gnss-js 1.16.0 → 1.18.0

package/dist/index.cjs

@@ -222,11 +222,15 @@ __export(src_exports, {
   parseNovatelRange: () => parseNovatelRange,
   parseRinexStream: () => parseRinexStream,
   parseSbfAlmanac: () => parseSbfAlmanac,
+  parseSbfCnav: () => parseSbfCnav,
+  parseSbfIonoUtc: () => parseSbfIonoUtc,
   parseSbfMeas: () => parseSbfMeas,
   parseSbfNav: () => parseSbfNav,
   parseSinexBiasDcb: () => parseSinexBiasDcb,
   parseSourcetable: () => parseSourcetable,
   parseSp3: () => parseSp3,
+  parseUbxCnav: () => parseUbxCnav,
+  parseUbxIonoUtc: () => parseUbxIonoUtc,
   parseUbxNav: () => parseUbxNav,
   parseUbxRawx: () => parseUbxRawx,
   phiAltBOC: () => phiAltBOC,
@@ -4777,6 +4781,30 @@ function decodeGpsLnavFrame(subframes, opts = {}) {
 
 // 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 = [];
@@ -4798,28 +4826,9 @@ 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;
@@ -4849,8 +4858,266 @@ function parseUbxNav(data, opts = {}) {
   return { ephemerides, badParity };
 }
 
-// src/ubx/index.ts
+// 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/navbits/cnav.ts
 var GPS_EPOCH_MS2 = Date.UTC(1980, 0, 6);
+var SEC_PER_WEEK2 = 7 * 86400;
+var HALF_WEEK = 302400;
+var CNAV_PREAMBLE = 139;
+var CNAV_A_REF = 26559710;
+var CNAV_OMEGA_DOT_REF = -26e-10;
+function crc24q2(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 crc24q2(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_MS2 + (week * SEC_PER_WEEK2 + 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
+    };
+  }
+};
+
+// 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_MS3 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK2 = 7 * 864e5;
 var SIGNALS = {
   0: { 0: ["G", "1C"], 3: ["G", "2X"], 4: ["G", "2X"] },
@@ -4933,7 +5200,7 @@ function parseUbxRawx(data) {
         if (!codes.includes(sig[1])) codes.push(sig[1]);
       }
       epochs.push({
-        timeMs: GPS_EPOCH_MS2 + week * MS_PER_WEEK2 + Math.round(rcvTow * 1e3),
+        timeMs: GPS_EPOCH_MS3 + week * MS_PER_WEEK2 + Math.round(rcvTow * 1e3),
         leapS: leapValid ? leapS : null,
         meas
       });
@@ -5004,10 +5271,10 @@ function svidToPrn(svid) {
 
 // src/sbf/nav.ts
 var PI2 = Math.PI;
-var GPS_EPOCH_MS3 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS4 = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS = Date.UTC(2006, 0, 1);
-var SEC_PER_WEEK2 = 7 * 86400;
-var MS_PER_WEEK3 = SEC_PER_WEEK2 * 1e3;
+var SEC_PER_WEEK3 = 7 * 86400;
+var MS_PER_WEEK3 = SEC_PER_WEEK3 * 1e3;
 var F4_DNU = -2e10;
 var U4_DNU = 4294967295;
 function adjustWeek(refWeek, wn, mod) {
@@ -5016,8 +5283,8 @@ function adjustWeek(refWeek, wn, mod) {
   if (offset < -(mod / 2 - 1)) offset += mod;
   return refWeek - offset;
 }
-var gpsMs = (week, sec) => GPS_EPOCH_MS3 + week * MS_PER_WEEK3 + sec * 1e3;
-var sowOf = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK2;
+var gpsMs = (week, sec) => GPS_EPOCH_MS4 + week * MS_PER_WEEK3 + sec * 1e3;
+var sowOf = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK3;
 function decodeGpsQzsNav(view, b, sys) {
   const svid = view.getUint8(b + 14);
   const prn = sys === "G" ? svid : svid - 180;
@@ -5166,7 +5433,7 @@ 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_MS3) / 1e3 % SEC_PER_WEEK2;
+  const messageFrameTime = (tofGpsMs - tofLeapMs - GPS_EPOCH_MS4) / 1e3 % SEC_PER_WEEK3;
   return {
     system: "R",
     prn,
@@ -5311,9 +5578,78 @@ 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_MS4 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS5 = 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];
@@ -5967,7 +6303,7 @@ 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_MS4 + wnc * MS_PER_WEEK4 + tow);
+        ensureEpoch(GPS_EPOCH_MS5 + 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);
@@ -6024,11 +6360,27 @@ function* oem4Frames(data, view, stats) {
 }
 
 // src/novatel/nav.ts
+var ID_IONUTC = 8;
 var ID_RAWEPHEM = 41;
 var ID_GLOEPHEMERIS = 723;
-var GPS_EPOCH_MS5 = Date.UTC(1980, 0, 6);
-var SEC_PER_WEEK3 = 7 * 86400;
+var ID_GALEPHEMERIS = 1122;
+var ID_QZSSEPHEMERIS = 1336;
+var ID_GPSEPHEM = 7;
+var ID_BDSEPHEMERIS = 1696;
+var GPS_EPOCH_MS6 = Date.UTC(1980, 0, 6);
+var BDT_EPOCH_MS2 = Date.UTC(2006, 0, 1);
+var SEC_PER_WEEK4 = 7 * 86400;
 var SEC_PER_DAY = 86400;
+var MS_PER_WEEK5 = SEC_PER_WEEK4 * 1e3;
+var gpsMs2 = (week, sec) => GPS_EPOCH_MS6 + week * MS_PER_WEEK5 + sec * 1e3;
+var sowOf2 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK4;
+function nearWeekMs(refMs, sow) {
+  const refWeek = Math.floor((refMs - GPS_EPOCH_MS6) / MS_PER_WEEK5);
+  let ms = gpsMs2(refWeek, sow);
+  if (ms < refMs - MS_PER_WEEK5 / 2) ms += MS_PER_WEEK5;
+  else if (ms > refMs + MS_PER_WEEK5 / 2) ms -= MS_PER_WEEK5;
+  return ms;
+}
 function decodeRawEphem(data, view, p) {
   const prn = view.getUint32(p, true);
   if (prn < 1 || prn > 32) return null;
@@ -6050,9 +6402,9 @@ 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_MS5 + (week * SEC_PER_WEEK3 + tow) * 1e3;
-  const tofGpsMs = GPS_EPOCH_MS5 + (week * SEC_PER_WEEK3 + tof) * 1e3;
-  const tofUtcSec = (getUtcDate(new Date(tofGpsMs)).getTime() - GPS_EPOCH_MS5) / 1e3;
+  const toeGpsMs = GPS_EPOCH_MS6 + (week * SEC_PER_WEEK4 + tow) * 1e3;
+  const tofGpsMs = GPS_EPOCH_MS6 + (week * SEC_PER_WEEK4 + tof) * 1e3;
+  const tofUtcSec = (getUtcDate(new Date(tofGpsMs)).getTime() - GPS_EPOCH_MS6) / 1e3;
   return {
     system: "R",
     prn: `R${String(slot).padStart(2, "0")}`,
@@ -6060,7 +6412,7 @@ function decodeGloEphemeris(view, p) {
     tauN: -view.getFloat64(p + 100, true),
     // RINEX stores −τ_n
     gammaN: view.getFloat64(p + 116, true),
-    messageFrameTime: (tofUtcSec % SEC_PER_WEEK3 + SEC_PER_WEEK3) % SEC_PER_WEEK3,
+    messageFrameTime: (tofUtcSec % SEC_PER_WEEK4 + SEC_PER_WEEK4) % SEC_PER_WEEK4,
     x: view.getFloat64(p + 28, true) / 1e3,
     y: view.getFloat64(p + 36, true) / 1e3,
     z: view.getFloat64(p + 44, true) / 1e3,
@@ -6074,23 +6426,188 @@ function decodeGloEphemeris(view, p) {
     freqNum
   };
 }
+function decodeGalEphemeris(view, p, headerMs) {
+  const prn = view.getUint32(p, true);
+  if (prn < 1 || prn > 36) return null;
+  const fnav = (view.getUint32(p + 4, true) & 1) !== 0;
+  const svhE1b = view.getUint8(p + 12) & 3;
+  const svhE5a = view.getUint8(p + 13) & 3;
+  const svhE5b = view.getUint8(p + 14) & 3;
+  const dvsE1b = view.getUint8(p + 15) & 1;
+  const dvsE5a = view.getUint8(p + 16) & 1;
+  const dvsE5b = view.getUint8(p + 17) & 1;
+  const iodNav = view.getUint32(p + 20, true);
+  const toes = view.getUint32(p + 24, true);
+  const c = fnav ? p + 148 : p + 176;
+  const tocs = view.getUint32(c, true);
+  const toeMs = nearWeekMs(headerMs, toes);
+  const tocDate = new Date(nearWeekMs(headerMs, tocs));
+  return {
+    fnav,
+    eph: {
+      system: "E",
+      prn: `E${String(prn).padStart(2, "0")}`,
+      toc: sowOf2(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_MS6) / MS_PER_WEEK5),
+      // 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 decodeBdsEphemeris2(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_MS2 + week * MS_PER_WEEK5 + tocs * 1e3);
+  return {
+    system: "C",
+    prn: `C${String(prn).padStart(2, "0")}`,
+    toc: sowOf2(tocDate.getTime()),
+    tocDate,
+    af0: view.getFloat64(p + 44, true),
+    af1: view.getFloat64(p + 52, true),
+    af2: view.getFloat64(p + 60, true),
+    iode: view.getUint32(p + 68, true),
+    // AODE
+    crs: view.getFloat64(p + 172, true),
+    deltaN: view.getFloat64(p + 100, true),
+    m0: view.getFloat64(p + 108, true),
+    cuc: view.getFloat64(p + 148, true),
+    e: view.getFloat64(p + 84, true),
+    cus: view.getFloat64(p + 156, true),
+    sqrtA: view.getFloat64(p + 76, true),
+    toe: toes,
+    cic: view.getFloat64(p + 180, true),
+    omega0: view.getFloat64(p + 116, true),
+    cis: view.getFloat64(p + 188, true),
+    i0: view.getFloat64(p + 132, true),
+    crc: view.getFloat64(p + 164, true),
+    omega: view.getFloat64(p + 92, true),
+    omegaDot: view.getFloat64(p + 124, true),
+    idot: view.getFloat64(p + 140, true),
+    week,
+    // RINEX BDS week field is the BDT week
+    svHealth: health,
+    tgd: tgd1
+    // TGD1 (B1) — RINEX slot
+  };
+}
+function decodeGpsQzssEphemeris(view, p, sys) {
+  const prn = view.getUint32(p, true);
+  if (sys === "G" && (prn < 1 || prn > 32)) return null;
+  if (sys === "J" && (prn < 193 || prn > 202)) return null;
+  const health = view.getUint32(p + 12, true) & 63;
+  const iode1 = view.getUint32(p + 16, true);
+  const week = view.getUint32(p + 24, true);
+  const toes = view.getFloat64(p + 32, true);
+  const toeMs = gpsMs2(week, toes);
+  const tocs = view.getFloat64(p + 164, true);
+  const tocDate = new Date(nearWeekMs(toeMs, tocs));
+  return {
+    system: sys,
+    prn: `${sys}${String(sys === "J" ? prn - 192 : prn).padStart(2, "0")}`,
+    toc: sowOf2(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 = gpsMs2(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 = decodeBdsEphemeris2(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;
@@ -6102,12 +6619,12 @@ 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_MS6 = Date.UTC(1980, 0, 6);
-var MS_PER_WEEK5 = 7 * 864e5;
+var GPS_EPOCH_MS7 = Date.UTC(1980, 0, 6);
+var MS_PER_WEEK6 = 7 * 864e5;
 var HDR = 28;
 var ID_RANGE = 43;
 var ID_RANGECMP = 140;
@@ -6276,7 +6793,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS6 + week * MS_PER_WEEK5 + towMs,
+          timeMs: GPS_EPOCH_MS7 + week * MS_PER_WEEK6 + towMs,
           meas
         });
       }
@@ -6328,7 +6845,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS6 + week * MS_PER_WEEK5 + towMs,
+          timeMs: GPS_EPOCH_MS7 + week * MS_PER_WEEK6 + towMs,
           meas
         });
       }
@@ -6687,10 +7204,10 @@ function selectBest(ephs, timeMs) {
   }
   return best;
 }
-var GPS_EPOCH_MS7 = START_GPS_TIME.getTime();
-var MS_PER_WEEK6 = 7 * 864e5;
+var GPS_EPOCH_MS8 = START_GPS_TIME.getTime();
+var MS_PER_WEEK7 = 7 * 864e5;
 var BDS_EPOCH_MS = START_BDS_TIME.getTime();
-var GAL_EPOCH_MS = GPS_EPOCH_MS7 + 1024 * MS_PER_WEEK6;
+var GAL_EPOCH_MS = GPS_EPOCH_MS8 + 1024 * MS_PER_WEEK7;
 function ephInfoToEphemeris(info) {
   const sys = info.prn.charAt(0);
   if (sys === "R") {
@@ -6741,11 +7258,11 @@ function ephInfoToEphemeris(info) {
   } else if (sys === "E") {
     epochMs = GAL_EPOCH_MS;
   } else {
-    epochMs = GPS_EPOCH_MS7;
-    const weeksNow = (info.lastReceived - GPS_EPOCH_MS7) / MS_PER_WEEK6;
+    epochMs = GPS_EPOCH_MS8;
+    const weeksNow = (info.lastReceived - GPS_EPOCH_MS8) / MS_PER_WEEK7;
     week += 1024 * Math.round((weeksNow - week) / 1024);
   }
-  const tocDate = new Date(epochMs + week * MS_PER_WEEK6 + tocSec * 1e3);
+  const tocDate = new Date(epochMs + week * MS_PER_WEEK7 + tocSec * 1e3);
   return {
     system: sys,
     prn: info.prn,
@@ -9844,11 +10361,15 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   parseNovatelRange,
   parseRinexStream,
   parseSbfAlmanac,
+  parseSbfCnav,
+  parseSbfIonoUtc,
   parseSbfMeas,
   parseSbfNav,
   parseSinexBiasDcb,
   parseSourcetable,
   parseSp3,
+  parseUbxCnav,
+  parseUbxIonoUtc,
   parseUbxNav,
   parseUbxRawx,
   phiAltBOC,