gnss-js 1.10.0 → 1.12.0

package/dist/{chunk-ZTFKRZMM.js → chunk-LKFSXVIZ.js}

@@ -2,12 +2,46 @@ import {
   computeDop,
   computeSatPosition,
   ecefToAzEl
-} from "./chunk-AK6LNWZX.js";
+} from "./chunk-DMNFB7Q6.js";
+import {
+  ecefToGeodetic
+} from "./chunk-37QNKGTC.js";
 import {
   C_LIGHT,
   OMEGA_E
 } from "./chunk-FIEWO4J4.js";
 
+// src/positioning/klobuchar.ts
+function klobucharDelay(coeffs, latRad, lonRad, azRad, elRad, gpsTowSec) {
+  const { alpha, beta } = coeffs;
+  if (alpha.length < 4 || beta.length < 4) return 0;
+  const E = elRad / Math.PI;
+  const phiU = latRad / Math.PI;
+  const lambdaU = lonRad / Math.PI;
+  const psi = 0.0137 / (E + 0.11) - 0.022;
+  let phiI = phiU + psi * Math.cos(azRad);
+  if (phiI > 0.416) phiI = 0.416;
+  else if (phiI < -0.416) phiI = -0.416;
+  const lambdaI = lambdaU + psi * Math.sin(azRad) / Math.cos(phiI * Math.PI);
+  const phiM = phiI + 0.064 * Math.cos((lambdaI - 1.617) * Math.PI);
+  let t = 43200 * lambdaI + gpsTowSec;
+  t %= 86400;
+  if (t < 0) t += 86400;
+  let amp = 0;
+  let per = 0;
+  for (let n = 3; n >= 0; n--) {
+    amp = amp * phiM + alpha[n];
+    per = per * phiM + beta[n];
+  }
+  if (amp < 0) amp = 0;
+  if (per < 72e3) per = 72e3;
+  const F = 1 + 16 * Math.pow(0.53 - E, 3);
+  const x = 2 * Math.PI * (t - 50400) / per;
+  if (Math.abs(x) >= 1.57) return F * 5e-9;
+  const x2 = x * x;
+  return F * (5e-9 + amp * (1 - x2 / 2 + x2 * x2 / 24));
+}
+
 // src/positioning/index.ts
 var GM_GPS = 3986005e8;
 var F_REL = -4442807633e-19;
@@ -34,6 +68,16 @@ function ionoFree(p1, p2, f1, f2) {
   const g = f1 * f1 / (f1 * f1 - f2 * f2);
   return g * p1 - (g - 1) * p2;
 }
+var GPS_EPOCH_MS_SPP = Date.UTC(1980, 0, 6);
+var PRIMARY_FREQ_HZ = {
+  G: 157542e4,
+  E: 157542e4,
+  J: 157542e4,
+  S: 157542e4,
+  C: 1561098e3,
+  R: 1602e6
+};
+var F_L1 = 157542e4;
 function tropoDelay(elevationRad) {
   const sinEl = Math.sin(elevationRad);
   return 2.47 / (sinEl + 0.0121);
@@ -68,8 +112,10 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
     troposphere = true,
     maxIterations = 15,
     convergenceM = 1e-4,
-    tgd = true
+    tgd = true,
+    iono
   } = opts;
+  const gpsTow = (timeMs - GPS_EPOCH_MS_SPP) / 1e3 % 604800;
   const all = [...pseudoranges.keys()].filter((p) => ephemerides.has(p));
   const minSats = (list) => 3 + new Set(list.map((p) => p[0])).size;
   if (all.length < minSats(all)) return null;
@@ -93,6 +139,8 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
       const Htv = new Array(dim).fill(0);
       let rows = 0;
       for (const k of Object.keys(residuals2)) delete residuals2[k];
+      const positionSaneIter = x2 * x2 + y2 * y2 + z2 * z2 > 1e12;
+      const [rxLat, rxLon] = positionSaneIter ? ecefToGeodetic(x2, y2, z2) : [0, 0];
       for (const prn of prns) {
         const psr = pseudoranges.get(prn);
         const eph = ephemerides.get(prn);
@@ -111,17 +159,24 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
         const uy = (y2 - sy) / rho;
         const uz = (z2 - sz) / rho;
         let elev = Math.PI / 2;
+        let azim = 0;
         let weight = 1;
-        const positionSane = x2 * x2 + y2 * y2 + z2 * z2 > 1e12;
+        const positionSane = positionSaneIter;
         if (positionSane) {
           const azel = ecefToAzEl(x2, y2, z2, sx, sy, sz);
           elev = azel.el;
+          azim = azel.az;
           if (iter >= 2 && elev < elevationMaskDeg * Math.PI / 180) continue;
           const sinEl = Math.max(Math.sin(elev), 0.1);
           weight = sinEl * sinEl;
         }
         const tropo = troposphere && positionSane ? tropoDelay(elev) : 0;
-        const predicted = rho + clk - C_LIGHT * dts + tropo;
+        let ionoM = 0;
+        if (iono && positionSane) {
+          const f = PRIMARY_FREQ_HZ[sys] ?? F_L1;
+          ionoM = C_LIGHT * klobucharDelay(iono, rxLat, rxLon, azim, elev, gpsTow) * (F_L1 / f * (F_L1 / f));
+        }
+        const predicted = rho + clk - C_LIGHT * dts + tropo + ionoM;
         const v = psr - predicted;
         const h = new Array(dim).fill(0);
         h[0] = ux;
@@ -200,6 +255,7 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
 }
 
 export {
+  klobucharDelay,
   satClockCorrection,
   ionoFree,
   solveSpp