gnss-js 1.13.0 → 1.14.1

package/dist/chunk-5IXK25MX.js

@@ -0,0 +1,116 @@
+// src/ubx/index.ts
+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 };
+}
+
+export {
+  parseUbxRawx
+};

package/dist/{chunk-FGRC3PB3.js → chunk-BRT6XZ7B.js}

@@ -1,3 +1,6 @@
+import {
+  getGpsLeap
+} from "./chunk-HVXYFUCB.js";
 import {
   MILLISECONDS_IN_WEEK,
   START_BDS_TIME,
@@ -1069,7 +1072,7 @@ function msmEpochToDate(sys, epochMs, refTime = /* @__PURE__ */ new Date()) {
     let t2 = refMs - refMs % dayMs + diff * dayMs + msOfDay - 3 * 36e5;
     while (t2 - refMs > 3 * dayMs) t2 -= 7 * dayMs;
     while (refMs - t2 > 3 * dayMs) t2 += 7 * dayMs;
-    return new Date(t2);
+    return new Date(t2 + getGpsLeap(new Date(t2)) * 1e3);
   }
   if (sys === "C") {
     const BDS_EPOCH = START_BDS_TIME.getTime();
@@ -1077,14 +1080,12 @@ function msmEpochToDate(sys, epochMs, refTime = /* @__PURE__ */ new Date()) {
     let t2 = BDS_EPOCH + weeksSinceEpoch2 * MS_PER_WEEK + epochMs;
     if (t2 - refMs > MS_PER_WEEK / 2) t2 -= MS_PER_WEEK;
     else if (refMs - t2 > MS_PER_WEEK / 2) t2 += MS_PER_WEEK;
-    t2 -= 18e3;
     return new Date(t2);
   }
   const weeksSinceEpoch = Math.floor((refMs - GPS_EPOCH) / MS_PER_WEEK);
   let t = GPS_EPOCH + weeksSinceEpoch * MS_PER_WEEK + epochMs;
   if (t - refMs > MS_PER_WEEK / 2) t -= MS_PER_WEEK;
   else if (refMs - t > MS_PER_WEEK / 2) t += MS_PER_WEEK;
-  t -= 18e3;
   return new Date(t);
 }
 function setGloFreqNumber(slot, k) {

package/dist/{chunk-E5CP37P2.js → chunk-QXZZNXE3.js}

@@ -2,7 +2,7 @@ import {
   computeDop,
   computeSatPosition,
   ecefToAzEl
-} from "./chunk-VAHMHYID.js";
+} from "./chunk-OMVL3X7V.js";
 import {
   ecefToGeodetic
 } from "./chunk-37QNKGTC.js";

package/dist/chunk-SWKWJEGY.js

@@ -0,0 +1,246 @@
+// src/novatel/index.ts
+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 };
+}
+
+export {
+  parseNovatelRange
+};