gnss-js 1.28.0 → 1.30.0

package/dist/{chunk-O65WA6CM.js → chunk-CRFFUU5Y.js}

@@ -10,8 +10,9 @@ import {
   getEnuDifference
 } from "./chunk-37QNKGTC.js";
 import {
+  clkBias,
   sp3Position
-} from "./chunk-4KMWWCUR.js";
+} from "./chunk-GPEP67TG.js";
 import {
   C_LIGHT,
   OMEGA_E
@@ -1582,7 +1583,7 @@ function sagnacRotate(x, y, z, travelS) {
   const s = Math.sin(theta);
   return [x * c + y * s, -x * s + y * c, z];
 }
-function satStateAtEmission(sp3, prn, recvTimeMs, rcv) {
+function satStateAtEmission(sp3, prn, recvTimeMs, rcv, clk) {
   let travelS = 0.075;
   let sx = 0;
   let sy = 0;
@@ -1601,7 +1602,7 @@ function satStateAtEmission(sp3, prn, recvTimeMs, rcv) {
       const vz = (pPlus.z - pMinus.z) / 1;
       velDotPos = p.x * vx + p.y * vy + p.z * vz;
     }
-    clkS = p.clk;
+    clkS = (clk && clkBias(clk, prn, tEmit)) ?? p.clk;
     const [rx, ry, rz] = sagnacRotate(p.x, p.y, p.z, travelS);
     sx = rx;
     sy = ry;
@@ -1620,9 +1621,9 @@ 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 +1634,6 @@ 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 +1644,9 @@ 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 +1687,18 @@ 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 +1706,7 @@ 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]);
@@ -1706,7 +1716,7 @@ function solvePpp(epochs, sp3, opts) {
     for (const o of epoch.obs) {
       if (o.c1 === 0 || o.c2 === 0 || o.l1 === 0 || o.l2 === 0) continue;
       const slip = detectSlip(o, ei);
-      const sat = satStateAtEmission(sp3, o.prn, epoch.timeMs, rcv);
+      const sat = satStateAtEmission(sp3, o.prn, epoch.timeMs, rcv, opts.clk);
       if (!sat) continue;
       const [elRad, azRad] = getAer(
         sat.state.x,
@@ -1760,21 +1770,29 @@ 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 +1817,13 @@ 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 +1837,7 @@ 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/{chunk-4KMWWCUR.js → chunk-GPEP67TG.js}

@@ -114,7 +114,69 @@ function sp3Position(sp3, prn, tMs, order = 9) {
   return { x, y, z, clk };
 }
 
+// src/rinex/clk.ts
+var GPS_EPOCH_MS = Date.UTC(1980, 0, 6);
+function parseClk(text) {
+  const sats = {};
+  let inData = false;
+  for (const line of text.split("\n")) {
+    if (!inData) {
+      if (line.includes("END OF HEADER")) inData = true;
+      continue;
+    }
+    if (line.length < 3 || line[0] !== "A" || line[1] !== "S") continue;
+    const p = line.slice(2).trim().split(/\s+/);
+    if (p.length < 9) continue;
+    const prn = p[0];
+    const y = +p[1];
+    const mo = +p[2];
+    const d = +p[3];
+    const h = +p[4];
+    const mi = +p[5];
+    const s = +p[6];
+    const bias = +p[8];
+    if (!Number.isFinite(bias)) continue;
+    const t = Date.UTC(y, mo - 1, d, h, mi, Math.floor(s)) + s % 1 * 1e3;
+    let e = sats[prn];
+    if (!e) {
+      e = { t: [], c: [] };
+      sats[prn] = e;
+    }
+    e.t.push(t);
+    e.c.push(bias);
+  }
+  let intervalSec = 30;
+  for (const e of Object.values(sats)) {
+    if (e.t.length >= 2) {
+      intervalSec = Math.round((e.t[1] - e.t[0]) / 1e3);
+      break;
+    }
+  }
+  return { sats, intervalSec };
+}
+function clkBias(clk, prn, tMs) {
+  const e = clk.sats[prn];
+  if (!e || e.t.length === 0) return null;
+  const { t, c } = e;
+  let lo = 0;
+  let hi = t.length - 1;
+  if (tMs < t[0] || tMs > t[hi]) return null;
+  while (lo < hi) {
+    const mid = lo + hi + 1 >> 1;
+    if (t[mid] <= tMs) lo = mid;
+    else hi = mid - 1;
+  }
+  if (t[lo] === tMs || lo === t.length - 1) return c[lo];
+  const t0 = t[lo];
+  const t1 = t[lo + 1];
+  if (t1 - t0 > clk.intervalSec * 1e3 * 4) return null;
+  const f = (tMs - t0) / (t1 - t0);
+  return c[lo] + f * (c[lo + 1] - c[lo]);
+}
+
 export {
   parseSp3,
-  sp3Position
+  sp3Position,
+  parseClk,
+  clkBias
 };

package/dist/{sp3-BAq8l39b.d.ts → clk-DGVBGRzA.d.cts}

@@ -67,4 +67,30 @@ declare function sp3Position(sp3: Sp3File, prn: string, tMs: number, order?: num
     clk: number | null;
 } | null;
 
-export { type IonexGrid as I, type Sp3File as S, type Sp3Sample as a, parseSp3 as b, parseIonex as p, sp3Position as s };
+/**
+ * RINEX CLOCK (.CLK) parser — high-rate (typically 30 s) precise satellite
+ * clock corrections, the accuracy-limiting term for PPP that SP3's 5-minute
+ * (linearly interpolated) clocks cannot match.
+ *
+ * Only `AS` (satellite) records are kept; `AR` (station) records — the bulk
+ * of a combined file — are skipped. Clock bias is in seconds.
+ */
+interface ClkFile {
+    /** prn → time-sorted samples { t: GPS-scale ms, c: clock bias (s) }. */
+    sats: Record<string, {
+        t: number[];
+        c: number[];
+    }>;
+    /** Nominal sampling interval (s), inferred from the first satellite. */
+    intervalSec: number;
+}
+/** Parse a RINEX CLOCK file. */
+declare function parseClk(text: string): ClkFile;
+/**
+ * Satellite clock bias (seconds) at an arbitrary time by linear
+ * interpolation between the bracketing samples. Returns null outside the
+ * span or across a gap larger than 4 sampling intervals.
+ */
+declare function clkBias(clk: ClkFile, prn: string, tMs: number): number | null;
+
+export { type ClkFile as C, type IonexGrid as I, type Sp3File as S, type Sp3Sample as a, parseIonex as b, clkBias as c, parseSp3 as d, parseClk as p, sp3Position as s };

package/dist/{sp3-BAq8l39b.d.cts → clk-DGVBGRzA.d.ts}

@@ -67,4 +67,30 @@ declare function sp3Position(sp3: Sp3File, prn: string, tMs: number, order?: num
     clk: number | null;
 } | null;
 
-export { type IonexGrid as I, type Sp3File as S, type Sp3Sample as a, parseSp3 as b, parseIonex as p, sp3Position as s };
+/**
+ * RINEX CLOCK (.CLK) parser — high-rate (typically 30 s) precise satellite
+ * clock corrections, the accuracy-limiting term for PPP that SP3's 5-minute
+ * (linearly interpolated) clocks cannot match.
+ *
+ * Only `AS` (satellite) records are kept; `AR` (station) records — the bulk
+ * of a combined file — are skipped. Clock bias is in seconds.
+ */
+interface ClkFile {
+    /** prn → time-sorted samples { t: GPS-scale ms, c: clock bias (s) }. */
+    sats: Record<string, {
+        t: number[];
+        c: number[];
+    }>;
+    /** Nominal sampling interval (s), inferred from the first satellite. */
+    intervalSec: number;
+}
+/** Parse a RINEX CLOCK file. */
+declare function parseClk(text: string): ClkFile;
+/**
+ * Satellite clock bias (seconds) at an arbitrary time by linear
+ * interpolation between the bracketing samples. Returns null outside the
+ * span or across a gap larger than 4 sampling intervals.
+ */
+declare function clkBias(clk: ClkFile, prn: string, tMs: number): number | null;
+
+export { type ClkFile as C, type IonexGrid as I, type Sp3File as S, type Sp3Sample as a, parseIonex as b, clkBias as c, parseSp3 as d, parseClk as p, sp3Position as s };

package/dist/index.cjs

@@ -119,6 +119,7 @@ __export(src_exports, {
   buildObsIndices: () => buildObsIndices,
   buildPppAntenna: () => buildPppAntenna,
   clampUnit: () => clampUnit,
+  clkBias: () => clkBias,
   computeAllPositions: () => computeAllPositions,
   computeDop: () => computeDop,
   computeIonoRate: () => computeIonoRate,
@@ -237,6 +238,7 @@ __export(src_exports, {
   padR: () => padR,
   parseAntex: () => parseAntex,
   parseBinex: () => parseBinex,
+  parseClk: () => parseClk,
   parseCrxDataLine: () => parseCrxDataLine,
   parseIonex: () => parseIonex,
   parseNavFile: () => parseNavFile,
@@ -3896,6 +3898,66 @@ function sp3Position(sp3, prn, tMs, order = 9) {
   return { x, y, z, clk };
 }
 
+// src/rinex/clk.ts
+var GPS_EPOCH_MS4 = Date.UTC(1980, 0, 6);
+function parseClk(text) {
+  const sats = {};
+  let inData = false;
+  for (const line of text.split("\n")) {
+    if (!inData) {
+      if (line.includes("END OF HEADER")) inData = true;
+      continue;
+    }
+    if (line.length < 3 || line[0] !== "A" || line[1] !== "S") continue;
+    const p = line.slice(2).trim().split(/\s+/);
+    if (p.length < 9) continue;
+    const prn = p[0];
+    const y = +p[1];
+    const mo = +p[2];
+    const d = +p[3];
+    const h = +p[4];
+    const mi = +p[5];
+    const s = +p[6];
+    const bias = +p[8];
+    if (!Number.isFinite(bias)) continue;
+    const t = Date.UTC(y, mo - 1, d, h, mi, Math.floor(s)) + s % 1 * 1e3;
+    let e = sats[prn];
+    if (!e) {
+      e = { t: [], c: [] };
+      sats[prn] = e;
+    }
+    e.t.push(t);
+    e.c.push(bias);
+  }
+  let intervalSec = 30;
+  for (const e of Object.values(sats)) {
+    if (e.t.length >= 2) {
+      intervalSec = Math.round((e.t[1] - e.t[0]) / 1e3);
+      break;
+    }
+  }
+  return { sats, intervalSec };
+}
+function clkBias(clk, prn, tMs) {
+  const e = clk.sats[prn];
+  if (!e || e.t.length === 0) return null;
+  const { t, c } = e;
+  let lo = 0;
+  let hi = t.length - 1;
+  if (tMs < t[0] || tMs > t[hi]) return null;
+  while (lo < hi) {
+    const mid = lo + hi + 1 >> 1;
+    if (t[mid] <= tMs) lo = mid;
+    else hi = mid - 1;
+  }
+  if (t[lo] === tMs || lo === t.length - 1) return c[lo];
+  const t0 = t[lo];
+  const t1 = t[lo + 1];
+  if (t1 - t0 > clk.intervalSec * 1e3 * 4) return null;
+  const f = (tMs - t0) / (t1 - t0);
+  return c[lo] + f * (c[lo + 1] - c[lo]);
+}
+
 // src/rinex/obs-writer-common.ts
 function createGzipLineSink() {
   const encoder = new TextEncoder();
@@ -6147,7 +6209,7 @@ var BdsAssembler = class {
 };
 
 // src/navbits/gal.ts
-var GPS_EPOCH_MS4 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS5 = Date.UTC(1980, 0, 6);
 var SEC_PER_WEEK5 = 7 * 86400;
 var HALF_WEEK3 = 302400;
 var GST_GPS_WEEK_OFFSET = 1024;
@@ -6160,7 +6222,7 @@ function galFnavPageCrcOk(page) {
   return crc24q(page, 214) === getBitU(page, 214, 24);
 }
 function gpsDate2(week, sec) {
-  return new Date(GPS_EPOCH_MS4 + (week * SEC_PER_WEEK5 + sec) * 1e3);
+  return new Date(GPS_EPOCH_MS5 + (week * SEC_PER_WEEK5 + sec) * 1e3);
 }
 function weekOfToe(week, tow, toe) {
   if (toe - tow > HALF_WEEK3) return week - 1;
@@ -6455,7 +6517,7 @@ var GalFnavAssembler = class {
 };
 
 // src/navbits/glo.ts
-var GPS_EPOCH_MS5 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS6 = Date.UTC(1980, 0, 6);
 var SEC_PER_WEEK6 = 7 * 86400;
 var SEC_PER_DAY = 86400;
 var GLO_STRING_BYTES = 10;
@@ -6549,7 +6611,7 @@ function decodeGloStrings(strings, refDate, opts = {}) {
   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 utcSec = (getUtcDate(refDate).getTime() - GPS_EPOCH_MS6) / 1e3;
   const week = Math.floor(utcSec / SEC_PER_WEEK6);
   let tow = utcSec - week * SEC_PER_WEEK6;
   const tod = tow % SEC_PER_DAY;
@@ -6564,7 +6626,7 @@ function decodeGloStrings(strings, refDate, opts = {}) {
     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),
+    tocDate: new Date(GPS_EPOCH_MS6 + (week * SEC_PER_WEEK6 + tow + toe) * 1e3),
     tauN: -tauN,
     // RINEX stores −τn; the SIS carries τn (ICD sign)
     gammaN,
@@ -6618,7 +6680,7 @@ var GloStringAssembler = class {
 };
 
 // src/ubx/rawnav.ts
-var GPS_EPOCH_MS6 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS7 = Date.UTC(1980, 0, 6);
 var SEC_PER_WEEK7 = 7 * 86400;
 var two2 = (n) => String(n).padStart(2, "0");
 function parseUbxRawNav(data, opts = {}) {
@@ -6638,7 +6700,7 @@ function parseUbxRawNav(data, opts = {}) {
       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
+          GPS_EPOCH_MS7 + (week * SEC_PER_WEEK7 + rcvTow) * 1e3
         );
       }
       continue;
@@ -6718,7 +6780,7 @@ function parseUbxRawNav(data, opts = {}) {
 }
 
 // src/ubx/index.ts
-var GPS_EPOCH_MS7 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS8 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK3 = 7 * 864e5;
 var SIGNALS = {
   0: { 0: ["G", "1C"], 3: ["G", "2X"], 4: ["G", "2X"] },
@@ -6801,7 +6863,7 @@ function parseUbxRawx(data) {
         if (!codes.includes(sig[1])) codes.push(sig[1]);
       }
       epochs.push({
-        timeMs: GPS_EPOCH_MS7 + week * MS_PER_WEEK3 + Math.round(rcvTow * 1e3),
+        timeMs: GPS_EPOCH_MS8 + week * MS_PER_WEEK3 + Math.round(rcvTow * 1e3),
         leapS: leapValid ? leapS : null,
         meas
       });
@@ -6872,7 +6934,7 @@ function svidToPrn(svid) {
 
 // src/sbf/nav.ts
 var PI2 = Math.PI;
-var GPS_EPOCH_MS8 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS9 = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS2 = Date.UTC(2006, 0, 1);
 var SEC_PER_WEEK8 = 7 * 86400;
 var MS_PER_WEEK4 = SEC_PER_WEEK8 * 1e3;
@@ -6884,7 +6946,7 @@ function adjustWeek(refWeek, wn, mod) {
   if (offset < -(mod / 2 - 1)) offset += mod;
   return refWeek - offset;
 }
-var gpsMs = (week, sec) => GPS_EPOCH_MS8 + week * MS_PER_WEEK4 + sec * 1e3;
+var gpsMs = (week, sec) => GPS_EPOCH_MS9 + 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);
@@ -7034,7 +7096,7 @@ function decodeGloNav(view, b) {
   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;
+  const messageFrameTime = (tofGpsMs - tofLeapMs - GPS_EPOCH_MS9) / 1e3 % SEC_PER_WEEK8;
   return {
     system: "R",
     prn,
@@ -7306,7 +7368,7 @@ function isFnavDummy(page) {
 }
 
 // src/sbf/rawnav-bds.ts
-var GPS_EPOCH_MS9 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS10 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK5 = 7 * 86400 * 1e3;
 var TOW_DNU = 4294967295;
 var WNC_DNU = 65535;
@@ -7376,7 +7438,7 @@ function parseSbfGloNav(data) {
     const eph = assembler.push(
       prn,
       str,
-      new Date(GPS_EPOCH_MS9 + wnc * MS_PER_WEEK5 + towMs),
+      new Date(GPS_EPOCH_MS10 + wnc * MS_PER_WEEK5 + towMs),
       view.getUint8(b + 18) - 8
       // FreqNr, offset by 8
     );
@@ -7910,7 +7972,7 @@ function parseSbfHas(data) {
 
 // src/sbf/index.ts
 var CLIGHT = 299792458;
-var GPS_EPOCH_MS10 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS11 = 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];
@@ -8564,7 +8626,7 @@ 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_MS10 + wnc * MS_PER_WEEK6 + tow);
+        ensureEpoch(GPS_EPOCH_MS11 + 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);
@@ -8629,15 +8691,15 @@ var ID_GALEPHEMERIS = 1122;
 var ID_QZSSEPHEMERIS = 1336;
 var ID_GPSEPHEM = 7;
 var ID_BDSEPHEMERIS = 1696;
-var GPS_EPOCH_MS11 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS12 = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS3 = Date.UTC(2006, 0, 1);
 var SEC_PER_WEEK9 = 7 * 86400;
 var SEC_PER_DAY2 = 86400;
 var MS_PER_WEEK7 = SEC_PER_WEEK9 * 1e3;
-var gpsMs2 = (week, sec) => GPS_EPOCH_MS11 + week * MS_PER_WEEK7 + sec * 1e3;
+var gpsMs2 = (week, sec) => GPS_EPOCH_MS12 + 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_MS11) / MS_PER_WEEK7);
+  const refWeek = Math.floor((refMs - GPS_EPOCH_MS12) / 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;
@@ -8664,9 +8726,9 @@ 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_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;
+  const toeGpsMs = GPS_EPOCH_MS12 + (week * SEC_PER_WEEK9 + tow) * 1e3;
+  const tofGpsMs = GPS_EPOCH_MS12 + (week * SEC_PER_WEEK9 + tof) * 1e3;
+  const tofUtcSec = (getUtcDate(new Date(tofGpsMs)).getTime() - GPS_EPOCH_MS12) / 1e3;
   return {
     system: "R",
     prn: `R${String(slot).padStart(2, "0")}`,
@@ -8731,7 +8793,7 @@ 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_MS11) / MS_PER_WEEK7),
+      week: Math.floor((toeMs - GPS_EPOCH_MS12) / 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,
@@ -8903,7 +8965,7 @@ function parseNovatelNav(data) {
 }
 
 // src/novatel/index.ts
-var GPS_EPOCH_MS12 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS13 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK8 = 7 * 864e5;
 var HDR = 28;
 var ID_RANGE = 43;
@@ -9073,7 +9135,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS12 + week * MS_PER_WEEK8 + towMs,
+          timeMs: GPS_EPOCH_MS13 + week * MS_PER_WEEK8 + towMs,
           meas
         });
       }
@@ -9125,7 +9187,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS12 + week * MS_PER_WEEK8 + towMs,
+          timeMs: GPS_EPOCH_MS13 + week * MS_PER_WEEK8 + towMs,
           meas
         });
       }
@@ -9176,11 +9238,11 @@ function* trimbleFrames(data, stats) {
 }
 
 // src/trimble/nav.ts
-var GPS_EPOCH_MS13 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS14 = Date.UTC(1980, 0, 6);
 var SEC_PER_WEEK10 = 7 * 86400;
 var MS_PER_WEEK9 = SEC_PER_WEEK10 * 1e3;
 var GPS_PI2 = 3.1415926535898;
-var gpsMs3 = (week, sec) => GPS_EPOCH_MS13 + week * MS_PER_WEEK9 + sec * 1e3;
+var gpsMs3 = (week, sec) => GPS_EPOCH_MS14 + week * MS_PER_WEEK9 + sec * 1e3;
 var sowOf4 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK10;
 var SUB_GPS_EPHEMERIS = 1;
 var SUB_ION_UTC = 3;
@@ -9282,7 +9344,7 @@ function parseTrimbleNav(data) {
 }
 
 // src/trimble/index.ts
-var GPS_EPOCH_MS14 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS15 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK10 = 7 * 864e5;
 var REC_TYPE_27 = 6;
 var SYS = {
@@ -9480,7 +9542,7 @@ function decodeEpoch(epoch, epochs, obsCodes) {
     o += c.length;
   }
   const dv = new DataView(M.buffer, M.byteOffset, M.byteLength);
-  const timeMs = GPS_EPOCH_MS14 + epoch.week * MS_PER_WEEK10 + epoch.towMs;
+  const timeMs = GPS_EPOCH_MS15 + epoch.week * MS_PER_WEEK10 + epoch.towMs;
   const meas = [];
   let q = 0;
   for (let sv = 0; sv < epoch.nsv && q + 8 <= M.length; sv++) {
@@ -9661,13 +9723,13 @@ function* binexRecords(data, view, stats) {
 }
 
 // src/binex/nav.ts
-var GPS_EPOCH_MS15 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS16 = Date.UTC(1980, 0, 6);
 var GLO_DAY0_MS = Date.UTC(1980, 0, 1);
 var BDT_EPOCH_MS4 = Date.UTC(2006, 0, 1);
 var SEC_PER_WEEK11 = 7 * 86400;
 var MS_PER_WEEK11 = SEC_PER_WEEK11 * 1e3;
 var SC2RAD = GPS_PI;
-var gpsMs4 = (week, sec) => GPS_EPOCH_MS15 + week * MS_PER_WEEK11 + sec * 1e3;
+var gpsMs4 = (week, sec) => GPS_EPOCH_MS16 + week * MS_PER_WEEK11 + sec * 1e3;
 var sowOf5 = (dateMs) => (dateMs / 1e3 % SEC_PER_WEEK11 + SEC_PER_WEEK11) % SEC_PER_WEEK11;
 var two5 = (n) => String(n).padStart(2, "0");
 var Reader = class {
@@ -9955,7 +10017,7 @@ function decodeBinexEph(view, body, len, le) {
 }
 
 // src/binex/index.ts
-var GPS_EPOCH_MS16 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS17 = Date.UTC(1980, 0, 6);
 var CLIGHT2 = 299792458;
 var OBS_CODES = {
   0: [
@@ -10213,7 +10275,7 @@ function decodeObsRecord(data, view, body, len, obsCodes) {
   p += 4;
   const msec = view.getUint16(p);
   p += 2;
-  const timeMs = GPS_EPOCH_MS16 + min * 6e4 + msec;
+  const timeMs = GPS_EPOCH_MS17 + min * 6e4 + msec;
   const flag = data[p++];
   const nsat = (flag & 63) + 1;
   if (flag & 128) p += 3;
@@ -10299,7 +10361,7 @@ function parseBinex(data) {
 var GM_GPS = 3986005e8;
 var GM_GAL = 3986004418e5;
 var GM_BDS = 3986004418e5;
-var GPS_EPOCH_MS17 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS18 = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS5 = Date.UTC(2006, 0, 1);
 var WEEK_MS = 6048e5;
 var BDT_MINUS_GPST_MS = 14e3;
@@ -10308,7 +10370,7 @@ function almanacEpochMs(alm) {
   if (alm.system === "C") {
     return BDT_EPOCH_MS5 + alm.weekAlm * WEEK_MS + alm.toaSec * 1e3 + BDT_MINUS_GPST_MS;
   }
-  return GPS_EPOCH_MS17 + alm.weekAlm * WEEK_MS + alm.toaSec * 1e3;
+  return GPS_EPOCH_MS18 + 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;
@@ -10817,10 +10879,10 @@ function selectBest(ephs, timeMs) {
   }
   return best;
 }
-var GPS_EPOCH_MS18 = START_GPS_TIME.getTime();
+var GPS_EPOCH_MS19 = START_GPS_TIME.getTime();
 var MS_PER_WEEK12 = 7 * 864e5;
 var BDS_EPOCH_MS = START_BDS_TIME.getTime();
-var GAL_EPOCH_MS = GPS_EPOCH_MS18 + 1024 * MS_PER_WEEK12;
+var GAL_EPOCH_MS = GPS_EPOCH_MS19 + 1024 * MS_PER_WEEK12;
 function ephInfoToEphemeris(info) {
   const sys = info.prn.charAt(0);
   if (sys === "R") {
@@ -10871,8 +10933,8 @@ function ephInfoToEphemeris(info) {
   } else if (sys === "E") {
     epochMs = GAL_EPOCH_MS;
   } else {
-    epochMs = GPS_EPOCH_MS18;
-    const weeksNow = (info.lastReceived - GPS_EPOCH_MS18) / MS_PER_WEEK12;
+    epochMs = GPS_EPOCH_MS19;
+    const weeksNow = (info.lastReceived - GPS_EPOCH_MS19) / MS_PER_WEEK12;
     week += 1024 * Math.round((weeksNow - week) / 1024);
   }
   const tocDate = new Date(epochMs + week * MS_PER_WEEK12 + tocSec * 1e3);
@@ -12834,7 +12896,7 @@ function sagnacRotate(x, y, z, travelS) {
   const s = Math.sin(theta);
   return [x * c + y * s, -x * s + y * c, z];
 }
-function satStateAtEmission(sp3, prn, recvTimeMs, rcv) {
+function satStateAtEmission(sp3, prn, recvTimeMs, rcv, clk) {
   let travelS = 0.075;
   let sx = 0;
   let sy = 0;
@@ -12853,7 +12915,7 @@ function satStateAtEmission(sp3, prn, recvTimeMs, rcv) {
       const vz = (pPlus.z - pMinus.z) / 1;
       velDotPos = p.x * vx + p.y * vy + p.z * vz;
     }
-    clkS = p.clk;
+    clkS = (clk && clkBias(clk, prn, tEmit)) ?? p.clk;
     const [rx, ry, rz] = sagnacRotate(p.x, p.y, p.z, travelS);
     sx = rx;
     sy = ry;
@@ -12872,9 +12934,9 @@ 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 +12947,6 @@ 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 +12957,9 @@ 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 +13000,18 @@ 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 +13019,7 @@ 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]);
@@ -12958,7 +13029,7 @@ function solvePpp(epochs, sp3, opts) {
     for (const o of epoch.obs) {
       if (o.c1 === 0 || o.c2 === 0 || o.l1 === 0 || o.l2 === 0) continue;
       const slip = detectSlip(o, ei);
-      const sat = satStateAtEmission(sp3, o.prn, epoch.timeMs, rcv);
+      const sat = satStateAtEmission(sp3, o.prn, epoch.timeMs, rcv, opts.clk);
       if (!sat) continue;
       const [elRad, azRad] = getAer(
         sat.state.x,
@@ -13012,21 +13083,29 @@ 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 +13130,13 @@ 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 +13150,7 @@ 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)) {
@@ -15732,6 +15811,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   buildObsIndices,
   buildPppAntenna,
   clampUnit,
+  clkBias,
   computeAllPositions,
   computeDop,
   computeIonoRate,
@@ -15850,6 +15930,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   padR,
   parseAntex,
   parseBinex,
+  parseClk,
   parseCrxDataLine,
   parseIonex,
   parseNavFile,

package/dist/index.d.cts

@@ -7,7 +7,7 @@ export { c as clampUnit, e as ecefToGeodetic, g as geodeticToEcef, a as getAer,
 export { CompactEpoch, CrxField, DiffState, EMPTY_WARNINGS, Nav4Input, RinexWarning, RinexWarnings, WarningAccumulator, WarningSeverity, WriteCrxOptions, createGzipLineSink, crxDecompress, crxRepair, fmtD, fmtF, hdrLine, padL, padR, parseCrxDataLine, stationHeaderLines, writeCrx, writeModernObsBlob, writeRinex2ObsBlob, writeRinex4ObsBlob, writeRinexNav, writeRinexNav4, writeRinexObsBlob } from './rinex.cjs';
 export { E as EpochSummary, P as ParseOptions, R as RinexHeader, a as RinexResult, b as RinexStats, S as SYSTEM_ORDER, c as SatObsCallback, p as parseRinexStream, s as systemCmp, d as systemName } from './parser-JPjjFgeP.cjs';
 export { C as CnavEphemeris, E as Ephemeris, G as GlonassEphemeris, K as KeplerEphemeris, N as NavHeader, a as NavResult, R as RinexCnavEphemeris, p as parseNavFile } from './nav-DImXUdbp.cjs';
-export { I as IonexGrid, S as Sp3File, a as Sp3Sample, p as parseIonex, b as parseSp3, s as sp3Position } from './sp3-BAq8l39b.cjs';
+export { C as ClkFile, I as IonexGrid, S as Sp3File, a as Sp3Sample, c as clkBias, p as parseClk, b as parseIonex, d as parseSp3, s as sp3Position } from './clk-DGVBGRzA.cjs';
 export { B as BitReader, E as EphemerisInfo, R as Rtcm3DebugHandler, a as Rtcm3Decoder, b as Rtcm3Frame, d as decodeEphemeris, r as readString, c as reportDecodeError, s as setRtcm3DebugHandler } from './ephemeris-Ohl6NAfw.cjs';
 export { MessageTypeStats, MsmEpoch, MsmSatObs, MsmSignal, RTCM3_MESSAGE_NAMES, SatCn0, SignalCn0, StationMeta, StreamStats, createStationMeta, createStreamStats, decodeMsmFull, msmEpochToDate, resetGloFreqCache, rtcm3Constellation, setGloFreqNumber, updateStationMeta, updateStreamStats } from './rtcm3.cjs';
 export { UbxCnavResult, UbxFrame, UbxIonoUtcResult, UbxMeasurement, UbxNavOptions, UbxNavResult, UbxParseResult, UbxRawNavOptions, UbxRawNavResult, UbxRawxEpoch, parseUbxCnav, parseUbxIonoUtc, parseUbxNav, parseUbxRawNav, parseUbxRawx, ubxFrames } from './ubx.cjs';

package/dist/index.d.ts

@@ -7,7 +7,7 @@ export { c as clampUnit, e as ecefToGeodetic, g as geodeticToEcef, a as getAer,
 export { CompactEpoch, CrxField, DiffState, EMPTY_WARNINGS, Nav4Input, RinexWarning, RinexWarnings, WarningAccumulator, WarningSeverity, WriteCrxOptions, createGzipLineSink, crxDecompress, crxRepair, fmtD, fmtF, hdrLine, padL, padR, parseCrxDataLine, stationHeaderLines, writeCrx, writeModernObsBlob, writeRinex2ObsBlob, writeRinex4ObsBlob, writeRinexNav, writeRinexNav4, writeRinexObsBlob } from './rinex.js';
 export { E as EpochSummary, P as ParseOptions, R as RinexHeader, a as RinexResult, b as RinexStats, S as SYSTEM_ORDER, c as SatObsCallback, p as parseRinexStream, s as systemCmp, d as systemName } from './parser-JPjjFgeP.js';
 export { C as CnavEphemeris, E as Ephemeris, G as GlonassEphemeris, K as KeplerEphemeris, N as NavHeader, a as NavResult, R as RinexCnavEphemeris, p as parseNavFile } from './nav-DImXUdbp.js';
-export { I as IonexGrid, S as Sp3File, a as Sp3Sample, p as parseIonex, b as parseSp3, s as sp3Position } from './sp3-BAq8l39b.js';
+export { C as ClkFile, I as IonexGrid, S as Sp3File, a as Sp3Sample, c as clkBias, p as parseClk, b as parseIonex, d as parseSp3, s as sp3Position } from './clk-DGVBGRzA.js';
 export { B as BitReader, E as EphemerisInfo, R as Rtcm3DebugHandler, a as Rtcm3Decoder, b as Rtcm3Frame, d as decodeEphemeris, r as readString, c as reportDecodeError, s as setRtcm3DebugHandler } from './ephemeris-Ohl6NAfw.js';
 export { MessageTypeStats, MsmEpoch, MsmSatObs, MsmSignal, RTCM3_MESSAGE_NAMES, SatCn0, SignalCn0, StationMeta, StreamStats, createStationMeta, createStreamStats, decodeMsmFull, msmEpochToDate, resetGloFreqCache, rtcm3Constellation, setGloFreqNumber, updateStationMeta, updateStreamStats } from './rtcm3.js';
 export { UbxCnavResult, UbxFrame, UbxIonoUtcResult, UbxMeasurement, UbxNavOptions, UbxNavResult, UbxParseResult, UbxRawNavOptions, UbxRawNavResult, UbxRawxEpoch, parseUbxCnav, parseUbxIonoUtc, parseUbxNav, parseUbxRawNav, parseUbxRawx, ubxFrames } from './ubx.js';

package/dist/index.js

@@ -162,7 +162,7 @@ import {
   solveSpp,
   sunEcef,
   toRtkEpoch
-} from "./chunk-O65WA6CM.js";
+} from "./chunk-CRFFUU5Y.js";
 import {
   almanacEpochMs,
   almanacSatPosition,
@@ -217,7 +217,7 @@ import {
   writeRinexNav,
   writeRinexNav4,
   writeRinexObsBlob
-} from "./chunk-6GTS5MVI.js";
+} from "./chunk-KDM2NVBO.js";
 import "./chunk-726LQBGM.js";
 import "./chunk-IQ5OIMQD.js";
 import {
@@ -230,9 +230,11 @@ import {
   systemName
 } from "./chunk-3U5AX7PY.js";
 import {
+  clkBias,
+  parseClk,
   parseSp3,
   sp3Position
-} from "./chunk-4KMWWCUR.js";
+} from "./chunk-GPEP67TG.js";
 import {
   BitReader,
   RTCM3_MESSAGE_NAMES,
@@ -434,6 +436,7 @@ export {
   buildObsIndices,
   buildPppAntenna,
   clampUnit,
+  clkBias,
   computeAllPositions,
   computeDop,
   computeIonoRate,
@@ -552,6 +555,7 @@ export {
   padR,
   parseAntex,
   parseBinex,
+  parseClk,
   parseCrxDataLine,
   parseIonex,
   parseNavFile,

package/dist/positioning.cjs

@@ -1597,6 +1597,28 @@ function sp3Position(sp3, prn, tMs, order = 9) {
   return { x, y, z, clk };
 }
 
+// src/rinex/clk.ts
+var GPS_EPOCH_MS2 = Date.UTC(1980, 0, 6);
+function clkBias(clk, prn, tMs) {
+  const e = clk.sats[prn];
+  if (!e || e.t.length === 0) return null;
+  const { t, c } = e;
+  let lo = 0;
+  let hi = t.length - 1;
+  if (tMs < t[0] || tMs > t[hi]) return null;
+  while (lo < hi) {
+    const mid = lo + hi + 1 >> 1;
+    if (t[mid] <= tMs) lo = mid;
+    else hi = mid - 1;
+  }
+  if (t[lo] === tMs || lo === t.length - 1) return c[lo];
+  const t0 = t[lo];
+  const t1 = t[lo + 1];
+  if (t1 - t0 > clk.intervalSec * 1e3 * 4) return null;
+  const f = (tMs - t0) / (t1 - t0);
+  return c[lo] + f * (c[lo + 1] - c[lo]);
+}
+
 // src/positioning/ppp-tropo.ts
 var HYD_AVG_A = [
   0.0012769934,
@@ -2080,7 +2102,7 @@ function sagnacRotate(x, y, z, travelS) {
   const s = Math.sin(theta);
   return [x * c + y * s, -x * s + y * c, z];
 }
-function satStateAtEmission(sp3, prn, recvTimeMs, rcv) {
+function satStateAtEmission(sp3, prn, recvTimeMs, rcv, clk) {
   let travelS = 0.075;
   let sx = 0;
   let sy = 0;
@@ -2099,7 +2121,7 @@ function satStateAtEmission(sp3, prn, recvTimeMs, rcv) {
       const vz = (pPlus.z - pMinus.z) / 1;
       velDotPos = p.x * vx + p.y * vy + p.z * vz;
     }
-    clkS = p.clk;
+    clkS = (clk && clkBias(clk, prn, tEmit)) ?? p.clk;
     const [rx, ry, rz] = sagnacRotate(p.x, p.y, p.z, travelS);
     sx = rx;
     sy = ry;
@@ -2118,9 +2140,9 @@ 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 +2153,6 @@ 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 +2163,9 @@ 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 +2206,18 @@ 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 +2225,7 @@ 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]);
@@ -2204,7 +2235,7 @@ function solvePpp(epochs, sp3, opts) {
     for (const o of epoch.obs) {
       if (o.c1 === 0 || o.c2 === 0 || o.l1 === 0 || o.l2 === 0) continue;
       const slip = detectSlip(o, ei);
-      const sat = satStateAtEmission(sp3, o.prn, epoch.timeMs, rcv);
+      const sat = satStateAtEmission(sp3, o.prn, epoch.timeMs, rcv, opts.clk);
       if (!sat) continue;
       const [elRad, azRad] = getAer(
         sat.state.x,
@@ -2258,21 +2289,29 @@ 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 +2336,13 @@ 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 +2356,7 @@ 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.d.cts

@@ -1,6 +1,6 @@
 import { E as Ephemeris } from './nav-DImXUdbp.cjs';
 import { DopValues } from './orbit.cjs';
-import { I as IonexGrid, S as Sp3File } from './sp3-BAq8l39b.cjs';
+import { I as IonexGrid, C as ClkFile, S as Sp3File } from './clk-DGVBGRzA.cjs';
 import { AntexFile } from './antex.cjs';
 import './ephemeris-Ohl6NAfw.cjs';
 import './ecef-CF0uAysr.cjs';
@@ -631,6 +631,11 @@ interface PppOptions {
     ztdProcessNoise?: number;
     /** Model + estimate the troposphere. Default true. */
     troposphere?: boolean;
+    /** High-rate precise satellite clocks (RINEX CLOCK, typically 30 s). When
+     * given, satellite clock offsets come from this by linear interpolation
+     * instead of the SP3 5-minute clocks — the dominant PPP accuracy term.
+     * Satellites/epochs absent from the CLK fall back to the SP3 clock. */
+    clk?: ClkFile;
 }
 interface PppEpochResult {
     timeMs: number;

package/dist/positioning.d.ts

@@ -1,6 +1,6 @@
 import { E as Ephemeris } from './nav-DImXUdbp.js';
 import { DopValues } from './orbit.js';
-import { I as IonexGrid, S as Sp3File } from './sp3-BAq8l39b.js';
+import { I as IonexGrid, C as ClkFile, S as Sp3File } from './clk-DGVBGRzA.js';
 import { AntexFile } from './antex.js';
 import './ephemeris-Ohl6NAfw.js';
 import './ecef-CF0uAysr.js';
@@ -631,6 +631,11 @@ interface PppOptions {
     ztdProcessNoise?: number;
     /** Model + estimate the troposphere. Default true. */
     troposphere?: boolean;
+    /** High-rate precise satellite clocks (RINEX CLOCK, typically 30 s). When
+     * given, satellite clock offsets come from this by linear interpolation
+     * instead of the SP3 5-minute clocks — the dominant PPP accuracy term.
+     * Satellites/epochs absent from the CLK fall back to the SP3 clock. */
+    clk?: ClkFile;
 }
 interface PppEpochResult {
     timeMs: number;

package/dist/positioning.js

@@ -19,11 +19,11 @@ import {
   solveSpp,
   sunEcef,
   toRtkEpoch
-} from "./chunk-O65WA6CM.js";
+} from "./chunk-CRFFUU5Y.js";
 import "./chunk-MHGNKSSH.js";
 import "./chunk-37QNKGTC.js";
 import "./chunk-6FAL6P4G.js";
-import "./chunk-4KMWWCUR.js";
+import "./chunk-GPEP67TG.js";
 import "./chunk-HVXYFUCB.js";
 import "./chunk-LEEU5OIO.js";
 import "./chunk-FIEWO4J4.js";

package/dist/rinex.cjs

@@ -23,6 +23,7 @@ __export(rinex_exports, {
   EMPTY_WARNINGS: () => EMPTY_WARNINGS,
   SYSTEM_ORDER: () => SYSTEM_ORDER,
   WarningAccumulator: () => WarningAccumulator,
+  clkBias: () => clkBias,
   createGzipLineSink: () => createGzipLineSink,
   crxDecompress: () => crxDecompress,
   crxRepair: () => crxRepair,
@@ -31,6 +32,7 @@ __export(rinex_exports, {
   hdrLine: () => hdrLine,
   padL: () => padL,
   padR: () => padR,
+  parseClk: () => parseClk,
   parseCrxDataLine: () => parseCrxDataLine,
   parseIonex: () => parseIonex,
   parseNavFile: () => parseNavFile,
@@ -2388,6 +2390,66 @@ function sp3Position(sp3, prn, tMs, order = 9) {
   return { x, y, z, clk };
 }
 
+// src/rinex/clk.ts
+var GPS_EPOCH_MS4 = Date.UTC(1980, 0, 6);
+function parseClk(text) {
+  const sats = {};
+  let inData = false;
+  for (const line of text.split("\n")) {
+    if (!inData) {
+      if (line.includes("END OF HEADER")) inData = true;
+      continue;
+    }
+    if (line.length < 3 || line[0] !== "A" || line[1] !== "S") continue;
+    const p = line.slice(2).trim().split(/\s+/);
+    if (p.length < 9) continue;
+    const prn = p[0];
+    const y = +p[1];
+    const mo = +p[2];
+    const d = +p[3];
+    const h = +p[4];
+    const mi = +p[5];
+    const s = +p[6];
+    const bias = +p[8];
+    if (!Number.isFinite(bias)) continue;
+    const t = Date.UTC(y, mo - 1, d, h, mi, Math.floor(s)) + s % 1 * 1e3;
+    let e = sats[prn];
+    if (!e) {
+      e = { t: [], c: [] };
+      sats[prn] = e;
+    }
+    e.t.push(t);
+    e.c.push(bias);
+  }
+  let intervalSec = 30;
+  for (const e of Object.values(sats)) {
+    if (e.t.length >= 2) {
+      intervalSec = Math.round((e.t[1] - e.t[0]) / 1e3);
+      break;
+    }
+  }
+  return { sats, intervalSec };
+}
+function clkBias(clk, prn, tMs) {
+  const e = clk.sats[prn];
+  if (!e || e.t.length === 0) return null;
+  const { t, c } = e;
+  let lo = 0;
+  let hi = t.length - 1;
+  if (tMs < t[0] || tMs > t[hi]) return null;
+  while (lo < hi) {
+    const mid = lo + hi + 1 >> 1;
+    if (t[mid] <= tMs) lo = mid;
+    else hi = mid - 1;
+  }
+  if (t[lo] === tMs || lo === t.length - 1) return c[lo];
+  const t0 = t[lo];
+  const t1 = t[lo + 1];
+  if (t1 - t0 > clk.intervalSec * 1e3 * 4) return null;
+  const f = (tMs - t0) / (t1 - t0);
+  return c[lo] + f * (c[lo + 1] - c[lo]);
+}
+
 // src/rinex/obs-writer-common.ts
 function createGzipLineSink() {
   const encoder = new TextEncoder();
@@ -2766,6 +2828,7 @@ function writeRinex4ObsBlob(header, epochs, obsTypes) {
   EMPTY_WARNINGS,
   SYSTEM_ORDER,
   WarningAccumulator,
+  clkBias,
   createGzipLineSink,
   crxDecompress,
   crxRepair,
@@ -2774,6 +2837,7 @@ function writeRinex4ObsBlob(header, epochs, obsTypes) {
   hdrLine,
   padL,
   padR,
+  parseClk,
   parseCrxDataLine,
   parseIonex,
   parseNavFile,

package/dist/rinex.d.cts

@@ -2,7 +2,7 @@ import { R as RinexHeader } from './parser-JPjjFgeP.cjs';
 export { E as EpochSummary, P as ParseOptions, a as RinexResult, b as RinexStats, S as SYSTEM_ORDER, c as SatObsCallback, p as parseRinexStream, s as systemCmp, d as systemName } from './parser-JPjjFgeP.cjs';
 import { a as NavResult, N as NavHeader, E as Ephemeris, R as RinexCnavEphemeris } from './nav-DImXUdbp.cjs';
 export { G as GlonassEphemeris, K as KeplerEphemeris, p as parseNavFile } from './nav-DImXUdbp.cjs';
-export { I as IonexGrid, S as Sp3File, a as Sp3Sample, p as parseIonex, b as parseSp3, s as sp3Position } from './sp3-BAq8l39b.cjs';
+export { C as ClkFile, I as IonexGrid, S as Sp3File, a as Sp3Sample, c as clkBias, p as parseClk, b as parseIonex, d as parseSp3, s as sp3Position } from './clk-DGVBGRzA.cjs';
 
 /**
  * Compact RINEX (Hatanaka / CRX) decompression utilities.

package/dist/rinex.d.ts

@@ -2,7 +2,7 @@ import { R as RinexHeader } from './parser-JPjjFgeP.js';
 export { E as EpochSummary, P as ParseOptions, a as RinexResult, b as RinexStats, S as SYSTEM_ORDER, c as SatObsCallback, p as parseRinexStream, s as systemCmp, d as systemName } from './parser-JPjjFgeP.js';
 import { a as NavResult, N as NavHeader, E as Ephemeris, R as RinexCnavEphemeris } from './nav-DImXUdbp.js';
 export { G as GlonassEphemeris, K as KeplerEphemeris, p as parseNavFile } from './nav-DImXUdbp.js';
-export { I as IonexGrid, S as Sp3File, a as Sp3Sample, p as parseIonex, b as parseSp3, s as sp3Position } from './sp3-BAq8l39b.js';
+export { C as ClkFile, I as IonexGrid, S as Sp3File, a as Sp3Sample, c as clkBias, p as parseClk, b as parseIonex, d as parseSp3, s as sp3Position } from './clk-DGVBGRzA.js';
 
 /**
  * Compact RINEX (Hatanaka / CRX) decompression utilities.

package/dist/rinex.js

@@ -17,7 +17,7 @@ import {
   writeRinexNav,
   writeRinexNav4,
   writeRinexObsBlob
-} from "./chunk-6GTS5MVI.js";
+} from "./chunk-KDM2NVBO.js";
 import "./chunk-726LQBGM.js";
 import "./chunk-IQ5OIMQD.js";
 import {
@@ -30,14 +30,17 @@ import {
   systemName
 } from "./chunk-3U5AX7PY.js";
 import {
+  clkBias,
+  parseClk,
   parseSp3,
   sp3Position
-} from "./chunk-4KMWWCUR.js";
+} from "./chunk-GPEP67TG.js";
 import "./chunk-FIEWO4J4.js";
 export {
   EMPTY_WARNINGS,
   SYSTEM_ORDER,
   WarningAccumulator,
+  clkBias,
   createGzipLineSink,
   crxDecompress,
   crxRepair,
@@ -46,6 +49,7 @@ export {
   hdrLine,
   padL,
   padR,
+  parseClk,
   parseCrxDataLine,
   parseIonex,
   parseNavFile,

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "gnss-js",
-  "version": "1.28.0",
+  "version": "1.30.0",
   "description": "Comprehensive GNSS library for JavaScript — time scales, coordinates, RINEX parsing, RTCM3 decoding, orbit computation, and signal analysis",
   "type": "module",
   "sideEffects": false,