gnss-js 1.15.0 → 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-I4UV45NT.js → chunk-R33A2VA7.js}

@@ -1,3 +1,6 @@
+import {
+  decodeGpsLnavFrame
+} from "./chunk-4LVD4DYL.js";
 import {
   getUtcDate
 } from "./chunk-HVXYFUCB.js";
@@ -46,141 +49,11 @@ function* oem4Frames(data, view, stats) {
   }
 }
 
-// src/navbits/index.ts
-var GPS_PI = 3.1415926535898;
-var GPS_EPOCH_MS = Date.UTC(1980, 0, 6);
-var SEC_PER_WEEK = 7 * 86400;
-function getBitU(buff, pos, len) {
-  let bits = 0;
-  for (let i = pos; i < pos + len; i++) {
-    bits = bits * 2 + (buff[i >> 3] >> 7 - (i & 7) & 1);
-  }
-  return bits;
-}
-function getBitS(buff, pos, len) {
-  const bits = getBitU(buff, pos, len);
-  if (len <= 0 || bits < 2 ** (len - 1)) return bits;
-  return bits - 2 ** len;
-}
-function decodeGpsLnavFrame(subframes, opts = {}) {
-  if (subframes.length < 90) return null;
-  const b = subframes;
-  let i = 24;
-  const tow1 = getBitU(b, i, 17) * 6;
-  i += 17 + 2;
-  const id1 = getBitU(b, i, 3);
-  i += 3 + 2;
-  const week10 = getBitU(b, i, 10);
-  i += 10;
-  i += 2;
-  i += 4;
-  const svHealth = getBitU(b, i, 6);
-  i += 6;
-  const iodc0 = getBitU(b, i, 2);
-  i += 2;
-  i += 1 + 87;
-  const tgdRaw = getBitS(b, i, 8);
-  i += 8;
-  const iodc1 = getBitU(b, i, 8);
-  i += 8;
-  const tocSec = getBitU(b, i, 16) * 16;
-  i += 16;
-  const af2 = getBitS(b, i, 8) * 2 ** -55;
-  i += 8;
-  const af1 = getBitS(b, i, 16) * 2 ** -43;
-  i += 16;
-  const af0 = getBitS(b, i, 22) * 2 ** -31;
-  i = 240 + 24;
-  i += 17 + 2;
-  const id2 = getBitU(b, i, 3);
-  i += 3 + 2;
-  const iode = getBitU(b, i, 8);
-  i += 8;
-  const crs = getBitS(b, i, 16) * 2 ** -5;
-  i += 16;
-  const deltaN = getBitS(b, i, 16) * 2 ** -43 * GPS_PI;
-  i += 16;
-  const m0 = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
-  i += 32;
-  const cuc = getBitS(b, i, 16) * 2 ** -29;
-  i += 16;
-  const e = getBitU(b, i, 32) * 2 ** -33;
-  i += 32;
-  const cus = getBitS(b, i, 16) * 2 ** -29;
-  i += 16;
-  const sqrtA = getBitU(b, i, 32) * 2 ** -19;
-  i += 32;
-  const toes = getBitU(b, i, 16) * 16;
-  i = 480 + 24;
-  i += 17 + 2;
-  const id3 = getBitU(b, i, 3);
-  i += 3 + 2;
-  const cic = getBitS(b, i, 16) * 2 ** -29;
-  i += 16;
-  const omega0 = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
-  i += 32;
-  const cis = getBitS(b, i, 16) * 2 ** -29;
-  i += 16;
-  const i0 = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
-  i += 32;
-  const crc = getBitS(b, i, 16) * 2 ** -5;
-  i += 16;
-  const omega = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
-  i += 32;
-  const omegaDot = getBitS(b, i, 24) * 2 ** -43 * GPS_PI;
-  i += 24;
-  const iode3 = getBitU(b, i, 8);
-  i += 8;
-  const idot = getBitS(b, i, 14) * 2 ** -43 * GPS_PI;
-  const iodc = iodc0 * 256 + iodc1;
-  if (id1 !== 1 || id2 !== 2 || id3 !== 3) return null;
-  if (iode3 !== iode || iode !== (iodc & 255)) return null;
-  const ref = opts.refWeek ?? Math.floor((Date.now() - GPS_EPOCH_MS) / 1e3 / SEC_PER_WEEK);
-  let week = week10 + 1024 * Math.round((ref - week10) / 1024);
-  if (toes < tow1 - 302400) week++;
-  else if (toes > tow1 + 302400) week--;
-  const prn = opts.prn ?? "G00";
-  const tocDate = new Date(
-    GPS_EPOCH_MS + (week * SEC_PER_WEEK + tocSec) * 1e3
-  );
-  return {
-    system: prn[0] === "J" ? "J" : "G",
-    prn,
-    tocDate,
-    // Same seconds-of-week convention as parseNavFile (rinex/nav.ts).
-    toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK,
-    af0,
-    af1,
-    af2,
-    iode,
-    crs,
-    deltaN,
-    m0,
-    cuc,
-    e,
-    cus,
-    sqrtA,
-    toe: toes,
-    cic,
-    omega0,
-    cis,
-    i0,
-    crc,
-    omega,
-    omegaDot,
-    idot,
-    week,
-    svHealth,
-    tgd: tgdRaw === -128 ? 0 : tgdRaw * 2 ** -31
-    // IS-GPS-200: -128 reserved
-  };
-}
-
 // src/novatel/nav.ts
 var ID_RAWEPHEM = 41;
 var ID_GLOEPHEMERIS = 723;
-var GPS_EPOCH_MS2 = Date.UTC(1980, 0, 6);
-var SEC_PER_WEEK2 = 7 * 86400;
+var 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);
@@ -203,9 +76,9 @@ function decodeGloEphemeris(view, p) {
   tof += Math.floor(tow / SEC_PER_DAY) * SEC_PER_DAY;
   if (tof < tow - 43200) tof += SEC_PER_DAY;
   else if (tof > tow + 43200) tof -= SEC_PER_DAY;
-  const toeGpsMs = GPS_EPOCH_MS2 + (week * SEC_PER_WEEK2 + tow) * 1e3;
-  const tofGpsMs = GPS_EPOCH_MS2 + (week * SEC_PER_WEEK2 + tof) * 1e3;
-  const tofUtcSec = (getUtcDate(new Date(tofGpsMs)).getTime() - GPS_EPOCH_MS2) / 1e3;
+  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")}`,
@@ -213,7 +86,7 @@ function decodeGloEphemeris(view, p) {
     tauN: -view.getFloat64(p + 100, true),
     // RINEX stores −τ_n
     gammaN: view.getFloat64(p + 116, true),
-    messageFrameTime: (tofUtcSec % SEC_PER_WEEK2 + SEC_PER_WEEK2) % SEC_PER_WEEK2,
+    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,
@@ -259,7 +132,7 @@ function parseNovatelNav(data) {
 }
 
 // src/novatel/index.ts
-var GPS_EPOCH_MS3 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS2 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK = 7 * 864e5;
 var HDR = 28;
 var ID_RANGE = 43;
@@ -429,7 +302,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS3 + week * MS_PER_WEEK + towMs,
+          timeMs: GPS_EPOCH_MS2 + week * MS_PER_WEEK + towMs,
           meas
         });
       }
@@ -481,7 +354,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS3 + week * MS_PER_WEEK + towMs,
+          timeMs: GPS_EPOCH_MS2 + week * MS_PER_WEEK + towMs,
           meas
         });
       }

package/dist/{chunk-BEQSEJMU.js → chunk-YPOVPXNK.js}

@@ -1040,6 +1040,8 @@ function parseSbfMeas(data) {
 }
 
 export {
+  crc16,
+  scanSbfFrames,
   parseSbfNav,
   parseSbfAlmanac,
   parseSbfMeas