gnss-js 1.16.0 → 1.18.0

package/dist/{chunk-R33A2VA7.js → chunk-2IM5VXNI.js}

@@ -1,6 +1,6 @@
 import {
   decodeGpsLnavFrame
-} from "./chunk-4LVD4DYL.js";
+} from "./chunk-IQ5OIMQD.js";
 import {
   getUtcDate
 } from "./chunk-HVXYFUCB.js";
@@ -50,11 +50,27 @@ function* oem4Frames(data, view, stats) {
 }
 
 // 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_GPSEPHEM = 7;
+var ID_BDSEPHEMERIS = 1696;
 var GPS_EPOCH_MS = Date.UTC(1980, 0, 6);
+var BDT_EPOCH_MS = Date.UTC(2006, 0, 1);
 var SEC_PER_WEEK = 7 * 86400;
 var SEC_PER_DAY = 86400;
+var MS_PER_WEEK = SEC_PER_WEEK * 1e3;
+var gpsMs = (week, sec) => GPS_EPOCH_MS + week * MS_PER_WEEK + sec * 1e3;
+var sowOf = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK;
+function nearWeekMs(refMs, sow) {
+  const refWeek = Math.floor((refMs - GPS_EPOCH_MS) / 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;
@@ -100,23 +116,188 @@ 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${String(prn).padStart(2, "0")}`,
+      toc: sowOf(tocDate.getTime()),
+      tocDate,
+      af0: view.getFloat64(c + 4, true),
+      af1: view.getFloat64(c + 12, true),
+      af2: view.getFloat64(c + 20, true),
+      iode: iodNav,
+      crs: view.getFloat64(p + 92, true),
+      deltaN: view.getFloat64(p + 36, true),
+      m0: view.getFloat64(p + 44, true),
+      cuc: view.getFloat64(p + 68, true),
+      e: view.getFloat64(p + 52, true),
+      cus: view.getFloat64(p + 76, true),
+      sqrtA: view.getFloat64(p + 28, true),
+      toe: toes,
+      cic: view.getFloat64(p + 100, true),
+      omega0: view.getFloat64(p + 132, true),
+      cis: view.getFloat64(p + 108, true),
+      i0: view.getFloat64(p + 116, true),
+      crc: view.getFloat64(p + 84, true),
+      omega: view.getFloat64(p + 60, true),
+      omegaDot: view.getFloat64(p + 140, true),
+      idot: view.getFloat64(p + 124, true),
+      week: Math.floor((toeMs - GPS_EPOCH_MS) / MS_PER_WEEK),
+      // RINEX Galileo SVH bit layout (E1B DVS/HS in bits 0-2, E5a in
+      // 3-5, E5b in 6-8) — same packing as RTKLIB.
+      svHealth: svhE5b << 7 | dvsE5b << 6 | svhE5a << 4 | dvsE5a << 3 | svhE1b << 1 | dvsE1b,
+      tgd: view.getFloat64(p + 204, true)
+      // BGD E5a/E1 (RINEX slot)
+    }
+  };
+}
+function decodeBdsEphemeris(view, p) {
+  const prn = view.getUint32(p, true);
+  if (prn < 1 || prn > 63) return null;
+  const week = view.getUint32(p + 4, true);
+  const health = view.getUint32(p + 16, true) & 1;
+  const tgd1 = view.getFloat64(p + 20, true);
+  const tocs = view.getUint32(p + 40, true);
+  const toes = view.getUint32(p + 72, true);
+  const tocDate = new Date(BDT_EPOCH_MS + week * MS_PER_WEEK + tocs * 1e3);
+  return {
+    system: "C",
+    prn: `C${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 decodeGpsQzssEphemeris(view, p, sys) {
+  const prn = view.getUint32(p, true);
+  if (sys === "G" && (prn < 1 || prn > 32)) return null;
+  if (sys === "J" && (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: sys,
+    prn: `${sys}${String(sys === "J" ? prn - 192 : prn).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_GPSEPHEM && frame.msgLen >= 204) {
+      const eph = decodeGpsQzssEphemeris(view, frame.payload, "G");
+      if (eph) pushKepler(eph.prn, eph);
+    } else if (frame.id === ID_QZSSEPHEMERIS && frame.msgLen >= 204) {
+      const eph = decodeGpsQzssEphemeris(view, frame.payload, "J");
+      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;
@@ -128,12 +309,12 @@ 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_MS2 = 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;
@@ -302,7 +483,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS2 + week * MS_PER_WEEK + towMs,
+          timeMs: GPS_EPOCH_MS2 + week * MS_PER_WEEK2 + towMs,
           meas
         });
       }
@@ -354,7 +535,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS2 + week * MS_PER_WEEK + towMs,
+          timeMs: GPS_EPOCH_MS2 + week * MS_PER_WEEK2 + towMs,
           meas
         });
       }

package/dist/{chunk-YPOVPXNK.js → chunk-CG7SF45F.js}

@@ -1,3 +1,7 @@
+import {
+  CnavAssembler,
+  cnavCrcOk
+} from "./chunk-Y5IWUPJQ.js";
 import {
   getGpsLeap
 } from "./chunk-HVXYFUCB.js";
@@ -371,6 +375,75 @@ 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/rawnav.ts
+var SIGNAL_OF_BLOCK = {
+  4018: "L2C",
+  4019: "L5"
+};
+function parseSbfCnav(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const ephemerides = [];
+  const assemblers = {
+    L2C: new CnavAssembler(),
+    L5: new CnavAssembler()
+  };
+  let badCrc = 0;
+  let messages = 0;
+  scanSbfFrames(data, view, (id, b, len) => {
+    const signal = SIGNAL_OF_BLOCK[id];
+    if (!signal || len < 60) return;
+    messages++;
+    const msg = new Uint8Array(40);
+    for (let k = 0; k < 10; k++) {
+      const w = view.getUint32(b + 20 + 4 * k, true);
+      msg[4 * k] = w >>> 24;
+      msg[4 * k + 1] = w >>> 16 & 255;
+      msg[4 * k + 2] = w >>> 8 & 255;
+      msg[4 * k + 3] = w & 255;
+    }
+    if (!cnavCrcOk(msg)) {
+      badCrc++;
+      return;
+    }
+    const eph = assemblers[signal].push(msg);
+    if (eph) ephemerides.push({ ...eph, signal });
+  });
+  return { ephemerides, badCrc, messages };
+}
+
 // src/sbf/index.ts
 var CLIGHT = 299792458;
 var GPS_EPOCH_MS2 = Date.UTC(1980, 0, 6);
@@ -1044,5 +1117,7 @@ export {
   scanSbfFrames,
   parseSbfNav,
   parseSbfAlmanac,
+  parseSbfIonoUtc,
+  parseSbfCnav,
   parseSbfMeas
 };

package/dist/{chunk-6CX6EXRK.js → chunk-FEGLXNWA.js}

@@ -1,8 +1,13 @@
+import {
+  CnavAssembler,
+  cnavCrcOk
+} from "./chunk-Y5IWUPJQ.js";
 import {
   decodeGpsLnavFrame,
+  getBitS,
   getBitU,
   setBitU
-} from "./chunk-4LVD4DYL.js";
+} from "./chunk-IQ5OIMQD.js";
 
 // src/ubx/frame.ts
 function* ubxFrames(data, stats = { badChecksums: 0 }) {
@@ -38,6 +43,30 @@ function* ubxFrames(data, stats = { badChecksums: 0 }) {
 
 // src/ubx/nav.ts
 var PREAMB_CNAV = 139;
+function readLnavSubframe(view, f) {
+  const p = f.payload;
+  if (p.length < 8) return null;
+  const gnssId = p[0];
+  const svId = p[1];
+  let prn;
+  if (gnssId === 0 && svId >= 1 && svId <= 32) {
+    prn = `G${String(svId).padStart(2, "0")}`;
+  } else if (gnssId === 5 && svId >= 1 && svId <= 10) {
+    if (p.length === 44) return null;
+    prn = `J${String(svId).padStart(2, "0")}`;
+  } else {
+    return null;
+  }
+  if (p.length < 8 + 40) return null;
+  const base = f.payloadStart + 8;
+  if (view.getUint32(base, true) >>> 24 === PREAMB_CNAV) return null;
+  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);
+  }
+  return { prn, gnssId, svId, buff, id: getBitU(buff, 43, 3) };
+}
 function parseUbxNav(data, opts = {}) {
   const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
   const ephemerides = [];
@@ -59,28 +88,9 @@ function parseUbxNav(data, opts = {}) {
   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);
+    const lnav = readLnavSubframe(view, f);
+    if (!lnav) continue;
+    const { prn, gnssId, svId, buff, id } = lnav;
     if (id < 1 || id > 5) {
       badParity++;
       continue;
@@ -110,6 +120,68 @@ function parseUbxNav(data, opts = {}) {
   return { ephemerides, badParity };
 }
 
+// src/ubx/iono.ts
+function parseUbxIonoUtc(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const ionoCorrections = {};
+  let leapSeconds = null;
+  for (const f of ubxFrames(data)) {
+    if (f.msgClass !== 2 || f.msgId !== 19) continue;
+    const sf = readLnavSubframe(view, f);
+    if (!sf || sf.gnssId !== 0 || sf.id !== 4) continue;
+    const b = sf.buff;
+    if (getBitU(b, 48, 2) !== 1 || getBitU(b, 50, 6) !== 56) continue;
+    ionoCorrections["GPSA"] = [
+      getBitS(b, 56, 8) * 2 ** -30,
+      getBitS(b, 64, 8) * 2 ** -27,
+      getBitS(b, 72, 8) * 2 ** -24,
+      getBitS(b, 80, 8) * 2 ** -24
+    ];
+    ionoCorrections["GPSB"] = [
+      getBitS(b, 88, 8) * 2 ** 11,
+      getBitS(b, 96, 8) * 2 ** 14,
+      getBitS(b, 104, 8) * 2 ** 16,
+      getBitS(b, 112, 8) * 2 ** 16
+    ];
+    leapSeconds = getBitS(b, 192, 8);
+  }
+  return { ionoCorrections, leapSeconds };
+}
+
+// src/ubx/cnav.ts
+function parseUbxCnav(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const assembler = new CnavAssembler();
+  const ephemerides = [];
+  let badCrc = 0;
+  let messages = 0;
+  for (const f of ubxFrames(data)) {
+    if (f.msgClass !== 2 || f.msgId !== 19) continue;
+    const p = f.payload;
+    if (p.length < 8 + 40) continue;
+    if (p[0] !== 0 || p[2] !== 3 && p[2] !== 4) continue;
+    const svId = p[1];
+    if (svId < 1 || svId > 32) continue;
+    messages++;
+    const msg = new Uint8Array(40);
+    const base = f.payloadStart + 8;
+    for (let k = 0; k < 10; k++) {
+      const w = view.getUint32(base + 4 * k, true);
+      msg[4 * k] = w >>> 24;
+      msg[4 * k + 1] = w >>> 16 & 255;
+      msg[4 * k + 2] = w >>> 8 & 255;
+      msg[4 * k + 3] = w & 255;
+    }
+    if (!cnavCrcOk(msg)) {
+      badCrc++;
+      continue;
+    }
+    const eph = assembler.push(msg);
+    if (eph) ephemerides.push(eph);
+  }
+  return { ephemerides, badCrc, messages };
+}
+
 // src/ubx/index.ts
 var GPS_EPOCH_MS = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK = 7 * 864e5;
@@ -206,5 +278,7 @@ function parseUbxRawx(data) {
 export {
   ubxFrames,
   parseUbxNav,
+  parseUbxIonoUtc,
+  parseUbxCnav,
   parseUbxRawx
 };

package/dist/{chunk-4LVD4DYL.js → chunk-IQ5OIMQD.js}

@@ -140,7 +140,9 @@ function decodeGpsLnavFrame(subframes, opts = {}) {
 }
 
 export {
+  GPS_PI,
   getBitU,
+  getBitS,
   setBitU,
   decodeGpsLnavFrame
 };