gnss-js 1.3.0 → 1.3.2

package/dist/index.cjs

@@ -75,6 +75,8 @@ __export(src_exports, {
   MILLISECONDS_IN_WEEK: () => MILLISECONDS_IN_WEEK,
   MILLISECONDS_TT_TAI: () => MILLISECONDS_TT_TAI,
   MultipathAccumulator: () => MultipathAccumulator,
+  OMEGA_E: () => OMEGA_E,
+  REFERENCE_FRAMES: () => REFERENCE_FRAMES,
   RINEX_CODES: () => RINEX_CODES,
   RTCM3_MESSAGE_NAMES: () => RTCM3_MESSAGE_NAMES,
   Rtcm3Decoder: () => Rtcm3Decoder,
@@ -101,6 +103,7 @@ __export(src_exports, {
   WGS84_SEMI_MINOR_AXIS: () => WGS84_SEMI_MINOR_AXIS,
   WarningAccumulator: () => WarningAccumulator,
   analyzeQuality: () => analyzeQuality,
+  applyHelmert: () => applyHelmert,
   buildGloChannelMap: () => buildGloChannelMap,
   buildObsIndices: () => buildObsIndices,
   clampUnit: () => clampUnit,
@@ -116,12 +119,14 @@ __export(src_exports, {
   createStreamStats: () => createStreamStats,
   crxDecompress: () => crxDecompress,
   crxRepair: () => crxRepair,
+  dateToEpoch: () => dateToEpoch,
   decodeEphemeris: () => decodeEphemeris,
   decodeMsmFull: () => decodeMsmFull,
   deg2dms: () => deg2dms,
   deg2rad: () => deg2rad,
   ecefToAzEl: () => ecefToAzEl,
   ecefToGeodetic: () => ecefToGeodetic,
+  ephInfoToEphemeris: () => ephInfoToEphemeris,
   euclidean3D: () => euclidean3D,
   fetchSourcetable: () => fetchSourcetable,
   fmtF: () => fmtF,
@@ -189,6 +194,7 @@ __export(src_exports, {
   greatCircleMidpoint: () => greatCircleMidpoint,
   hdrLine: () => hdrLine,
   horizonDistance: () => horizonDistance,
+  ionoFree: () => ionoFree,
   keplerPosition: () => keplerPosition,
   msmEpochToDate: () => msmEpochToDate,
   navTimesFromEph: () => navTimesFromEph,
@@ -211,11 +217,14 @@ __export(src_exports, {
   resetGloFreqCache: () => resetGloFreqCache,
   rhumbLine: () => rhumbLine,
   rtcm3Constellation: () => rtcm3Constellation,
+  satClockCorrection: () => satClockCorrection,
   selectEphemeris: () => selectEphemeris,
   setGloFreqNumber: () => setGloFreqNumber,
   setRtcm3DebugHandler: () => setRtcm3DebugHandler,
+  solveSpp: () => solveSpp,
   systemCmp: () => systemCmp,
   systemName: () => systemName,
+  transformFrame: () => transformFrame,
   updateStationMeta: () => updateStationMeta,
   updateStreamStats: () => updateStreamStats,
   verifyChecksum: () => verifyChecksum,
@@ -300,6 +309,7 @@ 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
@@ -3806,6 +3816,7 @@ 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",
@@ -3870,6 +3881,8 @@ 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"
 };
@@ -3878,6 +3891,7 @@ 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";
@@ -3889,6 +3903,7 @@ 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() {
@@ -3983,7 +3998,6 @@ 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;
@@ -4129,17 +4143,17 @@ function ecefToAzEl(rxX, rxY, rxZ, satX, satY, satZ) {
 function computeDop(satAzEls) {
   const n = satAzEls.length;
   if (n < 4) return null;
-  const H = [];
+  const H2 = [];
   for (const { az, el } of satAzEls) {
     const cosEl = Math.cos(el);
-    H.push([cosEl * Math.sin(az), cosEl * Math.cos(az), Math.sin(el), 1]);
+    H2.push([cosEl * Math.sin(az), cosEl * Math.cos(az), Math.sin(el), 1]);
   }
   const HtH = Array.from({ length: 4 }, () => new Array(4).fill(0));
   for (let i = 0; i < 4; i++) {
     for (let j = 0; j < 4; j++) {
       let sum = 0;
       for (let k = 0; k < n; k++) {
-        sum += H[k][i] * H[k][j];
+        sum += H2[k][i] * H2[k][j];
       }
       HtH[i][j] = sum;
     }
@@ -4192,7 +4206,8 @@ 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;
@@ -4300,13 +4315,13 @@ 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 {
@@ -4469,6 +4484,414 @@ function computeVisibility(ephemerides, rxPos, startMs, endMs, stepSec = 300, el
   return { times, elevation, visibleCount, pdop, passes };
 }
 
+// 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);
+}
+
+// src/positioning/index.ts
+var GM_GPS2 = 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_GPS2 / (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 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,
+    tgd = true
+  } = 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 dtsClock = satClockCorrection(eph, tTx);
+        const sat = computeSatPosition(eph, tTx - dtsClock * 1e3);
+        if (!Number.isFinite(sat.x)) continue;
+        const isKepler2 = eph.system !== "R" && eph.system !== "S";
+        const dts = dtsClock - (tgd && isKepler2 ? 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);
+        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
+  };
+}
+
 // src/ntrip/index.ts
 function parseStreamEntry(fields) {
   if (fields.length < 19) return null;
@@ -4620,6 +5043,14 @@ async function connectToMountpoint(proxyUrl, info, signal) {
 
 // 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 = [];
@@ -4676,6 +5107,11 @@ 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);
@@ -4695,13 +5131,25 @@ 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 label2 = `${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(
@@ -4755,7 +5203,7 @@ var MultipathAccumulator = class {
         refBand,
         rms,
         count,
-        satellites: seriesList.length
+        satellites: new Set(seriesList.map((s) => s.prn)).size
       });
     }
     const sysOrder = "GRECIJS";
@@ -6345,6 +6793,8 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   MILLISECONDS_IN_WEEK,
   MILLISECONDS_TT_TAI,
   MultipathAccumulator,
+  OMEGA_E,
+  REFERENCE_FRAMES,
   RINEX_CODES,
   RTCM3_MESSAGE_NAMES,
   Rtcm3Decoder,
@@ -6371,6 +6821,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   WGS84_SEMI_MINOR_AXIS,
   WarningAccumulator,
   analyzeQuality,
+  applyHelmert,
   buildGloChannelMap,
   buildObsIndices,
   clampUnit,
@@ -6386,12 +6837,14 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   createStreamStats,
   crxDecompress,
   crxRepair,
+  dateToEpoch,
   decodeEphemeris,
   decodeMsmFull,
   deg2dms,
   deg2rad,
   ecefToAzEl,
   ecefToGeodetic,
+  ephInfoToEphemeris,
   euclidean3D,
   fetchSourcetable,
   fmtF,
@@ -6459,6 +6912,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   greatCircleMidpoint,
   hdrLine,
   horizonDistance,
+  ionoFree,
   keplerPosition,
   msmEpochToDate,
   navTimesFromEph,
@@ -6481,11 +6935,14 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   resetGloFreqCache,
   rhumbLine,
   rtcm3Constellation,
+  satClockCorrection,
   selectEphemeris,
   setGloFreqNumber,
   setRtcm3DebugHandler,
+  solveSpp,
   systemCmp,
   systemName,
+  transformFrame,
   updateStationMeta,
   updateStreamStats,
   verifyChecksum,

package/dist/index.d.cts

@@ -1,6 +1,6 @@
 export { D as DAYS_MJD2000_MJD, a as DAYS_MJD_JULIAN, H as HourCode, M as MILLISECONDS_GPS_TAI, b as MILLISECONDS_IN_DAY, c as MILLISECONDS_IN_HOUR, d as MILLISECONDS_IN_MINUTE, e as MILLISECONDS_IN_SECOND, f as MILLISECONDS_IN_WEEK, g as MILLISECONDS_TT_TAI, R as RINEX_CODES, S as SECONDS_IN_DAY, h as SECONDS_IN_HOUR, i as SECONDS_IN_MINUTE, j as SECONDS_IN_WEEK, k as START_BDS_TIME, l as START_GAL_TIME, m as START_GLO_LEAP, n as START_GPS_TIME, o as START_JULIAN_TAI, p as START_MJD_UNIX_SECONDS, q as START_NTP_TIME, r as START_TAI_TIME, s as START_UNIX_TIME, T as TimeDifference } from './time-DnI1VpE8.cjs';
 export { WGS84_ECCENTRICITY_SQUARED, WGS84_FLATTENING, WGS84_SEMI_MAJOR_AXIS, WGS84_SEMI_MINOR_AXIS } from './constants.cjs';
-export { A as ARC_GAP_FACTOR, B as BAND_LABELS, a as BDS_SATELLITES, b as BdsSatellite, C as C_LIGHT, D as DEFAULT_ELEV_MASK_DEG, c as DUAL_FREQ_PAIRS, F as FREQ, G as GLO_CHANNEL_FALLBACK, d as GLO_F1_BASE, e as GLO_F1_STEP, f as GLO_F2_BASE, g as GLO_F2_STEP, h as GLO_F3, O as OnSlipDetected, S as SYSTEM_NAMES, i as SYS_SHORT, j as buildGloChannelMap, k as buildObsIndices, l as formatUTCTime, m as getFreq, n as gloFreq } from './gnss-BT6ulR17.cjs';
+export { A as ARC_GAP_FACTOR, B as BAND_LABELS, a as BDS_SATELLITES, b as BdsSatellite, C as C_LIGHT, D as DEFAULT_ELEV_MASK_DEG, c as DUAL_FREQ_PAIRS, F as FREQ, G as GLO_CHANNEL_FALLBACK, d as GLO_F1_BASE, e as GLO_F1_STEP, f as GLO_F2_BASE, g as GLO_F2_STEP, h as GLO_F3, O as OMEGA_E, i as OnSlipDetected, S as SYSTEM_NAMES, j as SYS_SHORT, k as buildGloChannelMap, l as buildObsIndices, m as formatUTCTime, n as getFreq, o as gloFreq } from './gnss-BtXrG3zH.cjs';
 export { Scale, getBdsTime, getDateFromBdsTime, getDateFromDayOfWeek, getDateFromDayOfYear, getDateFromGalTime, getDateFromGloN, getDateFromGpsData, getDateFromGpsTime, getDateFromHourCode, getDateFromJulianDate, getDateFromMJD, getDateFromMJD2000, getDateFromRINEX, getDateFromTai, getDateFromTimeOfDay, getDateFromTt, getDateFromUnixTime, getDateFromUtc, getDayOfWeek, getDayOfYear, getGalTime, getGloN4, getGloNA, getGpsLeap, getGpsTime, getHourCode, getHoursFromTimeDifference, getJulianDate, getLeap, getMJD, getMJD2000, getMinutesFromTimeDifference, getNtpTime, getRINEX, getSecondsFromTimeDifference, getTaiDate, getTimeDifference, getTimeDifferenceFromDays, getTimeDifferenceFromHours, getTimeDifferenceFromMinutes, getTimeDifferenceFromObject, getTimeDifferenceFromSeconds, getTimeOfDay, getTimeOfWeek, getTotalDaysFromTimeDifference, getTtDate, getUnixTime, getUtcDate, getWeekNumber, getWeekOfYear } from './time.cjs';
 export { deg2dms, deg2rad, euclidean3D, geodeticToGeohash, geodeticToMaidenhead, geodeticToUtm, greatCircleMidpoint, horizonDistance, rad2deg, rhumbLine, vincenty } from './coordinates.cjs';
 export { c as clampUnit, e as ecefToGeodetic, g as geodeticToEcef, a as getAer, b as getEnuDifference } from './ecef-CF0uAysr.cjs';
@@ -9,7 +9,9 @@ export { E as EpochSummary, P as ParseOptions, R as RinexHeader, a as RinexResul
 export { E as Ephemeris, G as GlonassEphemeris, K as KeplerEphemeris, N as NavHeader, a as NavResult, p as parseNavFile } from './nav-BAI1a9vK.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 { AllPositionsData, DopValues, EpochSkyData, SatAzEl, SatPoint, SatPosition, VisibilityPass, VisibilityResult, computeAllPositions, computeDop, computeLiveSkyPositions, computeSatPosition, computeVisibility, ecefToAzEl, glonassPosition, keplerPosition, navTimesFromEph, selectEphemeris } from './orbit.cjs';
+export { AllPositionsData, DopValues, EpochSkyData, SatAzEl, SatPoint, SatPosition, VisibilityPass, VisibilityResult, computeAllPositions, computeDop, computeLiveSkyPositions, computeSatPosition, computeVisibility, ecefToAzEl, ephInfoToEphemeris, glonassPosition, keplerPosition, navTimesFromEph, selectEphemeris } from './orbit.cjs';
+export { Helmert14, REFERENCE_FRAMES, ReferenceFrame, applyHelmert, dateToEpoch, transformFrame } from './frames.cjs';
+export { SppOptions, SppSolution, ionoFree, satClockCorrection, solveSpp } from './positioning.cjs';
 export { NtripCaster, NtripConnectionInfo, NtripNetwork, NtripStream, NtripStreamConnection, NtripVersion, Sourcetable, SourcetableEntry, connectToMountpoint, fetchSourcetable, parseSourcetable } from './ntrip.cjs';
 export { CompleteSatSignal, CompleteSignalStats, CompletenessAccumulator, CompletenessResult, CycleSlipAccumulator, CycleSlipEvent, CycleSlipResult, CycleSlipSignalStats, MultipathAccumulator, MultipathPoint, MultipathResult, MultipathSeries, MultipathSignalStat, QualityResult, analyzeQuality } from './analysis.cjs';
 export { AntennaEntry, AntexFile, FrequencyData, frequencyLabel, parseAntex } from './antex.cjs';