gnss-js 1.28.0 → 1.29.0

package/dist/{chunk-O65WA6CM.js → chunk-5WHKMKIB.js}

@@ -1620,9 +1620,9 @@ function satStateAtEmission(sp3, prn, recvTimeMs, rcv) {
 var IDX_X = 0;
 var IDX_Y = 1;
 var IDX_Z = 2;
-var IDX_CLK = 3;
-var IDX_ZWD = 4;
-var NBASE = 5;
+var IDX_ZWD = 3;
+var NBASE = 4;
+var CLK_VAR = 1e10;
 function solvePpp(epochs, sp3, opts) {
   const elevMask = (opts.elevationMaskDeg ?? 10) * Math.PI / 180;
   const codeSigma = opts.codeSigma ?? 3;
@@ -1633,8 +1633,6 @@ function solvePpp(epochs, sp3, opts) {
     opts.aprioriPos[0],
     opts.aprioriPos[1],
     opts.aprioriPos[2],
-    0,
-    // receiver clock (m)
     0.1
     // zenith wet delay (m) a priori
   ];
@@ -1645,8 +1643,9 @@ function solvePpp(epochs, sp3, opts) {
   P[IDX_X][IDX_X] = 100 * 100;
   P[IDX_Y][IDX_Y] = 100 * 100;
   P[IDX_Z][IDX_Z] = 100 * 100;
-  P[IDX_CLK][IDX_CLK] = 1e10;
   P[IDX_ZWD][IDX_ZWD] = 0.5 * 0.5;
+  const clkIdx = /* @__PURE__ */ new Map();
+  const clockSeeded = /* @__PURE__ */ new Set();
   const ambIdx = /* @__PURE__ */ new Map();
   const lastSeen = /* @__PURE__ */ new Map();
   const mwState = /* @__PURE__ */ new Map();
@@ -1687,8 +1686,18 @@ function solvePpp(epochs, sp3, opts) {
       if (i === idx) ambIdx.delete(prn);
       else if (i > idx) ambIdx.set(prn, i - 1);
     }
+    for (const [sys, i] of clkIdx) {
+      if (i > idx) clkIdx.set(sys, i - 1);
+    }
+  };
+  const clockOf = (sys) => {
+    let i = clkIdx.get(sys);
+    if (i === void 0) {
+      i = growState(0, CLK_VAR);
+      clkIdx.set(sys, i);
+    }
+    return i;
   };
-  let clockSeeded = false;
   const series = [];
   const truth = opts.groundTruth;
   const t0 = epochs[0]?.timeMs ?? 0;
@@ -1696,7 +1705,7 @@ function solvePpp(epochs, sp3, opts) {
   let convergedStreak = 0;
   for (let ei = 0; ei < epochs.length; ei++) {
     const epoch = epochs[ei];
-    P[IDX_CLK][IDX_CLK] = 1e10;
+    for (const ci of clkIdx.values()) P[ci][ci] = CLK_VAR;
     P[IDX_ZWD][IDX_ZWD] += ztdQ * (ei > 0 ? 1 : 0);
     const rcv = [x[IDX_X], x[IDX_Y], x[IDX_Z]];
     const [latDeg, , heightM] = ecefToGeodetic(rcv[0], rcv[1], rcv[2]);
@@ -1760,21 +1769,29 @@ function solvePpp(epochs, sp3, opts) {
       });
     }
     const zwd0 = x[IDX_ZWD];
-    if (vis.length > 0) {
-      if (!clockSeeded) {
-        const s = vis.map(
-          (v) => v.pIf - (v.range - v.satClkM + v.tropoFixed + zwd0 * v.mw)
-        ).sort((a, b) => a - b);
-        x[IDX_CLK] = s[Math.floor(s.length / 2)];
-        clockSeeded = true;
+    const bySys = /* @__PURE__ */ new Map();
+    for (const v of vis) {
+      const sys = v.prn[0];
+      const r = v.pIf - (v.range - v.satClkM + v.tropoFixed + zwd0 * v.mw);
+      const arr = bySys.get(sys);
+      if (arr) arr.push(r);
+      else bySys.set(sys, [r]);
+    }
+    for (const [sys, res] of bySys) {
+      const ci = clockOf(sys);
+      if (!clockSeeded.has(sys)) {
+        res.sort((a, b) => a - b);
+        x[ci] = res[Math.floor(res.length / 2)];
+        clockSeeded.add(sys);
       }
-      P[IDX_CLK][IDX_CLK] = 1e10;
+      P[ci][ci] = CLK_VAR;
     }
     let nSats = 0;
     let sumPhaseResSq = 0;
     let nPhaseRes = 0;
     for (const v of vis) {
-      const common = v.range + x[IDX_CLK] - v.satClkM + v.tropoFixed + zwd0 * v.mw;
+      const ci = clockOf(v.prn[0]);
+      const common = v.range + x[ci] - v.satClkM + v.tropoFixed + zwd0 * v.mw;
       let ai = ambIdx.get(v.prn);
       if (ai === void 0 || v.slip) {
         const bInit = v.lIf - (common + v.windupM);
@@ -1799,13 +1816,13 @@ function solvePpp(epochs, sp3, opts) {
         h[IDX_X] = -v.e[0];
         h[IDX_Y] = -v.e[1];
         h[IDX_Z] = -v.e[2];
-        h[IDX_CLK] = 1;
+        h[ci] = 1;
         h[IDX_ZWD] = v.mw;
         const innov = v.pIf - common;
         if (Math.abs(innov) < 1e6) ekfUpdateScalar(x, P, h, innov, rCode, 4);
       }
       {
-        const commonPh = v.range + x[IDX_CLK] - v.satClkM + v.tropoFixed + x[IDX_ZWD] * v.mw;
+        const commonPh = v.range + x[ci] - v.satClkM + v.tropoFixed + x[IDX_ZWD] * v.mw;
         const innov = v.lIf - (commonPh + v.windupM + x[ai]);
         if (Math.abs(innov) > 0.15) {
           x[ai] = v.lIf - (commonPh + v.windupM);
@@ -1819,7 +1836,7 @@ function solvePpp(epochs, sp3, opts) {
           h[IDX_X] = -v.e[0];
           h[IDX_Y] = -v.e[1];
           h[IDX_Z] = -v.e[2];
-          h[IDX_CLK] = 1;
+          h[ci] = 1;
           h[IDX_ZWD] = v.mw;
           h[ai] = 1;
           if (ekfUpdateScalar(x, P, h, innov, rPhase, 4)) {

package/dist/index.cjs

@@ -12872,9 +12872,9 @@ function satStateAtEmission(sp3, prn, recvTimeMs, rcv) {
 var IDX_X = 0;
 var IDX_Y = 1;
 var IDX_Z = 2;
-var IDX_CLK = 3;
-var IDX_ZWD = 4;
-var NBASE = 5;
+var IDX_ZWD = 3;
+var NBASE = 4;
+var CLK_VAR = 1e10;
 function solvePpp(epochs, sp3, opts) {
   const elevMask = (opts.elevationMaskDeg ?? 10) * Math.PI / 180;
   const codeSigma = opts.codeSigma ?? 3;
@@ -12885,8 +12885,6 @@ function solvePpp(epochs, sp3, opts) {
     opts.aprioriPos[0],
     opts.aprioriPos[1],
     opts.aprioriPos[2],
-    0,
-    // receiver clock (m)
     0.1
     // zenith wet delay (m) a priori
   ];
@@ -12897,8 +12895,9 @@ function solvePpp(epochs, sp3, opts) {
   P[IDX_X][IDX_X] = 100 * 100;
   P[IDX_Y][IDX_Y] = 100 * 100;
   P[IDX_Z][IDX_Z] = 100 * 100;
-  P[IDX_CLK][IDX_CLK] = 1e10;
   P[IDX_ZWD][IDX_ZWD] = 0.5 * 0.5;
+  const clkIdx = /* @__PURE__ */ new Map();
+  const clockSeeded = /* @__PURE__ */ new Set();
   const ambIdx = /* @__PURE__ */ new Map();
   const lastSeen = /* @__PURE__ */ new Map();
   const mwState = /* @__PURE__ */ new Map();
@@ -12939,8 +12938,18 @@ function solvePpp(epochs, sp3, opts) {
       if (i === idx) ambIdx.delete(prn);
       else if (i > idx) ambIdx.set(prn, i - 1);
     }
+    for (const [sys, i] of clkIdx) {
+      if (i > idx) clkIdx.set(sys, i - 1);
+    }
+  };
+  const clockOf = (sys) => {
+    let i = clkIdx.get(sys);
+    if (i === void 0) {
+      i = growState(0, CLK_VAR);
+      clkIdx.set(sys, i);
+    }
+    return i;
   };
-  let clockSeeded = false;
   const series = [];
   const truth = opts.groundTruth;
   const t0 = epochs[0]?.timeMs ?? 0;
@@ -12948,7 +12957,7 @@ function solvePpp(epochs, sp3, opts) {
   let convergedStreak = 0;
   for (let ei = 0; ei < epochs.length; ei++) {
     const epoch = epochs[ei];
-    P[IDX_CLK][IDX_CLK] = 1e10;
+    for (const ci of clkIdx.values()) P[ci][ci] = CLK_VAR;
     P[IDX_ZWD][IDX_ZWD] += ztdQ * (ei > 0 ? 1 : 0);
     const rcv = [x[IDX_X], x[IDX_Y], x[IDX_Z]];
     const [latDeg, , heightM] = ecefToGeodetic(rcv[0], rcv[1], rcv[2]);
@@ -13012,21 +13021,29 @@ function solvePpp(epochs, sp3, opts) {
       });
     }
     const zwd0 = x[IDX_ZWD];
-    if (vis.length > 0) {
-      if (!clockSeeded) {
-        const s = vis.map(
-          (v) => v.pIf - (v.range - v.satClkM + v.tropoFixed + zwd0 * v.mw)
-        ).sort((a, b) => a - b);
-        x[IDX_CLK] = s[Math.floor(s.length / 2)];
-        clockSeeded = true;
+    const bySys = /* @__PURE__ */ new Map();
+    for (const v of vis) {
+      const sys = v.prn[0];
+      const r = v.pIf - (v.range - v.satClkM + v.tropoFixed + zwd0 * v.mw);
+      const arr = bySys.get(sys);
+      if (arr) arr.push(r);
+      else bySys.set(sys, [r]);
+    }
+    for (const [sys, res] of bySys) {
+      const ci = clockOf(sys);
+      if (!clockSeeded.has(sys)) {
+        res.sort((a, b) => a - b);
+        x[ci] = res[Math.floor(res.length / 2)];
+        clockSeeded.add(sys);
       }
-      P[IDX_CLK][IDX_CLK] = 1e10;
+      P[ci][ci] = CLK_VAR;
     }
     let nSats = 0;
     let sumPhaseResSq = 0;
     let nPhaseRes = 0;
     for (const v of vis) {
-      const common = v.range + x[IDX_CLK] - v.satClkM + v.tropoFixed + zwd0 * v.mw;
+      const ci = clockOf(v.prn[0]);
+      const common = v.range + x[ci] - v.satClkM + v.tropoFixed + zwd0 * v.mw;
       let ai = ambIdx.get(v.prn);
       if (ai === void 0 || v.slip) {
         const bInit = v.lIf - (common + v.windupM);
@@ -13051,13 +13068,13 @@ function solvePpp(epochs, sp3, opts) {
         h[IDX_X] = -v.e[0];
         h[IDX_Y] = -v.e[1];
         h[IDX_Z] = -v.e[2];
-        h[IDX_CLK] = 1;
+        h[ci] = 1;
         h[IDX_ZWD] = v.mw;
         const innov = v.pIf - common;
         if (Math.abs(innov) < 1e6) ekfUpdateScalar(x, P, h, innov, rCode, 4);
       }
       {
-        const commonPh = v.range + x[IDX_CLK] - v.satClkM + v.tropoFixed + x[IDX_ZWD] * v.mw;
+        const commonPh = v.range + x[ci] - v.satClkM + v.tropoFixed + x[IDX_ZWD] * v.mw;
         const innov = v.lIf - (commonPh + v.windupM + x[ai]);
         if (Math.abs(innov) > 0.15) {
           x[ai] = v.lIf - (commonPh + v.windupM);
@@ -13071,7 +13088,7 @@ function solvePpp(epochs, sp3, opts) {
           h[IDX_X] = -v.e[0];
           h[IDX_Y] = -v.e[1];
           h[IDX_Z] = -v.e[2];
-          h[IDX_CLK] = 1;
+          h[ci] = 1;
           h[IDX_ZWD] = v.mw;
           h[ai] = 1;
           if (ekfUpdateScalar(x, P, h, innov, rPhase, 4)) {

package/dist/index.js

@@ -162,7 +162,7 @@ import {
   solveSpp,
   sunEcef,
   toRtkEpoch
-} from "./chunk-O65WA6CM.js";
+} from "./chunk-5WHKMKIB.js";
 import {
   almanacEpochMs,
   almanacSatPosition,

package/dist/positioning.cjs

@@ -2118,9 +2118,9 @@ function satStateAtEmission(sp3, prn, recvTimeMs, rcv) {
 var IDX_X = 0;
 var IDX_Y = 1;
 var IDX_Z = 2;
-var IDX_CLK = 3;
-var IDX_ZWD = 4;
-var NBASE = 5;
+var IDX_ZWD = 3;
+var NBASE = 4;
+var CLK_VAR = 1e10;
 function solvePpp(epochs, sp3, opts) {
   const elevMask = (opts.elevationMaskDeg ?? 10) * Math.PI / 180;
   const codeSigma = opts.codeSigma ?? 3;
@@ -2131,8 +2131,6 @@ function solvePpp(epochs, sp3, opts) {
     opts.aprioriPos[0],
     opts.aprioriPos[1],
     opts.aprioriPos[2],
-    0,
-    // receiver clock (m)
     0.1
     // zenith wet delay (m) a priori
   ];
@@ -2143,8 +2141,9 @@ function solvePpp(epochs, sp3, opts) {
   P[IDX_X][IDX_X] = 100 * 100;
   P[IDX_Y][IDX_Y] = 100 * 100;
   P[IDX_Z][IDX_Z] = 100 * 100;
-  P[IDX_CLK][IDX_CLK] = 1e10;
   P[IDX_ZWD][IDX_ZWD] = 0.5 * 0.5;
+  const clkIdx = /* @__PURE__ */ new Map();
+  const clockSeeded = /* @__PURE__ */ new Set();
   const ambIdx = /* @__PURE__ */ new Map();
   const lastSeen = /* @__PURE__ */ new Map();
   const mwState = /* @__PURE__ */ new Map();
@@ -2185,8 +2184,18 @@ function solvePpp(epochs, sp3, opts) {
       if (i === idx) ambIdx.delete(prn);
       else if (i > idx) ambIdx.set(prn, i - 1);
     }
+    for (const [sys, i] of clkIdx) {
+      if (i > idx) clkIdx.set(sys, i - 1);
+    }
+  };
+  const clockOf = (sys) => {
+    let i = clkIdx.get(sys);
+    if (i === void 0) {
+      i = growState(0, CLK_VAR);
+      clkIdx.set(sys, i);
+    }
+    return i;
   };
-  let clockSeeded = false;
   const series = [];
   const truth = opts.groundTruth;
   const t0 = epochs[0]?.timeMs ?? 0;
@@ -2194,7 +2203,7 @@ function solvePpp(epochs, sp3, opts) {
   let convergedStreak = 0;
   for (let ei = 0; ei < epochs.length; ei++) {
     const epoch = epochs[ei];
-    P[IDX_CLK][IDX_CLK] = 1e10;
+    for (const ci of clkIdx.values()) P[ci][ci] = CLK_VAR;
     P[IDX_ZWD][IDX_ZWD] += ztdQ * (ei > 0 ? 1 : 0);
     const rcv = [x[IDX_X], x[IDX_Y], x[IDX_Z]];
     const [latDeg, , heightM] = ecefToGeodetic(rcv[0], rcv[1], rcv[2]);
@@ -2258,21 +2267,29 @@ function solvePpp(epochs, sp3, opts) {
       });
     }
     const zwd0 = x[IDX_ZWD];
-    if (vis.length > 0) {
-      if (!clockSeeded) {
-        const s = vis.map(
-          (v) => v.pIf - (v.range - v.satClkM + v.tropoFixed + zwd0 * v.mw)
-        ).sort((a, b) => a - b);
-        x[IDX_CLK] = s[Math.floor(s.length / 2)];
-        clockSeeded = true;
+    const bySys = /* @__PURE__ */ new Map();
+    for (const v of vis) {
+      const sys = v.prn[0];
+      const r = v.pIf - (v.range - v.satClkM + v.tropoFixed + zwd0 * v.mw);
+      const arr = bySys.get(sys);
+      if (arr) arr.push(r);
+      else bySys.set(sys, [r]);
+    }
+    for (const [sys, res] of bySys) {
+      const ci = clockOf(sys);
+      if (!clockSeeded.has(sys)) {
+        res.sort((a, b) => a - b);
+        x[ci] = res[Math.floor(res.length / 2)];
+        clockSeeded.add(sys);
       }
-      P[IDX_CLK][IDX_CLK] = 1e10;
+      P[ci][ci] = CLK_VAR;
     }
     let nSats = 0;
     let sumPhaseResSq = 0;
     let nPhaseRes = 0;
     for (const v of vis) {
-      const common = v.range + x[IDX_CLK] - v.satClkM + v.tropoFixed + zwd0 * v.mw;
+      const ci = clockOf(v.prn[0]);
+      const common = v.range + x[ci] - v.satClkM + v.tropoFixed + zwd0 * v.mw;
       let ai = ambIdx.get(v.prn);
       if (ai === void 0 || v.slip) {
         const bInit = v.lIf - (common + v.windupM);
@@ -2297,13 +2314,13 @@ function solvePpp(epochs, sp3, opts) {
         h[IDX_X] = -v.e[0];
         h[IDX_Y] = -v.e[1];
         h[IDX_Z] = -v.e[2];
-        h[IDX_CLK] = 1;
+        h[ci] = 1;
         h[IDX_ZWD] = v.mw;
         const innov = v.pIf - common;
         if (Math.abs(innov) < 1e6) ekfUpdateScalar(x, P, h, innov, rCode, 4);
       }
       {
-        const commonPh = v.range + x[IDX_CLK] - v.satClkM + v.tropoFixed + x[IDX_ZWD] * v.mw;
+        const commonPh = v.range + x[ci] - v.satClkM + v.tropoFixed + x[IDX_ZWD] * v.mw;
         const innov = v.lIf - (commonPh + v.windupM + x[ai]);
         if (Math.abs(innov) > 0.15) {
           x[ai] = v.lIf - (commonPh + v.windupM);
@@ -2317,7 +2334,7 @@ function solvePpp(epochs, sp3, opts) {
           h[IDX_X] = -v.e[0];
           h[IDX_Y] = -v.e[1];
           h[IDX_Z] = -v.e[2];
-          h[IDX_CLK] = 1;
+          h[ci] = 1;
           h[IDX_ZWD] = v.mw;
           h[ai] = 1;
           if (ekfUpdateScalar(x, P, h, innov, rPhase, 4)) {

package/dist/positioning.js

@@ -19,7 +19,7 @@ import {
   solveSpp,
   sunEcef,
   toRtkEpoch
-} from "./chunk-O65WA6CM.js";
+} from "./chunk-5WHKMKIB.js";
 import "./chunk-MHGNKSSH.js";
 import "./chunk-37QNKGTC.js";
 import "./chunk-6FAL6P4G.js";

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "gnss-js",
-  "version": "1.28.0",
+  "version": "1.29.0",
   "description": "Comprehensive GNSS library for JavaScript — time scales, coordinates, RINEX parsing, RTCM3 decoding, orbit computation, and signal analysis",
   "type": "module",
   "sideEffects": false,