gnss-js 1.15.0 → 1.17.0

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, UbxIonoUtcResult, UbxMeasurement, UbxNavOptions, UbxNavResult, UbxParseResult, UbxRawxEpoch, parseUbxIonoUtc, parseUbxNav, parseUbxRawx, ubxFrames } from './ubx.cjs';
+export { SbfAlmanac, SbfAlmanacResult, SbfGlonassAlmanac, SbfIonoUtcResult, SbfKeplerAlmanac, SbfMeasEpoch, SbfMeasurement, SbfNavResult, SbfParseResult, parseSbfAlmanac, parseSbfIonoUtc, 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, UbxIonoUtcResult, UbxMeasurement, UbxNavOptions, UbxNavResult, UbxParseResult, UbxRawxEpoch, parseUbxIonoUtc, parseUbxNav, parseUbxRawx, ubxFrames } from './ubx.js';
+export { SbfAlmanac, SbfAlmanacResult, SbfGlonassAlmanac, SbfIonoUtcResult, SbfKeplerAlmanac, SbfMeasEpoch, SbfMeasurement, SbfNavResult, SbfParseResult, parseSbfAlmanac, parseSbfIonoUtc, 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 +34,27 @@ import {
   phiBPSK
 } from "./chunk-2K3FCJBX.js";
 import {
-  parseUbxRawx
-} from "./chunk-5IXK25MX.js";
+  parseUbxIonoUtc,
+  parseUbxNav,
+  parseUbxRawx,
+  ubxFrames
+} from "./chunk-IG5CDNDS.js";
 import {
+  crc16,
   parseSbfAlmanac,
+  parseSbfIonoUtc,
   parseSbfMeas,
-  parseSbfNav
-} from "./chunk-BEQSEJMU.js";
+  parseSbfNav,
+  scanSbfFrames
+} from "./chunk-ZNCQNHNI.js";
 import {
   OEM4_HLEN,
   crc32,
   oem4Frames,
   parseNovatelNav,
   parseNovatelRange
-} from "./chunk-I4UV45NT.js";
+} from "./chunk-7QR2KPDU.js";
+import "./chunk-REYOYF7O.js";
 import {
   connectToMountpoint,
   fetchSourcetable,
@@ -482,11 +489,14 @@ export {
   parseNovatelRange,
   parseRinexStream,
   parseSbfAlmanac,
+  parseSbfIonoUtc,
   parseSbfMeas,
   parseSbfNav,
   parseSinexBiasDcb,
   parseSourcetable,
   parseSp3,
+  parseUbxIonoUtc,
+  parseUbxNav,
   parseUbxRawx,
   phiAltBOC,
   phiBOCc,
@@ -500,6 +510,8 @@ export {
   rhumbLine,
   rtcm3Constellation,
   satClockCorrection,
+  crc16 as sbfCrc16,
+  scanSbfFrames,
   selectEphemeris,
   setGloFreqNumber,
   setRtcm3DebugHandler,
@@ -509,6 +521,7 @@ export {
   systemCmp,
   systemName,
   transformFrame,
+  ubxFrames,
   updateStationMeta,
   updateStreamStats,
   verifyChecksum,

package/dist/novatel.cjs

@@ -290,11 +290,26 @@ function getUtcDate(date) {
 }
 
 // src/novatel/nav.ts
+var ID_IONUTC = 8;
 var ID_RAWEPHEM = 41;
 var ID_GLOEPHEMERIS = 723;
+var ID_GALEPHEMERIS = 1122;
+var ID_QZSSEPHEMERIS = 1336;
+var ID_BDSEPHEMERIS = 1696;
 var GPS_EPOCH_MS2 = Date.UTC(1980, 0, 6);
+var BDT_EPOCH_MS = Date.UTC(2006, 0, 1);
 var SEC_PER_WEEK2 = 7 * 86400;
 var SEC_PER_DAY = 86400;
+var MS_PER_WEEK = SEC_PER_WEEK2 * 1e3;
+var gpsMs = (week, sec) => GPS_EPOCH_MS2 + week * MS_PER_WEEK + sec * 1e3;
+var sowOf = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK2;
+function nearWeekMs(refMs, sow) {
+  const refWeek = Math.floor((refMs - GPS_EPOCH_MS2) / MS_PER_WEEK);
+  let ms = gpsMs(refWeek, sow);
+  if (ms < refMs - MS_PER_WEEK / 2) ms += MS_PER_WEEK;
+  else if (ms > refMs + MS_PER_WEEK / 2) ms -= MS_PER_WEEK;
+  return ms;
+}
 function decodeRawEphem(data, view, p) {
   const prn = view.getUint32(p, true);
   if (prn < 1 || prn > 32) return null;
@@ -340,23 +355,184 @@ function decodeGloEphemeris(view, p) {
     freqNum
   };
 }
+function decodeGalEphemeris(view, p, headerMs) {
+  const prn = view.getUint32(p, true);
+  if (prn < 1 || prn > 36) return null;
+  const fnav = (view.getUint32(p + 4, true) & 1) !== 0;
+  const svhE1b = view.getUint8(p + 12) & 3;
+  const svhE5a = view.getUint8(p + 13) & 3;
+  const svhE5b = view.getUint8(p + 14) & 3;
+  const dvsE1b = view.getUint8(p + 15) & 1;
+  const dvsE5a = view.getUint8(p + 16) & 1;
+  const dvsE5b = view.getUint8(p + 17) & 1;
+  const iodNav = view.getUint32(p + 20, true);
+  const toes = view.getUint32(p + 24, true);
+  const c = fnav ? p + 148 : p + 176;
+  const tocs = view.getUint32(c, true);
+  const toeMs = nearWeekMs(headerMs, toes);
+  const tocDate = new Date(nearWeekMs(headerMs, tocs));
+  return {
+    fnav,
+    eph: {
+      system: "E",
+      prn: `E${String(prn).padStart(2, "0")}`,
+      toc: sowOf(tocDate.getTime()),
+      tocDate,
+      af0: view.getFloat64(c + 4, true),
+      af1: view.getFloat64(c + 12, true),
+      af2: view.getFloat64(c + 20, true),
+      iode: iodNav,
+      crs: view.getFloat64(p + 92, true),
+      deltaN: view.getFloat64(p + 36, true),
+      m0: view.getFloat64(p + 44, true),
+      cuc: view.getFloat64(p + 68, true),
+      e: view.getFloat64(p + 52, true),
+      cus: view.getFloat64(p + 76, true),
+      sqrtA: view.getFloat64(p + 28, true),
+      toe: toes,
+      cic: view.getFloat64(p + 100, true),
+      omega0: view.getFloat64(p + 132, true),
+      cis: view.getFloat64(p + 108, true),
+      i0: view.getFloat64(p + 116, true),
+      crc: view.getFloat64(p + 84, true),
+      omega: view.getFloat64(p + 60, true),
+      omegaDot: view.getFloat64(p + 140, true),
+      idot: view.getFloat64(p + 124, true),
+      week: Math.floor((toeMs - GPS_EPOCH_MS2) / MS_PER_WEEK),
+      // RINEX Galileo SVH bit layout (E1B DVS/HS in bits 0-2, E5a in
+      // 3-5, E5b in 6-8) — same packing as RTKLIB.
+      svHealth: svhE5b << 7 | dvsE5b << 6 | svhE5a << 4 | dvsE5a << 3 | svhE1b << 1 | dvsE1b,
+      tgd: view.getFloat64(p + 204, true)
+      // BGD E5a/E1 (RINEX slot)
+    }
+  };
+}
+function decodeBdsEphemeris(view, p) {
+  const prn = view.getUint32(p, true);
+  if (prn < 1 || prn > 63) return null;
+  const week = view.getUint32(p + 4, true);
+  const health = view.getUint32(p + 16, true) & 1;
+  const tgd1 = view.getFloat64(p + 20, true);
+  const tocs = view.getUint32(p + 40, true);
+  const toes = view.getUint32(p + 72, true);
+  const tocDate = new Date(BDT_EPOCH_MS + week * MS_PER_WEEK + tocs * 1e3);
+  return {
+    system: "C",
+    prn: `C${String(prn).padStart(2, "0")}`,
+    toc: sowOf(tocDate.getTime()),
+    tocDate,
+    af0: view.getFloat64(p + 44, true),
+    af1: view.getFloat64(p + 52, true),
+    af2: view.getFloat64(p + 60, true),
+    iode: view.getUint32(p + 68, true),
+    // AODE
+    crs: view.getFloat64(p + 172, true),
+    deltaN: view.getFloat64(p + 100, true),
+    m0: view.getFloat64(p + 108, true),
+    cuc: view.getFloat64(p + 148, true),
+    e: view.getFloat64(p + 84, true),
+    cus: view.getFloat64(p + 156, true),
+    sqrtA: view.getFloat64(p + 76, true),
+    toe: toes,
+    cic: view.getFloat64(p + 180, true),
+    omega0: view.getFloat64(p + 116, true),
+    cis: view.getFloat64(p + 188, true),
+    i0: view.getFloat64(p + 132, true),
+    crc: view.getFloat64(p + 164, true),
+    omega: view.getFloat64(p + 92, true),
+    omegaDot: view.getFloat64(p + 124, true),
+    idot: view.getFloat64(p + 140, true),
+    week,
+    // RINEX BDS week field is the BDT week
+    svHealth: health,
+    tgd: tgd1
+    // TGD1 (B1) — RINEX slot
+  };
+}
+function decodeQzssEphemeris(view, p) {
+  const prn = view.getUint32(p, true);
+  if (prn < 193 || prn > 202) return null;
+  const health = view.getUint32(p + 12, true) & 63;
+  const iode1 = view.getUint32(p + 16, true);
+  const week = view.getUint32(p + 24, true);
+  const toes = view.getFloat64(p + 32, true);
+  const toeMs = gpsMs(week, toes);
+  const tocs = view.getFloat64(p + 164, true);
+  const tocDate = new Date(nearWeekMs(toeMs, tocs));
+  return {
+    system: "J",
+    prn: `J${String(prn - 192).padStart(2, "0")}`,
+    toc: sowOf(tocDate.getTime()),
+    tocDate,
+    af0: view.getFloat64(p + 180, true),
+    af1: view.getFloat64(p + 188, true),
+    af2: view.getFloat64(p + 196, true),
+    iode: iode1,
+    crs: view.getFloat64(p + 104, true),
+    deltaN: view.getFloat64(p + 48, true),
+    m0: view.getFloat64(p + 56, true),
+    cuc: view.getFloat64(p + 80, true),
+    e: view.getFloat64(p + 64, true),
+    cus: view.getFloat64(p + 88, true),
+    sqrtA: Math.sqrt(view.getFloat64(p + 40, true)),
+    toe: toes,
+    cic: view.getFloat64(p + 112, true),
+    omega0: view.getFloat64(p + 144, true),
+    cis: view.getFloat64(p + 120, true),
+    i0: view.getFloat64(p + 128, true),
+    crc: view.getFloat64(p + 96, true),
+    omega: view.getFloat64(p + 72, true),
+    omegaDot: view.getFloat64(p + 152, true),
+    idot: view.getFloat64(p + 136, true),
+    week,
+    svHealth: health,
+    tgd: view.getFloat64(p + 172, true)
+  };
+}
 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 ionoCorrections = {};
+  let leapSeconds = null;
+  const lastKep = /* @__PURE__ */ new Map();
   const lastGlo = /* @__PURE__ */ new Map();
+  const pushKepler = (key, eph) => {
+    const prev = lastKep.get(key);
+    if (prev && prev.iode === eph.iode && prev.toe === eph.toe && prev.tocDate.getTime() === eph.tocDate.getTime()) {
+      return;
+    }
+    lastKep.set(key, eph);
+    ephemerides.push(eph);
+  };
   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;
+      if (eph) pushKepler(eph.prn, eph);
+    } else if (frame.id === ID_GALEPHEMERIS && frame.msgLen >= 220) {
+      if (frame.week === 0) continue;
+      const headerMs = gpsMs(frame.week, frame.towMs / 1e3);
+      const dec = decodeGalEphemeris(view, frame.payload, headerMs);
+      if (dec)
+        pushKepler(`${dec.eph.prn}:${dec.fnav ? "fnav" : "inav"}`, dec.eph);
+    } else if (frame.id === ID_BDSEPHEMERIS && frame.msgLen >= 196) {
+      const eph = decodeBdsEphemeris(view, frame.payload);
+      if (eph) pushKepler(eph.prn, eph);
+    } else if (frame.id === ID_QZSSEPHEMERIS && frame.msgLen >= 204) {
+      const eph = decodeQzssEphemeris(view, frame.payload);
+      if (eph) pushKepler(eph.prn, eph);
+    } else if (frame.id === ID_IONUTC && frame.msgLen >= 108) {
+      const p = frame.payload;
+      const alpha = [];
+      const beta = [];
+      for (let i = 0; i < 4; i++) {
+        alpha.push(view.getFloat64(p + i * 8, true));
+        beta.push(view.getFloat64(p + 32 + i * 8, true));
       }
-      lastGps.set(eph.prn, eph);
-      ephemerides.push(eph);
+      ionoCorrections["GPSA"] = alpha;
+      ionoCorrections["GPSB"] = beta;
+      leapSeconds = view.getInt32(p + 96, true);
     } else if (frame.id === ID_GLOEPHEMERIS && frame.msgLen >= 144) {
       const eph = decodeGloEphemeris(view, frame.payload);
       if (!eph) continue;
@@ -368,12 +544,12 @@ function parseNovatelNav(data) {
       ephemerides.push(eph);
     }
   }
-  return { ephemerides, badCrc: stats.badCrc };
+  return { ephemerides, ionoCorrections, leapSeconds, badCrc: stats.badCrc };
 }
 
 // src/novatel/index.ts
 var GPS_EPOCH_MS3 = Date.UTC(1980, 0, 6);
-var MS_PER_WEEK = 7 * 864e5;
+var MS_PER_WEEK2 = 7 * 864e5;
 var HDR = 28;
 var ID_RANGE = 43;
 var ID_RANGECMP = 140;
@@ -542,7 +718,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS3 + week * MS_PER_WEEK + towMs,
+          timeMs: GPS_EPOCH_MS3 + week * MS_PER_WEEK2 + towMs,
           meas
         });
       }
@@ -594,7 +770,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS3 + week * MS_PER_WEEK + towMs,
+          timeMs: GPS_EPOCH_MS3 + week * MS_PER_WEEK2 + towMs,
           meas
         });
       }

package/dist/novatel.d.cts

@@ -37,31 +37,54 @@ declare function oem4Frames(data: Uint8Array, view: DataView, stats: {
 
 /**
  * NovAtel navigation-message decoding: RAWEPHEM (message 41, raw GPS
- * LNAV subframes 1–3) and GLOEPHEMERIS (message 723, decoded GLONASS
- * L1 C/A ephemeris).
+ * LNAV subframes 1–3), GLOEPHEMERIS (message 723, decoded GLONASS
+ * L1 C/A ephemeris), GALEPHEMERIS (1122), BDSEPHEMERIS (1696),
+ * QZSSEPHEMERIS (1336) and IONUTC (8, GPS Klobuchar + UTC parameters).
  *
  * Ported from RTKLIB demo5 (rtklibexplorer fork, src/rcv/novatel.c:
- * decode_rawephemb / decode_gloephemerisb, Copyright (c) 2007-2020
+ * decode_rawephemb / decode_gloephemerisb / decode_galephemerisb /
+ * decode_bdsephemerisb / decode_ionutcb, Copyright (c) 2007-2020
  * T. Takasu, BSD-2-Clause) and cross-checked against the OEM7
- * Commands and Logs Reference Manual. Output records mirror what
- * `parseNavFile` produces for the equivalent RINEX 3 navigation file:
- * GPS `tocDate` is a GPS-scale Date, GLONASS `tocDate` is the UTC
- * epoch, GLONASS state vectors are in km (PZ-90), the RINEX clock bias
- * is −τ_n, and `messageFrameTime` is the frame time as seconds of the
- * UTC week.
+ * Commands and Logs Reference Manual. QZSSEPHEMERIS has no RTKLIB
+ * decoder (RTKLIB only handles the raw-subframe QZSSRAWEPHEM 1331);
+ * its layout is taken from the OEM7 manual §3.150 and is therefore
+ * synthetic-tested only, like SBF's QZSNav.
+ *
+ * Output records mirror what `parseNavFile` produces for the
+ * equivalent RINEX 3 navigation file: Keplerian `tocDate` is a
+ * GPS-scale Date except BeiDou, whose epochs and week stay on the BDT
+ * scale like a RINEX file; angles arrive from the receiver already in
+ * radians (NovAtel decodes the semicircle SIS fields itself), so no
+ * GPS_PI scaling is applied here; the Galileo clock set follows the
+ * received data source (F/NAV when the rcv_fnav flag is set, I/NAV
+ * otherwise — RTKLIB's convention, which convbin tags with the RINEX
+ * I/NAV / F/NAV data-source flags) and `tgd` is BGD E5a/E1, the first
+ * RINEX BGD slot; GLONASS `tocDate` is the UTC epoch, state vectors
+ * are in km (PZ-90), the RINEX clock bias is −τ_n, and
+ * `messageFrameTime` is the frame time as seconds of the UTC week.
  */
 
 interface NovatelNavResult {
     /** Broadcast ephemerides in stream order, duplicates suppressed. */
     ephemerides: Ephemeris[];
+    /**
+     * Klobuchar coefficients from IONUTC in the RINEX-header shape
+     * (`GPSA` = alpha0..3, `GPSB` = beta0..3), last message wins.
+     * Empty when no IONUTC message was seen.
+     */
+    ionoCorrections: Record<string, number[]>;
+    /** GPS−UTC leap seconds (Δt_LS) from IONUTC, null when unseen. */
+    leapSeconds: number | null;
     /** Frames whose CRC failed (corruption indicator). */
     badCrc: number;
 }
 /**
- * Decode every navigation message (RAWEPHEM, GLOEPHEMERIS) in a
- * NovAtel binary byte stream. Repeated broadcasts of an unchanged
- * ephemeris are suppressed the same way RTKLIB does: GPS by issue of
- * data, GLONASS by reference time and health.
+ * Decode every navigation message (RAWEPHEM, GLOEPHEMERIS,
+ * GALEPHEMERIS, BDSEPHEMERIS, QZSSEPHEMERIS, IONUTC) in a NovAtel
+ * binary byte stream. Repeated broadcasts of an unchanged ephemeris
+ * are suppressed the same way RTKLIB does: GPS/QZSS by issue of data,
+ * Galileo by IODNav + toe + toc per data source, BeiDou by toe + toc,
+ * GLONASS by reference time and health.
  */
 declare function parseNovatelNav(data: Uint8Array): NovatelNavResult;
 

package/dist/novatel.d.ts

@@ -37,31 +37,54 @@ declare function oem4Frames(data: Uint8Array, view: DataView, stats: {
 
 /**
  * NovAtel navigation-message decoding: RAWEPHEM (message 41, raw GPS
- * LNAV subframes 1–3) and GLOEPHEMERIS (message 723, decoded GLONASS
- * L1 C/A ephemeris).
+ * LNAV subframes 1–3), GLOEPHEMERIS (message 723, decoded GLONASS
+ * L1 C/A ephemeris), GALEPHEMERIS (1122), BDSEPHEMERIS (1696),
+ * QZSSEPHEMERIS (1336) and IONUTC (8, GPS Klobuchar + UTC parameters).
  *
  * Ported from RTKLIB demo5 (rtklibexplorer fork, src/rcv/novatel.c:
- * decode_rawephemb / decode_gloephemerisb, Copyright (c) 2007-2020
+ * decode_rawephemb / decode_gloephemerisb / decode_galephemerisb /
+ * decode_bdsephemerisb / decode_ionutcb, Copyright (c) 2007-2020
  * T. Takasu, BSD-2-Clause) and cross-checked against the OEM7
- * Commands and Logs Reference Manual. Output records mirror what
- * `parseNavFile` produces for the equivalent RINEX 3 navigation file:
- * GPS `tocDate` is a GPS-scale Date, GLONASS `tocDate` is the UTC
- * epoch, GLONASS state vectors are in km (PZ-90), the RINEX clock bias
- * is −τ_n, and `messageFrameTime` is the frame time as seconds of the
- * UTC week.
+ * Commands and Logs Reference Manual. QZSSEPHEMERIS has no RTKLIB
+ * decoder (RTKLIB only handles the raw-subframe QZSSRAWEPHEM 1331);
+ * its layout is taken from the OEM7 manual §3.150 and is therefore
+ * synthetic-tested only, like SBF's QZSNav.
+ *
+ * Output records mirror what `parseNavFile` produces for the
+ * equivalent RINEX 3 navigation file: Keplerian `tocDate` is a
+ * GPS-scale Date except BeiDou, whose epochs and week stay on the BDT
+ * scale like a RINEX file; angles arrive from the receiver already in
+ * radians (NovAtel decodes the semicircle SIS fields itself), so no
+ * GPS_PI scaling is applied here; the Galileo clock set follows the
+ * received data source (F/NAV when the rcv_fnav flag is set, I/NAV
+ * otherwise — RTKLIB's convention, which convbin tags with the RINEX
+ * I/NAV / F/NAV data-source flags) and `tgd` is BGD E5a/E1, the first
+ * RINEX BGD slot; GLONASS `tocDate` is the UTC epoch, state vectors
+ * are in km (PZ-90), the RINEX clock bias is −τ_n, and
+ * `messageFrameTime` is the frame time as seconds of the UTC week.
  */
 
 interface NovatelNavResult {
     /** Broadcast ephemerides in stream order, duplicates suppressed. */
     ephemerides: Ephemeris[];
+    /**
+     * Klobuchar coefficients from IONUTC in the RINEX-header shape
+     * (`GPSA` = alpha0..3, `GPSB` = beta0..3), last message wins.
+     * Empty when no IONUTC message was seen.
+     */
+    ionoCorrections: Record<string, number[]>;
+    /** GPS−UTC leap seconds (Δt_LS) from IONUTC, null when unseen. */
+    leapSeconds: number | null;
     /** Frames whose CRC failed (corruption indicator). */
     badCrc: number;
 }
 /**
- * Decode every navigation message (RAWEPHEM, GLOEPHEMERIS) in a
- * NovAtel binary byte stream. Repeated broadcasts of an unchanged
- * ephemeris are suppressed the same way RTKLIB does: GPS by issue of
- * data, GLONASS by reference time and health.
+ * Decode every navigation message (RAWEPHEM, GLOEPHEMERIS,
+ * GALEPHEMERIS, BDSEPHEMERIS, QZSSEPHEMERIS, IONUTC) in a NovAtel
+ * binary byte stream. Repeated broadcasts of an unchanged ephemeris
+ * are suppressed the same way RTKLIB does: GPS/QZSS by issue of data,
+ * Galileo by IODNav + toe + toc per data source, BeiDou by toe + toc,
+ * GLONASS by reference time and health.
  */
 declare function parseNovatelNav(data: Uint8Array): NovatelNavResult;
 

package/dist/novatel.js

@@ -4,7 +4,8 @@ import {
   oem4Frames,
   parseNovatelNav,
   parseNovatelRange
-} from "./chunk-I4UV45NT.js";
+} from "./chunk-7QR2KPDU.js";
+import "./chunk-REYOYF7O.js";
 import "./chunk-HVXYFUCB.js";
 import "./chunk-LEEU5OIO.js";
 export {

package/dist/sbf.cjs

@@ -21,8 +21,11 @@ var __toCommonJS = (mod) => __copyProps(__defProp({}, "__esModule", { value: tru
 var sbf_exports = {};
 __export(sbf_exports, {
   parseSbfAlmanac: () => parseSbfAlmanac,
+  parseSbfIonoUtc: () => parseSbfIonoUtc,
   parseSbfMeas: () => parseSbfMeas,
-  parseSbfNav: () => parseSbfNav
+  parseSbfNav: () => parseSbfNav,
+  sbfCrc16: () => crc16,
+  scanSbfFrames: () => scanSbfFrames
 });
 module.exports = __toCommonJS(sbf_exports);
 
@@ -482,6 +485,39 @@ function parseSbfAlmanac(data) {
   return { almanacs, badCrc };
 }
 
+// src/sbf/iono.ts
+var F4_DNU2 = -2e10;
+function parseSbfIonoUtc(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const ionoCorrections = {};
+  let leapSeconds = null;
+  const f4s = (b, n) => {
+    const out = [];
+    for (let k = 0; k < n; k++) {
+      const v = view.getFloat32(b + 4 * k, true);
+      if (v === F4_DNU2) return null;
+      out.push(v);
+    }
+    return out;
+  };
+  scanSbfFrames(data, view, (id, b, len) => {
+    if ((id === 5893 || id === 4120) && len >= 48) {
+      const alpha = f4s(b + 16, 4);
+      const beta = f4s(b + 32, 4);
+      if (!alpha || !beta) return;
+      const sys = id === 5893 ? "GPS" : "BDS";
+      ionoCorrections[`${sys}A`] = alpha;
+      ionoCorrections[`${sys}B`] = beta;
+    } else if (id === 4030 && len >= 28) {
+      const ai = f4s(b + 16, 3);
+      if (ai) ionoCorrections["GAL"] = ai;
+    } else if (id === 5894 && len >= 37) {
+      leapSeconds = view.getInt8(b + 33);
+    }
+  });
+  return { ionoCorrections, leapSeconds };
+}
+
 // src/sbf/index.ts
 var CLIGHT = 299792458;
 var GPS_EPOCH_MS2 = Date.UTC(1980, 0, 6);
@@ -1152,6 +1188,9 @@ function parseSbfMeas(data) {
 // Annotate the CommonJS export names for ESM import in node:
 0 && (module.exports = {
   parseSbfAlmanac,
+  parseSbfIonoUtc,
   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.
  *
@@ -134,6 +151,46 @@ interface SbfAlmanacResult {
  */
 declare function parseSbfAlmanac(data: Uint8Array): SbfAlmanacResult;
 
+/**
+ * Septentrio SBF decoded ionosphere / UTC blocks.
+ *
+ * GPSIon (5893) and BDSIon (4120) carry the eight Klobuchar vertical
+ * delay coefficients, GALIon (4030) the three NeQuick-G effective
+ * ionisation level coefficients, and GPSUtc (5894) the GPS-UTC
+ * parameters from LNAV subframe 4 page 18 (only ΔtLS, the current
+ * leap-second count, is extracted here).
+ *
+ * Units: SBF stores the coefficients as f4 floats already in the
+ * semicircle-based SI units of the broadcast messages — alpha_n in
+ * s/semicircle^n, beta_n in s/semicircle^n, ai_n in sfu/deg^n — which
+ * are exactly the units a RINEX nav header prints. Values are passed
+ * through unscaled, so the output matches what `parseNavFile` reads
+ * from a converted nav header to float32 precision.
+ *
+ * Ported from RTKLIB demo5 (rtklibexplorer), src/rcv/septentrio.c
+ * (decode_gpsion / decode_galion / decode_cmpion / decode_gpsutc),
+ * BSD-2-Clause, and cross-checked against the Septentrio mosaic-X5
+ * reference guide (which documents all four block layouts, including
+ * the do-not-use markers RTKLIB does not check).
+ */
+interface SbfIonoUtcResult {
+    /**
+     * Iono coefficient sets keyed like `NavHeader.ionoCorrections`:
+     * `GPSA`/`GPSB` (Klobuchar alpha/beta), `GAL` ([ai0, ai1, ai2],
+     * RINEX GAL header convention), `BDSA`/`BDSB`. The blocks repeat;
+     * the last valid block of each type in the stream wins.
+     */
+    ionoCorrections: Record<string, number[]>;
+    /** GPS-UTC ΔtLS from the last GPSUtc block, if any. */
+    leapSeconds: number | null;
+}
+/**
+ * Decode every GPSIon/GALIon/BDSIon/GPSUtc block in an SBF byte
+ * stream. Blocks with do-not-use coefficients are skipped; other block
+ * types are skipped silently.
+ */
+declare function parseSbfIonoUtc(data: Uint8Array): SbfIonoUtcResult;
+
 /**
  * Septentrio SBF raw-measurement decoding (MeasEpoch + Meas3) — the
  * path from a receiver log to RINEX-grade observables.
@@ -197,4 +254,4 @@ 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 SbfIonoUtcResult, type SbfKeplerAlmanac, type SbfMeasEpoch, type SbfMeasurement, type SbfNavResult, type SbfParseResult, parseSbfAlmanac, parseSbfIonoUtc, parseSbfMeas, parseSbfNav, crc16 as sbfCrc16, scanSbfFrames };