gnss-js 1.13.0 → 1.14.0

package/dist/sbf.d.cts

@@ -0,0 +1,63 @@
+/**
+ * Septentrio SBF raw-measurement decoding (MeasEpoch + Meas3) — the
+ * path from a receiver log to RINEX-grade observables.
+ *
+ * Framing: 0x24 0x40, CRC16-CCITT (poly 0x1021, init 0) as U2, block
+ * ID U2 (number in bits 0..12, revision in 13..15), total length U2
+ * (multiple of 4, includes the 8-byte header). The CRC covers block ID
+ * through payload end. Every measurement block starts with the receiver
+ * time stamp: TOW (U4, ms of GPS week) + WNc (U2, continuous week).
+ *
+ * Two measurement families are decoded:
+ *  - MeasEpoch (4027): classic per-channel absolute + delta sub-blocks.
+ *  - Meas3Ranges (4109) with the Meas3CN0HiRes (4110) and Meas3Doppler
+ *    (4111) extensions: a compressed format alternating reference
+ *    epochs (full measurements) and delta epochs (differences against
+ *    the last reference), with per-constellation master signals and
+ *    slave signals encoded relative to the master. Decoding is stateful
+ *    across blocks; delta epochs before the first reference epoch in
+ *    the stream cannot be decoded and are dropped.
+ *
+ * The Meas3 decoding logic is ported from RTKLIB demo5 (rtklibexplorer),
+ * src/rcv/septentrio.c, BSD-2-Clause, and cross-checked against the
+ * Septentrio mosaic-X5 reference guide (the guide documents MeasEpoch
+ * fully; the Meas3 bit layout is only public through that decoder).
+ */
+interface SbfMeasurement {
+    /** RINEX PRN, e.g. "G04", "R11", "S23" (SBAS PRN-100). */
+    prn: string;
+    /** RINEX band+attribute, e.g. "1C", "2W", "5Q", "2I". */
+    code: string;
+    /** Pseudorange (m), null when flagged invalid. */
+    pr: number | null;
+    /** Carrier phase (cycles), null when flagged invalid. */
+    cp: number | null;
+    /** Doppler (Hz), null when the log carries no Doppler for the signal. */
+    doppler: number | null;
+    /** C/N0 (dB-Hz), null when flagged invalid. */
+    cn0: number | null;
+    /** Continuous PLL lock time (ms), null when unknown. */
+    lockTimeMs: number | null;
+}
+interface SbfMeasEpoch {
+    /** Receiver epoch (GPS-scale ms — same convention as the RINEX parser). */
+    timeMs: number;
+    meas: SbfMeasurement[];
+}
+interface SbfParseResult {
+    epochs: SbfMeasEpoch[];
+    /** Count per SBF block number, keyed "4109" style, for diagnostics. */
+    messageCounts: Record<string, 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 MeasEpoch/Meas3 block in an SBF byte stream.
+ * Other block types are counted and skipped; frames with bad CRC are
+ * counted and a resync continues at the next byte.
+ */
+declare function parseSbfMeas(data: Uint8Array): SbfParseResult;
+
+export { type SbfMeasEpoch, type SbfMeasurement, type SbfParseResult, parseSbfMeas };

package/dist/sbf.d.ts

@@ -0,0 +1,63 @@
+/**
+ * Septentrio SBF raw-measurement decoding (MeasEpoch + Meas3) — the
+ * path from a receiver log to RINEX-grade observables.
+ *
+ * Framing: 0x24 0x40, CRC16-CCITT (poly 0x1021, init 0) as U2, block
+ * ID U2 (number in bits 0..12, revision in 13..15), total length U2
+ * (multiple of 4, includes the 8-byte header). The CRC covers block ID
+ * through payload end. Every measurement block starts with the receiver
+ * time stamp: TOW (U4, ms of GPS week) + WNc (U2, continuous week).
+ *
+ * Two measurement families are decoded:
+ *  - MeasEpoch (4027): classic per-channel absolute + delta sub-blocks.
+ *  - Meas3Ranges (4109) with the Meas3CN0HiRes (4110) and Meas3Doppler
+ *    (4111) extensions: a compressed format alternating reference
+ *    epochs (full measurements) and delta epochs (differences against
+ *    the last reference), with per-constellation master signals and
+ *    slave signals encoded relative to the master. Decoding is stateful
+ *    across blocks; delta epochs before the first reference epoch in
+ *    the stream cannot be decoded and are dropped.
+ *
+ * The Meas3 decoding logic is ported from RTKLIB demo5 (rtklibexplorer),
+ * src/rcv/septentrio.c, BSD-2-Clause, and cross-checked against the
+ * Septentrio mosaic-X5 reference guide (the guide documents MeasEpoch
+ * fully; the Meas3 bit layout is only public through that decoder).
+ */
+interface SbfMeasurement {
+    /** RINEX PRN, e.g. "G04", "R11", "S23" (SBAS PRN-100). */
+    prn: string;
+    /** RINEX band+attribute, e.g. "1C", "2W", "5Q", "2I". */
+    code: string;
+    /** Pseudorange (m), null when flagged invalid. */
+    pr: number | null;
+    /** Carrier phase (cycles), null when flagged invalid. */
+    cp: number | null;
+    /** Doppler (Hz), null when the log carries no Doppler for the signal. */
+    doppler: number | null;
+    /** C/N0 (dB-Hz), null when flagged invalid. */
+    cn0: number | null;
+    /** Continuous PLL lock time (ms), null when unknown. */
+    lockTimeMs: number | null;
+}
+interface SbfMeasEpoch {
+    /** Receiver epoch (GPS-scale ms — same convention as the RINEX parser). */
+    timeMs: number;
+    meas: SbfMeasurement[];
+}
+interface SbfParseResult {
+    epochs: SbfMeasEpoch[];
+    /** Count per SBF block number, keyed "4109" style, for diagnostics. */
+    messageCounts: Record<string, 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 MeasEpoch/Meas3 block in an SBF byte stream.
+ * Other block types are counted and skipped; frames with bad CRC are
+ * counted and a resync continues at the next byte.
+ */
+declare function parseSbfMeas(data: Uint8Array): SbfParseResult;
+
+export { type SbfMeasEpoch, type SbfMeasurement, type SbfParseResult, parseSbfMeas };

package/dist/sbf.js

@@ -0,0 +1,6 @@
+import {
+  parseSbfMeas
+} from "./chunk-YIHO74OS.js";
+export {
+  parseSbfMeas
+};

package/dist/ubx.cjs

@@ -0,0 +1,140 @@
+"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/ubx/index.ts
+var ubx_exports = {};
+__export(ubx_exports, {
+  parseUbxRawx: () => parseUbxRawx
+});
+module.exports = __toCommonJS(ubx_exports);
+var GPS_EPOCH_MS = Date.UTC(1980, 0, 6);
+var MS_PER_WEEK = 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 two = (n) => String(n).padStart(2, "0");
+  switch (gnssId) {
+    case 0:
+      return svId >= 1 && svId <= 32 ? `G${two(svId)}` : null;
+    case 1:
+      return svId >= 120 && svId <= 158 ? `S${two(svId - 100)}` : null;
+    case 2:
+      return svId >= 1 && svId <= 36 ? `E${two(svId)}` : null;
+    case 3:
+      return svId >= 1 && svId <= 63 ? `C${two(svId)}` : null;
+    case 5:
+      return svId >= 1 && svId <= 10 ? `J${two(svId)}` : null;
+    case 6:
+      return svId >= 1 && svId <= 32 ? `R${two(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_WEEK + Math.round(rcvTow * 1e3),
+        leapS: leapValid ? leapS : null,
+        meas
+      });
+    }
+    i = end;
+  }
+  return { epochs, messageCounts, obsCodes, badChecksums };
+}
+// Annotate the CommonJS export names for ESM import in node:
+0 && (module.exports = {
+  parseUbxRawx
+});

package/dist/ubx.d.cts

@@ -0,0 +1,56 @@
+/**
+ * u-blox UBX raw-measurement decoding (RXM-RAWX) — the path from a
+ * receiver log to RINEX-grade observables.
+ *
+ * Framing: 0xB5 0x62, class, id, little-endian length, payload, and an
+ * 8-bit Fletcher checksum over class..payload. RXM-RAWX (0x02 0x15)
+ * carries the receiver time (GPS week + tow) and, per measurement,
+ * pseudorange (m), carrier phase (cycles), Doppler (Hz), C/N0 and the
+ * (gnssId, svId, sigId) triple that maps onto a RINEX observation code.
+ *
+ * The signal table follows the u-blox interface description, with the
+ * RINEX attributes chosen to match RTKLIB's u-blox conversion (the de
+ * facto reference: GPS L2 CL/CM as 2X, Galileo E1 as 1X, E5b as 7X).
+ */
+interface UbxMeasurement {
+    /** RINEX PRN, e.g. "G04", "R11", "S23". */
+    prn: string;
+    /** RINEX band+attribute, e.g. "1C", "2X", "7I". */
+    code: string;
+    /** Pseudorange (m), null when flagged invalid. */
+    pr: number | null;
+    /** Carrier phase (cycles), null when flagged invalid. */
+    cp: number | null;
+    /** Doppler (Hz). */
+    doppler: number;
+    /** C/N0 (dB-Hz). */
+    cn0: number;
+    /** Carrier phase may be off by half a cycle (trkStat bit 2). */
+    halfCycleAmbiguous: boolean;
+    /** Continuous-lock time (ms, saturates at 64500). */
+    lockTimeMs: number;
+}
+interface UbxRawxEpoch {
+    /** Receiver epoch (GPS-scale ms — same convention as the RINEX parser). */
+    timeMs: number;
+    /** GPS leap seconds at this epoch, if the receiver knows them. */
+    leapS: number | null;
+    meas: UbxMeasurement[];
+}
+interface UbxParseResult {
+    epochs: UbxRawxEpoch[];
+    /** Count per UBX (class, id), keyed "02-15" style, for diagnostics. */
+    messageCounts: Record<string, number>;
+    /** Observation codes seen per system letter, in first-seen order. */
+    obsCodes: Record<string, string[]>;
+    /** Frames whose checksum failed (corruption indicator). */
+    badChecksums: number;
+}
+/**
+ * Decode every valid RXM-RAWX message in a UBX byte stream. Non-RAWX
+ * messages are counted and skipped; frames with bad checksums are
+ * skipped and counted (a resync then continues at the next byte).
+ */
+declare function parseUbxRawx(data: Uint8Array): UbxParseResult;
+
+export { type UbxMeasurement, type UbxParseResult, type UbxRawxEpoch, parseUbxRawx };

package/dist/ubx.d.ts

@@ -0,0 +1,56 @@
+/**
+ * u-blox UBX raw-measurement decoding (RXM-RAWX) — the path from a
+ * receiver log to RINEX-grade observables.
+ *
+ * Framing: 0xB5 0x62, class, id, little-endian length, payload, and an
+ * 8-bit Fletcher checksum over class..payload. RXM-RAWX (0x02 0x15)
+ * carries the receiver time (GPS week + tow) and, per measurement,
+ * pseudorange (m), carrier phase (cycles), Doppler (Hz), C/N0 and the
+ * (gnssId, svId, sigId) triple that maps onto a RINEX observation code.
+ *
+ * The signal table follows the u-blox interface description, with the
+ * RINEX attributes chosen to match RTKLIB's u-blox conversion (the de
+ * facto reference: GPS L2 CL/CM as 2X, Galileo E1 as 1X, E5b as 7X).
+ */
+interface UbxMeasurement {
+    /** RINEX PRN, e.g. "G04", "R11", "S23". */
+    prn: string;
+    /** RINEX band+attribute, e.g. "1C", "2X", "7I". */
+    code: string;
+    /** Pseudorange (m), null when flagged invalid. */
+    pr: number | null;
+    /** Carrier phase (cycles), null when flagged invalid. */
+    cp: number | null;
+    /** Doppler (Hz). */
+    doppler: number;
+    /** C/N0 (dB-Hz). */
+    cn0: number;
+    /** Carrier phase may be off by half a cycle (trkStat bit 2). */
+    halfCycleAmbiguous: boolean;
+    /** Continuous-lock time (ms, saturates at 64500). */
+    lockTimeMs: number;
+}
+interface UbxRawxEpoch {
+    /** Receiver epoch (GPS-scale ms — same convention as the RINEX parser). */
+    timeMs: number;
+    /** GPS leap seconds at this epoch, if the receiver knows them. */
+    leapS: number | null;
+    meas: UbxMeasurement[];
+}
+interface UbxParseResult {
+    epochs: UbxRawxEpoch[];
+    /** Count per UBX (class, id), keyed "02-15" style, for diagnostics. */
+    messageCounts: Record<string, number>;
+    /** Observation codes seen per system letter, in first-seen order. */
+    obsCodes: Record<string, string[]>;
+    /** Frames whose checksum failed (corruption indicator). */
+    badChecksums: number;
+}
+/**
+ * Decode every valid RXM-RAWX message in a UBX byte stream. Non-RAWX
+ * messages are counted and skipped; frames with bad checksums are
+ * skipped and counted (a resync then continues at the next byte).
+ */
+declare function parseUbxRawx(data: Uint8Array): UbxParseResult;
+
+export { type UbxMeasurement, type UbxParseResult, type UbxRawxEpoch, parseUbxRawx };

package/dist/ubx.js

@@ -0,0 +1,6 @@
+import {
+  parseUbxRawx
+} from "./chunk-5IXK25MX.js";
+export {
+  parseUbxRawx
+};

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "gnss-js",
-  "version": "1.13.0",
+  "version": "1.14.0",
   "description": "Comprehensive GNSS library for JavaScript — time scales, coordinates, RINEX parsing, RTCM3 decoding, orbit computation, and signal analysis",
   "type": "module",
   "sideEffects": false,
@@ -30,6 +30,21 @@
       "import": "./dist/rinex.js",
       "require": "./dist/rinex.cjs"
     },
+    "./ubx": {
+      "types": "./dist/ubx.d.ts",
+      "import": "./dist/ubx.js",
+      "require": "./dist/ubx.cjs"
+    },
+    "./novatel": {
+      "types": "./dist/novatel.d.ts",
+      "import": "./dist/novatel.js",
+      "require": "./dist/novatel.cjs"
+    },
+    "./sbf": {
+      "types": "./dist/sbf.d.ts",
+      "import": "./dist/sbf.js",
+      "require": "./dist/sbf.cjs"
+    },
     "./rtcm3": {
       "types": "./dist/rtcm3.d.ts",
       "import": "./dist/rtcm3.js",