gnss-js 1.43.0 → 1.45.0

package/dist/{chunk-Z5VLTH33.js → chunk-EQNC24OB.js}

@@ -3,11 +3,13 @@ import {
   GalInavAssembler,
   GloStringAssembler,
   bdsSubframeParityOk,
-  decodeSbasGeoNav,
   galInavPageCrcOk,
-  sbasCrcOk,
   testGloString
-} from "./chunk-QV3XGDUU.js";
+} from "./chunk-FA2UTLEQ.js";
+import {
+  decodeSbasGeoNav,
+  sbasCrcOk
+} from "./chunk-ZIGMN3E5.js";
 import {
   CnavAssembler,
   cnavCrcOk

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

@@ -759,49 +759,6 @@ 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,
@@ -810,7 +767,5 @@ export {
   GalInavAssembler,
   GalFnavAssembler,
   testGloString,
-  GloStringAssembler,
-  sbasCrcOk,
-  decodeSbasGeoNav
+  GloStringAssembler
 };

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

@@ -4,12 +4,14 @@ import {
   GalInavAssembler,
   GloStringAssembler,
   bdsSubframeParityOk,
-  decodeSbasGeoNav,
   galFnavPageCrcOk,
   galInavPageCrcOk,
-  sbasCrcOk,
   testGloString
-} from "./chunk-QV3XGDUU.js";
+} from "./chunk-FA2UTLEQ.js";
+import {
+  decodeSbasGeoNav,
+  sbasCrcOk
+} from "./chunk-ZIGMN3E5.js";
 import {
   geodeticToEcef
 } from "./chunk-37QNKGTC.js";

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-3FG4XVCB.js → chunk-XYCECWWS.js}

@@ -1100,6 +1100,74 @@ var RtkFloatEngine = class {
   }
 };
 
+// src/positioning/rtk-postprocess.ts
+var epochsOf = (o) => Array.isArray(o) ? o : o.epochs;
+function postProcessRtk(base, rover, ephemerides, baseEcef, opts = {}) {
+  const tol = opts.pairToleranceMs ?? 500;
+  const round = (ms) => Math.round(ms / 1e3) * 1e3;
+  const baseByT = /* @__PURE__ */ new Map();
+  for (const e of epochsOf(base)) baseByT.set(round(e.timeMs), e);
+  const engine = new RtkFloatEngine(baseEcef, ephemerides, opts);
+  const [bLat, bLon] = ecefToGeodetic(baseEcef[0], baseEcef[1], baseEcef[2]);
+  const [sLat, cLat, sLon, cLon] = [
+    Math.sin(bLat),
+    Math.cos(bLat),
+    Math.sin(bLon),
+    Math.cos(bLon)
+  ];
+  const enuOf = (p) => {
+    const dx = p[0] - baseEcef[0];
+    const dy = p[1] - baseEcef[1];
+    const dz = p[2] - baseEcef[2];
+    return [
+      -sLon * dx + cLon * dy,
+      -sLat * cLon * dx - sLat * sLon * dy + cLat * dz,
+      cLat * cLon * dx + cLat * sLon * dy + sLat * dz
+    ];
+  };
+  const track = [];
+  const seen = /* @__PURE__ */ new Set();
+  let solved = 0;
+  let unmatched = 0;
+  let fixed = 0;
+  const sorted = [...epochsOf(rover)].sort((a, b) => a.timeMs - b.timeMs);
+  for (const rEp of sorted) {
+    if (seen.has(rEp.timeMs)) continue;
+    seen.add(rEp.timeMs);
+    const bEp = baseByT.get(round(rEp.timeMs));
+    if (!bEp || Math.abs(bEp.timeMs - rEp.timeMs) > tol) {
+      unmatched++;
+      continue;
+    }
+    const sol = engine.process(
+      toRtkEpoch(rEp.meas),
+      toRtkEpoch(bEp.meas),
+      rEp.timeMs
+    );
+    if (!sol) continue;
+    solved++;
+    if (sol.status === "fixed") fixed++;
+    const [lat, lon, height] = ecefToGeodetic(
+      sol.position[0],
+      sol.position[1],
+      sol.position[2]
+    );
+    track.push({
+      timeMs: rEp.timeMs,
+      position: sol.position,
+      lat,
+      lon,
+      height,
+      enu: enuOf(sol.position),
+      status: sol.status,
+      ratio: sol.ratio,
+      nSats: sol.nSats,
+      nFixed: sol.nFixed
+    });
+  }
+  return { track, solved, unmatched, fixRate: solved ? fixed / solved : 0 };
+}
+
 // src/positioning/ppp-tropo.ts
 var HYD_AVG_A = [
   0.0012769934,
@@ -2627,6 +2695,7 @@ export {
   toRtkEpoch,
   solveDgnss,
   RtkFloatEngine,
+  postProcessRtk,
   niellMapping,
   gmst,
   sunEcef,

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
+};

package/dist/index.cjs

@@ -283,6 +283,7 @@ __export(src_exports, {
   phiBOCc: () => phiBOCc,
   phiBOCs: () => phiBOCs,
   phiBPSK: () => phiBPSK,
+  postProcessRtk: () => postProcessRtk,
   rad2deg: () => rad2deg,
   rangeRate: () => rangeRate,
   readString: () => readString,
@@ -9169,6 +9170,8 @@ 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_MS13 = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS3 = Date.UTC(2006, 0, 1);
 var SEC_PER_WEEK9 = 7 * 86400;
@@ -9430,6 +9433,20 @@ 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 {
@@ -13016,6 +13033,74 @@ var RtkFloatEngine = class {
   }
 };
 
+// src/positioning/rtk-postprocess.ts
+var epochsOf = (o) => Array.isArray(o) ? o : o.epochs;
+function postProcessRtk(base, rover, ephemerides, baseEcef, opts = {}) {
+  const tol = opts.pairToleranceMs ?? 500;
+  const round = (ms) => Math.round(ms / 1e3) * 1e3;
+  const baseByT = /* @__PURE__ */ new Map();
+  for (const e of epochsOf(base)) baseByT.set(round(e.timeMs), e);
+  const engine = new RtkFloatEngine(baseEcef, ephemerides, opts);
+  const [bLat, bLon] = ecefToGeodetic(baseEcef[0], baseEcef[1], baseEcef[2]);
+  const [sLat, cLat, sLon, cLon] = [
+    Math.sin(bLat),
+    Math.cos(bLat),
+    Math.sin(bLon),
+    Math.cos(bLon)
+  ];
+  const enuOf = (p) => {
+    const dx = p[0] - baseEcef[0];
+    const dy = p[1] - baseEcef[1];
+    const dz = p[2] - baseEcef[2];
+    return [
+      -sLon * dx + cLon * dy,
+      -sLat * cLon * dx - sLat * sLon * dy + cLat * dz,
+      cLat * cLon * dx + cLat * sLon * dy + sLat * dz
+    ];
+  };
+  const track = [];
+  const seen = /* @__PURE__ */ new Set();
+  let solved = 0;
+  let unmatched = 0;
+  let fixed = 0;
+  const sorted = [...epochsOf(rover)].sort((a, b) => a.timeMs - b.timeMs);
+  for (const rEp of sorted) {
+    if (seen.has(rEp.timeMs)) continue;
+    seen.add(rEp.timeMs);
+    const bEp = baseByT.get(round(rEp.timeMs));
+    if (!bEp || Math.abs(bEp.timeMs - rEp.timeMs) > tol) {
+      unmatched++;
+      continue;
+    }
+    const sol = engine.process(
+      toRtkEpoch(rEp.meas),
+      toRtkEpoch(bEp.meas),
+      rEp.timeMs
+    );
+    if (!sol) continue;
+    solved++;
+    if (sol.status === "fixed") fixed++;
+    const [lat, lon, height] = ecefToGeodetic(
+      sol.position[0],
+      sol.position[1],
+      sol.position[2]
+    );
+    track.push({
+      timeMs: rEp.timeMs,
+      position: sol.position,
+      lat,
+      lon,
+      height,
+      enu: enuOf(sol.position),
+      status: sol.status,
+      ratio: sol.ratio,
+      nSats: sol.nSats,
+      nFixed: sol.nFixed
+    });
+  }
+  return { track, solved, unmatched, fixRate: solved ? fixed / solved : 0 };
+}
+
 // src/positioning/ppp-tropo.ts
 var HYD_AVG_A = [
   0.0012769934,
@@ -17056,6 +17141,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   phiBOCc,
   phiBOCs,
   phiBPSK,
+  postProcessRtk,
   rad2deg,
   rangeRate,
   readString,

package/dist/index.d.cts

@@ -17,7 +17,7 @@ export { TrimbleEpoch, TrimbleFrame, TrimbleMeasurement, TrimbleNavResult, Trimb
 export { BinexEpoch, BinexMeasurement, BinexParseResult, BinexRecord, binexCrc16, binexCrc32, binexCsum8, binexRecords, decodeBinexEph, getBnxi, parseBinex } from './binex.cjs';
 export { AllPositionsData, AlmanacPosition, DopValues, EpochSkyData, SatAzEl, SatPoint, SatPosition, VisibilityPass, VisibilityResult, almanacEpochMs, almanacSatPosition, computeAllPositions, computeDop, computeLiveSkyPositions, computeSatPosition, computeVisibility, computeVisibilityFromPositions, dopplerHz, ecefToAzEl, ephInfoToEphemeris, glonassAlmanacEpochMs, glonassAlmanacPosition, glonassPosition, keplerPosition, maskRadForAzimuth, navTimesFromEph, rangeRate, selectEphemeris } from './orbit.cjs';
 export { Helmert14, REFERENCE_FRAMES, ReferenceFrame, applyHelmert, dateToEpoch, transformFrame } from './frames.cjs';
-export { AntennaOffset, ArFixedSat, ArOptions, ArResult, ArSat, CorrectionResult, DgnssOptions, DgnssSolution, EphemerisSource, FixedPositionResult, IONO_L1_M_PER_TECU, KlobucharCoeffs, LambdaResult, NetworkFcbResult, NetworkFcbSummary, NlArc, NlFcbResult, PppAntennaModel, PppArc, PppCorrectionConfig, PppCorrections, PppEpoch, PppEpochContext, PppEpochResult, PppFixState, PppOptions, PppSatObs, PppSolution, RawObservation, RtkEpochMeasurements, RtkFloatEngine, RtkFloatOptions, RtkFloatSolution, RtkMeasurement, SatGeom, SppOptions, SppSolution, TropoMapping, WlArc, WlFcbOptions, WlFcbResult, WlObs, buildPppAntenna, createPppCorrections, estimateNarrowlaneFcb, estimateNetworkFcbs, estimateWidelaneFcb, extractWidelaneArcs, fixPppPosition, gimSlantIonoDelayL1, gimVerticalTec, gmst, ionoFree, klobucharDelay, lambdaReduction, lambdaSearch, moonEcef, niellMapping, nlWavelength, resolvePppAmbiguities, satClockCorrection, solidEarthTide, solveDgnss, solvePpp, solveSpp, sunEcef, toRtkEpoch, wlWavelength } from './positioning.cjs';
+export { AntennaOffset, ArFixedSat, ArOptions, ArResult, ArSat, CorrectionResult, DgnssOptions, DgnssSolution, EphemerisSource, FixedPositionResult, IONO_L1_M_PER_TECU, KlobucharCoeffs, LambdaResult, NetworkFcbResult, NetworkFcbSummary, NlArc, NlFcbResult, PppAntennaModel, PppArc, PppCorrectionConfig, PppCorrections, PppEpoch, PppEpochContext, PppEpochResult, PppFixState, PppOptions, PppSatObs, PppSolution, RawObservation, RtkEpochMeasurements, RtkFloatEngine, RtkFloatOptions, RtkFloatSolution, RtkMeasurement, RtkObsEpoch, RtkObsInput, RtkPostProcessOptions, RtkPostProcessResult, RtkTrackPoint, SatGeom, SppOptions, SppSolution, TropoMapping, WlArc, WlFcbOptions, WlFcbResult, WlObs, buildPppAntenna, createPppCorrections, estimateNarrowlaneFcb, estimateNetworkFcbs, estimateWidelaneFcb, extractWidelaneArcs, fixPppPosition, gimSlantIonoDelayL1, gimVerticalTec, gmst, ionoFree, klobucharDelay, lambdaReduction, lambdaSearch, moonEcef, niellMapping, nlWavelength, postProcessRtk, resolvePppAmbiguities, satClockCorrection, solidEarthTide, solveDgnss, solvePpp, solveSpp, sunEcef, toRtkEpoch, wlWavelength } from './positioning.cjs';
 export { NtripCaster, NtripConnectionInfo, NtripNetwork, NtripStream, NtripStreamConnection, NtripVersion, Sourcetable, SourcetableEntry, connectToMountpoint, fetchSourcetable, parseSourcetable } from './ntrip.cjs';
 export { CompleteSatSignal, CompleteSignalStats, CompletenessAccumulator, CompletenessResult, CycleSlipAccumulator, CycleSlipEvent, CycleSlipResult, CycleSlipSignalStats, IonoAccumulator, IonoDcbResult, IonoPoint, IonoRatePoint, IonoRateSeries, IonoResult, IonoSeries, MultipathAccumulator, MultipathPoint, MultipathResult, MultipathSeries, MultipathSignalStat, QualityResult, SatDcbMap, analyzeQuality, applyIonoDcb, computeIonoRate, detrendIonoArcs, parseSinexBiasDcb } from './analysis.cjs';
 export { AntennaEntry, AntexFile, FrequencyData, frequencyLabel, parseAntex } from './antex.cjs';

package/dist/index.d.ts

@@ -17,7 +17,7 @@ export { TrimbleEpoch, TrimbleFrame, TrimbleMeasurement, TrimbleNavResult, Trimb
 export { BinexEpoch, BinexMeasurement, BinexParseResult, BinexRecord, binexCrc16, binexCrc32, binexCsum8, binexRecords, decodeBinexEph, getBnxi, parseBinex } from './binex.js';
 export { AllPositionsData, AlmanacPosition, DopValues, EpochSkyData, SatAzEl, SatPoint, SatPosition, VisibilityPass, VisibilityResult, almanacEpochMs, almanacSatPosition, computeAllPositions, computeDop, computeLiveSkyPositions, computeSatPosition, computeVisibility, computeVisibilityFromPositions, dopplerHz, ecefToAzEl, ephInfoToEphemeris, glonassAlmanacEpochMs, glonassAlmanacPosition, glonassPosition, keplerPosition, maskRadForAzimuth, navTimesFromEph, rangeRate, selectEphemeris } from './orbit.js';
 export { Helmert14, REFERENCE_FRAMES, ReferenceFrame, applyHelmert, dateToEpoch, transformFrame } from './frames.js';
-export { AntennaOffset, ArFixedSat, ArOptions, ArResult, ArSat, CorrectionResult, DgnssOptions, DgnssSolution, EphemerisSource, FixedPositionResult, IONO_L1_M_PER_TECU, KlobucharCoeffs, LambdaResult, NetworkFcbResult, NetworkFcbSummary, NlArc, NlFcbResult, PppAntennaModel, PppArc, PppCorrectionConfig, PppCorrections, PppEpoch, PppEpochContext, PppEpochResult, PppFixState, PppOptions, PppSatObs, PppSolution, RawObservation, RtkEpochMeasurements, RtkFloatEngine, RtkFloatOptions, RtkFloatSolution, RtkMeasurement, SatGeom, SppOptions, SppSolution, TropoMapping, WlArc, WlFcbOptions, WlFcbResult, WlObs, buildPppAntenna, createPppCorrections, estimateNarrowlaneFcb, estimateNetworkFcbs, estimateWidelaneFcb, extractWidelaneArcs, fixPppPosition, gimSlantIonoDelayL1, gimVerticalTec, gmst, ionoFree, klobucharDelay, lambdaReduction, lambdaSearch, moonEcef, niellMapping, nlWavelength, resolvePppAmbiguities, satClockCorrection, solidEarthTide, solveDgnss, solvePpp, solveSpp, sunEcef, toRtkEpoch, wlWavelength } from './positioning.js';
+export { AntennaOffset, ArFixedSat, ArOptions, ArResult, ArSat, CorrectionResult, DgnssOptions, DgnssSolution, EphemerisSource, FixedPositionResult, IONO_L1_M_PER_TECU, KlobucharCoeffs, LambdaResult, NetworkFcbResult, NetworkFcbSummary, NlArc, NlFcbResult, PppAntennaModel, PppArc, PppCorrectionConfig, PppCorrections, PppEpoch, PppEpochContext, PppEpochResult, PppFixState, PppOptions, PppSatObs, PppSolution, RawObservation, RtkEpochMeasurements, RtkFloatEngine, RtkFloatOptions, RtkFloatSolution, RtkMeasurement, RtkObsEpoch, RtkObsInput, RtkPostProcessOptions, RtkPostProcessResult, RtkTrackPoint, SatGeom, SppOptions, SppSolution, TropoMapping, WlArc, WlFcbOptions, WlFcbResult, WlObs, buildPppAntenna, createPppCorrections, estimateNarrowlaneFcb, estimateNetworkFcbs, estimateWidelaneFcb, extractWidelaneArcs, fixPppPosition, gimSlantIonoDelayL1, gimVerticalTec, gmst, ionoFree, klobucharDelay, lambdaReduction, lambdaSearch, moonEcef, niellMapping, nlWavelength, postProcessRtk, resolvePppAmbiguities, satClockCorrection, solidEarthTide, solveDgnss, solvePpp, solveSpp, sunEcef, toRtkEpoch, wlWavelength } from './positioning.js';
 export { NtripCaster, NtripConnectionInfo, NtripNetwork, NtripStream, NtripStreamConnection, NtripVersion, Sourcetable, SourcetableEntry, connectToMountpoint, fetchSourcetable, parseSourcetable } from './ntrip.js';
 export { CompleteSatSignal, CompleteSignalStats, CompletenessAccumulator, CompletenessResult, CycleSlipAccumulator, CycleSlipEvent, CycleSlipResult, CycleSlipSignalStats, IonoAccumulator, IonoDcbResult, IonoPoint, IonoRatePoint, IonoRateSeries, IonoResult, IonoSeries, MultipathAccumulator, MultipathPoint, MultipathResult, MultipathSeries, MultipathSignalStat, QualityResult, SatDcbMap, analyzeQuality, applyIonoDcb, computeIonoRate, detrendIonoArcs, parseSinexBiasDcb } from './analysis.js';
 export { AntennaEntry, AntexFile, FrequencyData, frequencyLabel, parseAntex } from './antex.js';

package/dist/index.js

@@ -50,7 +50,7 @@ import {
   parseUbxRawNav,
   parseUbxRawx,
   ubxFrames
-} from "./chunk-Z5VLTH33.js";
+} from "./chunk-EQNC24OB.js";
 import {
   crc16,
   decodeSbfNavigation,
@@ -68,15 +68,16 @@ import {
   parseSbfNav,
   parseSbfReceiverSetup,
   scanSbfFrames
-} from "./chunk-6EZUM2MB.js";
-import "./chunk-QV3XGDUU.js";
+} from "./chunk-MEDAWNWM.js";
+import "./chunk-FA2UTLEQ.js";
 import {
   OEM4_HLEN,
   crc32,
   oem4Frames,
   parseNovatelNav,
   parseNovatelRange
-} from "./chunk-5X4AG4MK.js";
+} from "./chunk-ROVSSEGZ.js";
+import "./chunk-ZIGMN3E5.js";
 import {
   parseTrimble,
   parseTrimbleNav,
@@ -127,19 +128,6 @@ import {
   getTimeOfDay,
   getWeekOfYear
 } from "./chunk-L5OUUNLT.js";
-import {
-  deg2dms,
-  deg2rad,
-  euclidean3D,
-  geodeticToGeohash,
-  geodeticToMaidenhead,
-  geodeticToUtm,
-  greatCircleMidpoint,
-  horizonDistance,
-  rad2deg,
-  rhumbLine,
-  vincenty
-} from "./chunk-MIIM4LDY.js";
 import {
   REFERENCE_FRAMES,
   applyHelmert,
@@ -166,6 +154,7 @@ import {
   moonEcef,
   niellMapping,
   nlWavelength,
+  postProcessRtk,
   resolvePppAmbiguities,
   satClockCorrection,
   solidEarthTide,
@@ -175,7 +164,7 @@ import {
   sunEcef,
   toRtkEpoch,
   wlWavelength
-} from "./chunk-3FG4XVCB.js";
+} from "./chunk-XYCECWWS.js";
 import {
   almanacEpochMs,
   almanacSatPosition,
@@ -197,6 +186,19 @@ import {
   rangeRate,
   selectEphemeris
 } from "./chunk-MHGNKSSH.js";
+import {
+  deg2dms,
+  deg2rad,
+  euclidean3D,
+  geodeticToGeohash,
+  geodeticToMaidenhead,
+  geodeticToUtm,
+  greatCircleMidpoint,
+  horizonDistance,
+  rad2deg,
+  rhumbLine,
+  vincenty
+} from "./chunk-MIIM4LDY.js";
 import {
   clampUnit,
   ecefToGeodetic,
@@ -616,6 +618,7 @@ export {
   phiBOCc,
   phiBOCs,
   phiBPSK,
+  postProcessRtk,
   rad2deg,
   rangeRate,
   readString,

package/dist/novatel.cjs

@@ -398,6 +398,45 @@ var CnavAssembler = class {
   }
 };
 
+// src/navbits/sbas.ts
+var GPS_EPOCH_MS3 = 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 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_MS3 + 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
+  };
+}
+
 // src/constants/time.ts
 var MILLISECONDS_IN_SECOND = 1e3;
 var MILLISECONDS_GPS_TAI = 19e3;
@@ -494,18 +533,20 @@ var ID_GALEPHEMERIS = 1122;
 var ID_QZSSEPHEMERIS = 1336;
 var ID_GPSEPHEM = 7;
 var ID_BDSEPHEMERIS = 1696;
-var GPS_EPOCH_MS3 = Date.UTC(1980, 0, 6);
+var ID_RAWWAASFRAME = 287;
+var ID_RAWSBASFRAME = 973;
+var GPS_EPOCH_MS4 = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS = Date.UTC(2006, 0, 1);
 var SEC_PER_WEEK3 = 7 * 86400;
 var SEC_PER_DAY = 86400;
-var MS_PER_WEEK = SEC_PER_WEEK3 * 1e3;
-var gpsMs = (week, sec) => GPS_EPOCH_MS3 + week * MS_PER_WEEK + sec * 1e3;
+var MS_PER_WEEK2 = SEC_PER_WEEK3 * 1e3;
+var gpsMs = (week, sec) => GPS_EPOCH_MS4 + week * MS_PER_WEEK2 + sec * 1e3;
 var sowOf = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK3;
 function nearWeekMs(refMs, sow) {
-  const refWeek = Math.floor((refMs - GPS_EPOCH_MS3) / MS_PER_WEEK);
+  const refWeek = Math.floor((refMs - GPS_EPOCH_MS4) / MS_PER_WEEK2);
   let ms = gpsMs(refWeek, sow);
-  if (ms < refMs - MS_PER_WEEK / 2) ms += MS_PER_WEEK;
-  else if (ms > refMs + MS_PER_WEEK / 2) ms -= MS_PER_WEEK;
+  if (ms < refMs - MS_PER_WEEK2 / 2) ms += MS_PER_WEEK2;
+  else if (ms > refMs + MS_PER_WEEK2 / 2) ms -= MS_PER_WEEK2;
   return ms;
 }
 function decodeRawEphem(data, view, p) {
@@ -529,9 +570,9 @@ function decodeGloEphemeris(view, p) {
   tof += Math.floor(tow / SEC_PER_DAY) * SEC_PER_DAY;
   if (tof < tow - 43200) tof += SEC_PER_DAY;
   else if (tof > tow + 43200) tof -= SEC_PER_DAY;
-  const toeGpsMs = GPS_EPOCH_MS3 + (week * SEC_PER_WEEK3 + tow) * 1e3;
-  const tofGpsMs = GPS_EPOCH_MS3 + (week * SEC_PER_WEEK3 + tof) * 1e3;
-  const tofUtcSec = (getUtcDate(new Date(tofGpsMs)).getTime() - GPS_EPOCH_MS3) / 1e3;
+  const toeGpsMs = GPS_EPOCH_MS4 + (week * SEC_PER_WEEK3 + tow) * 1e3;
+  const tofGpsMs = GPS_EPOCH_MS4 + (week * SEC_PER_WEEK3 + tof) * 1e3;
+  const tofUtcSec = (getUtcDate(new Date(tofGpsMs)).getTime() - GPS_EPOCH_MS4) / 1e3;
   return {
     system: "R",
     prn: `R${String(slot).padStart(2, "0")}`,
@@ -596,7 +637,7 @@ 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_MS3) / MS_PER_WEEK),
+      week: Math.floor((toeMs - GPS_EPOCH_MS4) / MS_PER_WEEK2),
       // 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,
@@ -613,7 +654,7 @@ function decodeBdsEphemeris(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_MS + week * MS_PER_WEEK + tocs * 1e3);
+  const tocDate = new Date(BDT_EPOCH_MS + week * MS_PER_WEEK2 + tocs * 1e3);
   return {
     system: "C",
     prn: `C${String(prn).padStart(2, "0")}`,
@@ -755,6 +796,20 @@ 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 {
@@ -768,8 +823,8 @@ function parseNovatelNav(data) {
 }
 
 // src/novatel/index.ts
-var GPS_EPOCH_MS4 = Date.UTC(1980, 0, 6);
-var MS_PER_WEEK2 = 7 * 864e5;
+var GPS_EPOCH_MS5 = Date.UTC(1980, 0, 6);
+var MS_PER_WEEK3 = 7 * 864e5;
 var HDR = 28;
 var ID_RANGE = 43;
 var ID_RANGECMP = 140;
@@ -938,7 +993,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS4 + week * MS_PER_WEEK2 + towMs,
+          timeMs: GPS_EPOCH_MS5 + week * MS_PER_WEEK3 + towMs,
           meas
         });
       }
@@ -990,7 +1045,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS4 + week * MS_PER_WEEK2 + towMs,
+          timeMs: GPS_EPOCH_MS5 + week * MS_PER_WEEK3 + towMs,
           meas
         });
       }

package/dist/novatel.d.cts

@@ -39,16 +39,28 @@ declare function oem4Frames(data: Uint8Array, view: DataView, stats: {
  * NovAtel navigation-message decoding: RAWEPHEM (message 41, raw GPS
  * LNAV subframes 1–3), GLOEPHEMERIS (message 723, decoded GLONASS
  * L1 C/A ephemeris), GALEPHEMERIS (1122), BDSEPHEMERIS (1696),
- * QZSSEPHEMERIS (1336) and IONUTC (8, GPS Klobuchar + UTC parameters).
+ * QZSSEPHEMERIS (1336), RAWSBASFRAME (973) / RAWWAASFRAME (287, its
+ * OEMV-era twin — raw SBAS L1 GEO messages) and IONUTC (8, GPS
+ * Klobuchar + UTC parameters).
  *
  * Ported from RTKLIB demo5 (rtklibexplorer fork, src/rcv/novatel.c:
  * decode_rawephemb / decode_gloephemerisb / decode_galephemerisb /
- * decode_bdsephemerisb / decode_ionutcb, Copyright (c) 2007-2020
- * T. Takasu, BSD-2-Clause) and cross-checked against the OEM7
- * Commands and Logs Reference Manual. QZSSEPHEMERIS has no RTKLIB
- * decoder (RTKLIB only handles the raw-subframe QZSSRAWEPHEM 1331);
- * its layout is taken from the OEM7 manual §3.150 and is therefore
- * synthetic-tested only, like SBF's QZSNav.
+ * decode_bdsephemerisb / decode_rawsbasframeb / decode_ionutcb,
+ * Copyright (c) 2007-2020 T. Takasu, BSD-2-Clause) and cross-checked
+ * against the OEM7 Commands and Logs Reference Manual. QZSSEPHEMERIS
+ * has no RTKLIB decoder (RTKLIB only handles the raw-subframe
+ * QZSSRAWEPHEM 1331); its layout is taken from the OEM7 manual §3.150
+ * and is therefore synthetic-tested only, like SBF's QZSNav.
+ *
+ * RAWSBASFRAME/RAWWAASFRAME carry the 250-bit SBAS L1 message as a
+ * 29-byte field (OEM7 manual §3.169: after the header, frame-decoder
+ * u4, PRN u4, a u4, then 29 bytes of message). Message type 9 (GEO
+ * navigation) is decoded by the shared `decodeSbasGeoNav`, the same
+ * decoder the u-blox and SBF paths use; other message types (fast/long
+ * corrections, etc.) are skipped. Because only 29 bytes (232 bits) are
+ * carried — enough for every MT9 field but 18 bits short of the 24-bit
+ * SBAS CRC — the SBAS CRC is not re-checked; the OEM4 CRC-32 over the
+ * whole log already guarantees the transported bytes.
  *
  * Output records mirror what `parseNavFile` produces for the
  * equivalent RINEX 3 navigation file: Keplerian `tocDate` is a

package/dist/novatel.d.ts

@@ -39,16 +39,28 @@ declare function oem4Frames(data: Uint8Array, view: DataView, stats: {
  * NovAtel navigation-message decoding: RAWEPHEM (message 41, raw GPS
  * LNAV subframes 1–3), GLOEPHEMERIS (message 723, decoded GLONASS
  * L1 C/A ephemeris), GALEPHEMERIS (1122), BDSEPHEMERIS (1696),
- * QZSSEPHEMERIS (1336) and IONUTC (8, GPS Klobuchar + UTC parameters).
+ * QZSSEPHEMERIS (1336), RAWSBASFRAME (973) / RAWWAASFRAME (287, its
+ * OEMV-era twin — raw SBAS L1 GEO messages) and IONUTC (8, GPS
+ * Klobuchar + UTC parameters).
  *
  * Ported from RTKLIB demo5 (rtklibexplorer fork, src/rcv/novatel.c:
  * decode_rawephemb / decode_gloephemerisb / decode_galephemerisb /
- * decode_bdsephemerisb / decode_ionutcb, Copyright (c) 2007-2020
- * T. Takasu, BSD-2-Clause) and cross-checked against the OEM7
- * Commands and Logs Reference Manual. QZSSEPHEMERIS has no RTKLIB
- * decoder (RTKLIB only handles the raw-subframe QZSSRAWEPHEM 1331);
- * its layout is taken from the OEM7 manual §3.150 and is therefore
- * synthetic-tested only, like SBF's QZSNav.
+ * decode_bdsephemerisb / decode_rawsbasframeb / decode_ionutcb,
+ * Copyright (c) 2007-2020 T. Takasu, BSD-2-Clause) and cross-checked
+ * against the OEM7 Commands and Logs Reference Manual. QZSSEPHEMERIS
+ * has no RTKLIB decoder (RTKLIB only handles the raw-subframe
+ * QZSSRAWEPHEM 1331); its layout is taken from the OEM7 manual §3.150
+ * and is therefore synthetic-tested only, like SBF's QZSNav.
+ *
+ * RAWSBASFRAME/RAWWAASFRAME carry the 250-bit SBAS L1 message as a
+ * 29-byte field (OEM7 manual §3.169: after the header, frame-decoder
+ * u4, PRN u4, a u4, then 29 bytes of message). Message type 9 (GEO
+ * navigation) is decoded by the shared `decodeSbasGeoNav`, the same
+ * decoder the u-blox and SBF paths use; other message types (fast/long
+ * corrections, etc.) are skipped. Because only 29 bytes (232 bits) are
+ * carried — enough for every MT9 field but 18 bits short of the 24-bit
+ * SBAS CRC — the SBAS CRC is not re-checked; the OEM4 CRC-32 over the
+ * whole log already guarantees the transported bytes.
  *
  * Output records mirror what `parseNavFile` produces for the
  * equivalent RINEX 3 navigation file: Keplerian `tocDate` is a

package/dist/novatel.js

@@ -4,7 +4,8 @@ import {
   oem4Frames,
   parseNovatelNav,
   parseNovatelRange
-} from "./chunk-5X4AG4MK.js";
+} from "./chunk-ROVSSEGZ.js";
+import "./chunk-ZIGMN3E5.js";
 import "./chunk-YUW33VXK.js";
 import "./chunk-V2D5KUKH.js";
 import "./chunk-HVXYFUCB.js";

package/dist/positioning.cjs

@@ -39,6 +39,7 @@ __export(positioning_exports, {
   moonEcef: () => moonEcef,
   niellMapping: () => niellMapping,
   nlWavelength: () => nlWavelength,
+  postProcessRtk: () => postProcessRtk,
   resolvePppAmbiguities: () => resolvePppAmbiguities,
   satClockCorrection: () => satClockCorrection,
   solidEarthTide: () => solidEarthTide,
@@ -1555,6 +1556,74 @@ var RtkFloatEngine = class {
   }
 };
 
+// src/positioning/rtk-postprocess.ts
+var epochsOf = (o) => Array.isArray(o) ? o : o.epochs;
+function postProcessRtk(base, rover, ephemerides, baseEcef, opts = {}) {
+  const tol = opts.pairToleranceMs ?? 500;
+  const round = (ms) => Math.round(ms / 1e3) * 1e3;
+  const baseByT = /* @__PURE__ */ new Map();
+  for (const e of epochsOf(base)) baseByT.set(round(e.timeMs), e);
+  const engine = new RtkFloatEngine(baseEcef, ephemerides, opts);
+  const [bLat, bLon] = ecefToGeodetic(baseEcef[0], baseEcef[1], baseEcef[2]);
+  const [sLat, cLat, sLon, cLon] = [
+    Math.sin(bLat),
+    Math.cos(bLat),
+    Math.sin(bLon),
+    Math.cos(bLon)
+  ];
+  const enuOf = (p) => {
+    const dx = p[0] - baseEcef[0];
+    const dy = p[1] - baseEcef[1];
+    const dz = p[2] - baseEcef[2];
+    return [
+      -sLon * dx + cLon * dy,
+      -sLat * cLon * dx - sLat * sLon * dy + cLat * dz,
+      cLat * cLon * dx + cLat * sLon * dy + sLat * dz
+    ];
+  };
+  const track = [];
+  const seen = /* @__PURE__ */ new Set();
+  let solved = 0;
+  let unmatched = 0;
+  let fixed = 0;
+  const sorted = [...epochsOf(rover)].sort((a, b) => a.timeMs - b.timeMs);
+  for (const rEp of sorted) {
+    if (seen.has(rEp.timeMs)) continue;
+    seen.add(rEp.timeMs);
+    const bEp = baseByT.get(round(rEp.timeMs));
+    if (!bEp || Math.abs(bEp.timeMs - rEp.timeMs) > tol) {
+      unmatched++;
+      continue;
+    }
+    const sol = engine.process(
+      toRtkEpoch(rEp.meas),
+      toRtkEpoch(bEp.meas),
+      rEp.timeMs
+    );
+    if (!sol) continue;
+    solved++;
+    if (sol.status === "fixed") fixed++;
+    const [lat, lon, height] = ecefToGeodetic(
+      sol.position[0],
+      sol.position[1],
+      sol.position[2]
+    );
+    track.push({
+      timeMs: rEp.timeMs,
+      position: sol.position,
+      lat,
+      lon,
+      height,
+      enu: enuOf(sol.position),
+      status: sol.status,
+      ratio: sol.ratio,
+      nSats: sol.nSats,
+      nFixed: sol.nFixed
+    });
+  }
+  return { track, solved, unmatched, fixRate: solved ? fixed / solved : 0 };
+}
+
 // src/rinex/sp3.ts
 function sp3Position(sp3, prn, tMs, order = 9) {
   const samples = sp3.satellites[prn];
@@ -3164,6 +3233,7 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
   moonEcef,
   niellMapping,
   nlWavelength,
+  postProcessRtk,
   resolvePppAmbiguities,
   satClockCorrection,
   solidEarthTide,

package/dist/positioning.d.cts

@@ -399,6 +399,67 @@ declare class RtkFloatEngine {
     process(rover: RtkEpochMeasurements, base: RtkEpochMeasurements, timeMs: number): RtkFloatSolution | null;
 }
 
+/** One observation epoch (base or rover) — the shape the receiver/RINEX
+ *  parsers already produce (`parseNovatelRange().epochs`, etc.). */
+interface RtkObsEpoch {
+    /** Epoch, GPS-scale milliseconds. */
+    timeMs: number;
+    meas: readonly RawObservation[];
+}
+/** Either a bare epoch array or a `{ epochs }` parser result. */
+type RtkObsInput = readonly RtkObsEpoch[] | {
+    readonly epochs: readonly RtkObsEpoch[];
+};
+interface RtkTrackPoint {
+    /** Epoch, GPS-scale milliseconds. */
+    timeMs: number;
+    /** Rover position ECEF (m) — ambiguity-fixed when `status === 'fixed'`. */
+    position: [number, number, number];
+    /** Geodetic latitude, longitude (radians) and ellipsoidal height (m). */
+    lat: number;
+    lon: number;
+    height: number;
+    /** Rover − base baseline in the base's local ENU frame (m). */
+    enu: [number, number, number];
+    /** 'fixed' (integer AR passed), 'float', or 'dgnss' (code-only). */
+    status: 'fixed' | 'float' | 'dgnss';
+    /** LAMBDA validation ratio, when a fix was attempted. */
+    ratio?: number;
+    /** Satellites contributing this epoch. */
+    nSats: number;
+    /** Integer-fixed ambiguities, when fixed. */
+    nFixed?: number;
+}
+interface RtkPostProcessOptions extends RtkFloatOptions {
+    /**
+     * Maximum |base − rover| epoch-time difference to accept a pair (ms).
+     * Default 500. Base and rover are matched by rounded second, so this
+     * mainly rejects a base gap rather than sub-second offsets.
+     */
+    pairToleranceMs?: number;
+}
+interface RtkPostProcessResult {
+    /** Solved rover epochs in time order. */
+    track: RtkTrackPoint[];
+    /** Rover epochs paired with a base epoch and solved. */
+    solved: number;
+    /** Rover epochs with no base epoch within tolerance. */
+    unmatched: number;
+    /** Fraction of solved epochs with an integer-fixed solution (0–1). */
+    fixRate: number;
+}
+/**
+ * Post-process a base/rover observation pair into an RTK track.
+ *
+ * @param base        base-station observation epochs (needs a known position)
+ * @param rover       rover observation epochs
+ * @param ephemerides broadcast (or precise) ephemerides covering the window
+ * @param baseEcef    surveyed base position, ECEF metres
+ * @param opts        engine options (`mode`, `elevationMaskDeg`,
+ *                    `ambiguityResolution`, …) plus `pairToleranceMs`
+ */
+declare function postProcessRtk(base: RtkObsInput, rover: RtkObsInput, ephemerides: EphemerisSource, baseEcef: readonly [number, number, number], opts?: RtkPostProcessOptions): RtkPostProcessResult;
+
 /**
  * Integer ambiguity resolution: LAMBDA decorrelation + MLAMBDA
  * integer least-squares search.
@@ -1117,4 +1178,4 @@ declare function ionoFree(p1: number, p2: number, f1: number, f2: number): numbe
  */
 declare function solveSpp(pseudoranges: Map<string, number>, ephemerides: Map<string, Ephemeris>, timeMs: number, opts?: SppOptions): SppSolution | null;
 
-export { type AntennaOffset, type ArFixedSat, type ArOptions, type ArResult, type ArSat, type CorrectionResult, type DgnssOptions, type DgnssSolution, type EphemerisSource, type FixedPositionResult, IONO_L1_M_PER_TECU, type KlobucharCoeffs, type LambdaResult, type NetworkFcbResult, type NetworkFcbSummary, type NlArc, type NlFcbResult, type PppAntennaModel, type PppArc, type PppCorrectionConfig, type PppCorrections, type PppEpoch, type PppEpochContext, type PppEpochResult, type PppFixState, type PppOptions, type PppSatObs, type PppSolution, type RawObservation, type RtkEpochMeasurements, RtkFloatEngine, type RtkFloatOptions, type RtkFloatSolution, type RtkMeasurement, type SatGeom, type SppOptions, type SppSolution, type TropoMapping, type WlArc, type WlFcbOptions, type WlFcbResult, type WlObs, buildPppAntenna, createPppCorrections, estimateNarrowlaneFcb, estimateNetworkFcbs, estimateWidelaneFcb, extractWidelaneArcs, fixPppPosition, gimSlantIonoDelayL1, gimVerticalTec, gmst, ionoFree, klobucharDelay, lambdaReduction, lambdaSearch, moonEcef, niellMapping, nlWavelength, resolvePppAmbiguities, satClockCorrection, solidEarthTide, solveDgnss, solvePpp, solveSpp, sunEcef, toRtkEpoch, wlWavelength };
+export { type AntennaOffset, type ArFixedSat, type ArOptions, type ArResult, type ArSat, type CorrectionResult, type DgnssOptions, type DgnssSolution, type EphemerisSource, type FixedPositionResult, IONO_L1_M_PER_TECU, type KlobucharCoeffs, type LambdaResult, type NetworkFcbResult, type NetworkFcbSummary, type NlArc, type NlFcbResult, type PppAntennaModel, type PppArc, type PppCorrectionConfig, type PppCorrections, type PppEpoch, type PppEpochContext, type PppEpochResult, type PppFixState, type PppOptions, type PppSatObs, type PppSolution, type RawObservation, type RtkEpochMeasurements, RtkFloatEngine, type RtkFloatOptions, type RtkFloatSolution, type RtkMeasurement, type RtkObsEpoch, type RtkObsInput, type RtkPostProcessOptions, type RtkPostProcessResult, type RtkTrackPoint, type SatGeom, type SppOptions, type SppSolution, type TropoMapping, type WlArc, type WlFcbOptions, type WlFcbResult, type WlObs, buildPppAntenna, createPppCorrections, estimateNarrowlaneFcb, estimateNetworkFcbs, estimateWidelaneFcb, extractWidelaneArcs, fixPppPosition, gimSlantIonoDelayL1, gimVerticalTec, gmst, ionoFree, klobucharDelay, lambdaReduction, lambdaSearch, moonEcef, niellMapping, nlWavelength, postProcessRtk, resolvePppAmbiguities, satClockCorrection, solidEarthTide, solveDgnss, solvePpp, solveSpp, sunEcef, toRtkEpoch, wlWavelength };

package/dist/positioning.d.ts

@@ -399,6 +399,67 @@ declare class RtkFloatEngine {
     process(rover: RtkEpochMeasurements, base: RtkEpochMeasurements, timeMs: number): RtkFloatSolution | null;
 }
 
+/** One observation epoch (base or rover) — the shape the receiver/RINEX
+ *  parsers already produce (`parseNovatelRange().epochs`, etc.). */
+interface RtkObsEpoch {
+    /** Epoch, GPS-scale milliseconds. */
+    timeMs: number;
+    meas: readonly RawObservation[];
+}
+/** Either a bare epoch array or a `{ epochs }` parser result. */
+type RtkObsInput = readonly RtkObsEpoch[] | {
+    readonly epochs: readonly RtkObsEpoch[];
+};
+interface RtkTrackPoint {
+    /** Epoch, GPS-scale milliseconds. */
+    timeMs: number;
+    /** Rover position ECEF (m) — ambiguity-fixed when `status === 'fixed'`. */
+    position: [number, number, number];
+    /** Geodetic latitude, longitude (radians) and ellipsoidal height (m). */
+    lat: number;
+    lon: number;
+    height: number;
+    /** Rover − base baseline in the base's local ENU frame (m). */
+    enu: [number, number, number];
+    /** 'fixed' (integer AR passed), 'float', or 'dgnss' (code-only). */
+    status: 'fixed' | 'float' | 'dgnss';
+    /** LAMBDA validation ratio, when a fix was attempted. */
+    ratio?: number;
+    /** Satellites contributing this epoch. */
+    nSats: number;
+    /** Integer-fixed ambiguities, when fixed. */
+    nFixed?: number;
+}
+interface RtkPostProcessOptions extends RtkFloatOptions {
+    /**
+     * Maximum |base − rover| epoch-time difference to accept a pair (ms).
+     * Default 500. Base and rover are matched by rounded second, so this
+     * mainly rejects a base gap rather than sub-second offsets.
+     */
+    pairToleranceMs?: number;
+}
+interface RtkPostProcessResult {
+    /** Solved rover epochs in time order. */
+    track: RtkTrackPoint[];
+    /** Rover epochs paired with a base epoch and solved. */
+    solved: number;
+    /** Rover epochs with no base epoch within tolerance. */
+    unmatched: number;
+    /** Fraction of solved epochs with an integer-fixed solution (0–1). */
+    fixRate: number;
+}
+/**
+ * Post-process a base/rover observation pair into an RTK track.
+ *
+ * @param base        base-station observation epochs (needs a known position)
+ * @param rover       rover observation epochs
+ * @param ephemerides broadcast (or precise) ephemerides covering the window
+ * @param baseEcef    surveyed base position, ECEF metres
+ * @param opts        engine options (`mode`, `elevationMaskDeg`,
+ *                    `ambiguityResolution`, …) plus `pairToleranceMs`
+ */
+declare function postProcessRtk(base: RtkObsInput, rover: RtkObsInput, ephemerides: EphemerisSource, baseEcef: readonly [number, number, number], opts?: RtkPostProcessOptions): RtkPostProcessResult;
+
 /**
  * Integer ambiguity resolution: LAMBDA decorrelation + MLAMBDA
  * integer least-squares search.
@@ -1117,4 +1178,4 @@ declare function ionoFree(p1: number, p2: number, f1: number, f2: number): numbe
  */
 declare function solveSpp(pseudoranges: Map<string, number>, ephemerides: Map<string, Ephemeris>, timeMs: number, opts?: SppOptions): SppSolution | null;
 
-export { type AntennaOffset, type ArFixedSat, type ArOptions, type ArResult, type ArSat, type CorrectionResult, type DgnssOptions, type DgnssSolution, type EphemerisSource, type FixedPositionResult, IONO_L1_M_PER_TECU, type KlobucharCoeffs, type LambdaResult, type NetworkFcbResult, type NetworkFcbSummary, type NlArc, type NlFcbResult, type PppAntennaModel, type PppArc, type PppCorrectionConfig, type PppCorrections, type PppEpoch, type PppEpochContext, type PppEpochResult, type PppFixState, type PppOptions, type PppSatObs, type PppSolution, type RawObservation, type RtkEpochMeasurements, RtkFloatEngine, type RtkFloatOptions, type RtkFloatSolution, type RtkMeasurement, type SatGeom, type SppOptions, type SppSolution, type TropoMapping, type WlArc, type WlFcbOptions, type WlFcbResult, type WlObs, buildPppAntenna, createPppCorrections, estimateNarrowlaneFcb, estimateNetworkFcbs, estimateWidelaneFcb, extractWidelaneArcs, fixPppPosition, gimSlantIonoDelayL1, gimVerticalTec, gmst, ionoFree, klobucharDelay, lambdaReduction, lambdaSearch, moonEcef, niellMapping, nlWavelength, resolvePppAmbiguities, satClockCorrection, solidEarthTide, solveDgnss, solvePpp, solveSpp, sunEcef, toRtkEpoch, wlWavelength };
+export { type AntennaOffset, type ArFixedSat, type ArOptions, type ArResult, type ArSat, type CorrectionResult, type DgnssOptions, type DgnssSolution, type EphemerisSource, type FixedPositionResult, IONO_L1_M_PER_TECU, type KlobucharCoeffs, type LambdaResult, type NetworkFcbResult, type NetworkFcbSummary, type NlArc, type NlFcbResult, type PppAntennaModel, type PppArc, type PppCorrectionConfig, type PppCorrections, type PppEpoch, type PppEpochContext, type PppEpochResult, type PppFixState, type PppOptions, type PppSatObs, type PppSolution, type RawObservation, type RtkEpochMeasurements, RtkFloatEngine, type RtkFloatOptions, type RtkFloatSolution, type RtkMeasurement, type RtkObsEpoch, type RtkObsInput, type RtkPostProcessOptions, type RtkPostProcessResult, type RtkTrackPoint, type SatGeom, type SppOptions, type SppSolution, type TropoMapping, type WlArc, type WlFcbOptions, type WlFcbResult, type WlObs, buildPppAntenna, createPppCorrections, estimateNarrowlaneFcb, estimateNetworkFcbs, estimateWidelaneFcb, extractWidelaneArcs, fixPppPosition, gimSlantIonoDelayL1, gimVerticalTec, gmst, ionoFree, klobucharDelay, lambdaReduction, lambdaSearch, moonEcef, niellMapping, nlWavelength, postProcessRtk, resolvePppAmbiguities, satClockCorrection, solidEarthTide, solveDgnss, solvePpp, solveSpp, sunEcef, toRtkEpoch, wlWavelength };

package/dist/positioning.js

@@ -18,6 +18,7 @@ import {
   moonEcef,
   niellMapping,
   nlWavelength,
+  postProcessRtk,
   resolvePppAmbiguities,
   satClockCorrection,
   solidEarthTide,
@@ -27,8 +28,9 @@ import {
   sunEcef,
   toRtkEpoch,
   wlWavelength
-} from "./chunk-3FG4XVCB.js";
+} from "./chunk-XYCECWWS.js";
 import "./chunk-MHGNKSSH.js";
+import "./chunk-MIIM4LDY.js";
 import "./chunk-37QNKGTC.js";
 import "./chunk-6FAL6P4G.js";
 import "./chunk-GPEP67TG.js";
@@ -55,6 +57,7 @@ export {
   moonEcef,
   niellMapping,
   nlWavelength,
+  postProcessRtk,
   resolvePppAmbiguities,
   satClockCorrection,
   solidEarthTide,

package/dist/sbf.js

@@ -15,8 +15,9 @@ import {
   parseSbfNav,
   parseSbfReceiverSetup,
   scanSbfFrames
-} from "./chunk-6EZUM2MB.js";
-import "./chunk-QV3XGDUU.js";
+} from "./chunk-MEDAWNWM.js";
+import "./chunk-FA2UTLEQ.js";
+import "./chunk-ZIGMN3E5.js";
 import "./chunk-37QNKGTC.js";
 import "./chunk-6FAL6P4G.js";
 import "./chunk-YUW33VXK.js";

package/dist/ubx.js

@@ -5,8 +5,9 @@ import {
   parseUbxRawNav,
   parseUbxRawx,
   ubxFrames
-} from "./chunk-Z5VLTH33.js";
-import "./chunk-QV3XGDUU.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": "1.43.0",
+  "version": "1.45.0",
   "description": "Comprehensive GNSS library for JavaScript — time scales, coordinates, RINEX parsing, RTCM3 decoding, orbit computation, and signal analysis",
   "type": "module",
   "sideEffects": false,