gnss-js 1.18.0 → 1.20.0

package/dist/sbf.cjs

@@ -21,7 +21,10 @@ var __toCommonJS = (mod) => __copyProps(__defProp({}, "__esModule", { value: tru
 var sbf_exports = {};
 __export(sbf_exports, {
   parseSbfAlmanac: () => parseSbfAlmanac,
+  parseSbfBdsNav: () => parseSbfBdsNav,
   parseSbfCnav: () => parseSbfCnav,
+  parseSbfGalNav: () => parseSbfGalNav,
+  parseSbfGloNav: () => parseSbfGloNav,
   parseSbfIonoUtc: () => parseSbfIonoUtc,
   parseSbfMeas: () => parseSbfMeas,
   parseSbfNav: () => parseSbfNav,
@@ -176,6 +179,11 @@ function getGpsLeap(date) {
   if (leap_seconds < 0) return 0;
   return leap_seconds - 19;
 }
+function getUtcDate(date) {
+  const tai_date = getTaiDate(date);
+  const leap_seconds = getLeap(date);
+  return new Date(tai_date.getTime() - leap_seconds * MILLISECONDS_IN_SECOND);
+}
 
 // src/sbf/nav.ts
 var PI = Math.PI;
@@ -768,10 +776,896 @@ function parseSbfCnav(data) {
   return { ephemerides, badCrc, messages };
 }
 
+// src/navbits/gal.ts
+var GPS_EPOCH_MS4 = Date.UTC(1980, 0, 6);
+var SEC_PER_WEEK4 = 7 * 86400;
+var HALF_WEEK2 = 302400;
+var GST_GPS_WEEK_OFFSET = 1024;
+function galInavPageCrcOk(page) {
+  if (page.length < 28) return false;
+  return crc24q(page, 196) === getBitU(page, 196, 24);
+}
+function galFnavPageCrcOk(page) {
+  if (page.length < 30) return false;
+  return crc24q(page, 214) === getBitU(page, 214, 24);
+}
+function gpsDate2(week, sec) {
+  return new Date(GPS_EPOCH_MS4 + (week * SEC_PER_WEEK4 + sec) * 1e3);
+}
+function weekOfToe(week, tow, toe) {
+  if (toe - tow > HALF_WEEK2) return week - 1;
+  if (toe - tow < -HALF_WEEK2) return week + 1;
+  return week;
+}
+var two2 = (n) => String(n).padStart(2, "0");
+function decodeGalInavWords(words) {
+  if (words.length < 96) return null;
+  const b = words;
+  let i = 128;
+  const type1 = getBitU(b, i, 6);
+  i += 6;
+  const iodNav1 = getBitU(b, i, 10);
+  i += 10;
+  const toes = getBitU(b, i, 14) * 60;
+  i += 14;
+  const m0 = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
+  i += 32;
+  const e = getBitU(b, i, 32) * 2 ** -33;
+  i += 32;
+  const sqrtA = getBitU(b, i, 32) * 2 ** -19;
+  i = 128 * 2;
+  const type2 = getBitU(b, i, 6);
+  i += 6;
+  const iodNav2 = getBitU(b, i, 10);
+  i += 10;
+  const omega0 = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
+  i += 32;
+  const i0 = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
+  i += 32;
+  const omega = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
+  i += 32;
+  const idot = getBitS(b, i, 14) * 2 ** -43 * GPS_PI;
+  i = 128 * 3;
+  const type3 = getBitU(b, i, 6);
+  i += 6;
+  const iodNav3 = getBitU(b, i, 10);
+  i += 10;
+  const omegaDot = getBitS(b, i, 24) * 2 ** -43 * GPS_PI;
+  i += 24;
+  const deltaN = getBitS(b, i, 16) * 2 ** -43 * GPS_PI;
+  i += 16;
+  const cuc = getBitS(b, i, 16) * 2 ** -29;
+  i += 16;
+  const cus = getBitS(b, i, 16) * 2 ** -29;
+  i += 16;
+  const crc = getBitS(b, i, 16) * 2 ** -5;
+  i += 16;
+  const crs = getBitS(b, i, 16) * 2 ** -5;
+  i = 128 * 4;
+  const type4 = getBitU(b, i, 6);
+  i += 6;
+  const iodNav4 = getBitU(b, i, 10);
+  i += 10;
+  const svid = getBitU(b, i, 6);
+  i += 6;
+  const cic = getBitS(b, i, 16) * 2 ** -29;
+  i += 16;
+  const cis = getBitS(b, i, 16) * 2 ** -29;
+  i += 16;
+  const tocs = getBitU(b, i, 14) * 60;
+  i += 14;
+  const af0 = getBitS(b, i, 31) * 2 ** -34;
+  i += 31;
+  const af1 = getBitS(b, i, 21) * 2 ** -46;
+  i += 21;
+  const af2 = getBitS(b, i, 6) * 2 ** -59;
+  i = 128 * 5;
+  const type5 = getBitU(b, i, 6);
+  i += 6 + 11 + 11 + 14 + 5;
+  const bgdE5a = getBitS(b, i, 10) * 2 ** -32;
+  i += 10;
+  i += 10;
+  const e5bHs = getBitU(b, i, 2);
+  i += 2;
+  const e1bHs = getBitU(b, i, 2);
+  i += 2;
+  const e5bDvs = getBitU(b, i, 1);
+  i += 1;
+  const e1bDvs = getBitU(b, i, 1);
+  i += 1;
+  const gstWeek = getBitU(b, i, 12);
+  i += 12;
+  const tow = getBitU(b, i, 20);
+  if (type1 !== 1 || type2 !== 2 || type3 !== 3 || type4 !== 4 || type5 !== 5)
+    return null;
+  if (iodNav1 !== iodNav2 || iodNav1 !== iodNav3 || iodNav1 !== iodNav4)
+    return null;
+  if (svid < 1 || svid > 36) return null;
+  const week = weekOfToe(gstWeek, tow, toes) + GST_GPS_WEEK_OFFSET;
+  const tocDate = gpsDate2(week, tocs);
+  return {
+    system: "E",
+    prn: `E${two2(svid)}`,
+    toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK4,
+    tocDate,
+    af0,
+    af1,
+    af2,
+    iode: iodNav1,
+    crs,
+    deltaN,
+    m0,
+    cuc,
+    e,
+    cus,
+    sqrtA,
+    toe: toes,
+    cic,
+    omega0,
+    cis,
+    i0,
+    crc,
+    omega,
+    omegaDot,
+    idot,
+    week,
+    svHealth: e5bHs << 7 | e5bDvs << 6 | e1bHs << 1 | e1bDvs,
+    tgd: bgdE5a
+  };
+}
+function decodeGalFnavPages(pages) {
+  if (pages.length < 124) return null;
+  const b = pages;
+  let i = 0;
+  const type1 = getBitU(b, i, 6);
+  i += 6;
+  const svid = getBitU(b, i, 6);
+  i += 6;
+  const iodNav1 = getBitU(b, i, 10);
+  i += 10;
+  const tocs = getBitU(b, i, 14) * 60;
+  i += 14;
+  const af0 = getBitS(b, i, 31) * 2 ** -34;
+  i += 31;
+  const af1 = getBitS(b, i, 21) * 2 ** -46;
+  i += 21;
+  const af2 = getBitS(b, i, 6) * 2 ** -59;
+  i += 6;
+  i += 8 + 11 + 11 + 14 + 5;
+  const bgdE5a = getBitS(b, i, 10) * 2 ** -32;
+  i += 10;
+  const e5aHs = getBitU(b, i, 2);
+  i += 2;
+  const gstWeek = getBitU(b, i, 12);
+  i += 12;
+  const tow = getBitU(b, i, 20);
+  i += 20;
+  const e5aDvs = getBitU(b, i, 1);
+  i = 31 * 8;
+  const type2 = getBitU(b, i, 6);
+  i += 6;
+  const iodNav2 = getBitU(b, i, 10);
+  i += 10;
+  const m0 = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
+  i += 32;
+  const omegaDot = getBitS(b, i, 24) * 2 ** -43 * GPS_PI;
+  i += 24;
+  const e = getBitU(b, i, 32) * 2 ** -33;
+  i += 32;
+  const sqrtA = getBitU(b, i, 32) * 2 ** -19;
+  i += 32;
+  const omega0 = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
+  i += 32;
+  const idot = getBitS(b, i, 14) * 2 ** -43 * GPS_PI;
+  i = 62 * 8;
+  const type3 = getBitU(b, i, 6);
+  i += 6;
+  const iodNav3 = getBitU(b, i, 10);
+  i += 10;
+  const i0 = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
+  i += 32;
+  const omega = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
+  i += 32;
+  const deltaN = getBitS(b, i, 16) * 2 ** -43 * GPS_PI;
+  i += 16;
+  const cuc = getBitS(b, i, 16) * 2 ** -29;
+  i += 16;
+  const cus = getBitS(b, i, 16) * 2 ** -29;
+  i += 16;
+  const crc = getBitS(b, i, 16) * 2 ** -5;
+  i += 16;
+  const crs = getBitS(b, i, 16) * 2 ** -5;
+  i += 16;
+  const toes = getBitU(b, i, 14) * 60;
+  i = 93 * 8;
+  const type4 = getBitU(b, i, 6);
+  i += 6;
+  const iodNav4 = getBitU(b, i, 10);
+  i += 10;
+  const cic = getBitS(b, i, 16) * 2 ** -29;
+  i += 16;
+  const cis = getBitS(b, i, 16) * 2 ** -29;
+  if (type1 !== 1 || type2 !== 2 || type3 !== 3 || type4 !== 4) return null;
+  if (iodNav1 !== iodNav2 || iodNav1 !== iodNav3 || iodNav1 !== iodNav4)
+    return null;
+  if (svid < 1 || svid > 36) return null;
+  const week = weekOfToe(gstWeek, tow, toes) + GST_GPS_WEEK_OFFSET;
+  const tocDate = gpsDate2(week, tocs);
+  return {
+    system: "E",
+    prn: `E${two2(svid)}`,
+    toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK4,
+    tocDate,
+    af0,
+    af1,
+    af2,
+    iode: iodNav1,
+    crs,
+    deltaN,
+    m0,
+    cuc,
+    e,
+    cus,
+    sqrtA,
+    toe: toes,
+    cic,
+    omega0,
+    cis,
+    i0,
+    crc,
+    omega,
+    omegaDot,
+    idot,
+    week,
+    svHealth: e5aHs << 4 | e5aDvs << 3,
+    tgd: bgdE5a
+  };
+}
+var dedupKey = (eph) => `${eph.iode}:${eph.toe}:${eph.tocDate.getTime()}`;
+var GalInavAssembler = class {
+  sats = /* @__PURE__ */ new Map();
+  /**
+   * Push one I/NAV page pair for satellite `prn` (1-36): the 234-bit
+   * even+odd concatenation, even part first with its 6 tail bits
+   * removed, bit 0 = the even part's Even/Odd bit (≥ 17 bytes).
+   * Returns the newly completed ephemeris, or null. Pages that are
+   * not an even/odd nominal pair, alert pages and word types outside
+   * 1-5 are ignored.
+   */
+  push(prn, page) {
+    if (prn < 1 || prn > 36 || page.length < 17) return null;
+    if (getBitU(page, 0, 1) !== 0 || getBitU(page, 114, 1) !== 1) return null;
+    if (getBitU(page, 1, 1) === 1 || getBitU(page, 115, 1) === 1) return null;
+    const type = getBitU(page, 2, 6);
+    if (type < 1 || type > 5) return null;
+    let sat = this.sats.get(prn);
+    if (!sat) {
+      sat = { words: new Uint8Array(96) };
+      this.sats.set(prn, sat);
+    }
+    for (let k = 0; k < 14; k++)
+      sat.words[type * 16 + k] = getBitU(page, 2 + 8 * k, 8);
+    sat.words[type * 16 + 14] = getBitU(page, 116, 8);
+    sat.words[type * 16 + 15] = getBitU(page, 124, 8);
+    if (type !== 5) return null;
+    const eph = decodeGalInavWords(sat.words);
+    if (!eph || eph.prn !== `E${two2(prn)}`) return null;
+    const key = dedupKey(eph);
+    if (key === sat.lastKey) return null;
+    sat.lastKey = key;
+    return eph;
+  }
+};
+var GalFnavAssembler = class {
+  sats = /* @__PURE__ */ new Map();
+  /**
+   * Push one F/NAV page for satellite `prn` (1-36): 244 bits with the
+   * sync field stripped, bit 0 = first page-type bit (≥ 31 bytes).
+   * Returns the newly completed ephemeris, or null. Dummy pages
+   * (type 63) and page types outside 1-4 are ignored.
+   */
+  push(prn, page) {
+    if (prn < 1 || prn > 36 || page.length < 31) return null;
+    const type = getBitU(page, 0, 6);
+    if (type < 1 || type > 4) return null;
+    let sat = this.sats.get(prn);
+    if (!sat) {
+      sat = { words: new Uint8Array(124) };
+      this.sats.set(prn, sat);
+    }
+    sat.words.set(page.subarray(0, 31), (type - 1) * 31);
+    if (type !== 4) return null;
+    const eph = decodeGalFnavPages(sat.words);
+    if (!eph || eph.prn !== `E${two2(prn)}`) return null;
+    const key = dedupKey(eph);
+    if (key === sat.lastKey) return null;
+    sat.lastKey = key;
+    return eph;
+  }
+};
+
+// src/sbf/rawnav-gal.ts
+var INAV_SOURCES = [17, 21, 22];
+var FNAV_SOURCES = [20, 22];
+function parseSbfGalNav(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const ephemerides = [];
+  const inav = new GalInavAssembler();
+  const fnav = new GalFnavAssembler();
+  let badCrc = 0;
+  let messages = 0;
+  scanSbfFrames(data, view, (id, b, len) => {
+    if (id !== 4022 && id !== 4023 || len < 52) return;
+    messages++;
+    const prnStr = svidToPrn(data[b + 14]);
+    if (!prnStr || prnStr[0] !== "E") return;
+    const prn = parseInt(prnStr.slice(1), 10);
+    const source = data[b + 17] & 31;
+    const page = new Uint8Array(32);
+    for (let k = 0; k < 8; k++) {
+      const w = view.getUint32(b + 20 + 4 * k, true);
+      page[4 * k] = w >>> 24;
+      page[4 * k + 1] = w >>> 16 & 255;
+      page[4 * k + 2] = w >>> 8 & 255;
+      page[4 * k + 3] = w & 255;
+    }
+    let eph;
+    let src;
+    if (id === 4023) {
+      src = "inav";
+      if (!INAV_SOURCES.includes(source)) return;
+      if (getBitU2(page, 0) !== 0 || getBitU2(page, 114) !== 1) return;
+      if (!galInavPageCrcOk(page)) {
+        badCrc++;
+        return;
+      }
+      eph = inav.push(prn, page);
+    } else {
+      src = "fnav";
+      if (!FNAV_SOURCES.includes(source)) return;
+      if (isFnavDummy(page)) return;
+      if (!galFnavPageCrcOk(page)) {
+        badCrc++;
+        return;
+      }
+      eph = fnav.push(prn, page);
+    }
+    if (eph) ephemerides.push({ ...eph, source: src });
+  });
+  return { ephemerides, badCrc, messages };
+}
+function getBitU2(buff, pos) {
+  return buff[pos >> 3] >> 7 - (pos & 7) & 1;
+}
+function isFnavDummy(page) {
+  return page[0] >> 2 === 63;
+}
+
+// src/navbits/bds.ts
+var BDT_EPOCH_MS2 = Date.UTC(2006, 0, 1);
+var SEC_PER_WEEK5 = 7 * 86400;
+var MS_PER_WEEK2 = SEC_PER_WEEK5 * 1e3;
+var HALF_WEEK3 = 302400;
+var sowOf2 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK5;
+var BDS_SUBFRAME_BYTES = 38;
+function getBitU22(b, p1, l1, p2, l2) {
+  return getBitU(b, p1, l1) * 2 ** l2 + getBitU(b, p2, l2);
+}
+function getBitS2(b, p1, l1, p2, l2) {
+  return getBitS(b, p1, l1) * 2 ** l2 + getBitU(b, p2, l2);
+}
+function getBitU3(b, p1, l1, p2, l2, p3, l3) {
+  return getBitU(b, p1, l1) * 2 ** (l2 + l3) + getBitU(b, p2, l2) * 2 ** l3 + getBitU(b, p3, l3);
+}
+function getBitS3(b, p1, l1, p2, l2, p3, l3) {
+  return getBitS(b, p1, l1) * 2 ** (l2 + l3) + getBitU(b, p2, l2) * 2 ** l3 + getBitU(b, p3, l3);
+}
+var mergeS = (hi, lo, n) => hi * 2 ** n + lo;
+function bchOk(cw) {
+  for (let i = 14; i >= 4; i--) {
+    if (cw & 1 << i) cw ^= 19 << i - 4;
+  }
+  return cw === 0;
+}
+function bdsSubframeParityOk(subframe) {
+  if (subframe.length < BDS_SUBFRAME_BYTES) return false;
+  if (!bchOk(getBitU(subframe, 15, 15))) return false;
+  for (let w = 1; w < 10; w++) {
+    const base = 30 * w;
+    const cw1 = getBitU(subframe, base, 11) * 16 + getBitU(subframe, base + 22, 4);
+    const cw2 = getBitU(subframe, base + 11, 11) * 16 + getBitU(subframe, base + 26, 4);
+    if (!bchOk(cw1) || !bchOk(cw2)) return false;
+  }
+  return true;
+}
+function buildBdsEphemeris(prn, f) {
+  let week = f.week;
+  if (f.toes < f.sow - HALF_WEEK3) week++;
+  else if (f.toes > f.sow + HALF_WEEK3) week--;
+  const tocDate = new Date(BDT_EPOCH_MS2 + week * MS_PER_WEEK2 + f.tocSec * 1e3);
+  return {
+    system: "C",
+    prn,
+    toc: sowOf2(tocDate.getTime()),
+    tocDate,
+    af0: f.af0,
+    af1: f.af1,
+    af2: f.af2,
+    // AODE is not in the ephemeris subframes; RTKLIB derives the RINEX
+    // IODE/AODE slot from toc per the BDS ICD update schedule.
+    iode: Math.floor(f.tocSec / 720) % 240,
+    crs: f.crs,
+    deltaN: f.deltaN,
+    m0: f.m0,
+    cuc: f.cuc,
+    e: f.e,
+    cus: f.cus,
+    sqrtA: f.sqrtA,
+    toe: f.toes,
+    cic: f.cic,
+    omega0: f.omega0,
+    cis: f.cis,
+    i0: f.i0,
+    crc: f.crc,
+    omega: f.omega,
+    omegaDot: f.omegaDot,
+    idot: f.idot,
+    week,
+    // RINEX BDS week field is the BDT week of toe
+    svHealth: f.svh,
+    // SatH1
+    tgd: f.tgd1
+    // TGD1 (B1) — RINEX slot
+  };
+}
+function decodeBdsD1Frame(subframes, opts = {}) {
+  if (subframes.length < 3 * BDS_SUBFRAME_BYTES) return null;
+  const b = subframes;
+  let i = 8 * 38 * 0;
+  const frn1 = getBitU(b, i + 15, 3);
+  const sow1 = getBitU22(b, i + 18, 8, i + 30, 12);
+  const svh = getBitU(b, i + 42, 1);
+  const week = getBitU(b, i + 60, 13);
+  const tocSec = getBitU22(b, i + 73, 9, i + 90, 8) * 8;
+  const tgd1 = getBitS(b, i + 98, 10) * 0.1 * 1e-9;
+  const af2 = getBitS(b, i + 214, 11) * 2 ** -66;
+  const af0 = getBitS2(b, i + 225, 7, i + 240, 17) * 2 ** -33;
+  const af1 = getBitS2(b, i + 257, 5, i + 270, 17) * 2 ** -50;
+  i = 8 * 38 * 1;
+  const frn2 = getBitU(b, i + 15, 3);
+  const sow2 = getBitU22(b, i + 18, 8, i + 30, 12);
+  const deltaN = getBitS2(b, i + 42, 10, i + 60, 6) * 2 ** -43 * GPS_PI;
+  const cuc = getBitS2(b, i + 66, 16, i + 90, 2) * 2 ** -31;
+  const m0 = getBitS2(b, i + 92, 20, i + 120, 12) * 2 ** -31 * GPS_PI;
+  const e = getBitU22(b, i + 132, 10, i + 150, 22) * 2 ** -33;
+  const cus = getBitS(b, i + 180, 18) * 2 ** -31;
+  const crc = getBitS2(b, i + 198, 4, i + 210, 14) * 2 ** -6;
+  const crs = getBitS2(b, i + 224, 8, i + 240, 10) * 2 ** -6;
+  const sqrtA = getBitU22(b, i + 250, 12, i + 270, 20) * 2 ** -19;
+  const toe1 = getBitU(b, i + 290, 2);
+  i = 8 * 38 * 2;
+  const frn3 = getBitU(b, i + 15, 3);
+  const sow3 = getBitU22(b, i + 18, 8, i + 30, 12);
+  const toe2 = getBitU22(b, i + 42, 10, i + 60, 5);
+  const i0 = getBitS2(b, i + 65, 17, i + 90, 15) * 2 ** -31 * GPS_PI;
+  const cic = getBitS2(b, i + 105, 7, i + 120, 11) * 2 ** -31;
+  const omegaDot = getBitS2(b, i + 131, 11, i + 150, 13) * 2 ** -43 * GPS_PI;
+  const cis = getBitS2(b, i + 163, 9, i + 180, 9) * 2 ** -31;
+  const idot = getBitS2(b, i + 189, 13, i + 210, 1) * 2 ** -43 * GPS_PI;
+  const omega0 = getBitS2(b, i + 211, 21, i + 240, 11) * 2 ** -31 * GPS_PI;
+  const omega = getBitS2(b, i + 251, 11, i + 270, 21) * 2 ** -31 * GPS_PI;
+  const toes = (toe1 * 2 ** 15 + toe2) * 8;
+  if (frn1 !== 1 || frn2 !== 2 || frn3 !== 3) return null;
+  if (sow2 !== sow1 + 6 || sow3 !== sow2 + 6) return null;
+  if (tocSec !== toes) return null;
+  return buildBdsEphemeris(opts.prn ?? "C00", {
+    week,
+    sow: sow1,
+    toes,
+    tocSec,
+    svh,
+    tgd1,
+    af0,
+    af1,
+    af2,
+    crs,
+    deltaN,
+    m0,
+    cuc,
+    e,
+    cus,
+    sqrtA,
+    cic,
+    omega0,
+    cis,
+    i0,
+    crc,
+    omega,
+    omegaDot,
+    idot
+  });
+}
+function decodeBdsD2Frame(pages, opts = {}) {
+  if (pages.length < 10 * BDS_SUBFRAME_BYTES) return null;
+  const b = pages;
+  let i = 8 * 38 * 0;
+  const pgn1 = getBitU(b, i + 42, 4);
+  const sow1 = getBitU22(b, i + 18, 8, i + 30, 12);
+  const svh = getBitU(b, i + 46, 1);
+  const week = getBitU(b, i + 64, 13);
+  const tocSec = getBitU22(b, i + 77, 5, i + 90, 12) * 8;
+  const tgd1 = getBitS(b, i + 102, 10) * 0.1 * 1e-9;
+  i = 8 * 38 * 2;
+  const pgn3 = getBitU(b, i + 42, 4);
+  const sow3 = getBitU22(b, i + 18, 8, i + 30, 12);
+  const af0 = getBitS2(b, i + 100, 12, i + 120, 12) * 2 ** -33;
+  const af1p3 = getBitS(b, i + 132, 4);
+  i = 8 * 38 * 3;
+  const pgn4 = getBitU(b, i + 42, 4);
+  const sow4 = getBitU22(b, i + 18, 8, i + 30, 12);
+  const af1p4 = getBitU22(b, i + 46, 6, i + 60, 12);
+  const af2 = getBitS2(b, i + 72, 10, i + 90, 1) * 2 ** -66;
+  const deltaN = getBitS(b, i + 96, 16) * 2 ** -43 * GPS_PI;
+  const cucp4 = getBitS(b, i + 120, 14);
+  i = 8 * 38 * 4;
+  const pgn5 = getBitU(b, i + 42, 4);
+  const sow5 = getBitU22(b, i + 18, 8, i + 30, 12);
+  const cucp5 = getBitU(b, i + 46, 4);
+  const m0 = getBitS3(b, i + 50, 2, i + 60, 22, i + 90, 8) * 2 ** -31 * GPS_PI;
+  const cus = getBitS2(b, i + 98, 14, i + 120, 4) * 2 ** -31;
+  const ep5 = getBitS(b, i + 124, 10);
+  i = 8 * 38 * 5;
+  const pgn6 = getBitU(b, i + 42, 4);
+  const sow6 = getBitU22(b, i + 18, 8, i + 30, 12);
+  const ep6 = getBitU22(b, i + 46, 6, i + 60, 16);
+  const sqrtA = getBitU3(b, i + 76, 6, i + 90, 22, i + 120, 4) * 2 ** -19;
+  const cicp6 = getBitS(b, i + 124, 10);
+  i = 8 * 38 * 6;
+  const pgn7 = getBitU(b, i + 42, 4);
+  const sow7 = getBitU22(b, i + 18, 8, i + 30, 12);
+  const cicp7 = getBitU22(b, i + 46, 6, i + 60, 2);
+  const cis = getBitS(b, i + 62, 18) * 2 ** -31;
+  const toes = getBitU22(b, i + 80, 2, i + 90, 15) * 8;
+  const i0p7 = getBitS2(b, i + 105, 7, i + 120, 14);
+  i = 8 * 38 * 7;
+  const pgn8 = getBitU(b, i + 42, 4);
+  const sow8 = getBitU22(b, i + 18, 8, i + 30, 12);
+  const i0p8 = getBitU22(b, i + 46, 6, i + 60, 5);
+  const crc = getBitS2(b, i + 65, 17, i + 90, 1) * 2 ** -6;
+  const crs = getBitS(b, i + 91, 18) * 2 ** -6;
+  const omegaDotP8 = getBitS2(b, i + 109, 3, i + 120, 16);
+  i = 8 * 38 * 8;
+  const pgn9 = getBitU(b, i + 42, 4);
+  const sow9 = getBitU22(b, i + 18, 8, i + 30, 12);
+  const omegaDotP9 = getBitU(b, i + 46, 5);
+  const omega0 = getBitS3(b, i + 51, 1, i + 60, 22, i + 90, 9) * 2 ** -31 * GPS_PI;
+  const omegaP9 = getBitS2(b, i + 99, 13, i + 120, 14);
+  i = 8 * 38 * 9;
+  const pgn10 = getBitU(b, i + 42, 4);
+  const sow10 = getBitU22(b, i + 18, 8, i + 30, 12);
+  const omegaP10 = getBitU(b, i + 46, 5);
+  const idot = getBitS2(b, i + 51, 1, i + 60, 13) * 2 ** -43 * GPS_PI;
+  if (pgn1 !== 1 || pgn3 !== 3 || pgn4 !== 4 || pgn5 !== 5 || pgn6 !== 6 || pgn7 !== 7 || pgn8 !== 8 || pgn9 !== 9 || pgn10 !== 10) {
+    return null;
+  }
+  if (sow3 !== sow1 + 6 || sow4 !== sow3 + 3 || sow5 !== sow4 + 3 || sow6 !== sow5 + 3 || sow7 !== sow6 + 3 || sow8 !== sow7 + 3 || sow9 !== sow8 + 3 || sow10 !== sow9 + 3) {
+    return null;
+  }
+  if (tocSec !== toes) return null;
+  return buildBdsEphemeris(opts.prn ?? "C00", {
+    week,
+    sow: sow1,
+    toes,
+    tocSec,
+    svh,
+    tgd1,
+    af0,
+    af1: mergeS(af1p3, af1p4, 18) * 2 ** -50,
+    af2,
+    crs,
+    deltaN,
+    m0,
+    cuc: mergeS(cucp4, cucp5, 4) * 2 ** -31,
+    e: mergeS(ep5, ep6, 22) * 2 ** -33,
+    cus,
+    sqrtA,
+    cic: mergeS(cicp6, cicp7, 8) * 2 ** -31,
+    omega0,
+    cis,
+    i0: mergeS(i0p7, i0p8, 11) * 2 ** -31 * GPS_PI,
+    crc,
+    omega: mergeS(omegaP9, omegaP10, 5) * 2 ** -31 * GPS_PI,
+    omegaDot: mergeS(omegaDotP8, omegaDotP9, 5) * 2 ** -43 * GPS_PI,
+    idot
+  });
+}
+function isBdsGeoPrn(prn) {
+  return prn < 6 || prn > 58;
+}
+var BdsAssembler = class {
+  sats = /* @__PURE__ */ new Map();
+  /**
+   * Push one 300-bit subframe (38+ bytes, bit 0 = first bit of the
+   * preamble) for the satellite `prn` ("C06"). Returns the newly
+   * completed ephemeris, or null.
+   */
+  push(prn, subframe) {
+    if (subframe.length < BDS_SUBFRAME_BYTES) return null;
+    const num = parseInt(prn.slice(1), 10);
+    if (!Number.isFinite(num) || num < 1 || num > 63) return null;
+    const id = getBitU(subframe, 15, 3);
+    if (id < 1 || id > 5) return null;
+    let sat = this.sats.get(prn);
+    if (!sat) {
+      sat = { buf: new Uint8Array(10 * BDS_SUBFRAME_BYTES) };
+      this.sats.set(prn, sat);
+    }
+    let eph = null;
+    if (!isBdsGeoPrn(num)) {
+      sat.buf.set(subframe.subarray(0, BDS_SUBFRAME_BYTES), (id - 1) * 38);
+      if (id === 3) eph = decodeBdsD1Frame(sat.buf, { prn });
+    } else {
+      if (id !== 1) return null;
+      const pgn = getBitU(subframe, 42, 4);
+      if (pgn < 1 || pgn > 10) return null;
+      sat.buf.set(subframe.subarray(0, BDS_SUBFRAME_BYTES), (pgn - 1) * 38);
+      if (pgn === 10) eph = decodeBdsD2Frame(sat.buf, { prn });
+    }
+    if (!eph) return null;
+    const key = `${eph.week}:${eph.toe}`;
+    if (key === sat.lastKey) return null;
+    sat.lastKey = key;
+    return eph;
+  }
+};
+
+// src/navbits/glo.ts
+var GPS_EPOCH_MS5 = Date.UTC(1980, 0, 6);
+var SEC_PER_WEEK6 = 7 * 86400;
+var SEC_PER_DAY = 86400;
+var GLO_STRING_BYTES = 10;
+function getBitG(b, pos, len) {
+  const value = getBitU(b, pos + 1, len - 1);
+  return getBitU(b, pos, 1) && value !== 0 ? -value : value;
+}
+var HAMMING_MASKS = [
+  [85, 85, 90, 170, 170, 170, 181, 85, 106, 216, 8],
+  [102, 102, 108, 204, 204, 204, 217, 153, 179, 104, 16],
+  [135, 135, 143, 15, 15, 15, 30, 30, 60, 112, 32],
+  [7, 248, 15, 240, 15, 240, 31, 224, 63, 128, 64],
+  [248, 0, 15, 255, 240, 0, 31, 255, 192, 0, 128],
+  [0, 0, 15, 255, 255, 255, 224, 0, 0, 1, 0],
+  [255, 255, 240, 0, 0, 0, 0, 0, 0, 2, 0],
+  [255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 248]
+];
+function testGloString(buff) {
+  if (buff.length < 11) return false;
+  let n = 0;
+  let cs = 0;
+  for (const mask of HAMMING_MASKS) {
+    cs = 0;
+    for (let j = 0; j < 11; j++) {
+      let x = buff[j] & mask[j];
+      x ^= x >> 4;
+      x ^= x >> 2;
+      x ^= x >> 1;
+      cs ^= x & 1;
+    }
+    if (cs) n++;
+  }
+  return n === 0 || n === 2 && cs === 1;
+}
+function decodeGloStrings(strings, refDate, opts = {}) {
+  if (strings.length < 4 * GLO_STRING_BYTES) return null;
+  const b = strings;
+  let i = 1;
+  const frn1 = getBitU(b, i, 4);
+  i += 4 + 2;
+  i += 2;
+  const tkH = getBitU(b, i, 5);
+  i += 5;
+  const tkM = getBitU(b, i, 6);
+  i += 6;
+  const tkS = getBitU(b, i, 1) * 30;
+  i += 1;
+  const xDot = getBitG(b, i, 24) * 2 ** -20;
+  i += 24;
+  const xAcc = getBitG(b, i, 5) * 2 ** -30;
+  i += 5;
+  const x = getBitG(b, i, 27) * 2 ** -11;
+  i = 80 + 1;
+  const frn2 = getBitU(b, i, 4);
+  i += 4;
+  const bn = getBitU(b, i, 1);
+  i += 1 + 2;
+  i += 1;
+  const tb = getBitU(b, i, 7);
+  i += 7 + 5;
+  const yDot = getBitG(b, i, 24) * 2 ** -20;
+  i += 24;
+  const yAcc = getBitG(b, i, 5) * 2 ** -30;
+  i += 5;
+  const y = getBitG(b, i, 27) * 2 ** -11;
+  i = 160 + 1;
+  const frn3 = getBitU(b, i, 4);
+  i += 4;
+  i += 1;
+  const gammaN = getBitG(b, i, 11) * 2 ** -40;
+  i += 11 + 1;
+  i += 2;
+  i += 1;
+  const zDot = getBitG(b, i, 24) * 2 ** -20;
+  i += 24;
+  const zAcc = getBitG(b, i, 5) * 2 ** -30;
+  i += 5;
+  const z = getBitG(b, i, 27) * 2 ** -11;
+  i = 240 + 1;
+  const frn4 = getBitU(b, i, 4);
+  i += 4;
+  const tauN = getBitG(b, i, 22) * 2 ** -30;
+  i += 22;
+  i += 5;
+  i += 5;
+  i += 14;
+  i += 1;
+  i += 4;
+  i += 3;
+  i += 11;
+  const slot = getBitU(b, i, 5);
+  if (frn1 !== 1 || frn2 !== 2 || frn3 !== 3 || frn4 !== 4) return null;
+  if (slot < 1 || slot > 27) return null;
+  const utcSec = (getUtcDate(refDate).getTime() - GPS_EPOCH_MS5) / 1e3;
+  const week = Math.floor(utcSec / SEC_PER_WEEK6);
+  let tow = utcSec - week * SEC_PER_WEEK6;
+  const tod = tow % SEC_PER_DAY;
+  tow -= tod;
+  let tof = tkH * 3600 + tkM * 60 + tkS - 10800;
+  if (tof < tod - 43200) tof += SEC_PER_DAY;
+  else if (tof > tod + 43200) tof -= SEC_PER_DAY;
+  let toe = tb * 900 - 10800;
+  if (toe < tod - 43200) toe += SEC_PER_DAY;
+  else if (toe > tod + 43200) toe -= SEC_PER_DAY;
+  return {
+    system: "R",
+    prn: `R${String(slot).padStart(2, "0")}`,
+    // RINEX GLONASS epochs are UTC: build the UTC toe Date directly.
+    tocDate: new Date(GPS_EPOCH_MS5 + (week * SEC_PER_WEEK6 + tow + toe) * 1e3),
+    tauN: -tauN,
+    // RINEX stores −τn; the SIS carries τn (ICD sign)
+    gammaN,
+    // v3 message frame time: seconds of the UTC week (RTKLIB tof).
+    messageFrameTime: ((tow + tof) % SEC_PER_WEEK6 + SEC_PER_WEEK6) % SEC_PER_WEEK6,
+    x,
+    xDot,
+    xAcc,
+    y,
+    yDot,
+    yAcc,
+    z,
+    zDot,
+    zAcc,
+    // MSB of the 3-bit Bn word — the unhealthy flag RINEX carries
+    health: bn,
+    freqNum: opts.freqNum ?? 0
+  };
+}
+var GloStringAssembler = class {
+  sats = /* @__PURE__ */ new Map();
+  /**
+   * Push one navigation string (10+ bytes, bit 0 = string bit 85) for
+   * the satellite `prn` ("R09"), received at the GPS-scale `time`.
+   * Returns the newly completed ephemeris, or null. The decoded
+   * string-4 slot number must match `prn`, or nothing is emitted.
+   */
+  push(prn, str, time, freqNum = 0) {
+    if (str.length < GLO_STRING_BYTES) return null;
+    const m = getBitU(str, 1, 4);
+    if (m < 1) return null;
+    const sec = Math.floor(time.getTime() / 1e3);
+    let sat = this.sats.get(prn);
+    if (!sat) {
+      sat = { buf: new Uint8Array(4 * GLO_STRING_BYTES), batchSec: sec };
+      this.sats.set(prn, sat);
+    } else if (Math.abs(sec - sat.batchSec) > 30) {
+      sat.buf.fill(0);
+      sat.batchSec = sec;
+    }
+    if (m > 4) return null;
+    sat.buf.set(str.subarray(0, GLO_STRING_BYTES), (m - 1) * 10);
+    if (m !== 4) return null;
+    const eph = decodeGloStrings(sat.buf, time, { freqNum });
+    if (!eph || eph.prn !== prn) return null;
+    const key = `${eph.tocDate.getTime()}:${eph.health}`;
+    if (key === sat.lastKey) return null;
+    sat.lastKey = key;
+    return eph;
+  }
+};
+
+// src/sbf/rawnav-bds.ts
+var GPS_EPOCH_MS6 = Date.UTC(1980, 0, 6);
+var MS_PER_WEEK3 = 7 * 86400 * 1e3;
+var TOW_DNU = 4294967295;
+var WNC_DNU = 65535;
+function parseSbfBdsNav(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const ephemerides = [];
+  const assembler = new BdsAssembler();
+  let badCrc = 0;
+  let messages = 0;
+  scanSbfFrames(data, view, (id, b, len) => {
+    if (id !== 4047 || len < 60) return;
+    messages++;
+    const prn = svidToPrn(view.getUint8(b + 14));
+    if (!prn || prn[0] !== "C") return;
+    const sf = new Uint8Array(38);
+    for (let k = 0; k < 10; k++) {
+      const w = view.getUint32(b + 20 + 4 * k, true);
+      sf[4 * k] = w >>> 24;
+      if (k < 9) {
+        sf[4 * k + 1] = w >>> 16 & 255;
+        sf[4 * k + 2] = w >>> 8 & 255;
+        sf[4 * k + 3] = w & 255;
+      } else {
+        sf[37] = w >>> 16 & 240;
+      }
+    }
+    if (!bdsSubframeParityOk(sf)) {
+      badCrc++;
+      return;
+    }
+    const eph = assembler.push(prn, sf);
+    if (eph) ephemerides.push(eph);
+  });
+  return { ephemerides, badCrc, messages };
+}
+function parseSbfGloNav(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const ephemerides = [];
+  const assembler = new GloStringAssembler();
+  let badCrc = 0;
+  let messages = 0;
+  scanSbfFrames(data, view, (id, b, len) => {
+    if (id !== 4026 || len < 32) return;
+    messages++;
+    const prn = svidToPrn(view.getUint8(b + 14));
+    if (!prn || prn[0] !== "R") return;
+    const towMs = view.getUint32(b + 8, true);
+    const wnc = view.getUint16(b + 12, true);
+    if (towMs === TOW_DNU || wnc === WNC_DNU) return;
+    const str = new Uint8Array(11);
+    for (let k = 0; k < 3; k++) {
+      const w = view.getUint32(b + 20 + 4 * k, true);
+      str[4 * k] = w >>> 24;
+      if (k < 2) {
+        str[4 * k + 1] = w >>> 16 & 255;
+        str[4 * k + 2] = w >>> 8 & 255;
+        str[4 * k + 3] = w & 255;
+      } else {
+        str[9] = w >>> 16 & 255;
+        str[10] = w >>> 8 & 248;
+      }
+    }
+    if (!testGloString(str)) {
+      badCrc++;
+      return;
+    }
+    const eph = assembler.push(
+      prn,
+      str,
+      new Date(GPS_EPOCH_MS6 + wnc * MS_PER_WEEK3 + towMs),
+      view.getUint8(b + 18) - 8
+      // FreqNr, offset by 8
+    );
+    if (eph) ephemerides.push(eph);
+  });
+  return { ephemerides, badCrc, messages };
+}
+
 // src/sbf/index.ts
 var CLIGHT = 299792458;
-var GPS_EPOCH_MS4 = Date.UTC(1980, 0, 6);
-var MS_PER_WEEK2 = 7 * 864e5;
+var GPS_EPOCH_MS7 = 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];
 var M3_INTERVALS = [
@@ -870,23 +1764,23 @@ var MEAS2_SIG = [
   ["J", "1E"],
   ["J", "5P"]
 ];
-var two2 = (n) => String(n).padStart(2, "0");
+var two3 = (n) => String(n).padStart(2, "0");
 function m3Prn(navsys, svid) {
   switch (navsys) {
     case 0:
-      return svid < 32 ? `G${two2(svid + 1)}` : null;
+      return svid < 32 ? `G${two3(svid + 1)}` : null;
     case 1:
-      return svid < 27 ? `R${two2(svid + 1)}` : null;
+      return svid < 27 ? `R${two3(svid + 1)}` : null;
     case 2:
-      return svid < 36 ? `E${two2(svid + 1)}` : null;
+      return svid < 36 ? `E${two3(svid + 1)}` : null;
     case 3:
-      return svid < 50 ? `C${two2(svid + 1)}` : null;
+      return svid < 50 ? `C${two3(svid + 1)}` : null;
     case 4:
-      return svid <= 38 ? `S${two2(svid + 20)}` : null;
+      return svid <= 38 ? `S${two3(svid + 20)}` : null;
     case 5:
-      return svid < 10 ? `J${two2(svid + 1)}` : null;
+      return svid < 10 ? `J${two3(svid + 1)}` : null;
     case 6:
-      return svid < 14 ? `I${two2(svid + 1)}` : null;
+      return svid < 14 ? `I${two3(svid + 1)}` : null;
     default:
       return null;
   }
@@ -1424,7 +2318,7 @@ 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_WEEK2 + tow);
+        ensureEpoch(GPS_EPOCH_MS7 + 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);
@@ -1438,7 +2332,10 @@ function parseSbfMeas(data) {
 // Annotate the CommonJS export names for ESM import in node:
 0 && (module.exports = {
   parseSbfAlmanac,
+  parseSbfBdsNav,
   parseSbfCnav,
+  parseSbfGalNav,
+  parseSbfGloNav,
   parseSbfIonoUtc,
   parseSbfMeas,
   parseSbfNav,