gnss-js 1.16.0 → 1.18.0

package/dist/chunk-Y5IWUPJQ.js

@@ -0,0 +1,206 @@
+import {
+  GPS_PI,
+  getBitS,
+  getBitU
+} from "./chunk-IQ5OIMQD.js";
+
+// src/navbits/cnav.ts
+var GPS_EPOCH_MS = Date.UTC(1980, 0, 6);
+var SEC_PER_WEEK = 7 * 86400;
+var HALF_WEEK = 302400;
+var CNAV_PREAMBLE = 139;
+var CNAV_A_REF = 26559710;
+var CNAV_OMEGA_DOT_REF = -26e-10;
+function crc24q(buff, bitLen) {
+  let crc = 0;
+  for (let i = 0; i < bitLen; i++) {
+    crc ^= (buff[i >> 3] >> 7 - (i & 7) & 1) << 23;
+    const msb = crc & 8388608;
+    crc = crc << 1 & 16777215;
+    if (msb) crc ^= 8801531;
+  }
+  return crc;
+}
+function cnavCrcOk(msg) {
+  if (msg.length < 38) return false;
+  return crc24q(msg, 276) === getBitU(msg, 276, 24);
+}
+function getBitU33(b, pos) {
+  return getBitU(b, pos, 1) * 2 ** 32 + getBitU(b, pos + 1, 32);
+}
+function getBitS33(b, pos) {
+  const u = getBitU33(b, pos);
+  return u < 2 ** 32 ? u : u - 2 ** 33;
+}
+function decodeType10(b, tow) {
+  return {
+    tow,
+    week: getBitU(b, 38, 13),
+    health: getBitU(b, 51, 3),
+    top: getBitU(b, 54, 11) * 300,
+    uraEd: getBitS(b, 65, 5),
+    toe: getBitU(b, 70, 11) * 300,
+    deltaA: getBitS(b, 81, 26) * 2 ** -9,
+    aDot: getBitS(b, 107, 25) * 2 ** -21,
+    deltaN0: getBitS(b, 132, 17) * 2 ** -44 * GPS_PI,
+    deltaN0Dot: getBitS(b, 149, 23) * 2 ** -57 * GPS_PI,
+    m0: getBitS33(b, 172) * 2 ** -32 * GPS_PI,
+    e: getBitU33(b, 205) * 2 ** -34,
+    omega: getBitS33(b, 238) * 2 ** -32 * GPS_PI,
+    integrityFlag: getBitU(b, 271, 1) === 1,
+    l2cPhasing: getBitU(b, 272, 1) === 1
+  };
+}
+function decodeType11(b) {
+  return {
+    toe: getBitU(b, 38, 11) * 300,
+    omega0: getBitS33(b, 49) * 2 ** -32 * GPS_PI,
+    i0: getBitS33(b, 82) * 2 ** -32 * GPS_PI,
+    deltaOmegaDot: getBitS(b, 115, 17) * 2 ** -44 * GPS_PI,
+    i0Dot: getBitS(b, 132, 15) * 2 ** -44 * GPS_PI,
+    cis: getBitS(b, 147, 16) * 2 ** -30,
+    cic: getBitS(b, 163, 16) * 2 ** -30,
+    crs: getBitS(b, 179, 24) * 2 ** -8,
+    crc: getBitS(b, 203, 24) * 2 ** -8,
+    cus: getBitS(b, 227, 21) * 2 ** -30,
+    cuc: getBitS(b, 248, 21) * 2 ** -30
+  };
+}
+var isc = (b, pos) => {
+  const raw = getBitS(b, pos, 13);
+  return raw === -4096 ? null : raw * 2 ** -35;
+};
+function decodeClock(b, msgType) {
+  const clock = {
+    msgType,
+    top: getBitU(b, 38, 11) * 300,
+    uraNed0: getBitS(b, 49, 5),
+    uraNed1: getBitU(b, 54, 3),
+    uraNed2: getBitU(b, 57, 3),
+    toc: getBitU(b, 60, 11) * 300,
+    af0: getBitS(b, 71, 26) * 2 ** -35,
+    af1: getBitS(b, 97, 20) * 2 ** -48,
+    af2: getBitS(b, 117, 10) * 2 ** -60
+  };
+  if (msgType === 30) {
+    clock.tgd = isc(b, 127);
+    clock.iscL1ca = isc(b, 140);
+    clock.iscL2c = isc(b, 153);
+    clock.iscL5i5 = isc(b, 166);
+    clock.iscL5q5 = isc(b, 179);
+    clock.ionoAlpha = [
+      getBitS(b, 192, 8) * 2 ** -30,
+      getBitS(b, 200, 8) * 2 ** -27,
+      getBitS(b, 208, 8) * 2 ** -24,
+      getBitS(b, 216, 8) * 2 ** -24
+    ];
+    clock.ionoBeta = [
+      getBitS(b, 224, 8) * 2 ** 11,
+      getBitS(b, 232, 8) * 2 ** 14,
+      getBitS(b, 240, 8) * 2 ** 16,
+      getBitS(b, 248, 8) * 2 ** 16
+    ];
+    clock.wnOp = getBitU(b, 256, 8);
+  }
+  return clock;
+}
+function resolveWeek(week, towSec, sec) {
+  if (sec < towSec - HALF_WEEK) return week + 1;
+  if (sec > towSec + HALF_WEEK) return week - 1;
+  return week;
+}
+function gpsDate(week, sec) {
+  return new Date(GPS_EPOCH_MS + (week * SEC_PER_WEEK + sec) * 1e3);
+}
+var CnavAssembler = class {
+  sats = /* @__PURE__ */ new Map();
+  /**
+   * Push one 300-bit CNAV message (38+ bytes, bit 0 = first bit of
+   * the preamble). Returns the newly completed ephemeris, or null.
+   * Messages that are not MT10/MT11/MT30-37, or whose preamble/PRN
+   * are out of range, are ignored.
+   */
+  push(msg) {
+    if (msg.length < 38 || getBitU(msg, 0, 8) !== CNAV_PREAMBLE) return null;
+    const prn = getBitU(msg, 8, 6);
+    if (prn < 1 || prn > 32) return null;
+    const type = getBitU(msg, 14, 6);
+    const tow = getBitU(msg, 20, 17) * 6;
+    let sat = this.sats.get(prn);
+    if (!sat) {
+      sat = {};
+      this.sats.set(prn, sat);
+    }
+    if (type === 10) sat.t10 = decodeType10(msg, tow);
+    else if (type === 11) sat.t11 = decodeType11(msg);
+    else if (type >= 30 && type <= 37) {
+      sat.clock = decodeClock(msg, type);
+      if (type === 30) sat.extras = sat.clock;
+    } else return null;
+    return this.tryEmit(prn, sat);
+  }
+  tryEmit(prn, sat) {
+    const { t10, t11, clock, extras } = sat;
+    if (!t10 || !t11 || !clock) return null;
+    if (t10.toe !== t11.toe || clock.toc !== t10.toe) return null;
+    const key = `${t10.week}:${t10.toe}:${clock.af0}:${clock.af1}`;
+    if (key === sat.lastKey) return null;
+    sat.lastKey = key;
+    const weekToe = resolveWeek(t10.week, t10.tow, t10.toe);
+    const a = CNAV_A_REF + t10.deltaA;
+    return {
+      system: "G",
+      prn: `G${String(prn).padStart(2, "0")}`,
+      week: t10.week,
+      health: t10.health,
+      uraEd: t10.uraEd,
+      uraNed0: clock.uraNed0,
+      uraNed1: clock.uraNed1,
+      uraNed2: clock.uraNed2,
+      top: t10.top,
+      toe: t10.toe,
+      toeDate: gpsDate(weekToe, t10.toe),
+      a,
+      deltaA: t10.deltaA,
+      aDot: t10.aDot,
+      deltaN0: t10.deltaN0,
+      deltaN0Dot: t10.deltaN0Dot,
+      m0: t10.m0,
+      e: t10.e,
+      omega: t10.omega,
+      omega0: t11.omega0,
+      i0: t11.i0,
+      omegaDot: CNAV_OMEGA_DOT_REF * GPS_PI + t11.deltaOmegaDot,
+      deltaOmegaDot: t11.deltaOmegaDot,
+      i0Dot: t11.i0Dot,
+      cis: t11.cis,
+      cic: t11.cic,
+      crs: t11.crs,
+      crc: t11.crc,
+      cus: t11.cus,
+      cuc: t11.cuc,
+      toc: clock.toc,
+      tocDate: gpsDate(weekToe, clock.toc),
+      af0: clock.af0,
+      af1: clock.af1,
+      af2: clock.af2,
+      clockMsgType: clock.msgType,
+      tgd: extras?.tgd ?? null,
+      iscL1ca: extras?.iscL1ca ?? null,
+      iscL2c: extras?.iscL2c ?? null,
+      iscL5i5: extras?.iscL5i5 ?? null,
+      iscL5q5: extras?.iscL5q5 ?? null,
+      ...extras?.ionoAlpha && { ionoAlpha: extras.ionoAlpha },
+      ...extras?.ionoBeta && { ionoBeta: extras.ionoBeta },
+      ...extras?.wnOp !== void 0 && { wnOp: extras.wnOp },
+      integrityFlag: t10.integrityFlag,
+      l2cPhasing: t10.l2cPhasing,
+      tow: t10.tow
+    };
+  }
+};
+
+export {
+  cnavCrcOk,
+  CnavAssembler
+};

package/dist/cnav-CRns0ECn.d.cts

@@ -0,0 +1,96 @@
+/**
+ * A complete GPS CNAV ephemeris + clock data set assembled from one
+ * MT10, one MT11 and one MT3x message (IS-GPS-200 §30.3.3.1: the three
+ * message types together carry the CEI data set; toe/toc equality
+ * marks messages of the same set).
+ *
+ * Units are SI/radians: semicircle fields are scaled by GPS_PI, the
+ * MT10 ΔA reference (26 559 710 m) and the MT11 Ω̇ reference
+ * (−2.6×10⁻⁹ semicircles/s) are folded into `a` and `omegaDot`, with
+ * the raw deltas also kept. Epoch Dates are GPS-scale (repo
+ * convention: GPS seconds mapped onto the JS epoch without leap
+ * seconds), and `toe`/`toc` are seconds of `week`/`weekToc`.
+ */
+interface CnavEphemeris {
+    system: 'G';
+    /** RINEX PRN, e.g. "G07". */
+    prn: string;
+    /** Full GPS week from the MT10 WN field (13 bits, no rollover). */
+    week: number;
+    /** L1/L2/L5 signal-health bits from MT10 (bit 2 = L1, 0 = L5). */
+    health: number;
+    /** Elevation-dependent (ED) URA index, signed (MT10). */
+    uraEd: number;
+    /** Non-elevation-dependent URA indices: bias/drift/drift-rate (MT3x). */
+    uraNed0: number;
+    uraNed1: number;
+    uraNed2: number;
+    /** Data-predict time of week in s (MT10). */
+    top: number;
+    /** Time of ephemeris in seconds of the GPS week of `toeDate`. */
+    toe: number;
+    /** Time of ephemeris as a GPS-scale Date. */
+    toeDate: Date;
+    /** Semi-major axis at toe in m (reference + ΔA). */
+    a: number;
+    /** MT10 ΔA: semi-major axis difference from 26 559 710 m, in m. */
+    deltaA: number;
+    /** Rate of semi-major axis in m/s. */
+    aDot: number;
+    /** Mean motion difference from computed value in rad/s. */
+    deltaN0: number;
+    /** Rate of the mean motion difference in rad/s². */
+    deltaN0Dot: number;
+    /** Mean anomaly at reference time in rad. */
+    m0: number;
+    /** Eccentricity (dimensionless). */
+    e: number;
+    /** Argument of perigee in rad. */
+    omega: number;
+    /** Longitude of ascending node at the weekly epoch in rad. */
+    omega0: number;
+    /** Inclination at reference time in rad. */
+    i0: number;
+    /** Rate of right ascension in rad/s (reference Ω̇ + ΔΩ̇). */
+    omegaDot: number;
+    /** MT11 ΔΩ̇: delta from −2.6×10⁻⁹ semicircles/s, in rad/s. */
+    deltaOmegaDot: number;
+    /** Rate of inclination in rad/s. */
+    i0Dot: number;
+    /** Harmonic correction terms (rad / m). */
+    cis: number;
+    cic: number;
+    crs: number;
+    crc: number;
+    cus: number;
+    cuc: number;
+    /** Clock epoch in seconds of the GPS week of `tocDate`. */
+    toc: number;
+    /** Clock epoch as a GPS-scale Date. */
+    tocDate: Date;
+    /** SV clock bias (s), drift (s/s), drift rate (s/s²). */
+    af0: number;
+    af1: number;
+    af2: number;
+    /** Message type (30-37) that supplied the clock block. */
+    clockMsgType: number;
+    /** L1 C/A group delay in s (MT30), null when unavailable/not seen. */
+    tgd: number | null;
+    /** Inter-signal corrections in s (MT30), null when unavailable. */
+    iscL1ca: number | null;
+    iscL2c: number | null;
+    iscL5i5: number | null;
+    iscL5q5: number | null;
+    /** Klobuchar iono coefficients from MT30, when one was seen. */
+    ionoAlpha?: number[];
+    ionoBeta?: number[];
+    /** Data-predict week from MT30 (WN_OP, 8 bits, unresolved). */
+    wnOp?: number;
+    /** Integrity-status and L2C-phasing flags from MT10. */
+    integrityFlag: boolean;
+    l2cPhasing: boolean;
+    /** Transmit time of the MT10 message (s of week, start of next msg). */
+    tow: number;
+}
+
+export type { CnavEphemeris as C };

package/dist/cnav-CRns0ECn.d.ts

@@ -0,0 +1,96 @@
+/**
+ * A complete GPS CNAV ephemeris + clock data set assembled from one
+ * MT10, one MT11 and one MT3x message (IS-GPS-200 §30.3.3.1: the three
+ * message types together carry the CEI data set; toe/toc equality
+ * marks messages of the same set).
+ *
+ * Units are SI/radians: semicircle fields are scaled by GPS_PI, the
+ * MT10 ΔA reference (26 559 710 m) and the MT11 Ω̇ reference
+ * (−2.6×10⁻⁹ semicircles/s) are folded into `a` and `omegaDot`, with
+ * the raw deltas also kept. Epoch Dates are GPS-scale (repo
+ * convention: GPS seconds mapped onto the JS epoch without leap
+ * seconds), and `toe`/`toc` are seconds of `week`/`weekToc`.
+ */
+interface CnavEphemeris {
+    system: 'G';
+    /** RINEX PRN, e.g. "G07". */
+    prn: string;
+    /** Full GPS week from the MT10 WN field (13 bits, no rollover). */
+    week: number;
+    /** L1/L2/L5 signal-health bits from MT10 (bit 2 = L1, 0 = L5). */
+    health: number;
+    /** Elevation-dependent (ED) URA index, signed (MT10). */
+    uraEd: number;
+    /** Non-elevation-dependent URA indices: bias/drift/drift-rate (MT3x). */
+    uraNed0: number;
+    uraNed1: number;
+    uraNed2: number;
+    /** Data-predict time of week in s (MT10). */
+    top: number;
+    /** Time of ephemeris in seconds of the GPS week of `toeDate`. */
+    toe: number;
+    /** Time of ephemeris as a GPS-scale Date. */
+    toeDate: Date;
+    /** Semi-major axis at toe in m (reference + ΔA). */
+    a: number;
+    /** MT10 ΔA: semi-major axis difference from 26 559 710 m, in m. */
+    deltaA: number;
+    /** Rate of semi-major axis in m/s. */
+    aDot: number;
+    /** Mean motion difference from computed value in rad/s. */
+    deltaN0: number;
+    /** Rate of the mean motion difference in rad/s². */
+    deltaN0Dot: number;
+    /** Mean anomaly at reference time in rad. */
+    m0: number;
+    /** Eccentricity (dimensionless). */
+    e: number;
+    /** Argument of perigee in rad. */
+    omega: number;
+    /** Longitude of ascending node at the weekly epoch in rad. */
+    omega0: number;
+    /** Inclination at reference time in rad. */
+    i0: number;
+    /** Rate of right ascension in rad/s (reference Ω̇ + ΔΩ̇). */
+    omegaDot: number;
+    /** MT11 ΔΩ̇: delta from −2.6×10⁻⁹ semicircles/s, in rad/s. */
+    deltaOmegaDot: number;
+    /** Rate of inclination in rad/s. */
+    i0Dot: number;
+    /** Harmonic correction terms (rad / m). */
+    cis: number;
+    cic: number;
+    crs: number;
+    crc: number;
+    cus: number;
+    cuc: number;
+    /** Clock epoch in seconds of the GPS week of `tocDate`. */
+    toc: number;
+    /** Clock epoch as a GPS-scale Date. */
+    tocDate: Date;
+    /** SV clock bias (s), drift (s/s), drift rate (s/s²). */
+    af0: number;
+    af1: number;
+    af2: number;
+    /** Message type (30-37) that supplied the clock block. */
+    clockMsgType: number;
+    /** L1 C/A group delay in s (MT30), null when unavailable/not seen. */
+    tgd: number | null;
+    /** Inter-signal corrections in s (MT30), null when unavailable. */
+    iscL1ca: number | null;
+    iscL2c: number | null;
+    iscL5i5: number | null;
+    iscL5q5: number | null;
+    /** Klobuchar iono coefficients from MT30, when one was seen. */
+    ionoAlpha?: number[];
+    ionoBeta?: number[];
+    /** Data-predict week from MT30 (WN_OP, 8 bits, unresolved). */
+    wnOp?: number;
+    /** Integrity-status and L2C-phasing flags from MT10. */
+    integrityFlag: boolean;
+    l2cPhasing: boolean;
+    /** Transmit time of the MT10 message (s of week, start of next msg). */
+    tow: number;
+}
+
+export type { CnavEphemeris as C };