gnss-js 1.36.0 → 1.38.0

package/dist/sbf.cjs

@@ -20,15 +20,18 @@ var __toCommonJS = (mod) => __copyProps(__defProp({}, "__esModule", { value: tru
 // src/sbf/index.ts
 var sbf_exports = {};
 __export(sbf_exports, {
+  decodeSbfNavigation: () => decodeSbfNavigation,
   parseSbfAlmanac: () => parseSbfAlmanac,
   parseSbfBdsNav: () => parseSbfBdsNav,
   parseSbfCnav: () => parseSbfCnav,
   parseSbfGalNav: () => parseSbfGalNav,
   parseSbfGloNav: () => parseSbfGloNav,
+  parseSbfGpsNav: () => parseSbfGpsNav,
   parseSbfHas: () => parseSbfHas,
   parseSbfIonoUtc: () => parseSbfIonoUtc,
   parseSbfMeas: () => parseSbfMeas,
   parseSbfNav: () => parseSbfNav,
+  parseSbfReceiverSetup: () => parseSbfReceiverSetup,
   sbfCrc16: () => crc16,
   scanSbfFrames: () => scanSbfFrames
 });
@@ -528,6 +531,74 @@ function parseSbfIonoUtc(data) {
   return { ionoCorrections, leapSeconds };
 }
 
+// src/constants/wgs84.ts
+var WGS84_SEMI_MAJOR_AXIS = 6378137;
+var WGS84_FLATTENING = 1 / 298.257223563;
+var WGS84_ECCENTRICITY_SQUARED = 0.006694379990197;
+
+// src/coordinates/ecef.ts
+function geodeticToEcef(lat, lon, h) {
+  const N = WGS84_SEMI_MAJOR_AXIS / Math.sqrt(1 - WGS84_ECCENTRICITY_SQUARED * Math.sin(lat) ** 2);
+  const x = (N + h) * Math.cos(lat) * Math.cos(lon);
+  const y = (N + h) * Math.cos(lat) * Math.sin(lon);
+  const z = ((1 - WGS84_ECCENTRICITY_SQUARED) * N + h) * Math.sin(lat);
+  return [x, y, z];
+}
+
+// src/sbf/setup.ts
+var F8_DNU = -2e10;
+var F4_DNU3 = -2e10;
+function str(data, off, n) {
+  let end = off;
+  const stop = off + n;
+  while (end < stop && data[end] !== 0) end++;
+  let s = "";
+  for (let i = off; i < end; i++) s += String.fromCharCode(data[i]);
+  return s.trim();
+}
+function parseSbfReceiverSetup(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  let out = null;
+  scanSbfFrames(data, view, (id, b, len) => {
+    if (id !== 5902 || len < 256) return;
+    const setup = {
+      markerName: str(data, b + 16, 60),
+      markerNumber: str(data, b + 76, 20),
+      observer: str(data, b + 96, 20),
+      agency: str(data, b + 116, 40),
+      rxSerialNumber: str(data, b + 156, 20),
+      rxName: str(data, b + 176, 20),
+      rxVersion: str(data, b + 196, 20),
+      antSerialNumber: str(data, b + 216, 20),
+      antType: str(data, b + 236, 20),
+      deltaH: len >= 268 ? view.getFloat32(b + 256, true) : 0,
+      deltaE: len >= 268 ? view.getFloat32(b + 260, true) : 0,
+      deltaN: len >= 268 ? view.getFloat32(b + 264, true) : 0,
+      markerType: len >= 288 ? str(data, b + 268, 20) : null,
+      gnssFwVersion: len >= 328 ? str(data, b + 288, 40) : null,
+      productName: len >= 368 ? str(data, b + 328, 40) : null,
+      latitude: null,
+      longitude: null,
+      height: null,
+      position: null,
+      stationCode: len >= 398 ? str(data, b + 388, 10) : null
+    };
+    if (len >= 388) {
+      const lat = view.getFloat64(b + 368, true);
+      const lon = view.getFloat64(b + 376, true);
+      const h = view.getFloat32(b + 384, true);
+      if (lat !== F8_DNU && lon !== F8_DNU && h !== F4_DNU3) {
+        setup.latitude = lat;
+        setup.longitude = lon;
+        setup.height = h;
+        setup.position = geodeticToEcef(lat, lon, h);
+      }
+    }
+    out = setup;
+  });
+  return out;
+}
+
 // src/navbits/index.ts
 var GPS_PI = 3.1415926535898;
 var GPS_EPOCH_MS2 = Date.UTC(1980, 0, 6);
@@ -544,6 +615,199 @@ function getBitS(buff, pos, len) {
   if (len <= 0 || bits < 2 ** (len - 1)) return bits;
   return bits - 2 ** len;
 }
+function setBitU(buff, pos, len, data) {
+  let mask = 2 ** (len - 1);
+  for (let i = pos; i < pos + len; i++, mask /= 2) {
+    if (data >= mask) {
+      buff[i >> 3] |= 1 << 7 - (i & 7);
+      data -= mask;
+    } else {
+      buff[i >> 3] &= ~(1 << 7 - (i & 7));
+    }
+  }
+}
+var GpsLnavAssembler = class _GpsLnavAssembler {
+  buffers = /* @__PURE__ */ new Map();
+  last = /* @__PURE__ */ new Map();
+  /** Subframe ID (1–5) from the HOW word of a parity-stripped subframe. */
+  static subframeId(subframe) {
+    return getBitU(subframe, 43, 3);
+  }
+  /**
+   * Push one parity-stripped 30-byte LNAV subframe for `prn`, resolving
+   * the 10-bit week against `refWeek`. See {@link LnavPush} for outcomes.
+   */
+  push(prn, subframe, refWeek) {
+    const id = _GpsLnavAssembler.subframeId(subframe);
+    if (id < 1 || id > 3) return { kind: "skipped" };
+    let sf = this.buffers.get(prn);
+    if (!sf) {
+      sf = { buf: new Uint8Array(90), have: 0 };
+      this.buffers.set(prn, sf);
+    }
+    sf.buf.set(subframe, (id - 1) * 30);
+    sf.have |= 1 << id - 1;
+    if (id !== 3 || sf.have !== 7) return { kind: "incomplete" };
+    const eph = decodeGpsLnavFrame(sf.buf, { prn, refWeek });
+    if (!eph) return { kind: "decodeFailed" };
+    const prev = this.last.get(prn);
+    if (prev && prev.iode === eph.iode && prev.tocDate.getTime() === eph.tocDate.getTime()) {
+      return { kind: "duplicate" };
+    }
+    this.last.set(prn, eph);
+    return { kind: "eph", eph };
+  }
+};
+function decodeGpsLnavFrame(subframes, opts = {}) {
+  if (subframes.length < 90) return null;
+  const b = subframes;
+  let i = 24;
+  const tow1 = getBitU(b, i, 17) * 6;
+  i += 17 + 2;
+  const id1 = getBitU(b, i, 3);
+  i += 3 + 2;
+  const week10 = getBitU(b, i, 10);
+  i += 10;
+  i += 2;
+  i += 4;
+  const svHealth = getBitU(b, i, 6);
+  i += 6;
+  const iodc0 = getBitU(b, i, 2);
+  i += 2;
+  i += 1 + 87;
+  const tgdRaw = getBitS(b, i, 8);
+  i += 8;
+  const iodc1 = getBitU(b, i, 8);
+  i += 8;
+  const tocSec = getBitU(b, i, 16) * 16;
+  i += 16;
+  const af2 = getBitS(b, i, 8) * 2 ** -55;
+  i += 8;
+  const af1 = getBitS(b, i, 16) * 2 ** -43;
+  i += 16;
+  const af0 = getBitS(b, i, 22) * 2 ** -31;
+  i = 240 + 24;
+  i += 17 + 2;
+  const id2 = getBitU(b, i, 3);
+  i += 3 + 2;
+  const iode = getBitU(b, i, 8);
+  i += 8;
+  const crs = getBitS(b, i, 16) * 2 ** -5;
+  i += 16;
+  const deltaN = getBitS(b, i, 16) * 2 ** -43 * GPS_PI;
+  i += 16;
+  const m0 = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
+  i += 32;
+  const cuc = getBitS(b, i, 16) * 2 ** -29;
+  i += 16;
+  const e = getBitU(b, i, 32) * 2 ** -33;
+  i += 32;
+  const cus = getBitS(b, i, 16) * 2 ** -29;
+  i += 16;
+  const sqrtA = getBitU(b, i, 32) * 2 ** -19;
+  i += 32;
+  const toes = getBitU(b, i, 16) * 16;
+  i = 480 + 24;
+  i += 17 + 2;
+  const id3 = getBitU(b, i, 3);
+  i += 3 + 2;
+  const cic = getBitS(b, i, 16) * 2 ** -29;
+  i += 16;
+  const omega0 = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
+  i += 32;
+  const cis = getBitS(b, i, 16) * 2 ** -29;
+  i += 16;
+  const i0 = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
+  i += 32;
+  const crc = getBitS(b, i, 16) * 2 ** -5;
+  i += 16;
+  const omega = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
+  i += 32;
+  const omegaDot = getBitS(b, i, 24) * 2 ** -43 * GPS_PI;
+  i += 24;
+  const iode3 = getBitU(b, i, 8);
+  i += 8;
+  const idot = getBitS(b, i, 14) * 2 ** -43 * GPS_PI;
+  const iodc = iodc0 * 256 + iodc1;
+  if (id1 !== 1 || id2 !== 2 || id3 !== 3) return null;
+  if (iode3 !== iode || iode !== (iodc & 255)) return null;
+  const ref = opts.refWeek ?? Math.floor((Date.now() - GPS_EPOCH_MS2) / 1e3 / SEC_PER_WEEK2);
+  let week = week10 + 1024 * Math.round((ref - week10) / 1024);
+  if (toes < tow1 - 302400) week++;
+  else if (toes > tow1 + 302400) week--;
+  const prn = opts.prn ?? "G00";
+  const tocDate = new Date(
+    GPS_EPOCH_MS2 + (week * SEC_PER_WEEK2 + tocSec) * 1e3
+  );
+  return {
+    system: prn[0] === "J" ? "J" : "G",
+    prn,
+    tocDate,
+    // Same seconds-of-week convention as parseNavFile (rinex/nav.ts).
+    toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK2,
+    af0,
+    af1,
+    af2,
+    iode,
+    crs,
+    deltaN,
+    m0,
+    cuc,
+    e,
+    cus,
+    sqrtA,
+    toe: toes,
+    cic,
+    omega0,
+    cis,
+    i0,
+    crc,
+    omega,
+    omegaDot,
+    idot,
+    week,
+    svHealth,
+    tgd: tgdRaw === -128 ? 0 : tgdRaw * 2 ** -31
+    // IS-GPS-200: -128 reserved
+  };
+}
+
+// src/sbf/rawnav-gps.ts
+var WNC_DNU = 65535;
+function extractSbfLnavSubframe(view, b) {
+  const sf = new Uint8Array(30);
+  for (let k = 0; k < 10; k++) {
+    const w = view.getUint32(b + 20 + 4 * k, true);
+    setBitU(sf, 24 * k, 24, w >>> 6 & 16777215);
+  }
+  return sf;
+}
+function feedGpsLnavBlock(view, b, assembler) {
+  const prn = svidToPrn(view.getUint8(b + 14));
+  if (!prn || prn[0] !== "G" && prn[0] !== "J") return {};
+  if (view.getUint8(b + 15) !== 1) return {};
+  const wnc = view.getUint16(b + 12, true);
+  if (wnc === WNC_DNU) return {};
+  const r = assembler.push(prn, extractSbfLnavSubframe(view, b), wnc);
+  if (r.kind === "eph") return { eph: r.eph };
+  if (r.kind === "decodeFailed") return { badParity: true };
+  return {};
+}
+function parseSbfGpsNav(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const ephemerides = [];
+  const assembler = new GpsLnavAssembler();
+  let badParity = 0;
+  let messages = 0;
+  scanSbfFrames(data, view, (id, b, len) => {
+    if (id !== 4017 && id !== 4066 || len < 60) return;
+    messages++;
+    const r = feedGpsLnavBlock(view, b, assembler);
+    if (r.eph) ephemerides.push(r.eph);
+    else if (r.badParity) badParity++;
+  });
+  return { ephemerides, badParity, messages };
+}
 
 // src/navbits/cnav.ts
 var GPS_EPOCH_MS3 = Date.UTC(1980, 0, 6);
@@ -742,37 +1006,40 @@ var CnavAssembler = class {
 };
 
 // src/sbf/rawnav.ts
-var SIGNAL_OF_BLOCK = {
+var CNAV_SIGNAL_OF_BLOCK = {
   4018: "L2C",
   4019: "L5"
 };
+function newCnavAssemblers() {
+  return { L2C: new CnavAssembler(), L5: new CnavAssembler() };
+}
+function feedCnavBlock(view, b, id, asm) {
+  const signal = CNAV_SIGNAL_OF_BLOCK[id];
+  if (!signal) return {};
+  const msg = new Uint8Array(40);
+  for (let k = 0; k < 10; k++) {
+    const w = view.getUint32(b + 20 + 4 * k, true);
+    msg[4 * k] = w >>> 24;
+    msg[4 * k + 1] = w >>> 16 & 255;
+    msg[4 * k + 2] = w >>> 8 & 255;
+    msg[4 * k + 3] = w & 255;
+  }
+  if (!cnavCrcOk(msg)) return { badCrc: true };
+  const eph = asm[signal].push(msg);
+  return eph ? { eph: { ...eph, signal } } : {};
+}
 function parseSbfCnav(data) {
   const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
   const ephemerides = [];
-  const assemblers = {
-    L2C: new CnavAssembler(),
-    L5: new CnavAssembler()
-  };
+  const asm = newCnavAssemblers();
   let badCrc = 0;
   let messages = 0;
   scanSbfFrames(data, view, (id, b, len) => {
-    const signal = SIGNAL_OF_BLOCK[id];
-    if (!signal || len < 60) return;
+    if (!CNAV_SIGNAL_OF_BLOCK[id] || len < 60) return;
     messages++;
-    const msg = new Uint8Array(40);
-    for (let k = 0; k < 10; k++) {
-      const w = view.getUint32(b + 20 + 4 * k, true);
-      msg[4 * k] = w >>> 24;
-      msg[4 * k + 1] = w >>> 16 & 255;
-      msg[4 * k + 2] = w >>> 8 & 255;
-      msg[4 * k + 3] = w & 255;
-    }
-    if (!cnavCrcOk(msg)) {
-      badCrc++;
-      return;
-    }
-    const eph = assemblers[signal].push(msg);
-    if (eph) ephemerides.push({ ...eph, signal });
+    const r = feedCnavBlock(view, b, id, asm);
+    if (r.eph) ephemerides.push(r.eph);
+    else if (r.badCrc) badCrc++;
   });
   return { ephemerides, badCrc, messages };
 }
@@ -1088,50 +1355,51 @@ var GalFnavAssembler = class {
 // src/sbf/rawnav-gal.ts
 var INAV_SOURCES = [17, 21, 22];
 var FNAV_SOURCES = [20, 22];
+function newGalAssemblers() {
+  return { inav: new GalInavAssembler(), fnav: new GalFnavAssembler() };
+}
+function feedGalBlock(data, view, b, id, asm) {
+  const prnStr = svidToPrn(data[b + 14]);
+  if (!prnStr || prnStr[0] !== "E") return {};
+  const prn = parseInt(prnStr.slice(1), 10);
+  const source = data[b + 17] & 31;
+  const page = new Uint8Array(32);
+  for (let k = 0; k < 8; k++) {
+    const w = view.getUint32(b + 20 + 4 * k, true);
+    page[4 * k] = w >>> 24;
+    page[4 * k + 1] = w >>> 16 & 255;
+    page[4 * k + 2] = w >>> 8 & 255;
+    page[4 * k + 3] = w & 255;
+  }
+  let eph;
+  let src;
+  if (id === 4023) {
+    src = "inav";
+    if (!INAV_SOURCES.includes(source)) return {};
+    if (getBitU2(page, 0) !== 0 || getBitU2(page, 114) !== 1) return {};
+    if (!galInavPageCrcOk(page)) return { badCrc: true };
+    eph = asm.inav.push(prn, page);
+  } else {
+    src = "fnav";
+    if (!FNAV_SOURCES.includes(source)) return {};
+    if (isFnavDummy(page)) return {};
+    if (!galFnavPageCrcOk(page)) return { badCrc: true };
+    eph = asm.fnav.push(prn, page);
+  }
+  return eph ? { eph: { ...eph, source: src } } : {};
+}
 function parseSbfGalNav(data) {
   const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
   const ephemerides = [];
-  const inav = new GalInavAssembler();
-  const fnav = new GalFnavAssembler();
+  const asm = newGalAssemblers();
   let badCrc = 0;
   let messages = 0;
   scanSbfFrames(data, view, (id, b, len) => {
     if (id !== 4022 && id !== 4023 || len < 52) return;
     messages++;
-    const prnStr = svidToPrn(data[b + 14]);
-    if (!prnStr || prnStr[0] !== "E") return;
-    const prn = parseInt(prnStr.slice(1), 10);
-    const source = data[b + 17] & 31;
-    const page = new Uint8Array(32);
-    for (let k = 0; k < 8; k++) {
-      const w = view.getUint32(b + 20 + 4 * k, true);
-      page[4 * k] = w >>> 24;
-      page[4 * k + 1] = w >>> 16 & 255;
-      page[4 * k + 2] = w >>> 8 & 255;
-      page[4 * k + 3] = w & 255;
-    }
-    let eph;
-    let src;
-    if (id === 4023) {
-      src = "inav";
-      if (!INAV_SOURCES.includes(source)) return;
-      if (getBitU2(page, 0) !== 0 || getBitU2(page, 114) !== 1) return;
-      if (!galInavPageCrcOk(page)) {
-        badCrc++;
-        return;
-      }
-      eph = inav.push(prn, page);
-    } else {
-      src = "fnav";
-      if (!FNAV_SOURCES.includes(source)) return;
-      if (isFnavDummy(page)) return;
-      if (!galFnavPageCrcOk(page)) {
-        badCrc++;
-        return;
-      }
-      eph = fnav.push(prn, page);
-    }
-    if (eph) ephemerides.push({ ...eph, source: src });
+    const r = feedGalBlock(data, view, b, id, asm);
+    if (r.eph) ephemerides.push(r.eph);
+    else if (r.badCrc) badCrc++;
   });
   return { ephemerides, badCrc, messages };
 }
@@ -1558,9 +1826,9 @@ var GloStringAssembler = class {
    * Returns the newly completed ephemeris, or null. The decoded
    * string-4 slot number must match `prn`, or nothing is emitted.
    */
-  push(prn, str, time, freqNum = 0) {
-    if (str.length < GLO_STRING_BYTES) return null;
-    const m = getBitU(str, 1, 4);
+  push(prn, str2, time, freqNum = 0) {
+    if (str2.length < GLO_STRING_BYTES) return null;
+    const m = getBitU(str2, 1, 4);
     if (m < 1) return null;
     const sec = Math.floor(time.getTime() / 1e3);
     let sat = this.sats.get(prn);
@@ -1572,7 +1840,7 @@ var GloStringAssembler = class {
       sat.batchSec = sec;
     }
     if (m > 4) return null;
-    sat.buf.set(str.subarray(0, GLO_STRING_BYTES), (m - 1) * 10);
+    sat.buf.set(str2.subarray(0, GLO_STRING_BYTES), (m - 1) * 10);
     if (m !== 4) return null;
     const eph = decodeGloStrings(sat.buf, time, { freqNum });
     if (!eph || eph.prn !== prn) return null;
@@ -1587,7 +1855,26 @@ var GloStringAssembler = class {
 var GPS_EPOCH_MS6 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK3 = 7 * 86400 * 1e3;
 var TOW_DNU = 4294967295;
-var WNC_DNU = 65535;
+var WNC_DNU2 = 65535;
+function feedBdsBlock(view, b, assembler) {
+  const prn = svidToPrn(view.getUint8(b + 14));
+  if (!prn || prn[0] !== "C") return {};
+  const sf = new Uint8Array(38);
+  for (let k = 0; k < 10; k++) {
+    const w = view.getUint32(b + 20 + 4 * k, true);
+    sf[4 * k] = w >>> 24;
+    if (k < 9) {
+      sf[4 * k + 1] = w >>> 16 & 255;
+      sf[4 * k + 2] = w >>> 8 & 255;
+      sf[4 * k + 3] = w & 255;
+    } else {
+      sf[37] = w >>> 16 & 240;
+    }
+  }
+  if (!bdsSubframeParityOk(sf)) return { badCrc: true };
+  const eph = assembler.push(prn, sf);
+  return eph ? { eph } : {};
+}
 function parseSbfBdsNav(data) {
   const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
   const ephemerides = [];
@@ -1597,29 +1884,41 @@ function parseSbfBdsNav(data) {
   scanSbfFrames(data, view, (id, b, len) => {
     if (id !== 4047 || len < 60) return;
     messages++;
-    const prn = svidToPrn(view.getUint8(b + 14));
-    if (!prn || prn[0] !== "C") return;
-    const sf = new Uint8Array(38);
-    for (let k = 0; k < 10; k++) {
-      const w = view.getUint32(b + 20 + 4 * k, true);
-      sf[4 * k] = w >>> 24;
-      if (k < 9) {
-        sf[4 * k + 1] = w >>> 16 & 255;
-        sf[4 * k + 2] = w >>> 8 & 255;
-        sf[4 * k + 3] = w & 255;
-      } else {
-        sf[37] = w >>> 16 & 240;
-      }
-    }
-    if (!bdsSubframeParityOk(sf)) {
-      badCrc++;
-      return;
-    }
-    const eph = assembler.push(prn, sf);
-    if (eph) ephemerides.push(eph);
+    const r = feedBdsBlock(view, b, assembler);
+    if (r.eph) ephemerides.push(r.eph);
+    else if (r.badCrc) badCrc++;
   });
   return { ephemerides, badCrc, messages };
 }
+function feedGloBlock(view, b, assembler) {
+  const prn = svidToPrn(view.getUint8(b + 14));
+  if (!prn || prn[0] !== "R") return {};
+  const towMs = view.getUint32(b + 8, true);
+  const wnc = view.getUint16(b + 12, true);
+  if (towMs === TOW_DNU || wnc === WNC_DNU2) return {};
+  const str2 = new Uint8Array(11);
+  for (let k = 0; k < 3; k++) {
+    const w = view.getUint32(b + 20 + 4 * k, true);
+    str2[4 * k] = w >>> 24;
+    if (k < 2) {
+      str2[4 * k + 1] = w >>> 16 & 255;
+      str2[4 * k + 2] = w >>> 8 & 255;
+      str2[4 * k + 3] = w & 255;
+    } else {
+      str2[9] = w >>> 16 & 255;
+      str2[10] = w >>> 8 & 248;
+    }
+  }
+  if (!testGloString(str2)) return { badCrc: true };
+  const eph = assembler.push(
+    prn,
+    str2,
+    new Date(GPS_EPOCH_MS6 + wnc * MS_PER_WEEK3 + towMs),
+    view.getUint8(b + 18) - 8
+    // FreqNr, offset by 8
+  );
+  return eph ? { eph } : {};
+}
 function parseSbfGloNav(data) {
   const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
   const ephemerides = [];
@@ -1629,38 +1928,161 @@ function parseSbfGloNav(data) {
   scanSbfFrames(data, view, (id, b, len) => {
     if (id !== 4026 || len < 32) return;
     messages++;
-    const prn = svidToPrn(view.getUint8(b + 14));
-    if (!prn || prn[0] !== "R") return;
-    const towMs = view.getUint32(b + 8, true);
-    const wnc = view.getUint16(b + 12, true);
-    if (towMs === TOW_DNU || wnc === WNC_DNU) return;
-    const str = new Uint8Array(11);
-    for (let k = 0; k < 3; k++) {
-      const w = view.getUint32(b + 20 + 4 * k, true);
-      str[4 * k] = w >>> 24;
-      if (k < 2) {
-        str[4 * k + 1] = w >>> 16 & 255;
-        str[4 * k + 2] = w >>> 8 & 255;
-        str[4 * k + 3] = w & 255;
-      } else {
-        str[9] = w >>> 16 & 255;
-        str[10] = w >>> 8 & 248;
-      }
+    const r = feedGloBlock(view, b, assembler);
+    if (r.eph) ephemerides.push(r.eph);
+    else if (r.badCrc) badCrc++;
+  });
+  return { ephemerides, badCrc, messages };
+}
+
+// src/sbf/navigation.ts
+var F4_DNU4 = -2e10;
+function ephKey(e) {
+  const source = "source" in e ? e.source : "";
+  return `${e.prn}|${e.tocDate.getTime()}|${source}`;
+}
+function decodeSbfNavigation(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const ephemerides = [];
+  const seen = /* @__PURE__ */ new Set();
+  const cnav = [];
+  const ionoCorrections = {};
+  let leapSeconds = null;
+  const counts = {
+    decodedNav: 0,
+    gpsLnavRaw: 0,
+    cnavRaw: 0,
+    galRaw: 0,
+    gloRaw: 0,
+    bdsRaw: 0,
+    badFrames: 0
+  };
+  const cnavAsm = newCnavAssemblers();
+  const galAsm = newGalAssemblers();
+  const gloAsm = new GloStringAssembler();
+  const bdsAsm = new BdsAssembler();
+  const lnavAsm = new GpsLnavAssembler();
+  const addEph = (e) => {
+    if (!e) return;
+    const key = ephKey(e);
+    if (seen.has(key)) return;
+    seen.add(key);
+    ephemerides.push(e);
+  };
+  const f4s = (b, n) => {
+    const out = [];
+    for (let k = 0; k < n; k++) {
+      const v = view.getFloat32(b + 4 * k, true);
+      if (v === F4_DNU4) return null;
+      out.push(v);
     }
-    if (!testGloString(str)) {
-      badCrc++;
-      return;
+    return out;
+  };
+  scanSbfFrames(data, view, (id, b, len) => {
+    switch (id) {
+      /* ---- decoded ephemeris blocks ---- */
+      case 5891:
+        if (len >= 140) {
+          counts.decodedNav++;
+          addEph(decodeGpsQzsNav(view, b, "G"));
+        }
+        return;
+      case 4095:
+        if (len >= 140) {
+          counts.decodedNav++;
+          addEph(decodeGpsQzsNav(view, b, "J"));
+        }
+        return;
+      case 4002:
+        if (len >= 149) {
+          counts.decodedNav++;
+          addEph(decodeGalNav(view, b));
+        }
+        return;
+      case 4081:
+        if (len >= 140) {
+          counts.decodedNav++;
+          addEph(decodeBdsNav(view, b));
+        }
+        return;
+      case 4004:
+        if (len >= 96) {
+          counts.decodedNav++;
+          addEph(decodeGloNav(view, b));
+        }
+        return;
+      /* ---- raw navigation-frame blocks ---- */
+      case 4017:
+      // GPSRawCA
+      case 4066: {
+        if (len < 60) return;
+        counts.gpsLnavRaw++;
+        const r = feedGpsLnavBlock(view, b, lnavAsm);
+        if (r.eph) addEph(r.eph);
+        else if (r.badParity) counts.badFrames++;
+        return;
+      }
+      case 4018:
+      // GPSRawL2C
+      case 4019: {
+        if (len < 60) return;
+        counts.cnavRaw++;
+        const r = feedCnavBlock(view, b, id, cnavAsm);
+        if (r.eph) cnav.push(r.eph);
+        else if (r.badCrc) counts.badFrames++;
+        return;
+      }
+      case 4022:
+      // GALRawFNAV
+      case 4023: {
+        if (len < 52) return;
+        counts.galRaw++;
+        const r = feedGalBlock(data, view, b, id, galAsm);
+        if (r.eph) addEph(r.eph);
+        else if (r.badCrc) counts.badFrames++;
+        return;
+      }
+      case 4026: {
+        if (len < 32) return;
+        counts.gloRaw++;
+        const r = feedGloBlock(view, b, gloAsm);
+        if (r.eph) addEph(r.eph);
+        else if (r.badCrc) counts.badFrames++;
+        return;
+      }
+      case 4047: {
+        if (len < 60) return;
+        counts.bdsRaw++;
+        const r = feedBdsBlock(view, b, bdsAsm);
+        if (r.eph) addEph(r.eph);
+        else if (r.badCrc) counts.badFrames++;
+        return;
+      }
+      /* ---- iono / UTC ---- */
+      case 5893:
+      // GPSIon
+      case 4120: {
+        if (len < 48) return;
+        const alpha = f4s(b + 16, 4);
+        const beta = f4s(b + 32, 4);
+        if (!alpha || !beta) return;
+        const sys = id === 5893 ? "GPS" : "BDS";
+        ionoCorrections[`${sys}A`] = alpha;
+        ionoCorrections[`${sys}B`] = beta;
+        return;
+      }
+      case 4030: {
+        if (len < 28) return;
+        const ai = f4s(b + 16, 3);
+        if (ai) ionoCorrections["GAL"] = ai;
+        return;
+      }
+      case 5894:
+        if (len >= 37) leapSeconds = view.getInt8(b + 33);
+        return;
     }
-    const eph = assembler.push(
-      prn,
-      str,
-      new Date(GPS_EPOCH_MS6 + wnc * MS_PER_WEEK3 + towMs),
-      view.getUint8(b + 18) - 8
-      // FreqNr, offset by 8
-    );
-    if (eph) ephemerides.push(eph);
   });
-  return { ephemerides, badCrc, messages };
+  return { ephemerides, cnav, ionoCorrections, leapSeconds, counts };
 }
 
 // src/navbits/rs255.ts
@@ -2855,15 +3277,18 @@ function parseSbfMeas(data) {
 }
 // Annotate the CommonJS export names for ESM import in node:
 0 && (module.exports = {
+  decodeSbfNavigation,
   parseSbfAlmanac,
   parseSbfBdsNav,
   parseSbfCnav,
   parseSbfGalNav,
   parseSbfGloNav,
+  parseSbfGpsNav,
   parseSbfHas,
   parseSbfIonoUtc,
   parseSbfMeas,
   parseSbfNav,
+  parseSbfReceiverSetup,
   sbfCrc16,
   scanSbfFrames
 });