gnss-js 1.3.0 → 1.3.2

package/dist/analysis.cjs

@@ -215,6 +215,14 @@ var ARC_GAP_FACTOR = 5;
 
 // src/analysis/multipath.ts
 var MIN_ARC_LENGTH = 10;
+var MP_JUMP_M = 1.25;
+var MP_JUMP_WINDOW = 5;
+var MP_EDIT_SIGMA = 3;
+function median(values) {
+  const s = [...values].sort((a, b) => a - b);
+  const m = s.length >> 1;
+  return s.length % 2 ? s[m] : (s[m - 1] + s[m]) / 2;
+}
 var MultipathAccumulator = class {
   state = /* @__PURE__ */ new Map();
   results = [];
@@ -271,6 +279,11 @@ var MultipathAccumulator = class {
     const gap = bandState.lastTime > 0 ? (time - bandState.lastTime) / 1e3 : 0;
     if (bandState.lastTime > 0 && gap > this.interval * ARC_GAP_FACTOR) {
       this.closeArc(prn, band, refBand, bandState);
+    } else if (bandState.arc.rawMp.length > 0) {
+      const recent = bandState.arc.rawMp.slice(-MP_JUMP_WINDOW);
+      if (Math.abs(mp - median(recent)) > MP_JUMP_M) {
+        this.closeArc(prn, band, refBand, bandState);
+      }
     }
     bandState.arc.times.push(time);
     bandState.arc.rawMp.push(mp);
@@ -290,13 +303,25 @@ var MultipathAccumulator = class {
   closeArc(prn, band, refBand, state) {
     const arc = state.arc;
     if (arc.times.length >= MIN_ARC_LENGTH) {
-      const mean = arc.rawMp.reduce((a, b) => a + b, 0) / arc.rawMp.length;
+      let keep = arc.times.map((_, i) => i);
+      let mean = 0;
+      for (let pass = 0; pass < 3; pass++) {
+        mean = keep.reduce((s, i) => s + arc.rawMp[i], 0) / keep.length;
+        const sigma = Math.sqrt(
+          keep.reduce((s, i) => s + (arc.rawMp[i] - mean) ** 2, 0) / keep.length
+        );
+        const kept = keep.filter(
+          (i) => Math.abs(arc.rawMp[i] - mean) <= MP_EDIT_SIGMA * sigma
+        );
+        if (kept.length === keep.length || kept.length < MIN_ARC_LENGTH) break;
+        keep = kept;
+      }
       const sys = prn[0];
       const bLabel = BAND_LABELS[sys]?.[band] ?? band;
       const rLabel = BAND_LABELS[sys]?.[refBand] ?? refBand;
       const label = `${prn} MP ${bLabel}-${rLabel}`;
-      const points = arc.times.map((t, i) => ({
-        time: t,
+      const points = keep.map((i) => ({
+        time: arc.times[i],
         mp: arc.rawMp[i] - mean
       }));
       const rms = Math.sqrt(
@@ -350,7 +375,7 @@ var MultipathAccumulator = class {
         refBand,
         rms,
         count,
-        satellites: seriesList.length
+        satellites: new Set(seriesList.map((s) => s.prn)).size
       });
     }
     const sysOrder = "GRECIJS";

package/dist/analysis.d.cts

@@ -1,5 +1,5 @@
 import { R as RinexHeader } from './parser-JPjjFgeP.cjs';
-import { O as OnSlipDetected } from './gnss-BT6ulR17.cjs';
+import { i as OnSlipDetected } from './gnss-BtXrG3zH.cjs';
 
 /**
  * Multipath analysis from RINEX dual-frequency observations.

package/dist/analysis.d.ts

@@ -1,5 +1,5 @@
 import { R as RinexHeader } from './parser-JPjjFgeP.js';
-import { O as OnSlipDetected } from './gnss-C-tgoYNa.js';
+import { i as OnSlipDetected } from './gnss-DhnEr0Dy.js';
 
 /**
  * Multipath analysis from RINEX dual-frequency observations.

package/dist/analysis.js

@@ -3,9 +3,9 @@ import {
   CycleSlipAccumulator,
   MultipathAccumulator,
   analyzeQuality
-} from "./chunk-G3N4S3DM.js";
-import "./chunk-OZCYOM5D.js";
-import "./chunk-W5WKEV7U.js";
+} from "./chunk-AW6BORTZ.js";
+import "./chunk-3U5AX7PY.js";
+import "./chunk-FIEWO4J4.js";
 export {
   CompletenessAccumulator,
   CycleSlipAccumulator,

package/dist/{chunk-5SPJH4MG.js → chunk-2K3FCJBX.js}

@@ -4,7 +4,7 @@ import {
   GLO_F1_STEP,
   GLO_F2_BASE,
   GLO_F2_STEP
-} from "./chunk-W5WKEV7U.js";
+} from "./chunk-FIEWO4J4.js";
 
 // src/signals/definitions.ts
 var MHz = 1e6;

package/dist/{chunk-OZCYOM5D.js → chunk-3U5AX7PY.js}

@@ -1,6 +1,6 @@
 import {
   SYSTEM_NAMES
-} from "./chunk-W5WKEV7U.js";
+} from "./chunk-FIEWO4J4.js";
 
 // src/rinex/crx.ts
 function crxRepair(old, diff) {

package/dist/chunk-4KOXMHUW.js

@@ -0,0 +1,223 @@
+// src/frames/index.ts
+var H = (t, d, r, tDot, dDot, rDot, epoch) => ({ t, d, r, tDot, dDot, rDot, epoch });
+var Z = [0, 0, 0];
+var FROM_ITRF2020 = {
+  ITRF2014: H([-1.4, -0.9, 1.4], -0.42, Z, [0, -0.1, 0.2], 0, Z, 2015),
+  ITRF2008: H([0.2, 1, 3.3], -0.29, Z, [0, -0.1, 0.1], 0.03, Z, 2015),
+  ITRF2005: H([2.7, 0.1, -1.4], 0.65, Z, [0.3, -0.1, 0.1], 0.03, Z, 2015),
+  ITRF2000: H([-0.2, 0.8, -34.2], 2.25, Z, [0.1, 0, -1.7], 0.11, Z, 2015),
+  ITRF97: H(
+    [6.5, -3.9, -77.9],
+    3.98,
+    [0, 0, 0.36],
+    [0.1, -0.6, -3.1],
+    0.12,
+    [0, 0, 0.02],
+    2015
+  ),
+  ITRF96: H(
+    [6.5, -3.9, -77.9],
+    3.98,
+    [0, 0, 0.36],
+    [0.1, -0.6, -3.1],
+    0.12,
+    [0, 0, 0.02],
+    2015
+  ),
+  ITRF94: H(
+    [6.5, -3.9, -77.9],
+    3.98,
+    [0, 0, 0.36],
+    [0.1, -0.6, -3.1],
+    0.12,
+    [0, 0, 0.02],
+    2015
+  ),
+  ITRF93: H(
+    [-65.8, 1.9, -71.3],
+    4.47,
+    [-3.36, -4.33, 0.75],
+    [-2.8, -0.2, -2.3],
+    0.12,
+    [-0.11, -0.19, 0.07],
+    2015
+  ),
+  ITRF92: H(
+    [14.5, -1.9, -85.9],
+    3.27,
+    [0, 0, 0.36],
+    [0.1, -0.6, -3.1],
+    0.12,
+    [0, 0, 0.02],
+    2015
+  ),
+  ITRF91: H(
+    [26.5, 12.1, -91.9],
+    4.67,
+    [0, 0, 0.36],
+    [0.1, -0.6, -3.1],
+    0.12,
+    [0, 0, 0.02],
+    2015
+  ),
+  ITRF90: H(
+    [24.5, 8.1, -107.9],
+    4.97,
+    [0, 0, 0.36],
+    [0.1, -0.6, -3.1],
+    0.12,
+    [0, 0, 0.02],
+    2015
+  ),
+  ITRF89: H(
+    [29.5, 32.1, -145.9],
+    8.37,
+    [0, 0, 0.36],
+    [0.1, -0.6, -3.1],
+    0.12,
+    [0, 0, 0.02],
+    2015
+  ),
+  ITRF88: H(
+    [24.5, -3.9, -169.9],
+    11.47,
+    [0.1, 0, 0.36],
+    [0.1, -0.6, -3.1],
+    0.12,
+    [0, 0, 0.02],
+    2015
+  ),
+  /** ITRF2020 → ETRF2020, EPSG:10572 (epoch-1989 variant) */
+  ETRF2020: H(Z, 0, Z, Z, 0, [0.086, 0.519, -0.753], 1989)
+};
+var ITRF2014_TO_ETRF2014 = H(Z, 0, Z, Z, 0, [0.085, 0.531, -0.77], 1989);
+var ITRF2014_TO_ETRF2000 = H(
+  [54.7, 52.2, -74.1],
+  2.12,
+  [1.701, 10.29, -16.632],
+  [0.1, 0.1, -1.9],
+  0.11,
+  [0.081, 0.49, -0.792],
+  2010
+);
+var ITRF2014_TO_NAD83_2011 = H(
+  [1005.3, -1909.21, -541.57],
+  0.36891,
+  [-26.78138, 0.42027, -10.93206],
+  [0.79, -0.6, -1.44],
+  -0.07201,
+  [-0.06667, 0.75744, 0.05133],
+  2010
+);
+var MAS_TO_RAD = Math.PI / (180 * 3600 * 1e3);
+function applyHelmert(xyz, p, epoch, inverse = false) {
+  const dt = epoch - p.epoch;
+  const sign = inverse ? -1 : 1;
+  const tx = sign * (p.t[0] + p.tDot[0] * dt) / 1e3;
+  const ty = sign * (p.t[1] + p.tDot[1] * dt) / 1e3;
+  const tz = sign * (p.t[2] + p.tDot[2] * dt) / 1e3;
+  const d = sign * (p.d + p.dDot * dt) * 1e-9;
+  const rx = sign * (p.r[0] + p.rDot[0] * dt) * MAS_TO_RAD;
+  const ry = sign * (p.r[1] + p.rDot[1] * dt) * MAS_TO_RAD;
+  const rz = sign * (p.r[2] + p.rDot[2] * dt) * MAS_TO_RAD;
+  const [x, y, z] = xyz;
+  return [
+    x + tx + d * x - rz * y + ry * z,
+    y + ty + rz * x + d * y - rx * z,
+    z + tz - ry * x + rx * y + d * z
+  ];
+}
+var EDGES = [
+  ...Object.entries(FROM_ITRF2020).map(([to, p]) => ({
+    from: "ITRF2020",
+    to,
+    p
+  })),
+  { from: "ITRF2014", to: "ETRF2014", p: ITRF2014_TO_ETRF2014 },
+  { from: "ITRF2014", to: "ETRF2000", p: ITRF2014_TO_ETRF2000 },
+  { from: "ITRF2014", to: "NAD83(2011)", p: ITRF2014_TO_NAD83_2011 }
+];
+var REFERENCE_FRAMES = [
+  "WGS84",
+  "ITRF2020",
+  "ITRF2014",
+  "ITRF2008",
+  "ITRF2005",
+  "ITRF2000",
+  "ITRF97",
+  "ITRF96",
+  "ITRF94",
+  "ITRF93",
+  "ITRF92",
+  "ITRF91",
+  "ITRF90",
+  "ITRF89",
+  "ITRF88",
+  "ETRF2020",
+  "ETRF2014",
+  "ETRF2000",
+  "NAD83(2011)"
+];
+function resolveAlias(f) {
+  return f === "WGS84" ? "ITRF2020" : f;
+}
+function findPath(from, to) {
+  if (from === to) return [];
+  const queue = [from];
+  const cameFrom = /* @__PURE__ */ new Map();
+  const seen = /* @__PURE__ */ new Set([from]);
+  while (queue.length > 0) {
+    const cur = queue.shift();
+    for (const edge of EDGES) {
+      let next = null;
+      let inverse = false;
+      if (edge.from === cur) {
+        next = edge.to;
+      } else if (edge.to === cur) {
+        next = edge.from;
+        inverse = true;
+      }
+      if (next === null || seen.has(next)) continue;
+      seen.add(next);
+      cameFrom.set(next, { prev: cur, edge, inverse });
+      if (next === to) {
+        const path = [];
+        let node = to;
+        while (node !== from) {
+          const step = cameFrom.get(node);
+          path.unshift({ edge: step.edge, inverse: step.inverse });
+          node = step.prev;
+        }
+        return path;
+      }
+      queue.push(next);
+    }
+  }
+  return null;
+}
+function transformFrame(xyz, from, to, epoch) {
+  const src = resolveAlias(from);
+  const dst = resolveAlias(to);
+  const path = findPath(src, dst);
+  if (!path) {
+    throw new Error(`No transformation path from ${from} to ${to}`);
+  }
+  let out = [xyz[0], xyz[1], xyz[2]];
+  for (const { edge, inverse } of path) {
+    out = applyHelmert(out, edge.p, epoch, inverse);
+  }
+  return out;
+}
+function dateToEpoch(date) {
+  const year = date.getUTCFullYear();
+  const start = Date.UTC(year, 0, 1);
+  const end = Date.UTC(year + 1, 0, 1);
+  return year + (date.getTime() - start) / (end - start);
+}
+
+export {
+  applyHelmert,
+  REFERENCE_FRAMES,
+  transformFrame,
+  dateToEpoch
+};

package/dist/{chunk-7EEWQ5DU.js → chunk-65CQINSB.js}

@@ -10,7 +10,7 @@ import {
   GLO_F1_STEP,
   GLO_F2_BASE,
   GLO_F2_STEP
-} from "./chunk-W5WKEV7U.js";
+} from "./chunk-FIEWO4J4.js";
 
 // src/rtcm3/decoder.ts
 var debugHandler = null;
@@ -1258,6 +1258,7 @@ var RTCM3_MESSAGE_NAMES = {
   1031: "GLONASS Network RTK Residual",
   1032: "Physical Reference Station",
   1033: "Receiver+Antenna Descriptor",
+  1041: "NavIC Ephemeris",
   1042: "BeiDou Ephemeris",
   1043: "SBAS Ephemeris",
   1044: "QZSS Ephemeris",
@@ -1322,6 +1323,8 @@ var RTCM3_MESSAGE_NAMES = {
   1064: "GLONASS SSR Clock",
   1065: "GLONASS SSR Code Bias",
   1066: "GLONASS SSR Orbit+Clock",
+  // Biases
+  1230: "GLONASS Code-Phase Biases",
   // IGS SSR
   4076: "IGS SSR"
 };
@@ -1330,6 +1333,7 @@ function rtcm3Constellation(msgType) {
   if (msgType >= 1009 && msgType <= 1012) return "GLONASS";
   if (msgType === 1019) return "GPS";
   if (msgType === 1020) return "GLONASS";
+  if (msgType === 1041) return "NavIC";
   if (msgType === 1042) return "BeiDou";
   if (msgType === 1043) return "SBAS";
   if (msgType === 1044) return "QZSS";
@@ -1341,6 +1345,7 @@ function rtcm3Constellation(msgType) {
   if (msgType >= 1111 && msgType <= 1117) return "QZSS";
   if (msgType >= 1121 && msgType <= 1127) return "BeiDou";
   if (msgType >= 1131 && msgType <= 1137) return "NavIC";
+  if (msgType === 1230) return "GLONASS";
   return null;
 }
 function createStreamStats() {

package/dist/{chunk-G3N4S3DM.js → chunk-AW6BORTZ.js}

@@ -1,6 +1,6 @@
 import {
   parseRinexStream
-} from "./chunk-OZCYOM5D.js";
+} from "./chunk-3U5AX7PY.js";
 import {
   ARC_GAP_FACTOR,
   BAND_LABELS,
@@ -11,10 +11,18 @@ import {
   buildGloChannelMap,
   buildObsIndices,
   getFreq
-} from "./chunk-W5WKEV7U.js";
+} from "./chunk-FIEWO4J4.js";
 
 // src/analysis/multipath.ts
 var MIN_ARC_LENGTH = 10;
+var MP_JUMP_M = 1.25;
+var MP_JUMP_WINDOW = 5;
+var MP_EDIT_SIGMA = 3;
+function median(values) {
+  const s = [...values].sort((a, b) => a - b);
+  const m = s.length >> 1;
+  return s.length % 2 ? s[m] : (s[m - 1] + s[m]) / 2;
+}
 var MultipathAccumulator = class {
   state = /* @__PURE__ */ new Map();
   results = [];
@@ -71,6 +79,11 @@ var MultipathAccumulator = class {
     const gap = bandState.lastTime > 0 ? (time - bandState.lastTime) / 1e3 : 0;
     if (bandState.lastTime > 0 && gap > this.interval * ARC_GAP_FACTOR) {
       this.closeArc(prn, band, refBand, bandState);
+    } else if (bandState.arc.rawMp.length > 0) {
+      const recent = bandState.arc.rawMp.slice(-MP_JUMP_WINDOW);
+      if (Math.abs(mp - median(recent)) > MP_JUMP_M) {
+        this.closeArc(prn, band, refBand, bandState);
+      }
     }
     bandState.arc.times.push(time);
     bandState.arc.rawMp.push(mp);
@@ -90,13 +103,25 @@ var MultipathAccumulator = class {
   closeArc(prn, band, refBand, state) {
     const arc = state.arc;
     if (arc.times.length >= MIN_ARC_LENGTH) {
-      const mean = arc.rawMp.reduce((a, b) => a + b, 0) / arc.rawMp.length;
+      let keep = arc.times.map((_, i) => i);
+      let mean = 0;
+      for (let pass = 0; pass < 3; pass++) {
+        mean = keep.reduce((s, i) => s + arc.rawMp[i], 0) / keep.length;
+        const sigma = Math.sqrt(
+          keep.reduce((s, i) => s + (arc.rawMp[i] - mean) ** 2, 0) / keep.length
+        );
+        const kept = keep.filter(
+          (i) => Math.abs(arc.rawMp[i] - mean) <= MP_EDIT_SIGMA * sigma
+        );
+        if (kept.length === keep.length || kept.length < MIN_ARC_LENGTH) break;
+        keep = kept;
+      }
       const sys = prn[0];
       const bLabel = BAND_LABELS[sys]?.[band] ?? band;
       const rLabel = BAND_LABELS[sys]?.[refBand] ?? refBand;
       const label = `${prn} MP ${bLabel}-${rLabel}`;
-      const points = arc.times.map((t, i) => ({
-        time: t,
+      const points = keep.map((i) => ({
+        time: arc.times[i],
         mp: arc.rawMp[i] - mean
       }));
       const rms = Math.sqrt(
@@ -150,7 +175,7 @@ var MultipathAccumulator = class {
         refBand,
         rms,
         count,
-        satellites: seriesList.length
+        satellites: new Set(seriesList.map((s) => s.prn)).size
       });
     }
     const sysOrder = "GRECIJS";

package/dist/{chunk-W5WKEV7U.js → chunk-FIEWO4J4.js}

@@ -18,6 +18,7 @@ var SYS_SHORT = {
   S: "SBS"
 };
 var C_LIGHT = 299792458;
+var OMEGA_E = 72921151467e-15;
 var FREQ = {
   G: { "1": 157542e4, "2": 12276e5, "5": 117645e4 },
   // R bands 4/6 are the CDMA L1OC/L2OC center frequencies
@@ -249,6 +250,7 @@ export {
   SYSTEM_NAMES,
   SYS_SHORT,
   C_LIGHT,
+  OMEGA_E,
   FREQ,
   BAND_LABELS,
   DUAL_FREQ_PAIRS,

package/dist/{chunk-ZCNXERQ2.js → chunk-PQYBTE42.js}

@@ -8,13 +8,15 @@ import {
   START_BDS_TIME,
   START_GPS_TIME
 } from "./chunk-LEEU5OIO.js";
+import {
+  OMEGA_E
+} from "./chunk-FIEWO4J4.js";
 
 // src/orbit/index.ts
 var GM_GPS = 3986005e8;
 var GM_GAL = 3986004418e5;
 var GM_BDS = 3986004418e5;
 var GM_GLO = 39860044e7;
-var OMEGA_E = 72921151467e-15;
 var BDS_GEO_MAX_INCLINATION_RAD = 0.1;
 var BDS_GEO_MIN_SEMIMAJOR_AXIS_M = 4e7;
 var AE_GLO = 6378136;
@@ -223,7 +225,8 @@ 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;
@@ -331,13 +334,13 @@ 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 {
@@ -509,6 +512,7 @@ export {
   computeSatPosition,
   navTimesFromEph,
   computeAllPositions,
+  ephInfoToEphemeris,
   computeLiveSkyPositions,
   computeVisibility
 };