gnss-js 1.14.0 → 1.15.0

package/dist/novatel.d.ts

@@ -1,3 +1,70 @@
+import { E as Ephemeris } from './nav-BAI1a9vK.js';
+
+/**
+ * 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 };

package/dist/novatel.js

@@ -1,6 +1,16 @@
 import {
+  OEM4_HLEN,
+  crc32,
+  oem4Frames,
+  parseNovatelNav,
   parseNovatelRange
-} from "./chunk-SWKWJEGY.js";
+} from "./chunk-I4UV45NT.js";
+import "./chunk-HVXYFUCB.js";
+import "./chunk-LEEU5OIO.js";
 export {
+  OEM4_HLEN,
+  crc32,
+  oem4Frames,
+  parseNovatelNav,
   parseNovatelRange
 };

package/dist/orbit.js

@@ -14,13 +14,13 @@ import {
   navTimesFromEph,
   rangeRate,
   selectEphemeris
-} from "./chunk-VAHMHYID.js";
-import "./chunk-HVXYFUCB.js";
+} from "./chunk-OMVL3X7V.js";
 import {
   ecefToGeodetic,
   geodeticToEcef
 } from "./chunk-37QNKGTC.js";
 import "./chunk-6FAL6P4G.js";
+import "./chunk-HVXYFUCB.js";
 import "./chunk-LEEU5OIO.js";
 import "./chunk-FIEWO4J4.js";
 export {

package/dist/positioning.js

@@ -3,11 +3,11 @@ import {
   klobucharDelay,
   satClockCorrection,
   solveSpp
-} from "./chunk-E5CP37P2.js";
-import "./chunk-VAHMHYID.js";
-import "./chunk-HVXYFUCB.js";
+} from "./chunk-QXZZNXE3.js";
+import "./chunk-OMVL3X7V.js";
 import "./chunk-37QNKGTC.js";
 import "./chunk-6FAL6P4G.js";
+import "./chunk-HVXYFUCB.js";
 import "./chunk-LEEU5OIO.js";
 import "./chunk-FIEWO4J4.js";
 export {

package/dist/rtcm3.cjs

@@ -587,6 +587,96 @@ function decodeEphemeris(frame) {
   }
 }
 
+// src/constants/time.ts
+var MILLISECONDS_IN_WEEK = 6048e5;
+var MILLISECONDS_IN_SECOND = 1e3;
+var MILLISECONDS_GPS_TAI = 19e3;
+var START_GPS_TIME = /* @__PURE__ */ new Date("1980-01-06T00:00:00Z");
+var START_BDS_TIME = /* @__PURE__ */ new Date("2006-01-01T00:00:14Z");
+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 getGpsLeap(date) {
+  const leap_seconds = getLeap(date);
+  if (leap_seconds < 0) return 0;
+  return leap_seconds - 19;
+}
+
 // src/constants/gnss.ts
 var C_LIGHT = 299792458;
 var FREQ = {
@@ -616,11 +706,6 @@ var GLO_F1_STEP = 562500;
 var GLO_F2_BASE = 1246e6;
 var GLO_F2_STEP = 437500;
 
-// src/constants/time.ts
-var MILLISECONDS_IN_WEEK = 6048e5;
-var START_GPS_TIME = /* @__PURE__ */ new Date("1980-01-06T00:00:00Z");
-var START_BDS_TIME = /* @__PURE__ */ new Date("2006-01-01T00:00:14Z");
-
 // src/rtcm3/msm.ts
 var GPS_L1 = FREQ.G["1"];
 var GPS_L2 = FREQ.G["2"];
@@ -1130,7 +1215,7 @@ 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();
@@ -1138,14 +1223,12 @@ 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/rtcm3.d.cts

@@ -62,6 +62,14 @@ declare function decodeMsmFull(frame: Rtcm3Frame): MsmEpoch | null;
  *
  * Requires an approximate reference time to resolve the current week.
  */
+/**
+ * NOTE: returns a GPS-scale Date — the clock-face convention used by
+ * the RINEX parser and every consumer of epoch milliseconds in this
+ * library (satellite propagation, SPP, RINEX epoch tags). It is NOT
+ * UTC: converting to UTC here put every downstream satellite position
+ * 18 s (the current leap-second count) off — a ±14 km per-satellite
+ * range error that scattered live SPP solutions by kilometres.
+ */
 declare function msmEpochToDate(sys: string, epochMs: number, refTime?: Date): Date;
 /**
  * Set a GLONASS FDMA frequency number (k = -7..+13) for a slot (1-24),

package/dist/rtcm3.d.ts

@@ -62,6 +62,14 @@ declare function decodeMsmFull(frame: Rtcm3Frame): MsmEpoch | null;
  *
  * Requires an approximate reference time to resolve the current week.
  */
+/**
+ * NOTE: returns a GPS-scale Date — the clock-face convention used by
+ * the RINEX parser and every consumer of epoch milliseconds in this
+ * library (satellite propagation, SPP, RINEX epoch tags). It is NOT
+ * UTC: converting to UTC here put every downstream satellite position
+ * 18 s (the current leap-second count) off — a ±14 km per-satellite
+ * range error that scattered live SPP solutions by kilometres.
+ */
 declare function msmEpochToDate(sys: string, epochMs: number, refTime?: Date): Date;
 /**
  * Set a GLONASS FDMA frequency number (k = -7..+13) for a slot (1-24),

package/dist/rtcm3.js

@@ -15,7 +15,8 @@ import {
   setRtcm3DebugHandler,
   updateStationMeta,
   updateStreamStats
-} from "./chunk-FGRC3PB3.js";
+} from "./chunk-BRT6XZ7B.js";
+import "./chunk-HVXYFUCB.js";
 import "./chunk-LEEU5OIO.js";
 import "./chunk-FIEWO4J4.js";
 export {