gnss-js 1.3.0 → 1.3.1

package/dist/orbit.cjs

@@ -27,6 +27,7 @@ __export(orbit_exports, {
   computeVisibility: () => computeVisibility,
   ecefToAzEl: () => ecefToAzEl,
   ecefToGeodetic: () => ecefToGeodetic,
+  ephInfoToEphemeris: () => ephInfoToEphemeris,
   geodeticToEcef: () => geodeticToEcef,
   glonassPosition: () => glonassPosition,
   keplerPosition: () => keplerPosition,
@@ -375,7 +376,8 @@ function selectEphemeris(ephemerides, prn, timeMs) {
     if (eph.prn !== prn) continue;
     const ephTime = eph.tocDate.getTime();
     const dt = Math.abs(timeMs - ephTime);
-    if (dt > 4 * 3600 * 1e3) continue;
+    const maxAge = eph.system === "R" || eph.system === "S" ? 18e5 : 4 * 36e5;
+    if (dt > maxAge) continue;
     if (dt < bestDt) {
       bestDt = dt;
       best = eph;
@@ -483,13 +485,13 @@ function ephInfoToEphemeris(info) {
       return null;
     if (info.vx === void 0 || info.vy === void 0 || info.vz === void 0)
       return null;
-    const now = new Date(info.lastReceived);
+    const moscow = new Date(info.lastReceived + 3 * 3600 * 1e3);
     const utcMidnight = Date.UTC(
-      now.getUTCFullYear(),
-      now.getUTCMonth(),
-      now.getUTCDate()
+      moscow.getUTCFullYear(),
+      moscow.getUTCMonth(),
+      moscow.getUTCDate()
     );
-    const tbSec = (info.tb ?? 0) * 900;
+    const tbSec = (info.tb ?? 0) * 60;
     const moscowOffset = 3 * 3600;
     const tocMs = utcMidnight + (tbSec - moscowOffset) * 1e3;
     return {
@@ -660,6 +662,7 @@ function computeVisibility(ephemerides, rxPos, startMs, endMs, stepSec = 300, el
   computeVisibility,
   ecefToAzEl,
   ecefToGeodetic,
+  ephInfoToEphemeris,
   geodeticToEcef,
   glonassPosition,
   keplerPosition,

package/dist/orbit.d.cts

@@ -108,6 +108,8 @@ interface AllPositionsData {
  * When rxPos is provided, az/el are computed; otherwise they are 0.
  */
 declare function computeAllPositions(ephemerides: Ephemeris[], times: number[], rxPos?: [number, number, number]): AllPositionsData;
+/** Convert an RTCM3 EphemerisInfo to the Ephemeris type used by orbit computation. */
+declare function ephInfoToEphemeris(info: EphemerisInfo): Ephemeris | null;
 /**
  * Compute current satellite az/el from live RTCM3 ephemeris data.
  * Returns array of SatAzEl for all satellites with valid ephemeris.
@@ -151,4 +153,4 @@ interface VisibilityResult {
  */
 declare function computeVisibility(ephemerides: Ephemeris[], rxPos: [number, number, number], startMs: number, endMs: number, stepSec?: number, elevationMaskDeg?: number): VisibilityResult;
 
-export { type AllPositionsData, type DopValues, type EpochSkyData, type SatAzEl, type SatPoint, type SatPosition, type VisibilityPass, type VisibilityResult, computeAllPositions, computeDop, computeLiveSkyPositions, computeSatPosition, computeVisibility, ecefToAzEl, glonassPosition, keplerPosition, navTimesFromEph, selectEphemeris };
+export { type AllPositionsData, type DopValues, type EpochSkyData, type SatAzEl, type SatPoint, type SatPosition, type VisibilityPass, type VisibilityResult, computeAllPositions, computeDop, computeLiveSkyPositions, computeSatPosition, computeVisibility, ecefToAzEl, ephInfoToEphemeris, glonassPosition, keplerPosition, navTimesFromEph, selectEphemeris };

package/dist/orbit.d.ts

@@ -108,6 +108,8 @@ interface AllPositionsData {
  * When rxPos is provided, az/el are computed; otherwise they are 0.
  */
 declare function computeAllPositions(ephemerides: Ephemeris[], times: number[], rxPos?: [number, number, number]): AllPositionsData;
+/** Convert an RTCM3 EphemerisInfo to the Ephemeris type used by orbit computation. */
+declare function ephInfoToEphemeris(info: EphemerisInfo): Ephemeris | null;
 /**
  * Compute current satellite az/el from live RTCM3 ephemeris data.
  * Returns array of SatAzEl for all satellites with valid ephemeris.
@@ -151,4 +153,4 @@ interface VisibilityResult {
  */
 declare function computeVisibility(ephemerides: Ephemeris[], rxPos: [number, number, number], startMs: number, endMs: number, stepSec?: number, elevationMaskDeg?: number): VisibilityResult;
 
-export { type AllPositionsData, type DopValues, type EpochSkyData, type SatAzEl, type SatPoint, type SatPosition, type VisibilityPass, type VisibilityResult, computeAllPositions, computeDop, computeLiveSkyPositions, computeSatPosition, computeVisibility, ecefToAzEl, glonassPosition, keplerPosition, navTimesFromEph, selectEphemeris };
+export { type AllPositionsData, type DopValues, type EpochSkyData, type SatAzEl, type SatPoint, type SatPosition, type VisibilityPass, type VisibilityResult, computeAllPositions, computeDop, computeLiveSkyPositions, computeSatPosition, computeVisibility, ecefToAzEl, ephInfoToEphemeris, glonassPosition, keplerPosition, navTimesFromEph, selectEphemeris };

package/dist/orbit.js

@@ -5,11 +5,12 @@ import {
   computeSatPosition,
   computeVisibility,
   ecefToAzEl,
+  ephInfoToEphemeris,
   glonassPosition,
   keplerPosition,
   navTimesFromEph,
   selectEphemeris
-} from "./chunk-ZCNXERQ2.js";
+} from "./chunk-CC2R4JGS.js";
 import "./chunk-HVXYFUCB.js";
 import {
   ecefToGeodetic,
@@ -25,6 +26,7 @@ export {
   computeVisibility,
   ecefToAzEl,
   ecefToGeodetic,
+  ephInfoToEphemeris,
   geodeticToEcef,
   glonassPosition,
   keplerPosition,

package/dist/positioning.cjs

@@ -429,7 +429,8 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
     elevationMaskDeg = 10,
     troposphere = true,
     maxIterations = 15,
-    convergenceM = 1e-4
+    convergenceM = 1e-4,
+    tgd = true
   } = opts;
   const all = [...pseudoranges.keys()].filter((p) => ephemerides.has(p));
   const minSats = (list) => 3 + new Set(list.map((p) => p[0])).size;
@@ -460,9 +461,11 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
         const sys = prn[0];
         const clk = clock2.get(sys);
         const tTx = timeMs - psr / C_LIGHT * 1e3;
-        const sat = computeSatPosition(eph, tTx);
+        const dtsClock = satClockCorrection(eph, tTx);
+        const sat = computeSatPosition(eph, tTx - dtsClock * 1e3);
         if (!Number.isFinite(sat.x)) continue;
-        const dts = satClockCorrection(eph, tTx);
+        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);

package/dist/positioning.d.cts

@@ -9,9 +9,9 @@ import './ecef-CF0uAysr.cjs';
  *
  * Weighted iterative least squares with one receiver-clock unknown per
  * constellation (absorbing inter-system time offsets), satellite clock
- * polynomial + relativistic correction, Sagnac (Earth-rotation)
- * correction, elevation masking/weighting, and a simple tropospheric
- * model. Ionospheric delay is NOT modelled — use the iono-free
+ * polynomial + relativistic correction, broadcast group delay
+ * (TGD/BGD), Sagnac (Earth-rotation) correction, elevation
+ * masking/weighting, and a simple tropospheric model. Ionospheric delay is NOT modelled — use the iono-free
  * combination (ionoFree helper) with dual-frequency pseudoranges for
  * metre-level results, or expect ~2–10 m of iono bias on L1-only.
  */
@@ -25,6 +25,14 @@ interface SppOptions {
     maxIterations?: number;
     /** Convergence threshold on the position update (m). Default 1e-4. */
     convergenceM?: number;
+    /**
+     * Apply the broadcast group-delay correction (GPS TGD, Galileo
+     * BGD E5a/E1, BeiDou TGD1) to the satellite clock. Correct for
+     * single-frequency measurements on the primary frequency (C1C/E1/B1I)
+     * — the default. Disable when feeding iono-free combinations, whose
+     * reference the broadcast clock already matches. Default true.
+     */
+    tgd?: boolean;
 }
 interface SppSolution {
     /** Receiver position, ECEF meters. */

package/dist/positioning.d.ts

@@ -9,9 +9,9 @@ import './ecef-CF0uAysr.js';
  *
  * Weighted iterative least squares with one receiver-clock unknown per
  * constellation (absorbing inter-system time offsets), satellite clock
- * polynomial + relativistic correction, Sagnac (Earth-rotation)
- * correction, elevation masking/weighting, and a simple tropospheric
- * model. Ionospheric delay is NOT modelled — use the iono-free
+ * polynomial + relativistic correction, broadcast group delay
+ * (TGD/BGD), Sagnac (Earth-rotation) correction, elevation
+ * masking/weighting, and a simple tropospheric model. Ionospheric delay is NOT modelled — use the iono-free
  * combination (ionoFree helper) with dual-frequency pseudoranges for
  * metre-level results, or expect ~2–10 m of iono bias on L1-only.
  */
@@ -25,6 +25,14 @@ interface SppOptions {
     maxIterations?: number;
     /** Convergence threshold on the position update (m). Default 1e-4. */
     convergenceM?: number;
+    /**
+     * Apply the broadcast group-delay correction (GPS TGD, Galileo
+     * BGD E5a/E1, BeiDou TGD1) to the satellite clock. Correct for
+     * single-frequency measurements on the primary frequency (C1C/E1/B1I)
+     * — the default. Disable when feeding iono-free combinations, whose
+     * reference the broadcast clock already matches. Default true.
+     */
+    tgd?: boolean;
 }
 interface SppSolution {
     /** Receiver position, ECEF meters. */

package/dist/positioning.js

@@ -1,204 +1,14 @@
 import {
-  computeDop,
-  computeSatPosition,
-  ecefToAzEl
-} from "./chunk-ZCNXERQ2.js";
+  ionoFree,
+  satClockCorrection,
+  solveSpp
+} from "./chunk-USHP4IND.js";
+import "./chunk-CC2R4JGS.js";
 import "./chunk-HVXYFUCB.js";
 import "./chunk-37QNKGTC.js";
 import "./chunk-6FAL6P4G.js";
 import "./chunk-LEEU5OIO.js";
-import {
-  C_LIGHT
-} from "./chunk-W5WKEV7U.js";
-
-// 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;
-}
-function tropoDelay(elevationRad) {
-  const sinEl = Math.sin(elevationRad);
-  return 2.47 / (sinEl + 0.0121);
-}
-function sagnac(pos, travelTimeS) {
-  const OMEGA_E = 72921151467e-15;
-  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
-  } = opts;
-  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];
-      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 sat = computeSatPosition(eph, tTx);
-        if (!Number.isFinite(sat.x)) continue;
-        const dts = satClockCorrection(eph, tTx);
-        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 weight = 1;
-        const positionSane = x2 * x2 + y2 * y2 + z2 * z2 > 1e12;
-        if (positionSane) {
-          const azel = ecefToAzEl(x2, y2, z2, sx, sy, sz);
-          elev = azel.el;
-          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;
-        const predicted = rho + clk - C_LIGHT * dts + tropo;
-        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
-  };
-}
+import "./chunk-W5WKEV7U.js";
 export {
   ionoFree,
   satClockCorrection,

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "gnss-js",
-  "version": "1.3.0",
+  "version": "1.3.1",
   "description": "Comprehensive GNSS library for JavaScript — time scales, coordinates, RINEX parsing, RTCM3 decoding, orbit computation, and signal analysis",
   "type": "module",
   "sideEffects": false,