gnss-js 1.16.0 → 1.18.0

package/dist/ubx.cjs

@@ -20,6 +20,8 @@ var __toCommonJS = (mod) => __copyProps(__defProp({}, "__esModule", { value: tru
 // src/ubx/index.ts
 var ubx_exports = {};
 __export(ubx_exports, {
+  parseUbxCnav: () => parseUbxCnav,
+  parseUbxIonoUtc: () => parseUbxIonoUtc,
   parseUbxNav: () => parseUbxNav,
   parseUbxRawx: () => parseUbxRawx,
   ubxFrames: () => ubxFrames
@@ -201,6 +203,30 @@ 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 = [];
@@ -222,28 +248,9 @@ 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;
@@ -273,8 +280,266 @@ 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 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_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_WEEK = 7 * 864e5;
 var SIGNALS = {
   0: { 0: ["G", "1C"], 3: ["G", "2X"], 4: ["G", "2X"] },
@@ -357,7 +622,7 @@ function parseUbxRawx(data) {
         if (!codes.includes(sig[1])) codes.push(sig[1]);
       }
       epochs.push({
-        timeMs: GPS_EPOCH_MS2 + week * MS_PER_WEEK + Math.round(rcvTow * 1e3),
+        timeMs: GPS_EPOCH_MS3 + week * MS_PER_WEEK + Math.round(rcvTow * 1e3),
         leapS: leapValid ? leapS : null,
         meas
       });
@@ -367,6 +632,8 @@ function parseUbxRawx(data) {
 }
 // Annotate the CommonJS export names for ESM import in node:
 0 && (module.exports = {
+  parseUbxCnav,
+  parseUbxIonoUtc,
   parseUbxNav,
   parseUbxRawx,
   ubxFrames

package/dist/ubx.d.cts

@@ -1,4 +1,5 @@
 import { E as Ephemeris } from './nav-BAI1a9vK.cjs';
+import { C as CnavEphemeris } from './cnav-CRns0ECn.cjs';
 
 /**
  * u-blox UBX framing shared by the measurement and navigation decoders:
@@ -46,7 +47,9 @@ declare function ubxFrames(data: Uint8Array, stats?: {
  *
  * Other constellations in RXM-SFRBX (Galileo I/NAV, BDS D1/D2, GLONASS
  * strings, SBAS) and GPS/QZSS CNAV are out of scope and skipped
- * silently, as are LNAV subframes 4/5 (iono/UTC/almanac pages).
+ * silently. LNAV subframes 4/5 are skipped here except that
+ * `parseUbxIonoUtc` (./iono.ts) decodes the subframe-4 page-18
+ * iono/UTC parameters through the shared `readLnavSubframe` helper.
  */
 
 interface UbxNavOptions {
@@ -77,6 +80,74 @@ interface UbxNavResult {
  */
 declare function parseUbxNav(data: Uint8Array, opts?: UbxNavOptions): UbxNavResult;
 
+/**
+ * u-blox UBX ionosphere / UTC decoding: the GPS LNAV subframe 4
+ * page 18 broadcast (Klobuchar coefficients + GPS-UTC parameters)
+ * from RXM-SFRBX.
+ *
+ * Ported from RTKLIB demo5 (rtklibexplorer fork, src/rcvraw.c:
+ * decode_frame_ion / decode_frame_utc, Copyright (c) 2007-2020
+ * T. Takasu, BSD-2-Clause); frame extraction is shared with
+ * `parseUbxNav` through `readLnavSubframe` (./nav.ts).
+ *
+ * Scope is GPS satellites (gnssId 0) only: QZSS also broadcasts
+ * page-18-format iono parameters, but those are the separate
+ * wide-area/Japan-area QZSS coefficient set, not the GPS one a RINEX
+ * `GPSA`/`GPSB` header carries. Scale factors follow IS-GPS-200
+ * §20.3.3.5.1 (alpha_n in s/semicircle^n, beta_n in s/semicircle^n) —
+ * the same semicircle-based units the RINEX nav header prints, so the
+ * output matches `parseNavFile` on a converted header. Like
+ * `parseUbxNav`, the decoder never consults the system clock (nothing
+ * here needs a week reference).
+ */
+interface UbxIonoUtcResult {
+    /**
+     * Iono coefficient sets keyed like `NavHeader.ionoCorrections`:
+     * `GPSA` (alpha_0..3) and `GPSB` (beta_0..3). The page repeats
+     * (nominally every 12.5 min per satellite); the last broadcast in
+     * the stream wins.
+     */
+    ionoCorrections: Record<string, number[]>;
+    /** GPS-UTC ΔtLS from the last page-18 broadcast, if any. */
+    leapSeconds: number | null;
+}
+/**
+ * Decode every GPS LNAV subframe 4 page 18 (data ID 1, SV ID 56) in a
+ * UBX byte stream (RXM-SFRBX) into Klobuchar iono coefficients and the
+ * current leap-second count.
+ */
+declare function parseUbxIonoUtc(data: Uint8Array): UbxIonoUtcResult;
+
+/**
+ * u-blox UBX raw CNAV decoding: GPS L2C CNAV messages from RXM-SFRBX
+ * (class 0x02, id 0x13), gnssId 0 with sigId 3 (L2 CL) or 4 (L2 CM).
+ *
+ * Word packing: the u-blox interface description delivers the 300-bit
+ * CNAV message as 10 32-bit `dwrd` words (little-endian in the
+ * stream) with the message bits left-justified MSB-first — message
+ * bit 0 is bit 31 of dwrd[0], and the low 20 bits of dwrd[9] are
+ * padding. Verified empirically on a ZED-F9P capture: this unpacking
+ * yields a valid CRC-24Q (and the 0x8B preamble in the top byte of
+ * dwrd[0], the same property `readLnavSubframe` in ./nav uses to skip
+ * CNAV frames) on effectively every message. RTKLIB demo5 does not
+ * decode CNAV from u-blox receivers; the field decoding lives in
+ * `src/navbits/cnav.ts`, working from IS-GPS-200 directly.
+ */
+
+interface UbxCnavResult {
+    /** Assembled CNAV ephemerides in stream order, repeats suppressed. */
+    ephemerides: CnavEphemeris[];
+    /** Raw messages whose CRC-24Q check failed (dropped). */
+    badCrc: number;
+    /** Total GPS L2C RXM-SFRBX messages seen (checksum-valid frames). */
+    messages: number;
+}
+/**
+ * Decode every GPS L2C CNAV message in a UBX byte stream (RXM-SFRBX,
+ * gnssId 0, sigId 3/4) and assemble them into ephemerides.
+ */
+declare function parseUbxCnav(data: Uint8Array): UbxCnavResult;
+
 /**
  * u-blox UBX raw-measurement decoding (RXM-RAWX) — the path from a
  * receiver log to RINEX-grade observables.
@@ -133,4 +204,4 @@ interface UbxParseResult {
  */
 declare function parseUbxRawx(data: Uint8Array): UbxParseResult;
 
-export { type UbxFrame, type UbxMeasurement, type UbxNavOptions, type UbxNavResult, type UbxParseResult, type UbxRawxEpoch, parseUbxNav, parseUbxRawx, ubxFrames };
+export { type UbxCnavResult, type UbxFrame, type UbxIonoUtcResult, type UbxMeasurement, type UbxNavOptions, type UbxNavResult, type UbxParseResult, type UbxRawxEpoch, parseUbxCnav, parseUbxIonoUtc, parseUbxNav, parseUbxRawx, ubxFrames };

package/dist/ubx.d.ts

@@ -1,4 +1,5 @@
 import { E as Ephemeris } from './nav-BAI1a9vK.js';
+import { C as CnavEphemeris } from './cnav-CRns0ECn.js';
 
 /**
  * u-blox UBX framing shared by the measurement and navigation decoders:
@@ -46,7 +47,9 @@ declare function ubxFrames(data: Uint8Array, stats?: {
  *
  * Other constellations in RXM-SFRBX (Galileo I/NAV, BDS D1/D2, GLONASS
  * strings, SBAS) and GPS/QZSS CNAV are out of scope and skipped
- * silently, as are LNAV subframes 4/5 (iono/UTC/almanac pages).
+ * silently. LNAV subframes 4/5 are skipped here except that
+ * `parseUbxIonoUtc` (./iono.ts) decodes the subframe-4 page-18
+ * iono/UTC parameters through the shared `readLnavSubframe` helper.
  */
 
 interface UbxNavOptions {
@@ -77,6 +80,74 @@ interface UbxNavResult {
  */
 declare function parseUbxNav(data: Uint8Array, opts?: UbxNavOptions): UbxNavResult;
 
+/**
+ * u-blox UBX ionosphere / UTC decoding: the GPS LNAV subframe 4
+ * page 18 broadcast (Klobuchar coefficients + GPS-UTC parameters)
+ * from RXM-SFRBX.
+ *
+ * Ported from RTKLIB demo5 (rtklibexplorer fork, src/rcvraw.c:
+ * decode_frame_ion / decode_frame_utc, Copyright (c) 2007-2020
+ * T. Takasu, BSD-2-Clause); frame extraction is shared with
+ * `parseUbxNav` through `readLnavSubframe` (./nav.ts).
+ *
+ * Scope is GPS satellites (gnssId 0) only: QZSS also broadcasts
+ * page-18-format iono parameters, but those are the separate
+ * wide-area/Japan-area QZSS coefficient set, not the GPS one a RINEX
+ * `GPSA`/`GPSB` header carries. Scale factors follow IS-GPS-200
+ * §20.3.3.5.1 (alpha_n in s/semicircle^n, beta_n in s/semicircle^n) —
+ * the same semicircle-based units the RINEX nav header prints, so the
+ * output matches `parseNavFile` on a converted header. Like
+ * `parseUbxNav`, the decoder never consults the system clock (nothing
+ * here needs a week reference).
+ */
+interface UbxIonoUtcResult {
+    /**
+     * Iono coefficient sets keyed like `NavHeader.ionoCorrections`:
+     * `GPSA` (alpha_0..3) and `GPSB` (beta_0..3). The page repeats
+     * (nominally every 12.5 min per satellite); the last broadcast in
+     * the stream wins.
+     */
+    ionoCorrections: Record<string, number[]>;
+    /** GPS-UTC ΔtLS from the last page-18 broadcast, if any. */
+    leapSeconds: number | null;
+}
+/**
+ * Decode every GPS LNAV subframe 4 page 18 (data ID 1, SV ID 56) in a
+ * UBX byte stream (RXM-SFRBX) into Klobuchar iono coefficients and the
+ * current leap-second count.
+ */
+declare function parseUbxIonoUtc(data: Uint8Array): UbxIonoUtcResult;
+
+/**
+ * u-blox UBX raw CNAV decoding: GPS L2C CNAV messages from RXM-SFRBX
+ * (class 0x02, id 0x13), gnssId 0 with sigId 3 (L2 CL) or 4 (L2 CM).
+ *
+ * Word packing: the u-blox interface description delivers the 300-bit
+ * CNAV message as 10 32-bit `dwrd` words (little-endian in the
+ * stream) with the message bits left-justified MSB-first — message
+ * bit 0 is bit 31 of dwrd[0], and the low 20 bits of dwrd[9] are
+ * padding. Verified empirically on a ZED-F9P capture: this unpacking
+ * yields a valid CRC-24Q (and the 0x8B preamble in the top byte of
+ * dwrd[0], the same property `readLnavSubframe` in ./nav uses to skip
+ * CNAV frames) on effectively every message. RTKLIB demo5 does not
+ * decode CNAV from u-blox receivers; the field decoding lives in
+ * `src/navbits/cnav.ts`, working from IS-GPS-200 directly.
+ */
+
+interface UbxCnavResult {
+    /** Assembled CNAV ephemerides in stream order, repeats suppressed. */
+    ephemerides: CnavEphemeris[];
+    /** Raw messages whose CRC-24Q check failed (dropped). */
+    badCrc: number;
+    /** Total GPS L2C RXM-SFRBX messages seen (checksum-valid frames). */
+    messages: number;
+}
+/**
+ * Decode every GPS L2C CNAV message in a UBX byte stream (RXM-SFRBX,
+ * gnssId 0, sigId 3/4) and assemble them into ephemerides.
+ */
+declare function parseUbxCnav(data: Uint8Array): UbxCnavResult;
+
 /**
  * u-blox UBX raw-measurement decoding (RXM-RAWX) — the path from a
  * receiver log to RINEX-grade observables.
@@ -133,4 +204,4 @@ interface UbxParseResult {
  */
 declare function parseUbxRawx(data: Uint8Array): UbxParseResult;
 
-export { type UbxFrame, type UbxMeasurement, type UbxNavOptions, type UbxNavResult, type UbxParseResult, type UbxRawxEpoch, parseUbxNav, parseUbxRawx, ubxFrames };
+export { type UbxCnavResult, type UbxFrame, type UbxIonoUtcResult, type UbxMeasurement, type UbxNavOptions, type UbxNavResult, type UbxParseResult, type UbxRawxEpoch, parseUbxCnav, parseUbxIonoUtc, parseUbxNav, parseUbxRawx, ubxFrames };

package/dist/ubx.js

@@ -1,10 +1,15 @@
 import {
+  parseUbxCnav,
+  parseUbxIonoUtc,
   parseUbxNav,
   parseUbxRawx,
   ubxFrames
-} from "./chunk-6CX6EXRK.js";
-import "./chunk-4LVD4DYL.js";
+} from "./chunk-FEGLXNWA.js";
+import "./chunk-Y5IWUPJQ.js";
+import "./chunk-IQ5OIMQD.js";
 export {
+  parseUbxCnav,
+  parseUbxIonoUtc,
   parseUbxNav,
   parseUbxRawx,
   ubxFrames

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "gnss-js",
-  "version": "1.16.0",
+  "version": "1.18.0",
   "description": "Comprehensive GNSS library for JavaScript — time scales, coordinates, RINEX parsing, RTCM3 decoding, orbit computation, and signal analysis",
   "type": "module",
   "sideEffects": false,