gnss-js 1.13.0 → 1.14.0

package/dist/index.d.cts

@@ -9,6 +9,9 @@ export { E as EpochSummary, P as ParseOptions, R as RinexHeader, a as RinexResul
 export { E as Ephemeris, G as GlonassEphemeris, K as KeplerEphemeris, N as NavHeader, a as NavResult, p as parseNavFile } from './nav-BAI1a9vK.cjs';
 export { B as BitReader, E as EphemerisInfo, R as Rtcm3DebugHandler, a as Rtcm3Decoder, b as Rtcm3Frame, d as decodeEphemeris, r as readString, c as reportDecodeError, s as setRtcm3DebugHandler } from './ephemeris-Ohl6NAfw.cjs';
 export { MessageTypeStats, MsmEpoch, MsmSatObs, MsmSignal, RTCM3_MESSAGE_NAMES, SatCn0, SignalCn0, StationMeta, StreamStats, createStationMeta, createStreamStats, decodeMsmFull, msmEpochToDate, resetGloFreqCache, rtcm3Constellation, setGloFreqNumber, updateStationMeta, updateStreamStats } from './rtcm3.cjs';
+export { UbxMeasurement, UbxParseResult, UbxRawxEpoch, parseUbxRawx } from './ubx.cjs';
+export { SbfMeasEpoch, SbfMeasurement, SbfParseResult, parseSbfMeas } from './sbf.cjs';
+export { NovatelEpoch, NovatelMeasurement, NovatelParseResult, parseNovatelRange } from './novatel.cjs';
 export { AllPositionsData, DopValues, EpochSkyData, SatAzEl, SatPoint, SatPosition, VisibilityPass, VisibilityResult, computeAllPositions, computeDop, computeLiveSkyPositions, computeSatPosition, computeVisibility, computeVisibilityFromPositions, dopplerHz, ecefToAzEl, ephInfoToEphemeris, glonassPosition, keplerPosition, maskRadForAzimuth, navTimesFromEph, rangeRate, selectEphemeris } from './orbit.cjs';
 export { Helmert14, REFERENCE_FRAMES, ReferenceFrame, applyHelmert, dateToEpoch, transformFrame } from './frames.cjs';
 export { KlobucharCoeffs, SppOptions, SppSolution, ionoFree, klobucharDelay, satClockCorrection, solveSpp } from './positioning.cjs';

package/dist/index.d.ts

@@ -9,6 +9,9 @@ export { E as EpochSummary, P as ParseOptions, R as RinexHeader, a as RinexResul
 export { E as Ephemeris, G as GlonassEphemeris, K as KeplerEphemeris, N as NavHeader, a as NavResult, p as parseNavFile } from './nav-BAI1a9vK.js';
 export { B as BitReader, E as EphemerisInfo, R as Rtcm3DebugHandler, a as Rtcm3Decoder, b as Rtcm3Frame, d as decodeEphemeris, r as readString, c as reportDecodeError, s as setRtcm3DebugHandler } from './ephemeris-Ohl6NAfw.js';
 export { MessageTypeStats, MsmEpoch, MsmSatObs, MsmSignal, RTCM3_MESSAGE_NAMES, SatCn0, SignalCn0, StationMeta, StreamStats, createStationMeta, createStreamStats, decodeMsmFull, msmEpochToDate, resetGloFreqCache, rtcm3Constellation, setGloFreqNumber, updateStationMeta, updateStreamStats } from './rtcm3.js';
+export { UbxMeasurement, UbxParseResult, UbxRawxEpoch, parseUbxRawx } from './ubx.js';
+export { SbfMeasEpoch, SbfMeasurement, SbfParseResult, parseSbfMeas } from './sbf.js';
+export { NovatelEpoch, NovatelMeasurement, NovatelParseResult, parseNovatelRange } from './novatel.js';
 export { AllPositionsData, DopValues, EpochSkyData, SatAzEl, SatPoint, SatPosition, VisibilityPass, VisibilityResult, computeAllPositions, computeDop, computeLiveSkyPositions, computeSatPosition, computeVisibility, computeVisibilityFromPositions, dopplerHz, ecefToAzEl, ephInfoToEphemeris, glonassPosition, keplerPosition, maskRadForAzimuth, navTimesFromEph, rangeRate, selectEphemeris } from './orbit.js';
 export { Helmert14, REFERENCE_FRAMES, ReferenceFrame, applyHelmert, dateToEpoch, transformFrame } from './frames.js';
 export { KlobucharCoeffs, SppOptions, SppSolution, ionoFree, klobucharDelay, satClockCorrection, solveSpp } from './positioning.js';

package/dist/index.js

@@ -1,29 +1,3 @@
-import {
-  connectToMountpoint,
-  fetchSourcetable,
-  parseSourcetable
-} from "./chunk-BJHTBYNG.js";
-import {
-  CompletenessAccumulator,
-  CycleSlipAccumulator,
-  IonoAccumulator,
-  MultipathAccumulator,
-  analyzeQuality,
-  applyIonoDcb,
-  computeIonoRate,
-  detrendIonoArcs,
-  parseSinexBiasDcb
-} from "./chunk-Z5UZUNCB.js";
-import {
-  frequencyLabel,
-  parseAntex
-} from "./chunk-5CMSYIYM.js";
-import {
-  computeStats,
-  nmeaCoordToDecimal,
-  parseNmeaFile,
-  verifyChecksum
-} from "./chunk-YDMYO3YK.js";
 import {
   BAND_PRESETS,
   CONSTELLATIONS,
@@ -59,6 +33,41 @@ import {
   phiBOCs,
   phiBPSK
 } from "./chunk-2K3FCJBX.js";
+import {
+  parseUbxRawx
+} from "./chunk-5IXK25MX.js";
+import {
+  parseSbfMeas
+} from "./chunk-YIHO74OS.js";
+import {
+  parseNovatelRange
+} from "./chunk-SWKWJEGY.js";
+import {
+  connectToMountpoint,
+  fetchSourcetable,
+  parseSourcetable
+} from "./chunk-BJHTBYNG.js";
+import {
+  CompletenessAccumulator,
+  CycleSlipAccumulator,
+  IonoAccumulator,
+  MultipathAccumulator,
+  analyzeQuality,
+  applyIonoDcb,
+  computeIonoRate,
+  detrendIonoArcs,
+  parseSinexBiasDcb
+} from "./chunk-Z5UZUNCB.js";
+import {
+  frequencyLabel,
+  parseAntex
+} from "./chunk-5CMSYIYM.js";
+import {
+  computeStats,
+  nmeaCoordToDecimal,
+  parseNmeaFile,
+  verifyChecksum
+} from "./chunk-YDMYO3YK.js";
 import {
   Scale,
   getDateFromDayOfWeek,
@@ -460,10 +469,13 @@ export {
   parseIonex,
   parseNavFile,
   parseNmeaFile,
+  parseNovatelRange,
   parseRinexStream,
+  parseSbfMeas,
   parseSinexBiasDcb,
   parseSourcetable,
   parseSp3,
+  parseUbxRawx,
   phiAltBOC,
   phiBOCc,
   phiBOCs,

package/dist/novatel.cjs

@@ -0,0 +1,270 @@
+"use strict";
+var __defProp = Object.defineProperty;
+var __getOwnPropDesc = Object.getOwnPropertyDescriptor;
+var __getOwnPropNames = Object.getOwnPropertyNames;
+var __hasOwnProp = Object.prototype.hasOwnProperty;
+var __export = (target, all) => {
+  for (var name in all)
+    __defProp(target, name, { get: all[name], enumerable: true });
+};
+var __copyProps = (to, from, except, desc) => {
+  if (from && typeof from === "object" || typeof from === "function") {
+    for (let key of __getOwnPropNames(from))
+      if (!__hasOwnProp.call(to, key) && key !== except)
+        __defProp(to, key, { get: () => from[key], enumerable: !(desc = __getOwnPropDesc(from, key)) || desc.enumerable });
+  }
+  return to;
+};
+var __toCommonJS = (mod) => __copyProps(__defProp({}, "__esModule", { value: true }), mod);
+
+// src/novatel/index.ts
+var novatel_exports = {};
+__export(novatel_exports, {
+  parseNovatelRange: () => parseNovatelRange
+});
+module.exports = __toCommonJS(novatel_exports);
+var GPS_EPOCH_MS = Date.UTC(1980, 0, 6);
+var MS_PER_WEEK = 7 * 864e5;
+var HDR = 28;
+var ID_RANGE = 43;
+var ID_RANGECMP = 140;
+var ID_GLOEPHEMERIS = 723;
+var C_LIGHT = 299792458;
+var ADR_ROLL = 8388608;
+function carrierFreq(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 SIGNALS = {
+  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 = SIGNALS[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 = carrierFreq(sysL, code, gloK);
+          if (freq > 0) {
+            const adr = view.getInt32(o + 12, true) / 256;
+            const rolls = psr * freq / C_LIGHT / 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_MS + week * MS_PER_WEEK + 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 = SIGNALS[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_MS + week * MS_PER_WEEK + towMs,
+          meas
+        });
+      }
+    }
+    i += total;
+  }
+  return { epochs, messageCounts, obsCodes, badCrc };
+}
+// Annotate the CommonJS export names for ESM import in node:
+0 && (module.exports = {
+  parseNovatelRange
+});

package/dist/novatel.d.cts

@@ -0,0 +1,57 @@
+/**
+ * NovAtel OEM4/6/7 raw-measurement decoding (RANGE log, message 43).
+ *
+ * Framing: 0xAA 0x44 0x12, a 28-byte binary header (message ID,
+ * GPS week + milliseconds), payload, and a reflected CRC-32
+ * (poly 0xEDB88320) over the whole frame. Each RANGE observation is a
+ * 44-byte record whose channel-tracking-status word carries the
+ * constellation and signal type.
+ *
+ * Field layout and signal tables ported from RTKLIB demo5
+ * (rtklibexplorer fork, src/rcv/novatel.c, BSD-2-Clause) and
+ * cross-checked against the OEM7 Commands and Logs Reference Manual.
+ * Notably: RINEX carrier phase is the NEGATED accumulated Doppler
+ * range (L = −adr), GLONASS PRNs are offset by 37, GLONASS phases
+ * without known parity are dropped, and code/phase are individually
+ * gated by their lock flags.
+ */
+interface NovatelMeasurement {
+    /** RINEX PRN, e.g. "G04", "R11", "S23", "J01". */
+    prn: string;
+    /** RINEX band+attribute, e.g. "1C", "2W", "5Q". */
+    code: string;
+    /** Pseudorange (m), null when the code is unlocked. */
+    pr: number | null;
+    /** Carrier phase (cycles, RINEX sign), null when phase is unlocked. */
+    cp: number | null;
+    /** Instantaneous Doppler (Hz), null when phase is unlocked. */
+    doppler: number | null;
+    /** C/N0 (dB-Hz). */
+    cn0: number;
+    /** Continuous lock time (s). */
+    lockTimeS: number;
+    /** GLONASS frequency channel k (freqId − 8), null for CDMA systems. */
+    gloChannel: number | null;
+}
+interface NovatelEpoch {
+    /** Epoch (GPS-scale ms — same convention as the RINEX parser). */
+    timeMs: number;
+    meas: NovatelMeasurement[];
+}
+interface NovatelParseResult {
+    epochs: NovatelEpoch[];
+    /** Count per message ID, for diagnostics. */
+    messageCounts: Record<number, number>;
+    /** Observation codes seen per system letter, in first-seen order. */
+    obsCodes: Record<string, string[]>;
+    /** Frames whose CRC failed (corruption indicator). */
+    badCrc: number;
+}
+/**
+ * Decode every valid RANGE message in a NovAtel binary byte stream.
+ * Other messages are counted and skipped; CRC failures resync at the
+ * next byte.
+ */
+declare function parseNovatelRange(data: Uint8Array): NovatelParseResult;
+
+export { type NovatelEpoch, type NovatelMeasurement, type NovatelParseResult, parseNovatelRange };

package/dist/novatel.d.ts

@@ -0,0 +1,57 @@
+/**
+ * NovAtel OEM4/6/7 raw-measurement decoding (RANGE log, message 43).
+ *
+ * Framing: 0xAA 0x44 0x12, a 28-byte binary header (message ID,
+ * GPS week + milliseconds), payload, and a reflected CRC-32
+ * (poly 0xEDB88320) over the whole frame. Each RANGE observation is a
+ * 44-byte record whose channel-tracking-status word carries the
+ * constellation and signal type.
+ *
+ * Field layout and signal tables ported from RTKLIB demo5
+ * (rtklibexplorer fork, src/rcv/novatel.c, BSD-2-Clause) and
+ * cross-checked against the OEM7 Commands and Logs Reference Manual.
+ * Notably: RINEX carrier phase is the NEGATED accumulated Doppler
+ * range (L = −adr), GLONASS PRNs are offset by 37, GLONASS phases
+ * without known parity are dropped, and code/phase are individually
+ * gated by their lock flags.
+ */
+interface NovatelMeasurement {
+    /** RINEX PRN, e.g. "G04", "R11", "S23", "J01". */
+    prn: string;
+    /** RINEX band+attribute, e.g. "1C", "2W", "5Q". */
+    code: string;
+    /** Pseudorange (m), null when the code is unlocked. */
+    pr: number | null;
+    /** Carrier phase (cycles, RINEX sign), null when phase is unlocked. */
+    cp: number | null;
+    /** Instantaneous Doppler (Hz), null when phase is unlocked. */
+    doppler: number | null;
+    /** C/N0 (dB-Hz). */
+    cn0: number;
+    /** Continuous lock time (s). */
+    lockTimeS: number;
+    /** GLONASS frequency channel k (freqId − 8), null for CDMA systems. */
+    gloChannel: number | null;
+}
+interface NovatelEpoch {
+    /** Epoch (GPS-scale ms — same convention as the RINEX parser). */
+    timeMs: number;
+    meas: NovatelMeasurement[];
+}
+interface NovatelParseResult {
+    epochs: NovatelEpoch[];
+    /** Count per message ID, for diagnostics. */
+    messageCounts: Record<number, number>;
+    /** Observation codes seen per system letter, in first-seen order. */
+    obsCodes: Record<string, string[]>;
+    /** Frames whose CRC failed (corruption indicator). */
+    badCrc: number;
+}
+/**
+ * Decode every valid RANGE message in a NovAtel binary byte stream.
+ * Other messages are counted and skipped; CRC failures resync at the
+ * next byte.
+ */
+declare function parseNovatelRange(data: Uint8Array): NovatelParseResult;
+
+export { type NovatelEpoch, type NovatelMeasurement, type NovatelParseResult, parseNovatelRange };

package/dist/novatel.js

@@ -0,0 +1,6 @@
+import {
+  parseNovatelRange
+} from "./chunk-SWKWJEGY.js";
+export {
+  parseNovatelRange
+};