gnss-js 1.38.0 → 1.40.0

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Files changed (8) hide show
  1. package/dist/{chunk-CKRNXZHT.js → chunk-J2E2IKJR.js} +94 -56
  2. package/dist/index.cjs +98 -60
  3. package/dist/index.js +1 -1
  4. package/dist/trimble.cjs +94 -56
  5. package/dist/trimble.d.cts +12 -10
  6. package/dist/trimble.d.ts +12 -10
  7. package/dist/trimble.js +1 -1
  8. package/package.json +1 -1
package/dist/{chunk-CKRNXZHT.js → chunk-J2E2IKJR.js} RENAMED
@@ -40,68 +40,106 @@ function* trimbleFrames(data, stats) {
40
40
 
41
41
  // src/trimble/nav.ts
42
42
  var GPS_EPOCH_MS = Date.UTC(1980, 0, 6);
43
+ var BDT_EPOCH_MS = Date.UTC(2006, 0, 1);
43
44
  var SEC_PER_WEEK = 7 * 86400;
44
45
  var MS_PER_WEEK = SEC_PER_WEEK * 1e3;
45
46
  var GPS_PI = 3.1415926535898;
47
+ var BDS_WEEK_OFFSET = 1356;
48
+ var BDS_LEAP_SEC = 14;
46
49
  var gpsMs = (week, sec) => GPS_EPOCH_MS + week * MS_PER_WEEK + sec * 1e3;
47
50
  var sowOf = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK;
48
51
  var SUB_GPS_EPHEMERIS = 1;
49
52
  var SUB_ION_UTC = 3;
50
- function decodeGpsEphemeris(data, view, base) {
51
- const prn = data[base + 5];
52
- if (prn < 1 || prn > 32) return null;
53
- const week = view.getUint16(base + 6, false);
54
- const iode = data[base + 11];
55
- const toc = view.getInt32(base + 16, false);
56
- const toe = view.getUint32(base + 20, false);
57
- const tgd = view.getFloat64(base + 24, false);
58
- const af2 = view.getFloat64(base + 32, false);
59
- const af1 = view.getFloat64(base + 40, false);
60
- const af0 = view.getFloat64(base + 48, false);
61
- const crs = view.getFloat64(base + 56, false);
62
- const deltaN = view.getFloat64(base + 64, false) * GPS_PI;
63
- const m0 = view.getFloat64(base + 72, false) * GPS_PI;
64
- const cuc = view.getFloat64(base + 80, false) * GPS_PI;
65
- const e = view.getFloat64(base + 88, false);
66
- const cus = view.getFloat64(base + 96, false) * GPS_PI;
67
- const sqrtA = view.getFloat64(base + 104, false);
68
- const cic = view.getFloat64(base + 112, false) * GPS_PI;
69
- const omega0 = view.getFloat64(base + 120, false) * GPS_PI;
70
- const cis = view.getFloat64(base + 128, false) * GPS_PI;
71
- const i0 = view.getFloat64(base + 136, false) * GPS_PI;
72
- const crc = view.getFloat64(base + 144, false);
73
- const omega = view.getFloat64(base + 152, false) * GPS_PI;
74
- const omegaDot = view.getFloat64(base + 160, false) * GPS_PI;
75
- const idot = view.getFloat64(base + 168, false) * GPS_PI;
76
- const flags = view.getUint32(base + 176, false);
53
+ var SUB_BDS_EPHEMERIS = 21;
54
+ function readKepler(view, base) {
55
+ return {
56
+ svid: view.getUint8(base + 5),
57
+ week: view.getUint16(base + 6, false),
58
+ iode: view.getUint8(base + 11),
59
+ tocSec: view.getInt32(base + 16, false),
60
+ toeSec: view.getUint32(base + 20, false),
61
+ tgd: view.getFloat64(base + 24, false),
62
+ af2: view.getFloat64(base + 32, false),
63
+ af1: view.getFloat64(base + 40, false),
64
+ af0: view.getFloat64(base + 48, false),
65
+ crs: view.getFloat64(base + 56, false),
66
+ deltaN: view.getFloat64(base + 64, false) * GPS_PI,
67
+ m0: view.getFloat64(base + 72, false) * GPS_PI,
68
+ cuc: view.getFloat64(base + 80, false) * GPS_PI,
69
+ e: view.getFloat64(base + 88, false),
70
+ cus: view.getFloat64(base + 96, false) * GPS_PI,
71
+ sqrtA: view.getFloat64(base + 104, false),
72
+ cic: view.getFloat64(base + 112, false) * GPS_PI,
73
+ omega0: view.getFloat64(base + 120, false) * GPS_PI,
74
+ cis: view.getFloat64(base + 128, false) * GPS_PI,
75
+ i0: view.getFloat64(base + 136, false) * GPS_PI,
76
+ crc: view.getFloat64(base + 144, false),
77
+ omega: view.getFloat64(base + 152, false) * GPS_PI,
78
+ omegaDot: view.getFloat64(base + 160, false) * GPS_PI,
79
+ idot: view.getFloat64(base + 168, false) * GPS_PI,
80
+ flags: view.getUint32(base + 176, false)
81
+ };
82
+ }
83
+ function keplerCommon(r) {
84
+ return {
85
+ af0: r.af0,
86
+ af1: r.af1,
87
+ af2: r.af2,
88
+ iode: r.iode,
89
+ crs: r.crs,
90
+ deltaN: r.deltaN,
91
+ m0: r.m0,
92
+ cuc: r.cuc,
93
+ e: r.e,
94
+ cus: r.cus,
95
+ sqrtA: r.sqrtA,
96
+ cic: r.cic,
97
+ omega0: r.omega0,
98
+ cis: r.cis,
99
+ i0: r.i0,
100
+ crc: r.crc,
101
+ omega: r.omega,
102
+ omegaDot: r.omegaDot,
103
+ idot: r.idot,
104
+ tgd: r.tgd
105
+ };
106
+ }
107
+ function decodeGpsEphemeris(view, base) {
108
+ const r = readKepler(view, base);
109
+ if (r.svid < 1 || r.svid > 32) return null;
110
+ const tocMs = gpsMs(r.week, r.tocSec);
77
111
  return {
78
112
  system: "G",
79
- prn: `G${String(prn).padStart(2, "0")}`,
80
- toc: sowOf(gpsMs(week, toc)),
81
- tocDate: new Date(gpsMs(week, toc)),
82
- af0,
83
- af1,
84
- af2,
85
- iode,
86
- crs,
87
- deltaN,
88
- m0,
89
- cuc,
90
- e,
91
- cus,
92
- sqrtA,
93
- toe,
94
- cic,
95
- omega0,
96
- cis,
97
- i0,
98
- crc,
99
- omega,
100
- omegaDot,
101
- idot,
102
- week,
103
- svHealth: flags >>> 4 & 127,
104
- tgd
113
+ prn: `G${String(r.svid).padStart(2, "0")}`,
114
+ toc: sowOf(tocMs),
115
+ tocDate: new Date(tocMs),
116
+ toe: r.toeSec,
117
+ week: r.week,
118
+ svHealth: r.flags >>> 4 & 127,
119
+ ...keplerCommon(r)
120
+ };
121
+ }
122
+ function decodeBdsEphemeris(view, base) {
123
+ const r = readKepler(view, base);
124
+ if (r.svid < 1 || r.svid > 63) return null;
125
+ const bdsWeek = r.week - BDS_WEEK_OFFSET;
126
+ const tocSec = r.tocSec - BDS_LEAP_SEC;
127
+ const toeSec = r.toeSec - BDS_LEAP_SEC;
128
+ const tocDate = new Date(
129
+ BDT_EPOCH_MS + bdsWeek * MS_PER_WEEK + tocSec * 1e3
130
+ );
131
+ return {
132
+ system: "C",
133
+ prn: `C${String(r.svid).padStart(2, "0")}`,
134
+ toc: sowOf(tocDate.getTime()),
135
+ tocDate,
136
+ toe: toeSec,
137
+ week: bdsWeek,
138
+ // Health from the same flags nibble as GPS (0 = healthy for the observed
139
+ // operational BeiDou sats); flags bit 0 is a set-on-all format marker,
140
+ // not SatH1, so it must not be used here.
141
+ svHealth: r.flags >>> 4 & 127,
142
+ ...keplerCommon(r)
105
143
  };
106
144
  }
107
145
  function parseTrimbleNav(data) {
@@ -116,13 +154,13 @@ function parseTrimbleNav(data) {
116
154
  if (f.type !== RETSVDATA) continue;
117
155
  const sub = data[f.payload];
118
156
  retsvCounts[sub] = (retsvCounts[sub] ?? 0) + 1;
119
- if (sub === SUB_GPS_EPHEMERIS && f.len >= 178) {
120
- const eph = decodeGpsEphemeris(data, view, f.start);
157
+ if ((sub === SUB_GPS_EPHEMERIS || sub === SUB_BDS_EPHEMERIS) && f.len >= 176) {
158
+ const eph = sub === SUB_GPS_EPHEMERIS ? decodeGpsEphemeris(view, f.start) : decodeBdsEphemeris(view, f.start);
121
159
  if (!eph) continue;
122
160
  if (lastIode.get(eph.prn) === eph.iode) continue;
123
161
  lastIode.set(eph.prn, eph.iode);
124
162
  ephemerides.push(eph);
125
- } else if (sub === SUB_ION_UTC && f.len >= 125) {
163
+ } else if (sub === SUB_ION_UTC && f.len >= 102) {
126
164
  const p = f.start;
127
165
  const alpha = [];
128
166
  const beta = [];
package/dist/index.cjs CHANGED
@@ -9590,68 +9590,106 @@ function* trimbleFrames(data, stats) {
9590
9590
 
9591
9591
  // src/trimble/nav.ts
9592
9592
  var GPS_EPOCH_MS14 = Date.UTC(1980, 0, 6);
9593
+ var BDT_EPOCH_MS4 = Date.UTC(2006, 0, 1);
9593
9594
  var SEC_PER_WEEK10 = 7 * 86400;
9594
9595
  var MS_PER_WEEK9 = SEC_PER_WEEK10 * 1e3;
9595
9596
  var GPS_PI2 = 3.1415926535898;
9597
+ var BDS_WEEK_OFFSET = 1356;
9598
+ var BDS_LEAP_SEC = 14;
9596
9599
  var gpsMs3 = (week, sec) => GPS_EPOCH_MS14 + week * MS_PER_WEEK9 + sec * 1e3;
9597
9600
  var sowOf4 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK10;
9598
9601
  var SUB_GPS_EPHEMERIS = 1;
9599
9602
  var SUB_ION_UTC = 3;
9600
- function decodeGpsEphemeris2(data, view, base) {
9601
- const prn = data[base + 5];
9602
- if (prn < 1 || prn > 32) return null;
9603
- const week = view.getUint16(base + 6, false);
9604
- const iode = data[base + 11];
9605
- const toc = view.getInt32(base + 16, false);
9606
- const toe = view.getUint32(base + 20, false);
9607
- const tgd = view.getFloat64(base + 24, false);
9608
- const af2 = view.getFloat64(base + 32, false);
9609
- const af1 = view.getFloat64(base + 40, false);
9610
- const af0 = view.getFloat64(base + 48, false);
9611
- const crs = view.getFloat64(base + 56, false);
9612
- const deltaN = view.getFloat64(base + 64, false) * GPS_PI2;
9613
- const m0 = view.getFloat64(base + 72, false) * GPS_PI2;
9614
- const cuc = view.getFloat64(base + 80, false) * GPS_PI2;
9615
- const e = view.getFloat64(base + 88, false);
9616
- const cus = view.getFloat64(base + 96, false) * GPS_PI2;
9617
- const sqrtA = view.getFloat64(base + 104, false);
9618
- const cic = view.getFloat64(base + 112, false) * GPS_PI2;
9619
- const omega0 = view.getFloat64(base + 120, false) * GPS_PI2;
9620
- const cis = view.getFloat64(base + 128, false) * GPS_PI2;
9621
- const i0 = view.getFloat64(base + 136, false) * GPS_PI2;
9622
- const crc = view.getFloat64(base + 144, false);
9623
- const omega = view.getFloat64(base + 152, false) * GPS_PI2;
9624
- const omegaDot = view.getFloat64(base + 160, false) * GPS_PI2;
9625
- const idot = view.getFloat64(base + 168, false) * GPS_PI2;
9626
- const flags = view.getUint32(base + 176, false);
9603
+ var SUB_BDS_EPHEMERIS = 21;
9604
+ function readKepler(view, base) {
9605
+ return {
9606
+ svid: view.getUint8(base + 5),
9607
+ week: view.getUint16(base + 6, false),
9608
+ iode: view.getUint8(base + 11),
9609
+ tocSec: view.getInt32(base + 16, false),
9610
+ toeSec: view.getUint32(base + 20, false),
9611
+ tgd: view.getFloat64(base + 24, false),
9612
+ af2: view.getFloat64(base + 32, false),
9613
+ af1: view.getFloat64(base + 40, false),
9614
+ af0: view.getFloat64(base + 48, false),
9615
+ crs: view.getFloat64(base + 56, false),
9616
+ deltaN: view.getFloat64(base + 64, false) * GPS_PI2,
9617
+ m0: view.getFloat64(base + 72, false) * GPS_PI2,
9618
+ cuc: view.getFloat64(base + 80, false) * GPS_PI2,
9619
+ e: view.getFloat64(base + 88, false),
9620
+ cus: view.getFloat64(base + 96, false) * GPS_PI2,
9621
+ sqrtA: view.getFloat64(base + 104, false),
9622
+ cic: view.getFloat64(base + 112, false) * GPS_PI2,
9623
+ omega0: view.getFloat64(base + 120, false) * GPS_PI2,
9624
+ cis: view.getFloat64(base + 128, false) * GPS_PI2,
9625
+ i0: view.getFloat64(base + 136, false) * GPS_PI2,
9626
+ crc: view.getFloat64(base + 144, false),
9627
+ omega: view.getFloat64(base + 152, false) * GPS_PI2,
9628
+ omegaDot: view.getFloat64(base + 160, false) * GPS_PI2,
9629
+ idot: view.getFloat64(base + 168, false) * GPS_PI2,
9630
+ flags: view.getUint32(base + 176, false)
9631
+ };
9632
+ }
9633
+ function keplerCommon(r) {
9634
+ return {
9635
+ af0: r.af0,
9636
+ af1: r.af1,
9637
+ af2: r.af2,
9638
+ iode: r.iode,
9639
+ crs: r.crs,
9640
+ deltaN: r.deltaN,
9641
+ m0: r.m0,
9642
+ cuc: r.cuc,
9643
+ e: r.e,
9644
+ cus: r.cus,
9645
+ sqrtA: r.sqrtA,
9646
+ cic: r.cic,
9647
+ omega0: r.omega0,
9648
+ cis: r.cis,
9649
+ i0: r.i0,
9650
+ crc: r.crc,
9651
+ omega: r.omega,
9652
+ omegaDot: r.omegaDot,
9653
+ idot: r.idot,
9654
+ tgd: r.tgd
9655
+ };
9656
+ }
9657
+ function decodeGpsEphemeris2(view, base) {
9658
+ const r = readKepler(view, base);
9659
+ if (r.svid < 1 || r.svid > 32) return null;
9660
+ const tocMs = gpsMs3(r.week, r.tocSec);
9627
9661
  return {
9628
9662
  system: "G",
9629
- prn: `G${String(prn).padStart(2, "0")}`,
9630
- toc: sowOf4(gpsMs3(week, toc)),
9631
- tocDate: new Date(gpsMs3(week, toc)),
9632
- af0,
9633
- af1,
9634
- af2,
9635
- iode,
9636
- crs,
9637
- deltaN,
9638
- m0,
9639
- cuc,
9640
- e,
9641
- cus,
9642
- sqrtA,
9643
- toe,
9644
- cic,
9645
- omega0,
9646
- cis,
9647
- i0,
9648
- crc,
9649
- omega,
9650
- omegaDot,
9651
- idot,
9652
- week,
9653
- svHealth: flags >>> 4 & 127,
9654
- tgd
9663
+ prn: `G${String(r.svid).padStart(2, "0")}`,
9664
+ toc: sowOf4(tocMs),
9665
+ tocDate: new Date(tocMs),
9666
+ toe: r.toeSec,
9667
+ week: r.week,
9668
+ svHealth: r.flags >>> 4 & 127,
9669
+ ...keplerCommon(r)
9670
+ };
9671
+ }
9672
+ function decodeBdsEphemeris3(view, base) {
9673
+ const r = readKepler(view, base);
9674
+ if (r.svid < 1 || r.svid > 63) return null;
9675
+ const bdsWeek = r.week - BDS_WEEK_OFFSET;
9676
+ const tocSec = r.tocSec - BDS_LEAP_SEC;
9677
+ const toeSec = r.toeSec - BDS_LEAP_SEC;
9678
+ const tocDate = new Date(
9679
+ BDT_EPOCH_MS4 + bdsWeek * MS_PER_WEEK9 + tocSec * 1e3
9680
+ );
9681
+ return {
9682
+ system: "C",
9683
+ prn: `C${String(r.svid).padStart(2, "0")}`,
9684
+ toc: sowOf4(tocDate.getTime()),
9685
+ tocDate,
9686
+ toe: toeSec,
9687
+ week: bdsWeek,
9688
+ // Health from the same flags nibble as GPS (0 = healthy for the observed
9689
+ // operational BeiDou sats); flags bit 0 is a set-on-all format marker,
9690
+ // not SatH1, so it must not be used here.
9691
+ svHealth: r.flags >>> 4 & 127,
9692
+ ...keplerCommon(r)
9655
9693
  };
9656
9694
  }
9657
9695
  function parseTrimbleNav(data) {
@@ -9666,13 +9704,13 @@ function parseTrimbleNav(data) {
9666
9704
  if (f.type !== RETSVDATA) continue;
9667
9705
  const sub = data[f.payload];
9668
9706
  retsvCounts[sub] = (retsvCounts[sub] ?? 0) + 1;
9669
- if (sub === SUB_GPS_EPHEMERIS && f.len >= 178) {
9670
- const eph = decodeGpsEphemeris2(data, view, f.start);
9707
+ if ((sub === SUB_GPS_EPHEMERIS || sub === SUB_BDS_EPHEMERIS) && f.len >= 176) {
9708
+ const eph = sub === SUB_GPS_EPHEMERIS ? decodeGpsEphemeris2(view, f.start) : decodeBdsEphemeris3(view, f.start);
9671
9709
  if (!eph) continue;
9672
9710
  if (lastIode.get(eph.prn) === eph.iode) continue;
9673
9711
  lastIode.set(eph.prn, eph.iode);
9674
9712
  ephemerides.push(eph);
9675
- } else if (sub === SUB_ION_UTC && f.len >= 125) {
9713
+ } else if (sub === SUB_ION_UTC && f.len >= 102) {
9676
9714
  const p = f.start;
9677
9715
  const alpha = [];
9678
9716
  const beta = [];
@@ -10076,7 +10114,7 @@ function* binexRecords(data, view, stats) {
10076
10114
  // src/binex/nav.ts
10077
10115
  var GPS_EPOCH_MS16 = Date.UTC(1980, 0, 6);
10078
10116
  var GLO_DAY0_MS = Date.UTC(1980, 0, 1);
10079
- var BDT_EPOCH_MS4 = Date.UTC(2006, 0, 1);
10117
+ var BDT_EPOCH_MS5 = Date.UTC(2006, 0, 1);
10080
10118
  var SEC_PER_WEEK11 = 7 * 86400;
10081
10119
  var MS_PER_WEEK11 = SEC_PER_WEEK11 * 1e3;
10082
10120
  var SC2RAD = GPS_PI;
@@ -10245,7 +10283,7 @@ function decodeBeidou(view, p, le) {
10245
10283
  const iode = flag1 >> 6 & 31;
10246
10284
  const svHealth = flag1 & 1;
10247
10285
  const tgd = bdsTgd(flag2 >> 4);
10248
- const tocDate = new Date(BDT_EPOCH_MS4 + week * MS_PER_WEEK11 + toes * 1e3);
10286
+ const tocDate = new Date(BDT_EPOCH_MS5 + week * MS_PER_WEEK11 + toes * 1e3);
10249
10287
  return {
10250
10288
  system: "C",
10251
10289
  prn: `C${two5(prn)}`,
@@ -10713,13 +10751,13 @@ var GM_GPS = 3986005e8;
10713
10751
  var GM_GAL = 3986004418e5;
10714
10752
  var GM_BDS = 3986004418e5;
10715
10753
  var GPS_EPOCH_MS18 = Date.UTC(1980, 0, 6);
10716
- var BDT_EPOCH_MS5 = Date.UTC(2006, 0, 1);
10754
+ var BDT_EPOCH_MS6 = Date.UTC(2006, 0, 1);
10717
10755
  var WEEK_MS = 6048e5;
10718
10756
  var BDT_MINUS_GPST_MS = 14e3;
10719
10757
  var BDS_GEO_PRNS = /* @__PURE__ */ new Set([1, 2, 3, 4, 5, 59, 60, 61, 62, 63]);
10720
10758
  function almanacEpochMs(alm) {
10721
10759
  if (alm.system === "C") {
10722
- return BDT_EPOCH_MS5 + alm.weekAlm * WEEK_MS + alm.toaSec * 1e3 + BDT_MINUS_GPST_MS;
10760
+ return BDT_EPOCH_MS6 + alm.weekAlm * WEEK_MS + alm.toaSec * 1e3 + BDT_MINUS_GPST_MS;
10723
10761
  }
10724
10762
  return GPS_EPOCH_MS18 + alm.weekAlm * WEEK_MS + alm.toaSec * 1e3;
10725
10763
  }
package/dist/index.js CHANGED
@@ -79,7 +79,7 @@ import {
79
79
  parseTrimble,
80
80
  parseTrimbleNav,
81
81
  trimbleFrames
82
- } from "./chunk-CKRNXZHT.js";
82
+ } from "./chunk-J2E2IKJR.js";
83
83
  import {
84
84
  binexCrc16,
85
85
  binexCrc32,
package/dist/trimble.cjs CHANGED
@@ -68,68 +68,106 @@ function* trimbleFrames(data, stats) {
68
68
 
69
69
  // src/trimble/nav.ts
70
70
  var GPS_EPOCH_MS = Date.UTC(1980, 0, 6);
71
+ var BDT_EPOCH_MS = Date.UTC(2006, 0, 1);
71
72
  var SEC_PER_WEEK = 7 * 86400;
72
73
  var MS_PER_WEEK = SEC_PER_WEEK * 1e3;
73
74
  var GPS_PI = 3.1415926535898;
75
+ var BDS_WEEK_OFFSET = 1356;
76
+ var BDS_LEAP_SEC = 14;
74
77
  var gpsMs = (week, sec) => GPS_EPOCH_MS + week * MS_PER_WEEK + sec * 1e3;
75
78
  var sowOf = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK;
76
79
  var SUB_GPS_EPHEMERIS = 1;
77
80
  var SUB_ION_UTC = 3;
78
- function decodeGpsEphemeris(data, view, base) {
79
- const prn = data[base + 5];
80
- if (prn < 1 || prn > 32) return null;
81
- const week = view.getUint16(base + 6, false);
82
- const iode = data[base + 11];
83
- const toc = view.getInt32(base + 16, false);
84
- const toe = view.getUint32(base + 20, false);
85
- const tgd = view.getFloat64(base + 24, false);
86
- const af2 = view.getFloat64(base + 32, false);
87
- const af1 = view.getFloat64(base + 40, false);
88
- const af0 = view.getFloat64(base + 48, false);
89
- const crs = view.getFloat64(base + 56, false);
90
- const deltaN = view.getFloat64(base + 64, false) * GPS_PI;
91
- const m0 = view.getFloat64(base + 72, false) * GPS_PI;
92
- const cuc = view.getFloat64(base + 80, false) * GPS_PI;
93
- const e = view.getFloat64(base + 88, false);
94
- const cus = view.getFloat64(base + 96, false) * GPS_PI;
95
- const sqrtA = view.getFloat64(base + 104, false);
96
- const cic = view.getFloat64(base + 112, false) * GPS_PI;
97
- const omega0 = view.getFloat64(base + 120, false) * GPS_PI;
98
- const cis = view.getFloat64(base + 128, false) * GPS_PI;
99
- const i0 = view.getFloat64(base + 136, false) * GPS_PI;
100
- const crc = view.getFloat64(base + 144, false);
101
- const omega = view.getFloat64(base + 152, false) * GPS_PI;
102
- const omegaDot = view.getFloat64(base + 160, false) * GPS_PI;
103
- const idot = view.getFloat64(base + 168, false) * GPS_PI;
104
- const flags = view.getUint32(base + 176, false);
81
+ var SUB_BDS_EPHEMERIS = 21;
82
+ function readKepler(view, base) {
83
+ return {
84
+ svid: view.getUint8(base + 5),
85
+ week: view.getUint16(base + 6, false),
86
+ iode: view.getUint8(base + 11),
87
+ tocSec: view.getInt32(base + 16, false),
88
+ toeSec: view.getUint32(base + 20, false),
89
+ tgd: view.getFloat64(base + 24, false),
90
+ af2: view.getFloat64(base + 32, false),
91
+ af1: view.getFloat64(base + 40, false),
92
+ af0: view.getFloat64(base + 48, false),
93
+ crs: view.getFloat64(base + 56, false),
94
+ deltaN: view.getFloat64(base + 64, false) * GPS_PI,
95
+ m0: view.getFloat64(base + 72, false) * GPS_PI,
96
+ cuc: view.getFloat64(base + 80, false) * GPS_PI,
97
+ e: view.getFloat64(base + 88, false),
98
+ cus: view.getFloat64(base + 96, false) * GPS_PI,
99
+ sqrtA: view.getFloat64(base + 104, false),
100
+ cic: view.getFloat64(base + 112, false) * GPS_PI,
101
+ omega0: view.getFloat64(base + 120, false) * GPS_PI,
102
+ cis: view.getFloat64(base + 128, false) * GPS_PI,
103
+ i0: view.getFloat64(base + 136, false) * GPS_PI,
104
+ crc: view.getFloat64(base + 144, false),
105
+ omega: view.getFloat64(base + 152, false) * GPS_PI,
106
+ omegaDot: view.getFloat64(base + 160, false) * GPS_PI,
107
+ idot: view.getFloat64(base + 168, false) * GPS_PI,
108
+ flags: view.getUint32(base + 176, false)
109
+ };
110
+ }
111
+ function keplerCommon(r) {
112
+ return {
113
+ af0: r.af0,
114
+ af1: r.af1,
115
+ af2: r.af2,
116
+ iode: r.iode,
117
+ crs: r.crs,
118
+ deltaN: r.deltaN,
119
+ m0: r.m0,
120
+ cuc: r.cuc,
121
+ e: r.e,
122
+ cus: r.cus,
123
+ sqrtA: r.sqrtA,
124
+ cic: r.cic,
125
+ omega0: r.omega0,
126
+ cis: r.cis,
127
+ i0: r.i0,
128
+ crc: r.crc,
129
+ omega: r.omega,
130
+ omegaDot: r.omegaDot,
131
+ idot: r.idot,
132
+ tgd: r.tgd
133
+ };
134
+ }
135
+ function decodeGpsEphemeris(view, base) {
136
+ const r = readKepler(view, base);
137
+ if (r.svid < 1 || r.svid > 32) return null;
138
+ const tocMs = gpsMs(r.week, r.tocSec);
105
139
  return {
106
140
  system: "G",
107
- prn: `G${String(prn).padStart(2, "0")}`,
108
- toc: sowOf(gpsMs(week, toc)),
109
- tocDate: new Date(gpsMs(week, toc)),
110
- af0,
111
- af1,
112
- af2,
113
- iode,
114
- crs,
115
- deltaN,
116
- m0,
117
- cuc,
118
- e,
119
- cus,
120
- sqrtA,
121
- toe,
122
- cic,
123
- omega0,
124
- cis,
125
- i0,
126
- crc,
127
- omega,
128
- omegaDot,
129
- idot,
130
- week,
131
- svHealth: flags >>> 4 & 127,
132
- tgd
141
+ prn: `G${String(r.svid).padStart(2, "0")}`,
142
+ toc: sowOf(tocMs),
143
+ tocDate: new Date(tocMs),
144
+ toe: r.toeSec,
145
+ week: r.week,
146
+ svHealth: r.flags >>> 4 & 127,
147
+ ...keplerCommon(r)
148
+ };
149
+ }
150
+ function decodeBdsEphemeris(view, base) {
151
+ const r = readKepler(view, base);
152
+ if (r.svid < 1 || r.svid > 63) return null;
153
+ const bdsWeek = r.week - BDS_WEEK_OFFSET;
154
+ const tocSec = r.tocSec - BDS_LEAP_SEC;
155
+ const toeSec = r.toeSec - BDS_LEAP_SEC;
156
+ const tocDate = new Date(
157
+ BDT_EPOCH_MS + bdsWeek * MS_PER_WEEK + tocSec * 1e3
158
+ );
159
+ return {
160
+ system: "C",
161
+ prn: `C${String(r.svid).padStart(2, "0")}`,
162
+ toc: sowOf(tocDate.getTime()),
163
+ tocDate,
164
+ toe: toeSec,
165
+ week: bdsWeek,
166
+ // Health from the same flags nibble as GPS (0 = healthy for the observed
167
+ // operational BeiDou sats); flags bit 0 is a set-on-all format marker,
168
+ // not SatH1, so it must not be used here.
169
+ svHealth: r.flags >>> 4 & 127,
170
+ ...keplerCommon(r)
133
171
  };
134
172
  }
135
173
  function parseTrimbleNav(data) {
@@ -144,13 +182,13 @@ function parseTrimbleNav(data) {
144
182
  if (f.type !== RETSVDATA) continue;
145
183
  const sub = data[f.payload];
146
184
  retsvCounts[sub] = (retsvCounts[sub] ?? 0) + 1;
147
- if (sub === SUB_GPS_EPHEMERIS && f.len >= 178) {
148
- const eph = decodeGpsEphemeris(data, view, f.start);
185
+ if ((sub === SUB_GPS_EPHEMERIS || sub === SUB_BDS_EPHEMERIS) && f.len >= 176) {
186
+ const eph = sub === SUB_GPS_EPHEMERIS ? decodeGpsEphemeris(view, f.start) : decodeBdsEphemeris(view, f.start);
149
187
  if (!eph) continue;
150
188
  if (lastIode.get(eph.prn) === eph.iode) continue;
151
189
  lastIode.set(eph.prn, eph.iode);
152
190
  ephemerides.push(eph);
153
- } else if (sub === SUB_ION_UTC && f.len >= 125) {
191
+ } else if (sub === SUB_ION_UTC && f.len >= 102) {
154
192
  const p = f.start;
155
193
  const alpha = [];
156
194
  const beta = [];
package/dist/trimble.d.cts CHANGED
@@ -25,23 +25,25 @@ declare function trimbleFrames(data: Uint8Array, stats: {
25
25
 
26
26
  /**
27
27
  * Trimble RT17/RT27 navigation-message decoding: RETSVDATA (0x55)
28
- * GPS ephemeris (subtype 1) and ION / UTC data (subtype 3).
28
+ * GPS ephemeris (subtype 1), BeiDou ephemeris (subtype 21) and ION / UTC
29
+ * data (subtype 3).
29
30
  *
30
- * Ported field-for-field from RTKLIB's `src/rcv/rt17.c`
31
+ * The GPS path is ported field-for-field from RTKLIB's `src/rcv/rt17.c`
31
32
  * (`decode_gps_ephemeris` / `decode_ion_utc_data`, tomojitakasu/RTKLIB,
32
33
  * Copyright (C) 2014 D. A. Cook / T. Takasu, BSD-2-Clause). All scalar
33
34
  * fields are big-endian; the semicircle angular/harmonic fields are
34
- * scaled by π to radians, exactly as RTKLIB does.
35
+ * scaled by π to radians, exactly as RTKLIB does. BeiDou (subtype 21)
36
+ * reuses the identical 176-byte Keplerian struct — established from a
37
+ * real DLF100NLD1 capture (√a ≈ 5282.6 m^½ ⇒ BeiDou MEO, i₀ ≈ 55°) — with
38
+ * the GPS→BDT time-scale conversion (week − 1356, SOW − 14 s) applied so
39
+ * the record matches `parseSbfNav`'s BDSNav output.
35
40
  *
36
41
  * Output records mirror what `parseNavFile` produces for the equivalent
37
- * RINEX 3 GPS navigation record and match the NovAtel/SBF ephemeris
38
- * paths (Keplerian `tocDate` a GPS-scale Date, angles in radians).
42
+ * RINEX 3 navigation record and match the NovAtel/SBF ephemeris paths
43
+ * (GPS: GPS-scale `tocDate`; BeiDou: naive-BDT `tocDate`; angles in rad).
39
44
  *
40
- * RTKLIB decodes only these two RETSVDATA subtypes; the GLONASS,
41
- * Galileo, BeiDou and QZSS ephemeris/almanac subtypes are not handled
42
- * here (see the module note in the package README / decoder report).
43
- * This path is validated against synthetic records only: the DLF100
44
- * ALLOY capture carried GLONASS/BeiDou subtypes but no GPS ephemeris.
45
+ * Still not decoded: the GLONASS/Galileo/QZSS ephemeris and almanac
46
+ * subtypes (RETSVDATA 9/11/13/23/27 on this stream).
45
47
  */
46
48
 
47
49
  interface TrimbleNavResult {
package/dist/trimble.d.ts CHANGED
@@ -25,23 +25,25 @@ declare function trimbleFrames(data: Uint8Array, stats: {
25
25
 
26
26
  /**
27
27
  * Trimble RT17/RT27 navigation-message decoding: RETSVDATA (0x55)
28
- * GPS ephemeris (subtype 1) and ION / UTC data (subtype 3).
28
+ * GPS ephemeris (subtype 1), BeiDou ephemeris (subtype 21) and ION / UTC
29
+ * data (subtype 3).
29
30
  *
30
- * Ported field-for-field from RTKLIB's `src/rcv/rt17.c`
31
+ * The GPS path is ported field-for-field from RTKLIB's `src/rcv/rt17.c`
31
32
  * (`decode_gps_ephemeris` / `decode_ion_utc_data`, tomojitakasu/RTKLIB,
32
33
  * Copyright (C) 2014 D. A. Cook / T. Takasu, BSD-2-Clause). All scalar
33
34
  * fields are big-endian; the semicircle angular/harmonic fields are
34
- * scaled by π to radians, exactly as RTKLIB does.
35
+ * scaled by π to radians, exactly as RTKLIB does. BeiDou (subtype 21)
36
+ * reuses the identical 176-byte Keplerian struct — established from a
37
+ * real DLF100NLD1 capture (√a ≈ 5282.6 m^½ ⇒ BeiDou MEO, i₀ ≈ 55°) — with
38
+ * the GPS→BDT time-scale conversion (week − 1356, SOW − 14 s) applied so
39
+ * the record matches `parseSbfNav`'s BDSNav output.
35
40
  *
36
41
  * Output records mirror what `parseNavFile` produces for the equivalent
37
- * RINEX 3 GPS navigation record and match the NovAtel/SBF ephemeris
38
- * paths (Keplerian `tocDate` a GPS-scale Date, angles in radians).
42
+ * RINEX 3 navigation record and match the NovAtel/SBF ephemeris paths
43
+ * (GPS: GPS-scale `tocDate`; BeiDou: naive-BDT `tocDate`; angles in rad).
39
44
  *
40
- * RTKLIB decodes only these two RETSVDATA subtypes; the GLONASS,
41
- * Galileo, BeiDou and QZSS ephemeris/almanac subtypes are not handled
42
- * here (see the module note in the package README / decoder report).
43
- * This path is validated against synthetic records only: the DLF100
44
- * ALLOY capture carried GLONASS/BeiDou subtypes but no GPS ephemeris.
45
+ * Still not decoded: the GLONASS/Galileo/QZSS ephemeris and almanac
46
+ * subtypes (RETSVDATA 9/11/13/23/27 on this stream).
45
47
  */
46
48
 
47
49
  interface TrimbleNavResult {
package/dist/trimble.js CHANGED
@@ -2,7 +2,7 @@ import {
2
2
  parseTrimble,
3
3
  parseTrimbleNav,
4
4
  trimbleFrames
5
- } from "./chunk-CKRNXZHT.js";
5
+ } from "./chunk-J2E2IKJR.js";
6
6
  export {
7
7
  parseTrimble,
8
8
  parseTrimbleNav,
package/package.json CHANGED
@@ -1,6 +1,6 @@
1
1
  {
2
2
  "name": "gnss-js",
3
- "version": "1.38.0",
3
+ "version": "1.40.0",
4
4
  "description": "Comprehensive GNSS library for JavaScript — time scales, coordinates, RINEX parsing, RTCM3 decoding, orbit computation, and signal analysis",
5
5
  "type": "module",
6
6
  "sideEffects": false,