gnss-js 1.15.0 → 1.16.0

package/dist/index.cjs

@@ -227,6 +227,7 @@ __export(src_exports, {
   parseSinexBiasDcb: () => parseSinexBiasDcb,
   parseSourcetable: () => parseSourcetable,
   parseSp3: () => parseSp3,
+  parseUbxNav: () => parseUbxNav,
   parseUbxRawx: () => parseUbxRawx,
   phiAltBOC: () => phiAltBOC,
   phiBOCc: () => phiBOCc,
@@ -240,6 +241,8 @@ __export(src_exports, {
   rhumbLine: () => rhumbLine,
   rtcm3Constellation: () => rtcm3Constellation,
   satClockCorrection: () => satClockCorrection,
+  sbfCrc16: () => crc16,
+  scanSbfFrames: () => scanSbfFrames,
   selectEphemeris: () => selectEphemeris,
   setGloFreqNumber: () => setGloFreqNumber,
   setRtcm3DebugHandler: () => setRtcm3DebugHandler,
@@ -249,6 +252,7 @@ __export(src_exports, {
   systemCmp: () => systemCmp,
   systemName: () => systemName,
   transformFrame: () => transformFrame,
+  ubxFrames: () => ubxFrames,
   updateStationMeta: () => updateStationMeta,
   updateStreamStats: () => updateStreamStats,
   verifyChecksum: () => verifyChecksum,
@@ -4598,8 +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"] },
@@ -4639,33 +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);
@@ -4701,14 +4933,13 @@ 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/frame.ts
@@ -4773,10 +5004,10 @@ function svidToPrn(svid) {
 
 // src/sbf/nav.ts
 var PI2 = Math.PI;
-var GPS_EPOCH_MS2 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS3 = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS = Date.UTC(2006, 0, 1);
-var SEC_PER_WEEK = 7 * 86400;
-var MS_PER_WEEK3 = SEC_PER_WEEK * 1e3;
+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) {
@@ -4785,8 +5016,8 @@ function adjustWeek(refWeek, wn, mod) {
   if (offset < -(mod / 2 - 1)) offset += mod;
   return refWeek - offset;
 }
-var gpsMs = (week, sec) => GPS_EPOCH_MS2 + week * MS_PER_WEEK3 + sec * 1e3;
-var sowOf = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK;
+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;
@@ -4935,7 +5166,7 @@ function decodeGloNav(view, b) {
   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_MS2) / 1e3 % SEC_PER_WEEK;
+  const messageFrameTime = (tofGpsMs - tofLeapMs - GPS_EPOCH_MS3) / 1e3 % SEC_PER_WEEK2;
   return {
     system: "R",
     prn,
@@ -5082,7 +5313,7 @@ function parseSbfAlmanac(data) {
 
 // src/sbf/index.ts
 var CLIGHT = 299792458;
-var GPS_EPOCH_MS3 = Date.UTC(1980, 0, 6);
+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];
@@ -5736,7 +5967,7 @@ function parseSbfMeas(data) {
       const tow = view.getUint32(i + 8, true);
       const wnc = view.getUint16(i + 12, true);
       if (tow !== 4294967295 && wnc !== 65535) {
-        ensureEpoch(GPS_EPOCH_MS3 + wnc * MS_PER_WEEK4 + 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);
@@ -5792,136 +6023,6 @@ function* oem4Frames(data, view, stats) {
   }
 }
 
-// src/navbits/index.ts
-var GPS_PI = 3.1415926535898;
-var GPS_EPOCH_MS4 = Date.UTC(1980, 0, 6);
-var SEC_PER_WEEK2 = 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_MS4) / 1e3 / SEC_PER_WEEK2);
-  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_MS4 + (week * SEC_PER_WEEK2 + 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_WEEK2,
-    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;
@@ -9748,6 +9849,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   parseSinexBiasDcb,
   parseSourcetable,
   parseSp3,
+  parseUbxNav,
   parseUbxRawx,
   phiAltBOC,
   phiBOCc,
@@ -9761,6 +9863,8 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   rhumbLine,
   rtcm3Constellation,
   satClockCorrection,
+  sbfCrc16,
+  scanSbfFrames,
   selectEphemeris,
   setGloFreqNumber,
   setRtcm3DebugHandler,
@@ -9770,6 +9874,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   systemCmp,
   systemName,
   transformFrame,
+  ubxFrames,
   updateStationMeta,
   updateStreamStats,
   verifyChecksum,

package/dist/index.d.cts

@@ -9,8 +9,8 @@ export { E as EpochSummary, P as ParseOptions, R as RinexHeader, a as RinexResul
 export { E as Ephemeris, G as GlonassEphemeris, K as KeplerEphemeris, N as NavHeader, a as NavResult, p as parseNavFile } from './nav-BAI1a9vK.cjs';
 export { B as BitReader, E as EphemerisInfo, R as Rtcm3DebugHandler, a as Rtcm3Decoder, b as Rtcm3Frame, d as decodeEphemeris, r as readString, c as reportDecodeError, s as setRtcm3DebugHandler } from './ephemeris-Ohl6NAfw.cjs';
 export { MessageTypeStats, MsmEpoch, MsmSatObs, MsmSignal, RTCM3_MESSAGE_NAMES, SatCn0, SignalCn0, StationMeta, StreamStats, createStationMeta, createStreamStats, decodeMsmFull, msmEpochToDate, resetGloFreqCache, rtcm3Constellation, setGloFreqNumber, updateStationMeta, updateStreamStats } from './rtcm3.cjs';
-export { UbxMeasurement, UbxParseResult, UbxRawxEpoch, parseUbxRawx } from './ubx.cjs';
-export { SbfAlmanac, SbfAlmanacResult, SbfGlonassAlmanac, SbfKeplerAlmanac, SbfMeasEpoch, SbfMeasurement, SbfNavResult, SbfParseResult, parseSbfAlmanac, parseSbfMeas, parseSbfNav } from './sbf.cjs';
+export { UbxFrame, UbxMeasurement, UbxNavOptions, UbxNavResult, UbxParseResult, UbxRawxEpoch, parseUbxNav, parseUbxRawx, ubxFrames } from './ubx.cjs';
+export { SbfAlmanac, SbfAlmanacResult, SbfGlonassAlmanac, SbfKeplerAlmanac, SbfMeasEpoch, SbfMeasurement, SbfNavResult, SbfParseResult, parseSbfAlmanac, parseSbfMeas, parseSbfNav, sbfCrc16, scanSbfFrames } from './sbf.cjs';
 export { NovatelEpoch, NovatelMeasurement, NovatelNavResult, NovatelParseResult, OEM4_HLEN, Oem4Frame, crc32, oem4Frames, parseNovatelNav, parseNovatelRange } from './novatel.cjs';
 export { AllPositionsData, DopValues, EpochSkyData, SatAzEl, SatPoint, SatPosition, VisibilityPass, VisibilityResult, computeAllPositions, computeDop, computeLiveSkyPositions, computeSatPosition, computeVisibility, computeVisibilityFromPositions, dopplerHz, ecefToAzEl, ephInfoToEphemeris, glonassPosition, keplerPosition, maskRadForAzimuth, navTimesFromEph, rangeRate, selectEphemeris } from './orbit.cjs';
 export { Helmert14, REFERENCE_FRAMES, ReferenceFrame, applyHelmert, dateToEpoch, transformFrame } from './frames.cjs';

package/dist/index.d.ts

@@ -9,8 +9,8 @@ export { E as EpochSummary, P as ParseOptions, R as RinexHeader, a as RinexResul
 export { E as Ephemeris, G as GlonassEphemeris, K as KeplerEphemeris, N as NavHeader, a as NavResult, p as parseNavFile } from './nav-BAI1a9vK.js';
 export { B as BitReader, E as EphemerisInfo, R as Rtcm3DebugHandler, a as Rtcm3Decoder, b as Rtcm3Frame, d as decodeEphemeris, r as readString, c as reportDecodeError, s as setRtcm3DebugHandler } from './ephemeris-Ohl6NAfw.js';
 export { MessageTypeStats, MsmEpoch, MsmSatObs, MsmSignal, RTCM3_MESSAGE_NAMES, SatCn0, SignalCn0, StationMeta, StreamStats, createStationMeta, createStreamStats, decodeMsmFull, msmEpochToDate, resetGloFreqCache, rtcm3Constellation, setGloFreqNumber, updateStationMeta, updateStreamStats } from './rtcm3.js';
-export { UbxMeasurement, UbxParseResult, UbxRawxEpoch, parseUbxRawx } from './ubx.js';
-export { SbfAlmanac, SbfAlmanacResult, SbfGlonassAlmanac, SbfKeplerAlmanac, SbfMeasEpoch, SbfMeasurement, SbfNavResult, SbfParseResult, parseSbfAlmanac, parseSbfMeas, parseSbfNav } from './sbf.js';
+export { UbxFrame, UbxMeasurement, UbxNavOptions, UbxNavResult, UbxParseResult, UbxRawxEpoch, parseUbxNav, parseUbxRawx, ubxFrames } from './ubx.js';
+export { SbfAlmanac, SbfAlmanacResult, SbfGlonassAlmanac, SbfKeplerAlmanac, SbfMeasEpoch, SbfMeasurement, SbfNavResult, SbfParseResult, parseSbfAlmanac, parseSbfMeas, parseSbfNav, sbfCrc16, scanSbfFrames } from './sbf.js';
 export { NovatelEpoch, NovatelMeasurement, NovatelNavResult, NovatelParseResult, OEM4_HLEN, Oem4Frame, crc32, oem4Frames, parseNovatelNav, parseNovatelRange } from './novatel.js';
 export { AllPositionsData, DopValues, EpochSkyData, SatAzEl, SatPoint, SatPosition, VisibilityPass, VisibilityResult, computeAllPositions, computeDop, computeLiveSkyPositions, computeSatPosition, computeVisibility, computeVisibilityFromPositions, dopplerHz, ecefToAzEl, ephInfoToEphemeris, glonassPosition, keplerPosition, maskRadForAzimuth, navTimesFromEph, rangeRate, selectEphemeris } from './orbit.js';
 export { Helmert14, REFERENCE_FRAMES, ReferenceFrame, applyHelmert, dateToEpoch, transformFrame } from './frames.js';

package/dist/index.js

@@ -34,20 +34,25 @@ import {
   phiBPSK
 } from "./chunk-2K3FCJBX.js";
 import {
-  parseUbxRawx
-} from "./chunk-5IXK25MX.js";
+  parseUbxNav,
+  parseUbxRawx,
+  ubxFrames
+} from "./chunk-6CX6EXRK.js";
 import {
+  crc16,
   parseSbfAlmanac,
   parseSbfMeas,
-  parseSbfNav
-} from "./chunk-BEQSEJMU.js";
+  parseSbfNav,
+  scanSbfFrames
+} from "./chunk-YPOVPXNK.js";
 import {
   OEM4_HLEN,
   crc32,
   oem4Frames,
   parseNovatelNav,
   parseNovatelRange
-} from "./chunk-I4UV45NT.js";
+} from "./chunk-R33A2VA7.js";
+import "./chunk-4LVD4DYL.js";
 import {
   connectToMountpoint,
   fetchSourcetable,
@@ -487,6 +492,7 @@ export {
   parseSinexBiasDcb,
   parseSourcetable,
   parseSp3,
+  parseUbxNav,
   parseUbxRawx,
   phiAltBOC,
   phiBOCc,
@@ -500,6 +506,8 @@ export {
   rhumbLine,
   rtcm3Constellation,
   satClockCorrection,
+  crc16 as sbfCrc16,
+  scanSbfFrames,
   selectEphemeris,
   setGloFreqNumber,
   setRtcm3DebugHandler,
@@ -509,6 +517,7 @@ export {
   systemCmp,
   systemName,
   transformFrame,
+  ubxFrames,
   updateStationMeta,
   updateStreamStats,
   verifyChecksum,

package/dist/novatel.js

@@ -4,7 +4,8 @@ import {
   oem4Frames,
   parseNovatelNav,
   parseNovatelRange
-} from "./chunk-I4UV45NT.js";
+} from "./chunk-R33A2VA7.js";
+import "./chunk-4LVD4DYL.js";
 import "./chunk-HVXYFUCB.js";
 import "./chunk-LEEU5OIO.js";
 export {

package/dist/sbf.cjs

@@ -22,7 +22,9 @@ var sbf_exports = {};
 __export(sbf_exports, {
   parseSbfAlmanac: () => parseSbfAlmanac,
   parseSbfMeas: () => parseSbfMeas,
-  parseSbfNav: () => parseSbfNav
+  parseSbfNav: () => parseSbfNav,
+  sbfCrc16: () => crc16,
+  scanSbfFrames: () => scanSbfFrames
 });
 module.exports = __toCommonJS(sbf_exports);
 
@@ -1153,5 +1155,7 @@ function parseSbfMeas(data) {
 0 && (module.exports = {
   parseSbfAlmanac,
   parseSbfMeas,
-  parseSbfNav
+  parseSbfNav,
+  sbfCrc16,
+  scanSbfFrames
 });

package/dist/sbf.d.cts

@@ -1,5 +1,22 @@
 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.
  *
@@ -197,4 +214,4 @@ interface SbfParseResult {
  */
 declare function parseSbfMeas(data: Uint8Array): SbfParseResult;
 
-export { type SbfAlmanac, type SbfAlmanacResult, type SbfGlonassAlmanac, type SbfKeplerAlmanac, type SbfMeasEpoch, type SbfMeasurement, type SbfNavResult, type SbfParseResult, parseSbfAlmanac, parseSbfMeas, parseSbfNav };
+export { type SbfAlmanac, type SbfAlmanacResult, type SbfGlonassAlmanac, type SbfKeplerAlmanac, type SbfMeasEpoch, type SbfMeasurement, type SbfNavResult, type SbfParseResult, parseSbfAlmanac, parseSbfMeas, parseSbfNav, crc16 as sbfCrc16, scanSbfFrames };