gnss-js 1.14.1 → 1.16.0

package/dist/sbf.d.cts

@@ -1,3 +1,156 @@
+import { E as Ephemeris } from './nav-BAI1a9vK.cjs';
+
+/**
+ * Septentrio SBF framing shared by the measurement and navigation
+ * decoders: 0x24 0x40 sync, CRC16-CCITT (poly 0x1021, init 0) as U2,
+ * block ID U2 (number in bits 0..12, revision in 13..15), total length
+ * U2 (multiple of 4, includes the 8-byte header). The CRC covers block
+ * ID through payload end.
+ */
+declare function crc16(data: Uint8Array, start: number, end: number): number;
+/**
+ * Scan a byte stream for valid SBF frames and invoke `onBlock` for each
+ * one, passing the block number (revision bits stripped), the frame
+ * start offset and the total frame length. Frames with bad CRC are
+ * counted and a resync continues at the next byte; the count of bad
+ * frames is returned.
+ */
+declare function scanSbfFrames(data: Uint8Array, view: DataView, onBlock: (id: number, offset: number, len: number) => void): number;
+
+/**
+ * Septentrio SBF decoded navigation and almanac blocks.
+ *
+ * Nav blocks (GPSNav 5891, GLONav 4004, GALNav 4002, BDSNav 4081,
+ * QZSNav 4095) carry the fully decoded broadcast ephemeris; they are
+ * mapped onto the same `Ephemeris` union the RINEX nav parser produces,
+ * with identical units and conventions (sqrtA in m^1/2, angles in rad,
+ * semicircle fields scaled by π, GLONASS tauN with the RINEX sign, BDS
+ * epochs/weeks on the BDT scale like a RINEX file).
+ *
+ * Almanac blocks (GPSAlm 5892, GALAlm 4003, GLOAlm 4005, BDSAlm 4119)
+ * are decoded into dedicated types with all per-system relative fields
+ * (GPS/BDS δi, Galileo δi and ΔsqrtA) normalized to absolute values.
+ *
+ * Ported from RTKLIB demo5 (rtklibexplorer), src/rcv/septentrio.c
+ * (decode_gpsnav / decode_glonav / decode_galnav / decode_cmpnav /
+ * decode_qzssnav / decode_gpsalm / decode_galalm / decode_cmpalm),
+ * BSD-2-Clause, and cross-checked field by field against the Septentrio
+ * mosaic-X5 reference guide, which also supplies the GLOAlm layout
+ * (not decoded by RTKLIB).
+ */
+
+interface SbfNavResult {
+    ephemerides: Ephemeris[];
+    /** Frames whose CRC failed (corruption indicator). */
+    badCrc: number;
+}
+/**
+ * Decode every GPSNav/GLONav/GALNav/BDSNav/QZSNav block in an SBF byte
+ * stream into the RINEX-parser `Ephemeris` union. Every block is
+ * emitted (no issue-of-data dedup); other block types are skipped.
+ */
+declare function parseSbfNav(data: Uint8Array): SbfNavResult;
+/**
+ * GPS / Galileo / BeiDou almanac, normalized to ABSOLUTE Keplerian
+ * elements (units matching `KeplerEphemeris`: sqrtA in m^1/2, angles
+ * in rad, rates in rad/s) so a Kepler propagator can consume the
+ * record directly with all correction terms at zero.
+ *
+ * Normalizations applied per system:
+ * - GPS (`G`): the SIS δi (relative to 0.3 semicircles) is folded in —
+ *   `i0OrDeltaI` = 0.3π + δi·π. `weekAlm` is the full GPS week
+ *   (8-bit SIS week disambiguated against the receiver week).
+ * - Galileo (`E`): the SIS ΔsqrtA (relative to √29 600 000 m^1/2) and
+ *   δi (relative to 56°) are folded in — `sqrtA` and `i0OrDeltaI` are
+ *   absolute. `weekAlm` is the full GPS-aligned week (2-bit SIS week
+ *   disambiguated). `health` is the raw SBF bit field: bit 0 set ⇒
+ *   bits 1-2 are the L1-B HS, bit 3 set ⇒ bits 4-5 E5b HS, bit 6 set
+ *   ⇒ bits 7-8 E5a HS (0 = healthy).
+ * - BeiDou (`C`): δi is relative to 0.3 semicircles for MEO/IGSO and
+ *   to 0 for GEO satellites (PRN 1-5 and 59-63) per the BDS ICD; the
+ *   reference is folded in. `weekAlm` is the full BDS week (add 1356
+ *   for the GPS week) and `toaSec` is BDT seconds of week
+ *   (BDT = GPST − 14 s). `health` is the 9-bit SIS health word.
+ */
+interface SbfKeplerAlmanac {
+    system: 'G' | 'E' | 'C';
+    /** Satellite PRN, e.g. "G14". */
+    prn: string;
+    /** Full almanac reference week (see per-system notes above). */
+    weekAlm: number;
+    /** Almanac reference time of week in seconds (system time scale). */
+    toaSec: number;
+    /** Square root of semi-major axis in m^(1/2), absolute. */
+    sqrtA: number;
+    /** Eccentricity (dimensionless). */
+    e: number;
+    /** Inclination at reference time in rad, absolute (normalized). */
+    i0OrDeltaI: number;
+    /** Longitude of ascending node at the weekly epoch in rad. */
+    omega0: number;
+    /** Argument of perigee in rad. */
+    omega: number;
+    /** Mean anomaly at reference time in rad. */
+    m0: number;
+    /** Rate of right ascension in rad/s. */
+    omegaDot: number;
+    /** SV clock bias in seconds. */
+    af0: number;
+    /** SV clock drift in s/s. */
+    af1: number;
+    /** Health word, 0 = healthy (see per-system notes above). */
+    health: number;
+}
+/**
+ * GLONASS almanac (GLONASS ICD orbital parameters). Semicircle fields
+ * are converted to radians; everything else keeps the ICD units.
+ */
+interface SbfGlonassAlmanac {
+    system: 'R';
+    /** Satellite slot, e.g. "R05". */
+    prn: string;
+    /** Frequency channel number HnA (−7…+6). */
+    freqNr: number;
+    /** Full GPS week of the almanac reference time. */
+    weekAlm: number;
+    /** Almanac reference time of week in seconds, GPS time frame. */
+    toaSec: number;
+    /** εnA: orbit eccentricity. */
+    epsilon: number;
+    /** λnA: longitude of first ascending node in rad. */
+    lambda: number;
+    /** tλnA: time of first ascending node passage in s of day. */
+    tLambda: number;
+    /** ΔinA: inclination correction to 63° in rad. */
+    deltaI: number;
+    /** ωnA: argument of perigee in rad. */
+    omega: number;
+    /** ΔTnA: correction to the mean Draconian period (s / orbit). */
+    deltaT: number;
+    /** dΔTnA: rate of change of ΔT (s / orbit²). */
+    deltaTDot: number;
+    /** τnA: coarse satellite clock correction in s. */
+    tau: number;
+    /** CnA general health flag: 1 = healthy. */
+    health: number;
+    /** NA: calendar day number within the 4-year period. */
+    nDay: number;
+    /** N4: 4-year interval number since 1996. */
+    n4: number;
+}
+type SbfAlmanac = SbfKeplerAlmanac | SbfGlonassAlmanac;
+interface SbfAlmanacResult {
+    almanacs: SbfAlmanac[];
+    /** Frames whose CRC failed (corruption indicator). */
+    badCrc: number;
+}
+/**
+ * Decode every GPSAlm/GALAlm/GLOAlm/BDSAlm block in an SBF byte
+ * stream. Every block is emitted in stream order; other block types
+ * are skipped.
+ */
+declare function parseSbfAlmanac(data: Uint8Array): SbfAlmanacResult;
+
 /**
  * Septentrio SBF raw-measurement decoding (MeasEpoch + Meas3) — the
  * path from a receiver log to RINEX-grade observables.
@@ -23,6 +176,7 @@
  * Septentrio mosaic-X5 reference guide (the guide documents MeasEpoch
  * fully; the Meas3 bit layout is only public through that decoder).
  */
+
 interface SbfMeasurement {
     /** RINEX PRN, e.g. "G04", "R11", "S23" (SBAS PRN-100). */
     prn: string;
@@ -60,4 +214,4 @@ interface SbfParseResult {
  */
 declare function parseSbfMeas(data: Uint8Array): SbfParseResult;
 
-export { type SbfMeasEpoch, type SbfMeasurement, type SbfParseResult, parseSbfMeas };
+export { type SbfAlmanac, type SbfAlmanacResult, type SbfGlonassAlmanac, type SbfKeplerAlmanac, type SbfMeasEpoch, type SbfMeasurement, type SbfNavResult, type SbfParseResult, parseSbfAlmanac, parseSbfMeas, parseSbfNav, crc16 as sbfCrc16, scanSbfFrames };

package/dist/sbf.d.ts

@@ -1,3 +1,156 @@
+import { E as Ephemeris } from './nav-BAI1a9vK.js';
+
+/**
+ * Septentrio SBF framing shared by the measurement and navigation
+ * decoders: 0x24 0x40 sync, CRC16-CCITT (poly 0x1021, init 0) as U2,
+ * block ID U2 (number in bits 0..12, revision in 13..15), total length
+ * U2 (multiple of 4, includes the 8-byte header). The CRC covers block
+ * ID through payload end.
+ */
+declare function crc16(data: Uint8Array, start: number, end: number): number;
+/**
+ * Scan a byte stream for valid SBF frames and invoke `onBlock` for each
+ * one, passing the block number (revision bits stripped), the frame
+ * start offset and the total frame length. Frames with bad CRC are
+ * counted and a resync continues at the next byte; the count of bad
+ * frames is returned.
+ */
+declare function scanSbfFrames(data: Uint8Array, view: DataView, onBlock: (id: number, offset: number, len: number) => void): number;
+
+/**
+ * Septentrio SBF decoded navigation and almanac blocks.
+ *
+ * Nav blocks (GPSNav 5891, GLONav 4004, GALNav 4002, BDSNav 4081,
+ * QZSNav 4095) carry the fully decoded broadcast ephemeris; they are
+ * mapped onto the same `Ephemeris` union the RINEX nav parser produces,
+ * with identical units and conventions (sqrtA in m^1/2, angles in rad,
+ * semicircle fields scaled by π, GLONASS tauN with the RINEX sign, BDS
+ * epochs/weeks on the BDT scale like a RINEX file).
+ *
+ * Almanac blocks (GPSAlm 5892, GALAlm 4003, GLOAlm 4005, BDSAlm 4119)
+ * are decoded into dedicated types with all per-system relative fields
+ * (GPS/BDS δi, Galileo δi and ΔsqrtA) normalized to absolute values.
+ *
+ * Ported from RTKLIB demo5 (rtklibexplorer), src/rcv/septentrio.c
+ * (decode_gpsnav / decode_glonav / decode_galnav / decode_cmpnav /
+ * decode_qzssnav / decode_gpsalm / decode_galalm / decode_cmpalm),
+ * BSD-2-Clause, and cross-checked field by field against the Septentrio
+ * mosaic-X5 reference guide, which also supplies the GLOAlm layout
+ * (not decoded by RTKLIB).
+ */
+
+interface SbfNavResult {
+    ephemerides: Ephemeris[];
+    /** Frames whose CRC failed (corruption indicator). */
+    badCrc: number;
+}
+/**
+ * Decode every GPSNav/GLONav/GALNav/BDSNav/QZSNav block in an SBF byte
+ * stream into the RINEX-parser `Ephemeris` union. Every block is
+ * emitted (no issue-of-data dedup); other block types are skipped.
+ */
+declare function parseSbfNav(data: Uint8Array): SbfNavResult;
+/**
+ * GPS / Galileo / BeiDou almanac, normalized to ABSOLUTE Keplerian
+ * elements (units matching `KeplerEphemeris`: sqrtA in m^1/2, angles
+ * in rad, rates in rad/s) so a Kepler propagator can consume the
+ * record directly with all correction terms at zero.
+ *
+ * Normalizations applied per system:
+ * - GPS (`G`): the SIS δi (relative to 0.3 semicircles) is folded in —
+ *   `i0OrDeltaI` = 0.3π + δi·π. `weekAlm` is the full GPS week
+ *   (8-bit SIS week disambiguated against the receiver week).
+ * - Galileo (`E`): the SIS ΔsqrtA (relative to √29 600 000 m^1/2) and
+ *   δi (relative to 56°) are folded in — `sqrtA` and `i0OrDeltaI` are
+ *   absolute. `weekAlm` is the full GPS-aligned week (2-bit SIS week
+ *   disambiguated). `health` is the raw SBF bit field: bit 0 set ⇒
+ *   bits 1-2 are the L1-B HS, bit 3 set ⇒ bits 4-5 E5b HS, bit 6 set
+ *   ⇒ bits 7-8 E5a HS (0 = healthy).
+ * - BeiDou (`C`): δi is relative to 0.3 semicircles for MEO/IGSO and
+ *   to 0 for GEO satellites (PRN 1-5 and 59-63) per the BDS ICD; the
+ *   reference is folded in. `weekAlm` is the full BDS week (add 1356
+ *   for the GPS week) and `toaSec` is BDT seconds of week
+ *   (BDT = GPST − 14 s). `health` is the 9-bit SIS health word.
+ */
+interface SbfKeplerAlmanac {
+    system: 'G' | 'E' | 'C';
+    /** Satellite PRN, e.g. "G14". */
+    prn: string;
+    /** Full almanac reference week (see per-system notes above). */
+    weekAlm: number;
+    /** Almanac reference time of week in seconds (system time scale). */
+    toaSec: number;
+    /** Square root of semi-major axis in m^(1/2), absolute. */
+    sqrtA: number;
+    /** Eccentricity (dimensionless). */
+    e: number;
+    /** Inclination at reference time in rad, absolute (normalized). */
+    i0OrDeltaI: number;
+    /** Longitude of ascending node at the weekly epoch in rad. */
+    omega0: number;
+    /** Argument of perigee in rad. */
+    omega: number;
+    /** Mean anomaly at reference time in rad. */
+    m0: number;
+    /** Rate of right ascension in rad/s. */
+    omegaDot: number;
+    /** SV clock bias in seconds. */
+    af0: number;
+    /** SV clock drift in s/s. */
+    af1: number;
+    /** Health word, 0 = healthy (see per-system notes above). */
+    health: number;
+}
+/**
+ * GLONASS almanac (GLONASS ICD orbital parameters). Semicircle fields
+ * are converted to radians; everything else keeps the ICD units.
+ */
+interface SbfGlonassAlmanac {
+    system: 'R';
+    /** Satellite slot, e.g. "R05". */
+    prn: string;
+    /** Frequency channel number HnA (−7…+6). */
+    freqNr: number;
+    /** Full GPS week of the almanac reference time. */
+    weekAlm: number;
+    /** Almanac reference time of week in seconds, GPS time frame. */
+    toaSec: number;
+    /** εnA: orbit eccentricity. */
+    epsilon: number;
+    /** λnA: longitude of first ascending node in rad. */
+    lambda: number;
+    /** tλnA: time of first ascending node passage in s of day. */
+    tLambda: number;
+    /** ΔinA: inclination correction to 63° in rad. */
+    deltaI: number;
+    /** ωnA: argument of perigee in rad. */
+    omega: number;
+    /** ΔTnA: correction to the mean Draconian period (s / orbit). */
+    deltaT: number;
+    /** dΔTnA: rate of change of ΔT (s / orbit²). */
+    deltaTDot: number;
+    /** τnA: coarse satellite clock correction in s. */
+    tau: number;
+    /** CnA general health flag: 1 = healthy. */
+    health: number;
+    /** NA: calendar day number within the 4-year period. */
+    nDay: number;
+    /** N4: 4-year interval number since 1996. */
+    n4: number;
+}
+type SbfAlmanac = SbfKeplerAlmanac | SbfGlonassAlmanac;
+interface SbfAlmanacResult {
+    almanacs: SbfAlmanac[];
+    /** Frames whose CRC failed (corruption indicator). */
+    badCrc: number;
+}
+/**
+ * Decode every GPSAlm/GALAlm/GLOAlm/BDSAlm block in an SBF byte
+ * stream. Every block is emitted in stream order; other block types
+ * are skipped.
+ */
+declare function parseSbfAlmanac(data: Uint8Array): SbfAlmanacResult;
+
 /**
  * Septentrio SBF raw-measurement decoding (MeasEpoch + Meas3) — the
  * path from a receiver log to RINEX-grade observables.
@@ -23,6 +176,7 @@
  * Septentrio mosaic-X5 reference guide (the guide documents MeasEpoch
  * fully; the Meas3 bit layout is only public through that decoder).
  */
+
 interface SbfMeasurement {
     /** RINEX PRN, e.g. "G04", "R11", "S23" (SBAS PRN-100). */
     prn: string;
@@ -60,4 +214,4 @@ interface SbfParseResult {
  */
 declare function parseSbfMeas(data: Uint8Array): SbfParseResult;
 
-export { type SbfMeasEpoch, type SbfMeasurement, type SbfParseResult, parseSbfMeas };
+export { type SbfAlmanac, type SbfAlmanacResult, type SbfGlonassAlmanac, type SbfKeplerAlmanac, type SbfMeasEpoch, type SbfMeasurement, type SbfNavResult, type SbfParseResult, parseSbfAlmanac, parseSbfMeas, parseSbfNav, crc16 as sbfCrc16, scanSbfFrames };

package/dist/sbf.js

@@ -1,6 +1,16 @@
 import {
-  parseSbfMeas
-} from "./chunk-YIHO74OS.js";
+  crc16,
+  parseSbfAlmanac,
+  parseSbfMeas,
+  parseSbfNav,
+  scanSbfFrames
+} from "./chunk-YPOVPXNK.js";
+import "./chunk-HVXYFUCB.js";
+import "./chunk-LEEU5OIO.js";
 export {
-  parseSbfMeas
+  parseSbfAlmanac,
+  parseSbfMeas,
+  parseSbfNav,
+  crc16 as sbfCrc16,
+  scanSbfFrames
 };

package/dist/ubx.cjs

@@ -20,10 +20,261 @@ var __toCommonJS = (mod) => __copyProps(__defProp({}, "__esModule", { value: tru
 // src/ubx/index.ts
 var ubx_exports = {};
 __export(ubx_exports, {
-  parseUbxRawx: () => parseUbxRawx
+  parseUbxNav: () => parseUbxNav,
+  parseUbxRawx: () => parseUbxRawx,
+  ubxFrames: () => ubxFrames
 });
 module.exports = __toCommonJS(ubx_exports);
+
+// 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_WEEK = 7 * 864e5;
 var SIGNALS = {
   0: { 0: ["G", "1C"], 3: ["G", "2X"], 4: ["G", "2X"] },
@@ -63,33 +314,14 @@ 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);
@@ -125,16 +357,17 @@ function parseUbxRawx(data) {
         if (!codes.includes(sig[1])) codes.push(sig[1]);
       }
       epochs.push({
-        timeMs: GPS_EPOCH_MS + week * MS_PER_WEEK + Math.round(rcvTow * 1e3),
+        timeMs: GPS_EPOCH_MS2 + week * MS_PER_WEEK + Math.round(rcvTow * 1e3),
         leapS: leapValid ? leapS : null,
         meas
       });
     }
-    i = end;
   }
-  return { epochs, messageCounts, obsCodes, badChecksums };
+  return { epochs, messageCounts, obsCodes, badChecksums: stats.badChecksums };
 }
 // Annotate the CommonJS export names for ESM import in node:
 0 && (module.exports = {
-  parseUbxRawx
+  parseUbxNav,
+  parseUbxRawx,
+  ubxFrames
 });