gnss-js 1.2.0 → 1.3.1

package/README.md

@@ -51,6 +51,16 @@ const { distance } = vincenty(
 // distance in meters, angles in radians
 ```
 
+### Visibility / pass prediction
+
+```ts
+import { computeVisibility } from 'gnss-js/orbit';
+
+const vis = computeVisibility(ephemerides, rxEcef, startMs, endMs, 300, 10);
+// vis.passes: rise/peak/set per satellite; vis.pdop / vis.visibleCount
+// per epoch; vis.elevation[prn]: elevation timeline for plotting.
+```
+
 ### Single-point positioning
 
 ```ts

package/dist/chunk-4KOXMHUW.js

@@ -0,0 +1,223 @@
+// src/frames/index.ts
+var H = (t, d, r, tDot, dDot, rDot, epoch) => ({ t, d, r, tDot, dDot, rDot, epoch });
+var Z = [0, 0, 0];
+var FROM_ITRF2020 = {
+  ITRF2014: H([-1.4, -0.9, 1.4], -0.42, Z, [0, -0.1, 0.2], 0, Z, 2015),
+  ITRF2008: H([0.2, 1, 3.3], -0.29, Z, [0, -0.1, 0.1], 0.03, Z, 2015),
+  ITRF2005: H([2.7, 0.1, -1.4], 0.65, Z, [0.3, -0.1, 0.1], 0.03, Z, 2015),
+  ITRF2000: H([-0.2, 0.8, -34.2], 2.25, Z, [0.1, 0, -1.7], 0.11, Z, 2015),
+  ITRF97: H(
+    [6.5, -3.9, -77.9],
+    3.98,
+    [0, 0, 0.36],
+    [0.1, -0.6, -3.1],
+    0.12,
+    [0, 0, 0.02],
+    2015
+  ),
+  ITRF96: H(
+    [6.5, -3.9, -77.9],
+    3.98,
+    [0, 0, 0.36],
+    [0.1, -0.6, -3.1],
+    0.12,
+    [0, 0, 0.02],
+    2015
+  ),
+  ITRF94: H(
+    [6.5, -3.9, -77.9],
+    3.98,
+    [0, 0, 0.36],
+    [0.1, -0.6, -3.1],
+    0.12,
+    [0, 0, 0.02],
+    2015
+  ),
+  ITRF93: H(
+    [-65.8, 1.9, -71.3],
+    4.47,
+    [-3.36, -4.33, 0.75],
+    [-2.8, -0.2, -2.3],
+    0.12,
+    [-0.11, -0.19, 0.07],
+    2015
+  ),
+  ITRF92: H(
+    [14.5, -1.9, -85.9],
+    3.27,
+    [0, 0, 0.36],
+    [0.1, -0.6, -3.1],
+    0.12,
+    [0, 0, 0.02],
+    2015
+  ),
+  ITRF91: H(
+    [26.5, 12.1, -91.9],
+    4.67,
+    [0, 0, 0.36],
+    [0.1, -0.6, -3.1],
+    0.12,
+    [0, 0, 0.02],
+    2015
+  ),
+  ITRF90: H(
+    [24.5, 8.1, -107.9],
+    4.97,
+    [0, 0, 0.36],
+    [0.1, -0.6, -3.1],
+    0.12,
+    [0, 0, 0.02],
+    2015
+  ),
+  ITRF89: H(
+    [29.5, 32.1, -145.9],
+    8.37,
+    [0, 0, 0.36],
+    [0.1, -0.6, -3.1],
+    0.12,
+    [0, 0, 0.02],
+    2015
+  ),
+  ITRF88: H(
+    [24.5, -3.9, -169.9],
+    11.47,
+    [0.1, 0, 0.36],
+    [0.1, -0.6, -3.1],
+    0.12,
+    [0, 0, 0.02],
+    2015
+  ),
+  /** ITRF2020 → ETRF2020, EPSG:10572 (epoch-1989 variant) */
+  ETRF2020: H(Z, 0, Z, Z, 0, [0.086, 0.519, -0.753], 1989)
+};
+var ITRF2014_TO_ETRF2014 = H(Z, 0, Z, Z, 0, [0.085, 0.531, -0.77], 1989);
+var ITRF2014_TO_ETRF2000 = H(
+  [54.7, 52.2, -74.1],
+  2.12,
+  [1.701, 10.29, -16.632],
+  [0.1, 0.1, -1.9],
+  0.11,
+  [0.081, 0.49, -0.792],
+  2010
+);
+var ITRF2014_TO_NAD83_2011 = H(
+  [1005.3, -1909.21, -541.57],
+  0.36891,
+  [-26.78138, 0.42027, -10.93206],
+  [0.79, -0.6, -1.44],
+  -0.07201,
+  [-0.06667, 0.75744, 0.05133],
+  2010
+);
+var MAS_TO_RAD = Math.PI / (180 * 3600 * 1e3);
+function applyHelmert(xyz, p, epoch, inverse = false) {
+  const dt = epoch - p.epoch;
+  const sign = inverse ? -1 : 1;
+  const tx = sign * (p.t[0] + p.tDot[0] * dt) / 1e3;
+  const ty = sign * (p.t[1] + p.tDot[1] * dt) / 1e3;
+  const tz = sign * (p.t[2] + p.tDot[2] * dt) / 1e3;
+  const d = sign * (p.d + p.dDot * dt) * 1e-9;
+  const rx = sign * (p.r[0] + p.rDot[0] * dt) * MAS_TO_RAD;
+  const ry = sign * (p.r[1] + p.rDot[1] * dt) * MAS_TO_RAD;
+  const rz = sign * (p.r[2] + p.rDot[2] * dt) * MAS_TO_RAD;
+  const [x, y, z] = xyz;
+  return [
+    x + tx + d * x - rz * y + ry * z,
+    y + ty + rz * x + d * y - rx * z,
+    z + tz - ry * x + rx * y + d * z
+  ];
+}
+var EDGES = [
+  ...Object.entries(FROM_ITRF2020).map(([to, p]) => ({
+    from: "ITRF2020",
+    to,
+    p
+  })),
+  { from: "ITRF2014", to: "ETRF2014", p: ITRF2014_TO_ETRF2014 },
+  { from: "ITRF2014", to: "ETRF2000", p: ITRF2014_TO_ETRF2000 },
+  { from: "ITRF2014", to: "NAD83(2011)", p: ITRF2014_TO_NAD83_2011 }
+];
+var REFERENCE_FRAMES = [
+  "WGS84",
+  "ITRF2020",
+  "ITRF2014",
+  "ITRF2008",
+  "ITRF2005",
+  "ITRF2000",
+  "ITRF97",
+  "ITRF96",
+  "ITRF94",
+  "ITRF93",
+  "ITRF92",
+  "ITRF91",
+  "ITRF90",
+  "ITRF89",
+  "ITRF88",
+  "ETRF2020",
+  "ETRF2014",
+  "ETRF2000",
+  "NAD83(2011)"
+];
+function resolveAlias(f) {
+  return f === "WGS84" ? "ITRF2020" : f;
+}
+function findPath(from, to) {
+  if (from === to) return [];
+  const queue = [from];
+  const cameFrom = /* @__PURE__ */ new Map();
+  const seen = /* @__PURE__ */ new Set([from]);
+  while (queue.length > 0) {
+    const cur = queue.shift();
+    for (const edge of EDGES) {
+      let next = null;
+      let inverse = false;
+      if (edge.from === cur) {
+        next = edge.to;
+      } else if (edge.to === cur) {
+        next = edge.from;
+        inverse = true;
+      }
+      if (next === null || seen.has(next)) continue;
+      seen.add(next);
+      cameFrom.set(next, { prev: cur, edge, inverse });
+      if (next === to) {
+        const path = [];
+        let node = to;
+        while (node !== from) {
+          const step = cameFrom.get(node);
+          path.unshift({ edge: step.edge, inverse: step.inverse });
+          node = step.prev;
+        }
+        return path;
+      }
+      queue.push(next);
+    }
+  }
+  return null;
+}
+function transformFrame(xyz, from, to, epoch) {
+  const src = resolveAlias(from);
+  const dst = resolveAlias(to);
+  const path = findPath(src, dst);
+  if (!path) {
+    throw new Error(`No transformation path from ${from} to ${to}`);
+  }
+  let out = [xyz[0], xyz[1], xyz[2]];
+  for (const { edge, inverse } of path) {
+    out = applyHelmert(out, edge.p, epoch, inverse);
+  }
+  return out;
+}
+function dateToEpoch(date) {
+  const year = date.getUTCFullYear();
+  const start = Date.UTC(year, 0, 1);
+  const end = Date.UTC(year + 1, 0, 1);
+  return year + (date.getTime() - start) / (end - start);
+}
+
+export {
+  applyHelmert,
+  REFERENCE_FRAMES,
+  transformFrame,
+  dateToEpoch
+};

package/dist/{chunk-VANVV4F7.js → chunk-CC2R4JGS.js}

@@ -223,7 +223,8 @@ function selectEphemeris(ephemerides, prn, timeMs) {
     if (eph.prn !== prn) continue;
     const ephTime = eph.tocDate.getTime();
     const dt = Math.abs(timeMs - ephTime);
-    if (dt > 4 * 3600 * 1e3) continue;
+    const maxAge = eph.system === "R" || eph.system === "S" ? 18e5 : 4 * 36e5;
+    if (dt > maxAge) continue;
     if (dt < bestDt) {
       bestDt = dt;
       best = eph;
@@ -331,13 +332,13 @@ function ephInfoToEphemeris(info) {
       return null;
     if (info.vx === void 0 || info.vy === void 0 || info.vz === void 0)
       return null;
-    const now = new Date(info.lastReceived);
+    const moscow = new Date(info.lastReceived + 3 * 3600 * 1e3);
     const utcMidnight = Date.UTC(
-      now.getUTCFullYear(),
-      now.getUTCMonth(),
-      now.getUTCDate()
+      moscow.getUTCFullYear(),
+      moscow.getUTCMonth(),
+      moscow.getUTCDate()
     );
-    const tbSec = (info.tb ?? 0) * 900;
+    const tbSec = (info.tb ?? 0) * 60;
     const moscowOffset = 3 * 3600;
     const tocMs = utcMidnight + (tbSec - moscowOffset) * 1e3;
     return {
@@ -440,6 +441,65 @@ function computeLiveSkyPositions(ephemerides, rxPos, cn0Map) {
   }
   return result;
 }
+function computeVisibility(ephemerides, rxPos, startMs, endMs, stepSec = 300, elevationMaskDeg = 10) {
+  const stepMs = stepSec * 1e3;
+  const times = [];
+  for (let t = startMs; t <= endMs; t += stepMs) times.push(t);
+  const maskRad = elevationMaskDeg * Math.PI / 180;
+  const all = computeAllPositions(ephemerides, times, rxPos);
+  const elevation = {};
+  const visibleCount = new Array(times.length).fill(0);
+  const pdop = new Array(times.length).fill(null);
+  const visiblePerEpoch = times.map(() => []);
+  for (const prn of all.prns) {
+    const series = all.positions[prn];
+    elevation[prn] = series.map((p) => p ? p.el : null);
+    for (let i = 0; i < series.length; i++) {
+      const p = series[i];
+      if (p && p.el >= maskRad) {
+        visibleCount[i]++;
+        visiblePerEpoch[i].push({ az: p.az, el: p.el });
+      }
+    }
+  }
+  for (let i = 0; i < times.length; i++) {
+    const dop = computeDop(visiblePerEpoch[i]);
+    pdop[i] = dop ? dop.pdop : null;
+  }
+  const passes = [];
+  for (const prn of all.prns) {
+    const els = elevation[prn];
+    let start = -1;
+    let peakEl = -Infinity;
+    let peakTime = 0;
+    for (let i = 0; i <= els.length; i++) {
+      const el = i < els.length ? els[i] : null;
+      const above = el !== null && el !== void 0 && el >= maskRad;
+      if (above) {
+        if (start === -1) {
+          start = i;
+          peakEl = -Infinity;
+        }
+        if (el > peakEl) {
+          peakEl = el;
+          peakTime = times[i];
+        }
+      } else if (start !== -1) {
+        passes.push({
+          prn,
+          system: prn[0],
+          rise: times[start],
+          set: times[i - 1],
+          peakTime,
+          peakEl
+        });
+        start = -1;
+      }
+    }
+  }
+  passes.sort((a, b) => a.rise - b.rise);
+  return { times, elevation, visibleCount, pdop, passes };
+}
 
 export {
   keplerPosition,
@@ -450,5 +510,7 @@ export {
   computeSatPosition,
   navTimesFromEph,
   computeAllPositions,
-  computeLiveSkyPositions
+  ephInfoToEphemeris,
+  computeLiveSkyPositions,
+  computeVisibility
 };

package/dist/chunk-USHP4IND.js

@@ -0,0 +1,206 @@
+import {
+  computeDop,
+  computeSatPosition,
+  ecefToAzEl
+} from "./chunk-CC2R4JGS.js";
+import {
+  C_LIGHT
+} from "./chunk-W5WKEV7U.js";
+
+// src/positioning/index.ts
+var GM_GPS = 3986005e8;
+var F_REL = -4442807633e-19;
+function satClockCorrection(eph, tMs) {
+  if (eph.system === "R" || eph.system === "S") {
+    const dt2 = (tMs - eph.tocDate.getTime()) / 1e3;
+    return eph.tauN + eph.gammaN * dt2;
+  }
+  const k = eph;
+  const dt = (tMs - k.tocDate.getTime()) / 1e3;
+  const poly = k.af0 + k.af1 * dt + k.af2 * dt * dt;
+  const a = k.sqrtA * k.sqrtA;
+  const n = Math.sqrt(GM_GPS / (a * a * a)) + k.deltaN;
+  const tk = dt;
+  const Mk = k.m0 + n * tk;
+  let Ek = Mk;
+  for (let i = 0; i < 8; i++) {
+    Ek = Mk + k.e * Math.sin(Ek);
+  }
+  const rel = F_REL * k.e * k.sqrtA * Math.sin(Ek);
+  return poly + rel;
+}
+function ionoFree(p1, p2, f1, f2) {
+  const g = f1 * f1 / (f1 * f1 - f2 * f2);
+  return g * p1 - (g - 1) * p2;
+}
+function tropoDelay(elevationRad) {
+  const sinEl = Math.sin(elevationRad);
+  return 2.47 / (sinEl + 0.0121);
+}
+function sagnac(pos, travelTimeS) {
+  const OMEGA_E = 72921151467e-15;
+  const theta = OMEGA_E * travelTimeS;
+  const c = Math.cos(theta);
+  const s = Math.sin(theta);
+  return [pos.x * c + pos.y * s, -pos.x * s + pos.y * c, pos.z];
+}
+function solveLinear(A, b) {
+  const n = b.length;
+  const M = A.map((row, i) => [...row, b[i]]);
+  for (let col = 0; col < n; col++) {
+    let pivot = col;
+    for (let r = col + 1; r < n; r++) {
+      if (Math.abs(M[r][col]) > Math.abs(M[pivot][col])) pivot = r;
+    }
+    if (Math.abs(M[pivot][col]) < 1e-12) return null;
+    [M[col], M[pivot]] = [M[pivot], M[col]];
+    for (let r = 0; r < n; r++) {
+      if (r === col) continue;
+      const f = M[r][col] / M[col][col];
+      for (let c = col; c <= n; c++) M[r][c] -= f * M[col][c];
+    }
+  }
+  return M.map((row, i) => row[n] / M[i][i]);
+}
+function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
+  const {
+    elevationMaskDeg = 10,
+    troposphere = true,
+    maxIterations = 15,
+    convergenceM = 1e-4,
+    tgd = true
+  } = opts;
+  const all = [...pseudoranges.keys()].filter((p) => ephemerides.has(p));
+  const minSats = (list) => 3 + new Set(list.map((p) => p[0])).size;
+  if (all.length < minSats(all)) return null;
+  const gaussNewton = (prns) => {
+    const systems = [...new Set(prns.map((p) => p[0]))].sort();
+    const dim = 3 + systems.length;
+    const sysIndex = new Map(systems.map((s, i) => [s, 3 + i]));
+    let x2 = 0;
+    let y2 = 0;
+    let z2 = 0;
+    const clock2 = new Map(systems.map((s) => [s, 0]));
+    const residuals2 = {};
+    let iterations2 = 0;
+    let converged2 = false;
+    for (let iter = 0; iter < maxIterations; iter++) {
+      iterations2 = iter + 1;
+      const HtH = Array.from(
+        { length: dim },
+        () => new Array(dim).fill(0)
+      );
+      const Htv = new Array(dim).fill(0);
+      let rows = 0;
+      for (const k of Object.keys(residuals2)) delete residuals2[k];
+      for (const prn of prns) {
+        const psr = pseudoranges.get(prn);
+        const eph = ephemerides.get(prn);
+        const sys = prn[0];
+        const clk = clock2.get(sys);
+        const tTx = timeMs - psr / C_LIGHT * 1e3;
+        const dtsClock = satClockCorrection(eph, tTx);
+        const sat = computeSatPosition(eph, tTx - dtsClock * 1e3);
+        if (!Number.isFinite(sat.x)) continue;
+        const isKepler = eph.system !== "R" && eph.system !== "S";
+        const dts = dtsClock - (tgd && isKepler ? eph.tgd : 0);
+        const travel = Math.hypot(sat.x - x2, sat.y - y2, sat.z - z2) / C_LIGHT;
+        const [sx, sy, sz] = sagnac(sat, travel);
+        const rho = Math.hypot(sx - x2, sy - y2, sz - z2);
+        const ux = (x2 - sx) / rho;
+        const uy = (y2 - sy) / rho;
+        const uz = (z2 - sz) / rho;
+        let elev = Math.PI / 2;
+        let weight = 1;
+        const positionSane = x2 * x2 + y2 * y2 + z2 * z2 > 1e12;
+        if (positionSane) {
+          const azel = ecefToAzEl(x2, y2, z2, sx, sy, sz);
+          elev = azel.el;
+          if (iter >= 2 && elev < elevationMaskDeg * Math.PI / 180) continue;
+          const sinEl = Math.max(Math.sin(elev), 0.1);
+          weight = sinEl * sinEl;
+        }
+        const tropo = troposphere && positionSane ? tropoDelay(elev) : 0;
+        const predicted = rho + clk - C_LIGHT * dts + tropo;
+        const v = psr - predicted;
+        const h = new Array(dim).fill(0);
+        h[0] = ux;
+        h[1] = uy;
+        h[2] = uz;
+        h[sysIndex.get(sys)] = 1;
+        for (let i = 0; i < dim; i++) {
+          for (let j = 0; j < dim; j++) HtH[i][j] += weight * h[i] * h[j];
+          Htv[i] += weight * h[i] * v;
+        }
+        residuals2[prn] = v;
+        rows++;
+      }
+      if (rows < dim) return null;
+      const dx = solveLinear(HtH, Htv);
+      if (!dx) return null;
+      x2 += dx[0];
+      y2 += dx[1];
+      z2 += dx[2];
+      for (const s of systems)
+        clock2.set(s, clock2.get(s) + dx[sysIndex.get(s)]);
+      if (Math.hypot(dx[0], dx[1], dx[2]) < convergenceM) {
+        converged2 = true;
+        break;
+      }
+    }
+    return { x: x2, y: y2, z: z2, clock: clock2, residuals: residuals2, iterations: iterations2, converged: converged2 };
+  };
+  const REJECT_THRESHOLD_M = 50;
+  let candidates = all;
+  const rejected = [];
+  let inner = null;
+  for (let round = 0; round <= all.length; round++) {
+    inner = gaussNewton(candidates);
+    if (!inner) return null;
+    const vals = Object.entries(inner.residuals);
+    let worst = null;
+    let worstAbs = REJECT_THRESHOLD_M;
+    for (const [prn, v] of vals) {
+      if (Math.abs(v) > worstAbs) {
+        worstAbs = Math.abs(v);
+        worst = prn;
+      }
+    }
+    if (!worst) break;
+    const remaining = candidates.filter((p) => p !== worst);
+    if (remaining.length < minSats(remaining)) break;
+    rejected.push(worst);
+    candidates = remaining;
+  }
+  if (!inner) return null;
+  const { x, y, z, clock, residuals, iterations, converged } = inner;
+  const used = [];
+  const azels = [];
+  for (const prn of candidates) {
+    if (!(prn in residuals)) continue;
+    const eph = ephemerides.get(prn);
+    const sat = computeSatPosition(eph, timeMs);
+    if (!Number.isFinite(sat.x)) continue;
+    const azel = ecefToAzEl(x, y, z, sat.x, sat.y, sat.z);
+    if (azel.el >= elevationMaskDeg * Math.PI / 180) {
+      used.push(prn);
+      azels.push(azel);
+    }
+  }
+  return {
+    position: [x, y, z],
+    clockBias: Object.fromEntries(clock),
+    usedSatellites: used,
+    rejectedSatellites: rejected,
+    residuals,
+    dop: computeDop(azels),
+    iterations,
+    converged
+  };
+}
+
+export {
+  satClockCorrection,
+  ionoFree,
+  solveSpp
+};