gnss-js 1.42.0 → 1.44.0

package/dist/{chunk-ZQDLYLQA.js → chunk-EQNC24OB.js}

@@ -6,6 +6,10 @@ import {
   galInavPageCrcOk,
   testGloString
 } from "./chunk-FA2UTLEQ.js";
+import {
+  decodeSbasGeoNav,
+  sbasCrcOk
+} from "./chunk-ZIGMN3E5.js";
 import {
   CnavAssembler,
   cnavCrcOk
@@ -178,12 +182,15 @@ 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 +201,8 @@ function parseUbxRawNav(data, opts = {}) {
         refDate = new Date(
           GPS_EPOCH_MS + (week * SEC_PER_WEEK + rcvTow) * 1e3
         );
+        refWeek = week;
+        refTow = rcvTow;
       }
       continue;
     }
@@ -266,6 +275,31 @@ 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 };

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

@@ -8,6 +8,10 @@ import {
   galInavPageCrcOk,
   testGloString
 } from "./chunk-FA2UTLEQ.js";
+import {
+  decodeSbasGeoNav,
+  sbasCrcOk
+} from "./chunk-ZIGMN3E5.js";
 import {
   geodeticToEcef
 } from "./chunk-37QNKGTC.js";
@@ -700,6 +704,49 @@ 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 +767,7 @@ function decodeSbfNavigation(data) {
     galRaw: 0,
     gloRaw: 0,
     bdsRaw: 0,
+    sbasRaw: 0,
     badFrames: 0
   };
   const cnavAsm = newCnavAssemblers();
@@ -823,6 +871,14 @@ 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 +2109,8 @@ export {
   parseSbfGalNav,
   parseSbfBdsNav,
   parseSbfGloNav,
+  feedGeoBlock,
+  parseSbfGeoNav,
   decodeSbfNavigation,
   parseSbfHas,
   parseSbfMeas

package/dist/{chunk-5X4AG4MK.js → chunk-ROVSSEGZ.js}

@@ -1,3 +1,6 @@
+import {
+  decodeSbasGeoNav
+} from "./chunk-ZIGMN3E5.js";
 import {
   CnavAssembler,
   cnavCrcOk
@@ -62,6 +65,8 @@ var ID_GALEPHEMERIS = 1122;
 var ID_QZSSEPHEMERIS = 1336;
 var ID_GPSEPHEM = 7;
 var ID_BDSEPHEMERIS = 1696;
+var ID_RAWWAASFRAME = 287;
+var ID_RAWSBASFRAME = 973;
 var GPS_EPOCH_MS = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS = Date.UTC(2006, 0, 1);
 var SEC_PER_WEEK = 7 * 86400;
@@ -323,6 +328,20 @@ function parseNovatelNav(data) {
       }
       lastGlo.set(eph.prn, eph);
       ephemerides.push(eph);
+    } else if ((frame.id === ID_RAWSBASFRAME || frame.id === ID_RAWWAASFRAME) && frame.msgLen >= 41) {
+      if (frame.week === 0) continue;
+      const p = frame.payload;
+      const prn = view.getUint32(p + 4, true);
+      const msg = new Uint8Array(32);
+      msg.set(data.subarray(p + 12, p + 41));
+      const eph = decodeSbasGeoNav(msg, prn, frame.week, frame.towMs / 1e3);
+      if (!eph) continue;
+      const prev = lastGlo.get(eph.prn);
+      if (prev && Math.abs(prev.tocDate.getTime() - eph.tocDate.getTime()) < 1e3 && prev.health === eph.health) {
+        continue;
+      }
+      lastGlo.set(eph.prn, eph);
+      ephemerides.push(eph);
     }
   }
   return {

package/dist/chunk-ZIGMN3E5.js

@@ -0,0 +1,55 @@
+import {
+  crc24q
+} from "./chunk-YUW33VXK.js";
+import {
+  getBitS,
+  getBitU
+} from "./chunk-V2D5KUKH.js";
+
+// src/navbits/sbas.ts
+var GPS_EPOCH_MS = Date.UTC(1980, 0, 6);
+var MS_PER_WEEK = 7 * 86400 * 1e3;
+var two = (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${two(prn - 100)}`,
+    tocDate: new Date(GPS_EPOCH_MS + week * MS_PER_WEEK + 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 {
+  sbasCrcOk,
+  decodeSbasGeoNav
+};