gnss-js 1.41.0 → 1.43.0

package/dist/{chunk-EPATQ3LT.js → chunk-4ER3NBP3.js}

@@ -55,6 +55,7 @@ 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_GAL_EPHEMERIS = 11;
 var SUB_BDS_EPHEMERIS = 21;
 function readKepler(view, base) {
   return {
@@ -147,6 +148,46 @@ function decodeBdsEphemeris(view, base) {
     ...keplerCommon(r)
   };
 }
+function decodeGalEphemeris(view, base) {
+  const svid = view.getUint8(base + 5);
+  if (svid < 1 || svid > 36) return null;
+  const g = (o) => view.getFloat64(base + o, false);
+  const week = view.getUint16(base + 7, false);
+  const toe = view.getUint32(base + 9, false);
+  const tocMs = gpsMs(week, toe);
+  return {
+    system: "E",
+    prn: `E${String(svid).padStart(2, "0")}`,
+    toc: sowOf(tocMs),
+    tocDate: new Date(tocMs),
+    toe,
+    week,
+    iode: view.getUint16(base + 13, false),
+    // IODnav
+    af0: g(146),
+    af1: g(154),
+    af2: g(162),
+    crs: g(19),
+    deltaN: g(27) * GPS_PI,
+    m0: g(35) * GPS_PI,
+    cuc: g(43) * GPS_PI,
+    e: g(51),
+    cus: g(59) * GPS_PI,
+    sqrtA: g(67),
+    cic: g(75) * GPS_PI,
+    omega0: g(83) * GPS_PI,
+    cis: g(91) * GPS_PI,
+    i0: g(99) * GPS_PI,
+    crc: g(107),
+    omega: g(115) * GPS_PI,
+    omegaDot: g(123) * GPS_PI,
+    idot: g(131) * GPS_PI,
+    svHealth: 0,
+    // Galileo SISA/health word not located; observed sats healthy
+    tgd: g(179)
+    // BGD E5a/E1 (the RINEX Galileo tgd slot)
+  };
+}
 function decodeGloEphemeris(view, base) {
   const slot = view.getUint8(base + 5);
   if (slot < 1 || slot > 24) return null;
@@ -197,6 +238,12 @@ function parseTrimbleNav(data) {
       if (lastIode.get(eph.prn) === eph.iode) continue;
       lastIode.set(eph.prn, eph.iode);
       ephemerides.push(eph);
+    } else if (sub === SUB_GAL_EPHEMERIS && f.len >= 183) {
+      const eph = decodeGalEphemeris(view, f.start);
+      if (!eph) continue;
+      if (lastIode.get(eph.prn) === eph.iode) continue;
+      lastIode.set(eph.prn, eph.iode);
+      ephemerides.push(eph);
     } else if (sub === SUB_ION_UTC && f.len >= 102) {
       const p = f.start;
       const alpha = [];

package/dist/{chunk-4TAN27LO.js → chunk-6EZUM2MB.js}

@@ -4,10 +4,12 @@ import {
   GalInavAssembler,
   GloStringAssembler,
   bdsSubframeParityOk,
+  decodeSbasGeoNav,
   galFnavPageCrcOk,
   galInavPageCrcOk,
+  sbasCrcOk,
   testGloString
-} from "./chunk-FA2UTLEQ.js";
+} from "./chunk-QV3XGDUU.js";
 import {
   geodeticToEcef
 } from "./chunk-37QNKGTC.js";
@@ -700,6 +702,49 @@ function parseSbfGloNav(data) {
   return { ephemerides, badCrc, messages };
 }
 
+// src/sbf/rawnav-sbas.ts
+function feedGeoBlock(view, b) {
+  const tow = view.getUint32(b + 8, true);
+  const wnc = view.getUint16(b + 12, true);
+  const svid = view.getUint8(b + 14);
+  const prnStr = svidToPrn(svid);
+  if (!prnStr || prnStr[0] !== "S") return {};
+  const msg = new Uint8Array(32);
+  for (let k = 0; k < 8; 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 (!sbasCrcOk(msg)) return { badCrc: true };
+  const prn = Number(prnStr.slice(1)) + 100;
+  const eph = decodeSbasGeoNav(msg, prn, wnc, tow / 1e3);
+  return eph ? { eph } : {};
+}
+function parseSbfGeoNav(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const ephemerides = [];
+  const seen = /* @__PURE__ */ new Set();
+  let badCrc = 0;
+  let messages = 0;
+  scanSbfFrames(data, view, (id, b, len) => {
+    if (id !== 4020 || len < 52) return;
+    messages++;
+    const r = feedGeoBlock(view, b);
+    if (r.eph) {
+      const key = `${r.eph.prn}|${r.eph.tocDate.getTime()}`;
+      if (!seen.has(key)) {
+        seen.add(key);
+        ephemerides.push(r.eph);
+      }
+    } else if (r.badCrc) {
+      badCrc++;
+    }
+  });
+  return { ephemerides, badCrc, messages };
+}
+
 // src/sbf/navigation.ts
 var F4_DNU4 = -2e10;
 function ephKey(e) {
@@ -720,6 +765,7 @@ function decodeSbfNavigation(data) {
     galRaw: 0,
     gloRaw: 0,
     bdsRaw: 0,
+    sbasRaw: 0,
     badFrames: 0
   };
   const cnavAsm = newCnavAssemblers();
@@ -823,6 +869,14 @@ function decodeSbfNavigation(data) {
         else if (r.badCrc) counts.badFrames++;
         return;
       }
+      case 4020: {
+        if (len < 52) return;
+        counts.sbasRaw++;
+        const r = feedGeoBlock(view, b);
+        if (r.eph) addEph(r.eph);
+        else if (r.badCrc) counts.badFrames++;
+        return;
+      }
       /* ---- iono / UTC ---- */
       case 5893:
       // GPSIon
@@ -2053,6 +2107,8 @@ export {
   parseSbfGalNav,
   parseSbfBdsNav,
   parseSbfGloNav,
+  feedGeoBlock,
+  parseSbfGeoNav,
   decodeSbfNavigation,
   parseSbfHas,
   parseSbfMeas

package/dist/{chunk-FA2UTLEQ.js → chunk-QV3XGDUU.js}

@@ -759,6 +759,49 @@ var GloStringAssembler = class {
   }
 };
 
+// src/navbits/sbas.ts
+var GPS_EPOCH_MS3 = Date.UTC(1980, 0, 6);
+var MS_PER_WEEK2 = 7 * 86400 * 1e3;
+var two2 = (n) => String(n).padStart(2, "0");
+var SBAS_MT_GEO_NAV = 9;
+function sbasMessageType(msg) {
+  return getBitU(msg, 8, 6);
+}
+function sbasCrcOk(msg) {
+  if (msg.length < 32) return false;
+  return crc24q(msg, 226) === getBitU(msg, 226, 24);
+}
+function decodeSbasGeoNav(msg, prn, week, tow) {
+  if (prn < 120 || prn > 158) return null;
+  if (sbasMessageType(msg) !== SBAS_MT_GEO_NAV) return null;
+  let t = getBitU(msg, 22, 13) * 16 - tow % 86400;
+  if (t <= -43200) t += 86400;
+  else if (t > 43200) t -= 86400;
+  const t0Sec = tow + t;
+  const ura = getBitU(msg, 35, 4);
+  return {
+    system: "S",
+    prn: `S${two2(prn - 100)}`,
+    tocDate: new Date(GPS_EPOCH_MS3 + week * MS_PER_WEEK2 + t0Sec * 1e3),
+    tauN: getBitS(msg, 206, 12) * 2 ** -31,
+    // a_Gf0, clock offset (s)
+    gammaN: getBitS(msg, 218, 8) * 2 ** -39 / 2,
+    // a_Gf1, clock drift (s/s)
+    messageFrameTime: (tow % 86400 + 86400) % 86400,
+    x: getBitS(msg, 39, 30) * 0.08 / 1e3,
+    y: getBitS(msg, 69, 30) * 0.08 / 1e3,
+    z: getBitS(msg, 99, 25) * 0.4 / 1e3,
+    xDot: getBitS(msg, 124, 17) * 625e-6 / 1e3,
+    yDot: getBitS(msg, 141, 17) * 625e-6 / 1e3,
+    zDot: getBitS(msg, 158, 18) * 4e-3 / 1e3,
+    xAcc: getBitS(msg, 176, 10) * 125e-7 / 1e3,
+    yAcc: getBitS(msg, 186, 10) * 125e-7 / 1e3,
+    zAcc: getBitS(msg, 196, 10) * 625e-7 / 1e3,
+    health: ura === 15 ? 1 : 0,
+    freqNum: 0
+  };
+}
+
 export {
   bdsSubframeParityOk,
   BdsAssembler,
@@ -767,5 +810,7 @@ export {
   GalInavAssembler,
   GalFnavAssembler,
   testGloString,
-  GloStringAssembler
+  GloStringAssembler,
+  sbasCrcOk,
+  decodeSbasGeoNav
 };

package/dist/{chunk-ZQDLYLQA.js → chunk-Z5VLTH33.js}

@@ -3,9 +3,11 @@ import {
   GalInavAssembler,
   GloStringAssembler,
   bdsSubframeParityOk,
+  decodeSbasGeoNav,
   galInavPageCrcOk,
+  sbasCrcOk,
   testGloString
-} from "./chunk-FA2UTLEQ.js";
+} from "./chunk-QV3XGDUU.js";
 import {
   CnavAssembler,
   cnavCrcOk
@@ -178,12 +180,15 @@ var two = (n) => String(n).padStart(2, "0");
 function parseUbxRawNav(data, opts = {}) {
   const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
   const ephemerides = [];
-  const counts = { gal: 0, bds: 0, glo: 0 };
+  const counts = { gal: 0, bds: 0, glo: 0, sbas: 0 };
   let badParity = 0;
   const inav = new GalInavAssembler();
   const bds = new BdsAssembler();
   const glo = new GloStringAssembler();
   let refDate = null;
+  let refWeek = 0;
+  let refTow = 0;
+  const sbasSeen = /* @__PURE__ */ new Set();
   for (const f of ubxFrames(data)) {
     if (f.msgClass !== 2) continue;
     if (f.msgId === 21 && f.payload.length >= 16) {
@@ -194,6 +199,8 @@ function parseUbxRawNav(data, opts = {}) {
         refDate = new Date(
           GPS_EPOCH_MS + (week * SEC_PER_WEEK + rcvTow) * 1e3
         );
+        refWeek = week;
+        refTow = rcvTow;
       }
       continue;
     }
@@ -266,6 +273,31 @@ function parseUbxRawNav(data, opts = {}) {
       if (!refDate) continue;
       const eph = glo.push(`R${two(svId)}`, str, refDate, p[3] - 7);
       if (eph) ephemerides.push(eph);
+    } else if (gnssId === 1) {
+      if (p.length < 8 + 32) continue;
+      counts.sbas++;
+      if (svId < 120 || svId > 158) continue;
+      const msg = new Uint8Array(32);
+      for (let k = 0; k < 8; k++) {
+        const w = view.getUint32(base + 4 * k, true);
+        msg[4 * k] = w >>> 24;
+        msg[4 * k + 1] = w >>> 16 & 255;
+        msg[4 * k + 2] = w >>> 8 & 255;
+        msg[4 * k + 3] = w & 255;
+      }
+      if (!sbasCrcOk(msg)) {
+        badParity++;
+        continue;
+      }
+      if (refWeek === 0) continue;
+      const eph = decodeSbasGeoNav(msg, svId, refWeek, refTow);
+      if (eph) {
+        const key = `${eph.prn}@${eph.tocDate.getTime()}`;
+        if (!sbasSeen.has(key)) {
+          sbasSeen.add(key);
+          ephemerides.push(eph);
+        }
+      }
     }
   }
   return { ephemerides, counts, badParity };