gnss-js 1.42.0 → 1.44.0

package/dist/trimble.d.cts

@@ -47,8 +47,20 @@ declare function trimbleFrames(data: Uint8Array, stats: {
  * 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: the
- * QZSS / almanac subtypes (13/23/27 on this stream).
+ * against physics + the 2026-07-27 BRDC.
+ *
+ * Deliberately NOT decoded (investigated on the DLF100NLD1 capture; none
+ * are broadcast ephemeris, so none affect positioning, and none are in
+ * RTKLIB's table or have a clean validation oracle):
+ *   - subtype 27 (×30, 184+ B): paged BeiDou supplementary nav — p+1 is a
+ *     BeiDou PRN, p+2 a page index 3/4/5 (10 sats × 3 pages), i.e. B-CNAV /
+ *     a reduced-almanac supplement needing multi-page reassembly. BeiDou is
+ *     already positionable via subtype 21, so this is redundant unless
+ *     almanac-based pass prediction is wanted.
+ *   - subtype 23 (×6, 98 B): time/UTC-model parameters (p+1 = a model id,
+ *     not a satellite) — GNSS-time offsets / UTC model, not per-satellite.
+ *   - subtype 13 (×1, 87 B): a single auxiliary record (lone almanac or a
+ *     GPS UTC/health entry).
  */
 
 interface TrimbleNavResult {

package/dist/trimble.d.ts

@@ -47,8 +47,20 @@ declare function trimbleFrames(data: Uint8Array, stats: {
  * 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: the
- * QZSS / almanac subtypes (13/23/27 on this stream).
+ * against physics + the 2026-07-27 BRDC.
+ *
+ * Deliberately NOT decoded (investigated on the DLF100NLD1 capture; none
+ * are broadcast ephemeris, so none affect positioning, and none are in
+ * RTKLIB's table or have a clean validation oracle):
+ *   - subtype 27 (×30, 184+ B): paged BeiDou supplementary nav — p+1 is a
+ *     BeiDou PRN, p+2 a page index 3/4/5 (10 sats × 3 pages), i.e. B-CNAV /
+ *     a reduced-almanac supplement needing multi-page reassembly. BeiDou is
+ *     already positionable via subtype 21, so this is redundant unless
+ *     almanac-based pass prediction is wanted.
+ *   - subtype 23 (×6, 98 B): time/UTC-model parameters (p+1 = a model id,
+ *     not a satellite) — GNSS-time offsets / UTC model, not per-satellite.
+ *   - subtype 13 (×1, 87 B): a single auxiliary record (lone almanac or a
+ *     GPS UTC/health entry).
  */
 
 interface TrimbleNavResult {

package/dist/ubx.cjs

@@ -1249,19 +1249,65 @@ var GloStringAssembler = class {
   }
 };
 
-// src/ubx/rawnav.ts
+// src/navbits/sbas.ts
 var GPS_EPOCH_MS5 = Date.UTC(1980, 0, 6);
-var SEC_PER_WEEK6 = 7 * 86400;
+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_MS5 + 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
+  };
+}
+
+// src/ubx/rawnav.ts
+var GPS_EPOCH_MS6 = Date.UTC(1980, 0, 6);
+var SEC_PER_WEEK6 = 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) {
@@ -1270,8 +1316,10 @@ function parseUbxRawNav(data, opts = {}) {
       if (week === 0 && opts.refWeek !== void 0) week = opts.refWeek;
       if (week > 0) {
         refDate = new Date(
-          GPS_EPOCH_MS5 + (week * SEC_PER_WEEK6 + rcvTow) * 1e3
+          GPS_EPOCH_MS6 + (week * SEC_PER_WEEK6 + rcvTow) * 1e3
         );
+        refWeek = week;
+        refTow = rcvTow;
       }
       continue;
     }
@@ -1323,7 +1371,7 @@ function parseUbxRawNav(data, opts = {}) {
         badParity++;
         continue;
       }
-      const eph = bds.push(`C${two2(svId)}`, sf);
+      const eph = bds.push(`C${two3(svId)}`, sf);
       if (eph) ephemerides.push(eph);
     } else if (gnssId === 6) {
       if (p.length < 8 + 16) continue;
@@ -1342,16 +1390,41 @@ function parseUbxRawNav(data, opts = {}) {
         continue;
       }
       if (!refDate) continue;
-      const eph = glo.push(`R${two2(svId)}`, str, refDate, p[3] - 7);
+      const eph = glo.push(`R${two3(svId)}`, str, refDate, p[3] - 7);
       if (eph) ephemerides.push(eph);
+    } else if (gnssId === 1) {
+      if (p.length < 8 + 32) continue;
+      counts.sbas++;
+      if (svId < 120 || svId > 158) continue;
+      const msg = new Uint8Array(32);
+      for (let k = 0; k < 8; k++) {
+        const w = view.getUint32(base + 4 * k, true);
+        msg[4 * k] = w >>> 24;
+        msg[4 * k + 1] = w >>> 16 & 255;
+        msg[4 * k + 2] = w >>> 8 & 255;
+        msg[4 * k + 3] = w & 255;
+      }
+      if (!sbasCrcOk(msg)) {
+        badParity++;
+        continue;
+      }
+      if (refWeek === 0) continue;
+      const eph = decodeSbasGeoNav(msg, svId, refWeek, refTow);
+      if (eph) {
+        const key = `${eph.prn}@${eph.tocDate.getTime()}`;
+        if (!sbasSeen.has(key)) {
+          sbasSeen.add(key);
+          ephemerides.push(eph);
+        }
+      }
     }
   }
   return { ephemerides, counts, badParity };
 }
 
 // src/ubx/index.ts
-var GPS_EPOCH_MS6 = Date.UTC(1980, 0, 6);
-var MS_PER_WEEK2 = 7 * 864e5;
+var GPS_EPOCH_MS7 = Date.UTC(1980, 0, 6);
+var MS_PER_WEEK3 = 7 * 864e5;
 var SIGNALS = {
   0: { 0: ["G", "1C"], 3: ["G", "2X"], 4: ["G", "2X"] },
   // GPS L1C/A, L2CL, L2CM
@@ -1367,20 +1440,20 @@ var SIGNALS = {
   // GLONASS L1OF, L2OF
 };
 function prnFor(gnssId, svId) {
-  const two3 = (n) => String(n).padStart(2, "0");
+  const two4 = (n) => String(n).padStart(2, "0");
   switch (gnssId) {
     case 0:
-      return svId >= 1 && svId <= 32 ? `G${two3(svId)}` : null;
+      return svId >= 1 && svId <= 32 ? `G${two4(svId)}` : null;
     case 1:
-      return svId >= 120 && svId <= 158 ? `S${two3(svId - 100)}` : null;
+      return svId >= 120 && svId <= 158 ? `S${two4(svId - 100)}` : null;
     case 2:
-      return svId >= 1 && svId <= 36 ? `E${two3(svId)}` : null;
+      return svId >= 1 && svId <= 36 ? `E${two4(svId)}` : null;
     case 3:
-      return svId >= 1 && svId <= 63 ? `C${two3(svId)}` : null;
+      return svId >= 1 && svId <= 63 ? `C${two4(svId)}` : null;
     case 5:
-      return svId >= 1 && svId <= 10 ? `J${two3(svId)}` : null;
+      return svId >= 1 && svId <= 10 ? `J${two4(svId)}` : null;
     case 6:
-      return svId >= 1 && svId <= 32 ? `R${two3(svId)}` : null;
+      return svId >= 1 && svId <= 32 ? `R${two4(svId)}` : null;
     default:
       return null;
   }
@@ -1433,7 +1506,7 @@ function parseUbxRawx(data) {
         if (!codes.includes(sig[1])) codes.push(sig[1]);
       }
       epochs.push({
-        timeMs: GPS_EPOCH_MS6 + week * MS_PER_WEEK2 + Math.round(rcvTow * 1e3),
+        timeMs: GPS_EPOCH_MS7 + week * MS_PER_WEEK3 + Math.round(rcvTow * 1e3),
         leapS: leapValid ? leapS : null,
         meas
       });

package/dist/ubx.d.cts

@@ -149,10 +149,10 @@ declare function parseUbxCnav(data: Uint8Array): UbxCnavResult;
 
 /**
  * u-blox UBX raw navigation-message decoding for the non-GPS
- * constellations: Galileo I/NAV (E1B/E5b), BeiDou D1/D2 (B1I/B2I) and
- * GLONASS L1/L2 C/A strings from RXM-SFRBX (class 0x02, id 0x13).
- * GPS/QZSS LNAV stays in `parseUbxNav` (./nav.ts) and GPS CNAV in
- * `parseUbxCnav` (./cnav.ts).
+ * constellations: Galileo I/NAV (E1B/E5b), BeiDou D1/D2 (B1I/B2I),
+ * GLONASS L1/L2 C/A strings and SBAS L1 C/A GEO navigation (message
+ * type 9) from RXM-SFRBX (class 0x02, id 0x13). GPS/QZSS LNAV stays in
+ * `parseUbxNav` (./nav.ts) and GPS CNAV in `parseUbxCnav` (./cnav.ts).
  *
  * The per-constellation word repack is a port of RTKLIB demo5
  * (rtklibexplorer fork, src/rcv/ublox.c: decode_rxmsfrbx routing into
@@ -233,20 +233,23 @@ interface UbxRawNavResult {
     /**
      * Broadcast ephemerides in stream order, unchanged rebroadcasts
      * suppressed: Galileo I/NAV (`system: 'E'`, RINEX I/NAV clock set),
-     * BeiDou D1/D2 (`system: 'C'`, BDT epochs/weeks) and GLONASS
-     * (`system: 'R'`, UTC epochs, km state vectors).
+     * BeiDou D1/D2 (`system: 'C'`, BDT epochs/weeks), GLONASS
+     * (`system: 'R'`, UTC epochs, km state vectors) and SBAS GEO
+     * (`system: 'S'`, GPS-scale epochs, km state vectors).
      */
     ephemerides: Ephemeris[];
     /** RXM-SFRBX messages routed to each constellation's decoder:
      * `gal` = E1B + E5b I/NAV pages, `bds` = B1I + B2I subframes,
-     * `glo` = L1 + L2 C/A strings. */
+     * `glo` = L1 + L2 C/A strings, `sbas` = L1 C/A GEO messages. */
     counts: {
         gal: number;
         bds: number;
         glo: number;
+        sbas: number;
     };
     /** Messages dropped for a failed integrity check: I/NAV page
-     * CRC-24Q, BDS BCH(15,11,1) word parity, GLONASS Hamming (KX). */
+     * CRC-24Q, BDS BCH(15,11,1) word parity, GLONASS Hamming (KX),
+     * SBAS CRC-24Q. */
     badParity: number;
 }
 /**

package/dist/ubx.d.ts

@@ -149,10 +149,10 @@ declare function parseUbxCnav(data: Uint8Array): UbxCnavResult;
 
 /**
  * u-blox UBX raw navigation-message decoding for the non-GPS
- * constellations: Galileo I/NAV (E1B/E5b), BeiDou D1/D2 (B1I/B2I) and
- * GLONASS L1/L2 C/A strings from RXM-SFRBX (class 0x02, id 0x13).
- * GPS/QZSS LNAV stays in `parseUbxNav` (./nav.ts) and GPS CNAV in
- * `parseUbxCnav` (./cnav.ts).
+ * constellations: Galileo I/NAV (E1B/E5b), BeiDou D1/D2 (B1I/B2I),
+ * GLONASS L1/L2 C/A strings and SBAS L1 C/A GEO navigation (message
+ * type 9) from RXM-SFRBX (class 0x02, id 0x13). GPS/QZSS LNAV stays in
+ * `parseUbxNav` (./nav.ts) and GPS CNAV in `parseUbxCnav` (./cnav.ts).
  *
  * The per-constellation word repack is a port of RTKLIB demo5
  * (rtklibexplorer fork, src/rcv/ublox.c: decode_rxmsfrbx routing into
@@ -233,20 +233,23 @@ interface UbxRawNavResult {
     /**
      * Broadcast ephemerides in stream order, unchanged rebroadcasts
      * suppressed: Galileo I/NAV (`system: 'E'`, RINEX I/NAV clock set),
-     * BeiDou D1/D2 (`system: 'C'`, BDT epochs/weeks) and GLONASS
-     * (`system: 'R'`, UTC epochs, km state vectors).
+     * BeiDou D1/D2 (`system: 'C'`, BDT epochs/weeks), GLONASS
+     * (`system: 'R'`, UTC epochs, km state vectors) and SBAS GEO
+     * (`system: 'S'`, GPS-scale epochs, km state vectors).
      */
     ephemerides: Ephemeris[];
     /** RXM-SFRBX messages routed to each constellation's decoder:
      * `gal` = E1B + E5b I/NAV pages, `bds` = B1I + B2I subframes,
-     * `glo` = L1 + L2 C/A strings. */
+     * `glo` = L1 + L2 C/A strings, `sbas` = L1 C/A GEO messages. */
     counts: {
         gal: number;
         bds: number;
         glo: number;
+        sbas: number;
     };
     /** Messages dropped for a failed integrity check: I/NAV page
-     * CRC-24Q, BDS BCH(15,11,1) word parity, GLONASS Hamming (KX). */
+     * CRC-24Q, BDS BCH(15,11,1) word parity, GLONASS Hamming (KX),
+     * SBAS CRC-24Q. */
     badParity: number;
 }
 /**

package/dist/ubx.js

@@ -5,8 +5,9 @@ import {
   parseUbxRawNav,
   parseUbxRawx,
   ubxFrames
-} from "./chunk-ZQDLYLQA.js";
+} from "./chunk-EQNC24OB.js";
 import "./chunk-FA2UTLEQ.js";
+import "./chunk-ZIGMN3E5.js";
 import "./chunk-YUW33VXK.js";
 import "./chunk-V2D5KUKH.js";
 import "./chunk-HVXYFUCB.js";

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "gnss-js",
-  "version": "1.42.0",
+  "version": "1.44.0",
   "description": "Comprehensive GNSS library for JavaScript — time scales, coordinates, RINEX parsing, RTCM3 decoding, orbit computation, and signal analysis",
   "type": "module",
   "sideEffects": false,