gnss-js 1.14.1 → 1.16.0

package/dist/chunk-4LVD4DYL.js

@@ -0,0 +1,146 @@
+// 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 setBitU(buff, pos, len, data) {
+  let mask = 2 ** (len - 1);
+  for (let i = pos; i < pos + len; i++, mask /= 2) {
+    if (data >= mask) {
+      buff[i >> 3] |= 1 << 7 - (i & 7);
+      data -= mask;
+    } else {
+      buff[i >> 3] &= ~(1 << 7 - (i & 7));
+    }
+  }
+}
+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
+  };
+}
+
+export {
+  getBitU,
+  setBitU,
+  decodeGpsLnavFrame
+};

package/dist/{chunk-5IXK25MX.js → chunk-6CX6EXRK.js}

@@ -1,3 +1,115 @@
+import {
+  decodeGpsLnavFrame,
+  getBitU,
+  setBitU
+} from "./chunk-4LVD4DYL.js";
+
+// src/ubx/frame.ts
+function* ubxFrames(data, stats = { badChecksums: 0 }) {
+  let i = 0;
+  while (i + 8 <= data.length) {
+    if (data[i] !== 181 || data[i + 1] !== 98) {
+      i++;
+      continue;
+    }
+    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]) {
+      stats.badChecksums++;
+      i++;
+      continue;
+    }
+    yield {
+      msgClass: data[i + 2],
+      msgId: data[i + 3],
+      payload: data.subarray(i + 6, i + 6 + len),
+      payloadStart: i + 6
+    };
+    i = end;
+  }
+}
+
+// src/ubx/nav.ts
+var PREAMB_CNAV = 139;
+function parseUbxNav(data, opts = {}) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const ephemerides = [];
+  let badParity = 0;
+  let refWeek = opts.refWeek;
+  if (refWeek === void 0) {
+    for (const f of ubxFrames(data)) {
+      if (f.msgClass === 2 && f.msgId === 21 && f.payload.length >= 16) {
+        const week = view.getUint16(f.payloadStart + 8, true);
+        if (week > 0) {
+          refWeek = week;
+          break;
+        }
+      }
+    }
+  }
+  if (refWeek === void 0) return { ephemerides, badParity };
+  const subframes = /* @__PURE__ */ new Map();
+  const last = /* @__PURE__ */ new Map();
+  for (const f of ubxFrames(data)) {
+    if (f.msgClass !== 2 || f.msgId !== 19) continue;
+    const p = f.payload;
+    if (p.length < 8) continue;
+    const gnssId = p[0];
+    const svId = p[1];
+    let prn;
+    if (gnssId === 0 && svId >= 1 && svId <= 32) {
+      prn = `G${String(svId).padStart(2, "0")}`;
+    } else if (gnssId === 5 && svId >= 1 && svId <= 10) {
+      if (p.length === 44) continue;
+      prn = `J${String(svId).padStart(2, "0")}`;
+    } else {
+      continue;
+    }
+    if (p.length < 8 + 40) continue;
+    const base = f.payloadStart + 8;
+    if (view.getUint32(base, true) >>> 24 === PREAMB_CNAV) continue;
+    const buff = new Uint8Array(30);
+    for (let k = 0; k < 10; k++) {
+      const dwrd = view.getUint32(base + 4 * k, true);
+      setBitU(buff, 24 * k, 24, dwrd >>> 6 & 16777215);
+    }
+    const id = getBitU(buff, 43, 3);
+    if (id < 1 || id > 5) {
+      badParity++;
+      continue;
+    }
+    if (id > 3) continue;
+    const key = gnssId * 256 + svId;
+    let sf = subframes.get(key);
+    if (!sf) {
+      sf = { buf: new Uint8Array(90), have: 0 };
+      subframes.set(key, sf);
+    }
+    sf.buf.set(buff, (id - 1) * 30);
+    sf.have |= 1 << id - 1;
+    if (id !== 3 || sf.have !== 7) continue;
+    const eph = decodeGpsLnavFrame(sf.buf, { prn, refWeek });
+    if (!eph) {
+      badParity++;
+      continue;
+    }
+    const prev = last.get(prn);
+    if (prev && prev.iode === eph.iode && prev.tocDate.getTime() === eph.tocDate.getTime()) {
+      continue;
+    }
+    last.set(prn, eph);
+    ephemerides.push(eph);
+  }
+  return { ephemerides, badParity };
+}
+
 // src/ubx/index.ts
 var GPS_EPOCH_MS = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK = 7 * 864e5;
@@ -39,33 +151,14 @@ function parseUbxRawx(data) {
   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 stats = { badChecksums: 0 };
+  for (const frame of ubxFrames(data, stats)) {
+    const { msgClass: cls, msgId: id } = frame;
+    const len = frame.payload.length;
     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 p = frame.payloadStart;
       const rcvTow = view.getFloat64(p, true);
       const week = view.getUint16(p + 8, true);
       const leapS = view.getInt8(p + 10);
@@ -106,11 +199,12 @@ function parseUbxRawx(data) {
         meas
       });
     }
-    i = end;
   }
-  return { epochs, messageCounts, obsCodes, badChecksums };
+  return { epochs, messageCounts, obsCodes, badChecksums: stats.badChecksums };
 }
 
 export {
+  ubxFrames,
+  parseUbxNav,
   parseUbxRawx
 };

package/dist/{chunk-SWKWJEGY.js → chunk-R33A2VA7.js}

@@ -1,10 +1,143 @@
-// src/novatel/index.ts
+import {
+  decodeGpsLnavFrame
+} from "./chunk-4LVD4DYL.js";
+import {
+  getUtcDate
+} from "./chunk-HVXYFUCB.js";
+
+// 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/novatel/nav.ts
+var ID_RAWEPHEM = 41;
+var ID_GLOEPHEMERIS = 723;
 var GPS_EPOCH_MS = Date.UTC(1980, 0, 6);
+var SEC_PER_WEEK = 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${String(prn).padStart(2, "0")}`,
+    refWeek
+  });
+}
+function decodeGloEphemeris(view, p) {
+  const slot = view.getUint16(p, true) - 37;
+  if (slot < 1 || slot > 27) return null;
+  const freqNum = view.getUint16(p + 2, true) - 7;
+  const week = view.getUint16(p + 6, true);
+  const tow = Math.floor(view.getUint32(p + 8, true) / 1e3 + 0.5);
+  const toff = view.getUint32(p + 12, true);
+  const health = view.getUint32(p + 24, true) < 4 ? 0 : 1;
+  let tof = view.getUint32(p + 124, true) - toff;
+  tof += Math.floor(tow / SEC_PER_DAY) * SEC_PER_DAY;
+  if (tof < tow - 43200) tof += SEC_PER_DAY;
+  else if (tof > tow + 43200) tof -= SEC_PER_DAY;
+  const toeGpsMs = GPS_EPOCH_MS + (week * SEC_PER_WEEK + tow) * 1e3;
+  const tofGpsMs = GPS_EPOCH_MS + (week * SEC_PER_WEEK + tof) * 1e3;
+  const tofUtcSec = (getUtcDate(new Date(tofGpsMs)).getTime() - GPS_EPOCH_MS) / 1e3;
+  return {
+    system: "R",
+    prn: `R${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_WEEK + SEC_PER_WEEK) % SEC_PER_WEEK,
+    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_MS2 = 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) {
@@ -32,16 +165,6 @@ 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"],
@@ -95,7 +218,7 @@ 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;
@@ -179,7 +302,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS + week * MS_PER_WEEK + towMs,
+          timeMs: GPS_EPOCH_MS2 + week * MS_PER_WEEK + towMs,
           meas
         });
       }
@@ -231,7 +354,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS + week * MS_PER_WEEK + towMs,
+          timeMs: GPS_EPOCH_MS2 + week * MS_PER_WEEK + towMs,
           meas
         });
       }
@@ -242,5 +365,9 @@ function parseNovatelRange(data) {
 }
 
 export {
+  OEM4_HLEN,
+  crc32,
+  oem4Frames,
+  parseNovatelNav,
   parseNovatelRange
 };