gnss-js 1.44.0 → 1.45.1

package/dist/{chunk-3FG4XVCB.js → chunk-ST22ULND.js}

@@ -1100,6 +1100,85 @@ var RtkFloatEngine = class {
   }
 };
 
+// src/positioning/rtk-postprocess.ts
+var epochsOf = (o) => Array.isArray(o) ? o : o.epochs;
+function medianIntervalMs(epochs) {
+  const times = [...new Set(epochs.map((e) => e.timeMs))].sort((a, b) => a - b);
+  if (times.length < 2) return null;
+  const gaps = [];
+  for (let i = 1; i < times.length; i++) gaps.push(times[i] - times[i - 1]);
+  gaps.sort((a, b) => a - b);
+  return gaps[Math.floor(gaps.length / 2)];
+}
+function postProcessRtk(base, rover, ephemerides, baseEcef, opts = {}) {
+  const tol = opts.pairToleranceMs ?? 500;
+  const round = (ms) => Math.round(ms / 1e3) * 1e3;
+  const roverEpochs = epochsOf(rover);
+  const interval = medianIntervalMs(roverEpochs);
+  const engineOpts = opts.maxGapMs != null || interval == null ? opts : { ...opts, maxGapMs: Math.max(1e4, Math.round(interval * 2.5)) };
+  const baseByT = /* @__PURE__ */ new Map();
+  for (const e of epochsOf(base)) baseByT.set(round(e.timeMs), e);
+  const engine = new RtkFloatEngine(baseEcef, ephemerides, engineOpts);
+  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 = [...roverEpochs].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 +2706,7 @@ export {
   toRtkEpoch,
   solveDgnss,
   RtkFloatEngine,
+  postProcessRtk,
   niellMapping,
   gmst,
   sunEcef,

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,
@@ -13032,6 +13033,85 @@ var RtkFloatEngine = class {
   }
 };
 
+// src/positioning/rtk-postprocess.ts
+var epochsOf = (o) => Array.isArray(o) ? o : o.epochs;
+function medianIntervalMs(epochs) {
+  const times = [...new Set(epochs.map((e) => e.timeMs))].sort((a, b) => a - b);
+  if (times.length < 2) return null;
+  const gaps = [];
+  for (let i = 1; i < times.length; i++) gaps.push(times[i] - times[i - 1]);
+  gaps.sort((a, b) => a - b);
+  return gaps[Math.floor(gaps.length / 2)];
+}
+function postProcessRtk(base, rover, ephemerides, baseEcef, opts = {}) {
+  const tol = opts.pairToleranceMs ?? 500;
+  const round = (ms) => Math.round(ms / 1e3) * 1e3;
+  const roverEpochs = epochsOf(rover);
+  const interval = medianIntervalMs(roverEpochs);
+  const engineOpts = opts.maxGapMs != null || interval == null ? opts : { ...opts, maxGapMs: Math.max(1e4, Math.round(interval * 2.5)) };
+  const baseByT = /* @__PURE__ */ new Map();
+  for (const e of epochsOf(base)) baseByT.set(round(e.timeMs), e);
+  const engine = new RtkFloatEngine(baseEcef, ephemerides, engineOpts);
+  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 = [...roverEpochs].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,
@@ -17072,6 +17152,7 @@ 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

@@ -128,19 +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,
@@ -167,6 +154,7 @@ import {
   moonEcef,
   niellMapping,
   nlWavelength,
+  postProcessRtk,
   resolvePppAmbiguities,
   satClockCorrection,
   solidEarthTide,
@@ -176,7 +164,7 @@ import {
   sunEcef,
   toRtkEpoch,
   wlWavelength
-} from "./chunk-3FG4XVCB.js";
+} from "./chunk-ST22ULND.js";
 import {
   almanacEpochMs,
   almanacSatPosition,
@@ -198,6 +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,
@@ -617,6 +618,7 @@ export {
   phiBOCc,
   phiBOCs,
   phiBPSK,
+  postProcessRtk,
   rad2deg,
   rangeRate,
   readString,

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 +1556,85 @@ var RtkFloatEngine = class {
   }
 };
 
+// src/positioning/rtk-postprocess.ts
+var epochsOf = (o) => Array.isArray(o) ? o : o.epochs;
+function medianIntervalMs(epochs) {
+  const times = [...new Set(epochs.map((e) => e.timeMs))].sort((a, b) => a - b);
+  if (times.length < 2) return null;
+  const gaps = [];
+  for (let i = 1; i < times.length; i++) gaps.push(times[i] - times[i - 1]);
+  gaps.sort((a, b) => a - b);
+  return gaps[Math.floor(gaps.length / 2)];
+}
+function postProcessRtk(base, rover, ephemerides, baseEcef, opts = {}) {
+  const tol = opts.pairToleranceMs ?? 500;
+  const round = (ms) => Math.round(ms / 1e3) * 1e3;
+  const roverEpochs = epochsOf(rover);
+  const interval = medianIntervalMs(roverEpochs);
+  const engineOpts = opts.maxGapMs != null || interval == null ? opts : { ...opts, maxGapMs: Math.max(1e4, Math.round(interval * 2.5)) };
+  const baseByT = /* @__PURE__ */ new Map();
+  for (const e of epochsOf(base)) baseByT.set(round(e.timeMs), e);
+  const engine = new RtkFloatEngine(baseEcef, ephemerides, engineOpts);
+  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 = [...roverEpochs].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 +3244,7 @@ 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-ST22ULND.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/package.json

@@ -1,6 +1,6 @@
 {
   "name": "gnss-js",
-  "version": "1.44.0",
+  "version": "1.45.1",
   "description": "Comprehensive GNSS library for JavaScript — time scales, coordinates, RINEX parsing, RTCM3 decoding, orbit computation, and signal analysis",
   "type": "module",
   "sideEffects": false,