gnss-js 1.50.0 → 1.52.0

package/dist/{chunk-XFPDTGSV.js → chunk-DE5IUULR.js}

@@ -705,7 +705,7 @@ function parseSbfGloNav(data) {
 }
 
 // src/sbf/rawnav-sbas.ts
-function feedGeoBlock(view, b) {
+function feedGeoBlock(view, b, onSbasMessage) {
   const tow = view.getUint32(b + 8, true);
   const wnc = view.getUint16(b + 12, true);
   const svid = view.getUint8(b + 14);
@@ -721,10 +721,11 @@ function feedGeoBlock(view, b) {
   }
   if (!sbasCrcOk(msg)) return { badCrc: true };
   const prn = Number(prnStr.slice(1)) + 100;
+  onSbasMessage?.(msg, prn, wnc, tow / 1e3);
   const eph = decodeSbasGeoNav(msg, prn, wnc, tow / 1e3);
   return eph ? { eph } : {};
 }
-function parseSbfGeoNav(data) {
+function parseSbfGeoNav(data, opts = {}) {
   const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
   const ephemerides = [];
   const seen = /* @__PURE__ */ new Set();
@@ -733,7 +734,7 @@ function parseSbfGeoNav(data) {
   scanSbfFrames(data, view, (id, b, len) => {
     if (id !== 4020 || len < 52) return;
     messages++;
-    const r = feedGeoBlock(view, b);
+    const r = feedGeoBlock(view, b, opts.onSbasMessage);
     if (r.eph) {
       const key = `${r.eph.prn}|${r.eph.tocDate.getTime()}`;
       if (!seen.has(key)) {
@@ -753,7 +754,7 @@ function ephKey(e) {
   const source = "source" in e ? e.source : "";
   return `${e.prn}|${e.tocDate.getTime()}|${source}`;
 }
-function decodeSbfNavigation(data) {
+function decodeSbfNavigation(data, opts = {}) {
   const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
   const ephemerides = [];
   const seen = /* @__PURE__ */ new Set();
@@ -874,7 +875,7 @@ function decodeSbfNavigation(data) {
       case 4020: {
         if (len < 52) return;
         counts.sbasRaw++;
-        const r = feedGeoBlock(view, b);
+        const r = feedGeoBlock(view, b, opts.onSbasMessage);
         if (r.eph) addEph(r.eph);
         else if (r.badCrc) counts.badFrames++;
         return;

package/dist/{chunk-VYC2FRDV.js → chunk-U32IU7RO.js}

@@ -3048,6 +3048,65 @@ function sagnac2(pos, travelTimeS) {
   const s = Math.sin(theta);
   return [pos.x * c + pos.y * s, -pos.x * s + pos.y * c, pos.z];
 }
+function sbasAirTropoVar(elRad) {
+  const elDeg = elRad * 180 / Math.PI;
+  const sigMp = 0.13 + 0.53 * Math.exp(-elDeg / 10);
+  const sigNoise = 0.15 + 0.43 * Math.exp(-elDeg / 6.9);
+  const m = 1.001 / Math.sqrt(2001e-6 + Math.sin(elRad) * Math.sin(elRad));
+  const sigTropo = 0.12 * m;
+  return sigMp * sigMp + sigNoise * sigNoise + sigTropo * sigTropo;
+}
+function invertMatrix(A) {
+  const n = A.length;
+  const M = A.map((row, i) => [
+    ...row,
+    ...Array.from({ length: n }, (_, j) => i === j ? 1 : 0)
+  ]);
+  for (let col = 0; col < n; col++) {
+    let piv = col;
+    for (let r = col + 1; r < n; r++)
+      if (Math.abs(M[r][col]) > Math.abs(M[piv][col])) piv = r;
+    if (Math.abs(M[piv][col]) < 1e-12) return null;
+    [M[col], M[piv]] = [M[piv], M[col]];
+    const d = M[col][col];
+    for (let j = 0; j < 2 * n; j++) M[col][j] /= d;
+    for (let r = 0; r < n; r++) {
+      if (r === col) continue;
+      const f = M[r][col];
+      for (let j = 0; j < 2 * n; j++) M[r][j] -= f * M[col][j];
+    }
+  }
+  return M.map((row) => row.slice(n));
+}
+function sbasProtectionLevels(sats, opts = {}) {
+  const kH = opts.kH ?? 6;
+  const kV = opts.kV ?? 5.33;
+  if (sats.length < 4) return null;
+  const N = [0, 1, 2, 3].map(() => [0, 0, 0, 0]);
+  for (const s of sats) {
+    if (!(s.variance > 0)) continue;
+    const ce = Math.cos(s.elRad);
+    const g = [
+      ce * Math.sin(s.azRad),
+      ce * Math.cos(s.azRad),
+      Math.sin(s.elRad),
+      1
+    ];
+    const w = 1 / s.variance;
+    for (let i = 0; i < 4; i++)
+      for (let j = 0; j < 4; j++) N[i][j] += w * g[i] * g[j];
+  }
+  const cov = invertMatrix(N);
+  if (!cov) return null;
+  const dE2 = cov[0][0];
+  const dN2 = cov[1][1];
+  const dEN = cov[0][1];
+  const dU = Math.sqrt(Math.max(cov[2][2], 0));
+  const dMajor = Math.sqrt(
+    (dE2 + dN2) / 2 + Math.sqrt(((dE2 - dN2) / 2) ** 2 + dEN * dEN)
+  );
+  return { hpl: kH * dMajor, vpl: kV * dU, dMajor, dU };
+}
 function solveLinear(A, b) {
   const n = b.length;
   const M = A.map((row, i) => [...row, b[i]]);
@@ -3074,9 +3133,11 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
     convergenceM = 1e-4,
     tgd = true,
     iono,
-    gim
+    gim,
+    sbas
   } = opts;
   const gpsTow = (timeMs - GPS_EPOCH_MS_SPP) / 1e3 % 604800;
+  const gpsWeek = Math.floor((timeMs - GPS_EPOCH_MS_SPP) / 1e3 / 604800);
   const all = [...pseudoranges.keys()].filter((p) => ephemerides.has(p));
   const minSats = (list) => 3 + new Set(list.map((p) => p[0])).size;
   if (all.length < minSats(all)) return null;
@@ -3102,7 +3163,7 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
       const sysRows = new Map(systems.map((s) => [s, 0]));
       for (const k of Object.keys(residuals2)) delete residuals2[k];
       const positionSaneIter = x9 * x9 + y2 * y2 + z2 * z2 > 1e12;
-      const [rxLat, rxLon, rxHgt] = positionSaneIter ? ecefToGeodetic(x9, y2, z2) : [0, 0, 0];
+      const [rxLat2, rxLon2, rxHgt2] = positionSaneIter ? ecefToGeodetic(x9, y2, z2) : [0, 0, 0];
       for (const prn of prns) {
         const psr = pseudoranges.get(prn);
         const eph = ephemerides.get(prn);
@@ -3113,7 +3174,16 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
         const sat = computeSatPosition(eph, tTx - dtsClock * 1e3);
         if (!Number.isFinite(sat.x)) continue;
         const isKepler = eph.system !== "R" && eph.system !== "S";
-        const dts = dtsClock - (tgd && isKepler ? eph.tgd : 0);
+        let dts = dtsClock - (tgd && isKepler ? eph.tgd : 0);
+        if (sbas) {
+          const sc = sbas.satCorrection(prn, gpsWeek, gpsTow);
+          if (sc) {
+            sat.x += sc.dPos[0];
+            sat.y += sc.dPos[1];
+            sat.z += sc.dPos[2];
+            dts += sc.dClkS;
+          }
+        }
         const travel = Math.hypot(sat.x - x9, sat.y - y2, sat.z - z2) / C_LIGHT;
         const [sx, sy, sz] = sagnac2(sat, travel);
         const rho = Math.hypot(sx - x9, sy - y2, sz - z2);
@@ -3132,14 +3202,26 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
           const sinEl = Math.max(Math.sin(elev), 0.1);
           weight = sinEl * sinEl;
         }
-        const tropo = troposphere && positionSane ? tropoDelay2(elev, rxLat, rxHgt) : 0;
+        const tropo = troposphere && positionSane ? tropoDelay2(elev, rxLat2, rxHgt2) : 0;
         let ionoM = 0;
-        if ((gim || iono) && positionSane) {
+        if ((sbas || gim || iono) && positionSane) {
           let l1M = null;
-          if (gim)
-            l1M = gimSlantIonoDelayL1(gim, rxLat, rxLon, azim, elev, timeMs);
+          if (sbas) {
+            const si = sbas.ionoDelay(
+              gpsWeek,
+              gpsTow,
+              rxLat2,
+              rxLon2,
+              rxHgt2,
+              azim,
+              elev
+            );
+            if (si) l1M = si.delayM;
+          }
+          if (l1M === null && gim)
+            l1M = gimSlantIonoDelayL1(gim, rxLat2, rxLon2, azim, elev, timeMs);
           if (l1M === null && iono) {
-            l1M = C_LIGHT * klobucharDelay(iono, rxLat, rxLon, azim, elev, gpsTow);
+            l1M = C_LIGHT * klobucharDelay(iono, rxLat2, rxLon2, azim, elev, gpsTow);
           }
           if (l1M !== null) {
             const f = PRIMARY_FREQ_HZ[sys] ?? F_L12;
@@ -3212,6 +3294,8 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
   const { x, y, z, clock, residuals, iterations, converged } = inner;
   const used = [];
   const azels = [];
+  const [rxLat, rxLon, rxHgt] = ecefToGeodetic(x, y, z);
+  const sbasRows = [];
   for (const prn of candidates) {
     if (!(prn in residuals)) continue;
     const eph = ephemerides.get(prn);
@@ -3221,8 +3305,27 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
     if (azel.el >= elevationMaskDeg * Math.PI / 180) {
       used.push(prn);
       azels.push(azel);
+      if (sbas) {
+        const sc = sbas.satCorrection(prn, gpsWeek, gpsTow);
+        const si = sbas.ionoDelay(
+          gpsWeek,
+          gpsTow,
+          rxLat,
+          rxLon,
+          rxHgt,
+          azel.az,
+          azel.el
+        );
+        if (sc && si)
+          sbasRows.push({
+            azRad: azel.az,
+            elRad: azel.el,
+            variance: sc.varM2 + si.varM2 + sbasAirTropoVar(azel.el)
+          });
+      }
     }
   }
+  const pl = sbas ? sbasProtectionLevels(sbasRows) : null;
   return {
     position: [x, y, z],
     clockBias: Object.fromEntries(clock),
@@ -3231,7 +3334,8 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
     residuals,
     dop: computeDop(azels),
     iterations,
-    converged
+    converged,
+    ...pl ? { hpl: pl.hpl, vpl: pl.vpl, sbasSats: sbasRows.length } : sbas ? { sbasSats: sbasRows.length } : {}
   };
 }
 
@@ -3265,5 +3369,6 @@ export {
   estimateNetworkFcbs,
   satClockCorrection,
   ionoFree,
+  sbasProtectionLevels,
   solveSpp
 };

package/dist/{chunk-2IM5JYKP.js → chunk-ZS5RLFWI.js}

@@ -261,7 +261,7 @@ function decodeGpsQzssEphemeris(view, p, sys) {
     tgd: view.getFloat64(p + 172, true)
   };
 }
-function parseNovatelNav(data) {
+function parseNovatelNav(data, opts = {}) {
   const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
   const stats = { badCrc: 0 };
   const ephemerides = [];
@@ -334,6 +334,7 @@ function parseNovatelNav(data) {
       const prn = view.getUint32(p + 4, true);
       const msg = new Uint8Array(32);
       msg.set(data.subarray(p + 12, p + 41));
+      opts.onSbasMessage?.(msg, prn, frame.week, frame.towMs / 1e3);
       const eph = decodeSbasGeoNav(msg, prn, frame.week, frame.towMs / 1e3);
       if (!eph) continue;
       const prev = lastGlo.get(eph.prn);

package/dist/index.cjs

@@ -294,6 +294,7 @@ __export(src_exports, {
   rhumbLine: () => rhumbLine,
   rtcm3Constellation: () => rtcm3Constellation,
   satClockCorrection: () => satClockCorrection,
+  sbasProtectionLevels: () => sbasProtectionLevels,
   sbfCrc16: () => crc16,
   scanSbfFrames: () => scanSbfFrames,
   selectEphemeris: () => selectEphemeris,
@@ -7727,7 +7728,7 @@ function parseSbfGloNav(data) {
 }
 
 // src/sbf/rawnav-sbas.ts
-function feedGeoBlock(view, b) {
+function feedGeoBlock(view, b, onSbasMessage) {
   const tow = view.getUint32(b + 8, true);
   const wnc = view.getUint16(b + 12, true);
   const svid = view.getUint8(b + 14);
@@ -7743,10 +7744,11 @@ function feedGeoBlock(view, b) {
   }
   if (!sbasCrcOk(msg)) return { badCrc: true };
   const prn = Number(prnStr.slice(1)) + 100;
+  onSbasMessage?.(msg, prn, wnc, tow / 1e3);
   const eph = decodeSbasGeoNav(msg, prn, wnc, tow / 1e3);
   return eph ? { eph } : {};
 }
-function parseSbfGeoNav(data) {
+function parseSbfGeoNav(data, opts = {}) {
   const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
   const ephemerides = [];
   const seen = /* @__PURE__ */ new Set();
@@ -7755,7 +7757,7 @@ function parseSbfGeoNav(data) {
   scanSbfFrames(data, view, (id, b, len) => {
     if (id !== 4020 || len < 52) return;
     messages++;
-    const r = feedGeoBlock(view, b);
+    const r = feedGeoBlock(view, b, opts.onSbasMessage);
     if (r.eph) {
       const key = `${r.eph.prn}|${r.eph.tocDate.getTime()}`;
       if (!seen.has(key)) {
@@ -7775,7 +7777,7 @@ function ephKey(e) {
   const source = "source" in e ? e.source : "";
   return `${e.prn}|${e.tocDate.getTime()}|${source}`;
 }
-function decodeSbfNavigation(data) {
+function decodeSbfNavigation(data, opts = {}) {
   const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
   const ephemerides = [];
   const seen = /* @__PURE__ */ new Set();
@@ -7896,7 +7898,7 @@ function decodeSbfNavigation(data) {
       case 4020: {
         if (len < 52) return;
         counts.sbasRaw++;
-        const r = feedGeoBlock(view, b);
+        const r = feedGeoBlock(view, b, opts.onSbasMessage);
         if (r.eph) addEph(r.eph);
         else if (r.badCrc) counts.badFrames++;
         return;
@@ -9368,7 +9370,7 @@ function decodeGpsQzssEphemeris(view, p, sys) {
     tgd: view.getFloat64(p + 172, true)
   };
 }
-function parseNovatelNav(data) {
+function parseNovatelNav(data, opts = {}) {
   const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
   const stats = { badCrc: 0 };
   const ephemerides = [];
@@ -9441,6 +9443,7 @@ function parseNovatelNav(data) {
       const prn = view.getUint32(p + 4, true);
       const msg = new Uint8Array(32);
       msg.set(data.subarray(p + 12, p + 41));
+      opts.onSbasMessage?.(msg, prn, frame.week, frame.towMs / 1e3);
       const eph = decodeSbasGeoNav(msg, prn, frame.week, frame.towMs / 1e3);
       if (!eph) continue;
       const prev = lastGlo.get(eph.prn);
@@ -14976,6 +14979,65 @@ function sagnac2(pos, travelTimeS) {
   const s = Math.sin(theta);
   return [pos.x * c + pos.y * s, -pos.x * s + pos.y * c, pos.z];
 }
+function sbasAirTropoVar(elRad) {
+  const elDeg = elRad * 180 / Math.PI;
+  const sigMp = 0.13 + 0.53 * Math.exp(-elDeg / 10);
+  const sigNoise = 0.15 + 0.43 * Math.exp(-elDeg / 6.9);
+  const m = 1.001 / Math.sqrt(2001e-6 + Math.sin(elRad) * Math.sin(elRad));
+  const sigTropo = 0.12 * m;
+  return sigMp * sigMp + sigNoise * sigNoise + sigTropo * sigTropo;
+}
+function invertMatrix(A) {
+  const n = A.length;
+  const M = A.map((row, i) => [
+    ...row,
+    ...Array.from({ length: n }, (_, j) => i === j ? 1 : 0)
+  ]);
+  for (let col = 0; col < n; col++) {
+    let piv = col;
+    for (let r = col + 1; r < n; r++)
+      if (Math.abs(M[r][col]) > Math.abs(M[piv][col])) piv = r;
+    if (Math.abs(M[piv][col]) < 1e-12) return null;
+    [M[col], M[piv]] = [M[piv], M[col]];
+    const d = M[col][col];
+    for (let j = 0; j < 2 * n; j++) M[col][j] /= d;
+    for (let r = 0; r < n; r++) {
+      if (r === col) continue;
+      const f = M[r][col];
+      for (let j = 0; j < 2 * n; j++) M[r][j] -= f * M[col][j];
+    }
+  }
+  return M.map((row) => row.slice(n));
+}
+function sbasProtectionLevels(sats, opts = {}) {
+  const kH = opts.kH ?? 6;
+  const kV = opts.kV ?? 5.33;
+  if (sats.length < 4) return null;
+  const N = [0, 1, 2, 3].map(() => [0, 0, 0, 0]);
+  for (const s of sats) {
+    if (!(s.variance > 0)) continue;
+    const ce = Math.cos(s.elRad);
+    const g = [
+      ce * Math.sin(s.azRad),
+      ce * Math.cos(s.azRad),
+      Math.sin(s.elRad),
+      1
+    ];
+    const w = 1 / s.variance;
+    for (let i = 0; i < 4; i++)
+      for (let j = 0; j < 4; j++) N[i][j] += w * g[i] * g[j];
+  }
+  const cov = invertMatrix(N);
+  if (!cov) return null;
+  const dE2 = cov[0][0];
+  const dN2 = cov[1][1];
+  const dEN = cov[0][1];
+  const dU = Math.sqrt(Math.max(cov[2][2], 0));
+  const dMajor = Math.sqrt(
+    (dE2 + dN2) / 2 + Math.sqrt(((dE2 - dN2) / 2) ** 2 + dEN * dEN)
+  );
+  return { hpl: kH * dMajor, vpl: kV * dU, dMajor, dU };
+}
 function solveLinear(A, b) {
   const n = b.length;
   const M = A.map((row, i) => [...row, b[i]]);
@@ -15002,9 +15064,11 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
     convergenceM = 1e-4,
     tgd = true,
     iono,
-    gim
+    gim,
+    sbas
   } = opts;
   const gpsTow = (timeMs - GPS_EPOCH_MS_SPP) / 1e3 % 604800;
+  const gpsWeek = Math.floor((timeMs - GPS_EPOCH_MS_SPP) / 1e3 / 604800);
   const all = [...pseudoranges.keys()].filter((p) => ephemerides.has(p));
   const minSats = (list) => 3 + new Set(list.map((p) => p[0])).size;
   if (all.length < minSats(all)) return null;
@@ -15030,7 +15094,7 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
       const sysRows = new Map(systems.map((s) => [s, 0]));
       for (const k of Object.keys(residuals2)) delete residuals2[k];
       const positionSaneIter = x9 * x9 + y2 * y2 + z2 * z2 > 1e12;
-      const [rxLat, rxLon, rxHgt] = positionSaneIter ? ecefToGeodetic(x9, y2, z2) : [0, 0, 0];
+      const [rxLat2, rxLon2, rxHgt2] = positionSaneIter ? ecefToGeodetic(x9, y2, z2) : [0, 0, 0];
       for (const prn of prns) {
         const psr = pseudoranges.get(prn);
         const eph = ephemerides.get(prn);
@@ -15041,7 +15105,16 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
         const sat = computeSatPosition(eph, tTx - dtsClock * 1e3);
         if (!Number.isFinite(sat.x)) continue;
         const isKepler3 = eph.system !== "R" && eph.system !== "S";
-        const dts = dtsClock - (tgd && isKepler3 ? eph.tgd : 0);
+        let dts = dtsClock - (tgd && isKepler3 ? eph.tgd : 0);
+        if (sbas) {
+          const sc = sbas.satCorrection(prn, gpsWeek, gpsTow);
+          if (sc) {
+            sat.x += sc.dPos[0];
+            sat.y += sc.dPos[1];
+            sat.z += sc.dPos[2];
+            dts += sc.dClkS;
+          }
+        }
         const travel = Math.hypot(sat.x - x9, sat.y - y2, sat.z - z2) / C_LIGHT;
         const [sx, sy, sz] = sagnac2(sat, travel);
         const rho = Math.hypot(sx - x9, sy - y2, sz - z2);
@@ -15060,14 +15133,26 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
           const sinEl = Math.max(Math.sin(elev), 0.1);
           weight = sinEl * sinEl;
         }
-        const tropo = troposphere && positionSane ? tropoDelay2(elev, rxLat, rxHgt) : 0;
+        const tropo = troposphere && positionSane ? tropoDelay2(elev, rxLat2, rxHgt2) : 0;
         let ionoM = 0;
-        if ((gim || iono) && positionSane) {
+        if ((sbas || gim || iono) && positionSane) {
           let l1M = null;
-          if (gim)
-            l1M = gimSlantIonoDelayL1(gim, rxLat, rxLon, azim, elev, timeMs);
+          if (sbas) {
+            const si = sbas.ionoDelay(
+              gpsWeek,
+              gpsTow,
+              rxLat2,
+              rxLon2,
+              rxHgt2,
+              azim,
+              elev
+            );
+            if (si) l1M = si.delayM;
+          }
+          if (l1M === null && gim)
+            l1M = gimSlantIonoDelayL1(gim, rxLat2, rxLon2, azim, elev, timeMs);
           if (l1M === null && iono) {
-            l1M = C_LIGHT * klobucharDelay(iono, rxLat, rxLon, azim, elev, gpsTow);
+            l1M = C_LIGHT * klobucharDelay(iono, rxLat2, rxLon2, azim, elev, gpsTow);
           }
           if (l1M !== null) {
             const f = PRIMARY_FREQ_HZ[sys] ?? F_L12;
@@ -15140,6 +15225,8 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
   const { x, y, z, clock, residuals, iterations, converged } = inner;
   const used = [];
   const azels = [];
+  const [rxLat, rxLon, rxHgt] = ecefToGeodetic(x, y, z);
+  const sbasRows = [];
   for (const prn of candidates) {
     if (!(prn in residuals)) continue;
     const eph = ephemerides.get(prn);
@@ -15149,8 +15236,27 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
     if (azel.el >= elevationMaskDeg * Math.PI / 180) {
       used.push(prn);
       azels.push(azel);
+      if (sbas) {
+        const sc = sbas.satCorrection(prn, gpsWeek, gpsTow);
+        const si = sbas.ionoDelay(
+          gpsWeek,
+          gpsTow,
+          rxLat,
+          rxLon,
+          rxHgt,
+          azel.az,
+          azel.el
+        );
+        if (sc && si)
+          sbasRows.push({
+            azRad: azel.az,
+            elRad: azel.el,
+            variance: sc.varM2 + si.varM2 + sbasAirTropoVar(azel.el)
+          });
+      }
     }
   }
+  const pl = sbas ? sbasProtectionLevels(sbasRows) : null;
   return {
     position: [x, y, z],
     clockBias: Object.fromEntries(clock),
@@ -15159,7 +15265,8 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
     residuals,
     dop: computeDop(azels),
     iterations,
-    converged
+    converged,
+    ...pl ? { hpl: pl.hpl, vpl: pl.vpl, sbasSats: sbasRows.length } : sbas ? { sbasSats: sbasRows.length } : {}
   };
 }
 
@@ -17697,6 +17804,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   rhumbLine,
   rtcm3Constellation,
   satClockCorrection,
+  sbasProtectionLevels,
   sbfCrc16,
   scanSbfFrames,
   selectEphemeris,

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, RtkObsEpoch, RtkObsInput, RtkPostProcessOptions, RtkPostProcessResult, RtkTrackPoint, SatGeom, SbasIonoDelay, SbasProcessor, SbasSatCorrection, 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 { 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, SbasCorrectionSource, SbasIonoDelay, SbasProcessor, SbasSatCorrection, 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, sbasProtectionLevels, 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, RtkObsEpoch, RtkObsInput, RtkPostProcessOptions, RtkPostProcessResult, RtkTrackPoint, SatGeom, SbasIonoDelay, SbasProcessor, SbasSatCorrection, 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 { 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, SbasCorrectionSource, SbasIonoDelay, SbasProcessor, SbasSatCorrection, 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, sbasProtectionLevels, 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

@@ -68,7 +68,7 @@ import {
   parseSbfNav,
   parseSbfReceiverSetup,
   scanSbfFrames
-} from "./chunk-XFPDTGSV.js";
+} from "./chunk-DE5IUULR.js";
 import "./chunk-FA2UTLEQ.js";
 import {
   OEM4_HLEN,
@@ -76,7 +76,7 @@ import {
   oem4Frames,
   parseNovatelNav,
   parseNovatelRange
-} from "./chunk-2IM5JYKP.js";
+} from "./chunk-ZS5RLFWI.js";
 import {
   parseTrimble,
   parseTrimbleNav,
@@ -157,6 +157,7 @@ import {
   postProcessRtk,
   resolvePppAmbiguities,
   satClockCorrection,
+  sbasProtectionLevels,
   solidEarthTide,
   solveDgnss,
   solvePpp,
@@ -164,7 +165,7 @@ import {
   sunEcef,
   toRtkEpoch,
   wlWavelength
-} from "./chunk-VYC2FRDV.js";
+} from "./chunk-U32IU7RO.js";
 import "./chunk-WQX354KD.js";
 import {
   almanacEpochMs,
@@ -630,6 +631,7 @@ export {
   rhumbLine,
   rtcm3Constellation,
   satClockCorrection,
+  sbasProtectionLevels,
   crc16 as sbfCrc16,
   scanSbfFrames,
   selectEphemeris,

package/dist/novatel.cjs

@@ -729,7 +729,7 @@ function decodeGpsQzssEphemeris(view, p, sys) {
     tgd: view.getFloat64(p + 172, true)
   };
 }
-function parseNovatelNav(data) {
+function parseNovatelNav(data, opts = {}) {
   const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
   const stats = { badCrc: 0 };
   const ephemerides = [];
@@ -802,6 +802,7 @@ function parseNovatelNav(data) {
       const prn = view.getUint32(p + 4, true);
       const msg = new Uint8Array(32);
       msg.set(data.subarray(p + 12, p + 41));
+      opts.onSbasMessage?.(msg, prn, frame.week, frame.towMs / 1e3);
       const eph = decodeSbasGeoNav(msg, prn, frame.week, frame.towMs / 1e3);
       if (!eph) continue;
       const prev = lastGlo.get(eph.prn);

package/dist/novatel.d.cts

@@ -105,7 +105,13 @@ interface NovatelNavResult {
  * Galileo by IODNav + toe + toc per data source, BeiDou by toe + toc,
  * GLONASS by reference time and health.
  */
-declare function parseNovatelNav(data: Uint8Array): NovatelNavResult;
+declare function parseNovatelNav(data: Uint8Array, opts?: {
+    /** Called for each SBAS L1 message (all types) from RAWSBASFRAME. The
+     *  frame carries 232 bits — the correction fields fit, but the inner SBAS
+     *  CRC does not; the outer OEM4 CRC-32 guarantees the bytes. Feed an
+     *  {@link ../positioning/sbas.SbasProcessor}. */
+    onSbasMessage?: (msg: Uint8Array, prn: number, week: number, tow: number) => void;
+}): NovatelNavResult;
 
 /**
  * NovAtel OEM4/6/7 raw-measurement decoding (RANGE log, message 43).

package/dist/novatel.d.ts

@@ -105,7 +105,13 @@ interface NovatelNavResult {
  * Galileo by IODNav + toe + toc per data source, BeiDou by toe + toc,
  * GLONASS by reference time and health.
  */
-declare function parseNovatelNav(data: Uint8Array): NovatelNavResult;
+declare function parseNovatelNav(data: Uint8Array, opts?: {
+    /** Called for each SBAS L1 message (all types) from RAWSBASFRAME. The
+     *  frame carries 232 bits — the correction fields fit, but the inner SBAS
+     *  CRC does not; the outer OEM4 CRC-32 guarantees the bytes. Feed an
+     *  {@link ../positioning/sbas.SbasProcessor}. */
+    onSbasMessage?: (msg: Uint8Array, prn: number, week: number, tow: number) => void;
+}): NovatelNavResult;
 
 /**
  * NovAtel OEM4/6/7 raw-measurement decoding (RANGE log, message 43).

package/dist/novatel.js

@@ -4,7 +4,7 @@ import {
   oem4Frames,
   parseNovatelNav,
   parseNovatelRange
-} from "./chunk-2IM5JYKP.js";
+} from "./chunk-ZS5RLFWI.js";
 import "./chunk-WQX354KD.js";
 import "./chunk-YUW33VXK.js";
 import "./chunk-V2D5KUKH.js";

package/dist/positioning.cjs

@@ -43,6 +43,7 @@ __export(positioning_exports, {
   postProcessRtk: () => postProcessRtk,
   resolvePppAmbiguities: () => resolvePppAmbiguities,
   satClockCorrection: () => satClockCorrection,
+  sbasProtectionLevels: () => sbasProtectionLevels,
   solidEarthTide: () => solidEarthTide,
   solveDgnss: () => solveDgnss,
   solvePpp: () => solvePpp,
@@ -3593,6 +3594,65 @@ function sagnac2(pos, travelTimeS) {
   const s = Math.sin(theta);
   return [pos.x * c + pos.y * s, -pos.x * s + pos.y * c, pos.z];
 }
+function sbasAirTropoVar(elRad) {
+  const elDeg = elRad * 180 / Math.PI;
+  const sigMp = 0.13 + 0.53 * Math.exp(-elDeg / 10);
+  const sigNoise = 0.15 + 0.43 * Math.exp(-elDeg / 6.9);
+  const m = 1.001 / Math.sqrt(2001e-6 + Math.sin(elRad) * Math.sin(elRad));
+  const sigTropo = 0.12 * m;
+  return sigMp * sigMp + sigNoise * sigNoise + sigTropo * sigTropo;
+}
+function invertMatrix(A) {
+  const n = A.length;
+  const M = A.map((row, i) => [
+    ...row,
+    ...Array.from({ length: n }, (_, j) => i === j ? 1 : 0)
+  ]);
+  for (let col = 0; col < n; col++) {
+    let piv = col;
+    for (let r = col + 1; r < n; r++)
+      if (Math.abs(M[r][col]) > Math.abs(M[piv][col])) piv = r;
+    if (Math.abs(M[piv][col]) < 1e-12) return null;
+    [M[col], M[piv]] = [M[piv], M[col]];
+    const d = M[col][col];
+    for (let j = 0; j < 2 * n; j++) M[col][j] /= d;
+    for (let r = 0; r < n; r++) {
+      if (r === col) continue;
+      const f = M[r][col];
+      for (let j = 0; j < 2 * n; j++) M[r][j] -= f * M[col][j];
+    }
+  }
+  return M.map((row) => row.slice(n));
+}
+function sbasProtectionLevels(sats, opts = {}) {
+  const kH = opts.kH ?? 6;
+  const kV = opts.kV ?? 5.33;
+  if (sats.length < 4) return null;
+  const N = [0, 1, 2, 3].map(() => [0, 0, 0, 0]);
+  for (const s of sats) {
+    if (!(s.variance > 0)) continue;
+    const ce = Math.cos(s.elRad);
+    const g = [
+      ce * Math.sin(s.azRad),
+      ce * Math.cos(s.azRad),
+      Math.sin(s.elRad),
+      1
+    ];
+    const w = 1 / s.variance;
+    for (let i = 0; i < 4; i++)
+      for (let j = 0; j < 4; j++) N[i][j] += w * g[i] * g[j];
+  }
+  const cov = invertMatrix(N);
+  if (!cov) return null;
+  const dE2 = cov[0][0];
+  const dN2 = cov[1][1];
+  const dEN = cov[0][1];
+  const dU = Math.sqrt(Math.max(cov[2][2], 0));
+  const dMajor = Math.sqrt(
+    (dE2 + dN2) / 2 + Math.sqrt(((dE2 - dN2) / 2) ** 2 + dEN * dEN)
+  );
+  return { hpl: kH * dMajor, vpl: kV * dU, dMajor, dU };
+}
 function solveLinear(A, b) {
   const n = b.length;
   const M = A.map((row, i) => [...row, b[i]]);
@@ -3619,9 +3679,11 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
     convergenceM = 1e-4,
     tgd = true,
     iono,
-    gim
+    gim,
+    sbas
   } = opts;
   const gpsTow = (timeMs - GPS_EPOCH_MS_SPP) / 1e3 % 604800;
+  const gpsWeek = Math.floor((timeMs - GPS_EPOCH_MS_SPP) / 1e3 / 604800);
   const all = [...pseudoranges.keys()].filter((p) => ephemerides.has(p));
   const minSats = (list) => 3 + new Set(list.map((p) => p[0])).size;
   if (all.length < minSats(all)) return null;
@@ -3647,7 +3709,7 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
       const sysRows = new Map(systems.map((s) => [s, 0]));
       for (const k of Object.keys(residuals2)) delete residuals2[k];
       const positionSaneIter = x9 * x9 + y2 * y2 + z2 * z2 > 1e12;
-      const [rxLat, rxLon, rxHgt] = positionSaneIter ? ecefToGeodetic(x9, y2, z2) : [0, 0, 0];
+      const [rxLat2, rxLon2, rxHgt2] = positionSaneIter ? ecefToGeodetic(x9, y2, z2) : [0, 0, 0];
       for (const prn of prns) {
         const psr = pseudoranges.get(prn);
         const eph = ephemerides.get(prn);
@@ -3658,7 +3720,16 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
         const sat = computeSatPosition(eph, tTx - dtsClock * 1e3);
         if (!Number.isFinite(sat.x)) continue;
         const isKepler = eph.system !== "R" && eph.system !== "S";
-        const dts = dtsClock - (tgd && isKepler ? eph.tgd : 0);
+        let dts = dtsClock - (tgd && isKepler ? eph.tgd : 0);
+        if (sbas) {
+          const sc = sbas.satCorrection(prn, gpsWeek, gpsTow);
+          if (sc) {
+            sat.x += sc.dPos[0];
+            sat.y += sc.dPos[1];
+            sat.z += sc.dPos[2];
+            dts += sc.dClkS;
+          }
+        }
         const travel = Math.hypot(sat.x - x9, sat.y - y2, sat.z - z2) / C_LIGHT;
         const [sx, sy, sz] = sagnac2(sat, travel);
         const rho = Math.hypot(sx - x9, sy - y2, sz - z2);
@@ -3677,14 +3748,26 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
           const sinEl = Math.max(Math.sin(elev), 0.1);
           weight = sinEl * sinEl;
         }
-        const tropo = troposphere && positionSane ? tropoDelay2(elev, rxLat, rxHgt) : 0;
+        const tropo = troposphere && positionSane ? tropoDelay2(elev, rxLat2, rxHgt2) : 0;
         let ionoM = 0;
-        if ((gim || iono) && positionSane) {
+        if ((sbas || gim || iono) && positionSane) {
           let l1M = null;
-          if (gim)
-            l1M = gimSlantIonoDelayL1(gim, rxLat, rxLon, azim, elev, timeMs);
+          if (sbas) {
+            const si = sbas.ionoDelay(
+              gpsWeek,
+              gpsTow,
+              rxLat2,
+              rxLon2,
+              rxHgt2,
+              azim,
+              elev
+            );
+            if (si) l1M = si.delayM;
+          }
+          if (l1M === null && gim)
+            l1M = gimSlantIonoDelayL1(gim, rxLat2, rxLon2, azim, elev, timeMs);
           if (l1M === null && iono) {
-            l1M = C_LIGHT * klobucharDelay(iono, rxLat, rxLon, azim, elev, gpsTow);
+            l1M = C_LIGHT * klobucharDelay(iono, rxLat2, rxLon2, azim, elev, gpsTow);
           }
           if (l1M !== null) {
             const f = PRIMARY_FREQ_HZ[sys] ?? F_L12;
@@ -3757,6 +3840,8 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
   const { x, y, z, clock, residuals, iterations, converged } = inner;
   const used = [];
   const azels = [];
+  const [rxLat, rxLon, rxHgt] = ecefToGeodetic(x, y, z);
+  const sbasRows = [];
   for (const prn of candidates) {
     if (!(prn in residuals)) continue;
     const eph = ephemerides.get(prn);
@@ -3766,8 +3851,27 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
     if (azel.el >= elevationMaskDeg * Math.PI / 180) {
       used.push(prn);
       azels.push(azel);
+      if (sbas) {
+        const sc = sbas.satCorrection(prn, gpsWeek, gpsTow);
+        const si = sbas.ionoDelay(
+          gpsWeek,
+          gpsTow,
+          rxLat,
+          rxLon,
+          rxHgt,
+          azel.az,
+          azel.el
+        );
+        if (sc && si)
+          sbasRows.push({
+            azRad: azel.az,
+            elRad: azel.el,
+            variance: sc.varM2 + si.varM2 + sbasAirTropoVar(azel.el)
+          });
+      }
     }
   }
+  const pl = sbas ? sbasProtectionLevels(sbasRows) : null;
   return {
     position: [x, y, z],
     clockBias: Object.fromEntries(clock),
@@ -3776,7 +3880,8 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
     residuals,
     dop: computeDop(azels),
     iterations,
-    converged
+    converged,
+    ...pl ? { hpl: pl.hpl, vpl: pl.vpl, sbasSats: sbasRows.length } : sbas ? { sbasSats: sbasRows.length } : {}
   };
 }
 // Annotate the CommonJS export names for ESM import in node:
@@ -3804,6 +3909,7 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
   postProcessRtk,
   resolvePppAmbiguities,
   satClockCorrection,
+  sbasProtectionLevels,
   solidEarthTide,
   solveDgnss,
   solvePpp,

package/dist/positioning.d.cts

@@ -1223,6 +1223,28 @@ interface SppOptions {
      * reference the broadcast clock already matches. Default true.
      */
     tgd?: boolean;
+    /**
+     * SBAS wide-area corrections (WAAS/EGNOS/…). When given, each satellite in
+     * the SBAS PRN mask has its position + clock adjusted by the fast/long-term
+     * corrections, and — where the ionospheric pierce point is covered by the
+     * SBAS grid — the SBAS slant ionosphere replaces the Klobuchar/GIM model.
+     * Pass an {@link ./sbas.SbasProcessor} (or anything with these two methods).
+     * Combine with single-frequency pseudoranges, not iono-free input.
+     */
+    sbas?: SbasCorrectionSource;
+}
+/** The two SBAS corrections `solveSpp` consumes — {@link ./sbas.SbasProcessor}
+ *  satisfies this structurally. */
+interface SbasCorrectionSource {
+    satCorrection(prn: string, week: number, tow: number): {
+        dPos: [number, number, number];
+        dClkS: number;
+        varM2: number;
+    } | null;
+    ionoDelay(week: number, tow: number, latRad: number, lonRad: number, heightM: number, azRad: number, elRad: number): {
+        delayM: number;
+        varM2: number;
+    } | null;
 }
 interface SppSolution {
     /** Receiver position, ECEF meters. */
@@ -1239,6 +1261,15 @@ interface SppSolution {
     dop: DopValues | null;
     iterations: number;
     converged: boolean;
+    /**
+     * SBAS integrity, present only when the `sbas` option was given and enough
+     * corrected satellites were available. Horizontal/vertical protection levels
+     * (m) — the DO-229 statistical error bounds — and the count of SBAS-corrected
+     * satellites they were computed from.
+     */
+    hpl?: number;
+    vpl?: number;
+    sbasSats?: number;
 }
 /**
  * Broadcast satellite clock correction in seconds at time `tMs`
@@ -1251,6 +1282,26 @@ declare function satClockCorrection(eph: Ephemeris, tMs: number): number;
  * Removes the first-order ionospheric delay.
  */
 declare function ionoFree(p1: number, p2: number, f1: number, f2: number): number;
+/**
+ * SBAS horizontal/vertical protection levels (m) from the per-satellite ENU
+ * geometry and total error variances. HPL = K_H·d_major, VPL = K_V·d_U, where
+ * d_major is the semi-major axis of the horizontal position-error ellipse and
+ * d_U the vertical std, both from the variance-weighted least-squares
+ * covariance (DO-229 §2.1.4.10). Needs ≥ 4 satellites.
+ */
+declare function sbasProtectionLevels(sats: readonly {
+    azRad: number;
+    elRad: number;
+    variance: number;
+}[], opts?: {
+    kH?: number;
+    kV?: number;
+}): {
+    hpl: number;
+    vpl: number;
+    dMajor: number;
+    dU: number;
+} | null;
 /**
  * Solve receiver position from one epoch of pseudoranges.
  *
@@ -1263,4 +1314,4 @@ 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 RtkObsEpoch, type RtkObsInput, type RtkPostProcessOptions, type RtkPostProcessResult, type RtkTrackPoint, type SatGeom, type SbasIonoDelay, SbasProcessor, type SbasSatCorrection, 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 };
+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 SbasCorrectionSource, type SbasIonoDelay, SbasProcessor, type SbasSatCorrection, 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, sbasProtectionLevels, solidEarthTide, solveDgnss, solvePpp, solveSpp, sunEcef, toRtkEpoch, wlWavelength };

package/dist/positioning.d.ts

@@ -1223,6 +1223,28 @@ interface SppOptions {
      * reference the broadcast clock already matches. Default true.
      */
     tgd?: boolean;
+    /**
+     * SBAS wide-area corrections (WAAS/EGNOS/…). When given, each satellite in
+     * the SBAS PRN mask has its position + clock adjusted by the fast/long-term
+     * corrections, and — where the ionospheric pierce point is covered by the
+     * SBAS grid — the SBAS slant ionosphere replaces the Klobuchar/GIM model.
+     * Pass an {@link ./sbas.SbasProcessor} (or anything with these two methods).
+     * Combine with single-frequency pseudoranges, not iono-free input.
+     */
+    sbas?: SbasCorrectionSource;
+}
+/** The two SBAS corrections `solveSpp` consumes — {@link ./sbas.SbasProcessor}
+ *  satisfies this structurally. */
+interface SbasCorrectionSource {
+    satCorrection(prn: string, week: number, tow: number): {
+        dPos: [number, number, number];
+        dClkS: number;
+        varM2: number;
+    } | null;
+    ionoDelay(week: number, tow: number, latRad: number, lonRad: number, heightM: number, azRad: number, elRad: number): {
+        delayM: number;
+        varM2: number;
+    } | null;
 }
 interface SppSolution {
     /** Receiver position, ECEF meters. */
@@ -1239,6 +1261,15 @@ interface SppSolution {
     dop: DopValues | null;
     iterations: number;
     converged: boolean;
+    /**
+     * SBAS integrity, present only when the `sbas` option was given and enough
+     * corrected satellites were available. Horizontal/vertical protection levels
+     * (m) — the DO-229 statistical error bounds — and the count of SBAS-corrected
+     * satellites they were computed from.
+     */
+    hpl?: number;
+    vpl?: number;
+    sbasSats?: number;
 }
 /**
  * Broadcast satellite clock correction in seconds at time `tMs`
@@ -1251,6 +1282,26 @@ declare function satClockCorrection(eph: Ephemeris, tMs: number): number;
  * Removes the first-order ionospheric delay.
  */
 declare function ionoFree(p1: number, p2: number, f1: number, f2: number): number;
+/**
+ * SBAS horizontal/vertical protection levels (m) from the per-satellite ENU
+ * geometry and total error variances. HPL = K_H·d_major, VPL = K_V·d_U, where
+ * d_major is the semi-major axis of the horizontal position-error ellipse and
+ * d_U the vertical std, both from the variance-weighted least-squares
+ * covariance (DO-229 §2.1.4.10). Needs ≥ 4 satellites.
+ */
+declare function sbasProtectionLevels(sats: readonly {
+    azRad: number;
+    elRad: number;
+    variance: number;
+}[], opts?: {
+    kH?: number;
+    kV?: number;
+}): {
+    hpl: number;
+    vpl: number;
+    dMajor: number;
+    dU: number;
+} | null;
 /**
  * Solve receiver position from one epoch of pseudoranges.
  *
@@ -1263,4 +1314,4 @@ 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 RtkObsEpoch, type RtkObsInput, type RtkPostProcessOptions, type RtkPostProcessResult, type RtkTrackPoint, type SatGeom, type SbasIonoDelay, SbasProcessor, type SbasSatCorrection, 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 };
+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 SbasCorrectionSource, type SbasIonoDelay, SbasProcessor, type SbasSatCorrection, 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, sbasProtectionLevels, solidEarthTide, solveDgnss, solvePpp, solveSpp, sunEcef, toRtkEpoch, wlWavelength };

package/dist/positioning.js

@@ -22,6 +22,7 @@ import {
   postProcessRtk,
   resolvePppAmbiguities,
   satClockCorrection,
+  sbasProtectionLevels,
   solidEarthTide,
   solveDgnss,
   solvePpp,
@@ -29,7 +30,7 @@ import {
   sunEcef,
   toRtkEpoch,
   wlWavelength
-} from "./chunk-VYC2FRDV.js";
+} from "./chunk-U32IU7RO.js";
 import "./chunk-WQX354KD.js";
 import "./chunk-MHGNKSSH.js";
 import "./chunk-MIIM4LDY.js";
@@ -65,6 +66,7 @@ export {
   postProcessRtk,
   resolvePppAmbiguities,
   satClockCorrection,
+  sbasProtectionLevels,
   solidEarthTide,
   solveDgnss,
   solvePpp,

package/dist/sbf.cjs

@@ -1981,7 +1981,7 @@ function decodeSbasGeoNav(msg, prn, week, tow) {
 }
 
 // src/sbf/rawnav-sbas.ts
-function feedGeoBlock(view, b) {
+function feedGeoBlock(view, b, onSbasMessage) {
   const tow = view.getUint32(b + 8, true);
   const wnc = view.getUint16(b + 12, true);
   const svid = view.getUint8(b + 14);
@@ -1997,10 +1997,11 @@ function feedGeoBlock(view, b) {
   }
   if (!sbasCrcOk(msg)) return { badCrc: true };
   const prn = Number(prnStr.slice(1)) + 100;
+  onSbasMessage?.(msg, prn, wnc, tow / 1e3);
   const eph = decodeSbasGeoNav(msg, prn, wnc, tow / 1e3);
   return eph ? { eph } : {};
 }
-function parseSbfGeoNav(data) {
+function parseSbfGeoNav(data, opts = {}) {
   const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
   const ephemerides = [];
   const seen = /* @__PURE__ */ new Set();
@@ -2009,7 +2010,7 @@ function parseSbfGeoNav(data) {
   scanSbfFrames(data, view, (id, b, len) => {
     if (id !== 4020 || len < 52) return;
     messages++;
-    const r = feedGeoBlock(view, b);
+    const r = feedGeoBlock(view, b, opts.onSbasMessage);
     if (r.eph) {
       const key = `${r.eph.prn}|${r.eph.tocDate.getTime()}`;
       if (!seen.has(key)) {
@@ -2029,7 +2030,7 @@ function ephKey(e) {
   const source = "source" in e ? e.source : "";
   return `${e.prn}|${e.tocDate.getTime()}|${source}`;
 }
-function decodeSbfNavigation(data) {
+function decodeSbfNavigation(data, opts = {}) {
   const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
   const ephemerides = [];
   const seen = /* @__PURE__ */ new Set();
@@ -2150,7 +2151,7 @@ function decodeSbfNavigation(data) {
       case 4020: {
         if (len < 52) return;
         counts.sbasRaw++;
-        const r = feedGeoBlock(view, b);
+        const r = feedGeoBlock(view, b, opts.onSbasMessage);
         if (r.eph) addEph(r.eph);
         else if (r.badCrc) counts.badFrames++;
         return;

package/dist/sbf.d.cts

@@ -265,7 +265,11 @@ interface SbfNavigation {
  * F/NAV, GLONASS strings, BeiDou D1/D2, and the Klobuchar/NeQuick iono +
  * GPS-UTC leap-second blocks. See the module header for merge semantics.
  */
-declare function decodeSbfNavigation(data: Uint8Array): SbfNavigation;
+declare function decodeSbfNavigation(data: Uint8Array, opts?: {
+    /** Called for every CRC-valid SBAS L1 message (all types) — feed an
+     *  {@link ../positioning/sbas.SbasProcessor} to build SBAS corrections. */
+    onSbasMessage?: (msg: Uint8Array, prn: number, week: number, tow: number) => void;
+}): SbfNavigation;
 
 /**
  * Septentrio SBF raw Galileo navigation-page blocks: GALRawINAV (4023)
@@ -372,7 +376,7 @@ declare function parseSbfGloNav(data: Uint8Array): SbfGloNavResult;
  * message type 9. Returns the ephemeris, `{ badCrc: true }` on a failed
  * CRC, or `{}` for any other (non–type-9) message.
  */
-declare function feedGeoBlock(view: DataView, b: number): {
+declare function feedGeoBlock(view: DataView, b: number, onSbasMessage?: (msg: Uint8Array, prn: number, week: number, tow: number) => void): {
     eph?: GlonassEphemeris;
     badCrc?: boolean;
 };
@@ -391,7 +395,9 @@ interface SbfGeoNavResult {
  * the same blocks through {@link feedGeoBlock}; this standalone parser
  * mirrors the per-constellation `parseSbf*` helpers.
  */
-declare function parseSbfGeoNav(data: Uint8Array): SbfGeoNavResult;
+declare function parseSbfGeoNav(data: Uint8Array, opts?: {
+    onSbasMessage?: (msg: Uint8Array, prn: number, week: number, tow: number) => void;
+}): SbfGeoNavResult;
 
 /** Constellations HAS corrects: GPS (GNSS ID 0), Galileo (GNSS ID 2). */
 type HasSystem = 'G' | 'E';

package/dist/sbf.d.ts

@@ -265,7 +265,11 @@ interface SbfNavigation {
  * F/NAV, GLONASS strings, BeiDou D1/D2, and the Klobuchar/NeQuick iono +
  * GPS-UTC leap-second blocks. See the module header for merge semantics.
  */
-declare function decodeSbfNavigation(data: Uint8Array): SbfNavigation;
+declare function decodeSbfNavigation(data: Uint8Array, opts?: {
+    /** Called for every CRC-valid SBAS L1 message (all types) — feed an
+     *  {@link ../positioning/sbas.SbasProcessor} to build SBAS corrections. */
+    onSbasMessage?: (msg: Uint8Array, prn: number, week: number, tow: number) => void;
+}): SbfNavigation;
 
 /**
  * Septentrio SBF raw Galileo navigation-page blocks: GALRawINAV (4023)
@@ -372,7 +376,7 @@ declare function parseSbfGloNav(data: Uint8Array): SbfGloNavResult;
  * message type 9. Returns the ephemeris, `{ badCrc: true }` on a failed
  * CRC, or `{}` for any other (non–type-9) message.
  */
-declare function feedGeoBlock(view: DataView, b: number): {
+declare function feedGeoBlock(view: DataView, b: number, onSbasMessage?: (msg: Uint8Array, prn: number, week: number, tow: number) => void): {
     eph?: GlonassEphemeris;
     badCrc?: boolean;
 };
@@ -391,7 +395,9 @@ interface SbfGeoNavResult {
  * the same blocks through {@link feedGeoBlock}; this standalone parser
  * mirrors the per-constellation `parseSbf*` helpers.
  */
-declare function parseSbfGeoNav(data: Uint8Array): SbfGeoNavResult;
+declare function parseSbfGeoNav(data: Uint8Array, opts?: {
+    onSbasMessage?: (msg: Uint8Array, prn: number, week: number, tow: number) => void;
+}): SbfGeoNavResult;
 
 /** Constellations HAS corrects: GPS (GNSS ID 0), Galileo (GNSS ID 2). */
 type HasSystem = 'G' | 'E';

package/dist/sbf.js

@@ -15,7 +15,7 @@ import {
   parseSbfNav,
   parseSbfReceiverSetup,
   scanSbfFrames
-} from "./chunk-XFPDTGSV.js";
+} from "./chunk-DE5IUULR.js";
 import "./chunk-FA2UTLEQ.js";
 import "./chunk-WQX354KD.js";
 import "./chunk-37QNKGTC.js";

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "gnss-js",
-  "version": "1.50.0",
+  "version": "1.52.0",
   "description": "Comprehensive GNSS library for JavaScript — time scales, coordinates, RINEX parsing, RTCM3 decoding, orbit computation, and signal analysis",
   "type": "module",
   "sideEffects": false,