+     */
+    updateTightSp3Recorded(sp3, epoch, history) {
+        _assertClass(sp3, Sp3);
+        _assertClass(history, FusionRtsHistoryBuilder);
+        const ret = wasm.gnssinsfilter_updateTightSp3Recorded(this.__wbg_ptr, sp3.__wbg_ptr, epoch, history.__wbg_ptr);
+        if (ret[2]) {
+            throw takeFromExternrefTable0(ret[1]);
+        }
+        return takeFromExternrefTable0(ret[0]);
+    }
     /**
      * Apply a tight SP3 update, replaying retained IMU checkpoints when it is late.
      * @param {Sp3} sp3
@@ -15313,6 +15471,48 @@ export class SmoothCodeResult {
 }
 if (Symbol.dispose) SmoothCodeResult.prototype[Symbol.dispose] = SmoothCodeResult.prototype.free;
 
+/**
+ * Smoothed fusion trajectory returned by fixed-interval RTS smoothing.
+ */
+export class SmoothedFusionTrajectory {
+    static __wrap(ptr) {
+        const obj = Object.create(SmoothedFusionTrajectory.prototype);
+        obj.__wbg_ptr = ptr;
+        SmoothedFusionTrajectoryFinalization.register(obj, obj.__wbg_ptr, obj);
+        return obj;
+    }
+    __destroy_into_raw() {
+        const ptr = this.__wbg_ptr;
+        this.__wbg_ptr = 0;
+        SmoothedFusionTrajectoryFinalization.unregister(this);
+        return ptr;
+    }
+    free() {
+        const ptr = this.__destroy_into_raw();
+        wasm.__wbg_smoothedfusiontrajectory_free(ptr, 0);
+    }
+    /**
+     * Number of smoothed epochs.
+     * @returns {number}
+     */
+    get epochCount() {
+        const ret = wasm.smoothedfusiontrajectory_epochCount(this.__wbg_ptr);
+        return ret >>> 0;
+    }
+    /**
+     * Smoothed epochs in the same order as the recorded history.
+     * @returns {any}
+     */
+    get epochs() {
+        const ret = wasm.smoothedfusiontrajectory_epochs(this.__wbg_ptr);
+        if (ret[2]) {
+            throw takeFromExternrefTable0(ret[1]);
+        }
+        return takeFromExternrefTable0(ret[0]);
+    }
+}
+if (Symbol.dispose) SmoothedFusionTrajectory.prototype[Symbol.dispose] = SmoothedFusionTrajectory.prototype.free;
+
 export class SmoothedTrack {
     static __wrap(ptr) {
         const obj = Object.create(SmoothedTrack.prototype);
@@ -20186,6 +20386,52 @@ export function boundedIlsSearch(float_cycles, covariance, radius, candidate_lim
     return takeFromExternrefTable0(ret[0]);
 }
 
+/**
+ * Build dual-frequency RTK arc records from parsed RINEX OBS products.
+ *
+ * Defaults build the GPS `C1C`/`L1C` plus `C2W`/`L2W` arc used by the real
+ * WTZR/WTZZ fixtures.
+ * @param {Sp3} ephemeris
+ * @param {RinexObs} base_obs
+ * @param {RinexObs} rover_obs
+ * @param {any | null} [options]
+ * @returns {any}
+ */
+export function buildDualFrequencyRinexRtkArc(ephemeris, base_obs, rover_obs, options) {
+    _assertClass(ephemeris, Sp3);
+    _assertClass(base_obs, RinexObs);
+    _assertClass(rover_obs, RinexObs);
+    const ret = wasm.buildDualFrequencyRinexRtkArc(ephemeris.__wbg_ptr, base_obs.__wbg_ptr, rover_obs.__wbg_ptr, isLikeNone(options) ? 0 : addToExternrefTable0(options));
+    if (ret[2]) {
+        throw takeFromExternrefTable0(ret[1]);
+    }
+    return takeFromExternrefTable0(ret[0]);
+}
+
+/**
+ * Build single-frequency RTK arc records from parsed RINEX OBS products.
+ *
+ * `ephemeris` is an SP3 precise ephemeris handle, `baseObs` and `roverObs`
+ * are parsed RINEX observation files, and `options` may provide
+ * `{ signalPairs, maxEpochs, minCommonSatellites, includePredictionTime }`.
+ * Defaults build the GPS `C1C`/`L1C` arc used by the real WTZR/WTZZ fixtures.
+ * @param {Sp3} ephemeris
+ * @param {RinexObs} base_obs
+ * @param {RinexObs} rover_obs
+ * @param {any | null} [options]
+ * @returns {any}
+ */
+export function buildRinexRtkArc(ephemeris, base_obs, rover_obs, options) {
+    _assertClass(ephemeris, Sp3);
+    _assertClass(base_obs, RinexObs);
+    _assertClass(rover_obs, RinexObs);
+    const ret = wasm.buildRinexRtkArc(ephemeris.__wbg_ptr, base_obs.__wbg_ptr, rover_obs.__wbg_ptr, isLikeNone(options) ? 0 : addToExternrefTable0(options));
+    if (ret[2]) {
+        throw takeFromExternrefTable0(ret[1]);
+    }
+    return takeFromExternrefTable0(ret[0]);
+}
+
 /**
  * One wrapping GPS C/A chip at a zero-based index.
  * @param {bigint} prn
@@ -21449,6 +21695,19 @@ export function errorEllipse2(covariance, confidence) {
     return ErrorEllipse2.__wrap(ret[0]);
 }
 
+/**
+ * Horizontal one-sigma ellipse from an ENU covariance in square metres.
+ * @param {any} covariance_enu_m2
+ * @returns {ErrorEllipse}
+ */
+export function errorEllipseFromEnuM2(covariance_enu_m2) {
+    const ret = wasm.errorEllipseFromEnuM2(covariance_enu_m2);
+    if (ret[2]) {
+        throw takeFromExternrefTable0(ret[1]);
+    }
+    return ErrorEllipse.__wrap(ret[0]);
+}
+
 /**
  * @param {DragForce} drag
  * @param {any} request
@@ -22842,6 +23101,20 @@ export function hessianTrace(jacobian, m, n) {
     return ret[0];
 }
 
+/**
+ * Horizontal percentile circle radius from an ENU covariance.
+ * @param {any} covariance_enu_m2
+ * @param {number} probability
+ * @returns {PercentileRadius}
+ */
+export function horizontalRadiusAt(covariance_enu_m2, probability) {
+    const ret = wasm.horizontalRadiusAt(covariance_enu_m2, probability);
+    if (ret[2]) {
+        throw takeFromExternrefTable0(ret[1]);
+    }
+    return PercentileRadius.__wrap(ret[0]);
+}
+
 /**
  * Gauss angles-only orbit determination.
  *
@@ -23986,6 +24259,22 @@ export function metricsFromKinematicSolution(solution) {
     return PositionErrorMetrics.__wrap(ret[0]);
 }
 
+/**
+ * Compute position-error metrics from a position covariance object.
+ *
+ * The object must include `ecefM2` and `enuM2`, each a 3 by 3 covariance in
+ * square metres.
+ * @param {any} covariance
+ * @returns {PositionErrorMetrics}
+ */
+export function metricsFromPositionCovariance(covariance) {
+    const ret = wasm.metricsFromPositionCovariance(covariance);
+    if (ret[2]) {
+        throw takeFromExternrefTable0(ret[1]);
+    }
+    return PositionErrorMetrics.__wrap(ret[0]);
+}
+
 /**
  * Modified Allan deviation for explicit averaging factors.
  *
@@ -26489,6 +26778,20 @@ export function smoothCode(arc, options, hatch_window_cap) {
     return v1;
 }
 
+/**
+ * Apply fixed-interval RTS smoothing to recorded fusion history.
+ * @param {FusionRtsHistory} history
+ * @returns {SmoothedFusionTrajectory}
+ */
+export function smoothFusionRts(history) {
+    _assertClass(history, FusionRtsHistory);
+    const ret = wasm.smoothFusionRts(history.__wbg_ptr);
+    if (ret[2]) {
+        throw takeFromExternrefTable0(ret[1]);
+    }
+    return SmoothedFusionTrajectory.__wrap(ret[0]);
+}
+
 /**
  * Dual-frequency ionosphere-free Hatch carrier-smoothed code.
  * @param {any} arc
@@ -26819,6 +27122,30 @@ export function solveStatic(sp3, epochs, options) {
     return StaticSolution.__wrap(ret[0]);
 }
 
+/**
+ * Solve one static RTK baseline directly from paired RINEX OBS plus SP3.
+ *
+ * `config.baseM` is the base antenna phase-center ECEF position in metres.
+ * Optional `config.arcOptions` controls RINEX signal extraction; other fields
+ * mirror `RtkStaticArcConfig` but the wavelength and offset maps are filled by
+ * the RINEX builder.
+ * @param {Sp3} ephemeris
+ * @param {RinexObs} base_obs
+ * @param {RinexObs} rover_obs
+ * @param {any} config
+ * @returns {any}
+ */
+export function solveStaticRinexRtkBaseline(ephemeris, base_obs, rover_obs, config) {
+    _assertClass(ephemeris, Sp3);
+    _assertClass(base_obs, RinexObs);
+    _assertClass(rover_obs, RinexObs);
+    const ret = wasm.solveStaticRinexRtkBaseline(ephemeris.__wbg_ptr, base_obs.__wbg_ptr, rover_obs.__wbg_ptr, config);
+    if (ret[2]) {
+        throw takeFromExternrefTable0(ret[1]);
+    }
+    return takeFromExternrefTable0(ret[0]);
+}
+
 /**
  * Solve a static RTK arc with one batch float solution and one validated fixed
  * solution over the whole arc.
@@ -26882,6 +27209,29 @@ export function solveVelocityBroadcast(broadcast, observations, receiver_ecef_m,
     return VelocitySolution.__wrap(ret[0]);
 }
 
+/**
+ * Solve a static dual-frequency wide-lane fixed RTK baseline from RINEX OBS.
+ *
+ * The function builds the dual-frequency RINEX arc, fixes wide-lane
+ * ambiguities, prepares ionosphere-free narrow-lane records, then runs the
+ * static fixed baseline solver.
+ * @param {Sp3} ephemeris
+ * @param {RinexObs} base_obs
+ * @param {RinexObs} rover_obs
+ * @param {any} config
+ * @returns {any}
+ */
+export function solveWideLaneFixedRinexRtkBaseline(ephemeris, base_obs, rover_obs, config) {
+    _assertClass(ephemeris, Sp3);
+    _assertClass(base_obs, RinexObs);
+    _assertClass(rover_obs, RinexObs);
+    const ret = wasm.solveWideLaneFixedRinexRtkBaseline(ephemeris.__wbg_ptr, base_obs.__wbg_ptr, rover_obs.__wbg_ptr, config);
+    if (ret[2]) {
+        throw takeFromExternrefTable0(ret[1]);
+    }
+    return takeFromExternrefTable0(ret[0]);
+}
+
 /**
  * Solve a receiver position, preferring precise SP3 products and falling back to
  * broadcast ephemeris, reporting which source was used and how stale it is.
@@ -27034,6 +27384,20 @@ export function spectralSeparationCoefficientHz(desired, interference, receiver_
     return ret[0];
 }
 
+/**
+ * Three-dimensional percentile sphere radius from an ENU covariance.
+ * @param {any} covariance_enu_m2
+ * @param {number} probability
+ * @returns {PercentileRadius}
+ */
+export function sphericalRadiusAt(covariance_enu_m2, probability) {
+    const ret = wasm.sphericalRadiusAt(covariance_enu_m2, probability);
+    if (ret[2]) {
+        throw takeFromExternrefTable0(ret[1]);
+    }
+    return PercentileRadius.__wrap(ret[0]);
+}
+
 /**
  * Continuous seconds since J2000 for a split Julian date.
  * @param {number} jd_whole
@@ -27611,6 +27975,20 @@ export function velocityMidas(series, options) {
     return takeFromExternrefTable0(ret[0]);
 }
 
+/**
+ * Vertical one-dimensional percentile radius from an up variance.
+ * @param {number} sigma_u_m2
+ * @param {number} probability
+ * @returns {number}
+ */
+export function verticalRadiusAt(sigma_u_m2, probability) {
+    const ret = wasm.verticalRadiusAt(sigma_u_m2, probability);
+    if (ret[2]) {
+        throw takeFromExternrefTable0(ret[1]);
+    }
+    return ret[0];
+}
+
 /**
  * Satellites visible above `minElevationDeg` from `station` at a single instant,
  * from already-initialized [`Tle`]s: the opsmode-preserving constellation
@@ -28371,6 +28749,12 @@ const FrameScannerFinalization = (typeof FinalizationRegistry === 'undefined')
 const FrameStatesFinalization = (typeof FinalizationRegistry === 'undefined')
     ? { register: () => {}, unregister: () => {} }
     : new FinalizationRegistry(ptr => wasm.__wbg_framestates_free(ptr, 1));
+const FusionRtsHistoryFinalization = (typeof FinalizationRegistry === 'undefined')
+    ? { register: () => {}, unregister: () => {} }
+    : new FinalizationRegistry(ptr => wasm.__wbg_fusionrtshistory_free(ptr, 1));
+const FusionRtsHistoryBuilderFinalization = (typeof FinalizationRegistry === 'undefined')
+    ? { register: () => {}, unregister: () => {} }
+    : new FinalizationRegistry(ptr => wasm.__wbg_fusionrtshistorybuilder_free(ptr, 1));
 const GeofenceFinalization = (typeof FinalizationRegistry === 'undefined')
     ? { register: () => {}, unregister: () => {} }
     : new FinalizationRegistry(ptr => wasm.__wbg_geofence_free(ptr, 1));
@@ -28671,6 +29055,9 @@ const SlipResultFinalization = (typeof FinalizationRegistry === 'undefined')
 const SmoothCodeResultFinalization = (typeof FinalizationRegistry === 'undefined')
     ? { register: () => {}, unregister: () => {} }
     : new FinalizationRegistry(ptr => wasm.__wbg_smoothcoderesult_free(ptr, 1));
+const SmoothedFusionTrajectoryFinalization = (typeof FinalizationRegistry === 'undefined')
+    ? { register: () => {}, unregister: () => {} }
+    : new FinalizationRegistry(ptr => wasm.__wbg_smoothedfusiontrajectory_free(ptr, 1));
 const SmoothedTrackFinalization = (typeof FinalizationRegistry === 'undefined')
     ? { register: () => {}, unregister: () => {} }
     : new FinalizationRegistry(ptr => wasm.__wbg_smoothedtrack_free(ptr, 1));