gnss-js 1.29.0 → 1.31.0

package/dist/{chunk-6GTS5MVI.js → chunk-5RNDQQ6J.js}

@@ -5,6 +5,9 @@ import {
 import {
   GPS_PI
 } from "./chunk-IQ5OIMQD.js";
+import {
+  C_LIGHT
+} from "./chunk-FIEWO4J4.js";
 
 // src/rinex/crx-writer.ts
 var ARC_ORDER = 3;
@@ -1417,6 +1420,81 @@ function parseIonex(text) {
   return { epochs, lats, lons, maps };
 }
 
+// src/rinex/bias-sinex.ts
+function parseEpoch(s, openTo) {
+  const m = /^(\d{4}):(\d{3}):(\d{5})$/.exec(s.trim());
+  if (!m) return openTo;
+  const y = +m[1];
+  if (y === 0) return openTo;
+  const doy = +m[2];
+  const sod = +m[3];
+  return Date.UTC(y, 0, 1) + (doy - 1) * 864e5 + sod * 1e3;
+}
+function parseBiasSinex(text) {
+  const records = [];
+  let inBlock = false;
+  for (const line of text.split("\n")) {
+    if (line.startsWith("+BIAS/SOLUTION")) {
+      inBlock = true;
+      continue;
+    }
+    if (line.startsWith("-BIAS/SOLUTION")) {
+      inBlock = false;
+      continue;
+    }
+    if (!inBlock || line.length < 65 || line.startsWith("*")) continue;
+    const type = line.slice(1, 4).trim();
+    if (type !== "DSB" && type !== "OSB" && type !== "ISB") continue;
+    const prn = line.slice(11, 14).trim();
+    const station = line.slice(15, 24).trim();
+    const obs1 = line.slice(25, 29).trim();
+    const obs2 = line.slice(30, 34).trim();
+    const startMs = parseEpoch(line.slice(35, 49), -Infinity);
+    const endMs = parseEpoch(line.slice(50, 64), Infinity);
+    const tail = line.slice(65).trim().split(/\s+/);
+    if (tail.length < 2) continue;
+    const unit = tail[0];
+    const value = Number(tail[1]);
+    if (!Number.isFinite(value)) continue;
+    records.push({
+      type,
+      prn,
+      station,
+      obs1,
+      obs2,
+      startMs,
+      endMs,
+      value,
+      unit
+    });
+  }
+  const bySat = /* @__PURE__ */ new Map();
+  for (const r of records) {
+    if (!r.prn || r.station) continue;
+    let a = bySat.get(r.prn);
+    if (!a) {
+      a = [];
+      bySat.set(r.prn, a);
+    }
+    a.push(r);
+  }
+  return { records, bySat };
+}
+function biasMetres(r) {
+  return r.unit === "ns" ? r.value * 1e-9 * C_LIGHT : r.value;
+}
+function findSatBias(bias, prn, obs1, obs2, tMs) {
+  const recs = bias.bySat.get(prn);
+  if (!recs) return null;
+  for (const r of recs) {
+    if (r.obs1 !== obs1) continue;
+    if (obs2 === void 0 ? r.obs2 !== "" : r.obs2 !== obs2) continue;
+    if (tMs != null && (tMs < r.startMs || tMs > r.endMs)) continue;
+    return r;
+  }
+  return null;
+}
+
 // src/rinex/obs-writer-common.ts
 function createGzipLineSink() {
   const encoder = new TextEncoder();
@@ -1804,6 +1882,9 @@ export {
   writeRinexNav,
   writeRinexNav4,
   parseIonex,
+  parseBiasSinex,
+  biasMetres,
+  findSatBias,
   createGzipLineSink,
   stationHeaderLines,
   writeRinexObsBlob,

package/dist/{chunk-5WHKMKIB.js → chunk-EVFD4UNZ.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;
@@ -1715,7 +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,
@@ -1910,6 +1911,96 @@ function solvePpp(epochs, sp3, opts) {
   };
 }
 
+// src/positioning/ppp-ar.ts
+function wlWavelength(f1, f2) {
+  return C_LIGHT / (f1 - f2);
+}
+function nlWavelength(f1, f2) {
+  return C_LIGHT / (f1 + f2);
+}
+function resolvePppAmbiguities(sats, Qaif, opts = {}) {
+  const wlThreshold = opts.wlThreshold ?? 0.25;
+  const ratioThreshold = opts.ratioThreshold ?? 3;
+  const kept = [];
+  const nWl = [];
+  const rejectedWl = [];
+  for (let i = 0; i < sats.length; i++) {
+    const s = sats[i];
+    const wlFloat = s.mwCyc - (s.wlBiasCyc ?? 0);
+    const r = Math.round(wlFloat);
+    if (Math.abs(wlFloat - r) <= wlThreshold) {
+      kept.push(i);
+      nWl.push(r);
+    } else {
+      rejectedWl.push(s.prn);
+    }
+  }
+  if (kept.length < 2) {
+    return {
+      fixed: false,
+      ratio: 0,
+      refPrn: null,
+      sats: [],
+      rejectedWl
+    };
+  }
+  const n1Float = [];
+  const lamNl = [];
+  for (let k = 0; k < kept.length; k++) {
+    const s = sats[kept[k]];
+    const lNl = nlWavelength(s.f1, s.f2);
+    lamNl.push(lNl);
+    const n1 = s.aIF / lNl - s.f2 / (s.f1 - s.f2) * nWl[k] - (s.nlBiasCyc ?? 0);
+    n1Float.push(n1);
+  }
+  let ref = 0;
+  for (let k = 1; k < kept.length; k++) {
+    const e = sats[kept[k]].elevDeg ?? -1;
+    if (e > (sats[kept[ref]].elevDeg ?? -1)) ref = k;
+  }
+  const m = kept.length - 1;
+  const sd = new Float64Array(m);
+  const Qsd = new Float64Array(m * m);
+  const others = [];
+  for (let k = 0; k < kept.length; k++) if (k !== ref) others.push(k);
+  const n = sats.length;
+  const qN1 = (ka, kb) => Qaif[kept[ka] * n + kept[kb]] / (lamNl[ka] * lamNl[kb]);
+  for (let a = 0; a < m; a++) {
+    const ka = others[a];
+    sd[a] = n1Float[ka] - n1Float[ref];
+    for (let b = 0; b < m; b++) {
+      const kb = others[b];
+      Qsd[a * m + b] = qN1(ka, kb) - qN1(ka, ref) - qN1(ref, kb) + qN1(ref, ref);
+    }
+  }
+  const res = lambdaSearch(sd, Qsd, m, 2);
+  const ratio = res ? Math.min(res.ratio, 999.9) : 0;
+  const fixed = !!res && ratio >= ratioThreshold;
+  const refN1 = Math.round(n1Float[ref]);
+  const sdFix = res?.candidates[0];
+  const outSats = [];
+  for (let k = 0; k < kept.length; k++) {
+    const s = sats[kept[k]];
+    let n1;
+    if (k === ref) {
+      n1 = refN1;
+    } else {
+      const a = others.indexOf(k);
+      n1 = fixed && sdFix ? refN1 + Math.round(sdFix[a]) : Math.round(n1Float[k]);
+    }
+    const lNl = lamNl[k];
+    const aIF = lNl * n1 + lNl * (s.f2 / (s.f1 - s.f2)) * nWl[k];
+    outSats.push({ prn: s.prn, nWl: nWl[k], n1, aIF });
+  }
+  return {
+    fixed,
+    ratio,
+    refPrn: sats[kept[ref]].prn,
+    sats: outSats,
+    rejectedWl
+  };
+}
+
 // src/positioning/index.ts
 var GM_GPS = 3986005e8;
 var F_REL = -4442807633e-19;
@@ -2156,6 +2247,9 @@ export {
   buildPppAntenna,
   createPppCorrections,
   solvePpp,
+  wlWavelength,
+  nlWavelength,
+  resolvePppAmbiguities,
   satClockCorrection,
   ionoFree,
   solveSpp

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 };