gnss-js 1.14.0 → 1.15.0

package/dist/index.d.cts

@@ -10,8 +10,8 @@ export { E as Ephemeris, G as GlonassEphemeris, K as KeplerEphemeris, N as NavHe
 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 { SbfAlmanac, SbfAlmanacResult, SbfGlonassAlmanac, SbfKeplerAlmanac, SbfMeasEpoch, SbfMeasurement, SbfNavResult, SbfParseResult, parseSbfAlmanac, parseSbfMeas, parseSbfNav } from './sbf.cjs';
+export { NovatelEpoch, NovatelMeasurement, NovatelNavResult, NovatelParseResult, OEM4_HLEN, Oem4Frame, crc32, oem4Frames, parseNovatelNav, 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

@@ -10,8 +10,8 @@ export { E as Ephemeris, G as GlonassEphemeris, K as KeplerEphemeris, N as NavHe
 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 { SbfAlmanac, SbfAlmanacResult, SbfGlonassAlmanac, SbfKeplerAlmanac, SbfMeasEpoch, SbfMeasurement, SbfNavResult, SbfParseResult, parseSbfAlmanac, parseSbfMeas, parseSbfNav } from './sbf.js';
+export { NovatelEpoch, NovatelMeasurement, NovatelNavResult, NovatelParseResult, OEM4_HLEN, Oem4Frame, crc32, oem4Frames, parseNovatelNav, 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

@@ -37,11 +37,17 @@ import {
   parseUbxRawx
 } from "./chunk-5IXK25MX.js";
 import {
-  parseSbfMeas
-} from "./chunk-YIHO74OS.js";
+  parseSbfAlmanac,
+  parseSbfMeas,
+  parseSbfNav
+} from "./chunk-BEQSEJMU.js";
 import {
+  OEM4_HLEN,
+  crc32,
+  oem4Frames,
+  parseNovatelNav,
   parseNovatelRange
-} from "./chunk-SWKWJEGY.js";
+} from "./chunk-I4UV45NT.js";
 import {
   connectToMountpoint,
   fetchSourcetable,
@@ -112,7 +118,7 @@ import {
   klobucharDelay,
   satClockCorrection,
   solveSpp
-} from "./chunk-E5CP37P2.js";
+} from "./chunk-QXZZNXE3.js";
 import {
   computeAllPositions,
   computeDop,
@@ -129,42 +135,7 @@ import {
   navTimesFromEph,
   rangeRate,
   selectEphemeris
-} from "./chunk-VAHMHYID.js";
-import {
-  getBdsTime,
-  getDateFromBdsTime,
-  getDateFromGalTime,
-  getDateFromGloN,
-  getDateFromGpsData,
-  getDateFromGpsTime,
-  getDateFromTai,
-  getDateFromTt,
-  getDateFromUnixTime,
-  getDateFromUtc,
-  getGalTime,
-  getGloN4,
-  getGloNA,
-  getGpsLeap,
-  getGpsTime,
-  getHoursFromTimeDifference,
-  getLeap,
-  getMinutesFromTimeDifference,
-  getNtpTime,
-  getSecondsFromTimeDifference,
-  getTaiDate,
-  getTimeDifference,
-  getTimeDifferenceFromDays,
-  getTimeDifferenceFromHours,
-  getTimeDifferenceFromMinutes,
-  getTimeDifferenceFromObject,
-  getTimeDifferenceFromSeconds,
-  getTimeOfWeek,
-  getTotalDaysFromTimeDifference,
-  getTtDate,
-  getUnixTime,
-  getUtcDate,
-  getWeekNumber
-} from "./chunk-HVXYFUCB.js";
+} from "./chunk-OMVL3X7V.js";
 import {
   clampUnit,
   ecefToGeodetic,
@@ -224,7 +195,42 @@ import {
   setRtcm3DebugHandler,
   updateStationMeta,
   updateStreamStats
-} from "./chunk-FGRC3PB3.js";
+} from "./chunk-BRT6XZ7B.js";
+import {
+  getBdsTime,
+  getDateFromBdsTime,
+  getDateFromGalTime,
+  getDateFromGloN,
+  getDateFromGpsData,
+  getDateFromGpsTime,
+  getDateFromTai,
+  getDateFromTt,
+  getDateFromUnixTime,
+  getDateFromUtc,
+  getGalTime,
+  getGloN4,
+  getGloNA,
+  getGpsLeap,
+  getGpsTime,
+  getHoursFromTimeDifference,
+  getLeap,
+  getMinutesFromTimeDifference,
+  getNtpTime,
+  getSecondsFromTimeDifference,
+  getTaiDate,
+  getTimeDifference,
+  getTimeDifferenceFromDays,
+  getTimeDifferenceFromHours,
+  getTimeDifferenceFromMinutes,
+  getTimeDifferenceFromObject,
+  getTimeDifferenceFromSeconds,
+  getTimeOfWeek,
+  getTotalDaysFromTimeDifference,
+  getTtDate,
+  getUnixTime,
+  getUtcDate,
+  getWeekNumber
+} from "./chunk-HVXYFUCB.js";
 import {
   DAYS_MJD2000_MJD,
   DAYS_MJD_JULIAN,
@@ -330,6 +336,7 @@ export {
   MILLISECONDS_IN_WEEK,
   MILLISECONDS_TT_TAI,
   MultipathAccumulator,
+  OEM4_HLEN,
   OMEGA_E,
   REFERENCE_FRAMES,
   RINEX_CODES,
@@ -373,6 +380,7 @@ export {
   computeVisibility,
   computeVisibilityFromPositions,
   connectToMountpoint,
+  crc32,
   createGzipLineSink,
   createStationMeta,
   createStreamStats,
@@ -462,6 +470,7 @@ export {
   msmEpochToDate,
   navTimesFromEph,
   nmeaCoordToDecimal,
+  oem4Frames,
   padL,
   padR,
   parseAntex,
@@ -469,9 +478,12 @@ export {
   parseIonex,
   parseNavFile,
   parseNmeaFile,
+  parseNovatelNav,
   parseNovatelRange,
   parseRinexStream,
+  parseSbfAlmanac,
   parseSbfMeas,
+  parseSbfNav,
   parseSinexBiasDcb,
   parseSourcetable,
   parseSp3,

package/dist/novatel.cjs

@@ -20,15 +20,364 @@ var __toCommonJS = (mod) => __copyProps(__defProp({}, "__esModule", { value: tru
 // src/novatel/index.ts
 var novatel_exports = {};
 __export(novatel_exports, {
+  OEM4_HLEN: () => OEM4_HLEN,
+  crc32: () => crc32,
+  oem4Frames: () => oem4Frames,
+  parseNovatelNav: () => parseNovatelNav,
   parseNovatelRange: () => parseNovatelRange
 });
 module.exports = __toCommonJS(novatel_exports);
+
+// src/novatel/frame.ts
+var OEM4_HLEN = 28;
+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;
+}
+function* oem4Frames(data, view, stats) {
+  let i = 0;
+  while (i + OEM4_HLEN + 4 <= data.length) {
+    if (data[i] !== 170 || data[i + 1] !== 68 || data[i + 2] !== 18) {
+      i++;
+      continue;
+    }
+    const hlen = data[i + 3];
+    const msgLen = view.getUint16(i + 8, true);
+    const total = hlen + msgLen + 4;
+    if (hlen < OEM4_HLEN || i + total > data.length) {
+      i++;
+      continue;
+    }
+    if (crc32(data, i, hlen + msgLen) !== view.getUint32(i + hlen + msgLen, true)) {
+      stats.badCrc++;
+      i++;
+      continue;
+    }
+    yield {
+      id: view.getUint16(i + 4, true),
+      start: i,
+      payload: i + hlen,
+      msgLen,
+      binary: (data[i + 6] >> 4 & 3) === 0,
+      week: view.getUint16(i + 14, true),
+      towMs: view.getUint32(i + 16, true)
+    };
+    i += total;
+  }
+}
+
+// src/navbits/index.ts
+var GPS_PI = 3.1415926535898;
 var GPS_EPOCH_MS = Date.UTC(1980, 0, 6);
+var SEC_PER_WEEK = 7 * 86400;
+function getBitU(buff, pos, len) {
+  let bits = 0;
+  for (let i = pos; i < pos + len; i++) {
+    bits = bits * 2 + (buff[i >> 3] >> 7 - (i & 7) & 1);
+  }
+  return bits;
+}
+function getBitS(buff, pos, len) {
+  const bits = getBitU(buff, pos, len);
+  if (len <= 0 || bits < 2 ** (len - 1)) return bits;
+  return bits - 2 ** len;
+}
+function decodeGpsLnavFrame(subframes, opts = {}) {
+  if (subframes.length < 90) return null;
+  const b = subframes;
+  let i = 24;
+  const tow1 = getBitU(b, i, 17) * 6;
+  i += 17 + 2;
+  const id1 = getBitU(b, i, 3);
+  i += 3 + 2;
+  const week10 = getBitU(b, i, 10);
+  i += 10;
+  i += 2;
+  i += 4;
+  const svHealth = getBitU(b, i, 6);
+  i += 6;
+  const iodc0 = getBitU(b, i, 2);
+  i += 2;
+  i += 1 + 87;
+  const tgdRaw = getBitS(b, i, 8);
+  i += 8;
+  const iodc1 = getBitU(b, i, 8);
+  i += 8;
+  const tocSec = getBitU(b, i, 16) * 16;
+  i += 16;
+  const af2 = getBitS(b, i, 8) * 2 ** -55;
+  i += 8;
+  const af1 = getBitS(b, i, 16) * 2 ** -43;
+  i += 16;
+  const af0 = getBitS(b, i, 22) * 2 ** -31;
+  i = 240 + 24;
+  i += 17 + 2;
+  const id2 = getBitU(b, i, 3);
+  i += 3 + 2;
+  const iode = getBitU(b, i, 8);
+  i += 8;
+  const crs = getBitS(b, i, 16) * 2 ** -5;
+  i += 16;
+  const deltaN = getBitS(b, i, 16) * 2 ** -43 * GPS_PI;
+  i += 16;
+  const m0 = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
+  i += 32;
+  const cuc = getBitS(b, i, 16) * 2 ** -29;
+  i += 16;
+  const e = getBitU(b, i, 32) * 2 ** -33;
+  i += 32;
+  const cus = getBitS(b, i, 16) * 2 ** -29;
+  i += 16;
+  const sqrtA = getBitU(b, i, 32) * 2 ** -19;
+  i += 32;
+  const toes = getBitU(b, i, 16) * 16;
+  i = 480 + 24;
+  i += 17 + 2;
+  const id3 = getBitU(b, i, 3);
+  i += 3 + 2;
+  const cic = getBitS(b, i, 16) * 2 ** -29;
+  i += 16;
+  const omega0 = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
+  i += 32;
+  const cis = getBitS(b, i, 16) * 2 ** -29;
+  i += 16;
+  const i0 = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
+  i += 32;
+  const crc = getBitS(b, i, 16) * 2 ** -5;
+  i += 16;
+  const omega = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
+  i += 32;
+  const omegaDot = getBitS(b, i, 24) * 2 ** -43 * GPS_PI;
+  i += 24;
+  const iode3 = getBitU(b, i, 8);
+  i += 8;
+  const idot = getBitS(b, i, 14) * 2 ** -43 * GPS_PI;
+  const iodc = iodc0 * 256 + iodc1;
+  if (id1 !== 1 || id2 !== 2 || id3 !== 3) return null;
+  if (iode3 !== iode || iode !== (iodc & 255)) return null;
+  const ref = opts.refWeek ?? Math.floor((Date.now() - GPS_EPOCH_MS) / 1e3 / SEC_PER_WEEK);
+  let week = week10 + 1024 * Math.round((ref - week10) / 1024);
+  if (toes < tow1 - 302400) week++;
+  else if (toes > tow1 + 302400) week--;
+  const prn = opts.prn ?? "G00";
+  const tocDate = new Date(
+    GPS_EPOCH_MS + (week * SEC_PER_WEEK + tocSec) * 1e3
+  );
+  return {
+    system: prn[0] === "J" ? "J" : "G",
+    prn,
+    tocDate,
+    // Same seconds-of-week convention as parseNavFile (rinex/nav.ts).
+    toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK,
+    af0,
+    af1,
+    af2,
+    iode,
+    crs,
+    deltaN,
+    m0,
+    cuc,
+    e,
+    cus,
+    sqrtA,
+    toe: toes,
+    cic,
+    omega0,
+    cis,
+    i0,
+    crc,
+    omega,
+    omegaDot,
+    idot,
+    week,
+    svHealth,
+    tgd: tgdRaw === -128 ? 0 : tgdRaw * 2 ** -31
+    // IS-GPS-200: -128 reserved
+  };
+}
+
+// src/constants/time.ts
+var MILLISECONDS_IN_SECOND = 1e3;
+var MILLISECONDS_GPS_TAI = 19e3;
+var START_NTP_TIME = /* @__PURE__ */ new Date("1900-01-01T00:00:00Z");
+
+// src/time/gnss.ts
+function getTaiDate(date) {
+  return new Date(date.getTime() + MILLISECONDS_GPS_TAI);
+}
+function getNtpTime(date) {
+  return getTaiDate(date).getTime() - START_NTP_TIME.getTime();
+}
+
+// src/time/utc.ts
+var LEAP_SECONDS_TABLE = [
+  [3692217600, 37],
+  // 1 Jan 2017
+  [3644697600, 36],
+  // 1 Jul 2015
+  [3550089600, 35],
+  // 1 Jul 2012
+  [3439756800, 34],
+  // 1 Jan 2009
+  [3345062400, 33],
+  // 1 Jan 2006
+  [3124137600, 32],
+  // 1 Jan 1999
+  [3076704e3, 31],
+  // 1 Jul 1997
+  [3029443200, 30],
+  // 1 Jan 1996
+  [2982009600, 29],
+  // 1 Jul 1994
+  [2950473600, 28],
+  // 1 Jul 1993
+  [2918937600, 27],
+  // 1 Jul 1992
+  [2871676800, 26],
+  // 1 Jan 1991
+  [2840140800, 25],
+  // 1 Jan 1990
+  [2776982400, 24],
+  // 1 Jan 1988
+  [2698012800, 23],
+  // 1 Jul 1985
+  [2634854400, 22],
+  // 1 Jul 1983
+  [2603318400, 21],
+  // 1 Jul 1982
+  [2571782400, 20],
+  // 1 Jul 1981
+  [2524521600, 19],
+  // 1 Jan 1980
+  [2492985600, 18],
+  // 1 Jan 1979
+  [2461449600, 17],
+  // 1 Jan 1978
+  [2429913600, 16],
+  // 1 Jan 1977
+  [2398291200, 15],
+  // 1 Jan 1976
+  [2366755200, 14],
+  // 1 Jan 1975
+  [2335219200, 13],
+  // 1 Jan 1974
+  [2303683200, 12],
+  // 1 Jan 1973
+  [2287785600, 11],
+  // 1 Jul 1972
+  [2272060800, 10]
+  // 1 Jan 1972
+];
+function getLeap(date) {
+  const ntp_time = getNtpTime(date);
+  for (const [timestamp, leapSeconds] of LEAP_SECONDS_TABLE) {
+    if (ntp_time / MILLISECONDS_IN_SECOND - leapSeconds >= timestamp) {
+      return leapSeconds;
+    }
+  }
+  return 8;
+}
+function getUtcDate(date) {
+  const tai_date = getTaiDate(date);
+  const leap_seconds = getLeap(date);
+  return new Date(tai_date.getTime() - leap_seconds * MILLISECONDS_IN_SECOND);
+}
+
+// src/novatel/nav.ts
+var ID_RAWEPHEM = 41;
+var ID_GLOEPHEMERIS = 723;
+var GPS_EPOCH_MS2 = Date.UTC(1980, 0, 6);
+var SEC_PER_WEEK2 = 7 * 86400;
+var SEC_PER_DAY = 86400;
+function decodeRawEphem(data, view, p) {
+  const prn = view.getUint32(p, true);
+  if (prn < 1 || prn > 32) return null;
+  const refWeek = view.getUint32(p + 4, true);
+  return decodeGpsLnavFrame(data.subarray(p + 12, p + 102), {
+    prn: `G${String(prn).padStart(2, "0")}`,
+    refWeek
+  });
+}
+function decodeGloEphemeris(view, p) {
+  const slot = view.getUint16(p, true) - 37;
+  if (slot < 1 || slot > 27) return null;
+  const freqNum = view.getUint16(p + 2, true) - 7;
+  const week = view.getUint16(p + 6, true);
+  const tow = Math.floor(view.getUint32(p + 8, true) / 1e3 + 0.5);
+  const toff = view.getUint32(p + 12, true);
+  const health = view.getUint32(p + 24, true) < 4 ? 0 : 1;
+  let tof = view.getUint32(p + 124, true) - toff;
+  tof += Math.floor(tow / SEC_PER_DAY) * SEC_PER_DAY;
+  if (tof < tow - 43200) tof += SEC_PER_DAY;
+  else if (tof > tow + 43200) tof -= SEC_PER_DAY;
+  const toeGpsMs = GPS_EPOCH_MS2 + (week * SEC_PER_WEEK2 + tow) * 1e3;
+  const tofGpsMs = GPS_EPOCH_MS2 + (week * SEC_PER_WEEK2 + tof) * 1e3;
+  const tofUtcSec = (getUtcDate(new Date(tofGpsMs)).getTime() - GPS_EPOCH_MS2) / 1e3;
+  return {
+    system: "R",
+    prn: `R${String(slot).padStart(2, "0")}`,
+    tocDate: getUtcDate(new Date(toeGpsMs)),
+    tauN: -view.getFloat64(p + 100, true),
+    // RINEX stores −τ_n
+    gammaN: view.getFloat64(p + 116, true),
+    messageFrameTime: (tofUtcSec % SEC_PER_WEEK2 + SEC_PER_WEEK2) % SEC_PER_WEEK2,
+    x: view.getFloat64(p + 28, true) / 1e3,
+    y: view.getFloat64(p + 36, true) / 1e3,
+    z: view.getFloat64(p + 44, true) / 1e3,
+    xDot: view.getFloat64(p + 52, true) / 1e3,
+    yDot: view.getFloat64(p + 60, true) / 1e3,
+    zDot: view.getFloat64(p + 68, true) / 1e3,
+    xAcc: view.getFloat64(p + 76, true) / 1e3,
+    yAcc: view.getFloat64(p + 84, true) / 1e3,
+    zAcc: view.getFloat64(p + 92, true) / 1e3,
+    health,
+    freqNum
+  };
+}
+function parseNovatelNav(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const stats = { badCrc: 0 };
+  const ephemerides = [];
+  const lastGps = /* @__PURE__ */ new Map();
+  const lastGlo = /* @__PURE__ */ new Map();
+  for (const frame of oem4Frames(data, view, stats)) {
+    if (!frame.binary) continue;
+    if (frame.id === ID_RAWEPHEM && frame.msgLen >= 102) {
+      const eph = decodeRawEphem(data, view, frame.payload);
+      if (!eph) continue;
+      const prev = lastGps.get(eph.prn);
+      if (prev && prev.iode === eph.iode && prev.tocDate.getTime() === eph.tocDate.getTime()) {
+        continue;
+      }
+      lastGps.set(eph.prn, eph);
+      ephemerides.push(eph);
+    } else if (frame.id === ID_GLOEPHEMERIS && frame.msgLen >= 144) {
+      const eph = decodeGloEphemeris(view, frame.payload);
+      if (!eph) continue;
+      const prev = lastGlo.get(eph.prn);
+      if (prev && Math.abs(prev.tocDate.getTime() - eph.tocDate.getTime()) < 1e3 && prev.health === eph.health) {
+        continue;
+      }
+      lastGlo.set(eph.prn, eph);
+      ephemerides.push(eph);
+    }
+  }
+  return { ephemerides, badCrc: stats.badCrc };
+}
+
+// src/novatel/index.ts
+var GPS_EPOCH_MS3 = 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 ID_GLOEPHEMERIS2 = 723;
 var C_LIGHT = 299792458;
 var ADR_ROLL = 8388608;
 function carrierFreq(sys, code, gloK) {
@@ -56,16 +405,6 @@ function carrierFreq(sys, code, gloK) {
 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"],
@@ -119,7 +458,7 @@ function parseNovatelRange(data) {
     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)
+    if (id !== ID_GLOEPHEMERIS2 || 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;
@@ -203,7 +542,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS + week * MS_PER_WEEK + towMs,
+          timeMs: GPS_EPOCH_MS3 + week * MS_PER_WEEK + towMs,
           meas
         });
       }
@@ -255,7 +594,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS + week * MS_PER_WEEK + towMs,
+          timeMs: GPS_EPOCH_MS3 + week * MS_PER_WEEK + towMs,
           meas
         });
       }
@@ -266,5 +605,9 @@ function parseNovatelRange(data) {
 }
 // Annotate the CommonJS export names for ESM import in node:
 0 && (module.exports = {
+  OEM4_HLEN,
+  crc32,
+  oem4Frames,
+  parseNovatelNav,
   parseNovatelRange
 });

package/dist/novatel.d.cts

@@ -1,3 +1,70 @@
+import { E as Ephemeris } from './nav-BAI1a9vK.cjs';
+
+/**
+ * NovAtel OEM4/6/7 binary framing shared by the measurement and
+ * navigation decoders: sync pattern 0xAA 0x44 0x12, a 28+-byte header,
+ * and a reflected CRC-32 (poly 0xEDB88320) over the whole frame.
+ */
+/** Minimum (standard) OEM4 binary header length. */
+declare const OEM4_HLEN = 28;
+/** Reflected CRC-32 (poly 0xEDB88320, init 0) — NovAtel "32-bit CRC". */
+declare function crc32(data: Uint8Array, start: number, len: number): number;
+/** One CRC-valid OEM4 frame located in a byte stream. */
+interface Oem4Frame {
+    /** Message ID. */
+    id: number;
+    /** Offset of the frame start (first sync byte). */
+    start: number;
+    /** Offset of the payload (frame start + header length). */
+    payload: number;
+    /** Payload length in bytes. */
+    msgLen: number;
+    /** True when the header's message-type field marks a binary body. */
+    binary: boolean;
+    /** GPS week from the header. */
+    week: number;
+    /** GPS time of week from the header (ms). */
+    towMs: number;
+}
+/**
+ * Iterate every CRC-valid OEM4 frame in `data`. Corrupt or truncated
+ * candidates resync at the next byte; CRC failures additionally
+ * increment `stats.badCrc`.
+ */
+declare function oem4Frames(data: Uint8Array, view: DataView, stats: {
+    badCrc: number;
+}): Generator<Oem4Frame>;
+
+/**
+ * NovAtel navigation-message decoding: RAWEPHEM (message 41, raw GPS
+ * LNAV subframes 1–3) and GLOEPHEMERIS (message 723, decoded GLONASS
+ * L1 C/A ephemeris).
+ *
+ * Ported from RTKLIB demo5 (rtklibexplorer fork, src/rcv/novatel.c:
+ * decode_rawephemb / decode_gloephemerisb, Copyright (c) 2007-2020
+ * T. Takasu, BSD-2-Clause) and cross-checked against the OEM7
+ * Commands and Logs Reference Manual. Output records mirror what
+ * `parseNavFile` produces for the equivalent RINEX 3 navigation file:
+ * GPS `tocDate` is a GPS-scale Date, GLONASS `tocDate` is the UTC
+ * epoch, GLONASS state vectors are in km (PZ-90), the RINEX clock bias
+ * is −τ_n, and `messageFrameTime` is the frame time as seconds of the
+ * UTC week.
+ */
+
+interface NovatelNavResult {
+    /** Broadcast ephemerides in stream order, duplicates suppressed. */
+    ephemerides: Ephemeris[];
+    /** Frames whose CRC failed (corruption indicator). */
+    badCrc: number;
+}
+/**
+ * Decode every navigation message (RAWEPHEM, GLOEPHEMERIS) in a
+ * NovAtel binary byte stream. Repeated broadcasts of an unchanged
+ * ephemeris are suppressed the same way RTKLIB does: GPS by issue of
+ * data, GLONASS by reference time and health.
+ */
+declare function parseNovatelNav(data: Uint8Array): NovatelNavResult;
+
 /**
  * NovAtel OEM4/6/7 raw-measurement decoding (RANGE log, message 43).
  *
@@ -15,6 +82,7 @@
  * 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;
@@ -54,4 +122,4 @@ interface NovatelParseResult {
  */
 declare function parseNovatelRange(data: Uint8Array): NovatelParseResult;
 
-export { type NovatelEpoch, type NovatelMeasurement, type NovatelParseResult, parseNovatelRange };
+export { type NovatelEpoch, type NovatelMeasurement, type NovatelNavResult, type NovatelParseResult, OEM4_HLEN, type Oem4Frame, crc32, oem4Frames, parseNovatelNav, parseNovatelRange };