gnss-js 1.14.1 → 1.16.0

package/dist/index.cjs

@@ -76,6 +76,7 @@ __export(src_exports, {
   MILLISECONDS_IN_WEEK: () => MILLISECONDS_IN_WEEK,
   MILLISECONDS_TT_TAI: () => MILLISECONDS_TT_TAI,
   MultipathAccumulator: () => MultipathAccumulator,
+  OEM4_HLEN: () => OEM4_HLEN,
   OMEGA_E: () => OMEGA_E,
   REFERENCE_FRAMES: () => REFERENCE_FRAMES,
   RINEX_CODES: () => RINEX_CODES,
@@ -119,6 +120,7 @@ __export(src_exports, {
   computeVisibility: () => computeVisibility,
   computeVisibilityFromPositions: () => computeVisibilityFromPositions,
   connectToMountpoint: () => connectToMountpoint,
+  crc32: () => crc32,
   createGzipLineSink: () => createGzipLineSink,
   createStationMeta: () => createStationMeta,
   createStreamStats: () => createStreamStats,
@@ -208,6 +210,7 @@ __export(src_exports, {
   msmEpochToDate: () => msmEpochToDate,
   navTimesFromEph: () => navTimesFromEph,
   nmeaCoordToDecimal: () => nmeaCoordToDecimal,
+  oem4Frames: () => oem4Frames,
   padL: () => padL,
   padR: () => padR,
   parseAntex: () => parseAntex,
@@ -215,12 +218,16 @@ __export(src_exports, {
   parseIonex: () => parseIonex,
   parseNavFile: () => parseNavFile,
   parseNmeaFile: () => parseNmeaFile,
+  parseNovatelNav: () => parseNovatelNav,
   parseNovatelRange: () => parseNovatelRange,
   parseRinexStream: () => parseRinexStream,
+  parseSbfAlmanac: () => parseSbfAlmanac,
   parseSbfMeas: () => parseSbfMeas,
+  parseSbfNav: () => parseSbfNav,
   parseSinexBiasDcb: () => parseSinexBiasDcb,
   parseSourcetable: () => parseSourcetable,
   parseSp3: () => parseSp3,
+  parseUbxNav: () => parseUbxNav,
   parseUbxRawx: () => parseUbxRawx,
   phiAltBOC: () => phiAltBOC,
   phiBOCc: () => phiBOCc,
@@ -234,6 +241,8 @@ __export(src_exports, {
   rhumbLine: () => rhumbLine,
   rtcm3Constellation: () => rtcm3Constellation,
   satClockCorrection: () => satClockCorrection,
+  sbfCrc16: () => crc16,
+  scanSbfFrames: () => scanSbfFrames,
   selectEphemeris: () => selectEphemeris,
   setGloFreqNumber: () => setGloFreqNumber,
   setRtcm3DebugHandler: () => setRtcm3DebugHandler,
@@ -243,6 +252,7 @@ __export(src_exports, {
   systemCmp: () => systemCmp,
   systemName: () => systemName,
   transformFrame: () => transformFrame,
+  ubxFrames: () => ubxFrames,
   updateStationMeta: () => updateStationMeta,
   updateStreamStats: () => updateStreamStats,
   verifyChecksum: () => verifyChecksum,
@@ -4592,8 +4602,255 @@ function updateStreamStats(stats, frames, rawBytes) {
   }
 }
 
-// src/ubx/index.ts
+// 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/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
+  };
+}
+
+// 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_MS2 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK2 = 7 * 864e5;
 var SIGNALS = {
   0: { 0: ["G", "1C"], 3: ["G", "2X"], 4: ["G", "2X"] },
@@ -4610,20 +4867,20 @@ var SIGNALS = {
   // GLONASS L1OF, L2OF
 };
 function prnFor(gnssId, svId) {
-  const two2 = (n) => String(n).padStart(2, "0");
+  const two3 = (n) => String(n).padStart(2, "0");
   switch (gnssId) {
     case 0:
-      return svId >= 1 && svId <= 32 ? `G${two2(svId)}` : null;
+      return svId >= 1 && svId <= 32 ? `G${two3(svId)}` : null;
     case 1:
-      return svId >= 120 && svId <= 158 ? `S${two2(svId - 100)}` : null;
+      return svId >= 120 && svId <= 158 ? `S${two3(svId - 100)}` : null;
     case 2:
-      return svId >= 1 && svId <= 36 ? `E${two2(svId)}` : null;
+      return svId >= 1 && svId <= 36 ? `E${two3(svId)}` : null;
     case 3:
-      return svId >= 1 && svId <= 63 ? `C${two2(svId)}` : null;
+      return svId >= 1 && svId <= 63 ? `C${two3(svId)}` : null;
     case 5:
-      return svId >= 1 && svId <= 10 ? `J${two2(svId)}` : null;
+      return svId >= 1 && svId <= 10 ? `J${two3(svId)}` : null;
     case 6:
-      return svId >= 1 && svId <= 32 ? `R${two2(svId)}` : null;
+      return svId >= 1 && svId <= 32 ? `R${two3(svId)}` : null;
     default:
       return null;
   }
@@ -4633,33 +4890,14 @@ 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);
@@ -4695,20 +4933,16 @@ function parseUbxRawx(data) {
         if (!codes.includes(sig[1])) codes.push(sig[1]);
       }
       epochs.push({
-        timeMs: GPS_EPOCH_MS + week * MS_PER_WEEK2 + Math.round(rcvTow * 1e3),
+        timeMs: GPS_EPOCH_MS2 + week * MS_PER_WEEK2 + Math.round(rcvTow * 1e3),
         leapS: leapValid ? leapS : null,
         meas
       });
     }
-    i = end;
   }
-  return { epochs, messageCounts, obsCodes, badChecksums };
+  return { epochs, messageCounts, obsCodes, badChecksums: stats.badChecksums };
 }
 
-// src/sbf/index.ts
-var CLIGHT = 299792458;
-var GPS_EPOCH_MS2 = Date.UTC(1980, 0, 6);
-var MS_PER_WEEK3 = 7 * 864e5;
+// src/sbf/frame.ts
 var CRC_TABLE = (() => {
   const t = new Uint16Array(256);
   for (let n = 0; n < 256; n++) {
@@ -4725,6 +4959,362 @@ function crc16(data, start, end) {
     crc = (crc << 8 ^ CRC_TABLE[(crc >> 8 ^ data[i]) & 255]) & 65535;
   return crc;
 }
+function scanSbfFrames(data, view, onBlock) {
+  let badCrc = 0;
+  let i = 0;
+  while (i + 8 <= data.length) {
+    if (data[i] !== 36 || data[i + 1] !== 64) {
+      i++;
+      continue;
+    }
+    const len = view.getUint16(i + 6, true);
+    if (len < 8 || len % 4 !== 0) {
+      i++;
+      continue;
+    }
+    if (i + len > data.length) break;
+    if (crc16(data, i + 4, i + len) !== view.getUint16(i + 2, true)) {
+      badCrc++;
+      i++;
+      continue;
+    }
+    onBlock(view.getUint16(i + 4, true) & 8191, i, len);
+    i += len;
+  }
+  return badCrc;
+}
+var two = (n) => String(n).padStart(2, "0");
+function svidToPrn(svid) {
+  if (svid >= 1 && svid <= 37) return svid <= 32 ? `G${two(svid)}` : null;
+  if (svid <= 61) return svid - 37 <= 27 ? `R${two(svid - 37)}` : null;
+  if (svid <= 62) return null;
+  if (svid <= 68) return svid - 38 <= 27 ? `R${two(svid - 38)}` : null;
+  if (svid <= 70) return null;
+  if (svid <= 106) return svid - 70 <= 36 ? `E${two(svid - 70)}` : null;
+  if (svid <= 119) return null;
+  if (svid <= 140) return `S${two(svid - 100)}`;
+  if (svid <= 180) return svid - 140 <= 50 ? `C${two(svid - 140)}` : null;
+  if (svid <= 190) return `J${two(svid - 180)}`;
+  if (svid <= 197) return svid - 190 <= 14 ? `I${two(svid - 190)}` : null;
+  if (svid <= 215) return `S${two(svid - 157)}`;
+  if (svid <= 222) return svid - 208 <= 14 ? `I${two(svid - 208)}` : null;
+  if (svid <= 245) return svid - 182 <= 50 ? `C${two(svid - 182)}` : null;
+  return null;
+}
+
+// src/sbf/nav.ts
+var PI2 = Math.PI;
+var GPS_EPOCH_MS3 = Date.UTC(1980, 0, 6);
+var BDT_EPOCH_MS = Date.UTC(2006, 0, 1);
+var SEC_PER_WEEK2 = 7 * 86400;
+var MS_PER_WEEK3 = SEC_PER_WEEK2 * 1e3;
+var F4_DNU = -2e10;
+var U4_DNU = 4294967295;
+function adjustWeek(refWeek, wn, mod) {
+  let offset = refWeek % mod - wn;
+  if (offset > mod / 2) offset -= mod;
+  if (offset < -(mod / 2 - 1)) offset += mod;
+  return refWeek - offset;
+}
+var gpsMs = (week, sec) => GPS_EPOCH_MS3 + week * MS_PER_WEEK3 + sec * 1e3;
+var sowOf = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK2;
+function decodeGpsQzsNav(view, b, sys) {
+  const svid = view.getUint8(b + 14);
+  const prn = sys === "G" ? svid : svid - 180;
+  const max = sys === "G" ? 32 : 10;
+  if (prn < 1 || prn > max) return null;
+  const wnc = view.getUint16(b + 12, true);
+  const tgdRaw = view.getFloat32(b + 28, true);
+  const tocs = view.getUint32(b + 32, true);
+  const toes = view.getUint32(b + 88, true);
+  const wnToc = adjustWeek(wnc, view.getUint16(b + 136, true), 1024);
+  const tocDate = new Date(gpsMs(wnToc, tocs));
+  return {
+    system: sys,
+    prn: `${sys}${String(prn).padStart(2, "0")}`,
+    toc: sowOf(tocDate.getTime()),
+    tocDate,
+    af0: view.getFloat32(b + 44, true),
+    af1: view.getFloat32(b + 40, true),
+    af2: view.getFloat32(b + 36, true),
+    iode: view.getUint8(b + 24),
+    crs: view.getFloat32(b + 48, true),
+    deltaN: view.getFloat32(b + 52, true) * PI2,
+    m0: view.getFloat64(b + 56, true) * PI2,
+    cuc: view.getFloat32(b + 64, true),
+    e: view.getFloat64(b + 68, true),
+    cus: view.getFloat32(b + 76, true),
+    sqrtA: view.getFloat64(b + 80, true),
+    toe: toes,
+    cic: view.getFloat32(b + 92, true),
+    omega0: view.getFloat64(b + 96, true) * PI2,
+    cis: view.getFloat32(b + 104, true),
+    i0: view.getFloat64(b + 108, true) * PI2,
+    crc: view.getFloat32(b + 116, true),
+    omega: view.getFloat64(b + 120, true) * PI2,
+    omegaDot: view.getFloat32(b + 128, true) * PI2,
+    idot: view.getFloat32(b + 132, true) * PI2,
+    // RINEX "GPS week to go with toe": RTKLIB writes WNc for GPS and
+    // the week of toc for QZSS — mirrored here so records compare
+    // 1:1 against convbin output. wnToe is still used for `toe` above.
+    week: sys === "G" ? wnc : wnToc,
+    svHealth: view.getUint8(b + 20),
+    tgd: tgdRaw !== F4_DNU ? tgdRaw : 0
+  };
+}
+function decodeGalNav(view, b) {
+  const prn = view.getUint8(b + 14) - 70;
+  if (prn < 1 || prn > 36) return null;
+  const source = view.getUint8(b + 15);
+  if (source !== 2 && source !== 16) return null;
+  const wnc = view.getUint16(b + 12, true);
+  const toes = view.getUint32(b + 100, true);
+  const tocs = view.getUint32(b + 104, true);
+  const wnToc = adjustWeek(wnc, view.getUint16(b + 126, true), 4096);
+  const tocDate = new Date(gpsMs(wnToc, tocs));
+  const health = view.getUint16(b + 130, true);
+  let svh = 0;
+  if (health & 1) svh |= health >> 1 & 7;
+  if (health & 16) svh |= (health >> 5 & 7) << 6;
+  if (health & 256) svh |= (health >> 9 & 7) << 3;
+  const bgdE5a = view.getFloat32(b + 136, true);
+  return {
+    system: "E",
+    prn: `E${String(prn).padStart(2, "0")}`,
+    toc: sowOf(tocDate.getTime()),
+    tocDate,
+    af0: view.getFloat64(b + 116, true),
+    af1: view.getFloat32(b + 112, true),
+    af2: view.getFloat32(b + 108, true),
+    iode: view.getUint16(b + 128, true),
+    // IODnav
+    crs: view.getFloat32(b + 88, true),
+    deltaN: view.getFloat32(b + 72, true) * PI2,
+    m0: view.getFloat64(b + 24, true) * PI2,
+    cuc: view.getFloat32(b + 76, true),
+    e: view.getFloat64(b + 32, true),
+    cus: view.getFloat32(b + 80, true),
+    sqrtA: view.getFloat64(b + 16, true),
+    toe: toes,
+    cic: view.getFloat32(b + 92, true),
+    omega0: view.getFloat64(b + 56, true) * PI2,
+    cis: view.getFloat32(b + 96, true),
+    i0: view.getFloat64(b + 40, true) * PI2,
+    crc: view.getFloat32(b + 84, true),
+    omega: view.getFloat64(b + 48, true) * PI2,
+    omegaDot: view.getFloat32(b + 64, true) * PI2,
+    idot: view.getFloat32(b + 68, true) * PI2,
+    week: wnc,
+    // RINEX GAL week is GPS-aligned and continuous
+    svHealth: svh,
+    tgd: bgdE5a !== F4_DNU ? bgdE5a : 0
+    // BGD E5a/E1 (RINEX slot)
+  };
+}
+function decodeBdsNav(view, b) {
+  const prn = svidToPrn(view.getUint8(b + 14));
+  if (!prn || prn[0] !== "C") return null;
+  const bdsWeekRef = view.getUint16(b + 12, true) - 1356;
+  const tgd1 = view.getFloat32(b + 24, true);
+  const tocs = view.getUint32(b + 32, true);
+  const toes = view.getUint32(b + 88, true);
+  const wnToc = adjustWeek(bdsWeekRef, view.getUint16(b + 136, true), 8192);
+  const wnToe = adjustWeek(bdsWeekRef, view.getUint16(b + 138, true), 8192);
+  const tocDate = new Date(BDT_EPOCH_MS + wnToc * MS_PER_WEEK3 + tocs * 1e3);
+  return {
+    system: "C",
+    prn,
+    toc: sowOf(tocDate.getTime()),
+    tocDate,
+    af0: view.getFloat32(b + 44, true),
+    af1: view.getFloat32(b + 40, true),
+    af2: view.getFloat32(b + 36, true),
+    iode: view.getUint8(b + 21),
+    // AODE
+    crs: view.getFloat32(b + 48, true),
+    deltaN: view.getFloat32(b + 52, true) * PI2,
+    m0: view.getFloat64(b + 56, true) * PI2,
+    cuc: view.getFloat32(b + 64, true),
+    e: view.getFloat64(b + 68, true),
+    cus: view.getFloat32(b + 76, true),
+    sqrtA: view.getFloat64(b + 80, true),
+    toe: toes,
+    cic: view.getFloat32(b + 92, true),
+    omega0: view.getFloat64(b + 96, true) * PI2,
+    cis: view.getFloat32(b + 104, true),
+    i0: view.getFloat64(b + 108, true) * PI2,
+    crc: view.getFloat32(b + 116, true),
+    omega: view.getFloat64(b + 120, true) * PI2,
+    omegaDot: view.getFloat32(b + 128, true) * PI2,
+    idot: view.getFloat32(b + 132, true) * PI2,
+    week: wnToe,
+    // RINEX BDS week field is the BDT week
+    svHealth: view.getUint8(b + 19),
+    // SatH1
+    tgd: tgd1 !== F4_DNU ? tgd1 : 0
+    // TGD1 B1/B3 (RINEX slot)
+  };
+}
+function decodeGloNav(view, b) {
+  const prn = svidToPrn(view.getUint8(b + 14));
+  if (!prn || prn[0] !== "R") return null;
+  const wnc = view.getUint16(b + 12, true);
+  const toes = view.getUint32(b + 76, true);
+  const wnToe = adjustWeek(wnc, view.getUint16(b + 80, true), 1024);
+  const toeGpsMs = gpsMs(wnToe, toes);
+  const leapMs = getGpsLeap(new Date(toeGpsMs)) * 1e3;
+  const tocDate = new Date(toeGpsMs - leapMs);
+  const tofGpsMs = gpsMs(wnc, 0) + view.getUint32(b + 8, true);
+  const tofLeapMs = getGpsLeap(new Date(tofGpsMs)) * 1e3;
+  const messageFrameTime = (tofGpsMs - tofLeapMs - GPS_EPOCH_MS3) / 1e3 % SEC_PER_WEEK2;
+  return {
+    system: "R",
+    prn,
+    tocDate,
+    // RINEX stores −τn as the clock bias; SBF carries τn (ICD sign)
+    tauN: -view.getFloat32(b + 68, true),
+    gammaN: view.getFloat32(b + 64, true),
+    messageFrameTime,
+    x: view.getFloat64(b + 16, true),
+    // SBF unit is km, like RINEX
+    xDot: view.getFloat32(b + 40, true),
+    xAcc: view.getFloat32(b + 52, true),
+    y: view.getFloat64(b + 24, true),
+    yDot: view.getFloat32(b + 44, true),
+    yAcc: view.getFloat32(b + 56, true),
+    z: view.getFloat64(b + 32, true),
+    zDot: view.getFloat32(b + 48, true),
+    zAcc: view.getFloat32(b + 60, true),
+    // MSB of the 3-bit Bn word — the unhealthy flag RINEX carries
+    health: view.getUint8(b + 85) >> 2,
+    freqNum: view.getUint8(b + 15) - 8
+  };
+}
+function parseSbfNav(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const ephemerides = [];
+  const badCrc = scanSbfFrames(data, view, (id, b, len) => {
+    let eph = null;
+    if (id === 5891 && len >= 140) eph = decodeGpsQzsNav(view, b, "G");
+    else if (id === 4095 && len >= 140) eph = decodeGpsQzsNav(view, b, "J");
+    else if (id === 4002 && len >= 149) eph = decodeGalNav(view, b);
+    else if (id === 4081 && len >= 140) eph = decodeBdsNav(view, b);
+    else if (id === 4004 && len >= 96) eph = decodeGloNav(view, b);
+    if (eph) ephemerides.push(eph);
+  });
+  return { ephemerides, badCrc };
+}
+var GAL_SQRT_A_NOMINAL = Math.sqrt(296e5);
+var GAL_I_NOMINAL = 56 / 180 * PI2;
+var I_REF_03 = 0.3 * PI2;
+function decodeGpsGalAlm(view, b, sys) {
+  const wnc = view.getUint16(b + 12, true);
+  const toa = view.getUint32(b + 20, true);
+  if (toa === U4_DNU) return null;
+  let prn;
+  let weekAlm;
+  let i0;
+  let sqrtA = view.getFloat32(b + 32, true);
+  let health;
+  if (sys === "G") {
+    prn = view.getUint8(b + 14);
+    if (prn < 1 || prn > 32) return null;
+    weekAlm = adjustWeek(wnc, view.getUint8(b + 56), 256);
+    i0 = I_REF_03 + view.getFloat32(b + 24, true) * PI2;
+    health = view.getUint8(b + 58);
+  } else {
+    prn = view.getUint8(b + 57) - 70;
+    if (prn < 1 || prn > 36) return null;
+    weekAlm = adjustWeek(wnc, view.getUint8(b + 56), 4);
+    i0 = GAL_I_NOMINAL + view.getFloat32(b + 24, true) * PI2;
+    sqrtA += GAL_SQRT_A_NOMINAL;
+    health = view.getUint16(b + 58, true);
+  }
+  return {
+    system: sys,
+    prn: `${sys}${String(prn).padStart(2, "0")}`,
+    weekAlm,
+    toaSec: toa,
+    sqrtA,
+    e: view.getFloat32(b + 16, true),
+    i0OrDeltaI: i0,
+    omega0: view.getFloat32(b + 36, true) * PI2,
+    omega: view.getFloat32(b + 40, true) * PI2,
+    m0: view.getFloat32(b + 44, true) * PI2,
+    omegaDot: view.getFloat32(b + 28, true) * PI2,
+    af0: view.getFloat32(b + 52, true),
+    af1: view.getFloat32(b + 48, true),
+    health
+  };
+}
+function decodeBdsAlm(view, b) {
+  const prnStr = svidToPrn(view.getUint8(b + 14));
+  if (!prnStr || prnStr[0] !== "C") return null;
+  const prn = parseInt(prnStr.slice(1), 10);
+  const toa = view.getUint32(b + 16, true);
+  if (toa === U4_DNU) return null;
+  const bdsWeekRef = view.getUint16(b + 12, true) - 1356;
+  const geo = prn <= 5 || prn >= 59;
+  return {
+    system: "C",
+    prn: prnStr,
+    weekAlm: adjustWeek(bdsWeekRef, view.getUint8(b + 15), 256),
+    toaSec: toa,
+    sqrtA: view.getFloat32(b + 20, true),
+    e: view.getFloat32(b + 24, true),
+    i0OrDeltaI: (geo ? 0 : I_REF_03) + view.getFloat32(b + 44, true) * PI2,
+    omega0: view.getFloat32(b + 36, true) * PI2,
+    omega: view.getFloat32(b + 28, true) * PI2,
+    m0: view.getFloat32(b + 32, true) * PI2,
+    omegaDot: view.getFloat32(b + 40, true) * PI2,
+    af0: view.getFloat32(b + 48, true),
+    af1: view.getFloat32(b + 52, true),
+    health: view.getUint16(b + 56, true)
+  };
+}
+function decodeGloAlm(view, b) {
+  const prn = svidToPrn(view.getUint8(b + 14));
+  if (!prn || prn[0] !== "R") return null;
+  const wnc = view.getUint16(b + 12, true);
+  const toa = view.getUint32(b + 20, true);
+  if (toa === U4_DNU) return null;
+  return {
+    system: "R",
+    prn,
+    freqNr: view.getUint8(b + 15) - 8,
+    weekAlm: adjustWeek(wnc, view.getUint8(b + 52), 256),
+    toaSec: toa,
+    epsilon: view.getFloat32(b + 16, true),
+    deltaI: view.getFloat32(b + 24, true) * PI2,
+    lambda: view.getFloat32(b + 28, true) * PI2,
+    tLambda: view.getFloat32(b + 32, true),
+    omega: view.getFloat32(b + 36, true) * PI2,
+    deltaT: view.getFloat32(b + 40, true),
+    deltaTDot: view.getFloat32(b + 44, true),
+    tau: view.getFloat32(b + 48, true),
+    health: view.getUint8(b + 53),
+    nDay: view.getUint16(b + 54, true),
+    n4: view.getUint8(b + 57)
+  };
+}
+function parseSbfAlmanac(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const almanacs = [];
+  const badCrc = scanSbfFrames(data, view, (id, b, len) => {
+    let alm = null;
+    if (id === 5892 && len >= 60) alm = decodeGpsGalAlm(view, b, "G");
+    else if (id === 4003 && len >= 61) alm = decodeGpsGalAlm(view, b, "E");
+    else if (id === 4119 && len >= 60) alm = decodeBdsAlm(view, b);
+    else if (id === 4005 && len >= 60) alm = decodeGloAlm(view, b);
+    if (alm) almanacs.push(alm);
+  });
+  return { almanacs, badCrc };
+}
+
+// src/sbf/index.ts
+var CLIGHT = 299792458;
+var GPS_EPOCH_MS4 = Date.UTC(1980, 0, 6);
+var MS_PER_WEEK4 = 7 * 864e5;
 var M3_SYS = ["G", "R", "E", "C", "S", "J", "I"];
 var M3_PR_BASE = [19e6, 19e6, 22e6, 2e7, 34e6, 34e6, 34e6];
 var M3_INTERVALS = [
@@ -4823,44 +5413,27 @@ var MEAS2_SIG = [
   ["J", "1E"],
   ["J", "5P"]
 ];
-var two = (n) => String(n).padStart(2, "0");
+var two2 = (n) => String(n).padStart(2, "0");
 function m3Prn(navsys, svid) {
   switch (navsys) {
     case 0:
-      return svid < 32 ? `G${two(svid + 1)}` : null;
+      return svid < 32 ? `G${two2(svid + 1)}` : null;
     case 1:
-      return svid < 27 ? `R${two(svid + 1)}` : null;
+      return svid < 27 ? `R${two2(svid + 1)}` : null;
     case 2:
-      return svid < 36 ? `E${two(svid + 1)}` : null;
+      return svid < 36 ? `E${two2(svid + 1)}` : null;
     case 3:
-      return svid < 50 ? `C${two(svid + 1)}` : null;
+      return svid < 50 ? `C${two2(svid + 1)}` : null;
     case 4:
-      return svid <= 38 ? `S${two(svid + 20)}` : null;
+      return svid <= 38 ? `S${two2(svid + 20)}` : null;
     case 5:
-      return svid < 10 ? `J${two(svid + 1)}` : null;
+      return svid < 10 ? `J${two2(svid + 1)}` : null;
     case 6:
-      return svid < 14 ? `I${two(svid + 1)}` : null;
+      return svid < 14 ? `I${two2(svid + 1)}` : null;
     default:
       return null;
   }
 }
-function svidToPrn(svid) {
-  if (svid >= 1 && svid <= 37) return svid <= 32 ? `G${two(svid)}` : null;
-  if (svid <= 61) return svid - 37 <= 27 ? `R${two(svid - 37)}` : null;
-  if (svid <= 62) return null;
-  if (svid <= 68) return svid - 38 <= 27 ? `R${two(svid - 38)}` : null;
-  if (svid <= 70) return null;
-  if (svid <= 106) return svid - 70 <= 36 ? `E${two(svid - 70)}` : null;
-  if (svid <= 119) return null;
-  if (svid <= 140) return `S${two(svid - 100)}`;
-  if (svid <= 180) return svid - 140 <= 50 ? `C${two(svid - 140)}` : null;
-  if (svid <= 190) return `J${two(svid - 180)}`;
-  if (svid <= 197) return svid - 190 <= 14 ? `I${two(svid - 190)}` : null;
-  if (svid <= 215) return `S${two(svid - 157)}`;
-  if (svid <= 222) return svid - 208 <= 14 ? `I${two(svid - 208)}` : null;
-  if (svid <= 245) return svid - 182 <= 50 ? `C${two(svid - 182)}` : null;
-  return null;
-}
 function carrierFreq(sys, code, fcn) {
   const band = code.charCodeAt(0) - 48;
   switch (sys) {
@@ -4923,7 +5496,6 @@ function parseSbfMeas(data) {
   const epochs = [];
   const messageCounts = {};
   const obsCodes = {};
-  let badCrc = 0;
   let ref = freshRefEpoch(-1);
   let curTime = NaN;
   let curMeas = [];
@@ -4954,8 +5526,8 @@ function parseSbfMeas(data) {
       curTime = timeMs;
     }
   };
-  const decodeMeas3Ranges = (i2, tow) => {
-    const o = i2 + 8;
+  const decodeMeas3Ranges = (i, tow) => {
+    const o = i + 8;
     const constellations = view.getUint16(o + 8, true) & 127;
     const misc = data[o + 10];
     const version = data[o + 11];
@@ -5233,8 +5805,8 @@ function parseSbfMeas(data) {
       }
     }
   };
-  const decodeMeas3CN0 = (i2, len) => {
-    const flags = view.getUint16(i2 + 14, true);
+  const decodeMeas3CN0 = (i, len) => {
+    const flags = view.getUint16(i + 14, true);
     if ((flags & 7) !== 0) return;
     const maxNibbles = (len - 16) * 2;
     let off = 0;
@@ -5244,7 +5816,7 @@ function parseSbfMeas(data) {
       for (let k = 0; k < e.slots.length; k++) {
         const slot = e.slots[k];
         if (k > 0 && !slot) break;
-        const nib = (data[i2 + 16 + (off >> 1)] ?? 0) >> (off & 1) * 4 & 15;
+        const nib = (data[i + 16 + (off >> 1)] ?? 0) >> (off & 1) * 4 & 15;
         if (slot && slot.cn0 !== null) slot.cn0 += nib * 0.0625 - 0.5;
         off++;
       }
@@ -5271,14 +5843,14 @@ function parseSbfMeas(data) {
     if ((v & 1) === 1) value = -value;
     return { value, size };
   };
-  const decodeMeas3Doppler = (i2, len) => {
-    const flags = view.getUint16(i2 + 14, true);
+  const decodeMeas3Doppler = (i, len) => {
+    const flags = view.getUint16(i + 14, true);
     if ((flags & 7) !== 0) return;
     let off = 0;
     for (const e of curSats) {
       if (off + 16 >= len) break;
       if (!e.prn) continue;
-      const master = readPrRate(i2 + 16, off);
+      const master = readPrRate(i + 16, off);
       off += master.size;
       if (master.value === -268435455) continue;
       const refPrRate = ref.sats[e.navsys][e.svid]?.prRate ?? 0;
@@ -5288,20 +5860,20 @@ function parseSbfMeas(data) {
       for (let k = 1; k < e.slots.length; k++) {
         const slot = e.slots[k];
         if (!slot) break;
-        const slave = readPrRate(i2 + 16, off);
+        const slave = readPrRate(i + 16, off);
         off += slave.size;
         if (m)
           slot.doppler = (mD * (CLIGHT / m.freq) * 1e3 - slave.value) * 1e-3 / (CLIGHT / slot.freq);
       }
     }
   };
-  const decodeMeasEpoch = (i2, len) => {
-    const n1 = data[i2 + 14];
-    const len1 = data[i2 + 15];
-    const len2 = data[i2 + 16];
-    if ((data[i2 + 17] & 128) !== 0) return;
-    const end = i2 + len;
-    let p = i2 + 20;
+  const decodeMeasEpoch = (i, len) => {
+    const n1 = data[i + 14];
+    const len1 = data[i + 15];
+    const len2 = data[i + 16];
+    if ((data[i + 17] & 128) !== 0) return;
+    const end = i + len;
+    let p = i + 20;
     for (let b1 = 0; b1 < n1 && p + 20 <= end; b1++) {
       const ant = data[p + 1] >> 5;
       let sig = data[p + 1] & 31;
@@ -5388,50 +5960,158 @@ function parseSbfMeas(data) {
       }
     }
   };
-  let i = 0;
-  while (i + 8 <= data.length) {
-    if (data[i] !== 36 || data[i + 1] !== 64) {
-      i++;
-      continue;
-    }
-    const len = view.getUint16(i + 6, true);
-    if (len < 8 || len % 4 !== 0) {
-      i++;
-      continue;
-    }
-    if (i + len > data.length) break;
-    if (crc16(data, i + 4, i + len) !== view.getUint16(i + 2, true)) {
-      badCrc++;
-      i++;
-      continue;
-    }
-    const id = view.getUint16(i + 4, true) & 8191;
+  const badCrc = scanSbfFrames(data, view, (id, i, len) => {
     const key = String(id);
     messageCounts[key] = (messageCounts[key] ?? 0) + 1;
     if ((id === 4027 || id === 4109 || id === 4110 || id === 4111) && len >= 16) {
       const tow = view.getUint32(i + 8, true);
       const wnc = view.getUint16(i + 12, true);
       if (tow !== 4294967295 && wnc !== 65535) {
-        ensureEpoch(GPS_EPOCH_MS2 + wnc * MS_PER_WEEK3 + tow);
+        ensureEpoch(GPS_EPOCH_MS4 + wnc * MS_PER_WEEK4 + tow);
         if (id === 4109) decodeMeas3Ranges(i, tow);
         else if (id === 4110) decodeMeas3CN0(i, len);
         else if (id === 4111) decodeMeas3Doppler(i, len);
         else decodeMeasEpoch(i, len);
       }
     }
-    i += len;
-  }
+  });
   flush();
   return { epochs, messageCounts, obsCodes, badCrc };
 }
 
+// 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_MS5 = Date.UTC(1980, 0, 6);
+var SEC_PER_WEEK3 = 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${String(prn).padStart(2, "0")}`,
+    refWeek
+  });
+}
+function decodeGloEphemeris(view, p) {
+  const slot = view.getUint16(p, true) - 37;
+  if (slot < 1 || slot > 27) return null;
+  const freqNum = view.getUint16(p + 2, true) - 7;
+  const week = view.getUint16(p + 6, true);
+  const tow = Math.floor(view.getUint32(p + 8, true) / 1e3 + 0.5);
+  const toff = view.getUint32(p + 12, true);
+  const health = view.getUint32(p + 24, true) < 4 ? 0 : 1;
+  let tof = view.getUint32(p + 124, true) - toff;
+  tof += Math.floor(tow / SEC_PER_DAY) * SEC_PER_DAY;
+  if (tof < tow - 43200) tof += SEC_PER_DAY;
+  else if (tof > tow + 43200) tof -= SEC_PER_DAY;
+  const toeGpsMs = GPS_EPOCH_MS5 + (week * SEC_PER_WEEK3 + tow) * 1e3;
+  const tofGpsMs = GPS_EPOCH_MS5 + (week * SEC_PER_WEEK3 + tof) * 1e3;
+  const tofUtcSec = (getUtcDate(new Date(tofGpsMs)).getTime() - GPS_EPOCH_MS5) / 1e3;
+  return {
+    system: "R",
+    prn: `R${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_WEEK3 + SEC_PER_WEEK3) % SEC_PER_WEEK3,
+    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_WEEK4 = 7 * 864e5;
+var GPS_EPOCH_MS6 = Date.UTC(1980, 0, 6);
+var MS_PER_WEEK5 = 7 * 864e5;
 var HDR = 28;
 var ID_RANGE = 43;
 var ID_RANGECMP = 140;
-var ID_GLOEPHEMERIS = 723;
+var ID_GLOEPHEMERIS2 = 723;
 var C_LIGHT2 = 299792458;
 var ADR_ROLL = 8388608;
 function carrierFreq2(sys, code, gloK) {
@@ -5459,16 +6139,6 @@ function carrierFreq2(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 SIGNALS2 = {
   0: {
     0: ["G", "1C"],
@@ -5522,7 +6192,7 @@ 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;
@@ -5606,7 +6276,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS3 + week * MS_PER_WEEK4 + towMs,
+          timeMs: GPS_EPOCH_MS6 + week * MS_PER_WEEK5 + towMs,
           meas
         });
       }
@@ -5658,7 +6328,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS3 + week * MS_PER_WEEK4 + towMs,
+          timeMs: GPS_EPOCH_MS6 + week * MS_PER_WEEK5 + towMs,
           meas
         });
       }
@@ -6017,10 +6687,10 @@ function selectBest(ephs, timeMs) {
   }
   return best;
 }
-var GPS_EPOCH_MS4 = START_GPS_TIME.getTime();
-var MS_PER_WEEK5 = 7 * 864e5;
+var GPS_EPOCH_MS7 = START_GPS_TIME.getTime();
+var MS_PER_WEEK6 = 7 * 864e5;
 var BDS_EPOCH_MS = START_BDS_TIME.getTime();
-var GAL_EPOCH_MS = GPS_EPOCH_MS4 + 1024 * MS_PER_WEEK5;
+var GAL_EPOCH_MS = GPS_EPOCH_MS7 + 1024 * MS_PER_WEEK6;
 function ephInfoToEphemeris(info) {
   const sys = info.prn.charAt(0);
   if (sys === "R") {
@@ -6071,11 +6741,11 @@ function ephInfoToEphemeris(info) {
   } else if (sys === "E") {
     epochMs = GAL_EPOCH_MS;
   } else {
-    epochMs = GPS_EPOCH_MS4;
-    const weeksNow = (info.lastReceived - GPS_EPOCH_MS4) / MS_PER_WEEK5;
+    epochMs = GPS_EPOCH_MS7;
+    const weeksNow = (info.lastReceived - GPS_EPOCH_MS7) / MS_PER_WEEK6;
     week += 1024 * Math.round((weeksNow - week) / 1024);
   }
-  const tocDate = new Date(epochMs + week * MS_PER_WEEK5 + tocSec * 1e3);
+  const tocDate = new Date(epochMs + week * MS_PER_WEEK6 + tocSec * 1e3);
   return {
     system: sys,
     prn: info.prn,
@@ -9028,6 +9698,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   MILLISECONDS_IN_WEEK,
   MILLISECONDS_TT_TAI,
   MultipathAccumulator,
+  OEM4_HLEN,
   OMEGA_E,
   REFERENCE_FRAMES,
   RINEX_CODES,
@@ -9071,6 +9742,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   computeVisibility,
   computeVisibilityFromPositions,
   connectToMountpoint,
+  crc32,
   createGzipLineSink,
   createStationMeta,
   createStreamStats,
@@ -9160,6 +9832,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   msmEpochToDate,
   navTimesFromEph,
   nmeaCoordToDecimal,
+  oem4Frames,
   padL,
   padR,
   parseAntex,
@@ -9167,12 +9840,16 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   parseIonex,
   parseNavFile,
   parseNmeaFile,
+  parseNovatelNav,
   parseNovatelRange,
   parseRinexStream,
+  parseSbfAlmanac,
   parseSbfMeas,
+  parseSbfNav,
   parseSinexBiasDcb,
   parseSourcetable,
   parseSp3,
+  parseUbxNav,
   parseUbxRawx,
   phiAltBOC,
   phiBOCc,
@@ -9186,6 +9863,8 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   rhumbLine,
   rtcm3Constellation,
   satClockCorrection,
+  sbfCrc16,
+  scanSbfFrames,
   selectEphemeris,
   setGloFreqNumber,
   setRtcm3DebugHandler,
@@ -9195,6 +9874,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   systemCmp,
   systemName,
   transformFrame,
+  ubxFrames,
   updateStationMeta,
   updateStreamStats,
   verifyChecksum,