gnss-js 1.22.0 → 1.24.0

package/dist/chunk-B5LU4746.js

@@ -1,262 +0,0 @@
-import {
-  computeDop,
-  computeSatPosition,
-  ecefToAzEl
-} from "./chunk-JNFV5BYB.js";
-import {
-  ecefToGeodetic
-} from "./chunk-37QNKGTC.js";
-import {
-  C_LIGHT,
-  OMEGA_E
-} from "./chunk-FIEWO4J4.js";
-
-// src/positioning/klobuchar.ts
-function klobucharDelay(coeffs, latRad, lonRad, azRad, elRad, gpsTowSec) {
-  const { alpha, beta } = coeffs;
-  if (alpha.length < 4 || beta.length < 4) return 0;
-  const E = elRad / Math.PI;
-  const phiU = latRad / Math.PI;
-  const lambdaU = lonRad / Math.PI;
-  const psi = 0.0137 / (E + 0.11) - 0.022;
-  let phiI = phiU + psi * Math.cos(azRad);
-  if (phiI > 0.416) phiI = 0.416;
-  else if (phiI < -0.416) phiI = -0.416;
-  const lambdaI = lambdaU + psi * Math.sin(azRad) / Math.cos(phiI * Math.PI);
-  const phiM = phiI + 0.064 * Math.cos((lambdaI - 1.617) * Math.PI);
-  let t = 43200 * lambdaI + gpsTowSec;
-  t %= 86400;
-  if (t < 0) t += 86400;
-  let amp = 0;
-  let per = 0;
-  for (let n = 3; n >= 0; n--) {
-    amp = amp * phiM + alpha[n];
-    per = per * phiM + beta[n];
-  }
-  if (amp < 0) amp = 0;
-  if (per < 72e3) per = 72e3;
-  const F = 1 + 16 * Math.pow(0.53 - E, 3);
-  const x = 2 * Math.PI * (t - 50400) / per;
-  if (Math.abs(x) >= 1.57) return F * 5e-9;
-  const x2 = x * x;
-  return F * (5e-9 + amp * (1 - x2 / 2 + x2 * x2 / 24));
-}
-
-// src/positioning/index.ts
-var GM_GPS = 3986005e8;
-var F_REL = -4442807633e-19;
-function satClockCorrection(eph, tMs) {
-  if (eph.system === "R" || eph.system === "S") {
-    const dt2 = (tMs - eph.tocDate.getTime()) / 1e3;
-    return eph.tauN + eph.gammaN * dt2;
-  }
-  const k = eph;
-  const dt = (tMs - k.tocDate.getTime()) / 1e3;
-  const poly = k.af0 + k.af1 * dt + k.af2 * dt * dt;
-  const a = k.sqrtA * k.sqrtA;
-  const n = Math.sqrt(GM_GPS / (a * a * a)) + k.deltaN;
-  const tk = dt;
-  const Mk = k.m0 + n * tk;
-  let Ek = Mk;
-  for (let i = 0; i < 8; i++) {
-    Ek = Mk + k.e * Math.sin(Ek);
-  }
-  const rel = F_REL * k.e * k.sqrtA * Math.sin(Ek);
-  return poly + rel;
-}
-function ionoFree(p1, p2, f1, f2) {
-  const g = f1 * f1 / (f1 * f1 - f2 * f2);
-  return g * p1 - (g - 1) * p2;
-}
-var GPS_EPOCH_MS_SPP = Date.UTC(1980, 0, 6);
-var PRIMARY_FREQ_HZ = {
-  G: 157542e4,
-  E: 157542e4,
-  J: 157542e4,
-  S: 157542e4,
-  C: 1561098e3,
-  R: 1602e6
-};
-var F_L1 = 157542e4;
-function tropoDelay(elevationRad) {
-  const sinEl = Math.sin(elevationRad);
-  return 2.47 / (sinEl + 0.0121);
-}
-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 solveLinear(A, b) {
-  const n = b.length;
-  const M = A.map((row, i) => [...row, b[i]]);
-  for (let col = 0; col < n; col++) {
-    let pivot = col;
-    for (let r = col + 1; r < n; r++) {
-      if (Math.abs(M[r][col]) > Math.abs(M[pivot][col])) pivot = r;
-    }
-    if (Math.abs(M[pivot][col]) < 1e-12) return null;
-    [M[col], M[pivot]] = [M[pivot], M[col]];
-    for (let r = 0; r < n; r++) {
-      if (r === col) continue;
-      const f = M[r][col] / M[col][col];
-      for (let c = col; c <= n; c++) M[r][c] -= f * M[col][c];
-    }
-  }
-  return M.map((row, i) => row[n] / M[i][i]);
-}
-function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
-  const {
-    elevationMaskDeg = 10,
-    troposphere = true,
-    maxIterations = 15,
-    convergenceM = 1e-4,
-    tgd = true,
-    iono
-  } = opts;
-  const gpsTow = (timeMs - GPS_EPOCH_MS_SPP) / 1e3 % 604800;
-  const all = [...pseudoranges.keys()].filter((p) => ephemerides.has(p));
-  const minSats = (list) => 3 + new Set(list.map((p) => p[0])).size;
-  if (all.length < minSats(all)) return null;
-  const gaussNewton = (prns) => {
-    const systems = [...new Set(prns.map((p) => p[0]))].sort();
-    const dim = 3 + systems.length;
-    const sysIndex = new Map(systems.map((s, i) => [s, 3 + i]));
-    let x2 = 0;
-    let y2 = 0;
-    let z2 = 0;
-    const clock2 = new Map(systems.map((s) => [s, 0]));
-    const residuals2 = {};
-    let iterations2 = 0;
-    let converged2 = false;
-    for (let iter = 0; iter < maxIterations; iter++) {
-      iterations2 = iter + 1;
-      const HtH = Array.from(
-        { length: dim },
-        () => new Array(dim).fill(0)
-      );
-      const Htv = new Array(dim).fill(0);
-      let rows = 0;
-      for (const k of Object.keys(residuals2)) delete residuals2[k];
-      const positionSaneIter = x2 * x2 + y2 * y2 + z2 * z2 > 1e12;
-      const [rxLat, rxLon] = positionSaneIter ? ecefToGeodetic(x2, y2, z2) : [0, 0];
-      for (const prn of prns) {
-        const psr = pseudoranges.get(prn);
-        const eph = ephemerides.get(prn);
-        const sys = prn[0];
-        const clk = clock2.get(sys);
-        const tTx = timeMs - psr / C_LIGHT * 1e3;
-        const dtsClock = satClockCorrection(eph, tTx);
-        const sat = computeSatPosition(eph, tTx - dtsClock * 1e3);
-        if (!Number.isFinite(sat.x)) continue;
-        const isKepler = eph.system !== "R" && eph.system !== "S";
-        const dts = dtsClock - (tgd && isKepler ? eph.tgd : 0);
-        const travel = Math.hypot(sat.x - x2, sat.y - y2, sat.z - z2) / C_LIGHT;
-        const [sx, sy, sz] = sagnac(sat, travel);
-        const rho = Math.hypot(sx - x2, sy - y2, sz - z2);
-        const ux = (x2 - sx) / rho;
-        const uy = (y2 - sy) / rho;
-        const uz = (z2 - sz) / rho;
-        let elev = Math.PI / 2;
-        let azim = 0;
-        let weight = 1;
-        const positionSane = positionSaneIter;
-        if (positionSane) {
-          const azel = ecefToAzEl(x2, y2, z2, sx, sy, sz);
-          elev = azel.el;
-          azim = azel.az;
-          if (iter >= 2 && elev < elevationMaskDeg * Math.PI / 180) continue;
-          const sinEl = Math.max(Math.sin(elev), 0.1);
-          weight = sinEl * sinEl;
-        }
-        const tropo = troposphere && positionSane ? tropoDelay(elev) : 0;
-        let ionoM = 0;
-        if (iono && positionSane) {
-          const f = PRIMARY_FREQ_HZ[sys] ?? F_L1;
-          ionoM = C_LIGHT * klobucharDelay(iono, rxLat, rxLon, azim, elev, gpsTow) * (F_L1 / f * (F_L1 / f));
-        }
-        const predicted = rho + clk - C_LIGHT * dts + tropo + ionoM;
-        const v = psr - predicted;
-        const h = new Array(dim).fill(0);
-        h[0] = ux;
-        h[1] = uy;
-        h[2] = uz;
-        h[sysIndex.get(sys)] = 1;
-        for (let i = 0; i < dim; i++) {
-          for (let j = 0; j < dim; j++) HtH[i][j] += weight * h[i] * h[j];
-          Htv[i] += weight * h[i] * v;
-        }
-        residuals2[prn] = v;
-        rows++;
-      }
-      if (rows < dim) return null;
-      const dx = solveLinear(HtH, Htv);
-      if (!dx) return null;
-      x2 += dx[0];
-      y2 += dx[1];
-      z2 += dx[2];
-      for (const s of systems)
-        clock2.set(s, clock2.get(s) + dx[sysIndex.get(s)]);
-      if (Math.hypot(dx[0], dx[1], dx[2]) < convergenceM) {
-        converged2 = true;
-        break;
-      }
-    }
-    return { x: x2, y: y2, z: z2, clock: clock2, residuals: residuals2, iterations: iterations2, converged: converged2 };
-  };
-  const REJECT_THRESHOLD_M = 50;
-  let candidates = all;
-  const rejected = [];
-  let inner = null;
-  for (let round = 0; round <= all.length; round++) {
-    inner = gaussNewton(candidates);
-    if (!inner) return null;
-    const vals = Object.entries(inner.residuals);
-    let worst = null;
-    let worstAbs = REJECT_THRESHOLD_M;
-    for (const [prn, v] of vals) {
-      if (Math.abs(v) > worstAbs) {
-        worstAbs = Math.abs(v);
-        worst = prn;
-      }
-    }
-    if (!worst) break;
-    const remaining = candidates.filter((p) => p !== worst);
-    if (remaining.length < minSats(remaining)) break;
-    rejected.push(worst);
-    candidates = remaining;
-  }
-  if (!inner) return null;
-  const { x, y, z, clock, residuals, iterations, converged } = inner;
-  const used = [];
-  const azels = [];
-  for (const prn of candidates) {
-    if (!(prn in residuals)) continue;
-    const eph = ephemerides.get(prn);
-    const sat = computeSatPosition(eph, timeMs);
-    if (!Number.isFinite(sat.x)) continue;
-    const azel = ecefToAzEl(x, y, z, sat.x, sat.y, sat.z);
-    if (azel.el >= elevationMaskDeg * Math.PI / 180) {
-      used.push(prn);
-      azels.push(azel);
-    }
-  }
-  return {
-    position: [x, y, z],
-    clockBias: Object.fromEntries(clock),
-    usedSatellites: used,
-    rejectedSatellites: rejected,
-    residuals,
-    dop: computeDop(azels),
-    iterations,
-    converged
-  };
-}
-
-export {
-  klobucharDelay,
-  satClockCorrection,
-  ionoFree,
-  solveSpp
-};