gnss-js 1.13.0 → 1.14.0

package/dist/index.cjs

@@ -215,10 +215,13 @@ __export(src_exports, {
   parseIonex: () => parseIonex,
   parseNavFile: () => parseNavFile,
   parseNmeaFile: () => parseNmeaFile,
+  parseNovatelRange: () => parseNovatelRange,
   parseRinexStream: () => parseRinexStream,
+  parseSbfMeas: () => parseSbfMeas,
   parseSinexBiasDcb: () => parseSinexBiasDcb,
   parseSourcetable: () => parseSourcetable,
   parseSp3: () => parseSp3,
+  parseUbxRawx: () => parseUbxRawx,
   phiAltBOC: () => phiAltBOC,
   phiBOCc: () => phiBOCc,
   phiBOCs: () => phiBOCs,
@@ -4591,6 +4594,1082 @@ function updateStreamStats(stats, frames, rawBytes) {
   }
 }
 
+// src/ubx/index.ts
+var GPS_EPOCH_MS = Date.UTC(1980, 0, 6);
+var MS_PER_WEEK2 = 7 * 864e5;
+var SIGNALS = {
+  0: { 0: ["G", "1C"], 3: ["G", "2X"], 4: ["G", "2X"] },
+  // GPS L1C/A, L2CL, L2CM
+  1: { 0: ["S", "1C"] },
+  // SBAS L1C/A
+  2: { 0: ["E", "1X"], 1: ["E", "1X"], 5: ["E", "7X"], 6: ["E", "7X"] },
+  // E1C/B, E5bI/Q
+  3: { 0: ["C", "2I"], 1: ["C", "2I"], 2: ["C", "7I"], 3: ["C", "7I"] },
+  // B1I D1/D2, B2I D1/D2
+  5: { 0: ["J", "1C"], 4: ["J", "2X"], 5: ["J", "2X"] },
+  // QZSS L1C/A, L2CM/CL
+  6: { 0: ["R", "1C"], 2: ["R", "2C"] }
+  // GLONASS L1OF, L2OF
+};
+function prnFor(gnssId, svId) {
+  const two2 = (n) => String(n).padStart(2, "0");
+  switch (gnssId) {
+    case 0:
+      return svId >= 1 && svId <= 32 ? `G${two2(svId)}` : null;
+    case 1:
+      return svId >= 120 && svId <= 158 ? `S${two2(svId - 100)}` : null;
+    case 2:
+      return svId >= 1 && svId <= 36 ? `E${two2(svId)}` : null;
+    case 3:
+      return svId >= 1 && svId <= 63 ? `C${two2(svId)}` : null;
+    case 5:
+      return svId >= 1 && svId <= 10 ? `J${two2(svId)}` : null;
+    case 6:
+      return svId >= 1 && svId <= 32 ? `R${two2(svId)}` : null;
+    default:
+      return null;
+  }
+}
+function parseUbxRawx(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const epochs = [];
+  const messageCounts = {};
+  const obsCodes = {};
+  let badChecksums = 0;
+  let i = 0;
+  while (i + 8 <= data.length) {
+    if (data[i] !== 181 || data[i + 1] !== 98) {
+      i++;
+      continue;
+    }
+    const cls = data[i + 2];
+    const id = data[i + 3];
+    const len = data[i + 4] | data[i + 5] << 8;
+    const end = i + 6 + len + 2;
+    if (end > data.length) break;
+    let ckA = 0;
+    let ckB = 0;
+    for (let j = i + 2; j < i + 6 + len; j++) {
+      ckA = ckA + data[j] & 255;
+      ckB = ckB + ckA & 255;
+    }
+    if (ckA !== data[i + 6 + len] || ckB !== data[i + 7 + len]) {
+      badChecksums++;
+      i++;
+      continue;
+    }
+    const key = `${cls.toString(16).padStart(2, "0")}-${id.toString(16).padStart(2, "0")}`;
+    messageCounts[key] = (messageCounts[key] ?? 0) + 1;
+    if (cls === 2 && id === 21 && len >= 16) {
+      const p = i + 6;
+      const rcvTow = view.getFloat64(p, true);
+      const week = view.getUint16(p + 8, true);
+      const leapS = view.getInt8(p + 10);
+      const numMeas = data[p + 11];
+      const recStat = data[p + 12];
+      const leapValid = (recStat & 1) !== 0;
+      const meas = [];
+      for (let k = 0; k < numMeas; k++) {
+        const off = p + 16 + 32 * k;
+        if (off + 32 > p + len) break;
+        const gnssId = data[off + 20];
+        const svId = data[off + 21];
+        const sigId = data[off + 22];
+        const trkStat = data[off + 30];
+        const prn = prnFor(gnssId, svId);
+        const sig = SIGNALS[gnssId]?.[sigId];
+        if (!prn || !sig) continue;
+        const prValid = (trkStat & 1) !== 0;
+        const cpValid = (trkStat & 2) !== 0;
+        const cp = view.getFloat64(off + 8, true);
+        meas.push({
+          prn,
+          code: sig[1],
+          pr: prValid ? view.getFloat64(off, true) : null,
+          cp: cpValid && cp !== 0 ? cp : null,
+          doppler: view.getFloat32(off + 16, true),
+          cn0: data[off + 26],
+          halfCycleAmbiguous: (trkStat & 4) !== 0,
+          lockTimeMs: view.getUint16(off + 24, true)
+        });
+        const sys = sig[0];
+        const codes = obsCodes[sys] ??= [];
+        if (!codes.includes(sig[1])) codes.push(sig[1]);
+      }
+      epochs.push({
+        timeMs: GPS_EPOCH_MS + week * MS_PER_WEEK2 + Math.round(rcvTow * 1e3),
+        leapS: leapValid ? leapS : null,
+        meas
+      });
+    }
+    i = end;
+  }
+  return { epochs, messageCounts, obsCodes, badChecksums };
+}
+
+// src/sbf/index.ts
+var CLIGHT = 299792458;
+var GPS_EPOCH_MS2 = Date.UTC(1980, 0, 6);
+var MS_PER_WEEK3 = 7 * 864e5;
+var CRC_TABLE = (() => {
+  const t = new Uint16Array(256);
+  for (let n = 0; n < 256; n++) {
+    let c = n << 8;
+    for (let k = 0; k < 8; k++)
+      c = c & 32768 ? (c << 1 ^ 4129) & 65535 : c << 1 & 65535;
+    t[n] = c;
+  }
+  return t;
+})();
+function crc16(data, start, end) {
+  let crc = 0;
+  for (let i = start; i < end; i++)
+    crc = (crc << 8 ^ CRC_TABLE[(crc >> 8 ^ data[i]) & 255]) & 65535;
+  return crc;
+}
+var M3_SYS = ["G", "R", "E", "C", "S", "J", "I"];
+var M3_PR_BASE = [19e6, 19e6, 22e6, 2e7, 34e6, 34e6, 34e6];
+var M3_INTERVALS = [
+  1,
+  500,
+  1e3,
+  2e3,
+  5e3,
+  1e4,
+  15e3,
+  3e4,
+  6e4,
+  12e4,
+  1,
+  1,
+  1,
+  1,
+  1,
+  1
+];
+var M3_LOCK_TIME = [
+  0,
+  6e4,
+  3e4,
+  15e3,
+  1e4,
+  5e3,
+  2e3,
+  1e3,
+  500,
+  200,
+  100,
+  50,
+  40,
+  20,
+  10,
+  0
+];
+var M3_SIG_DEFAULT = [
+  ["1C", "2L", "5Q", "1W", "2W", "1L"],
+  // GPS
+  ["1C", "2C", "1P", "2P", "3Q"],
+  // GLONASS
+  ["1C", "5Q", "7Q", "6C", "8Q"],
+  // Galileo
+  ["2I", "7I", "6I", "1P", "5P", "7D"],
+  // BeiDou
+  ["1C", "5I"],
+  // SBAS
+  ["1C", "2L", "5Q", "6L", "1L", "1Z", "5P", "1E"],
+  // QZSS
+  ["5A", "1E", "9A"]
+  // NavIC
+];
+var MEAS2_SIG = [
+  ["G", "1C"],
+  ["G", "1W"],
+  ["G", "2W"],
+  ["G", "2L"],
+  ["G", "5Q"],
+  ["G", "1L"],
+  ["J", "1C"],
+  ["J", "2L"],
+  ["R", "1C"],
+  ["R", "1P"],
+  ["R", "2P"],
+  ["R", "2C"],
+  ["R", "3Q"],
+  ["C", "1P"],
+  ["C", "5P"],
+  ["I", "5A"],
+  null,
+  ["E", "1C"],
+  null,
+  ["E", "6C"],
+  ["E", "5Q"],
+  ["E", "7Q"],
+  ["E", "8Q"],
+  null,
+  // L-band
+  ["S", "1C"],
+  ["S", "5I"],
+  ["J", "5Q"],
+  ["J", "6L"],
+  ["C", "2I"],
+  ["C", "7I"],
+  ["C", "6I"],
+  null,
+  ["J", "1L"],
+  ["J", "1Z"],
+  ["C", "7D"],
+  null,
+  ["I", "9A"],
+  null,
+  // NavIC L1 (no obs code assigned)
+  ["J", "1E"],
+  ["J", "5P"]
+];
+var two = (n) => String(n).padStart(2, "0");
+function m3Prn(navsys, svid) {
+  switch (navsys) {
+    case 0:
+      return svid < 32 ? `G${two(svid + 1)}` : null;
+    case 1:
+      return svid < 27 ? `R${two(svid + 1)}` : null;
+    case 2:
+      return svid < 36 ? `E${two(svid + 1)}` : null;
+    case 3:
+      return svid < 50 ? `C${two(svid + 1)}` : null;
+    case 4:
+      return svid <= 38 ? `S${two(svid + 20)}` : null;
+    case 5:
+      return svid < 10 ? `J${two(svid + 1)}` : null;
+    case 6:
+      return svid < 14 ? `I${two(svid + 1)}` : null;
+    default:
+      return null;
+  }
+}
+function svidToPrn(svid) {
+  if (svid >= 1 && svid <= 37) return svid <= 32 ? `G${two(svid)}` : null;
+  if (svid <= 61) return svid - 37 <= 27 ? `R${two(svid - 37)}` : null;
+  if (svid <= 62) return null;
+  if (svid <= 68) return svid - 38 <= 27 ? `R${two(svid - 38)}` : null;
+  if (svid <= 70) return null;
+  if (svid <= 106) return svid - 70 <= 36 ? `E${two(svid - 70)}` : null;
+  if (svid <= 119) return null;
+  if (svid <= 140) return `S${two(svid - 100)}`;
+  if (svid <= 180) return svid - 140 <= 50 ? `C${two(svid - 140)}` : null;
+  if (svid <= 190) return `J${two(svid - 180)}`;
+  if (svid <= 197) return svid - 190 <= 14 ? `I${two(svid - 190)}` : null;
+  if (svid <= 215) return `S${two(svid - 157)}`;
+  if (svid <= 222) return svid - 208 <= 14 ? `I${two(svid - 208)}` : null;
+  if (svid <= 245) return svid - 182 <= 50 ? `C${two(svid - 182)}` : null;
+  return null;
+}
+function carrierFreq(sys, code, fcn) {
+  const band = code.charCodeAt(0) - 48;
+  switch (sys) {
+    case "G":
+    case "J":
+      if (band === 1) return 157542e4;
+      if (band === 2) return 12276e5;
+      if (band === 5) return 117645e4;
+      if (band === 6) return 127875e4;
+      return 0;
+    case "R":
+      if (band === 1) return 1602e6 + fcn * 562500;
+      if (band === 2) return 1246e6 + fcn * 437500;
+      if (band === 3) return 1202025e3;
+      return 0;
+    case "E":
+      if (band === 1) return 157542e4;
+      if (band === 5) return 117645e4;
+      if (band === 6) return 127875e4;
+      if (band === 7) return 120714e4;
+      if (band === 8) return 1191795e3;
+      return 0;
+    case "C":
+      if (band === 1) return 157542e4;
+      if (band === 2) return 1561098e3;
+      if (band === 5) return 117645e4;
+      if (band === 6) return 126852e4;
+      if (band === 7) return 120714e4;
+      if (band === 8) return 1191795e3;
+      return 0;
+    case "S":
+      if (band === 1) return 157542e4;
+      if (band === 5) return 117645e4;
+      return 0;
+    case "I":
+      if (band === 1) return 157542e4;
+      if (band === 5) return 117645e4;
+      if (band === 9) return 2492028e3;
+      return 0;
+    default:
+      return 0;
+  }
+}
+var ZERO_REF_SLOT = {
+  sigIdx: 0,
+  pr: 0,
+  cp: 0,
+  cn0: 0,
+  lockTimeMs: null
+};
+function freshRefEpoch(tow) {
+  return {
+    tow,
+    headers: new Array(7).fill(null),
+    sats: Array.from({ length: 7 }, () => new Array(64))
+  };
+}
+function parseSbfMeas(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const epochs = [];
+  const messageCounts = {};
+  const obsCodes = {};
+  let badCrc = 0;
+  let ref = freshRefEpoch(-1);
+  let curTime = NaN;
+  let curMeas = [];
+  let curSats = [];
+  const flush = () => {
+    if (curMeas.length > 0) {
+      const meas = curMeas.map((m) => {
+        const codes = obsCodes[m.sys] ??= [];
+        if (!codes.includes(m.code)) codes.push(m.code);
+        return {
+          prn: m.prn,
+          code: m.code,
+          pr: m.pr !== 0 ? m.pr : null,
+          cp: m.cp !== 0 ? m.cp : null,
+          doppler: m.doppler,
+          cn0: m.cn0,
+          lockTimeMs: m.lockTimeMs
+        };
+      });
+      epochs.push({ timeMs: curTime, meas });
+    }
+    curMeas = [];
+    curSats = [];
+  };
+  const ensureEpoch = (timeMs) => {
+    if (timeMs !== curTime) {
+      flush();
+      curTime = timeMs;
+    }
+  };
+  const decodeMeas3Ranges = (i2, tow) => {
+    const o = i2 + 8;
+    const constellations = view.getUint16(o + 8, true) & 127;
+    const misc = data[o + 10];
+    const version = data[o + 11];
+    if (version > 31) return;
+    if ((misc & 7) !== 0) return;
+    const prrAvailable = (misc & 8) !== 0;
+    const interval = M3_INTERVALS[misc >> 4];
+    const isRef = tow % interval === 0;
+    const dtow = tow % interval;
+    if (isRef) {
+      ref = freshRefEpoch(tow);
+    } else if (ref.tow !== Math.floor(tow / interval) * interval) {
+      curMeas = [];
+      curSats = [];
+      return;
+    }
+    let idx = o + 12;
+    for (let navsys = 0; navsys < 7; navsys++) {
+      if ((constellations & 1 << navsys) === 0) continue;
+      const sys = M3_SYS[navsys];
+      const useRefHeader = data[idx] === 0;
+      const hdr = useRefHeader ? ref.headers[navsys] ?? new Uint8Array(0) : data.subarray(idx, idx + 32);
+      const BF1 = hdr[0] ?? 0;
+      let nB = BF1 & 7;
+      if (nB === 7) nB = 8;
+      const sigIdxMasterShort = BF1 >> 3 & 15;
+      const sigExclPresent = BF1 >> 7 !== 0;
+      let h = 1;
+      const maskBytes = hdr.subarray(h, h + nB);
+      let nSats = 0;
+      for (const b of maskBytes)
+        for (let k = 0; k < 8; k++) nSats += b >> k & 1;
+      h += nB;
+      let gloFncs = new Uint8Array(0);
+      let bdsLongRange = 0;
+      if (navsys === 1) {
+        gloFncs = hdr.subarray(h, h + (nSats + 1 >> 1));
+        h += nSats + 1 >> 1;
+      } else if (navsys === 3) {
+        bdsLongRange = (hdr[h] ?? 0) | (hdr[h + 1] ?? 0) << 8;
+        h += 2;
+      }
+      const sigExcluded = sigExclPresent ? hdr[h++] ?? 0 : 0;
+      if (isRef) ref.headers[navsys] = data.slice(idx, idx + h);
+      idx += useRefHeader ? 1 : h;
+      const sigTable = [];
+      for (let s = 0; s < 16; s++)
+        if ((sigExcluded & 1 << s) === 0)
+          sigTable.push(M3_SIG_DEFAULT[navsys][s] ?? null);
+      while (sigTable.length < 16) sigTable.push(null);
+      let satCnt = 0;
+      for (let svid = 0; svid < 64 && satCnt < nSats; svid++) {
+        if (((maskBytes[svid >> 3] ?? 0) >> (svid & 7) & 1) === 0) continue;
+        const glofnc = navsys === 1 ? ((gloFncs[satCnt >> 1] ?? 0) >> 4 * (satCnt % 2) & 15) - 8 : 0;
+        const prn = m3Prn(navsys, svid);
+        const prbase = navsys === 3 && (bdsLongRange & 1 << satCnt) !== 0 ? 34e6 : M3_PR_BASE[navsys];
+        const refSat = ref.sats[navsys][svid];
+        const refSlot = (k) => refSat?.slots[k] ?? ZERO_REF_SLOT;
+        const entry = { navsys, svid, prn, slots: [] };
+        const bt = data[idx];
+        let masterSigIdx;
+        let slaveMask;
+        let prRate = 0;
+        let mPr = 0;
+        let mCp = 0;
+        let mCn0 = 0;
+        let mLock = null;
+        let masterCode;
+        let mFreq = 0;
+        if ((bt & 1) === 1) {
+          const BF1m = view.getUint32(idx, true);
+          const prLsb = view.getUint32(idx + 4, true);
+          const cmc = BF1m >>> 1 & 262143;
+          const prMsb = BF1m >>> 19 & 1;
+          const lti3 = BF1m >>> 20 & 7;
+          const cn0 = BF1m >>> 23 & 31;
+          const signalList = BF1m >>> 28 & 15;
+          masterSigIdx = sigIdxMasterShort;
+          slaveMask = signalList << masterSigIdx + 1;
+          masterCode = sigTable[masterSigIdx] ?? null;
+          if (masterCode) {
+            mFreq = carrierFreq(sys, masterCode, glofnc);
+            mPr = prbase + (prLsb + 4294967296 * prMsb) * 1e-3;
+            mCn0 = cn0 + 24;
+            if (cmc !== 0) mCp = mPr / (CLIGHT / mFreq) - 131.072 + cmc * 1e-3;
+            mLock = M3_LOCK_TIME[lti3];
+          }
+          prRate = prrAvailable ? view.getInt16(idx + 8, true) : 0;
+          idx += prrAvailable ? 10 : 8;
+        } else if ((bt & 3) === 0) {
+          const BF1m = view.getUint32(idx, true);
+          const prLsb = view.getUint32(idx + 4, true);
+          const BF2 = view.getUint16(idx + 8, true);
+          const BF3 = data[idx + 10];
+          const prMsb = BF1m >>> 2 & 15;
+          const cmc = BF1m >>> 6 & 4194303;
+          const lti4 = BF1m >>> 28 & 15;
+          const cn0 = BF2 & 63;
+          let signalMask = BF2 >>> 6 & 511;
+          const cont = BF2 >>> 15 & 1;
+          if (cont !== 0) signalMask |= (BF3 & 127) << 9;
+          masterSigIdx = 0;
+          while (masterSigIdx < 32 && (signalMask >> masterSigIdx & 1) === 0)
+            masterSigIdx++;
+          slaveMask = signalMask !== 0 ? signalMask ^ 1 << masterSigIdx : 0;
+          masterCode = sigTable[masterSigIdx] ?? null;
+          if (masterCode) {
+            mFreq = carrierFreq(sys, masterCode, glofnc);
+            const isGpsPCode = navsys === 0 && (masterCode === "1W" || masterCode === "2W");
+            mPr = (prLsb + 4294967296 * prMsb) * 1e-3;
+            mCn0 = isGpsPCode ? cn0 : cn0 + 10;
+            if (cmc !== 0)
+              mCp = mPr / (CLIGHT / mFreq) - 2097.152 + cmc * 1e-3;
+            mLock = M3_LOCK_TIME[lti4];
+          }
+          prRate = prrAvailable ? view.getInt16(idx + 10, true) : 0;
+          idx += (prrAvailable ? 12 : 10) + cont;
+        } else if ((bt & 12) === 12) {
+          const BF1m = data[idx];
+          const BF2 = view.getUint32(idx + 1, true);
+          const prDelta = BF1m >> 4 << 13 | BF2 & 8191;
+          const cn0Delta = BF2 >>> 13 & 7;
+          const cmc = BF2 >>> 16;
+          masterSigIdx = refSlot(0).sigIdx;
+          slaveMask = refSat?.slaveMask ?? 0;
+          masterCode = sigTable[masterSigIdx] ?? null;
+          if (masterCode) {
+            const r = refSlot(0);
+            mFreq = carrierFreq(sys, masterCode, glofnc);
+            mPr = r.pr + Math.trunc((refSat?.prRate ?? 0) * 64 * dtow / 1e3) * 1e-3 + prDelta * 1e-3 - 65.536;
+            mCn0 = r.cn0 - 4 + cn0Delta;
+            if (cmc !== 0)
+              mCp = (mPr - r.pr) / (CLIGHT / mFreq) + r.cp - 32.768 + cmc * 1e-3;
+            mLock = r.lockTimeMs;
+          }
+          idx += 5;
+        } else {
+          const BF1m = view.getUint32(idx, true);
+          const prDelta = BF1m >>> 4 & 16383;
+          const cmc = BF1m >>> 18 & 16383;
+          const cn0Delta = BF1m >>> 2 & 3;
+          masterSigIdx = refSlot(0).sigIdx;
+          slaveMask = refSat?.slaveMask ?? 0;
+          masterCode = sigTable[masterSigIdx] ?? null;
+          if (masterCode) {
+            const r = refSlot(0);
+            mFreq = carrierFreq(sys, masterCode, glofnc);
+            mPr = r.pr + Math.trunc((refSat?.prRate ?? 0) * 64 * dtow / 1e3) * 1e-3 + prDelta * 1e-3 - 8.192;
+            mCn0 = r.cn0 - 1 + cn0Delta;
+            if (cmc !== 0)
+              mCp = (mPr - r.pr) / (CLIGHT / mFreq) + r.cp - 8.192 + cmc * 1e-3;
+            mLock = r.lockTimeMs;
+          }
+          idx += 4;
+        }
+        let masterMeas = null;
+        if (masterCode && prn) {
+          masterMeas = {
+            prn,
+            sys,
+            code: masterCode,
+            freq: mFreq,
+            pr: mPr,
+            cp: mCp,
+            cn0: mCn0,
+            doppler: null,
+            lockTimeMs: mLock
+          };
+          curMeas.push(masterMeas);
+        }
+        entry.slots.push(masterMeas);
+        let newRefSat = null;
+        if (isRef && prn) {
+          newRefSat = {
+            slaveMask,
+            prRate,
+            slots: [
+              {
+                sigIdx: masterSigIdx,
+                pr: mPr,
+                cp: mCp,
+                cn0: mCn0,
+                lockTimeMs: mLock
+              }
+            ]
+          };
+          ref.sats[navsys][svid] = newRefSat;
+        }
+        let slaveCnt = 0;
+        let mask = slaveMask;
+        for (let s = 1; s < 16 && mask !== 0; s++) {
+          if ((mask & 1 << s) === 0) continue;
+          const bt2 = data[idx];
+          const code = sigTable[s] ?? null;
+          const freq = code ? carrierFreq(sys, code, glofnc) : 0;
+          let sPr = 0;
+          let sCp = 0;
+          let sCn0 = 0;
+          let sLock = null;
+          if ((bt2 & 1) === 1) {
+            const BF1s = view.getUint32(idx, true);
+            const BF2s = data[idx + 4];
+            const cmcRes = BF1s >>> 1 & 65535;
+            const prRel = BF1s >>> 17;
+            const lti3 = BF2s & 7;
+            const cn0 = BF2s >> 3;
+            if (code) {
+              sPr = mFreq > freq ? mPr + prRel * 1e-3 - 10 : mPr - prRel * 1e-3 + 10;
+              if (cmcRes !== 0)
+                sCp = sPr / (CLIGHT / freq) + (mCp - mPr / (CLIGHT / mFreq)) * (mFreq / freq) - 32.768 + cmcRes * 1e-3;
+              sCn0 = navsys === 0 && (code === "1W" || code === "2W") ? mCn0 - 3 - cn0 : cn0 + 24;
+              sLock = M3_LOCK_TIME[lti3];
+            }
+            idx += 5;
+          } else if ((bt2 & 3) === 0) {
+            const BF1s = view.getUint32(idx, true);
+            const prLsbRel = view.getUint16(idx + 4, true);
+            const BF3s = data[idx + 6];
+            const cmc = BF1s >>> 2 & 4194303;
+            const lti4 = BF1s >>> 24 & 15;
+            const prMsbRel = BF1s >>> 28 & 7;
+            const cn0 = BF3s & 63;
+            if (code) {
+              sPr = mPr + (prMsbRel * 65536 + prLsbRel) * 1e-3 - 262.144;
+              if (cmc !== 0)
+                sCp = sPr / (CLIGHT / freq) - 2097.152 + cmc * 1e-3;
+              sCn0 = navsys === 0 && (code === "1W" || code === "2W") ? cn0 : cn0 + 10;
+              sLock = M3_LOCK_TIME[lti4];
+            }
+            idx += 7;
+          } else {
+            const BF1s = view.getUint16(idx, true);
+            const dC = data[idx + 2];
+            const dPr = BF1s >>> 2 & 4095;
+            const cn0Delta = BF1s >>> 14;
+            if (code) {
+              const rS = refSlot(slaveCnt + 1);
+              const rM = refSlot(0);
+              sCp = rS.cp + (mCp - rM.cp) * (freq / mFreq) - 0.128 + dC * 1e-3;
+              sPr = rS.pr + (sCp - rS.cp) * (CLIGHT / freq) - 2.048 + dPr * 1e-3;
+              sCn0 = rS.cn0 - 2 + cn0Delta;
+              sLock = rS.lockTimeMs;
+            }
+            idx += 3;
+          }
+          let slaveMeas = null;
+          if (code && prn) {
+            slaveMeas = {
+              prn,
+              sys,
+              code,
+              freq,
+              pr: sPr,
+              cp: sCp,
+              cn0: sCn0,
+              doppler: null,
+              lockTimeMs: sLock
+            };
+            curMeas.push(slaveMeas);
+          }
+          entry.slots.push(slaveMeas);
+          if (newRefSat)
+            newRefSat.slots[slaveCnt + 1] = {
+              sigIdx: s,
+              pr: sPr,
+              cp: sCp,
+              cn0: sCn0,
+              lockTimeMs: sLock
+            };
+          slaveCnt++;
+          mask &= ~(1 << s);
+        }
+        curSats.push(entry);
+        satCnt++;
+      }
+    }
+  };
+  const decodeMeas3CN0 = (i2, len) => {
+    const flags = view.getUint16(i2 + 14, true);
+    if ((flags & 7) !== 0) return;
+    const maxNibbles = (len - 16) * 2;
+    let off = 0;
+    for (const e of curSats) {
+      if (off >= maxNibbles) break;
+      if (!e.prn) continue;
+      for (let k = 0; k < e.slots.length; k++) {
+        const slot = e.slots[k];
+        if (k > 0 && !slot) break;
+        const nib = (data[i2 + 16 + (off >> 1)] ?? 0) >> (off & 1) * 4 & 15;
+        if (slot && slot.cn0 !== null) slot.cn0 += nib * 0.0625 - 0.5;
+        off++;
+      }
+    }
+  };
+  const readPrRate = (base, off) => {
+    const byteAt = (k) => data[base + off + k] ?? 0;
+    const v = (byteAt(0) | byteAt(1) << 8 | byteAt(2) << 16 | byteAt(3) << 24) >>> 0;
+    let value;
+    let size;
+    if ((v & 2) === 0) {
+      value = (v & 255) >>> 2;
+      size = 1;
+    } else if ((v & 6) === 2) {
+      value = (v & 65535) >>> 3;
+      size = 2;
+    } else if ((v & 14) === 6) {
+      value = (v & 16777215) >>> 4;
+      size = 3;
+    } else {
+      value = v >>> 4;
+      size = 4;
+    }
+    if ((v & 1) === 1) value = -value;
+    return { value, size };
+  };
+  const decodeMeas3Doppler = (i2, len) => {
+    const flags = view.getUint16(i2 + 14, true);
+    if ((flags & 7) !== 0) return;
+    let off = 0;
+    for (const e of curSats) {
+      if (off + 16 >= len) break;
+      if (!e.prn) continue;
+      const master = readPrRate(i2 + 16, off);
+      off += master.size;
+      if (master.value === -268435455) continue;
+      const refPrRate = ref.sats[e.navsys][e.svid]?.prRate ?? 0;
+      const m = e.slots[0];
+      const mD = m ? -(master.value + refPrRate * 64) * 1e-3 / (CLIGHT / m.freq) : 0;
+      if (m) m.doppler = mD;
+      for (let k = 1; k < e.slots.length; k++) {
+        const slot = e.slots[k];
+        if (!slot) break;
+        const slave = readPrRate(i2 + 16, off);
+        off += slave.size;
+        if (m)
+          slot.doppler = (mD * (CLIGHT / m.freq) * 1e3 - slave.value) * 1e-3 / (CLIGHT / slot.freq);
+      }
+    }
+  };
+  const decodeMeasEpoch = (i2, len) => {
+    const n1 = data[i2 + 14];
+    const len1 = data[i2 + 15];
+    const len2 = data[i2 + 16];
+    if ((data[i2 + 17] & 128) !== 0) return;
+    const end = i2 + len;
+    let p = i2 + 20;
+    for (let b1 = 0; b1 < n1 && p + 20 <= end; b1++) {
+      const ant = data[p + 1] >> 5;
+      let sig = data[p + 1] & 31;
+      const svid = data[p + 2];
+      const misc = data[p + 3];
+      const info = data[p + 18];
+      const n2 = data[p + 19];
+      let fcn = 0;
+      if (sig === 31) sig = (info >> 3) + 32;
+      else if (sig >= 8 && sig <= 11) fcn = (info >> 3) - 8;
+      const prn = svidToPrn(svid);
+      const sigDef = MEAS2_SIG[sig] ?? null;
+      if (ant !== 0 || !prn || !sigDef || sigDef[0] !== prn[0]) {
+        p += len1 + len2 * n2;
+        continue;
+      }
+      const [sys, code] = sigDef;
+      const freq1 = carrierFreq(sys, code, fcn);
+      const codeLsb = view.getUint32(p + 4, true);
+      const dopplerRaw = view.getInt32(p + 8, true);
+      const carrierLsb = view.getUint16(p + 12, true);
+      const carrierMsb = view.getInt8(p + 14);
+      const cn0Raw = data[p + 15];
+      const lock = view.getUint16(p + 16, true);
+      let p1 = 0;
+      if ((misc & 15) !== 0 || codeLsb !== 0)
+        p1 = (misc & 15) * 4294967296e-3 + codeLsb * 1e-3;
+      const d1 = dopplerRaw !== -2147483648 ? dopplerRaw * 1e-4 : null;
+      let l1 = 0;
+      if (p1 !== 0 && freq1 > 0 && lock !== 65535 && (carrierMsb !== -128 || carrierLsb !== 0))
+        l1 = p1 * freq1 / CLIGHT + carrierMsb * 65.536 + carrierLsb * 1e-3;
+      const cn0 = cn0Raw !== 255 ? cn0Raw * 0.25 + (sig === 1 || sig === 2 ? 0 : 10) : null;
+      curMeas.push({
+        prn,
+        sys,
+        code,
+        freq: freq1,
+        pr: p1,
+        cp: l1,
+        cn0,
+        doppler: d1,
+        lockTimeMs: lock !== 65535 ? lock * 1e3 : null
+      });
+      p += len1;
+      for (let b2 = 0; b2 < n2 && p + 12 <= end; b2++, p += len2) {
+        let sig2 = data[p] & 31;
+        const ant2 = data[p] >> 5;
+        const lock2 = data[p + 1];
+        const cn0Raw2 = data[p + 2];
+        const offsetsMsb = data[p + 3];
+        const carrierMsb2 = view.getInt8(p + 4);
+        const info2 = data[p + 5];
+        if (sig2 === 31) sig2 = (info2 >> 3) + 32;
+        const sigDef2 = MEAS2_SIG[sig2] ?? null;
+        if (ant2 !== 0 || !sigDef2 || sigDef2[0] !== prn[0]) continue;
+        const code2 = sigDef2[1];
+        const freq2 = carrierFreq(sys, code2, fcn);
+        const codeOffMsb = (offsetsMsb & 7) << 29 >> 29;
+        const dopplerOffMsb = offsetsMsb >> 3 << 27 >> 27;
+        const codeOffLsb = view.getUint16(p + 6, true);
+        const carrierLsb2 = view.getUint16(p + 8, true);
+        const dopplerOffLsb = view.getUint16(p + 10, true);
+        let p2 = 0;
+        if (p1 !== 0 && (codeOffMsb !== -4 || codeOffLsb !== 0))
+          p2 = p1 + codeOffMsb * 65.536 + codeOffLsb * 1e-3;
+        let l2 = 0;
+        if (p2 !== 0 && freq2 > 0 && (carrierMsb2 !== -128 || carrierLsb2 !== 0))
+          l2 = p2 * freq2 / CLIGHT + carrierMsb2 * 65.536 + carrierLsb2 * 1e-3;
+        let d2 = null;
+        if (d1 !== null && freq1 > 0 && freq2 > 0 && (dopplerOffMsb !== -16 || dopplerOffLsb !== 0))
+          d2 = d1 * freq2 / freq1 + dopplerOffMsb * 6.5536 + dopplerOffLsb * 1e-4;
+        const cn02 = cn0Raw2 !== 255 ? cn0Raw2 * 0.25 + (sig2 === 1 || sig2 === 2 ? 0 : 10) : null;
+        curMeas.push({
+          prn,
+          sys,
+          code: code2,
+          freq: freq2,
+          pr: p2,
+          cp: l2,
+          cn0: cn02,
+          doppler: d2,
+          lockTimeMs: lock2 !== 255 ? lock2 * 1e3 : null
+        });
+      }
+    }
+  };
+  let i = 0;
+  while (i + 8 <= data.length) {
+    if (data[i] !== 36 || data[i + 1] !== 64) {
+      i++;
+      continue;
+    }
+    const len = view.getUint16(i + 6, true);
+    if (len < 8 || len % 4 !== 0) {
+      i++;
+      continue;
+    }
+    if (i + len > data.length) break;
+    if (crc16(data, i + 4, i + len) !== view.getUint16(i + 2, true)) {
+      badCrc++;
+      i++;
+      continue;
+    }
+    const id = view.getUint16(i + 4, true) & 8191;
+    const key = String(id);
+    messageCounts[key] = (messageCounts[key] ?? 0) + 1;
+    if ((id === 4027 || id === 4109 || id === 4110 || id === 4111) && len >= 16) {
+      const tow = view.getUint32(i + 8, true);
+      const wnc = view.getUint16(i + 12, true);
+      if (tow !== 4294967295 && wnc !== 65535) {
+        ensureEpoch(GPS_EPOCH_MS2 + wnc * MS_PER_WEEK3 + tow);
+        if (id === 4109) decodeMeas3Ranges(i, tow);
+        else if (id === 4110) decodeMeas3CN0(i, len);
+        else if (id === 4111) decodeMeas3Doppler(i, len);
+        else decodeMeasEpoch(i, len);
+      }
+    }
+    i += len;
+  }
+  flush();
+  return { epochs, messageCounts, obsCodes, badCrc };
+}
+
+// src/novatel/index.ts
+var GPS_EPOCH_MS3 = Date.UTC(1980, 0, 6);
+var MS_PER_WEEK4 = 7 * 864e5;
+var HDR = 28;
+var ID_RANGE = 43;
+var ID_RANGECMP = 140;
+var ID_GLOEPHEMERIS = 723;
+var C_LIGHT2 = 299792458;
+var ADR_ROLL = 8388608;
+function carrierFreq2(sys, code, gloK) {
+  const band = code[0];
+  switch (sys) {
+    case "G":
+    case "J":
+      return band === "1" ? 157542e4 : band === "2" ? 12276e5 : 117645e4;
+    case "S":
+      return band === "1" ? 157542e4 : 117645e4;
+    case "E":
+      return band === "1" ? 157542e4 : band === "5" ? 117645e4 : band === "7" ? 120714e4 : band === "8" ? 1191795e3 : 127875e4;
+    case "C":
+      return band === "1" ? 157542e4 : band === "2" ? 1561098e3 : band === "5" ? 117645e4 : band === "7" ? 120714e4 : 126852e4;
+    case "R": {
+      if (gloK === null) return 0;
+      if (band === "1") return 1602e6 + gloK * 562500;
+      if (band === "2") return 1246e6 + gloK * 437500;
+      return 1202025e3;
+    }
+    default:
+      return 0;
+  }
+}
+function exsign(v, bits) {
+  return v & 1 << bits - 1 ? v - 2 ** bits : v;
+}
+function crc32(data, start, len) {
+  let crc = 0;
+  for (let i = start; i < start + len; i++) {
+    crc ^= data[i];
+    for (let j = 0; j < 8; j++) {
+      crc = crc & 1 ? crc >>> 1 ^ 3988292384 : crc >>> 1;
+    }
+  }
+  return crc >>> 0;
+}
+var SIGNALS2 = {
+  0: {
+    0: ["G", "1C"],
+    5: ["G", "2P"],
+    9: ["G", "2W"],
+    14: ["G", "5Q"],
+    16: ["G", "1L"],
+    17: ["G", "2S"]
+  },
+  1: { 0: ["R", "1C"], 1: ["R", "2C"], 5: ["R", "2P"], 6: ["R", "3Q"] },
+  2: { 0: ["S", "1C"], 6: ["S", "5I"] },
+  3: {
+    1: ["E", "1C"],
+    2: ["E", "1C"],
+    6: ["E", "6B"],
+    7: ["E", "6C"],
+    12: ["E", "5Q"],
+    17: ["E", "7Q"],
+    20: ["E", "8Q"]
+  },
+  4: {
+    0: ["C", "2I"],
+    1: ["C", "7I"],
+    2: ["C", "6I"],
+    4: ["C", "2I"],
+    5: ["C", "7I"],
+    6: ["C", "6I"],
+    7: ["C", "1P"],
+    9: ["C", "5P"],
+    11: ["C", "7D"]
+  },
+  5: {
+    0: ["J", "1C"],
+    14: ["J", "5Q"],
+    16: ["J", "1L"],
+    17: ["J", "2S"],
+    27: ["J", "6L"]
+  },
+  6: { 0: ["I", "5A"] }
+};
+function parseNovatelRange(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const epochs = [];
+  const messageCounts = {};
+  const obsCodes = {};
+  let badCrc = 0;
+  const gloFcn = /* @__PURE__ */ new Map();
+  for (let j = 0; j + HDR + 4 <= data.length; j++) {
+    if (data[j] !== 170 || data[j + 1] !== 68 || data[j + 2] !== 18)
+      continue;
+    const hl = data[j + 3];
+    const id = view.getUint16(j + 4, true);
+    const ln = view.getUint16(j + 8, true);
+    if (id !== ID_GLOEPHEMERIS || hl < HDR || j + hl + ln + 4 > data.length)
+      continue;
+    if (crc32(data, j, hl + ln) !== view.getUint32(j + hl + ln, true)) continue;
+    const slot = view.getUint16(j + hl, true) - 37;
+    const k = view.getUint16(j + hl + 2, true) - 7;
+    if (slot >= 1 && slot <= 32) gloFcn.set(slot, k);
+    j += hl + ln + 3;
+  }
+  let i = 0;
+  while (i + HDR + 4 <= data.length) {
+    if (data[i] !== 170 || data[i + 1] !== 68 || data[i + 2] !== 18) {
+      i++;
+      continue;
+    }
+    const hlen = data[i + 3];
+    const msgId = view.getUint16(i + 4, true);
+    const msgLen = view.getUint16(i + 8, true);
+    const total = hlen + msgLen + 4;
+    if (hlen < HDR || i + total > data.length) {
+      i++;
+      continue;
+    }
+    if (crc32(data, i, hlen + msgLen) !== view.getUint32(i + hlen + msgLen, true)) {
+      badCrc++;
+      i++;
+      continue;
+    }
+    messageCounts[msgId] = (messageCounts[msgId] ?? 0) + 1;
+    const binary = (data[i + 6] >> 4 & 3) === 0;
+    const week = view.getUint16(i + 14, true);
+    const towMs = view.getUint32(i + 16, true);
+    if (msgId === ID_RANGECMP && binary && week > 0) {
+      const p = i + hlen;
+      const nobs = view.getUint32(p, true);
+      if (p + 4 + nobs * 24 <= i + hlen + msgLen) {
+        const meas = [];
+        for (let k = 0; k < nobs; k++) {
+          const o = p + 4 + 24 * k;
+          const stat = view.getUint32(o, true);
+          const satsys = stat >>> 16 & 7;
+          const sigtype = stat >>> 21 & 31;
+          const plock = stat >>> 10 & 1;
+          const parity = stat >>> 11 & 1;
+          const clock = stat >>> 12 & 1;
+          const sig = SIGNALS2[satsys]?.[sigtype];
+          if (!sig) continue;
+          let [sysL, code] = sig;
+          let prnNum = data[o + 17];
+          if (sysL === "R") prnNum -= 37;
+          if (sysL === "S" && prnNum >= 183 && prnNum <= 191 && code === "1C") {
+            sysL = "J";
+            code = "1Z";
+            prnNum -= 182;
+          } else if (sysL === "S") {
+            prnNum -= 100;
+          }
+          if (prnNum < 1 || prnNum > 99) continue;
+          if (sysL === "R" && !parity) continue;
+          const gloK = sysL === "R" ? gloFcn.get(prnNum) ?? null : null;
+          const dop = exsign(view.getUint32(o + 4, true) & 268435455, 28) / 256;
+          const psr = (view.getUint32(o + 7, true) >>> 4) / 128 + data[o + 11] * 2097152;
+          let cp = null;
+          const freq = carrierFreq2(sysL, code, gloK);
+          if (freq > 0) {
+            const adr = view.getInt32(o + 12, true) / 256;
+            const rolls = psr * freq / C_LIGHT2 / ADR_ROLL + adr / ADR_ROLL;
+            cp = -adr + ADR_ROLL * Math.floor(rolls + (rolls <= 0 ? -0.5 : 0.5));
+          }
+          const lockt = (view.getUint32(o + 18, true) & 2097151) / 32;
+          const cn0 = ((view.getUint16(o + 20, true) & 1023) >>> 5) + 20;
+          meas.push({
+            prn: `${sysL}${String(prnNum).padStart(2, "0")}`,
+            code,
+            pr: clock ? psr : null,
+            cp: plock ? cp : null,
+            doppler: plock ? dop : null,
+            cn0,
+            lockTimeS: lockt,
+            gloChannel: gloK
+          });
+          const codes = obsCodes[sysL] ??= [];
+          if (!codes.includes(code)) codes.push(code);
+        }
+        epochs.push({
+          timeMs: GPS_EPOCH_MS3 + week * MS_PER_WEEK4 + towMs,
+          meas
+        });
+      }
+    } else if (msgId === ID_RANGE && binary && week > 0) {
+      const p = i + hlen;
+      const nobs = view.getUint32(p, true);
+      if (p + 4 + nobs * 44 <= i + hlen + msgLen) {
+        const meas = [];
+        for (let k = 0; k < nobs; k++) {
+          const o = p + 4 + 44 * k;
+          const stat = view.getUint32(o + 40, true);
+          const satsys = stat >>> 16 & 7;
+          const sigtype = stat >>> 21 & 31;
+          const plock = stat >>> 10 & 1;
+          const parity = stat >>> 11 & 1;
+          const clock = stat >>> 12 & 1;
+          const sig = SIGNALS2[satsys]?.[sigtype];
+          if (!sig) continue;
+          let [sysL, code] = sig;
+          let prnNum = view.getUint16(o, true);
+          if (sysL === "R") prnNum -= 37;
+          if (sysL === "S" && prnNum >= 183 && prnNum <= 191 && code === "1C") {
+            sysL = "J";
+            code = "1Z";
+            prnNum -= 182;
+          } else if (sysL === "S") {
+            prnNum -= 100;
+          }
+          if (prnNum < 1 || prnNum > 99) continue;
+          if (sysL === "R" && !parity) continue;
+          const prn = `${sysL}${String(prnNum).padStart(2, "0")}`;
+          const gfrq = view.getUint16(o + 2, true);
+          const psr = view.getFloat64(o + 4, true);
+          const adr = view.getFloat64(o + 16, true);
+          const dop = view.getFloat32(o + 28, true);
+          const snr = view.getFloat32(o + 32, true);
+          const lockt = view.getFloat32(o + 36, true);
+          meas.push({
+            prn,
+            code,
+            pr: clock ? psr : null,
+            cp: plock ? -adr : null,
+            doppler: plock ? dop : null,
+            cn0: snr,
+            lockTimeS: lockt,
+            gloChannel: sysL === "R" ? gfrq - 8 : null
+          });
+          const codes = obsCodes[sysL] ??= [];
+          if (!codes.includes(code)) codes.push(code);
+        }
+        epochs.push({
+          timeMs: GPS_EPOCH_MS3 + week * MS_PER_WEEK4 + towMs,
+          meas
+        });
+      }
+    }
+    i += total;
+  }
+  return { epochs, messageCounts, obsCodes, badCrc };
+}
+
 // src/orbit/index.ts
 var GM_GPS = 3986005e8;
 var GM_GAL = 3986004418e5;
@@ -4940,10 +6019,10 @@ function selectBest(ephs, timeMs) {
   }
   return best;
 }
-var GPS_EPOCH_MS = START_GPS_TIME.getTime();
-var MS_PER_WEEK2 = 7 * 864e5;
+var GPS_EPOCH_MS4 = START_GPS_TIME.getTime();
+var MS_PER_WEEK5 = 7 * 864e5;
 var BDS_EPOCH_MS = START_BDS_TIME.getTime();
-var GAL_EPOCH_MS = GPS_EPOCH_MS + 1024 * MS_PER_WEEK2;
+var GAL_EPOCH_MS = GPS_EPOCH_MS4 + 1024 * MS_PER_WEEK5;
 function ephInfoToEphemeris(info) {
   const sys = info.prn.charAt(0);
   if (sys === "R") {
@@ -4994,11 +6073,11 @@ function ephInfoToEphemeris(info) {
   } else if (sys === "E") {
     epochMs = GAL_EPOCH_MS;
   } else {
-    epochMs = GPS_EPOCH_MS;
-    const weeksNow = (info.lastReceived - GPS_EPOCH_MS) / MS_PER_WEEK2;
+    epochMs = GPS_EPOCH_MS4;
+    const weeksNow = (info.lastReceived - GPS_EPOCH_MS4) / MS_PER_WEEK5;
     week += 1024 * Math.round((weeksNow - week) / 1024);
   }
-  const tocDate = new Date(epochMs + week * MS_PER_WEEK2 + tocSec * 1e3);
+  const tocDate = new Date(epochMs + week * MS_PER_WEEK5 + tocSec * 1e3);
   return {
     system: sys,
     prn: info.prn,
@@ -8090,10 +9169,13 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   parseIonex,
   parseNavFile,
   parseNmeaFile,
+  parseNovatelRange,
   parseRinexStream,
+  parseSbfMeas,
   parseSinexBiasDcb,
   parseSourcetable,
   parseSp3,
+  parseUbxRawx,
   phiAltBOC,
   phiBOCc,
   phiBOCs,