gnss-js 1.18.0 → 1.20.0

package/dist/{chunk-2IM5VXNI.js → chunk-7RKLWE6R.js}

@@ -1,6 +1,8 @@
 import {
+  CnavAssembler,
+  cnavCrcOk,
   decodeGpsLnavFrame
-} from "./chunk-IQ5OIMQD.js";
+} from "./chunk-WZDFZ76K.js";
 import {
   getUtcDate
 } from "./chunk-HVXYFUCB.js";
@@ -51,6 +53,7 @@ function* oem4Frames(data, view, stats) {
 
 // src/novatel/nav.ts
 var ID_IONUTC = 8;
+var ID_RAWCNAVFRAME = 1066;
 var ID_RAWEPHEM = 41;
 var ID_GLOEPHEMERIS = 723;
 var ID_GALEPHEMERIS = 1122;
@@ -257,6 +260,9 @@ function parseNovatelNav(data) {
   const ephemerides = [];
   const ionoCorrections = {};
   let leapSeconds = null;
+  const cnav = [];
+  const cnavAssembler = new CnavAssembler();
+  let cnavBadCrc = 0;
   const lastKep = /* @__PURE__ */ new Map();
   const lastGlo = /* @__PURE__ */ new Map();
   const pushKepler = (key, eph) => {
@@ -287,6 +293,14 @@ function parseNovatelNav(data) {
     } 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_RAWCNAVFRAME && frame.msgLen >= 50) {
+      const msg = data.subarray(frame.payload + 12, frame.payload + 50);
+      if (!cnavCrcOk(msg)) {
+        cnavBadCrc++;
+      } else {
+        const eph = cnavAssembler.push(msg);
+        if (eph) cnav.push(eph);
+      }
     } else if (frame.id === ID_IONUTC && frame.msgLen >= 108) {
       const p = frame.payload;
       const alpha = [];
@@ -309,7 +323,14 @@ function parseNovatelNav(data) {
       ephemerides.push(eph);
     }
   }
-  return { ephemerides, ionoCorrections, leapSeconds, badCrc: stats.badCrc };
+  return {
+    ephemerides,
+    ionoCorrections,
+    leapSeconds,
+    cnav,
+    cnavBadCrc,
+    badCrc: stats.badCrc
+  };
 }
 
 // src/novatel/index.ts

package/dist/{chunk-QXZZNXE3.js → chunk-B5LU4746.js}

@@ -2,7 +2,7 @@ import {
   computeDop,
   computeSatPosition,
   ecefToAzEl
-} from "./chunk-OMVL3X7V.js";
+} from "./chunk-JNFV5BYB.js";
 import {
   ecefToGeodetic
 } from "./chunk-37QNKGTC.js";

package/dist/{chunk-FEGLXNWA.js → chunk-DLXTTHRK.js}

@@ -1,13 +1,11 @@
 import {
   CnavAssembler,
-  cnavCrcOk
-} from "./chunk-Y5IWUPJQ.js";
-import {
+  cnavCrcOk,
   decodeGpsLnavFrame,
   getBitS,
   getBitU,
   setBitU
-} from "./chunk-IQ5OIMQD.js";
+} from "./chunk-WZDFZ76K.js";
 
 // src/ubx/frame.ts
 function* ubxFrames(data, stats = { badChecksums: 0 }) {

package/dist/{chunk-OMVL3X7V.js → chunk-JNFV5BYB.js}

@@ -13,10 +13,184 @@ import {
   OMEGA_E
 } from "./chunk-FIEWO4J4.js";
 
-// src/orbit/index.ts
+// src/orbit/almanac.ts
 var GM_GPS = 3986005e8;
 var GM_GAL = 3986004418e5;
 var GM_BDS = 3986004418e5;
+var GPS_EPOCH_MS = Date.UTC(1980, 0, 6);
+var BDT_EPOCH_MS = Date.UTC(2006, 0, 1);
+var WEEK_MS = 6048e5;
+var BDT_MINUS_GPST_MS = 14e3;
+var BDS_GEO_PRNS = /* @__PURE__ */ new Set([1, 2, 3, 4, 5, 59, 60, 61, 62, 63]);
+function almanacEpochMs(alm) {
+  if (alm.system === "C") {
+    return BDT_EPOCH_MS + alm.weekAlm * WEEK_MS + alm.toaSec * 1e3 + BDT_MINUS_GPST_MS;
+  }
+  return GPS_EPOCH_MS + alm.weekAlm * WEEK_MS + alm.toaSec * 1e3;
+}
+function almanacSatPosition(alm, timeMs) {
+  const GM = alm.system === "E" ? GM_GAL : alm.system === "C" ? GM_BDS : GM_GPS;
+  const a = alm.sqrtA * alm.sqrtA;
+  const n0 = Math.sqrt(GM / (a * a * a));
+  const tk = (timeMs - almanacEpochMs(alm)) / 1e3;
+  const Mk = alm.m0 + n0 * tk;
+  let Ek = Mk;
+  for (let i = 0; i < 12; i++) {
+    const dE = (Mk - (Ek - alm.e * Math.sin(Ek))) / (1 - alm.e * Math.cos(Ek));
+    Ek += dE;
+    if (Math.abs(dE) < 1e-12) break;
+  }
+  const sinE = Math.sin(Ek);
+  const cosE = Math.cos(Ek);
+  const vk = Math.atan2(Math.sqrt(1 - alm.e * alm.e) * sinE, cosE - alm.e);
+  const uk = vk + alm.omega;
+  const rk = a * (1 - alm.e * cosE);
+  const ik = alm.i0OrDeltaI;
+  const xp = rk * Math.cos(uk);
+  const yp = rk * Math.sin(uk);
+  const clockBias = alm.af0 + alm.af1 * tk;
+  const isGeo = alm.system === "C" && BDS_GEO_PRNS.has(Number(alm.prn.slice(1)));
+  if (isGeo) {
+    const omegak2 = alm.omega0 + alm.omegaDot * tk - OMEGA_E * alm.toaSec;
+    const cosO2 = Math.cos(omegak2);
+    const sinO2 = Math.sin(omegak2);
+    const cosI2 = Math.cos(ik);
+    const sinI2 = Math.sin(ik);
+    const xg = xp * cosO2 - yp * cosI2 * sinO2;
+    const yg = xp * sinO2 + yp * cosI2 * cosO2;
+    const zg = yp * sinI2;
+    const phi = OMEGA_E * tk;
+    const cosPhi = Math.cos(phi);
+    const sinPhi = Math.sin(phi);
+    const COS5 = Math.cos(-5 * Math.PI / 180);
+    const SIN5 = Math.sin(-5 * Math.PI / 180);
+    return {
+      prn: alm.prn,
+      x: xg * cosPhi + yg * sinPhi * COS5 + zg * sinPhi * SIN5,
+      y: -xg * sinPhi + yg * cosPhi * COS5 + zg * cosPhi * SIN5,
+      z: -yg * SIN5 + zg * COS5,
+      clockBias
+    };
+  }
+  const omegak = alm.omega0 + (alm.omegaDot - OMEGA_E) * tk - OMEGA_E * alm.toaSec;
+  const cosO = Math.cos(omegak);
+  const sinO = Math.sin(omegak);
+  const cosI = Math.cos(ik);
+  const sinI = Math.sin(ik);
+  return {
+    prn: alm.prn,
+    x: xp * cosO - yp * cosI * sinO,
+    y: xp * sinO + yp * cosI * cosO,
+    z: yp * sinI,
+    clockBias
+  };
+}
+
+// src/orbit/almanac-glo.ts
+var C20 = -108263e-8;
+var J = -1.5 * C20;
+var AE = 6378.136;
+var MU = 398600.44;
+var OMEGA_Z = 7292115e-11;
+var I_MEAN = 63 * Math.PI / 180;
+var T_MEAN = 43200;
+var GLO_1996_UTC_MS = Date.UTC(1996, 0, 1) - 108e5;
+var DAY_MS = 864e5;
+var FOUR_YEARS_DAYS = 1461;
+function glonassAlmanacEpochMs(alm) {
+  const utcMs = GLO_1996_UTC_MS + ((alm.n4 - 1) * FOUR_YEARS_DAYS + (alm.nDay - 1)) * DAY_MS + alm.tLambda * 1e3;
+  return utcMs + getGpsLeap(new Date(utcMs)) * 1e3;
+}
+function c20Deltas(lam, tau, B, h, l, n, sinI, cosI) {
+  const sin2i = sinI * sinI;
+  const cos2i = cosI * cosI;
+  const s1 = Math.sin(lam);
+  const c1 = Math.cos(lam);
+  const s2 = Math.sin(2 * lam);
+  const c2 = Math.cos(2 * lam);
+  const s3 = Math.sin(3 * lam);
+  const c3 = Math.cos(3 * lam);
+  const s4 = Math.sin(4 * lam);
+  const c4 = Math.cos(4 * lam);
+  const daOverA = 2 * B * (1 - 1.5 * sin2i) * (l * c1 + h * s1) + B * sin2i * (0.5 * h * s1 - 0.5 * l * c1 + c2 + 3.5 * l * c3 + 3.5 * h * s3);
+  const dh = B * (1 - 1.5 * sin2i) * (l * n * tau + s1 + 1.5 * l * s2 - 1.5 * h * c2) - 0.25 * B * sin2i * (s1 - 7 / 3 * s3 + 5 * l * s2 - 8.5 * l * s4 + 8.5 * h * c4 + h * c2) + B * cos2i * (l * n * tau - 0.5 * l * s2);
+  const dl = B * (1 - 1.5 * sin2i) * (-h * n * tau + c1 + 1.5 * l * c2 + 1.5 * h * s2) - 0.25 * B * sin2i * (-c1 - 7 / 3 * c3 - 5 * h * s2 - 8.5 * l * c4 - 8.5 * h * s4 + l * c2) + B * cos2i * (-h * n * tau + 0.5 * h * s2);
+  const nodeBracket = n * tau + 3.5 * l * s1 - 2.5 * h * c1 - 0.5 * s2 - 7 / 6 * l * s3 + 7 / 6 * h * c3;
+  const dOmega = -B * cosI * nodeBracket;
+  const di = 0.5 * B * sinI * cosI * (-l * c1 + h * s1 + c2 + 7 / 3 * l * c3 + 7 / 3 * h * s3);
+  const dLambda = 2 * B * (1 - 1.5 * sin2i) * (n * tau + 1.75 * l * s1 - 1.75 * h * c1) + 3 * B * sin2i * (-(7 / 24) * h * c1 - 7 / 24 * l * s1 - 49 / 72 * h * c3 + 49 / 72 * l * s3 + 0.25 * s2) + B * cos2i * nodeBracket;
+  return { daOverA, dh, dl, dOmega, di, dLambda };
+}
+function glonassAlmanacPosition(alm, timeMs) {
+  const i = I_MEAN + alm.deltaI;
+  const sinI = Math.sin(i);
+  const cosI = Math.cos(i);
+  const sin2i = sinI * sinI;
+  const e = alm.epsilon;
+  const oneMinusE2 = 1 - e * e;
+  const Tdr = T_MEAN + alm.deltaT;
+  const n = 2 * Math.PI / Tdr;
+  const cosW = Math.cos(alm.omega);
+  let a = Math.cbrt((Tdr / (2 * Math.PI)) ** 2 * MU);
+  for (let k = 0; k < 10; k++) {
+    const p = a * oneMinusE2;
+    const tOsc = Tdr / (1 + 1.5 * C20 * (AE / p) ** 2 * ((2 - 2.5 * sin2i) * (Math.pow(oneMinusE2, 1.5) / (1 + e * cosW) ** 2) + (1 + e * cosW) ** 3 / oneMinusE2));
+    const aNext = Math.cbrt((tOsc / (2 * Math.PI)) ** 2 * MU);
+    const converged = Math.abs(aNext - a) < 1e-3;
+    a = aNext;
+    if (converged) break;
+  }
+  const tStar = (timeMs - glonassAlmanacEpochMs(alm)) / 1e3;
+  const W = Math.floor(tStar / Tdr);
+  const nodeShift = Tdr * W + alm.deltaTDot * W * W;
+  const omegaDot = 1.5 * C20 * n * (AE / a) ** 2 * cosI * oneMinusE2 ** -2;
+  const lambdaK = alm.lambda + (omegaDot - OMEGA_Z) * nodeShift;
+  const tau = tStar - nodeShift;
+  const h = e * Math.sin(alm.omega);
+  const l = e * cosW;
+  const E0 = 2 * Math.atan(Math.sqrt((1 - e) / (1 + e)) * Math.tan(-alm.omega / 2));
+  const M = E0 - e * Math.sin(E0);
+  const B = J * (AE / a) ** 2;
+  const d1 = c20Deltas(M + alm.omega, 0, B, h, l, n, sinI, cosI);
+  const d2 = c20Deltas(M + alm.omega + n * tau, tau, B, h, l, n, sinI, cosI);
+  const hi = h + (d2.dh - d1.dh);
+  const li = l + (d2.dl - d1.dl);
+  const epsI = Math.hypot(hi, li);
+  const omegaI = epsI === 0 ? 0 : Math.atan2(hi, li);
+  const aI = a + a * (d2.daOverA - d1.daOverA);
+  const iI = i + (d2.di - d1.di);
+  const omegaG = lambdaK + (d2.dOmega - d1.dOmega) - OMEGA_Z * tau;
+  const lambdaStar = M + alm.omega + n * tau + (d2.dLambda - d1.dLambda);
+  const Mi = lambdaStar - omegaI;
+  let E = Mi;
+  for (let k = 0; k < 30; k++) {
+    const next = Mi + epsI * Math.sin(E);
+    const converged = Math.abs(next - E) < 1e-12;
+    E = next;
+    if (converged) break;
+  }
+  const v = 2 * Math.atan(Math.sqrt((1 + epsI) / (1 - epsI)) * Math.tan(E / 2));
+  const u = v + omegaI;
+  const rKm = aI * (1 - epsI * Math.cos(E));
+  const cosU = Math.cos(u);
+  const sinU = Math.sin(u);
+  const cosO = Math.cos(omegaG);
+  const sinO = Math.sin(omegaG);
+  const cosIi = Math.cos(iI);
+  const sinIi = Math.sin(iI);
+  return {
+    prn: alm.prn,
+    x: 1e3 * rKm * (cosU * cosO - sinU * sinO * cosIi),
+    y: 1e3 * rKm * (cosU * sinO + sinU * cosO * cosIi),
+    z: 1e3 * rKm * sinU * sinIi,
+    clockBias: -alm.tau
+  };
+}
+
+// src/orbit/index.ts
+var GM_GPS2 = 3986005e8;
+var GM_GAL2 = 3986004418e5;
+var GM_BDS2 = 3986004418e5;
 var GM_GLO = 39860044e7;
 var BDS_GEO_MAX_INCLINATION_RAD = 0.1;
 var BDS_GEO_MIN_SEMIMAJOR_AXIS_M = 4e7;
@@ -24,9 +198,9 @@ var AE_GLO = 6378136;
 var J2_GLO = 108263e-8;
 var TWO_PI = 2 * Math.PI;
 function gmForSystem(sys) {
-  if (sys === "E") return GM_GAL;
-  if (sys === "C") return GM_BDS;
-  return GM_GPS;
+  if (sys === "E") return GM_GAL2;
+  if (sys === "C") return GM_BDS2;
+  return GM_GPS2;
 }
 var geoVelocityPass = false;
 function keplerPosition(eph, t) {
@@ -362,10 +536,10 @@ function selectBest(ephs, timeMs) {
   }
   return best;
 }
-var GPS_EPOCH_MS = START_GPS_TIME.getTime();
+var GPS_EPOCH_MS2 = START_GPS_TIME.getTime();
 var MS_PER_WEEK = 7 * 864e5;
 var BDS_EPOCH_MS = START_BDS_TIME.getTime();
-var GAL_EPOCH_MS = GPS_EPOCH_MS + 1024 * MS_PER_WEEK;
+var GAL_EPOCH_MS = GPS_EPOCH_MS2 + 1024 * MS_PER_WEEK;
 function ephInfoToEphemeris(info) {
   const sys = info.prn.charAt(0);
   if (sys === "R") {
@@ -416,8 +590,8 @@ function ephInfoToEphemeris(info) {
   } else if (sys === "E") {
     epochMs = GAL_EPOCH_MS;
   } else {
-    epochMs = GPS_EPOCH_MS;
-    const weeksNow = (info.lastReceived - GPS_EPOCH_MS) / MS_PER_WEEK;
+    epochMs = GPS_EPOCH_MS2;
+    const weeksNow = (info.lastReceived - GPS_EPOCH_MS2) / MS_PER_WEEK;
     week += 1024 * Math.round((weeksNow - week) / 1024);
   }
   const tocDate = new Date(epochMs + week * MS_PER_WEEK + tocSec * 1e3);
@@ -598,6 +772,10 @@ function computeVisibilityFromPositions(all, elevationMaskDeg = 10) {
 }
 
 export {
+  almanacEpochMs,
+  almanacSatPosition,
+  glonassAlmanacEpochMs,
+  glonassAlmanacPosition,
   keplerPosition,
   glonassPosition,
   rangeRate,