gnss-js 1.42.0 → 1.44.0

package/dist/index.cjs

@@ -155,6 +155,7 @@ __export(src_exports, {
   estimateWidelaneFcb: () => estimateWidelaneFcb,
   euclidean3D: () => euclidean3D,
   extractWidelaneArcs: () => extractWidelaneArcs,
+  feedGeoBlock: () => feedGeoBlock,
   fetchSourcetable: () => fetchSourcetable,
   findSatBias: () => findSatBias,
   fixPppPosition: () => fixPppPosition,
@@ -260,6 +261,7 @@ __export(src_exports, {
   parseSbfBdsNav: () => parseSbfBdsNav,
   parseSbfCnav: () => parseSbfCnav,
   parseSbfGalNav: () => parseSbfGalNav,
+  parseSbfGeoNav: () => parseSbfGeoNav,
   parseSbfGloNav: () => parseSbfGloNav,
   parseSbfGpsNav: () => parseSbfGpsNav,
   parseSbfHas: () => parseSbfHas,
@@ -6781,19 +6783,65 @@ var GloStringAssembler = class {
   }
 };
 
-// src/ubx/rawnav.ts
+// src/navbits/sbas.ts
 var GPS_EPOCH_MS7 = Date.UTC(1980, 0, 6);
-var SEC_PER_WEEK7 = 7 * 86400;
+var MS_PER_WEEK3 = 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_MS7 + week * MS_PER_WEEK3 + 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
+  };
+}
+
+// src/ubx/rawnav.ts
+var GPS_EPOCH_MS8 = Date.UTC(1980, 0, 6);
+var SEC_PER_WEEK7 = 7 * 86400;
+var two3 = (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) {
@@ -6802,8 +6850,10 @@ function parseUbxRawNav(data, opts = {}) {
       if (week === 0 && opts.refWeek !== void 0) week = opts.refWeek;
       if (week > 0) {
         refDate = new Date(
-          GPS_EPOCH_MS7 + (week * SEC_PER_WEEK7 + rcvTow) * 1e3
+          GPS_EPOCH_MS8 + (week * SEC_PER_WEEK7 + rcvTow) * 1e3
         );
+        refWeek = week;
+        refTow = rcvTow;
       }
       continue;
     }
@@ -6855,7 +6905,7 @@ function parseUbxRawNav(data, opts = {}) {
         badParity++;
         continue;
       }
-      const eph = bds.push(`C${two2(svId)}`, sf);
+      const eph = bds.push(`C${two3(svId)}`, sf);
       if (eph) ephemerides.push(eph);
     } else if (gnssId === 6) {
       if (p.length < 8 + 16) continue;
@@ -6874,16 +6924,41 @@ function parseUbxRawNav(data, opts = {}) {
         continue;
       }
       if (!refDate) continue;
-      const eph = glo.push(`R${two2(svId)}`, str2, refDate, p[3] - 7);
+      const eph = glo.push(`R${two3(svId)}`, str2, refDate, p[3] - 7);
       if (eph) ephemerides.push(eph);
+    } else if (gnssId === 1) {
+      if (p.length < 8 + 32) continue;
+      counts.sbas++;
+      if (svId < 120 || svId > 158) continue;
+      const msg = new Uint8Array(32);
+      for (let k = 0; k < 8; k++) {
+        const w = view.getUint32(base + 4 * k, true);
+        msg[4 * k] = w >>> 24;
+        msg[4 * k + 1] = w >>> 16 & 255;
+        msg[4 * k + 2] = w >>> 8 & 255;
+        msg[4 * k + 3] = w & 255;
+      }
+      if (!sbasCrcOk(msg)) {
+        badParity++;
+        continue;
+      }
+      if (refWeek === 0) continue;
+      const eph = decodeSbasGeoNav(msg, svId, refWeek, refTow);
+      if (eph) {
+        const key = `${eph.prn}@${eph.tocDate.getTime()}`;
+        if (!sbasSeen.has(key)) {
+          sbasSeen.add(key);
+          ephemerides.push(eph);
+        }
+      }
     }
   }
   return { ephemerides, counts, badParity };
 }
 
 // src/ubx/index.ts
-var GPS_EPOCH_MS8 = Date.UTC(1980, 0, 6);
-var MS_PER_WEEK3 = 7 * 864e5;
+var GPS_EPOCH_MS9 = Date.UTC(1980, 0, 6);
+var MS_PER_WEEK4 = 7 * 864e5;
 var SIGNALS = {
   0: { 0: ["G", "1C"], 3: ["G", "2X"], 4: ["G", "2X"] },
   // GPS L1C/A, L2CL, L2CM
@@ -6899,20 +6974,20 @@ var SIGNALS = {
   // GLONASS L1OF, L2OF
 };
 function prnFor(gnssId, svId) {
-  const two7 = (n) => String(n).padStart(2, "0");
+  const two8 = (n) => String(n).padStart(2, "0");
   switch (gnssId) {
     case 0:
-      return svId >= 1 && svId <= 32 ? `G${two7(svId)}` : null;
+      return svId >= 1 && svId <= 32 ? `G${two8(svId)}` : null;
     case 1:
-      return svId >= 120 && svId <= 158 ? `S${two7(svId - 100)}` : null;
+      return svId >= 120 && svId <= 158 ? `S${two8(svId - 100)}` : null;
     case 2:
-      return svId >= 1 && svId <= 36 ? `E${two7(svId)}` : null;
+      return svId >= 1 && svId <= 36 ? `E${two8(svId)}` : null;
     case 3:
-      return svId >= 1 && svId <= 63 ? `C${two7(svId)}` : null;
+      return svId >= 1 && svId <= 63 ? `C${two8(svId)}` : null;
     case 5:
-      return svId >= 1 && svId <= 10 ? `J${two7(svId)}` : null;
+      return svId >= 1 && svId <= 10 ? `J${two8(svId)}` : null;
     case 6:
-      return svId >= 1 && svId <= 32 ? `R${two7(svId)}` : null;
+      return svId >= 1 && svId <= 32 ? `R${two8(svId)}` : null;
     default:
       return null;
   }
@@ -6965,7 +7040,7 @@ function parseUbxRawx(data) {
         if (!codes.includes(sig[1])) codes.push(sig[1]);
       }
       epochs.push({
-        timeMs: GPS_EPOCH_MS8 + week * MS_PER_WEEK3 + Math.round(rcvTow * 1e3),
+        timeMs: GPS_EPOCH_MS9 + week * MS_PER_WEEK4 + Math.round(rcvTow * 1e3),
         leapS: leapValid ? leapS : null,
         meas
       });
@@ -7015,31 +7090,31 @@ function scanSbfFrames(data, view, onBlock) {
   }
   return badCrc;
 }
-var two3 = (n) => String(n).padStart(2, "0");
+var two4 = (n) => String(n).padStart(2, "0");
 function svidToPrn(svid) {
-  if (svid >= 1 && svid <= 37) return svid <= 32 ? `G${two3(svid)}` : null;
-  if (svid <= 61) return svid - 37 <= 27 ? `R${two3(svid - 37)}` : null;
+  if (svid >= 1 && svid <= 37) return svid <= 32 ? `G${two4(svid)}` : null;
+  if (svid <= 61) return svid - 37 <= 27 ? `R${two4(svid - 37)}` : null;
   if (svid <= 62) return null;
-  if (svid <= 68) return svid - 38 <= 27 ? `R${two3(svid - 38)}` : null;
+  if (svid <= 68) return svid - 38 <= 27 ? `R${two4(svid - 38)}` : null;
   if (svid <= 70) return null;
-  if (svid <= 106) return svid - 70 <= 36 ? `E${two3(svid - 70)}` : null;
+  if (svid <= 106) return svid - 70 <= 36 ? `E${two4(svid - 70)}` : null;
   if (svid <= 119) return null;
-  if (svid <= 140) return `S${two3(svid - 100)}`;
-  if (svid <= 180) return svid - 140 <= 50 ? `C${two3(svid - 140)}` : null;
-  if (svid <= 190) return `J${two3(svid - 180)}`;
-  if (svid <= 197) return svid - 190 <= 14 ? `I${two3(svid - 190)}` : null;
-  if (svid <= 215) return `S${two3(svid - 157)}`;
-  if (svid <= 222) return svid - 208 <= 14 ? `I${two3(svid - 208)}` : null;
-  if (svid <= 245) return svid - 182 <= 50 ? `C${two3(svid - 182)}` : null;
+  if (svid <= 140) return `S${two4(svid - 100)}`;
+  if (svid <= 180) return svid - 140 <= 50 ? `C${two4(svid - 140)}` : null;
+  if (svid <= 190) return `J${two4(svid - 180)}`;
+  if (svid <= 197) return svid - 190 <= 14 ? `I${two4(svid - 190)}` : null;
+  if (svid <= 215) return `S${two4(svid - 157)}`;
+  if (svid <= 222) return svid - 208 <= 14 ? `I${two4(svid - 208)}` : null;
+  if (svid <= 245) return svid - 182 <= 50 ? `C${two4(svid - 182)}` : null;
   return null;
 }
 
 // src/sbf/nav.ts
 var PI2 = Math.PI;
-var GPS_EPOCH_MS9 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS10 = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS2 = Date.UTC(2006, 0, 1);
 var SEC_PER_WEEK8 = 7 * 86400;
-var MS_PER_WEEK4 = SEC_PER_WEEK8 * 1e3;
+var MS_PER_WEEK5 = SEC_PER_WEEK8 * 1e3;
 var F4_DNU = -2e10;
 var U4_DNU = 4294967295;
 function adjustWeek(refWeek, wn, mod) {
@@ -7048,7 +7123,7 @@ function adjustWeek(refWeek, wn, mod) {
   if (offset < -(mod / 2 - 1)) offset += mod;
   return refWeek - offset;
 }
-var gpsMs = (week, sec) => GPS_EPOCH_MS9 + week * MS_PER_WEEK4 + sec * 1e3;
+var gpsMs = (week, sec) => GPS_EPOCH_MS10 + week * MS_PER_WEEK5 + sec * 1e3;
 var sowOf2 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK8;
 function decodeGpsQzsNav(view, b, sys) {
   const svid = view.getUint8(b + 14);
@@ -7152,7 +7227,7 @@ function decodeBdsNav(view, b) {
   const toes = view.getUint32(b + 88, true);
   const wnToc = adjustWeek(bdsWeekRef, view.getUint16(b + 136, true), 8192);
   const wnToe = adjustWeek(bdsWeekRef, view.getUint16(b + 138, true), 8192);
-  const tocDate = new Date(BDT_EPOCH_MS2 + wnToc * MS_PER_WEEK4 + tocs * 1e3);
+  const tocDate = new Date(BDT_EPOCH_MS2 + wnToc * MS_PER_WEEK5 + tocs * 1e3);
   return {
     system: "C",
     prn,
@@ -7198,7 +7273,7 @@ function decodeGloNav(view, b) {
   const tocDate = new Date(toeGpsMs - leapMs);
   const tofGpsMs = gpsMs(wnc, 0) + view.getUint32(b + 8, true);
   const tofLeapMs = getGpsLeap(new Date(tofGpsMs)) * 1e3;
-  const messageFrameTime = (tofGpsMs - tofLeapMs - GPS_EPOCH_MS9) / 1e3 % SEC_PER_WEEK8;
+  const messageFrameTime = (tofGpsMs - tofLeapMs - GPS_EPOCH_MS10) / 1e3 % SEC_PER_WEEK8;
   return {
     system: "R",
     prn,
@@ -7565,8 +7640,8 @@ function isFnavDummy(page) {
 }
 
 // src/sbf/rawnav-bds.ts
-var GPS_EPOCH_MS10 = Date.UTC(1980, 0, 6);
-var MS_PER_WEEK5 = 7 * 86400 * 1e3;
+var GPS_EPOCH_MS11 = Date.UTC(1980, 0, 6);
+var MS_PER_WEEK6 = 7 * 86400 * 1e3;
 var TOW_DNU = 4294967295;
 var WNC_DNU2 = 65535;
 function feedBdsBlock(view, b, assembler) {
@@ -7626,7 +7701,7 @@ function feedGloBlock(view, b, assembler) {
   const eph = assembler.push(
     prn,
     str2,
-    new Date(GPS_EPOCH_MS10 + wnc * MS_PER_WEEK5 + towMs),
+    new Date(GPS_EPOCH_MS11 + wnc * MS_PER_WEEK6 + towMs),
     view.getUint8(b + 18) - 8
     // FreqNr, offset by 8
   );
@@ -7648,6 +7723,49 @@ 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) {
@@ -7668,6 +7786,7 @@ function decodeSbfNavigation(data) {
     galRaw: 0,
     gloRaw: 0,
     bdsRaw: 0,
+    sbasRaw: 0,
     badFrames: 0
   };
   const cnavAsm = newCnavAssemblers();
@@ -7771,6 +7890,14 @@ 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
@@ -8323,8 +8450,8 @@ function parseSbfHas(data) {
 
 // src/sbf/index.ts
 var CLIGHT = 299792458;
-var GPS_EPOCH_MS11 = Date.UTC(1980, 0, 6);
-var MS_PER_WEEK6 = 7 * 864e5;
+var GPS_EPOCH_MS12 = Date.UTC(1980, 0, 6);
+var MS_PER_WEEK7 = 7 * 864e5;
 var M3_SYS = ["G", "R", "E", "C", "S", "J", "I"];
 var M3_PR_BASE = [19e6, 19e6, 22e6, 2e7, 34e6, 34e6, 34e6];
 var M3_INTERVALS = [
@@ -8423,23 +8550,23 @@ var MEAS2_SIG = [
   ["J", "1E"],
   ["J", "5P"]
 ];
-var two4 = (n) => String(n).padStart(2, "0");
+var two5 = (n) => String(n).padStart(2, "0");
 function m3Prn(navsys, svid) {
   switch (navsys) {
     case 0:
-      return svid < 32 ? `G${two4(svid + 1)}` : null;
+      return svid < 32 ? `G${two5(svid + 1)}` : null;
     case 1:
-      return svid < 27 ? `R${two4(svid + 1)}` : null;
+      return svid < 27 ? `R${two5(svid + 1)}` : null;
     case 2:
-      return svid < 36 ? `E${two4(svid + 1)}` : null;
+      return svid < 36 ? `E${two5(svid + 1)}` : null;
     case 3:
-      return svid < 50 ? `C${two4(svid + 1)}` : null;
+      return svid < 50 ? `C${two5(svid + 1)}` : null;
     case 4:
-      return svid <= 38 ? `S${two4(svid + 20)}` : null;
+      return svid <= 38 ? `S${two5(svid + 20)}` : null;
     case 5:
-      return svid < 10 ? `J${two4(svid + 1)}` : null;
+      return svid < 10 ? `J${two5(svid + 1)}` : null;
     case 6:
-      return svid < 14 ? `I${two4(svid + 1)}` : null;
+      return svid < 14 ? `I${two5(svid + 1)}` : null;
     default:
       return null;
   }
@@ -8977,7 +9104,7 @@ function parseSbfMeas(data) {
       const tow = view.getUint32(i + 8, true);
       const wnc = view.getUint16(i + 12, true);
       if (tow !== 4294967295 && wnc !== 65535) {
-        ensureEpoch(GPS_EPOCH_MS11 + wnc * MS_PER_WEEK6 + tow);
+        ensureEpoch(GPS_EPOCH_MS12 + wnc * MS_PER_WEEK7 + tow);
         if (id === 4109) decodeMeas3Ranges(i, tow);
         else if (id === 4110) decodeMeas3CN0(i, len);
         else if (id === 4111) decodeMeas3Doppler(i, len);
@@ -9042,18 +9169,20 @@ var ID_GALEPHEMERIS = 1122;
 var ID_QZSSEPHEMERIS = 1336;
 var ID_GPSEPHEM = 7;
 var ID_BDSEPHEMERIS = 1696;
-var GPS_EPOCH_MS12 = Date.UTC(1980, 0, 6);
+var ID_RAWWAASFRAME = 287;
+var ID_RAWSBASFRAME = 973;
+var GPS_EPOCH_MS13 = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS3 = Date.UTC(2006, 0, 1);
 var SEC_PER_WEEK9 = 7 * 86400;
 var SEC_PER_DAY2 = 86400;
-var MS_PER_WEEK7 = SEC_PER_WEEK9 * 1e3;
-var gpsMs2 = (week, sec) => GPS_EPOCH_MS12 + week * MS_PER_WEEK7 + sec * 1e3;
+var MS_PER_WEEK8 = SEC_PER_WEEK9 * 1e3;
+var gpsMs2 = (week, sec) => GPS_EPOCH_MS13 + week * MS_PER_WEEK8 + sec * 1e3;
 var sowOf3 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK9;
 function nearWeekMs(refMs, sow) {
-  const refWeek = Math.floor((refMs - GPS_EPOCH_MS12) / MS_PER_WEEK7);
+  const refWeek = Math.floor((refMs - GPS_EPOCH_MS13) / MS_PER_WEEK8);
   let ms = gpsMs2(refWeek, sow);
-  if (ms < refMs - MS_PER_WEEK7 / 2) ms += MS_PER_WEEK7;
-  else if (ms > refMs + MS_PER_WEEK7 / 2) ms -= MS_PER_WEEK7;
+  if (ms < refMs - MS_PER_WEEK8 / 2) ms += MS_PER_WEEK8;
+  else if (ms > refMs + MS_PER_WEEK8 / 2) ms -= MS_PER_WEEK8;
   return ms;
 }
 function decodeRawEphem(data, view, p) {
@@ -9077,9 +9206,9 @@ function decodeGloEphemeris(view, p) {
   tof += Math.floor(tow / SEC_PER_DAY2) * SEC_PER_DAY2;
   if (tof < tow - 43200) tof += SEC_PER_DAY2;
   else if (tof > tow + 43200) tof -= SEC_PER_DAY2;
-  const toeGpsMs = GPS_EPOCH_MS12 + (week * SEC_PER_WEEK9 + tow) * 1e3;
-  const tofGpsMs = GPS_EPOCH_MS12 + (week * SEC_PER_WEEK9 + tof) * 1e3;
-  const tofUtcSec = (getUtcDate(new Date(tofGpsMs)).getTime() - GPS_EPOCH_MS12) / 1e3;
+  const toeGpsMs = GPS_EPOCH_MS13 + (week * SEC_PER_WEEK9 + tow) * 1e3;
+  const tofGpsMs = GPS_EPOCH_MS13 + (week * SEC_PER_WEEK9 + tof) * 1e3;
+  const tofUtcSec = (getUtcDate(new Date(tofGpsMs)).getTime() - GPS_EPOCH_MS13) / 1e3;
   return {
     system: "R",
     prn: `R${String(slot).padStart(2, "0")}`,
@@ -9144,7 +9273,7 @@ function decodeGalEphemeris(view, p, headerMs) {
       omega: view.getFloat64(p + 60, true),
       omegaDot: view.getFloat64(p + 140, true),
       idot: view.getFloat64(p + 124, true),
-      week: Math.floor((toeMs - GPS_EPOCH_MS12) / MS_PER_WEEK7),
+      week: Math.floor((toeMs - GPS_EPOCH_MS13) / MS_PER_WEEK8),
       // RINEX Galileo SVH bit layout (E1B DVS/HS in bits 0-2, E5a in
       // 3-5, E5b in 6-8) — same packing as RTKLIB.
       svHealth: svhE5b << 7 | dvsE5b << 6 | svhE5a << 4 | dvsE5a << 3 | svhE1b << 1 | dvsE1b,
@@ -9161,7 +9290,7 @@ function decodeBdsEphemeris2(view, p) {
   const tgd1 = view.getFloat64(p + 20, true);
   const tocs = view.getUint32(p + 40, true);
   const toes = view.getUint32(p + 72, true);
-  const tocDate = new Date(BDT_EPOCH_MS3 + week * MS_PER_WEEK7 + tocs * 1e3);
+  const tocDate = new Date(BDT_EPOCH_MS3 + week * MS_PER_WEEK8 + tocs * 1e3);
   return {
     system: "C",
     prn: `C${String(prn).padStart(2, "0")}`,
@@ -9303,6 +9432,20 @@ 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 {
@@ -9316,8 +9459,8 @@ function parseNovatelNav(data) {
 }
 
 // src/novatel/index.ts
-var GPS_EPOCH_MS13 = Date.UTC(1980, 0, 6);
-var MS_PER_WEEK8 = 7 * 864e5;
+var GPS_EPOCH_MS14 = Date.UTC(1980, 0, 6);
+var MS_PER_WEEK9 = 7 * 864e5;
 var HDR = 28;
 var ID_RANGE = 43;
 var ID_RANGECMP = 140;
@@ -9486,7 +9629,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS13 + week * MS_PER_WEEK8 + towMs,
+          timeMs: GPS_EPOCH_MS14 + week * MS_PER_WEEK9 + towMs,
           meas
         });
       }
@@ -9538,7 +9681,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS13 + week * MS_PER_WEEK8 + towMs,
+          timeMs: GPS_EPOCH_MS14 + week * MS_PER_WEEK9 + towMs,
           meas
         });
       }
@@ -9589,14 +9732,14 @@ function* trimbleFrames(data, stats) {
 }
 
 // src/trimble/nav.ts
-var GPS_EPOCH_MS14 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS15 = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS4 = Date.UTC(2006, 0, 1);
 var SEC_PER_WEEK10 = 7 * 86400;
-var MS_PER_WEEK9 = SEC_PER_WEEK10 * 1e3;
+var MS_PER_WEEK10 = SEC_PER_WEEK10 * 1e3;
 var GPS_PI2 = 3.1415926535898;
 var BDS_WEEK_OFFSET = 1356;
 var BDS_LEAP_SEC = 14;
-var gpsMs3 = (week, sec) => GPS_EPOCH_MS14 + week * MS_PER_WEEK9 + sec * 1e3;
+var gpsMs3 = (week, sec) => GPS_EPOCH_MS15 + week * MS_PER_WEEK10 + sec * 1e3;
 var sowOf4 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK10;
 var SUB_GPS_EPHEMERIS = 1;
 var SUB_ION_UTC = 3;
@@ -9678,7 +9821,7 @@ function decodeBdsEphemeris3(view, base) {
   const tocSec = r.tocSec - BDS_LEAP_SEC;
   const toeSec = r.toeSec - BDS_LEAP_SEC;
   const tocDate = new Date(
-    BDT_EPOCH_MS4 + bdsWeek * MS_PER_WEEK9 + tocSec * 1e3
+    BDT_EPOCH_MS4 + bdsWeek * MS_PER_WEEK10 + tocSec * 1e3
   );
   return {
     system: "C",
@@ -9749,7 +9892,7 @@ function decodeGloEphemeris2(view, base) {
     // 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,
+    messageFrameTime: (tocMs - GPS_EPOCH_MS15) / 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,
@@ -9820,8 +9963,8 @@ function parseTrimbleNav(data) {
 }
 
 // src/trimble/index.ts
-var GPS_EPOCH_MS15 = Date.UTC(1980, 0, 6);
-var MS_PER_WEEK10 = 7 * 864e5;
+var GPS_EPOCH_MS16 = Date.UTC(1980, 0, 6);
+var MS_PER_WEEK11 = 7 * 864e5;
 var REC_TYPE_27 = 6;
 var SYS = {
   0: "G",
@@ -10018,7 +10161,7 @@ function decodeEpoch(epoch, epochs, obsCodes) {
     o += c.length;
   }
   const dv = new DataView(M.buffer, M.byteOffset, M.byteLength);
-  const timeMs = GPS_EPOCH_MS15 + epoch.week * MS_PER_WEEK10 + epoch.towMs;
+  const timeMs = GPS_EPOCH_MS16 + epoch.week * MS_PER_WEEK11 + epoch.towMs;
   const meas = [];
   let q = 0;
   for (let sv = 0; sv < epoch.nsv && q + 8 <= M.length; sv++) {
@@ -10199,15 +10342,15 @@ function* binexRecords(data, view, stats) {
 }
 
 // src/binex/nav.ts
-var GPS_EPOCH_MS16 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS17 = Date.UTC(1980, 0, 6);
 var GLO_DAY0_MS = Date.UTC(1980, 0, 1);
 var BDT_EPOCH_MS5 = Date.UTC(2006, 0, 1);
 var SEC_PER_WEEK11 = 7 * 86400;
-var MS_PER_WEEK11 = SEC_PER_WEEK11 * 1e3;
+var MS_PER_WEEK12 = SEC_PER_WEEK11 * 1e3;
 var SC2RAD = GPS_PI;
-var gpsMs4 = (week, sec) => GPS_EPOCH_MS16 + week * MS_PER_WEEK11 + sec * 1e3;
+var gpsMs4 = (week, sec) => GPS_EPOCH_MS17 + week * MS_PER_WEEK12 + sec * 1e3;
 var sowOf5 = (dateMs) => (dateMs / 1e3 % SEC_PER_WEEK11 + SEC_PER_WEEK11) % SEC_PER_WEEK11;
-var two5 = (n) => String(n).padStart(2, "0");
+var two6 = (n) => String(n).padStart(2, "0");
 var Reader = class {
   constructor(view, start, le) {
     this.view = view;
@@ -10302,7 +10445,7 @@ function decodeGpsQzss(view, p, le, sys) {
   const tocDate = new Date(gpsMs4(week, toes));
   return {
     system: sys,
-    prn: `${sys}${two5(prn)}`,
+    prn: `${sys}${two6(prn)}`,
     toc: sowOf5(tocDate.getTime()),
     tocDate,
     af0,
@@ -10335,7 +10478,7 @@ function decodeGalileo(view, p, le) {
   const tocDate = new Date(gpsMs4(week, toes));
   return {
     system: "E",
-    prn: `E${two5(prn)}`,
+    prn: `E${two6(prn)}`,
     toc: sowOf5(tocDate.getTime()),
     tocDate,
     af0,
@@ -10370,10 +10513,10 @@ function decodeBeidou(view, p, le) {
   const iode = flag1 >> 6 & 31;
   const svHealth = flag1 & 1;
   const tgd = bdsTgd(flag2 >> 4);
-  const tocDate = new Date(BDT_EPOCH_MS5 + week * MS_PER_WEEK11 + toes * 1e3);
+  const tocDate = new Date(BDT_EPOCH_MS5 + week * MS_PER_WEEK12 + toes * 1e3);
   return {
     system: "C",
-    prn: `C${two5(prn)}`,
+    prn: `C${two6(prn)}`,
     toc: sowOf5(tocDate.getTime()),
     tocDate,
     af0,
@@ -10413,7 +10556,7 @@ function decodeGlonass(view, p, le) {
   );
   return {
     system: "R",
-    prn: `R${two5(slot)}`,
+    prn: `R${two6(slot)}`,
     tocDate,
     tauN,
     gammaN,
@@ -10452,7 +10595,7 @@ function decodeSbas(view, p, le) {
   if (prn < 120 || prn > 158) return null;
   return {
     system: "S",
-    prn: `S${two5(prn - 100)}`,
+    prn: `S${two6(prn - 100)}`,
     tocDate: new Date(gpsMs4(week, toe)),
     tauN: af0,
     gammaN: af1,
@@ -10493,7 +10636,7 @@ function decodeBinexEph(view, body, len, le) {
 }
 
 // src/binex/index.ts
-var GPS_EPOCH_MS17 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS18 = Date.UTC(1980, 0, 6);
 var CLIGHT2 = 299792458;
 var OBS_CODES = {
   0: [
@@ -10629,22 +10772,22 @@ var OBS_CODES = {
   ]
   // QZSS
 };
-var two6 = (n) => String(n).padStart(2, "0");
+var two7 = (n) => String(n).padStart(2, "0");
 function obsPrn(sys, prn) {
   switch (sys) {
     case 0:
-      return prn >= 1 && prn <= 32 ? `G${two6(prn)}` : null;
+      return prn >= 1 && prn <= 32 ? `G${two7(prn)}` : null;
     case 1:
-      return prn >= 1 && prn <= 27 ? `R${two6(prn)}` : null;
+      return prn >= 1 && prn <= 27 ? `R${two7(prn)}` : null;
     case 2:
-      return prn >= 120 && prn <= 158 ? `S${two6(prn - 100)}` : null;
+      return prn >= 120 && prn <= 158 ? `S${two7(prn - 100)}` : null;
     case 3:
-      return prn >= 1 && prn <= 36 ? `E${two6(prn)}` : null;
+      return prn >= 1 && prn <= 36 ? `E${two7(prn)}` : null;
     case 4:
-      return prn >= 1 && prn <= 63 ? `C${two6(prn)}` : null;
+      return prn >= 1 && prn <= 63 ? `C${two7(prn)}` : null;
     case 5:
-      if (prn >= 193 && prn <= 202) return `J${two6(prn - 192)}`;
-      return prn >= 1 && prn <= 10 ? `J${two6(prn)}` : null;
+      if (prn >= 193 && prn <= 202) return `J${two7(prn - 192)}`;
+      return prn >= 1 && prn <= 10 ? `J${two7(prn)}` : null;
     default:
       return null;
   }
@@ -10751,7 +10894,7 @@ function decodeObsRecord(data, view, body, len, obsCodes) {
   p += 4;
   const msec = view.getUint16(p);
   p += 2;
-  const timeMs = GPS_EPOCH_MS17 + min * 6e4 + msec;
+  const timeMs = GPS_EPOCH_MS18 + min * 6e4 + msec;
   const flag = data[p++];
   const nsat = (flag & 63) + 1;
   if (flag & 128) p += 3;
@@ -10837,7 +10980,7 @@ function parseBinex(data) {
 var GM_GPS = 3986005e8;
 var GM_GAL = 3986004418e5;
 var GM_BDS = 3986004418e5;
-var GPS_EPOCH_MS18 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS19 = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS6 = Date.UTC(2006, 0, 1);
 var WEEK_MS = 6048e5;
 var BDT_MINUS_GPST_MS = 14e3;
@@ -10846,7 +10989,7 @@ function almanacEpochMs(alm) {
   if (alm.system === "C") {
     return BDT_EPOCH_MS6 + alm.weekAlm * WEEK_MS + alm.toaSec * 1e3 + BDT_MINUS_GPST_MS;
   }
-  return GPS_EPOCH_MS18 + alm.weekAlm * WEEK_MS + alm.toaSec * 1e3;
+  return GPS_EPOCH_MS19 + alm.weekAlm * WEEK_MS + alm.toaSec * 1e3;
 }
 function almanacSatPosition(alm, timeMs) {
   const GM = alm.system === "E" ? GM_GAL : alm.system === "C" ? GM_BDS : GM_GPS;
@@ -11355,10 +11498,10 @@ function selectBest(ephs, timeMs) {
   }
   return best;
 }
-var GPS_EPOCH_MS19 = START_GPS_TIME.getTime();
-var MS_PER_WEEK12 = 7 * 864e5;
+var GPS_EPOCH_MS20 = START_GPS_TIME.getTime();
+var MS_PER_WEEK13 = 7 * 864e5;
 var BDS_EPOCH_MS = START_BDS_TIME.getTime();
-var GAL_EPOCH_MS = GPS_EPOCH_MS19 + 1024 * MS_PER_WEEK12;
+var GAL_EPOCH_MS = GPS_EPOCH_MS20 + 1024 * MS_PER_WEEK13;
 function ephInfoToEphemeris(info) {
   const sys = info.prn.charAt(0);
   if (sys === "R") {
@@ -11409,11 +11552,11 @@ function ephInfoToEphemeris(info) {
   } else if (sys === "E") {
     epochMs = GAL_EPOCH_MS;
   } else {
-    epochMs = GPS_EPOCH_MS19;
-    const weeksNow = (info.lastReceived - GPS_EPOCH_MS19) / MS_PER_WEEK12;
+    epochMs = GPS_EPOCH_MS20;
+    const weeksNow = (info.lastReceived - GPS_EPOCH_MS20) / MS_PER_WEEK13;
     week += 1024 * Math.round((weeksNow - week) / 1024);
   }
-  const tocDate = new Date(epochMs + week * MS_PER_WEEK12 + tocSec * 1e3);
+  const tocDate = new Date(epochMs + week * MS_PER_WEEK13 + tocSec * 1e3);
   return {
     system: sys,
     prn: info.prn,
@@ -16801,6 +16944,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   estimateWidelaneFcb,
   euclidean3D,
   extractWidelaneArcs,
+  feedGeoBlock,
   fetchSourcetable,
   findSatBias,
   fixPppPosition,
@@ -16906,6 +17050,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   parseSbfBdsNav,
   parseSbfCnav,
   parseSbfGalNav,
+  parseSbfGeoNav,
   parseSbfGloNav,
   parseSbfGpsNav,
   parseSbfHas,