gnss-js 1.20.0 → 1.22.0

package/dist/ubx.d.cts

@@ -147,6 +147,116 @@ interface UbxCnavResult {
  */
 declare function parseUbxCnav(data: Uint8Array): UbxCnavResult;
 
+/**
+ * u-blox UBX raw navigation-message decoding for the non-GPS
+ * constellations: Galileo I/NAV (E1B/E5b), BeiDou D1/D2 (B1I/B2I) and
+ * GLONASS L1/L2 C/A strings from RXM-SFRBX (class 0x02, id 0x13).
+ * GPS/QZSS LNAV stays in `parseUbxNav` (./nav.ts) and GPS CNAV in
+ * `parseUbxCnav` (./cnav.ts).
+ *
+ * The per-constellation word repack is a port of RTKLIB demo5
+ * (rtklibexplorer fork, src/rcv/ublox.c: decode_rxmsfrbx routing into
+ * decode_inav / decode_cnav / decode_gnav, Copyright (c) 2007-2020
+ * T. Takasu, BSD-2-Clause); the bit-field decoding and data-set
+ * assembly live in src/navbits (gal.ts / bds.ts / glo.ts), shared with
+ * the Septentrio SBF path (src/sbf/rawnav-gal.ts / rawnav-bds.ts).
+ *
+ * How u-blox packs each message into the little-endian 32-bit `dwrd`
+ * words (interface description §RXM-SFRBX; verified on a ZED-F9P
+ * capture against convbin):
+ *
+ * - Galileo I/NAV (gnssId 2, sigId 1 = E1B, 5 = E5b): one nominal page
+ *   pair per message, bits MSB-first — the 114-bit even part
+ *   left-justified in dwrd 0-3 (pad bits 114-127 ignored) and the
+ *   120-bit odd part left-justified in dwrd 4-7. E1B messages carry a
+ *   9th reserved word, E5b messages 8 words; both repack identically
+ *   (RTKLIB decode_inav reads 8 dwrds for either). The two carriers
+ *   broadcast the same words and feed ONE assembler per satellite,
+ *   like RTKLIB's shared subframe buffer and the SBF module's single
+ *   I/NAV assembler. u-blox does not track E5a, so F/NAV (sigId 3) is
+ *   out of scope; E6 (sigId 8) is skipped like RTKLIB.
+ * - BeiDou D1/D2 (gnssId 3, B1I sigId 0/1, B2I sigId 2/3): ten dwrds,
+ *   each carrying one 30-bit word in its 30 LSBs, already
+ *   de-interleaved with the BCH parity bits in place — exactly the
+ *   300-bit layout `bdsSubframeParityOk` / `BdsAssembler` expect
+ *   (RTKLIB decode_cnav packs `U4(p)` low 30 bits straight into its
+ *   subframe buffer). B1I and B2I carry the same message and share
+ *   the assembler.
+ * - GLONASS (gnssId 6, sigId 0 = L1OF, 2 = L2OF): four dwrds holding
+ *   the 85-bit navigation string MSB-first from the idle bit (RTKLIB
+ *   repacks each little-endian dwrd big-endian: `buff[k]=p[3-j]`);
+ *   bits 85-95 are padding and dwrd 3 carries the receiver-counted
+ *   superframe/frame numbers. The frequency slot is the payload
+ *   `freqId` minus 7. L1 and L2 strings are identical and share one
+ *   assembler per slot.
+ *
+ * Parity handling: the receiver marks nothing in SFRBX, so every
+ * integrity check is re-run here — CRC-24Q per I/NAV page pair,
+ * BCH(15,11,1) per BDS word, Hamming (KX) per GLONASS string —
+ * and `badParity` counts exactly the messages rejected for a failed
+ * check. (RTKLIB checks only the GLONASS Hamming code and the I/NAV
+ * CRC on this path; the BDS BCH check is this library's addition, as
+ * in the SBF module.)
+ *
+ * GLONASS time reference: tk/tb count into a UTC day, so each string
+ * needs a receiver time stamp (RTKLIB `raw->time`, set by the last
+ * RXM-RAWX). This parser mirrors that: the running reference is the
+ * most recent RXM-RAWX epoch (GPS week + rcvTow) in the stream, never
+ * the system clock; GLONASS strings seen before the first time
+ * reference are skipped. `refWeek` substitutes for the RAWX week
+ * field only when the receiver reports it as 0 (time not yet known).
+ *
+ * Documented deviations from RTKLIB's u-blox path:
+ * - GLONASS string buffers reset on a > 30 s gap between strings
+ *   (`GloStringAssembler`), not on the u-blox frame-number change
+ *   RTKLIB uses (dwrd-3 bytes it stores as "frame-id") — the
+ *   convention the SBF port settled, where no frame counter exists.
+ * - The RINEX GLONASS message-frame-time comes from the broadcast tk
+ *   of the frame that completed the record, not the receiver time of
+ *   day (RTKLIB's geph->tof) — see the oracle notes in
+ *   test/bdsglo-raw.test.ts; the two differ by the ~8 s string-4
+ *   offset within the frame.
+ */
+
+interface UbxRawNavOptions {
+    /**
+     * Full GPS week substituted for the RXM-RAWX week field when the
+     * receiver reports it as 0 (time not yet resolved). The GLONASS
+     * day reference always comes from RAWX epochs in the stream —
+     * a stream without any usable RXM-RAWX time stamp yields no
+     * GLONASS ephemerides (Galileo and BeiDou messages carry their own
+     * week and are decoded regardless); the system clock is never used.
+     */
+    refWeek?: number;
+}
+interface UbxRawNavResult {
+    /**
+     * Broadcast ephemerides in stream order, unchanged rebroadcasts
+     * suppressed: Galileo I/NAV (`system: 'E'`, RINEX I/NAV clock set),
+     * BeiDou D1/D2 (`system: 'C'`, BDT epochs/weeks) and GLONASS
+     * (`system: 'R'`, UTC epochs, km state vectors).
+     */
+    ephemerides: Ephemeris[];
+    /** RXM-SFRBX messages routed to each constellation's decoder:
+     * `gal` = E1B + E5b I/NAV pages, `bds` = B1I + B2I subframes,
+     * `glo` = L1 + L2 C/A strings. */
+    counts: {
+        gal: number;
+        bds: number;
+        glo: number;
+    };
+    /** Messages dropped for a failed integrity check: I/NAV page
+     * CRC-24Q, BDS BCH(15,11,1) word parity, GLONASS Hamming (KX). */
+    badParity: number;
+}
+/**
+ * Decode every Galileo/BeiDou/GLONASS broadcast ephemeris in a UBX
+ * byte stream (RXM-SFRBX), the way `parseUbxNav` does for GPS/QZSS.
+ * See the module header for the per-constellation repack, parity and
+ * time-reference conventions.
+ */
+declare function parseUbxRawNav(data: Uint8Array, opts?: UbxRawNavOptions): UbxRawNavResult;
+
 /**
  * u-blox UBX raw-measurement decoding (RXM-RAWX) — the path from a
  * receiver log to RINEX-grade observables.
@@ -203,4 +313,4 @@ interface UbxParseResult {
  */
 declare function parseUbxRawx(data: Uint8Array): UbxParseResult;
 
-export { type UbxCnavResult, type UbxFrame, type UbxIonoUtcResult, type UbxMeasurement, type UbxNavOptions, type UbxNavResult, type UbxParseResult, type UbxRawxEpoch, parseUbxCnav, parseUbxIonoUtc, parseUbxNav, parseUbxRawx, ubxFrames };
+export { type UbxCnavResult, type UbxFrame, type UbxIonoUtcResult, type UbxMeasurement, type UbxNavOptions, type UbxNavResult, type UbxParseResult, type UbxRawNavOptions, type UbxRawNavResult, type UbxRawxEpoch, parseUbxCnav, parseUbxIonoUtc, parseUbxNav, parseUbxRawNav, parseUbxRawx, ubxFrames };

package/dist/ubx.d.ts

@@ -147,6 +147,116 @@ interface UbxCnavResult {
  */
 declare function parseUbxCnav(data: Uint8Array): UbxCnavResult;
 
+/**
+ * u-blox UBX raw navigation-message decoding for the non-GPS
+ * constellations: Galileo I/NAV (E1B/E5b), BeiDou D1/D2 (B1I/B2I) and
+ * GLONASS L1/L2 C/A strings from RXM-SFRBX (class 0x02, id 0x13).
+ * GPS/QZSS LNAV stays in `parseUbxNav` (./nav.ts) and GPS CNAV in
+ * `parseUbxCnav` (./cnav.ts).
+ *
+ * The per-constellation word repack is a port of RTKLIB demo5
+ * (rtklibexplorer fork, src/rcv/ublox.c: decode_rxmsfrbx routing into
+ * decode_inav / decode_cnav / decode_gnav, Copyright (c) 2007-2020
+ * T. Takasu, BSD-2-Clause); the bit-field decoding and data-set
+ * assembly live in src/navbits (gal.ts / bds.ts / glo.ts), shared with
+ * the Septentrio SBF path (src/sbf/rawnav-gal.ts / rawnav-bds.ts).
+ *
+ * How u-blox packs each message into the little-endian 32-bit `dwrd`
+ * words (interface description §RXM-SFRBX; verified on a ZED-F9P
+ * capture against convbin):
+ *
+ * - Galileo I/NAV (gnssId 2, sigId 1 = E1B, 5 = E5b): one nominal page
+ *   pair per message, bits MSB-first — the 114-bit even part
+ *   left-justified in dwrd 0-3 (pad bits 114-127 ignored) and the
+ *   120-bit odd part left-justified in dwrd 4-7. E1B messages carry a
+ *   9th reserved word, E5b messages 8 words; both repack identically
+ *   (RTKLIB decode_inav reads 8 dwrds for either). The two carriers
+ *   broadcast the same words and feed ONE assembler per satellite,
+ *   like RTKLIB's shared subframe buffer and the SBF module's single
+ *   I/NAV assembler. u-blox does not track E5a, so F/NAV (sigId 3) is
+ *   out of scope; E6 (sigId 8) is skipped like RTKLIB.
+ * - BeiDou D1/D2 (gnssId 3, B1I sigId 0/1, B2I sigId 2/3): ten dwrds,
+ *   each carrying one 30-bit word in its 30 LSBs, already
+ *   de-interleaved with the BCH parity bits in place — exactly the
+ *   300-bit layout `bdsSubframeParityOk` / `BdsAssembler` expect
+ *   (RTKLIB decode_cnav packs `U4(p)` low 30 bits straight into its
+ *   subframe buffer). B1I and B2I carry the same message and share
+ *   the assembler.
+ * - GLONASS (gnssId 6, sigId 0 = L1OF, 2 = L2OF): four dwrds holding
+ *   the 85-bit navigation string MSB-first from the idle bit (RTKLIB
+ *   repacks each little-endian dwrd big-endian: `buff[k]=p[3-j]`);
+ *   bits 85-95 are padding and dwrd 3 carries the receiver-counted
+ *   superframe/frame numbers. The frequency slot is the payload
+ *   `freqId` minus 7. L1 and L2 strings are identical and share one
+ *   assembler per slot.
+ *
+ * Parity handling: the receiver marks nothing in SFRBX, so every
+ * integrity check is re-run here — CRC-24Q per I/NAV page pair,
+ * BCH(15,11,1) per BDS word, Hamming (KX) per GLONASS string —
+ * and `badParity` counts exactly the messages rejected for a failed
+ * check. (RTKLIB checks only the GLONASS Hamming code and the I/NAV
+ * CRC on this path; the BDS BCH check is this library's addition, as
+ * in the SBF module.)
+ *
+ * GLONASS time reference: tk/tb count into a UTC day, so each string
+ * needs a receiver time stamp (RTKLIB `raw->time`, set by the last
+ * RXM-RAWX). This parser mirrors that: the running reference is the
+ * most recent RXM-RAWX epoch (GPS week + rcvTow) in the stream, never
+ * the system clock; GLONASS strings seen before the first time
+ * reference are skipped. `refWeek` substitutes for the RAWX week
+ * field only when the receiver reports it as 0 (time not yet known).
+ *
+ * Documented deviations from RTKLIB's u-blox path:
+ * - GLONASS string buffers reset on a > 30 s gap between strings
+ *   (`GloStringAssembler`), not on the u-blox frame-number change
+ *   RTKLIB uses (dwrd-3 bytes it stores as "frame-id") — the
+ *   convention the SBF port settled, where no frame counter exists.
+ * - The RINEX GLONASS message-frame-time comes from the broadcast tk
+ *   of the frame that completed the record, not the receiver time of
+ *   day (RTKLIB's geph->tof) — see the oracle notes in
+ *   test/bdsglo-raw.test.ts; the two differ by the ~8 s string-4
+ *   offset within the frame.
+ */
+
+interface UbxRawNavOptions {
+    /**
+     * Full GPS week substituted for the RXM-RAWX week field when the
+     * receiver reports it as 0 (time not yet resolved). The GLONASS
+     * day reference always comes from RAWX epochs in the stream —
+     * a stream without any usable RXM-RAWX time stamp yields no
+     * GLONASS ephemerides (Galileo and BeiDou messages carry their own
+     * week and are decoded regardless); the system clock is never used.
+     */
+    refWeek?: number;
+}
+interface UbxRawNavResult {
+    /**
+     * Broadcast ephemerides in stream order, unchanged rebroadcasts
+     * suppressed: Galileo I/NAV (`system: 'E'`, RINEX I/NAV clock set),
+     * BeiDou D1/D2 (`system: 'C'`, BDT epochs/weeks) and GLONASS
+     * (`system: 'R'`, UTC epochs, km state vectors).
+     */
+    ephemerides: Ephemeris[];
+    /** RXM-SFRBX messages routed to each constellation's decoder:
+     * `gal` = E1B + E5b I/NAV pages, `bds` = B1I + B2I subframes,
+     * `glo` = L1 + L2 C/A strings. */
+    counts: {
+        gal: number;
+        bds: number;
+        glo: number;
+    };
+    /** Messages dropped for a failed integrity check: I/NAV page
+     * CRC-24Q, BDS BCH(15,11,1) word parity, GLONASS Hamming (KX). */
+    badParity: number;
+}
+/**
+ * Decode every Galileo/BeiDou/GLONASS broadcast ephemeris in a UBX
+ * byte stream (RXM-SFRBX), the way `parseUbxNav` does for GPS/QZSS.
+ * See the module header for the per-constellation repack, parity and
+ * time-reference conventions.
+ */
+declare function parseUbxRawNav(data: Uint8Array, opts?: UbxRawNavOptions): UbxRawNavResult;
+
 /**
  * u-blox UBX raw-measurement decoding (RXM-RAWX) — the path from a
  * receiver log to RINEX-grade observables.
@@ -203,4 +313,4 @@ interface UbxParseResult {
  */
 declare function parseUbxRawx(data: Uint8Array): UbxParseResult;
 
-export { type UbxCnavResult, type UbxFrame, type UbxIonoUtcResult, type UbxMeasurement, type UbxNavOptions, type UbxNavResult, type UbxParseResult, type UbxRawxEpoch, parseUbxCnav, parseUbxIonoUtc, parseUbxNav, parseUbxRawx, ubxFrames };
+export { type UbxCnavResult, type UbxFrame, type UbxIonoUtcResult, type UbxMeasurement, type UbxNavOptions, type UbxNavResult, type UbxParseResult, type UbxRawNavOptions, type UbxRawNavResult, type UbxRawxEpoch, parseUbxCnav, parseUbxIonoUtc, parseUbxNav, parseUbxRawNav, parseUbxRawx, ubxFrames };

package/dist/ubx.js

@@ -2,14 +2,19 @@ import {
   parseUbxCnav,
   parseUbxIonoUtc,
   parseUbxNav,
+  parseUbxRawNav,
   parseUbxRawx,
   ubxFrames
-} from "./chunk-DLXTTHRK.js";
+} from "./chunk-MCAVU3XL.js";
+import "./chunk-VTX3VCL4.js";
 import "./chunk-WZDFZ76K.js";
+import "./chunk-HVXYFUCB.js";
+import "./chunk-LEEU5OIO.js";
 export {
   parseUbxCnav,
   parseUbxIonoUtc,
   parseUbxNav,
+  parseUbxRawNav,
   parseUbxRawx,
   ubxFrames
 };

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "gnss-js",
-  "version": "1.20.0",
+  "version": "1.22.0",
   "description": "Comprehensive GNSS library for JavaScript — time scales, coordinates, RINEX parsing, RTCM3 decoding, orbit computation, and signal analysis",
   "type": "module",
   "sideEffects": false,