gnss-js 1.21.0 → 1.23.0

package/dist/index.cjs

@@ -82,6 +82,7 @@ __export(src_exports, {
   RINEX_CODES: () => RINEX_CODES,
   RTCM3_MESSAGE_NAMES: () => RTCM3_MESSAGE_NAMES,
   Rtcm3Decoder: () => Rtcm3Decoder,
+  RtkFloatEngine: () => RtkFloatEngine,
   SECONDS_IN_DAY: () => SECONDS_IN_DAY,
   SECONDS_IN_HOUR: () => SECONDS_IN_HOUR,
   SECONDS_IN_MINUTE: () => SECONDS_IN_MINUTE,
@@ -241,6 +242,7 @@ __export(src_exports, {
   parseUbxCnav: () => parseUbxCnav,
   parseUbxIonoUtc: () => parseUbxIonoUtc,
   parseUbxNav: () => parseUbxNav,
+  parseUbxRawNav: () => parseUbxRawNav,
   parseUbxRawx: () => parseUbxRawx,
   phiAltBOC: () => phiAltBOC,
   phiBOCc: () => phiBOCc,
@@ -259,11 +261,13 @@ __export(src_exports, {
   selectEphemeris: () => selectEphemeris,
   setGloFreqNumber: () => setGloFreqNumber,
   setRtcm3DebugHandler: () => setRtcm3DebugHandler,
+  solveDgnss: () => solveDgnss,
   solveSpp: () => solveSpp,
   sp3Position: () => sp3Position,
   stationHeaderLines: () => stationHeaderLines,
   systemCmp: () => systemCmp,
   systemName: () => systemName,
+  toRtkEpoch: () => toRtkEpoch,
   transformFrame: () => transformFrame,
   ubxFrames: () => ubxFrames,
   updateStationMeta: () => updateStationMeta,
@@ -5404,541 +5408,288 @@ function parseUbxCnav(data) {
   return { ephemerides, badCrc, messages };
 }
 
-// src/ubx/index.ts
-var GPS_EPOCH_MS4 = Date.UTC(1980, 0, 6);
-var MS_PER_WEEK2 = 7 * 864e5;
-var SIGNALS = {
-  0: { 0: ["G", "1C"], 3: ["G", "2X"], 4: ["G", "2X"] },
-  // GPS L1C/A, L2CL, L2CM
-  1: { 0: ["S", "1C"] },
-  // SBAS L1C/A
-  2: { 0: ["E", "1X"], 1: ["E", "1X"], 5: ["E", "7X"], 6: ["E", "7X"] },
-  // E1C/B, E5bI/Q
-  3: { 0: ["C", "2I"], 1: ["C", "2I"], 2: ["C", "7I"], 3: ["C", "7I"] },
-  // B1I D1/D2, B2I D1/D2
-  5: { 0: ["J", "1C"], 4: ["J", "2X"], 5: ["J", "2X"] },
-  // QZSS L1C/A, L2CM/CL
-  6: { 0: ["R", "1C"], 2: ["R", "2C"] }
-  // GLONASS L1OF, L2OF
-};
-function prnFor(gnssId, svId) {
-  const two4 = (n) => String(n).padStart(2, "0");
-  switch (gnssId) {
-    case 0:
-      return svId >= 1 && svId <= 32 ? `G${two4(svId)}` : null;
-    case 1:
-      return svId >= 120 && svId <= 158 ? `S${two4(svId - 100)}` : null;
-    case 2:
-      return svId >= 1 && svId <= 36 ? `E${two4(svId)}` : null;
-    case 3:
-      return svId >= 1 && svId <= 63 ? `C${two4(svId)}` : null;
-    case 5:
-      return svId >= 1 && svId <= 10 ? `J${two4(svId)}` : null;
-    case 6:
-      return svId >= 1 && svId <= 32 ? `R${two4(svId)}` : null;
-    default:
-      return null;
-  }
+// src/navbits/bds.ts
+var BDT_EPOCH_MS = Date.UTC(2006, 0, 1);
+var SEC_PER_WEEK4 = 7 * 86400;
+var MS_PER_WEEK2 = SEC_PER_WEEK4 * 1e3;
+var HALF_WEEK2 = 302400;
+var sowOf = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK4;
+var BDS_SUBFRAME_BYTES = 38;
+function getBitU2(b, p1, l1, p2, l2) {
+  return getBitU(b, p1, l1) * 2 ** l2 + getBitU(b, p2, l2);
 }
-function parseUbxRawx(data) {
-  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
-  const epochs = [];
-  const messageCounts = {};
-  const obsCodes = {};
-  const stats = { badChecksums: 0 };
-  for (const frame of ubxFrames(data, stats)) {
-    const { msgClass: cls, msgId: id } = frame;
-    const len = frame.payload.length;
-    const key = `${cls.toString(16).padStart(2, "0")}-${id.toString(16).padStart(2, "0")}`;
-    messageCounts[key] = (messageCounts[key] ?? 0) + 1;
-    if (cls === 2 && id === 21 && len >= 16) {
-      const p = frame.payloadStart;
-      const rcvTow = view.getFloat64(p, true);
-      const week = view.getUint16(p + 8, true);
-      const leapS = view.getInt8(p + 10);
-      const numMeas = data[p + 11];
-      const recStat = data[p + 12];
-      const leapValid = (recStat & 1) !== 0;
-      const meas = [];
-      for (let k = 0; k < numMeas; k++) {
-        const off = p + 16 + 32 * k;
-        if (off + 32 > p + len) break;
-        const gnssId = data[off + 20];
-        const svId = data[off + 21];
-        const sigId = data[off + 22];
-        const trkStat = data[off + 30];
-        const prn = prnFor(gnssId, svId);
-        const sig = SIGNALS[gnssId]?.[sigId];
-        if (!prn || !sig) continue;
-        const prValid = (trkStat & 1) !== 0;
-        const cpValid = (trkStat & 2) !== 0;
-        const cp = view.getFloat64(off + 8, true);
-        meas.push({
-          prn,
-          code: sig[1],
-          pr: prValid ? view.getFloat64(off, true) : null,
-          cp: cpValid && cp !== 0 ? cp : null,
-          doppler: view.getFloat32(off + 16, true),
-          cn0: data[off + 26],
-          halfCycleAmbiguous: (trkStat & 4) !== 0,
-          lockTimeMs: view.getUint16(off + 24, true)
-        });
-        const sys = sig[0];
-        const codes = obsCodes[sys] ??= [];
-        if (!codes.includes(sig[1])) codes.push(sig[1]);
-      }
-      epochs.push({
-        timeMs: GPS_EPOCH_MS4 + week * MS_PER_WEEK2 + Math.round(rcvTow * 1e3),
-        leapS: leapValid ? leapS : null,
-        meas
-      });
-    }
-  }
-  return { epochs, messageCounts, obsCodes, badChecksums: stats.badChecksums };
+function getBitS2(b, p1, l1, p2, l2) {
+  return getBitS(b, p1, l1) * 2 ** l2 + getBitU(b, p2, l2);
 }
-
-// src/sbf/frame.ts
-var CRC_TABLE = (() => {
-  const t = new Uint16Array(256);
-  for (let n = 0; n < 256; n++) {
-    let c = n << 8;
-    for (let k = 0; k < 8; k++)
-      c = c & 32768 ? (c << 1 ^ 4129) & 65535 : c << 1 & 65535;
-    t[n] = c;
-  }
-  return t;
-})();
-function crc16(data, start, end) {
-  let crc = 0;
-  for (let i = start; i < end; i++)
-    crc = (crc << 8 ^ CRC_TABLE[(crc >> 8 ^ data[i]) & 255]) & 65535;
-  return crc;
+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 scanSbfFrames(data, view, onBlock) {
-  let badCrc = 0;
-  let i = 0;
-  while (i + 8 <= data.length) {
-    if (data[i] !== 36 || data[i + 1] !== 64) {
-      i++;
-      continue;
-    }
-    const len = view.getUint16(i + 6, true);
-    if (len < 8 || len % 4 !== 0) {
-      i++;
-      continue;
-    }
-    if (i + len > data.length) break;
-    if (crc16(data, i + 4, i + len) !== view.getUint16(i + 2, true)) {
-      badCrc++;
-      i++;
-      continue;
-    }
-    onBlock(view.getUint16(i + 4, true) & 8191, i, len);
-    i += len;
-  }
-  return badCrc;
+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 two = (n) => String(n).padStart(2, "0");
-function svidToPrn(svid) {
-  if (svid >= 1 && svid <= 37) return svid <= 32 ? `G${two(svid)}` : null;
-  if (svid <= 61) return svid - 37 <= 27 ? `R${two(svid - 37)}` : null;
-  if (svid <= 62) return null;
-  if (svid <= 68) return svid - 38 <= 27 ? `R${two(svid - 38)}` : null;
-  if (svid <= 70) return null;
-  if (svid <= 106) return svid - 70 <= 36 ? `E${two(svid - 70)}` : null;
-  if (svid <= 119) return null;
-  if (svid <= 140) return `S${two(svid - 100)}`;
-  if (svid <= 180) return svid - 140 <= 50 ? `C${two(svid - 140)}` : null;
-  if (svid <= 190) return `J${two(svid - 180)}`;
-  if (svid <= 197) return svid - 190 <= 14 ? `I${two(svid - 190)}` : null;
-  if (svid <= 215) return `S${two(svid - 157)}`;
-  if (svid <= 222) return svid - 208 <= 14 ? `I${two(svid - 208)}` : null;
-  if (svid <= 245) return svid - 182 <= 50 ? `C${two(svid - 182)}` : null;
-  return null;
+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;
 }
-
-// src/sbf/nav.ts
-var PI2 = Math.PI;
-var GPS_EPOCH_MS5 = Date.UTC(1980, 0, 6);
-var BDT_EPOCH_MS = Date.UTC(2006, 0, 1);
-var SEC_PER_WEEK4 = 7 * 86400;
-var MS_PER_WEEK3 = SEC_PER_WEEK4 * 1e3;
-var F4_DNU = -2e10;
-var U4_DNU = 4294967295;
-function adjustWeek(refWeek, wn, mod) {
-  let offset = refWeek % mod - wn;
-  if (offset > mod / 2) offset -= mod;
-  if (offset < -(mod / 2 - 1)) offset += mod;
-  return refWeek - offset;
+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;
 }
-var gpsMs = (week, sec) => GPS_EPOCH_MS5 + week * MS_PER_WEEK3 + sec * 1e3;
-var sowOf = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK4;
-function decodeGpsQzsNav(view, b, sys) {
-  const svid = view.getUint8(b + 14);
-  const prn = sys === "G" ? svid : svid - 180;
-  const max = sys === "G" ? 32 : 10;
-  if (prn < 1 || prn > max) return null;
-  const wnc = view.getUint16(b + 12, true);
-  const tgdRaw = view.getFloat32(b + 28, true);
-  const tocs = view.getUint32(b + 32, true);
-  const toes = view.getUint32(b + 88, true);
-  const wnToc = adjustWeek(wnc, view.getUint16(b + 136, true), 1024);
-  const tocDate = new Date(gpsMs(wnToc, tocs));
+function buildBdsEphemeris(prn, f) {
+  let week = f.week;
+  if (f.toes < f.sow - HALF_WEEK2) week++;
+  else if (f.toes > f.sow + HALF_WEEK2) week--;
+  const tocDate = new Date(BDT_EPOCH_MS + week * MS_PER_WEEK2 + f.tocSec * 1e3);
   return {
-    system: sys,
-    prn: `${sys}${String(prn).padStart(2, "0")}`,
+    system: "C",
+    prn,
     toc: sowOf(tocDate.getTime()),
     tocDate,
-    af0: view.getFloat32(b + 44, true),
-    af1: view.getFloat32(b + 40, true),
-    af2: view.getFloat32(b + 36, true),
-    iode: view.getUint8(b + 24),
-    crs: view.getFloat32(b + 48, true),
-    deltaN: view.getFloat32(b + 52, true) * PI2,
-    m0: view.getFloat64(b + 56, true) * PI2,
-    cuc: view.getFloat32(b + 64, true),
-    e: view.getFloat64(b + 68, true),
-    cus: view.getFloat32(b + 76, true),
-    sqrtA: view.getFloat64(b + 80, true),
-    toe: toes,
-    cic: view.getFloat32(b + 92, true),
-    omega0: view.getFloat64(b + 96, true) * PI2,
-    cis: view.getFloat32(b + 104, true),
-    i0: view.getFloat64(b + 108, true) * PI2,
-    crc: view.getFloat32(b + 116, true),
-    omega: view.getFloat64(b + 120, true) * PI2,
-    omegaDot: view.getFloat32(b + 128, true) * PI2,
-    idot: view.getFloat32(b + 132, true) * PI2,
-    // RINEX "GPS week to go with toe": RTKLIB writes WNc for GPS and
-    // the week of toc for QZSS — mirrored here so records compare
-    // 1:1 against convbin output. wnToe is still used for `toe` above.
-    week: sys === "G" ? wnc : wnToc,
-    svHealth: view.getUint8(b + 20),
-    tgd: tgdRaw !== F4_DNU ? tgdRaw : 0
+    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 decodeGalNav(view, b) {
-  const prn = view.getUint8(b + 14) - 70;
-  if (prn < 1 || prn > 36) return null;
-  const source = view.getUint8(b + 15);
-  if (source !== 2 && source !== 16) return null;
-  const wnc = view.getUint16(b + 12, true);
-  const toes = view.getUint32(b + 100, true);
-  const tocs = view.getUint32(b + 104, true);
-  const wnToc = adjustWeek(wnc, view.getUint16(b + 126, true), 4096);
-  const tocDate = new Date(gpsMs(wnToc, tocs));
-  const health = view.getUint16(b + 130, true);
-  let svh = 0;
-  if (health & 1) svh |= health >> 1 & 7;
-  if (health & 16) svh |= (health >> 5 & 7) << 6;
-  if (health & 256) svh |= (health >> 9 & 7) << 3;
-  const bgdE5a = view.getFloat32(b + 136, true);
-  return {
-    system: "E",
-    prn: `E${String(prn).padStart(2, "0")}`,
-    toc: sowOf(tocDate.getTime()),
-    tocDate,
-    af0: view.getFloat64(b + 116, true),
-    af1: view.getFloat32(b + 112, true),
-    af2: view.getFloat32(b + 108, true),
-    iode: view.getUint16(b + 128, true),
-    // IODnav
-    crs: view.getFloat32(b + 88, true),
-    deltaN: view.getFloat32(b + 72, true) * PI2,
-    m0: view.getFloat64(b + 24, true) * PI2,
-    cuc: view.getFloat32(b + 76, true),
-    e: view.getFloat64(b + 32, true),
-    cus: view.getFloat32(b + 80, true),
-    sqrtA: view.getFloat64(b + 16, true),
-    toe: toes,
-    cic: view.getFloat32(b + 92, true),
-    omega0: view.getFloat64(b + 56, true) * PI2,
-    cis: view.getFloat32(b + 96, true),
-    i0: view.getFloat64(b + 40, true) * PI2,
-    crc: view.getFloat32(b + 84, true),
-    omega: view.getFloat64(b + 48, true) * PI2,
-    omegaDot: view.getFloat32(b + 64, true) * PI2,
-    idot: view.getFloat32(b + 68, true) * PI2,
-    week: wnc,
-    // RINEX GAL week is GPS-aligned and continuous
-    svHealth: svh,
-    tgd: bgdE5a !== F4_DNU ? bgdE5a : 0
-    // BGD E5a/E1 (RINEX slot)
-  };
-}
-function decodeBdsNav(view, b) {
-  const prn = svidToPrn(view.getUint8(b + 14));
-  if (!prn || prn[0] !== "C") return null;
-  const bdsWeekRef = view.getUint16(b + 12, true) - 1356;
-  const tgd1 = view.getFloat32(b + 24, true);
-  const tocs = view.getUint32(b + 32, true);
-  const toes = view.getUint32(b + 88, true);
-  const wnToc = adjustWeek(bdsWeekRef, view.getUint16(b + 136, true), 8192);
-  const wnToe = adjustWeek(bdsWeekRef, view.getUint16(b + 138, true), 8192);
-  const tocDate = new Date(BDT_EPOCH_MS + wnToc * MS_PER_WEEK3 + tocs * 1e3);
-  return {
-    system: "C",
-    prn,
-    toc: sowOf(tocDate.getTime()),
-    tocDate,
-    af0: view.getFloat32(b + 44, true),
-    af1: view.getFloat32(b + 40, true),
-    af2: view.getFloat32(b + 36, true),
-    iode: view.getUint8(b + 21),
-    // AODE
-    crs: view.getFloat32(b + 48, true),
-    deltaN: view.getFloat32(b + 52, true) * PI2,
-    m0: view.getFloat64(b + 56, true) * PI2,
-    cuc: view.getFloat32(b + 64, true),
-    e: view.getFloat64(b + 68, true),
-    cus: view.getFloat32(b + 76, true),
-    sqrtA: view.getFloat64(b + 80, true),
-    toe: toes,
-    cic: view.getFloat32(b + 92, true),
-    omega0: view.getFloat64(b + 96, true) * PI2,
-    cis: view.getFloat32(b + 104, true),
-    i0: view.getFloat64(b + 108, true) * PI2,
-    crc: view.getFloat32(b + 116, true),
-    omega: view.getFloat64(b + 120, true) * PI2,
-    omegaDot: view.getFloat32(b + 128, true) * PI2,
-    idot: view.getFloat32(b + 132, true) * PI2,
-    week: wnToe,
-    // RINEX BDS week field is the BDT week
-    svHealth: view.getUint8(b + 19),
-    // SatH1
-    tgd: tgd1 !== F4_DNU ? tgd1 : 0
-    // TGD1 B1/B3 (RINEX slot)
-  };
-}
-function decodeGloNav(view, b) {
-  const prn = svidToPrn(view.getUint8(b + 14));
-  if (!prn || prn[0] !== "R") return null;
-  const wnc = view.getUint16(b + 12, true);
-  const toes = view.getUint32(b + 76, true);
-  const wnToe = adjustWeek(wnc, view.getUint16(b + 80, true), 1024);
-  const toeGpsMs = gpsMs(wnToe, toes);
-  const leapMs = getGpsLeap(new Date(toeGpsMs)) * 1e3;
-  const tocDate = new Date(toeGpsMs - leapMs);
-  const tofGpsMs = gpsMs(wnc, 0) + view.getUint32(b + 8, true);
-  const tofLeapMs = getGpsLeap(new Date(tofGpsMs)) * 1e3;
-  const messageFrameTime = (tofGpsMs - tofLeapMs - GPS_EPOCH_MS5) / 1e3 % SEC_PER_WEEK4;
-  return {
-    system: "R",
-    prn,
-    tocDate,
-    // RINEX stores −τn as the clock bias; SBF carries τn (ICD sign)
-    tauN: -view.getFloat32(b + 68, true),
-    gammaN: view.getFloat32(b + 64, true),
-    messageFrameTime,
-    x: view.getFloat64(b + 16, true),
-    // SBF unit is km, like RINEX
-    xDot: view.getFloat32(b + 40, true),
-    xAcc: view.getFloat32(b + 52, true),
-    y: view.getFloat64(b + 24, true),
-    yDot: view.getFloat32(b + 44, true),
-    yAcc: view.getFloat32(b + 56, true),
-    z: view.getFloat64(b + 32, true),
-    zDot: view.getFloat32(b + 48, true),
-    zAcc: view.getFloat32(b + 60, true),
-    // MSB of the 3-bit Bn word — the unhealthy flag RINEX carries
-    health: view.getUint8(b + 85) >> 2,
-    freqNum: view.getUint8(b + 15) - 8
-  };
-}
-function parseSbfNav(data) {
-  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
-  const ephemerides = [];
-  const badCrc = scanSbfFrames(data, view, (id, b, len) => {
-    let eph = null;
-    if (id === 5891 && len >= 140) eph = decodeGpsQzsNav(view, b, "G");
-    else if (id === 4095 && len >= 140) eph = decodeGpsQzsNav(view, b, "J");
-    else if (id === 4002 && len >= 149) eph = decodeGalNav(view, b);
-    else if (id === 4081 && len >= 140) eph = decodeBdsNav(view, b);
-    else if (id === 4004 && len >= 96) eph = decodeGloNav(view, b);
-    if (eph) ephemerides.push(eph);
+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 = getBitU2(b, i + 18, 8, i + 30, 12);
+  const svh = getBitU(b, i + 42, 1);
+  const week = getBitU(b, i + 60, 13);
+  const tocSec = getBitU2(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 = getBitU2(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 = getBitU2(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 = getBitU2(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 = getBitU2(b, i + 18, 8, i + 30, 12);
+  const toe2 = getBitU2(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
   });
-  return { ephemerides, badCrc };
 }
-var GAL_SQRT_A_NOMINAL = Math.sqrt(296e5);
-var GAL_I_NOMINAL = 56 / 180 * PI2;
-var I_REF_03 = 0.3 * PI2;
-function decodeGpsGalAlm(view, b, sys) {
-  const wnc = view.getUint16(b + 12, true);
-  const toa = view.getUint32(b + 20, true);
-  if (toa === U4_DNU) return null;
-  let prn;
-  let weekAlm;
-  let i0;
-  let sqrtA = view.getFloat32(b + 32, true);
-  let health;
-  if (sys === "G") {
-    prn = view.getUint8(b + 14);
-    if (prn < 1 || prn > 32) return null;
-    weekAlm = adjustWeek(wnc, view.getUint8(b + 56), 256);
-    i0 = I_REF_03 + view.getFloat32(b + 24, true) * PI2;
-    health = view.getUint8(b + 58);
-  } else {
-    prn = view.getUint8(b + 57) - 70;
-    if (prn < 1 || prn > 36) return null;
-    weekAlm = adjustWeek(wnc, view.getUint8(b + 56), 4);
-    i0 = GAL_I_NOMINAL + view.getFloat32(b + 24, true) * PI2;
-    sqrtA += GAL_SQRT_A_NOMINAL;
-    health = view.getUint16(b + 58, true);
+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 = getBitU2(b, i + 18, 8, i + 30, 12);
+  const svh = getBitU(b, i + 46, 1);
+  const week = getBitU(b, i + 64, 13);
+  const tocSec = getBitU2(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 = getBitU2(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 = getBitU2(b, i + 18, 8, i + 30, 12);
+  const af1p4 = getBitU2(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 = getBitU2(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 = getBitU2(b, i + 18, 8, i + 30, 12);
+  const ep6 = getBitU2(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 = getBitU2(b, i + 18, 8, i + 30, 12);
+  const cicp7 = getBitU2(b, i + 46, 6, i + 60, 2);
+  const cis = getBitS(b, i + 62, 18) * 2 ** -31;
+  const toes = getBitU2(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 = getBitU2(b, i + 18, 8, i + 30, 12);
+  const i0p8 = getBitU2(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 = getBitU2(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 = getBitU2(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;
   }
-  return {
-    system: sys,
-    prn: `${sys}${String(prn).padStart(2, "0")}`,
-    weekAlm,
-    toaSec: toa,
+  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,
-    e: view.getFloat32(b + 16, true),
-    i0OrDeltaI: i0,
-    omega0: view.getFloat32(b + 36, true) * PI2,
-    omega: view.getFloat32(b + 40, true) * PI2,
-    m0: view.getFloat32(b + 44, true) * PI2,
-    omegaDot: view.getFloat32(b + 28, true) * PI2,
-    af0: view.getFloat32(b + 52, true),
-    af1: view.getFloat32(b + 48, true),
-    health
-  };
-}
-function decodeBdsAlm(view, b) {
-  const prnStr = svidToPrn(view.getUint8(b + 14));
-  if (!prnStr || prnStr[0] !== "C") return null;
-  const prn = parseInt(prnStr.slice(1), 10);
-  const toa = view.getUint32(b + 16, true);
-  if (toa === U4_DNU) return null;
-  const bdsWeekRef = view.getUint16(b + 12, true) - 1356;
-  const geo = prn <= 5 || prn >= 59;
-  return {
-    system: "C",
-    prn: prnStr,
-    weekAlm: adjustWeek(bdsWeekRef, view.getUint8(b + 15), 256),
-    toaSec: toa,
-    sqrtA: view.getFloat32(b + 20, true),
-    e: view.getFloat32(b + 24, true),
-    i0OrDeltaI: (geo ? 0 : I_REF_03) + view.getFloat32(b + 44, true) * PI2,
-    omega0: view.getFloat32(b + 36, true) * PI2,
-    omega: view.getFloat32(b + 28, true) * PI2,
-    m0: view.getFloat32(b + 32, true) * PI2,
-    omegaDot: view.getFloat32(b + 40, true) * PI2,
-    af0: view.getFloat32(b + 48, true),
-    af1: view.getFloat32(b + 52, true),
-    health: view.getUint16(b + 56, true)
-  };
-}
-function decodeGloAlm(view, b) {
-  const prn = svidToPrn(view.getUint8(b + 14));
-  if (!prn || prn[0] !== "R") return null;
-  const wnc = view.getUint16(b + 12, true);
-  const toa = view.getUint32(b + 20, true);
-  if (toa === U4_DNU) return null;
-  return {
-    system: "R",
-    prn,
-    freqNr: view.getUint8(b + 15) - 8,
-    weekAlm: adjustWeek(wnc, view.getUint8(b + 52), 256),
-    toaSec: toa,
-    epsilon: view.getFloat32(b + 16, true),
-    deltaI: view.getFloat32(b + 24, true) * PI2,
-    lambda: view.getFloat32(b + 28, true) * PI2,
-    tLambda: view.getFloat32(b + 32, true),
-    omega: view.getFloat32(b + 36, true) * PI2,
-    deltaT: view.getFloat32(b + 40, true),
-    deltaTDot: view.getFloat32(b + 44, true),
-    tau: view.getFloat32(b + 48, true),
-    health: view.getUint8(b + 53),
-    nDay: view.getUint16(b + 54, true),
-    n4: view.getUint8(b + 57)
-  };
-}
-function parseSbfAlmanac(data) {
-  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
-  const almanacs = [];
-  const badCrc = scanSbfFrames(data, view, (id, b, len) => {
-    let alm = null;
-    if (id === 5892 && len >= 60) alm = decodeGpsGalAlm(view, b, "G");
-    else if (id === 4003 && len >= 61) alm = decodeGpsGalAlm(view, b, "E");
-    else if (id === 4119 && len >= 60) alm = decodeBdsAlm(view, b);
-    else if (id === 4005 && len >= 60) alm = decodeGloAlm(view, b);
-    if (alm) almanacs.push(alm);
-  });
-  return { almanacs, badCrc };
-}
-
-// src/sbf/iono.ts
-var F4_DNU2 = -2e10;
-function parseSbfIonoUtc(data) {
-  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
-  const ionoCorrections = {};
-  let leapSeconds = null;
-  const f4s = (b, n) => {
-    const out = [];
-    for (let k = 0; k < n; k++) {
-      const v = view.getFloat32(b + 4 * k, true);
-      if (v === F4_DNU2) return null;
-      out.push(v);
-    }
-    return out;
-  };
-  scanSbfFrames(data, view, (id, b, len) => {
-    if ((id === 5893 || id === 4120) && len >= 48) {
-      const alpha = f4s(b + 16, 4);
-      const beta = f4s(b + 32, 4);
-      if (!alpha || !beta) return;
-      const sys = id === 5893 ? "GPS" : "BDS";
-      ionoCorrections[`${sys}A`] = alpha;
-      ionoCorrections[`${sys}B`] = beta;
-    } else if (id === 4030 && len >= 28) {
-      const ai = f4s(b + 16, 3);
-      if (ai) ionoCorrections["GAL"] = ai;
-    } else if (id === 5894 && len >= 37) {
-      leapSeconds = view.getInt8(b + 33);
-    }
+    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
   });
-  return { ionoCorrections, leapSeconds };
 }
-
-// src/sbf/rawnav.ts
-var SIGNAL_OF_BLOCK = {
-  4018: "L2C",
-  4019: "L5"
-};
-function parseSbfCnav(data) {
-  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
-  const ephemerides = [];
-  const assemblers = {
-    L2C: new CnavAssembler(),
-    L5: new CnavAssembler()
-  };
-  let badCrc = 0;
-  let messages = 0;
-  scanSbfFrames(data, view, (id, b, len) => {
-    const signal = SIGNAL_OF_BLOCK[id];
-    if (!signal || len < 60) return;
-    messages++;
-    const msg = new Uint8Array(40);
-    for (let k = 0; k < 10; k++) {
-      const w = view.getUint32(b + 20 + 4 * k, true);
-      msg[4 * k] = w >>> 24;
-      msg[4 * k + 1] = w >>> 16 & 255;
-      msg[4 * k + 2] = w >>> 8 & 255;
-      msg[4 * k + 3] = w & 255;
+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);
     }
-    if (!cnavCrcOk(msg)) {
-      badCrc++;
-      return;
+    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 });
     }
-    const eph = assemblers[signal].push(msg);
-    if (eph) ephemerides.push({ ...eph, signal });
-  });
-  return { ephemerides, badCrc, messages };
-}
+    if (!eph) return null;
+    const key = `${eph.week}:${eph.toe}`;
+    if (key === sat.lastKey) return null;
+    sat.lastKey = key;
+    return eph;
+  }
+};
 
 // src/navbits/gal.ts
-var GPS_EPOCH_MS6 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS4 = Date.UTC(1980, 0, 6);
 var SEC_PER_WEEK5 = 7 * 86400;
-var HALF_WEEK2 = 302400;
+var HALF_WEEK3 = 302400;
 var GST_GPS_WEEK_OFFSET = 1024;
 function galInavPageCrcOk(page) {
   if (page.length < 28) return false;
@@ -5949,14 +5700,14 @@ function galFnavPageCrcOk(page) {
   return crc24q(page, 214) === getBitU(page, 214, 24);
 }
 function gpsDate2(week, sec) {
-  return new Date(GPS_EPOCH_MS6 + (week * SEC_PER_WEEK5 + sec) * 1e3);
+  return new Date(GPS_EPOCH_MS4 + (week * SEC_PER_WEEK5 + sec) * 1e3);
 }
 function weekOfToe(week, tow, toe) {
-  if (toe - tow > HALF_WEEK2) return week - 1;
-  if (toe - tow < -HALF_WEEK2) return week + 1;
+  if (toe - tow > HALF_WEEK3) return week - 1;
+  if (toe - tow < -HALF_WEEK3) return week + 1;
   return week;
 }
-var two2 = (n) => String(n).padStart(2, "0");
+var two = (n) => String(n).padStart(2, "0");
 function decodeGalInavWords(words) {
   if (words.length < 96) return null;
   const b = words;
@@ -6044,7 +5795,7 @@ function decodeGalInavWords(words) {
   const tocDate = gpsDate2(week, tocs);
   return {
     system: "E",
-    prn: `E${two2(svid)}`,
+    prn: `E${two(svid)}`,
     toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK5,
     tocDate,
     af0,
@@ -6151,598 +5902,951 @@ function decodeGalFnavPages(pages) {
   const week = weekOfToe(gstWeek, tow, toes) + GST_GPS_WEEK_OFFSET;
   const tocDate = gpsDate2(week, tocs);
   return {
-    system: "E",
-    prn: `E${two2(svid)}`,
-    toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK5,
-    tocDate,
-    af0,
-    af1,
-    af2,
-    iode: iodNav1,
-    crs,
-    deltaN,
-    m0,
-    cuc,
-    e,
-    cus,
-    sqrtA,
-    toe: toes,
-    cic,
-    omega0,
-    cis,
-    i0,
-    crc,
-    omega,
-    omegaDot,
-    idot,
-    week,
-    svHealth: e5aHs << 4 | e5aDvs << 3,
-    tgd: bgdE5a
+    system: "E",
+    prn: `E${two(svid)}`,
+    toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK5,
+    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}:${eph.tocDate.getTime()}`;
+var GalInavAssembler = class {
+  sats = /* @__PURE__ */ new Map();
+  /**
+   * Push one I/NAV page pair for satellite `prn` (1-36): the 234-bit
+   * even+odd concatenation, even part first with its 6 tail bits
+   * removed, bit 0 = the even part's Even/Odd bit (≥ 17 bytes).
+   * Returns the newly completed ephemeris, or null. Pages that are
+   * not an even/odd nominal pair, alert pages and word types outside
+   * 1-5 are ignored.
+   */
+  push(prn, page) {
+    if (prn < 1 || prn > 36 || page.length < 17) return null;
+    if (getBitU(page, 0, 1) !== 0 || getBitU(page, 114, 1) !== 1) return null;
+    if (getBitU(page, 1, 1) === 1 || getBitU(page, 115, 1) === 1) return null;
+    const type = getBitU(page, 2, 6);
+    if (type < 1 || type > 5) return null;
+    let sat = this.sats.get(prn);
+    if (!sat) {
+      sat = { words: new Uint8Array(96) };
+      this.sats.set(prn, sat);
+    }
+    for (let k = 0; k < 14; k++)
+      sat.words[type * 16 + k] = getBitU(page, 2 + 8 * k, 8);
+    sat.words[type * 16 + 14] = getBitU(page, 116, 8);
+    sat.words[type * 16 + 15] = getBitU(page, 124, 8);
+    if (type !== 5) return null;
+    const eph = decodeGalInavWords(sat.words);
+    if (!eph || eph.prn !== `E${two(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${two(prn)}`) return null;
+    const key = dedupKey(eph);
+    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 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 {
+var GloStringAssembler = 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 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, page) {
-    if (prn < 1 || prn > 36 || page.length < 31) return null;
-    const type = getBitU(page, 0, 6);
-    if (type < 1 || type > 4) return null;
+  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 = { words: new Uint8Array(124) };
+      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;
     }
-    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${two2(prn)}`) return null;
-    const key = dedupKey(eph);
+    if (m > 4) return null;
+    sat.buf.set(str.subarray(0, GLO_STRING_BYTES), (m - 1) * 10);
+    if (m !== 4) return null;
+    const eph = decodeGloStrings(sat.buf, time, { freqNum });
+    if (!eph || eph.prn !== prn) return null;
+    const key = `${eph.tocDate.getTime()}:${eph.health}`;
     if (key === sat.lastKey) return null;
     sat.lastKey = key;
     return eph;
   }
 };
 
-// src/sbf/rawnav-gal.ts
-var INAV_SOURCES = [17, 21, 22];
-var FNAV_SOURCES = [20, 22];
-function parseSbfGalNav(data) {
+// src/ubx/rawnav.ts
+var GPS_EPOCH_MS6 = Date.UTC(1980, 0, 6);
+var SEC_PER_WEEK7 = 7 * 86400;
+var two2 = (n) => String(n).padStart(2, "0");
+function parseUbxRawNav(data, opts = {}) {
   const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
   const ephemerides = [];
+  const counts = { gal: 0, bds: 0, glo: 0 };
+  let badParity = 0;
   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;
+  const bds = new BdsAssembler();
+  const glo = new GloStringAssembler();
+  let refDate = null;
+  for (const f of ubxFrames(data)) {
+    if (f.msgClass !== 2) continue;
+    if (f.msgId === 21 && f.payload.length >= 16) {
+      const rcvTow = view.getFloat64(f.payloadStart, true);
+      let week = view.getUint16(f.payloadStart + 8, true);
+      if (week === 0 && opts.refWeek !== void 0) week = opts.refWeek;
+      if (week > 0) {
+        refDate = new Date(
+          GPS_EPOCH_MS6 + (week * SEC_PER_WEEK7 + rcvTow) * 1e3
+        );
+      }
+      continue;
     }
-    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 (f.msgId !== 19) continue;
+    const p = f.payload;
+    if (p.length < 8) continue;
+    const gnssId = p[0];
+    const svId = p[1];
+    const sigId = p[2];
+    const base = f.payloadStart + 8;
+    if (gnssId === 2) {
+      if (sigId === 3 || sigId === 8) continue;
+      if (p.length < 8 + 32) continue;
+      counts.gal++;
+      if (svId < 1 || svId > 36) continue;
+      const buff = new Uint8Array(32);
+      for (let k = 0; k < 8; k++) {
+        const w = view.getUint32(base + 4 * k, true);
+        buff[4 * k] = w >>> 24;
+        buff[4 * k + 1] = w >>> 16 & 255;
+        buff[4 * k + 2] = w >>> 8 & 255;
+        buff[4 * k + 3] = w & 255;
+      }
+      const page = new Uint8Array(30);
+      for (let k = 0; k < 14; k++) page[k] = buff[k];
+      setBitU(page, 112, 2, getBitU(buff, 112, 2));
+      for (let k = 0; k < 15; k++) {
+        setBitU(page, 114 + 8 * k, 8, getBitU(buff, 128 + 8 * k, 8));
+      }
+      if (getBitU(page, 0, 1) !== 0 || getBitU(page, 114, 1) !== 1) continue;
+      if (getBitU(page, 1, 1) === 1 || getBitU(page, 115, 1) === 1) continue;
       if (!galInavPageCrcOk(page)) {
-        badCrc++;
-        return;
+        badParity++;
+        continue;
       }
-      eph = inav.push(prn, page);
-    } else {
-      src = "fnav";
-      if (!FNAV_SOURCES.includes(source)) return;
-      if (isFnavDummy(page)) return;
-      if (!galFnavPageCrcOk(page)) {
-        badCrc++;
-        return;
+      const eph = inav.push(svId, page);
+      if (eph) ephemerides.push(eph);
+    } else if (gnssId === 3) {
+      if (sigId === 6 || sigId === 8) continue;
+      if (p.length < 8 + 40) continue;
+      counts.bds++;
+      if (svId < 1 || svId > 63) continue;
+      const sf = new Uint8Array(38);
+      for (let k = 0; k < 10; k++) {
+        const w = view.getUint32(base + 4 * k, true);
+        setBitU(sf, 30 * k, 30, w & 1073741823);
+      }
+      if (!bdsSubframeParityOk(sf)) {
+        badParity++;
+        continue;
+      }
+      const eph = bds.push(`C${two2(svId)}`, sf);
+      if (eph) ephemerides.push(eph);
+    } else if (gnssId === 6) {
+      if (p.length < 8 + 16) continue;
+      counts.glo++;
+      if (svId < 1 || svId > 32) continue;
+      const str = new Uint8Array(16);
+      for (let k = 0; k < 4; k++) {
+        const w = view.getUint32(base + 4 * k, true);
+        str[4 * k] = w >>> 24;
+        str[4 * k + 1] = w >>> 16 & 255;
+        str[4 * k + 2] = w >>> 8 & 255;
+        str[4 * k + 3] = w & 255;
+      }
+      if (!testGloString(str)) {
+        badParity++;
+        continue;
+      }
+      if (!refDate) continue;
+      const eph = glo.push(`R${two2(svId)}`, str, refDate, p[3] - 7);
+      if (eph) ephemerides.push(eph);
+    }
+  }
+  return { ephemerides, counts, badParity };
+}
+
+// src/ubx/index.ts
+var GPS_EPOCH_MS7 = Date.UTC(1980, 0, 6);
+var MS_PER_WEEK3 = 7 * 864e5;
+var SIGNALS = {
+  0: { 0: ["G", "1C"], 3: ["G", "2X"], 4: ["G", "2X"] },
+  // GPS L1C/A, L2CL, L2CM
+  1: { 0: ["S", "1C"] },
+  // SBAS L1C/A
+  2: { 0: ["E", "1X"], 1: ["E", "1X"], 5: ["E", "7X"], 6: ["E", "7X"] },
+  // E1C/B, E5bI/Q
+  3: { 0: ["C", "2I"], 1: ["C", "2I"], 2: ["C", "7I"], 3: ["C", "7I"] },
+  // B1I D1/D2, B2I D1/D2
+  5: { 0: ["J", "1C"], 4: ["J", "2X"], 5: ["J", "2X"] },
+  // QZSS L1C/A, L2CM/CL
+  6: { 0: ["R", "1C"], 2: ["R", "2C"] }
+  // GLONASS L1OF, L2OF
+};
+function prnFor(gnssId, svId) {
+  const two5 = (n) => String(n).padStart(2, "0");
+  switch (gnssId) {
+    case 0:
+      return svId >= 1 && svId <= 32 ? `G${two5(svId)}` : null;
+    case 1:
+      return svId >= 120 && svId <= 158 ? `S${two5(svId - 100)}` : null;
+    case 2:
+      return svId >= 1 && svId <= 36 ? `E${two5(svId)}` : null;
+    case 3:
+      return svId >= 1 && svId <= 63 ? `C${two5(svId)}` : null;
+    case 5:
+      return svId >= 1 && svId <= 10 ? `J${two5(svId)}` : null;
+    case 6:
+      return svId >= 1 && svId <= 32 ? `R${two5(svId)}` : null;
+    default:
+      return null;
+  }
+}
+function parseUbxRawx(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const epochs = [];
+  const messageCounts = {};
+  const obsCodes = {};
+  const stats = { badChecksums: 0 };
+  for (const frame of ubxFrames(data, stats)) {
+    const { msgClass: cls, msgId: id } = frame;
+    const len = frame.payload.length;
+    const key = `${cls.toString(16).padStart(2, "0")}-${id.toString(16).padStart(2, "0")}`;
+    messageCounts[key] = (messageCounts[key] ?? 0) + 1;
+    if (cls === 2 && id === 21 && len >= 16) {
+      const p = frame.payloadStart;
+      const rcvTow = view.getFloat64(p, true);
+      const week = view.getUint16(p + 8, true);
+      const leapS = view.getInt8(p + 10);
+      const numMeas = data[p + 11];
+      const recStat = data[p + 12];
+      const leapValid = (recStat & 1) !== 0;
+      const meas = [];
+      for (let k = 0; k < numMeas; k++) {
+        const off = p + 16 + 32 * k;
+        if (off + 32 > p + len) break;
+        const gnssId = data[off + 20];
+        const svId = data[off + 21];
+        const sigId = data[off + 22];
+        const trkStat = data[off + 30];
+        const prn = prnFor(gnssId, svId);
+        const sig = SIGNALS[gnssId]?.[sigId];
+        if (!prn || !sig) continue;
+        const prValid = (trkStat & 1) !== 0;
+        const cpValid = (trkStat & 2) !== 0;
+        const cp = view.getFloat64(off + 8, true);
+        meas.push({
+          prn,
+          code: sig[1],
+          pr: prValid ? view.getFloat64(off, true) : null,
+          cp: cpValid && cp !== 0 ? cp : null,
+          doppler: view.getFloat32(off + 16, true),
+          cn0: data[off + 26],
+          halfCycleAmbiguous: (trkStat & 4) !== 0,
+          lockTimeMs: view.getUint16(off + 24, true)
+        });
+        const sys = sig[0];
+        const codes = obsCodes[sys] ??= [];
+        if (!codes.includes(sig[1])) codes.push(sig[1]);
       }
-      eph = fnav.push(prn, page);
+      epochs.push({
+        timeMs: GPS_EPOCH_MS7 + week * MS_PER_WEEK3 + Math.round(rcvTow * 1e3),
+        leapS: leapValid ? leapS : null,
+        meas
+      });
     }
-    if (eph) ephemerides.push({ ...eph, source: src });
-  });
-  return { ephemerides, badCrc, messages };
+  }
+  return { epochs, messageCounts, obsCodes, badChecksums: stats.badChecksums };
 }
-function getBitU2(buff, pos) {
-  return buff[pos >> 3] >> 7 - (pos & 7) & 1;
+
+// src/sbf/frame.ts
+var CRC_TABLE = (() => {
+  const t = new Uint16Array(256);
+  for (let n = 0; n < 256; n++) {
+    let c = n << 8;
+    for (let k = 0; k < 8; k++)
+      c = c & 32768 ? (c << 1 ^ 4129) & 65535 : c << 1 & 65535;
+    t[n] = c;
+  }
+  return t;
+})();
+function crc16(data, start, end) {
+  let crc = 0;
+  for (let i = start; i < end; i++)
+    crc = (crc << 8 ^ CRC_TABLE[(crc >> 8 ^ data[i]) & 255]) & 65535;
+  return crc;
 }
-function isFnavDummy(page) {
-  return page[0] >> 2 === 63;
+function scanSbfFrames(data, view, onBlock) {
+  let badCrc = 0;
+  let i = 0;
+  while (i + 8 <= data.length) {
+    if (data[i] !== 36 || data[i + 1] !== 64) {
+      i++;
+      continue;
+    }
+    const len = view.getUint16(i + 6, true);
+    if (len < 8 || len % 4 !== 0) {
+      i++;
+      continue;
+    }
+    if (i + len > data.length) break;
+    if (crc16(data, i + 4, i + len) !== view.getUint16(i + 2, true)) {
+      badCrc++;
+      i++;
+      continue;
+    }
+    onBlock(view.getUint16(i + 4, true) & 8191, i, len);
+    i += len;
+  }
+  return badCrc;
+}
+var two3 = (n) => String(n).padStart(2, "0");
+function svidToPrn(svid) {
+  if (svid >= 1 && svid <= 37) return svid <= 32 ? `G${two3(svid)}` : null;
+  if (svid <= 61) return svid - 37 <= 27 ? `R${two3(svid - 37)}` : null;
+  if (svid <= 62) return null;
+  if (svid <= 68) return svid - 38 <= 27 ? `R${two3(svid - 38)}` : null;
+  if (svid <= 70) return null;
+  if (svid <= 106) return svid - 70 <= 36 ? `E${two3(svid - 70)}` : null;
+  if (svid <= 119) return null;
+  if (svid <= 140) return `S${two3(svid - 100)}`;
+  if (svid <= 180) return svid - 140 <= 50 ? `C${two3(svid - 140)}` : null;
+  if (svid <= 190) return `J${two3(svid - 180)}`;
+  if (svid <= 197) return svid - 190 <= 14 ? `I${two3(svid - 190)}` : null;
+  if (svid <= 215) return `S${two3(svid - 157)}`;
+  if (svid <= 222) return svid - 208 <= 14 ? `I${two3(svid - 208)}` : null;
+  if (svid <= 245) return svid - 182 <= 50 ? `C${two3(svid - 182)}` : null;
+  return null;
 }
 
-// src/navbits/bds.ts
+// src/sbf/nav.ts
+var PI2 = Math.PI;
+var GPS_EPOCH_MS8 = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS2 = Date.UTC(2006, 0, 1);
-var SEC_PER_WEEK6 = 7 * 86400;
-var MS_PER_WEEK4 = SEC_PER_WEEK6 * 1e3;
-var HALF_WEEK3 = 302400;
-var sowOf2 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK6;
-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);
+var SEC_PER_WEEK8 = 7 * 86400;
+var MS_PER_WEEK4 = SEC_PER_WEEK8 * 1e3;
+var F4_DNU = -2e10;
+var U4_DNU = 4294967295;
+function adjustWeek(refWeek, wn, mod) {
+  let offset = refWeek % mod - wn;
+  if (offset > mod / 2) offset -= mod;
+  if (offset < -(mod / 2 - 1)) offset += mod;
+  return refWeek - offset;
 }
-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 gpsMs = (week, sec) => GPS_EPOCH_MS8 + week * MS_PER_WEEK4 + sec * 1e3;
+var sowOf2 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK8;
+function decodeGpsQzsNav(view, b, sys) {
+  const svid = view.getUint8(b + 14);
+  const prn = sys === "G" ? svid : svid - 180;
+  const max = sys === "G" ? 32 : 10;
+  if (prn < 1 || prn > max) return null;
+  const wnc = view.getUint16(b + 12, true);
+  const tgdRaw = view.getFloat32(b + 28, true);
+  const tocs = view.getUint32(b + 32, true);
+  const toes = view.getUint32(b + 88, true);
+  const wnToc = adjustWeek(wnc, view.getUint16(b + 136, true), 1024);
+  const tocDate = new Date(gpsMs(wnToc, tocs));
+  return {
+    system: sys,
+    prn: `${sys}${String(prn).padStart(2, "0")}`,
+    toc: sowOf2(tocDate.getTime()),
+    tocDate,
+    af0: view.getFloat32(b + 44, true),
+    af1: view.getFloat32(b + 40, true),
+    af2: view.getFloat32(b + 36, true),
+    iode: view.getUint8(b + 24),
+    crs: view.getFloat32(b + 48, true),
+    deltaN: view.getFloat32(b + 52, true) * PI2,
+    m0: view.getFloat64(b + 56, true) * PI2,
+    cuc: view.getFloat32(b + 64, true),
+    e: view.getFloat64(b + 68, true),
+    cus: view.getFloat32(b + 76, true),
+    sqrtA: view.getFloat64(b + 80, true),
+    toe: toes,
+    cic: view.getFloat32(b + 92, true),
+    omega0: view.getFloat64(b + 96, true) * PI2,
+    cis: view.getFloat32(b + 104, true),
+    i0: view.getFloat64(b + 108, true) * PI2,
+    crc: view.getFloat32(b + 116, true),
+    omega: view.getFloat64(b + 120, true) * PI2,
+    omegaDot: view.getFloat32(b + 128, true) * PI2,
+    idot: view.getFloat32(b + 132, true) * PI2,
+    // RINEX "GPS week to go with toe": RTKLIB writes WNc for GPS and
+    // the week of toc for QZSS — mirrored here so records compare
+    // 1:1 against convbin output. wnToe is still used for `toe` above.
+    week: sys === "G" ? wnc : wnToc,
+    svHealth: view.getUint8(b + 20),
+    tgd: tgdRaw !== F4_DNU ? tgdRaw : 0
+  };
 }
-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 decodeGalNav(view, b) {
+  const prn = view.getUint8(b + 14) - 70;
+  if (prn < 1 || prn > 36) return null;
+  const source = view.getUint8(b + 15);
+  if (source !== 2 && source !== 16) return null;
+  const wnc = view.getUint16(b + 12, true);
+  const toes = view.getUint32(b + 100, true);
+  const tocs = view.getUint32(b + 104, true);
+  const wnToc = adjustWeek(wnc, view.getUint16(b + 126, true), 4096);
+  const tocDate = new Date(gpsMs(wnToc, tocs));
+  const health = view.getUint16(b + 130, true);
+  let svh = 0;
+  if (health & 1) svh |= health >> 1 & 7;
+  if (health & 16) svh |= (health >> 5 & 7) << 6;
+  if (health & 256) svh |= (health >> 9 & 7) << 3;
+  const bgdE5a = view.getFloat32(b + 136, true);
+  return {
+    system: "E",
+    prn: `E${String(prn).padStart(2, "0")}`,
+    toc: sowOf2(tocDate.getTime()),
+    tocDate,
+    af0: view.getFloat64(b + 116, true),
+    af1: view.getFloat32(b + 112, true),
+    af2: view.getFloat32(b + 108, true),
+    iode: view.getUint16(b + 128, true),
+    // IODnav
+    crs: view.getFloat32(b + 88, true),
+    deltaN: view.getFloat32(b + 72, true) * PI2,
+    m0: view.getFloat64(b + 24, true) * PI2,
+    cuc: view.getFloat32(b + 76, true),
+    e: view.getFloat64(b + 32, true),
+    cus: view.getFloat32(b + 80, true),
+    sqrtA: view.getFloat64(b + 16, true),
+    toe: toes,
+    cic: view.getFloat32(b + 92, true),
+    omega0: view.getFloat64(b + 56, true) * PI2,
+    cis: view.getFloat32(b + 96, true),
+    i0: view.getFloat64(b + 40, true) * PI2,
+    crc: view.getFloat32(b + 84, true),
+    omega: view.getFloat64(b + 48, true) * PI2,
+    omegaDot: view.getFloat32(b + 64, true) * PI2,
+    idot: view.getFloat32(b + 68, true) * PI2,
+    week: wnc,
+    // RINEX GAL week is GPS-aligned and continuous
+    svHealth: svh,
+    tgd: bgdE5a !== F4_DNU ? bgdE5a : 0
+    // BGD E5a/E1 (RINEX slot)
+  };
 }
-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 decodeBdsNav(view, b) {
+  const prn = svidToPrn(view.getUint8(b + 14));
+  if (!prn || prn[0] !== "C") return null;
+  const bdsWeekRef = view.getUint16(b + 12, true) - 1356;
+  const tgd1 = view.getFloat32(b + 24, true);
+  const tocs = view.getUint32(b + 32, true);
+  const toes = view.getUint32(b + 88, true);
+  const wnToc = adjustWeek(bdsWeekRef, view.getUint16(b + 136, true), 8192);
+  const wnToe = adjustWeek(bdsWeekRef, view.getUint16(b + 138, true), 8192);
+  const tocDate = new Date(BDT_EPOCH_MS2 + wnToc * MS_PER_WEEK4 + tocs * 1e3);
+  return {
+    system: "C",
+    prn,
+    toc: sowOf2(tocDate.getTime()),
+    tocDate,
+    af0: view.getFloat32(b + 44, true),
+    af1: view.getFloat32(b + 40, true),
+    af2: view.getFloat32(b + 36, true),
+    iode: view.getUint8(b + 21),
+    // AODE
+    crs: view.getFloat32(b + 48, true),
+    deltaN: view.getFloat32(b + 52, true) * PI2,
+    m0: view.getFloat64(b + 56, true) * PI2,
+    cuc: view.getFloat32(b + 64, true),
+    e: view.getFloat64(b + 68, true),
+    cus: view.getFloat32(b + 76, true),
+    sqrtA: view.getFloat64(b + 80, true),
+    toe: toes,
+    cic: view.getFloat32(b + 92, true),
+    omega0: view.getFloat64(b + 96, true) * PI2,
+    cis: view.getFloat32(b + 104, true),
+    i0: view.getFloat64(b + 108, true) * PI2,
+    crc: view.getFloat32(b + 116, true),
+    omega: view.getFloat64(b + 120, true) * PI2,
+    omegaDot: view.getFloat32(b + 128, true) * PI2,
+    idot: view.getFloat32(b + 132, true) * PI2,
+    week: wnToe,
+    // RINEX BDS week field is the BDT week
+    svHealth: view.getUint8(b + 19),
+    // SatH1
+    tgd: tgd1 !== F4_DNU ? tgd1 : 0
+    // TGD1 B1/B3 (RINEX slot)
+  };
 }
-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_WEEK4 + f.tocSec * 1e3);
+function decodeGloNav(view, b) {
+  const prn = svidToPrn(view.getUint8(b + 14));
+  if (!prn || prn[0] !== "R") return null;
+  const wnc = view.getUint16(b + 12, true);
+  const toes = view.getUint32(b + 76, true);
+  const wnToe = adjustWeek(wnc, view.getUint16(b + 80, true), 1024);
+  const toeGpsMs = gpsMs(wnToe, toes);
+  const leapMs = getGpsLeap(new Date(toeGpsMs)) * 1e3;
+  const tocDate = new Date(toeGpsMs - leapMs);
+  const tofGpsMs = gpsMs(wnc, 0) + view.getUint32(b + 8, true);
+  const tofLeapMs = getGpsLeap(new Date(tofGpsMs)) * 1e3;
+  const messageFrameTime = (tofGpsMs - tofLeapMs - GPS_EPOCH_MS8) / 1e3 % SEC_PER_WEEK8;
   return {
-    system: "C",
+    system: "R",
     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
+    // RINEX stores −τn as the clock bias; SBF carries τn (ICD sign)
+    tauN: -view.getFloat32(b + 68, true),
+    gammaN: view.getFloat32(b + 64, true),
+    messageFrameTime,
+    x: view.getFloat64(b + 16, true),
+    // SBF unit is km, like RINEX
+    xDot: view.getFloat32(b + 40, true),
+    xAcc: view.getFloat32(b + 52, true),
+    y: view.getFloat64(b + 24, true),
+    yDot: view.getFloat32(b + 44, true),
+    yAcc: view.getFloat32(b + 56, true),
+    z: view.getFloat64(b + 32, true),
+    zDot: view.getFloat32(b + 48, true),
+    zAcc: view.getFloat32(b + 60, true),
+    // MSB of the 3-bit Bn word — the unhealthy flag RINEX carries
+    health: view.getUint8(b + 85) >> 2,
+    freqNum: view.getUint8(b + 15) - 8
   };
 }
-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 parseSbfNav(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const ephemerides = [];
+  const badCrc = scanSbfFrames(data, view, (id, b, len) => {
+    let eph = null;
+    if (id === 5891 && len >= 140) eph = decodeGpsQzsNav(view, b, "G");
+    else if (id === 4095 && len >= 140) eph = decodeGpsQzsNav(view, b, "J");
+    else if (id === 4002 && len >= 149) eph = decodeGalNav(view, b);
+    else if (id === 4081 && len >= 140) eph = decodeBdsNav(view, b);
+    else if (id === 4004 && len >= 96) eph = decodeGloNav(view, b);
+    if (eph) ephemerides.push(eph);
   });
+  return { ephemerides, badCrc };
 }
-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}:${eph.toe}`;
-    if (key === sat.lastKey) return null;
-    sat.lastKey = key;
-    return eph;
+var GAL_SQRT_A_NOMINAL = Math.sqrt(296e5);
+var GAL_I_NOMINAL = 56 / 180 * PI2;
+var I_REF_03 = 0.3 * PI2;
+function decodeGpsGalAlm(view, b, sys) {
+  const wnc = view.getUint16(b + 12, true);
+  const toa = view.getUint32(b + 20, true);
+  if (toa === U4_DNU) return null;
+  let prn;
+  let weekAlm;
+  let i0;
+  let sqrtA = view.getFloat32(b + 32, true);
+  let health;
+  if (sys === "G") {
+    prn = view.getUint8(b + 14);
+    if (prn < 1 || prn > 32) return null;
+    weekAlm = adjustWeek(wnc, view.getUint8(b + 56), 256);
+    i0 = I_REF_03 + view.getFloat32(b + 24, true) * PI2;
+    health = view.getUint8(b + 58);
+  } else {
+    prn = view.getUint8(b + 57) - 70;
+    if (prn < 1 || prn > 36) return null;
+    weekAlm = adjustWeek(wnc, view.getUint8(b + 56), 4);
+    i0 = GAL_I_NOMINAL + view.getFloat32(b + 24, true) * PI2;
+    sqrtA += GAL_SQRT_A_NOMINAL;
+    health = view.getUint16(b + 58, true);
   }
-};
-
-// src/navbits/glo.ts
-var GPS_EPOCH_MS7 = Date.UTC(1980, 0, 6);
-var SEC_PER_WEEK7 = 7 * 86400;
-var SEC_PER_DAY = 86400;
-var GLO_STRING_BYTES = 10;
-function getBitG(b, pos, len) {
-  const value = getBitU(b, pos + 1, len - 1);
-  return getBitU(b, pos, 1) && value !== 0 ? -value : value;
+  return {
+    system: sys,
+    prn: `${sys}${String(prn).padStart(2, "0")}`,
+    weekAlm,
+    toaSec: toa,
+    sqrtA,
+    e: view.getFloat32(b + 16, true),
+    i0OrDeltaI: i0,
+    omega0: view.getFloat32(b + 36, true) * PI2,
+    omega: view.getFloat32(b + 40, true) * PI2,
+    m0: view.getFloat32(b + 44, true) * PI2,
+    omegaDot: view.getFloat32(b + 28, true) * PI2,
+    af0: view.getFloat32(b + 52, true),
+    af1: view.getFloat32(b + 48, true),
+    health
+  };
 }
-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 decodeBdsAlm(view, b) {
+  const prnStr = svidToPrn(view.getUint8(b + 14));
+  if (!prnStr || prnStr[0] !== "C") return null;
+  const prn = parseInt(prnStr.slice(1), 10);
+  const toa = view.getUint32(b + 16, true);
+  if (toa === U4_DNU) return null;
+  const bdsWeekRef = view.getUint16(b + 12, true) - 1356;
+  const geo = prn <= 5 || prn >= 59;
+  return {
+    system: "C",
+    prn: prnStr,
+    weekAlm: adjustWeek(bdsWeekRef, view.getUint8(b + 15), 256),
+    toaSec: toa,
+    sqrtA: view.getFloat32(b + 20, true),
+    e: view.getFloat32(b + 24, true),
+    i0OrDeltaI: (geo ? 0 : I_REF_03) + view.getFloat32(b + 44, true) * PI2,
+    omega0: view.getFloat32(b + 36, true) * PI2,
+    omega: view.getFloat32(b + 28, true) * PI2,
+    m0: view.getFloat32(b + 32, true) * PI2,
+    omegaDot: view.getFloat32(b + 40, true) * PI2,
+    af0: view.getFloat32(b + 48, true),
+    af1: view.getFloat32(b + 52, true),
+    health: view.getUint16(b + 56, true)
+  };
 }
-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_MS7) / 1e3;
-  const week = Math.floor(utcSec / SEC_PER_WEEK7);
-  let tow = utcSec - week * SEC_PER_WEEK7;
-  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;
+function decodeGloAlm(view, b) {
+  const prn = svidToPrn(view.getUint8(b + 14));
+  if (!prn || prn[0] !== "R") return null;
+  const wnc = view.getUint16(b + 12, true);
+  const toa = view.getUint32(b + 20, true);
+  if (toa === U4_DNU) return null;
   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_MS7 + (week * SEC_PER_WEEK7 + 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_WEEK7 + SEC_PER_WEEK7) % SEC_PER_WEEK7,
-    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
+    prn,
+    freqNr: view.getUint8(b + 15) - 8,
+    weekAlm: adjustWeek(wnc, view.getUint8(b + 52), 256),
+    toaSec: toa,
+    epsilon: view.getFloat32(b + 16, true),
+    deltaI: view.getFloat32(b + 24, true) * PI2,
+    lambda: view.getFloat32(b + 28, true) * PI2,
+    tLambda: view.getFloat32(b + 32, true),
+    omega: view.getFloat32(b + 36, true) * PI2,
+    deltaT: view.getFloat32(b + 40, true),
+    deltaTDot: view.getFloat32(b + 44, true),
+    tau: view.getFloat32(b + 48, true),
+    health: view.getUint8(b + 53),
+    nDay: view.getUint16(b + 54, true),
+    n4: view.getUint8(b + 57)
+  };
+}
+function parseSbfAlmanac(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const almanacs = [];
+  const badCrc = scanSbfFrames(data, view, (id, b, len) => {
+    let alm = null;
+    if (id === 5892 && len >= 60) alm = decodeGpsGalAlm(view, b, "G");
+    else if (id === 4003 && len >= 61) alm = decodeGpsGalAlm(view, b, "E");
+    else if (id === 4119 && len >= 60) alm = decodeBdsAlm(view, b);
+    else if (id === 4005 && len >= 60) alm = decodeGloAlm(view, b);
+    if (alm) almanacs.push(alm);
+  });
+  return { almanacs, badCrc };
+}
+
+// src/sbf/iono.ts
+var F4_DNU2 = -2e10;
+function parseSbfIonoUtc(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const ionoCorrections = {};
+  let leapSeconds = null;
+  const f4s = (b, n) => {
+    const out = [];
+    for (let k = 0; k < n; k++) {
+      const v = view.getFloat32(b + 4 * k, true);
+      if (v === F4_DNU2) return null;
+      out.push(v);
+    }
+    return out;
+  };
+  scanSbfFrames(data, view, (id, b, len) => {
+    if ((id === 5893 || id === 4120) && len >= 48) {
+      const alpha = f4s(b + 16, 4);
+      const beta = f4s(b + 32, 4);
+      if (!alpha || !beta) return;
+      const sys = id === 5893 ? "GPS" : "BDS";
+      ionoCorrections[`${sys}A`] = alpha;
+      ionoCorrections[`${sys}B`] = beta;
+    } else if (id === 4030 && len >= 28) {
+      const ai = f4s(b + 16, 3);
+      if (ai) ionoCorrections["GAL"] = ai;
+    } else if (id === 5894 && len >= 37) {
+      leapSeconds = view.getInt8(b + 33);
+    }
+  });
+  return { ionoCorrections, leapSeconds };
+}
+
+// src/sbf/rawnav.ts
+var SIGNAL_OF_BLOCK = {
+  4018: "L2C",
+  4019: "L5"
+};
+function parseSbfCnav(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const ephemerides = [];
+  const assemblers = {
+    L2C: new CnavAssembler(),
+    L5: new CnavAssembler()
   };
+  let badCrc = 0;
+  let messages = 0;
+  scanSbfFrames(data, view, (id, b, len) => {
+    const signal = SIGNAL_OF_BLOCK[id];
+    if (!signal || len < 60) return;
+    messages++;
+    const msg = new Uint8Array(40);
+    for (let k = 0; k < 10; k++) {
+      const w = view.getUint32(b + 20 + 4 * k, true);
+      msg[4 * k] = w >>> 24;
+      msg[4 * k + 1] = w >>> 16 & 255;
+      msg[4 * k + 2] = w >>> 8 & 255;
+      msg[4 * k + 3] = w & 255;
+    }
+    if (!cnavCrcOk(msg)) {
+      badCrc++;
+      return;
+    }
+    const eph = assemblers[signal].push(msg);
+    if (eph) ephemerides.push({ ...eph, signal });
+  });
+  return { ephemerides, badCrc, messages };
 }
-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;
+
+// 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;
     }
-    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;
-  }
-};
+    let eph;
+    let src;
+    if (id === 4023) {
+      src = "inav";
+      if (!INAV_SOURCES.includes(source)) return;
+      if (getBitU22(page, 0) !== 0 || getBitU22(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 getBitU22(buff, pos) {
+  return buff[pos >> 3] >> 7 - (pos & 7) & 1;
+}
+function isFnavDummy(page) {
+  return page[0] >> 2 === 63;
+}
 
 // src/sbf/rawnav-bds.ts
-var GPS_EPOCH_MS8 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS9 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK5 = 7 * 86400 * 1e3;
 var TOW_DNU = 4294967295;
 var WNC_DNU = 65535;
@@ -6812,7 +6916,7 @@ function parseSbfGloNav(data) {
     const eph = assembler.push(
       prn,
       str,
-      new Date(GPS_EPOCH_MS8 + wnc * MS_PER_WEEK5 + towMs),
+      new Date(GPS_EPOCH_MS9 + wnc * MS_PER_WEEK5 + towMs),
       view.getUint8(b + 18) - 8
       // FreqNr, offset by 8
     );
@@ -7346,7 +7450,7 @@ function parseSbfHas(data) {
 
 // src/sbf/index.ts
 var CLIGHT = 299792458;
-var GPS_EPOCH_MS9 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS10 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK6 = 7 * 864e5;
 var M3_SYS = ["G", "R", "E", "C", "S", "J", "I"];
 var M3_PR_BASE = [19e6, 19e6, 22e6, 2e7, 34e6, 34e6, 34e6];
@@ -7446,23 +7550,23 @@ var MEAS2_SIG = [
   ["J", "1E"],
   ["J", "5P"]
 ];
-var two3 = (n) => String(n).padStart(2, "0");
+var two4 = (n) => String(n).padStart(2, "0");
 function m3Prn(navsys, svid) {
   switch (navsys) {
     case 0:
-      return svid < 32 ? `G${two3(svid + 1)}` : null;
+      return svid < 32 ? `G${two4(svid + 1)}` : null;
     case 1:
-      return svid < 27 ? `R${two3(svid + 1)}` : null;
+      return svid < 27 ? `R${two4(svid + 1)}` : null;
     case 2:
-      return svid < 36 ? `E${two3(svid + 1)}` : null;
+      return svid < 36 ? `E${two4(svid + 1)}` : null;
     case 3:
-      return svid < 50 ? `C${two3(svid + 1)}` : null;
+      return svid < 50 ? `C${two4(svid + 1)}` : null;
     case 4:
-      return svid <= 38 ? `S${two3(svid + 20)}` : null;
+      return svid <= 38 ? `S${two4(svid + 20)}` : null;
     case 5:
-      return svid < 10 ? `J${two3(svid + 1)}` : null;
+      return svid < 10 ? `J${two4(svid + 1)}` : null;
     case 6:
-      return svid < 14 ? `I${two3(svid + 1)}` : null;
+      return svid < 14 ? `I${two4(svid + 1)}` : null;
     default:
       return null;
   }
@@ -8000,7 +8104,7 @@ 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_MS9 + wnc * MS_PER_WEEK6 + tow);
+        ensureEpoch(GPS_EPOCH_MS10 + wnc * MS_PER_WEEK6 + tow);
         if (id === 4109) decodeMeas3Ranges(i, tow);
         else if (id === 4110) decodeMeas3CN0(i, len);
         else if (id === 4111) decodeMeas3Doppler(i, len);
@@ -8065,15 +8169,15 @@ var ID_GALEPHEMERIS = 1122;
 var ID_QZSSEPHEMERIS = 1336;
 var ID_GPSEPHEM = 7;
 var ID_BDSEPHEMERIS = 1696;
-var GPS_EPOCH_MS10 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS11 = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS3 = Date.UTC(2006, 0, 1);
-var SEC_PER_WEEK8 = 7 * 86400;
+var SEC_PER_WEEK9 = 7 * 86400;
 var SEC_PER_DAY2 = 86400;
-var MS_PER_WEEK7 = SEC_PER_WEEK8 * 1e3;
-var gpsMs2 = (week, sec) => GPS_EPOCH_MS10 + week * MS_PER_WEEK7 + sec * 1e3;
-var sowOf3 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK8;
+var MS_PER_WEEK7 = SEC_PER_WEEK9 * 1e3;
+var gpsMs2 = (week, sec) => GPS_EPOCH_MS11 + week * MS_PER_WEEK7 + sec * 1e3;
+var sowOf3 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK9;
 function nearWeekMs(refMs, sow) {
-  const refWeek = Math.floor((refMs - GPS_EPOCH_MS10) / MS_PER_WEEK7);
+  const refWeek = Math.floor((refMs - GPS_EPOCH_MS11) / MS_PER_WEEK7);
   let ms = gpsMs2(refWeek, sow);
   if (ms < refMs - MS_PER_WEEK7 / 2) ms += MS_PER_WEEK7;
   else if (ms > refMs + MS_PER_WEEK7 / 2) ms -= MS_PER_WEEK7;
@@ -8100,9 +8204,9 @@ function decodeGloEphemeris(view, p) {
   tof += Math.floor(tow / SEC_PER_DAY2) * SEC_PER_DAY2;
   if (tof < tow - 43200) tof += SEC_PER_DAY2;
   else if (tof > tow + 43200) tof -= SEC_PER_DAY2;
-  const toeGpsMs = GPS_EPOCH_MS10 + (week * SEC_PER_WEEK8 + tow) * 1e3;
-  const tofGpsMs = GPS_EPOCH_MS10 + (week * SEC_PER_WEEK8 + tof) * 1e3;
-  const tofUtcSec = (getUtcDate(new Date(tofGpsMs)).getTime() - GPS_EPOCH_MS10) / 1e3;
+  const toeGpsMs = GPS_EPOCH_MS11 + (week * SEC_PER_WEEK9 + tow) * 1e3;
+  const tofGpsMs = GPS_EPOCH_MS11 + (week * SEC_PER_WEEK9 + tof) * 1e3;
+  const tofUtcSec = (getUtcDate(new Date(tofGpsMs)).getTime() - GPS_EPOCH_MS11) / 1e3;
   return {
     system: "R",
     prn: `R${String(slot).padStart(2, "0")}`,
@@ -8110,7 +8214,7 @@ function decodeGloEphemeris(view, p) {
     tauN: -view.getFloat64(p + 100, true),
     // RINEX stores −τ_n
     gammaN: view.getFloat64(p + 116, true),
-    messageFrameTime: (tofUtcSec % SEC_PER_WEEK8 + SEC_PER_WEEK8) % SEC_PER_WEEK8,
+    messageFrameTime: (tofUtcSec % SEC_PER_WEEK9 + SEC_PER_WEEK9) % SEC_PER_WEEK9,
     x: view.getFloat64(p + 28, true) / 1e3,
     y: view.getFloat64(p + 36, true) / 1e3,
     z: view.getFloat64(p + 44, true) / 1e3,
@@ -8167,7 +8271,7 @@ function decodeGalEphemeris(view, p, headerMs) {
       omega: view.getFloat64(p + 60, true),
       omegaDot: view.getFloat64(p + 140, true),
       idot: view.getFloat64(p + 124, true),
-      week: Math.floor((toeMs - GPS_EPOCH_MS10) / MS_PER_WEEK7),
+      week: Math.floor((toeMs - GPS_EPOCH_MS11) / MS_PER_WEEK7),
       // RINEX Galileo SVH bit layout (E1B DVS/HS in bits 0-2, E5a in
       // 3-5, E5b in 6-8) — same packing as RTKLIB.
       svHealth: svhE5b << 7 | dvsE5b << 6 | svhE5a << 4 | dvsE5a << 3 | svhE1b << 1 | dvsE1b,
@@ -8339,7 +8443,7 @@ function parseNovatelNav(data) {
 }
 
 // src/novatel/index.ts
-var GPS_EPOCH_MS11 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS12 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK8 = 7 * 864e5;
 var HDR = 28;
 var ID_RANGE = 43;
@@ -8509,7 +8613,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS11 + week * MS_PER_WEEK8 + towMs,
+          timeMs: GPS_EPOCH_MS12 + week * MS_PER_WEEK8 + towMs,
           meas
         });
       }
@@ -8561,7 +8665,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS11 + week * MS_PER_WEEK8 + towMs,
+          timeMs: GPS_EPOCH_MS12 + week * MS_PER_WEEK8 + towMs,
           meas
         });
       }
@@ -8575,7 +8679,7 @@ function parseNovatelRange(data) {
 var GM_GPS = 3986005e8;
 var GM_GAL = 3986004418e5;
 var GM_BDS = 3986004418e5;
-var GPS_EPOCH_MS12 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS13 = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS4 = Date.UTC(2006, 0, 1);
 var WEEK_MS = 6048e5;
 var BDT_MINUS_GPST_MS = 14e3;
@@ -8584,7 +8688,7 @@ function almanacEpochMs(alm) {
   if (alm.system === "C") {
     return BDT_EPOCH_MS4 + alm.weekAlm * WEEK_MS + alm.toaSec * 1e3 + BDT_MINUS_GPST_MS;
   }
-  return GPS_EPOCH_MS12 + alm.weekAlm * WEEK_MS + alm.toaSec * 1e3;
+  return GPS_EPOCH_MS13 + alm.weekAlm * WEEK_MS + alm.toaSec * 1e3;
 }
 function almanacSatPosition(alm, timeMs) {
   const GM = alm.system === "E" ? GM_GAL : alm.system === "C" ? GM_BDS : GM_GPS;
@@ -8750,8 +8854,7 @@ var GM_GPS2 = 3986005e8;
 var GM_GAL2 = 3986004418e5;
 var GM_BDS2 = 3986004418e5;
 var GM_GLO = 39860044e7;
-var BDS_GEO_MAX_INCLINATION_RAD = 0.1;
-var BDS_GEO_MIN_SEMIMAJOR_AXIS_M = 4e7;
+var BDS_GEO_PRNS2 = /* @__PURE__ */ new Set([1, 2, 3, 4, 5, 59, 60, 61, 62, 63]);
 var AE_GLO = 6378136;
 var J2_GLO = 108263e-8;
 var TWO_PI = 2 * Math.PI;
@@ -8798,7 +8901,7 @@ function keplerPosition(eph, t) {
   const yp = rk * Math.sin(uk);
   const xpDot = drkDot * Math.cos(uk) - rk * ukDot * Math.sin(uk);
   const ypDot = drkDot * Math.sin(uk) + rk * ukDot * Math.cos(uk);
-  const isBdsGeo = eph.system === "C" && Math.abs(eph.i0) < BDS_GEO_MAX_INCLINATION_RAD && a > BDS_GEO_MIN_SEMIMAJOR_AXIS_M;
+  const isBdsGeo = eph.system === "C" && BDS_GEO_PRNS2.has(Number(eph.prn.slice(1)));
   if (isBdsGeo) {
     const omegak2 = eph.omega0 + eph.omegaDot * tk - OMEGA_E * eph.toe;
     const cosO2 = Math.cos(omegak2);
@@ -9094,10 +9197,10 @@ function selectBest(ephs, timeMs) {
   }
   return best;
 }
-var GPS_EPOCH_MS13 = START_GPS_TIME.getTime();
+var GPS_EPOCH_MS14 = START_GPS_TIME.getTime();
 var MS_PER_WEEK9 = 7 * 864e5;
 var BDS_EPOCH_MS = START_BDS_TIME.getTime();
-var GAL_EPOCH_MS = GPS_EPOCH_MS13 + 1024 * MS_PER_WEEK9;
+var GAL_EPOCH_MS = GPS_EPOCH_MS14 + 1024 * MS_PER_WEEK9;
 function ephInfoToEphemeris(info) {
   const sys = info.prn.charAt(0);
   if (sys === "R") {
@@ -9148,8 +9251,8 @@ function ephInfoToEphemeris(info) {
   } else if (sys === "E") {
     epochMs = GAL_EPOCH_MS;
   } else {
-    epochMs = GPS_EPOCH_MS13;
-    const weeksNow = (info.lastReceived - GPS_EPOCH_MS13) / MS_PER_WEEK9;
+    epochMs = GPS_EPOCH_MS14;
+    const weeksNow = (info.lastReceived - GPS_EPOCH_MS14) / MS_PER_WEEK9;
     week += 1024 * Math.round((weeksNow - week) / 1024);
   }
   const tocDate = new Date(epochMs + week * MS_PER_WEEK9 + tocSec * 1e3);
@@ -9577,6 +9680,706 @@ function klobucharDelay(coeffs, latRad, lonRad, azRad, elRad, gpsTowSec) {
   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 sd2 = (r, g) => sdVariance(r.kind === "code" ? sigmaCode : sigmaPhase, g.elB);
+  for (let i = 0; i < n; i++) {
+    const ri = rows[i];
+    R[i][i] = sd2(ri, ri.g) + sd2(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] = sd2(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 H2 = [];
+      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);
+        H2.push([ts.u[0] - tr.u[0], ts.u[1] - tr.u[1], ts.u[2] - tr.u[2]]);
+      }
+      const Ht = transpose(H2);
+      const HtW = matMul(Ht, W);
+      const N = matMul(HtW, H2);
+      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] - (H2[i][0] * dx[0][0] + H2[i][1] * dx[1][0] + H2[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 H2 = [];
+    for (let it = 0; it < Math.max(o.updateIterations, 1); it++) {
+      H2 = [];
+      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);
+        H2.push(h);
+      }
+      const Ht = transpose(H2);
+      const S = matMul(matMul(H2, 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, H2);
+    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_GPS3 = 3986005e8;
 var F_REL = -4442807633e-19;
@@ -9613,11 +10416,11 @@ var PRIMARY_FREQ_HZ = {
   R: 1602e6
 };
 var F_L1 = 157542e4;
-function tropoDelay(elevationRad) {
+function tropoDelay2(elevationRad) {
   const sinEl = Math.sin(elevationRad);
   return 2.47 / (sinEl + 0.0121);
 }
-function sagnac(pos, travelTimeS) {
+function sagnac2(pos, travelTimeS) {
   const theta = OMEGA_E * travelTimeS;
   const c = Math.cos(theta);
   const s = Math.sin(theta);
@@ -9688,7 +10491,7 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
         const isKepler3 = eph.system !== "R" && eph.system !== "S";
         const dts = dtsClock - (tgd && isKepler3 ? 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 [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;
@@ -9705,7 +10508,7 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
           const sinEl = Math.max(Math.sin(elev), 0.1);
           weight = sinEl * sinEl;
         }
-        const tropo = troposphere && positionSane ? tropoDelay(elev) : 0;
+        const tropo = troposphere && positionSane ? tropoDelay2(elev) : 0;
         let ionoM = 0;
         if (iono && positionSane) {
           const f = PRIMARY_FREQ_HZ[sys] ?? F_L1;
@@ -12111,6 +12914,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   RINEX_CODES,
   RTCM3_MESSAGE_NAMES,
   Rtcm3Decoder,
+  RtkFloatEngine,
   SECONDS_IN_DAY,
   SECONDS_IN_HOUR,
   SECONDS_IN_MINUTE,
@@ -12270,6 +13074,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   parseUbxCnav,
   parseUbxIonoUtc,
   parseUbxNav,
+  parseUbxRawNav,
   parseUbxRawx,
   phiAltBOC,
   phiBOCc,
@@ -12288,11 +13093,13 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   selectEphemeris,
   setGloFreqNumber,
   setRtcm3DebugHandler,
+  solveDgnss,
   solveSpp,
   sp3Position,
   stationHeaderLines,
   systemCmp,
   systemName,
+  toRtkEpoch,
   transformFrame,
   ubxFrames,
   updateStationMeta,