gnss-js 1.40.0 → 1.41.0

package/dist/{chunk-J2E2IKJR.js → chunk-EPATQ3LT.js}

@@ -1,3 +1,7 @@
+import {
+  getGpsLeap
+} from "./chunk-HVXYFUCB.js";
+
 // src/trimble/frame.ts
 var STX = 2;
 var ETX = 3;
@@ -50,6 +54,7 @@ var gpsMs = (week, sec) => GPS_EPOCH_MS + week * MS_PER_WEEK + sec * 1e3;
 var sowOf = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK;
 var SUB_GPS_EPHEMERIS = 1;
 var SUB_ION_UTC = 3;
+var SUB_GLO_EPHEMERIS = 9;
 var SUB_BDS_EPHEMERIS = 21;
 function readKepler(view, base) {
   return {
@@ -142,6 +147,38 @@ function decodeBdsEphemeris(view, base) {
     ...keplerCommon(r)
   };
 }
+function decodeGloEphemeris(view, base) {
+  const slot = view.getUint8(base + 5);
+  if (slot < 1 || slot > 24) return null;
+  const week = view.getUint16(base + 6, false);
+  const tow = view.getUint32(base + 8, false);
+  const gpsTimeMs = gpsMs(week, tow);
+  const leapMs = getGpsLeap(new Date(gpsTimeMs)) * 1e3;
+  const tocMs = gpsTimeMs - leapMs;
+  return {
+    system: "R",
+    prn: `R${String(slot).padStart(2, "0")}`,
+    tocDate: new Date(tocMs),
+    // RINEX stores −τn as the clock bias; the record carries τn (ICD sign).
+    tauN: -view.getFloat64(base + 113, false),
+    gammaN: view.getFloat64(base + 121, false),
+    messageFrameTime: (tocMs - GPS_EPOCH_MS) / 1e3 % SEC_PER_WEEK,
+    // State vector: metres / m·s⁻¹ / m·s⁻² → km / km·s⁻¹ / km·s⁻².
+    x: view.getFloat64(base + 33, false) / 1e3,
+    xDot: view.getFloat64(base + 41, false) / 1e3,
+    xAcc: view.getFloat64(base + 49, false) / 1e3,
+    y: view.getFloat64(base + 57, false) / 1e3,
+    yDot: view.getFloat64(base + 65, false) / 1e3,
+    yAcc: view.getFloat64(base + 73, false) / 1e3,
+    z: view.getFloat64(base + 81, false) / 1e3,
+    zDot: view.getFloat64(base + 89, false) / 1e3,
+    zAcc: view.getFloat64(base + 97, false) / 1e3,
+    health: 0,
+    // Bn health bit not located; observed sats are operational
+    freqNum: view.getInt8(base + 29)
+    // FCN, signed byte (−7…+6)
+  };
+}
 function parseTrimbleNav(data) {
   const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
   const stats = { badChecksum: 0 };
@@ -171,6 +208,13 @@ function parseTrimbleNav(data) {
       ionoCorrections["GPSA"] = alpha;
       ionoCorrections["GPSB"] = beta;
       leapSeconds = Math.trunc(view.getFloat64(p + 94, false));
+    } else if (sub === SUB_GLO_EPHEMERIS && f.len >= 125) {
+      const eph = decodeGloEphemeris(view, f.start);
+      if (!eph) continue;
+      const key = eph.tocDate.getTime();
+      if (lastIode.get(eph.prn) === key) continue;
+      lastIode.set(eph.prn, key);
+      ephemerides.push(eph);
     }
   }
   return {

package/dist/index.cjs

@@ -9600,6 +9600,7 @@ var gpsMs3 = (week, sec) => GPS_EPOCH_MS14 + week * MS_PER_WEEK9 + sec * 1e3;
 var sowOf4 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK10;
 var SUB_GPS_EPHEMERIS = 1;
 var SUB_ION_UTC = 3;
+var SUB_GLO_EPHEMERIS = 9;
 var SUB_BDS_EPHEMERIS = 21;
 function readKepler(view, base) {
   return {
@@ -9692,6 +9693,38 @@ function decodeBdsEphemeris3(view, base) {
     ...keplerCommon(r)
   };
 }
+function decodeGloEphemeris2(view, base) {
+  const slot = view.getUint8(base + 5);
+  if (slot < 1 || slot > 24) return null;
+  const week = view.getUint16(base + 6, false);
+  const tow = view.getUint32(base + 8, false);
+  const gpsTimeMs = gpsMs3(week, tow);
+  const leapMs = getGpsLeap(new Date(gpsTimeMs)) * 1e3;
+  const tocMs = gpsTimeMs - leapMs;
+  return {
+    system: "R",
+    prn: `R${String(slot).padStart(2, "0")}`,
+    tocDate: new Date(tocMs),
+    // RINEX stores −τn as the clock bias; the record carries τn (ICD sign).
+    tauN: -view.getFloat64(base + 113, false),
+    gammaN: view.getFloat64(base + 121, false),
+    messageFrameTime: (tocMs - GPS_EPOCH_MS14) / 1e3 % SEC_PER_WEEK10,
+    // State vector: metres / m·s⁻¹ / m·s⁻² → km / km·s⁻¹ / km·s⁻².
+    x: view.getFloat64(base + 33, false) / 1e3,
+    xDot: view.getFloat64(base + 41, false) / 1e3,
+    xAcc: view.getFloat64(base + 49, false) / 1e3,
+    y: view.getFloat64(base + 57, false) / 1e3,
+    yDot: view.getFloat64(base + 65, false) / 1e3,
+    yAcc: view.getFloat64(base + 73, false) / 1e3,
+    z: view.getFloat64(base + 81, false) / 1e3,
+    zDot: view.getFloat64(base + 89, false) / 1e3,
+    zAcc: view.getFloat64(base + 97, false) / 1e3,
+    health: 0,
+    // Bn health bit not located; observed sats are operational
+    freqNum: view.getInt8(base + 29)
+    // FCN, signed byte (−7…+6)
+  };
+}
 function parseTrimbleNav(data) {
   const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
   const stats = { badChecksum: 0 };
@@ -9721,6 +9754,13 @@ function parseTrimbleNav(data) {
       ionoCorrections["GPSA"] = alpha;
       ionoCorrections["GPSB"] = beta;
       leapSeconds = Math.trunc(view.getFloat64(p + 94, false));
+    } else if (sub === SUB_GLO_EPHEMERIS && f.len >= 125) {
+      const eph = decodeGloEphemeris2(view, f.start);
+      if (!eph) continue;
+      const key = eph.tocDate.getTime();
+      if (lastIode.get(eph.prn) === key) continue;
+      lastIode.set(eph.prn, key);
+      ephemerides.push(eph);
     }
   }
   return {

package/dist/index.js

@@ -79,7 +79,7 @@ import {
   parseTrimble,
   parseTrimbleNav,
   trimbleFrames
-} from "./chunk-J2E2IKJR.js";
+} from "./chunk-EPATQ3LT.js";
 import {
   binexCrc16,
   binexCrc32,

package/dist/trimble.cjs

@@ -66,6 +66,93 @@ function* trimbleFrames(data, stats) {
   }
 }
 
+// src/constants/time.ts
+var MILLISECONDS_IN_SECOND = 1e3;
+var MILLISECONDS_GPS_TAI = 19e3;
+var START_NTP_TIME = /* @__PURE__ */ new Date("1900-01-01T00:00:00Z");
+
+// src/time/gnss.ts
+function getTaiDate(date) {
+  return new Date(date.getTime() + MILLISECONDS_GPS_TAI);
+}
+function getNtpTime(date) {
+  return getTaiDate(date).getTime() - START_NTP_TIME.getTime();
+}
+
+// src/time/utc.ts
+var LEAP_SECONDS_TABLE = [
+  [3692217600, 37],
+  // 1 Jan 2017
+  [3644697600, 36],
+  // 1 Jul 2015
+  [3550089600, 35],
+  // 1 Jul 2012
+  [3439756800, 34],
+  // 1 Jan 2009
+  [3345062400, 33],
+  // 1 Jan 2006
+  [3124137600, 32],
+  // 1 Jan 1999
+  [3076704e3, 31],
+  // 1 Jul 1997
+  [3029443200, 30],
+  // 1 Jan 1996
+  [2982009600, 29],
+  // 1 Jul 1994
+  [2950473600, 28],
+  // 1 Jul 1993
+  [2918937600, 27],
+  // 1 Jul 1992
+  [2871676800, 26],
+  // 1 Jan 1991
+  [2840140800, 25],
+  // 1 Jan 1990
+  [2776982400, 24],
+  // 1 Jan 1988
+  [2698012800, 23],
+  // 1 Jul 1985
+  [2634854400, 22],
+  // 1 Jul 1983
+  [2603318400, 21],
+  // 1 Jul 1982
+  [2571782400, 20],
+  // 1 Jul 1981
+  [2524521600, 19],
+  // 1 Jan 1980
+  [2492985600, 18],
+  // 1 Jan 1979
+  [2461449600, 17],
+  // 1 Jan 1978
+  [2429913600, 16],
+  // 1 Jan 1977
+  [2398291200, 15],
+  // 1 Jan 1976
+  [2366755200, 14],
+  // 1 Jan 1975
+  [2335219200, 13],
+  // 1 Jan 1974
+  [2303683200, 12],
+  // 1 Jan 1973
+  [2287785600, 11],
+  // 1 Jul 1972
+  [2272060800, 10]
+  // 1 Jan 1972
+];
+function getLeap(date) {
+  const ntp_time = getNtpTime(date);
+  for (const [timestamp, leapSeconds] of LEAP_SECONDS_TABLE) {
+    if (ntp_time / MILLISECONDS_IN_SECOND - leapSeconds >= timestamp) {
+      return leapSeconds;
+    }
+  }
+  return 8;
+}
+function getGpsLeap(date) {
+  const leap_seconds = getLeap(date);
+  if (leap_seconds < 0) return 0;
+  return leap_seconds - 19;
+}
+
 // src/trimble/nav.ts
 var GPS_EPOCH_MS = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS = Date.UTC(2006, 0, 1);
@@ -78,6 +165,7 @@ var gpsMs = (week, sec) => GPS_EPOCH_MS + week * MS_PER_WEEK + sec * 1e3;
 var sowOf = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK;
 var SUB_GPS_EPHEMERIS = 1;
 var SUB_ION_UTC = 3;
+var SUB_GLO_EPHEMERIS = 9;
 var SUB_BDS_EPHEMERIS = 21;
 function readKepler(view, base) {
   return {
@@ -170,6 +258,38 @@ function decodeBdsEphemeris(view, base) {
     ...keplerCommon(r)
   };
 }
+function decodeGloEphemeris(view, base) {
+  const slot = view.getUint8(base + 5);
+  if (slot < 1 || slot > 24) return null;
+  const week = view.getUint16(base + 6, false);
+  const tow = view.getUint32(base + 8, false);
+  const gpsTimeMs = gpsMs(week, tow);
+  const leapMs = getGpsLeap(new Date(gpsTimeMs)) * 1e3;
+  const tocMs = gpsTimeMs - leapMs;
+  return {
+    system: "R",
+    prn: `R${String(slot).padStart(2, "0")}`,
+    tocDate: new Date(tocMs),
+    // RINEX stores −τn as the clock bias; the record carries τn (ICD sign).
+    tauN: -view.getFloat64(base + 113, false),
+    gammaN: view.getFloat64(base + 121, false),
+    messageFrameTime: (tocMs - GPS_EPOCH_MS) / 1e3 % SEC_PER_WEEK,
+    // State vector: metres / m·s⁻¹ / m·s⁻² → km / km·s⁻¹ / km·s⁻².
+    x: view.getFloat64(base + 33, false) / 1e3,
+    xDot: view.getFloat64(base + 41, false) / 1e3,
+    xAcc: view.getFloat64(base + 49, false) / 1e3,
+    y: view.getFloat64(base + 57, false) / 1e3,
+    yDot: view.getFloat64(base + 65, false) / 1e3,
+    yAcc: view.getFloat64(base + 73, false) / 1e3,
+    z: view.getFloat64(base + 81, false) / 1e3,
+    zDot: view.getFloat64(base + 89, false) / 1e3,
+    zAcc: view.getFloat64(base + 97, false) / 1e3,
+    health: 0,
+    // Bn health bit not located; observed sats are operational
+    freqNum: view.getInt8(base + 29)
+    // FCN, signed byte (−7…+6)
+  };
+}
 function parseTrimbleNav(data) {
   const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
   const stats = { badChecksum: 0 };
@@ -199,6 +319,13 @@ function parseTrimbleNav(data) {
       ionoCorrections["GPSA"] = alpha;
       ionoCorrections["GPSB"] = beta;
       leapSeconds = Math.trunc(view.getFloat64(p + 94, false));
+    } else if (sub === SUB_GLO_EPHEMERIS && f.len >= 125) {
+      const eph = decodeGloEphemeris(view, f.start);
+      if (!eph) continue;
+      const key = eph.tocDate.getTime();
+      if (lastIode.get(eph.prn) === key) continue;
+      lastIode.set(eph.prn, key);
+      ephemerides.push(eph);
     }
   }
   return {

package/dist/trimble.d.cts

@@ -25,8 +25,8 @@ declare function trimbleFrames(data: Uint8Array, stats: {
 
 /**
  * Trimble RT17/RT27 navigation-message decoding: RETSVDATA (0x55)
- * GPS ephemeris (subtype 1), BeiDou ephemeris (subtype 21) and ION / UTC
- * data (subtype 3).
+ * GPS ephemeris (subtype 1), GLONASS ephemeris (subtype 9), BeiDou
+ * ephemeris (subtype 21) and ION / UTC data (subtype 3).
  *
  * The GPS path is ported field-for-field from RTKLIB's `src/rcv/rt17.c`
  * (`decode_gps_ephemeris` / `decode_ion_utc_data`, tomojitakasu/RTKLIB,
@@ -42,8 +42,12 @@ declare function trimbleFrames(data: Uint8Array, stats: {
  * RINEX 3 navigation record and match the NovAtel/SBF ephemeris paths
  * (GPS: GPS-scale `tocDate`; BeiDou: naive-BDT `tocDate`; angles in rad).
  *
- * Still not decoded: the GLONASS/Galileo/QZSS ephemeris and almanac
- * subtypes (RETSVDATA 9/11/13/23/27 on this stream).
+ * The subtype→constellation map is confirmed by RTKLIB's rt17.c
+ * RETSVDATA table (st[]: 1 = GPS Eph, 9 = GLONASS Eph, 11 = Galileo Eph,
+ * 21 = BeiDou Eph) — but RTKLIB only *decodes* subtypes 1 and 3, so the
+ * GLONASS/BeiDou field layouts here were reverse-engineered and validated
+ * against physics + the 2026-07-27 BRDC. Still not decoded: Galileo
+ * (subtype 11) and the QZSS/almanac subtypes (13/23/27 on this stream).
  */
 
 interface TrimbleNavResult {
@@ -62,9 +66,10 @@ interface TrimbleNavResult {
     badChecksum: number;
 }
 /**
- * Decode every RETSVDATA navigation message (GPS ephemeris, ION/UTC) in
- * a Trimble binary byte stream. Repeated broadcasts of an unchanged GPS
- * ephemeris are suppressed by issue of data (IODE), as RTKLIB does.
+ * Decode every RETSVDATA navigation message (GPS/BeiDou/GLONASS
+ * ephemeris, ION/UTC) in a Trimble binary byte stream. Repeated
+ * broadcasts of an unchanged ephemeris are suppressed by issue of data
+ * (Keplerian) / reference epoch (GLONASS), as RTKLIB does.
  */
 declare function parseTrimbleNav(data: Uint8Array): TrimbleNavResult;
 

package/dist/trimble.d.ts

@@ -25,8 +25,8 @@ declare function trimbleFrames(data: Uint8Array, stats: {
 
 /**
  * Trimble RT17/RT27 navigation-message decoding: RETSVDATA (0x55)
- * GPS ephemeris (subtype 1), BeiDou ephemeris (subtype 21) and ION / UTC
- * data (subtype 3).
+ * GPS ephemeris (subtype 1), GLONASS ephemeris (subtype 9), BeiDou
+ * ephemeris (subtype 21) and ION / UTC data (subtype 3).
  *
  * The GPS path is ported field-for-field from RTKLIB's `src/rcv/rt17.c`
  * (`decode_gps_ephemeris` / `decode_ion_utc_data`, tomojitakasu/RTKLIB,
@@ -42,8 +42,12 @@ declare function trimbleFrames(data: Uint8Array, stats: {
  * RINEX 3 navigation record and match the NovAtel/SBF ephemeris paths
  * (GPS: GPS-scale `tocDate`; BeiDou: naive-BDT `tocDate`; angles in rad).
  *
- * Still not decoded: the GLONASS/Galileo/QZSS ephemeris and almanac
- * subtypes (RETSVDATA 9/11/13/23/27 on this stream).
+ * The subtype→constellation map is confirmed by RTKLIB's rt17.c
+ * RETSVDATA table (st[]: 1 = GPS Eph, 9 = GLONASS Eph, 11 = Galileo Eph,
+ * 21 = BeiDou Eph) — but RTKLIB only *decodes* subtypes 1 and 3, so the
+ * GLONASS/BeiDou field layouts here were reverse-engineered and validated
+ * against physics + the 2026-07-27 BRDC. Still not decoded: Galileo
+ * (subtype 11) and the QZSS/almanac subtypes (13/23/27 on this stream).
  */
 
 interface TrimbleNavResult {
@@ -62,9 +66,10 @@ interface TrimbleNavResult {
     badChecksum: number;
 }
 /**
- * Decode every RETSVDATA navigation message (GPS ephemeris, ION/UTC) in
- * a Trimble binary byte stream. Repeated broadcasts of an unchanged GPS
- * ephemeris are suppressed by issue of data (IODE), as RTKLIB does.
+ * Decode every RETSVDATA navigation message (GPS/BeiDou/GLONASS
+ * ephemeris, ION/UTC) in a Trimble binary byte stream. Repeated
+ * broadcasts of an unchanged ephemeris are suppressed by issue of data
+ * (Keplerian) / reference epoch (GLONASS), as RTKLIB does.
  */
 declare function parseTrimbleNav(data: Uint8Array): TrimbleNavResult;
 

package/dist/trimble.js

@@ -2,7 +2,9 @@ import {
   parseTrimble,
   parseTrimbleNav,
   trimbleFrames
-} from "./chunk-J2E2IKJR.js";
+} from "./chunk-EPATQ3LT.js";
+import "./chunk-HVXYFUCB.js";
+import "./chunk-LEEU5OIO.js";
 export {
   parseTrimble,
   parseTrimbleNav,

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "gnss-js",
-  "version": "1.40.0",
+  "version": "1.41.0",
   "description": "Comprehensive GNSS library for JavaScript — time scales, coordinates, RINEX parsing, RTCM3 decoding, orbit computation, and signal analysis",
   "type": "module",
   "sideEffects": false,