gnss-js 1.17.0 → 1.19.0

package/dist/{chunk-7QR2KPDU.js → chunk-2IM5VXNI.js}

@@ -1,6 +1,6 @@
 import {
   decodeGpsLnavFrame
-} from "./chunk-REYOYF7O.js";
+} from "./chunk-IQ5OIMQD.js";
 import {
   getUtcDate
 } from "./chunk-HVXYFUCB.js";
@@ -55,6 +55,7 @@ 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_MS = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS = Date.UTC(2006, 0, 1);
@@ -209,9 +210,10 @@ 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);
@@ -220,8 +222,8 @@ 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),
@@ -279,8 +281,11 @@ 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/{chunk-ZNCQNHNI.js → chunk-5S5HMAKW.js}

@@ -1,3 +1,7 @@
+import {
+  CnavAssembler,
+  cnavCrcOk
+} from "./chunk-6NCMACDO.js";
 import {
   getGpsLeap
 } from "./chunk-HVXYFUCB.js";
@@ -404,6 +408,42 @@ 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_MS2 = Date.UTC(1980, 0, 6);
@@ -1078,5 +1118,6 @@ export {
   parseSbfNav,
   parseSbfAlmanac,
   parseSbfIonoUtc,
+  parseSbfCnav,
   parseSbfMeas
 };

package/dist/chunk-6NCMACDO.js

@@ -0,0 +1,208 @@
+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 {
+  CNAV_A_REF,
+  CNAV_OMEGA_DOT_REF,
+  cnavCrcOk,
+  CnavAssembler
+};

package/dist/{chunk-REYOYF7O.js → chunk-IQ5OIMQD.js}

@@ -140,6 +140,7 @@ function decodeGpsLnavFrame(subframes, opts = {}) {
 }
 
 export {
+  GPS_PI,
   getBitU,
   getBitS,
   setBitU,

package/dist/{chunk-IG5CDNDS.js → chunk-JW2ICDR7.js}

@@ -1,9 +1,13 @@
+import {
+  CnavAssembler,
+  cnavCrcOk
+} from "./chunk-6NCMACDO.js";
 import {
   decodeGpsLnavFrame,
   getBitS,
   getBitU,
   setBitU
-} from "./chunk-REYOYF7O.js";
+} from "./chunk-IQ5OIMQD.js";
 
 // src/ubx/frame.ts
 function* ubxFrames(data, stats = { badChecksums: 0 }) {
@@ -144,6 +148,40 @@ function parseUbxIonoUtc(data) {
   return { ionoCorrections, leapSeconds };
 }
 
+// src/ubx/cnav.ts
+function parseUbxCnav(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const assembler = new CnavAssembler();
+  const ephemerides = [];
+  let badCrc = 0;
+  let messages = 0;
+  for (const f of ubxFrames(data)) {
+    if (f.msgClass !== 2 || f.msgId !== 19) continue;
+    const p = f.payload;
+    if (p.length < 8 + 40) continue;
+    if (p[0] !== 0 || p[2] !== 3 && p[2] !== 4) continue;
+    const svId = p[1];
+    if (svId < 1 || svId > 32) continue;
+    messages++;
+    const msg = new Uint8Array(40);
+    const base = f.payloadStart + 8;
+    for (let k = 0; k < 10; k++) {
+      const w = view.getUint32(base + 4 * k, true);
+      msg[4 * k] = w >>> 24;
+      msg[4 * k + 1] = w >>> 16 & 255;
+      msg[4 * k + 2] = w >>> 8 & 255;
+      msg[4 * k + 3] = w & 255;
+    }
+    if (!cnavCrcOk(msg)) {
+      badCrc++;
+      continue;
+    }
+    const eph = assembler.push(msg);
+    if (eph) ephemerides.push(eph);
+  }
+  return { ephemerides, badCrc, messages };
+}
+
 // src/ubx/index.ts
 var GPS_EPOCH_MS = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK = 7 * 864e5;
@@ -241,5 +279,6 @@ export {
   ubxFrames,
   parseUbxNav,
   parseUbxIonoUtc,
+  parseUbxCnav,
   parseUbxRawx
 };