gnss-js 1.17.0 → 1.18.0

package/dist/index.cjs

@@ -222,12 +222,14 @@ __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,
@@ -4884,8 +4886,238 @@ function parseUbxIonoUtc(data) {
   return { ionoCorrections, leapSeconds };
 }
 
-// src/ubx/index.ts
+// 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"] },
@@ -4968,7 +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
       });
@@ -5039,10 +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) {
@@ -5051,8 +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;
@@ -5201,7 +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,
@@ -5379,9 +5611,45 @@ function parseSbfIonoUtc(data) {
   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];
@@ -6035,7 +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);
@@ -6097,16 +6365,17 @@ 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_MS5 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS6 = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS2 = Date.UTC(2006, 0, 1);
-var SEC_PER_WEEK3 = 7 * 86400;
+var SEC_PER_WEEK4 = 7 * 86400;
 var SEC_PER_DAY = 86400;
-var MS_PER_WEEK5 = SEC_PER_WEEK3 * 1e3;
-var gpsMs2 = (week, sec) => GPS_EPOCH_MS5 + week * MS_PER_WEEK5 + sec * 1e3;
-var sowOf2 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK3;
+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_MS5) / MS_PER_WEEK5);
+  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;
@@ -6133,9 +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${String(slot).padStart(2, "0")}`,
@@ -6143,7 +6412,7 @@ function decodeGloEphemeris(view, p) {
     tauN: -view.getFloat64(p + 100, true),
     // RINEX stores −τ_n
     gammaN: view.getFloat64(p + 116, true),
-    messageFrameTime: (tofUtcSec % SEC_PER_WEEK3 + SEC_PER_WEEK3) % SEC_PER_WEEK3,
+    messageFrameTime: (tofUtcSec % SEC_PER_WEEK4 + SEC_PER_WEEK4) % SEC_PER_WEEK4,
     x: view.getFloat64(p + 28, true) / 1e3,
     y: view.getFloat64(p + 36, true) / 1e3,
     z: view.getFloat64(p + 44, true) / 1e3,
@@ -6200,7 +6469,7 @@ function decodeGalEphemeris(view, p, headerMs) {
       omega: view.getFloat64(p + 60, true),
       omegaDot: view.getFloat64(p + 140, true),
       idot: view.getFloat64(p + 124, true),
-      week: Math.floor((toeMs - GPS_EPOCH_MS5) / MS_PER_WEEK5),
+      week: Math.floor((toeMs - GPS_EPOCH_MS6) / MS_PER_WEEK5),
       // RINEX Galileo SVH bit layout (E1B DVS/HS in bits 0-2, E5a in
       // 3-5, E5b in 6-8) — same packing as RTKLIB.
       svHealth: svhE5b << 7 | dvsE5b << 6 | svhE5a << 4 | dvsE5a << 3 | svhE1b << 1 | dvsE1b,
@@ -6251,9 +6520,10 @@ function decodeBdsEphemeris2(view, p) {
     // TGD1 (B1) — RINEX slot
   };
 }
-function decodeQzssEphemeris2(view, p) {
+function decodeGpsQzssEphemeris(view, p, sys) {
   const prn = view.getUint32(p, true);
-  if (prn < 193 || prn > 202) return null;
+  if (sys === "G" && (prn < 1 || prn > 32)) return null;
+  if (sys === "J" && (prn < 193 || prn > 202)) return null;
   const health = view.getUint32(p + 12, true) & 63;
   const iode1 = view.getUint32(p + 16, true);
   const week = view.getUint32(p + 24, true);
@@ -6262,8 +6532,8 @@ function decodeQzssEphemeris2(view, p) {
   const tocs = view.getFloat64(p + 164, true);
   const tocDate = new Date(nearWeekMs(toeMs, tocs));
   return {
-    system: "J",
-    prn: `J${String(prn - 192).padStart(2, "0")}`,
+    system: sys,
+    prn: `${sys}${String(sys === "J" ? prn - 192 : prn).padStart(2, "0")}`,
     toc: sowOf2(tocDate.getTime()),
     tocDate,
     af0: view.getFloat64(p + 180, true),
@@ -6321,8 +6591,11 @@ function parseNovatelNav(data) {
     } 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 = decodeQzssEphemeris2(view, frame.payload);
+      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;
@@ -6350,7 +6623,7 @@ function parseNovatelNav(data) {
 }
 
 // src/novatel/index.ts
-var GPS_EPOCH_MS6 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS7 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK6 = 7 * 864e5;
 var HDR = 28;
 var ID_RANGE = 43;
@@ -6520,7 +6793,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS6 + week * MS_PER_WEEK6 + towMs,
+          timeMs: GPS_EPOCH_MS7 + week * MS_PER_WEEK6 + towMs,
           meas
         });
       }
@@ -6572,7 +6845,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS6 + week * MS_PER_WEEK6 + towMs,
+          timeMs: GPS_EPOCH_MS7 + week * MS_PER_WEEK6 + towMs,
           meas
         });
       }
@@ -6931,10 +7204,10 @@ function selectBest(ephs, timeMs) {
   }
   return best;
 }
-var GPS_EPOCH_MS7 = START_GPS_TIME.getTime();
+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_WEEK7;
+var GAL_EPOCH_MS = GPS_EPOCH_MS8 + 1024 * MS_PER_WEEK7;
 function ephInfoToEphemeris(info) {
   const sys = info.prn.charAt(0);
   if (sys === "R") {
@@ -6985,8 +7258,8 @@ 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_WEEK7;
+    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_WEEK7 + tocSec * 1e3);
@@ -10088,12 +10361,14 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   parseNovatelRange,
   parseRinexStream,
   parseSbfAlmanac,
+  parseSbfCnav,
   parseSbfIonoUtc,
   parseSbfMeas,
   parseSbfNav,
   parseSinexBiasDcb,
   parseSourcetable,
   parseSp3,
+  parseUbxCnav,
   parseUbxIonoUtc,
   parseUbxNav,
   parseUbxRawx,

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 { 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 { UbxCnavResult, UbxFrame, UbxIonoUtcResult, UbxMeasurement, UbxNavOptions, UbxNavResult, UbxParseResult, UbxRawxEpoch, parseUbxCnav, parseUbxIonoUtc, parseUbxNav, parseUbxRawx, ubxFrames } from './ubx.cjs';
+export { SbfAlmanac, SbfAlmanacResult, SbfCnavEphemeris, SbfCnavResult, SbfGlonassAlmanac, SbfIonoUtcResult, SbfKeplerAlmanac, SbfMeasEpoch, SbfMeasurement, SbfNavResult, SbfParseResult, parseSbfAlmanac, parseSbfCnav, 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';
@@ -20,3 +20,4 @@ export { CompleteSatSignal, CompleteSignalStats, CompletenessAccumulator, Comple
 export { AntennaEntry, AntexFile, FrequencyData, frequencyLabel, parseAntex } from './antex.cjs';
 export { NmeaFix, NmeaStats, NmeaTrack, computeStats, nmeaCoordToDecimal, parseNmeaFile, verifyChecksum } from './nmea.cjs';
 export { BAND_PRESETS, BandPreset, CONSTELLATIONS, ConstellationRow, DELTA_GLO_L1, DELTA_GLO_L2, FREQ_BDS_B1A, FREQ_BDS_B1C, FREQ_BDS_B1I, FREQ_BDS_B2I, FREQ_BDS_B3A, FREQ_BDS_B3I, FREQ_GAL_E1, FREQ_GAL_E5, FREQ_GAL_E5a, FREQ_GAL_E5b, FREQ_GAL_E6, FREQ_GLO_L1, FREQ_GLO_L1OC, FREQ_GLO_L2, FREQ_GLO_L2OC, FREQ_GLO_L3OC, FREQ_GPS_L1, FREQ_GPS_L2, FREQ_GPS_L5, FREQ_NAVIC_L5, FREQ_QZS_L1, FREQ_QZS_L2, FREQ_QZS_L5, FREQ_QZS_L6, Modulation, SignalDef, computePsdDb, phiAltBOC, phiBOCc, phiBOCs, phiBPSK } from './signals.cjs';
+export { C as CnavEphemeris } from './cnav-CRns0ECn.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 { 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 { UbxCnavResult, UbxFrame, UbxIonoUtcResult, UbxMeasurement, UbxNavOptions, UbxNavResult, UbxParseResult, UbxRawxEpoch, parseUbxCnav, parseUbxIonoUtc, parseUbxNav, parseUbxRawx, ubxFrames } from './ubx.js';
+export { SbfAlmanac, SbfAlmanacResult, SbfCnavEphemeris, SbfCnavResult, SbfGlonassAlmanac, SbfIonoUtcResult, SbfKeplerAlmanac, SbfMeasEpoch, SbfMeasurement, SbfNavResult, SbfParseResult, parseSbfAlmanac, parseSbfCnav, 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';
@@ -20,3 +20,4 @@ export { CompleteSatSignal, CompleteSignalStats, CompletenessAccumulator, Comple
 export { AntennaEntry, AntexFile, FrequencyData, frequencyLabel, parseAntex } from './antex.js';
 export { NmeaFix, NmeaStats, NmeaTrack, computeStats, nmeaCoordToDecimal, parseNmeaFile, verifyChecksum } from './nmea.js';
 export { BAND_PRESETS, BandPreset, CONSTELLATIONS, ConstellationRow, DELTA_GLO_L1, DELTA_GLO_L2, FREQ_BDS_B1A, FREQ_BDS_B1C, FREQ_BDS_B1I, FREQ_BDS_B2I, FREQ_BDS_B3A, FREQ_BDS_B3I, FREQ_GAL_E1, FREQ_GAL_E5, FREQ_GAL_E5a, FREQ_GAL_E5b, FREQ_GAL_E6, FREQ_GLO_L1, FREQ_GLO_L1OC, FREQ_GLO_L2, FREQ_GLO_L2OC, FREQ_GLO_L3OC, FREQ_GPS_L1, FREQ_GPS_L2, FREQ_GPS_L5, FREQ_NAVIC_L5, FREQ_QZS_L1, FREQ_QZS_L2, FREQ_QZS_L5, FREQ_QZS_L6, Modulation, SignalDef, computePsdDb, phiAltBOC, phiBOCc, phiBOCs, phiBPSK } from './signals.js';
+export { C as CnavEphemeris } from './cnav-CRns0ECn.js';

package/dist/index.js

@@ -34,27 +34,30 @@ import {
   phiBPSK
 } from "./chunk-2K3FCJBX.js";
 import {
+  parseUbxCnav,
   parseUbxIonoUtc,
   parseUbxNav,
   parseUbxRawx,
   ubxFrames
-} from "./chunk-IG5CDNDS.js";
+} from "./chunk-FEGLXNWA.js";
 import {
   crc16,
   parseSbfAlmanac,
+  parseSbfCnav,
   parseSbfIonoUtc,
   parseSbfMeas,
   parseSbfNav,
   scanSbfFrames
-} from "./chunk-ZNCQNHNI.js";
+} from "./chunk-CG7SF45F.js";
+import "./chunk-Y5IWUPJQ.js";
 import {
   OEM4_HLEN,
   crc32,
   oem4Frames,
   parseNovatelNav,
   parseNovatelRange
-} from "./chunk-7QR2KPDU.js";
-import "./chunk-REYOYF7O.js";
+} from "./chunk-2IM5VXNI.js";
+import "./chunk-IQ5OIMQD.js";
 import {
   connectToMountpoint,
   fetchSourcetable,
@@ -489,12 +492,14 @@ export {
   parseNovatelRange,
   parseRinexStream,
   parseSbfAlmanac,
+  parseSbfCnav,
   parseSbfIonoUtc,
   parseSbfMeas,
   parseSbfNav,
   parseSinexBiasDcb,
   parseSourcetable,
   parseSp3,
+  parseUbxCnav,
   parseUbxIonoUtc,
   parseUbxNav,
   parseUbxRawx,

package/dist/novatel.cjs

@@ -295,6 +295,7 @@ 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_MS2 = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS = Date.UTC(2006, 0, 1);
@@ -449,9 +450,10 @@ function decodeBdsEphemeris(view, p) {
     // TGD1 (B1) — RINEX slot
   };
 }
-function decodeQzssEphemeris(view, p) {
+function decodeGpsQzssEphemeris(view, p, sys) {
   const prn = view.getUint32(p, true);
-  if (prn < 193 || prn > 202) return null;
+  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);
@@ -460,8 +462,8 @@ function decodeQzssEphemeris(view, p) {
   const tocs = view.getFloat64(p + 164, true);
   const tocDate = new Date(nearWeekMs(toeMs, tocs));
   return {
-    system: "J",
-    prn: `J${String(prn - 192).padStart(2, "0")}`,
+    system: sys,
+    prn: `${sys}${String(sys === "J" ? prn - 192 : prn).padStart(2, "0")}`,
     toc: sowOf(tocDate.getTime()),
     tocDate,
     af0: view.getFloat64(p + 180, true),
@@ -519,8 +521,11 @@ function parseNovatelNav(data) {
     } 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 = decodeQzssEphemeris(view, frame.payload);
+      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;

package/dist/novatel.js

@@ -4,8 +4,8 @@ import {
   oem4Frames,
   parseNovatelNav,
   parseNovatelRange
-} from "./chunk-7QR2KPDU.js";
-import "./chunk-REYOYF7O.js";
+} from "./chunk-2IM5VXNI.js";
+import "./chunk-IQ5OIMQD.js";
 import "./chunk-HVXYFUCB.js";
 import "./chunk-LEEU5OIO.js";
 export {