gnss-js 1.21.0 → 1.23.0

package/dist/chunk-CUWF56ST.js

@@ -0,0 +1,966 @@
+import {
+  computeDop,
+  computeSatPosition,
+  ecefToAzEl,
+  selectEphemeris
+} from "./chunk-MHGNKSSH.js";
+import {
+  ecefToGeodetic
+} from "./chunk-37QNKGTC.js";
+import {
+  C_LIGHT,
+  OMEGA_E
+} from "./chunk-FIEWO4J4.js";
+
+// src/positioning/klobuchar.ts
+function klobucharDelay(coeffs, latRad, lonRad, azRad, elRad, gpsTowSec) {
+  const { alpha, beta } = coeffs;
+  if (alpha.length < 4 || beta.length < 4) return 0;
+  const E = elRad / Math.PI;
+  const phiU = latRad / Math.PI;
+  const lambdaU = lonRad / Math.PI;
+  const psi = 0.0137 / (E + 0.11) - 0.022;
+  let phiI = phiU + psi * Math.cos(azRad);
+  if (phiI > 0.416) phiI = 0.416;
+  else if (phiI < -0.416) phiI = -0.416;
+  const lambdaI = lambdaU + psi * Math.sin(azRad) / Math.cos(phiI * Math.PI);
+  const phiM = phiI + 0.064 * Math.cos((lambdaI - 1.617) * Math.PI);
+  let t = 43200 * lambdaI + gpsTowSec;
+  t %= 86400;
+  if (t < 0) t += 86400;
+  let amp = 0;
+  let per = 0;
+  for (let n = 3; n >= 0; n--) {
+    amp = amp * phiM + alpha[n];
+    per = per * phiM + beta[n];
+  }
+  if (amp < 0) amp = 0;
+  if (per < 72e3) per = 72e3;
+  const F = 1 + 16 * Math.pow(0.53 - E, 3);
+  const x = 2 * Math.PI * (t - 50400) / per;
+  if (Math.abs(x) >= 1.57) return F * 5e-9;
+  const x2 = x * x;
+  return F * (5e-9 + amp * (1 - x2 / 2 + x2 * x2 / 24));
+}
+
+// src/positioning/rtk.ts
+var L1_CODES = {
+  G: ["1C"],
+  E: ["1C"],
+  R: ["1C"],
+  J: ["1C"],
+  C: ["2I", "1P"]
+  // B1I first (classic B1), then B1C
+};
+function toRtkEpoch(meas) {
+  const out = /* @__PURE__ */ new Map();
+  const rank = /* @__PURE__ */ new Map();
+  for (const m of meas) {
+    const prefs = L1_CODES[m.prn[0]];
+    if (!prefs || m.pr === null || !Number.isFinite(m.pr)) continue;
+    const r = prefs.indexOf(m.code);
+    if (r < 0) continue;
+    const prev = rank.get(m.prn);
+    if (prev !== void 0 && prev <= r) continue;
+    rank.set(m.prn, r);
+    out.set(m.prn, {
+      code: m.code,
+      pr: m.pr,
+      cp: m.cp ?? null,
+      lockTimeMs: m.lockTimeS !== void 0 ? Math.round(m.lockTimeS * 1e3) : void 0,
+      gloChannel: m.gloChannel ?? null
+    });
+  }
+  return out;
+}
+function carrierFreqHz(sys, code, gloChannel) {
+  const band = code[0];
+  switch (sys) {
+    case "G":
+    case "J":
+      return band === "1" ? 157542e4 : band === "2" ? 12276e5 : 117645e4;
+    case "E":
+      return band === "1" ? 157542e4 : band === "5" ? 117645e4 : band === "7" ? 120714e4 : band === "8" ? 1191795e3 : 127875e4;
+    case "C":
+      return band === "1" ? 157542e4 : band === "2" ? 1561098e3 : band === "5" ? 117645e4 : band === "7" ? 120714e4 : 126852e4;
+    case "R": {
+      if (gloChannel === null) return 0;
+      if (band === "1") return 1602e6 + gloChannel * 562500;
+      if (band === "2") return 1246e6 + gloChannel * 437500;
+      return 1202025e3;
+    }
+    default:
+      return 0;
+  }
+}
+function sagnac(pos, travelTimeS) {
+  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 tropoDelay(elevationRad) {
+  const sinEl = Math.sin(elevationRad);
+  return 2.47 / (sinEl + 0.0121);
+}
+function resolveEphemeris(src, prn, timeMs) {
+  if (Array.isArray(src))
+    return selectEphemeris(src, prn, timeMs);
+  return src.get(prn) ?? null;
+}
+function buildGeometry(rover, base, basePos, ephemerides, timeMs, maskRad, troposphere) {
+  const out = [];
+  for (const [prn, mR] of rover) {
+    const sys = prn[0];
+    if (!"GERCJ".includes(sys)) continue;
+    const mB = base.get(prn);
+    if (!mB || mB.code !== mR.code) continue;
+    if (mR.pr === null || mB.pr === null || !Number.isFinite(mR.pr) || !Number.isFinite(mB.pr))
+      continue;
+    const eph = resolveEphemeris(ephemerides, prn, timeMs);
+    if (!eph) continue;
+    const satAt = (pr) => {
+      const tTx = timeMs - pr / C_LIGHT * 1e3;
+      const dts = satClockCorrection(eph, tTx);
+      const sat = computeSatPosition(eph, tTx - dts * 1e3);
+      return Number.isFinite(sat.x) ? sat : null;
+    };
+    const satB = satAt(mB.pr);
+    const satR = satAt(mR.pr);
+    if (!satB || !satR) continue;
+    const travelB = Math.hypot(
+      satB.x - basePos[0],
+      satB.y - basePos[1],
+      satB.z - basePos[2]
+    ) / C_LIGHT;
+    const [bx, by, bz] = sagnac(satB, travelB);
+    const rhoB = Math.hypot(bx - basePos[0], by - basePos[1], bz - basePos[2]);
+    const elB = ecefToAzEl(basePos[0], basePos[1], basePos[2], bx, by, bz).el;
+    if (elB < maskRad) continue;
+    const gloK = sys === "R" ? mR.gloChannel ?? mB.gloChannel ?? eph.freqNum ?? null : null;
+    const freq = carrierFreqHz(sys, mR.code, gloK);
+    out.push({
+      prn,
+      group: sys + mR.code,
+      lambda: freq > 0 ? C_LIGHT / freq : 0,
+      satR,
+      rhoB,
+      elB,
+      tropoB: troposphere ? tropoDelay(elB) : 0,
+      prR: mR.pr,
+      prB: mB.pr,
+      cpR: mR.cp ?? null,
+      cpB: mB.cp ?? null,
+      lockR: mR.lockTimeMs,
+      lockB: mB.lockTimeMs
+    });
+  }
+  return out;
+}
+function roverTerms(g, x, y, z, troposphere) {
+  const travel = Math.hypot(g.satR.x - x, g.satR.y - y, g.satR.z - z) / C_LIGHT;
+  const [sx, sy, sz] = sagnac(g.satR, travel);
+  const rho = Math.hypot(sx - x, sy - y, sz - z);
+  const u = [
+    (x - sx) / rho,
+    (y - sy) / rho,
+    (z - sz) / rho
+  ];
+  let dTropo = 0;
+  if (troposphere) {
+    const elR = ecefToAzEl(x, y, z, sx, sy, sz).el;
+    dTropo = tropoDelay(Math.max(elR, 0.05)) - g.tropoB;
+  }
+  return { rho, u, dTropo };
+}
+function sdVariance(sigmaM, elRad) {
+  const sinEl = Math.max(Math.sin(elRad), 0.05);
+  return 2 * sigmaM * sigmaM * (1 + 1 / (sinEl * sinEl));
+}
+function zeros(n, m) {
+  return Array.from({ length: n }, () => new Array(m).fill(0));
+}
+function matInv(A) {
+  const n = A.length;
+  const M = A.map((row, i) => {
+    const r = [...row, ...new Array(n).fill(0)];
+    r[n + i] = 1;
+    return r;
+  });
+  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-13) return null;
+    [M[col], M[pivot]] = [M[pivot], M[col]];
+    const d = M[col][col];
+    for (let c = 0; c < 2 * n; c++) M[col][c] /= d;
+    for (let r = 0; r < n; r++) {
+      if (r === col) continue;
+      const f = M[r][col];
+      if (f === 0) continue;
+      for (let c = 0; c < 2 * n; c++) M[r][c] -= f * M[col][c];
+    }
+  }
+  return M.map((row) => row.slice(n));
+}
+function matMul(A, B) {
+  const n = A.length;
+  const k = B.length;
+  const m = B[0]?.length ?? 0;
+  const C = zeros(n, m);
+  for (let i = 0; i < n; i++) {
+    for (let l = 0; l < k; l++) {
+      const a = A[i][l];
+      if (a === 0) continue;
+      for (let j = 0; j < m; j++) C[i][j] += a * B[l][j];
+    }
+  }
+  return C;
+}
+function transpose(A) {
+  const n = A.length;
+  const m = A[0]?.length ?? 0;
+  const T = zeros(m, n);
+  for (let i = 0; i < n; i++) for (let j = 0; j < m; j++) T[j][i] = A[i][j];
+  return T;
+}
+function groupEntries(geom) {
+  const groups = /* @__PURE__ */ new Map();
+  for (const g of geom) {
+    const list = groups.get(g.group);
+    if (list) list.push(g);
+    else groups.set(g.group, [g]);
+  }
+  return groups;
+}
+function ddCovariance(rows, sigmaCode, sigmaPhase) {
+  const n = rows.length;
+  const R = zeros(n, n);
+  const sd = (r, g) => sdVariance(r.kind === "code" ? sigmaCode : sigmaPhase, g.elB);
+  for (let i = 0; i < n; i++) {
+    const ri = rows[i];
+    R[i][i] = sd(ri, ri.g) + sd(ri, ri.ref);
+    for (let j = i + 1; j < n; j++) {
+      const rj = rows[j];
+      if (ri.ref.prn === rj.ref.prn && ri.kind === rj.kind && ri.g.group === rj.g.group) {
+        R[i][j] = R[j][i] = sd(ri, ri.ref);
+      }
+    }
+  }
+  return R;
+}
+function solveDgnss(rover, base, basePos, ephemerides, timeMs, opts = {}) {
+  const {
+    elevationMaskDeg = 10,
+    troposphere = true,
+    maxIterations = 15,
+    convergenceM = 1e-4,
+    codeSigmaM = 0.3,
+    rejectThresholdM = 20,
+    initialPosition
+  } = opts;
+  let geom = buildGeometry(
+    rover,
+    base,
+    basePos,
+    ephemerides,
+    timeMs,
+    elevationMaskDeg * Math.PI / 180,
+    troposphere
+  );
+  const rejected = [];
+  for (; ; ) {
+    const groups = groupEntries(geom);
+    const rows = [];
+    const refSatellites = {};
+    for (const [group, list] of groups) {
+      if (list.length < 2) continue;
+      const ref = list.reduce((a, b) => b.elB > a.elB ? b : a);
+      refSatellites[group] = ref.prn;
+      for (const g of list) {
+        if (g === ref) continue;
+        rows.push({
+          g,
+          ref,
+          kind: "code",
+          z: g.prR - g.prB - (ref.prR - ref.prB)
+        });
+      }
+    }
+    if (rows.length < 3) return null;
+    const W = matInv(ddCovariance(rows, codeSigmaM, codeSigmaM));
+    if (!W) return null;
+    let [x, y, z] = initialPosition ?? basePos;
+    let iterations = 0;
+    let converged = false;
+    const residuals = {};
+    let cov = null;
+    for (let iter = 0; iter < maxIterations; iter++) {
+      iterations = iter + 1;
+      const H = [];
+      const v = [];
+      const terms = /* @__PURE__ */ new Map();
+      const termOf = (g) => {
+        let t = terms.get(g.prn);
+        if (!t) {
+          t = roverTerms(g, x, y, z, troposphere);
+          terms.set(g.prn, t);
+        }
+        return t;
+      };
+      for (const row of rows) {
+        const ts = termOf(row.g);
+        const tr = termOf(row.ref);
+        const pred = ts.rho - row.g.rhoB + ts.dTropo - (tr.rho - row.ref.rhoB + tr.dTropo);
+        v.push(row.z - pred);
+        H.push([ts.u[0] - tr.u[0], ts.u[1] - tr.u[1], ts.u[2] - tr.u[2]]);
+      }
+      const Ht = transpose(H);
+      const HtW = matMul(Ht, W);
+      const N = matMul(HtW, H);
+      const b = matMul(
+        HtW,
+        v.map((s) => [s])
+      );
+      const Ninv = matInv(N);
+      if (!Ninv) return null;
+      const dx = matMul(
+        Ninv,
+        b.map((r) => [r[0]])
+      );
+      x += dx[0][0];
+      y += dx[1][0];
+      z += dx[2][0];
+      cov = Ninv;
+      rows.forEach((row, i) => {
+        residuals[row.g.prn] = v[i] - (H[i][0] * dx[0][0] + H[i][1] * dx[1][0] + H[i][2] * dx[2][0]);
+      });
+      if (Math.hypot(dx[0][0], dx[1][0], dx[2][0]) < convergenceM) {
+        converged = true;
+        break;
+      }
+    }
+    let worst = null;
+    let worstAbs = rejectThresholdM;
+    for (const [prn, r] of Object.entries(residuals)) {
+      if (Math.abs(r) > worstAbs) {
+        worstAbs = Math.abs(r);
+        worst = prn;
+      }
+    }
+    if (worst && geom.length > 4) {
+      rejected.push(worst);
+      geom = geom.filter((g) => g.prn !== worst);
+      continue;
+    }
+    const usedSatellites = [
+      ...new Set(rows.flatMap((r) => [r.g.prn, r.ref.prn]))
+    ].sort();
+    return {
+      position: [x, y, z],
+      baseline: [x - basePos[0], y - basePos[1], z - basePos[2]],
+      sigmas: cov ? [
+        Math.sqrt(Math.max(cov[0][0], 0)),
+        Math.sqrt(Math.max(cov[1][1], 0)),
+        Math.sqrt(Math.max(cov[2][2], 0))
+      ] : [0, 0, 0],
+      usedSatellites,
+      refSatellites,
+      residuals,
+      rejectedSatellites: rejected,
+      nSats: usedSatellites.length,
+      iterations,
+      converged
+    };
+  }
+}
+var RtkFloatEngine = class {
+  basePos;
+  ephemerides;
+  o;
+  /** State vector [x, y, z, N₁…] and covariance; null before init. */
+  x = null;
+  P = [];
+  amb = [];
+  refs = /* @__PURE__ */ new Map();
+  track = /* @__PURE__ */ new Map();
+  lastMs = null;
+  constructor(basePos, ephemerides, opts = {}) {
+    this.basePos = basePos;
+    this.ephemerides = ephemerides;
+    this.o = {
+      mode: opts.mode ?? "kinematic",
+      elevationMaskDeg: opts.elevationMaskDeg ?? 10,
+      troposphere: opts.troposphere ?? true,
+      codeSigmaM: opts.codeSigmaM ?? 0.3,
+      phaseSigmaM: opts.phaseSigmaM ?? 3e-3,
+      processNoisePosM: opts.processNoisePosM ?? 0,
+      kinematicSigmaM: opts.kinematicSigmaM ?? 30,
+      ambProcessNoiseCycles: opts.ambProcessNoiseCycles ?? 1e-4,
+      ambInitSigmaCycles: opts.ambInitSigmaCycles ?? 30,
+      maxGapMs: opts.maxGapMs ?? 1e4,
+      codeGateM: opts.codeGateM ?? 30,
+      slipGateM: opts.slipGateM ?? 5,
+      updateIterations: opts.updateIterations ?? 2
+    };
+  }
+  /** Clear all filter state (position, ambiguities, lock history). */
+  reset() {
+    this.x = null;
+    this.P = [];
+    this.amb = [];
+    this.refs.clear();
+    this.track.clear();
+    this.lastMs = null;
+  }
+  ambIndex(prn) {
+    return this.amb.findIndex((a) => a.prn === prn);
+  }
+  /** Remove one ambiguity state (row/col) from x and P. */
+  dropAmb(idx) {
+    const s = 3 + idx;
+    this.amb.splice(idx, 1);
+    this.x.splice(s, 1);
+    this.P.splice(s, 1);
+    for (const row of this.P) row.splice(s, 1);
+  }
+  /** Append an ambiguity state with the given value and variance. */
+  addAmb(entry, value, variance) {
+    this.amb.push(entry);
+    this.x.push(value);
+    const n = this.x.length;
+    for (const row of this.P) row.push(0);
+    const newRow = new Array(n).fill(0);
+    newRow[n - 1] = variance;
+    this.P.push(newRow);
+  }
+  /**
+   * Re-map a group's DD ambiguities from the old reference r to the
+   * new reference r' (which must hold a state): N_i' = N_i − N_r' and
+   * the old reference's slot becomes N_r = −N_r'. Exact linear
+   * transform of state and covariance (P' = T P Tᵀ).
+   */
+  retarget(group, oldRef, newRefIdx) {
+    const n = this.x.length;
+    const j = 3 + newRefIdx;
+    const T = zeros(n, n);
+    for (let i = 0; i < n; i++) T[i][i] = 1;
+    for (let k = 0; k < this.amb.length; k++) {
+      if (this.amb[k].group !== group) continue;
+      const s = 3 + k;
+      if (s === j) T[s][s] = -1;
+      else T[s][j] -= 1;
+    }
+    this.x = matMul(
+      T,
+      this.x.map((v) => [v])
+    ).map((r) => r[0]);
+    this.P = matMul(matMul(T, this.P), transpose(T));
+    const entry = this.amb[newRefIdx];
+    entry.prn = oldRef;
+  }
+  /**
+   * Process one synchronized epoch (same nominal `timeMs` for both
+   * receivers). Returns null until a first position can be
+   * initialised (via an internal DGNSS solve) or when the epoch has
+   * fewer than 3 usable DD rows.
+   */
+  process(rover, base, timeMs) {
+    const o = this.o;
+    const geom = buildGeometry(
+      rover,
+      base,
+      this.basePos,
+      this.ephemerides,
+      timeMs,
+      o.elevationMaskDeg * Math.PI / 180,
+      o.troposphere
+    );
+    const byPrn = new Map(geom.map((g) => [g.prn, g]));
+    const dtS = this.lastMs !== null ? (timeMs - this.lastMs) / 1e3 : 0;
+    if (this.x) {
+      for (let i = this.amb.length - 1; i >= 0; i--) {
+        const prn = this.amb[i].prn;
+        const tr = this.track.get(prn);
+        const seen = byPrn.get(prn);
+        const hasPhase = seen && seen.cpR !== null && seen.cpB !== null;
+        const staleMs = tr ? timeMs - tr.lastMs : Infinity;
+        if (!hasPhase && staleMs > o.maxGapMs) this.dropAmb(i);
+      }
+    }
+    const slipped = /* @__PURE__ */ new Set();
+    for (const g of geom) {
+      if (g.cpR === null || g.cpB === null) continue;
+      const tr = this.track.get(g.prn);
+      if (!tr) continue;
+      if (timeMs - tr.lastMs > o.maxGapMs) slipped.add(g.prn);
+      else if (g.lockR !== void 0 && tr.lockR !== void 0 && g.lockR < tr.lockR || g.lockB !== void 0 && tr.lockB !== void 0 && g.lockB < tr.lockB)
+        slipped.add(g.prn);
+    }
+    if (!this.x) {
+      const dg = solveDgnss(
+        rover,
+        base,
+        this.basePos,
+        this.ephemerides,
+        timeMs,
+        {
+          elevationMaskDeg: o.elevationMaskDeg,
+          troposphere: o.troposphere,
+          codeSigmaM: o.codeSigmaM
+        }
+      );
+      if (!dg) return null;
+      this.x = [...dg.position];
+      this.P = zeros(3, 3);
+      for (let i = 0; i < 3; i++) {
+        const s = Math.max(dg.sigmas[i], 1);
+        this.P[i][i] = 25 * s * s;
+      }
+      this.amb = [];
+    } else if (o.mode === "kinematic") {
+      for (let i = 0; i < 3; i++) {
+        for (let j = 0; j < this.x.length; j++) {
+          this.P[i][j] = 0;
+          this.P[j][i] = 0;
+        }
+        this.P[i][i] = o.kinematicSigmaM * o.kinematicSigmaM;
+      }
+    } else {
+      const q = o.processNoisePosM * o.processNoisePosM * dtS;
+      for (let i = 0; i < 3; i++) this.P[i][i] += q;
+    }
+    const qAmb = o.ambProcessNoiseCycles * o.ambProcessNoiseCycles * dtS;
+    for (let k = 0; k < this.amb.length; k++) this.P[3 + k][3 + k] += qAmb;
+    const groups = groupEntries(geom);
+    const newRefs = /* @__PURE__ */ new Map();
+    for (const [group, list] of groups) {
+      if (list.length < 2) continue;
+      const phase = list.filter(
+        (g) => g.cpR !== null && g.cpB !== null && !slipped.has(g.prn)
+      );
+      const pool = phase.length >= 2 ? phase : list;
+      const prevRef = this.refs.get(group);
+      const best = pool.reduce((a, b) => b.elB > a.elB ? b : a);
+      let ref = best;
+      if (best.prn !== prevRef) {
+        const anyState = this.amb.some((a) => a.group === group);
+        if (anyState) {
+          if (this.ambIndex(best.prn) >= 0) {
+            this.retarget(group, prevRef ?? best.prn, this.ambIndex(best.prn));
+          } else if (prevRef && pool.some((g) => g.prn === prevRef)) {
+            ref = pool.find((g) => g.prn === prevRef);
+          } else {
+            for (let i = this.amb.length - 1; i >= 0; i--)
+              if (this.amb[i].group === group) this.dropAmb(i);
+          }
+        }
+      }
+      newRefs.set(group, ref);
+      this.refs.set(group, ref.prn);
+    }
+    for (const group of [...this.refs.keys()])
+      if (!newRefs.has(group)) this.refs.delete(group);
+    for (const prn of slipped) {
+      const i = this.ambIndex(prn);
+      if (i >= 0) this.dropAmb(i);
+    }
+    const initAmb = (g, ref) => {
+      if (g.lambda <= 0 || ref.lambda <= 0) return;
+      const zPhi = g.lambda * (g.cpR - g.cpB) - ref.lambda * (ref.cpR - ref.cpB);
+      const zP = g.prR - g.prB - (ref.prR - ref.prB);
+      const n0 = (zPhi - zP) / g.lambda;
+      this.addAmb(
+        { prn: g.prn, group: g.group, lambda: g.lambda },
+        n0,
+        o.ambInitSigmaCycles * o.ambInitSigmaCycles
+      );
+    };
+    for (const [group, ref] of newRefs) {
+      for (const g of groups.get(group)) {
+        if (g === ref || g.cpR === null || g.cpB === null) continue;
+        if (ref.cpR === null || ref.cpB === null) continue;
+        const i = this.ambIndex(g.prn);
+        if (i >= 0) {
+          this.amb[i].lambda = g.lambda;
+          this.amb[i].group = g.group;
+          continue;
+        }
+        initAmb(g, ref);
+      }
+    }
+    for (let i = this.amb.length - 1; i >= 0; i--) {
+      const a = this.amb[i];
+      if (newRefs.get(a.group)?.prn === a.prn) this.dropAmb(i);
+    }
+    let rows = [];
+    for (const [group, ref] of newRefs) {
+      for (const g of groups.get(group)) {
+        if (g === ref) continue;
+        rows.push({
+          g,
+          ref,
+          kind: "code",
+          z: g.prR - g.prB - (ref.prR - ref.prB),
+          ambIdx: -1
+        });
+        const i = this.ambIndex(g.prn);
+        if (i >= 0 && g.cpR !== null && g.cpB !== null && ref.cpR !== null && ref.cpB !== null && g.lambda > 0 && ref.lambda > 0) {
+          rows.push({
+            g,
+            ref,
+            kind: "phase",
+            z: g.lambda * (g.cpR - g.cpB) - ref.lambda * (ref.cpR - ref.cpB),
+            ambIdx: i
+          });
+        }
+      }
+    }
+    if (rows.length < 3) {
+      this.lastMs = timeMs;
+      return null;
+    }
+    const predict = (row, xs) => {
+      const ts = roverTerms(row.g, xs[0], xs[1], xs[2], o.troposphere);
+      const tr = roverTerms(row.ref, xs[0], xs[1], xs[2], o.troposphere);
+      let pred = ts.rho - row.g.rhoB + ts.dTropo - (tr.rho - row.ref.rhoB + tr.dTropo);
+      const h = new Array(this.x.length).fill(0);
+      h[0] = ts.u[0] - tr.u[0];
+      h[1] = ts.u[1] - tr.u[1];
+      h[2] = ts.u[2] - tr.u[2];
+      if (row.ambIdx >= 0) {
+        pred += this.amb[row.ambIdx].lambda * this.x[3 + row.ambIdx];
+        h[3 + row.ambIdx] = this.amb[row.ambIdx].lambda;
+      }
+      return { pred, h };
+    };
+    const dropPrns = /* @__PURE__ */ new Set();
+    const codeInn = /* @__PURE__ */ new Map();
+    for (const row of rows) {
+      if (row.kind !== "code") continue;
+      const v = row.z - predict(row, this.x).pred;
+      codeInn.set(row.g.prn, v);
+      if (Math.abs(v) > o.codeGateM) dropPrns.add(row.g.prn);
+    }
+    for (const row of rows) {
+      if (row.kind !== "phase" || dropPrns.has(row.g.prn)) continue;
+      const v = row.z - predict(row, this.x).pred;
+      const vc = codeInn.get(row.g.prn) ?? 0;
+      if (Math.abs(v - vc) > o.slipGateM) {
+        const zP = row.g.prR - row.g.prB - (row.ref.prR - row.ref.prB);
+        const lam = this.amb[row.ambIdx].lambda;
+        this.x[3 + row.ambIdx] = (row.z - zP) / lam;
+        const s = 3 + row.ambIdx;
+        for (let j = 0; j < this.x.length; j++) {
+          this.P[s][j] = 0;
+          this.P[j][s] = 0;
+        }
+        this.P[s][s] = o.ambInitSigmaCycles * o.ambInitSigmaCycles;
+      }
+    }
+    if (dropPrns.size) rows = rows.filter((r) => !dropPrns.has(r.g.prn));
+    if (rows.length < 3) {
+      this.lastMs = timeMs;
+      return null;
+    }
+    const n = this.x.length;
+    const R = ddCovariance(rows, o.codeSigmaM, o.phaseSigmaM);
+    const xPrior = [...this.x];
+    const PPrior = this.P;
+    let xi = [...this.x];
+    let K = [];
+    let H = [];
+    for (let it = 0; it < Math.max(o.updateIterations, 1); it++) {
+      H = [];
+      const v = [];
+      for (const row of rows) {
+        const { pred, h } = predict(row, xi);
+        let corr = 0;
+        for (let j = 0; j < n; j++) corr += h[j] * (xPrior[j] - xi[j]);
+        v.push(row.z - pred - corr);
+        H.push(h);
+      }
+      const Ht = transpose(H);
+      const S = matMul(matMul(H, PPrior), Ht);
+      for (let i = 0; i < rows.length; i++)
+        for (let j = 0; j < rows.length; j++) S[i][j] += R[i][j];
+      const Sinv = matInv(S);
+      if (!Sinv) {
+        this.lastMs = timeMs;
+        return null;
+      }
+      K = matMul(matMul(PPrior, Ht), Sinv);
+      const dx = matMul(
+        K,
+        v.map((s) => [s])
+      );
+      xi = xPrior.map((s, i) => s + dx[i][0]);
+    }
+    this.x = xi;
+    const KH = matMul(K, H);
+    const IKH = zeros(n, n);
+    for (let i = 0; i < n; i++)
+      for (let j = 0; j < n; j++) IKH[i][j] = (i === j ? 1 : 0) - KH[i][j];
+    const Pnew = matMul(IKH, PPrior);
+    for (let i = 0; i < n; i++)
+      for (let j = i; j < n; j++) {
+        const s = (Pnew[i][j] + Pnew[j][i]) / 2;
+        Pnew[i][j] = s;
+        Pnew[j][i] = s;
+      }
+    this.P = Pnew;
+    for (const g of geom) {
+      if (g.cpR === null || g.cpB === null) continue;
+      this.track.set(g.prn, { lockR: g.lockR, lockB: g.lockB, lastMs: timeMs });
+    }
+    this.lastMs = timeMs;
+    const ambiguities = {};
+    for (let k = 0; k < this.amb.length; k++)
+      ambiguities[this.amb[k].prn] = this.x[3 + k];
+    const refSatellites = {};
+    for (const [group, ref] of newRefs) refSatellites[group] = ref.prn;
+    const nSats = new Set(rows.flatMap((r) => [r.g.prn, r.ref.prn])).size;
+    return {
+      timeMs,
+      position: [this.x[0], this.x[1], this.x[2]],
+      floatBaseline: [
+        this.x[0] - this.basePos[0],
+        this.x[1] - this.basePos[1],
+        this.x[2] - this.basePos[2]
+      ],
+      nSats,
+      ratio: void 0,
+      sigmas: [
+        Math.sqrt(Math.max(this.P[0][0], 0)),
+        Math.sqrt(Math.max(this.P[1][1], 0)),
+        Math.sqrt(Math.max(this.P[2][2], 0))
+      ],
+      ambiguities,
+      refSatellites
+    };
+  }
+};
+
+// 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;
+}
+var GPS_EPOCH_MS_SPP = Date.UTC(1980, 0, 6);
+var PRIMARY_FREQ_HZ = {
+  G: 157542e4,
+  E: 157542e4,
+  J: 157542e4,
+  S: 157542e4,
+  C: 1561098e3,
+  R: 1602e6
+};
+var F_L1 = 157542e4;
+function tropoDelay2(elevationRad) {
+  const sinEl = Math.sin(elevationRad);
+  return 2.47 / (sinEl + 0.0121);
+}
+function sagnac2(pos, travelTimeS) {
+  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,
+    iono
+  } = opts;
+  const gpsTow = (timeMs - GPS_EPOCH_MS_SPP) / 1e3 % 604800;
+  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];
+      const positionSaneIter = x2 * x2 + y2 * y2 + z2 * z2 > 1e12;
+      const [rxLat, rxLon] = positionSaneIter ? ecefToGeodetic(x2, y2, z2) : [0, 0];
+      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] = sagnac2(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 azim = 0;
+        let weight = 1;
+        const positionSane = positionSaneIter;
+        if (positionSane) {
+          const azel = ecefToAzEl(x2, y2, z2, sx, sy, sz);
+          elev = azel.el;
+          azim = azel.az;
+          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 ? tropoDelay2(elev) : 0;
+        let ionoM = 0;
+        if (iono && positionSane) {
+          const f = PRIMARY_FREQ_HZ[sys] ?? F_L1;
+          ionoM = C_LIGHT * klobucharDelay(iono, rxLat, rxLon, azim, elev, gpsTow) * (F_L1 / f * (F_L1 / f));
+        }
+        const predicted = rho + clk - C_LIGHT * dts + tropo + ionoM;
+        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 {
+  klobucharDelay,
+  toRtkEpoch,
+  solveDgnss,
+  RtkFloatEngine,
+  satClockCorrection,
+  ionoFree,
+  solveSpp
+};