gnss-js 1.51.0 → 1.52.0

package/dist/{chunk-E3QCNJL4.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]]);
@@ -3104,7 +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);
@@ -3143,7 +3202,7 @@ 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 ((sbas || gim || iono) && positionSane) {
           let l1M = null;
@@ -3151,18 +3210,18 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
             const si = sbas.ionoDelay(
               gpsWeek,
               gpsTow,
-              rxLat,
-              rxLon,
-              rxHgt,
+              rxLat2,
+              rxLon2,
+              rxHgt2,
               azim,
               elev
             );
             if (si) l1M = si.delayM;
           }
           if (l1M === null && gim)
-            l1M = gimSlantIonoDelayL1(gim, rxLat, rxLon, azim, elev, timeMs);
+            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;
@@ -3235,6 +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);
@@ -3244,8 +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),
@@ -3254,7 +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 } : {}
   };
 }
 
@@ -3288,5 +3369,6 @@ export {
   estimateNetworkFcbs,
   satClockCorrection,
   ionoFree,
+  sbasProtectionLevels,
   solveSpp
 };

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,
@@ -14978,6 +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]]);
@@ -15034,7 +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);
@@ -15073,7 +15133,7 @@ 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 ((sbas || gim || iono) && positionSane) {
           let l1M = null;
@@ -15081,18 +15141,18 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
             const si = sbas.ionoDelay(
               gpsWeek,
               gpsTow,
-              rxLat,
-              rxLon,
-              rxHgt,
+              rxLat2,
+              rxLon2,
+              rxHgt2,
               azim,
               elev
             );
             if (si) l1M = si.delayM;
           }
           if (l1M === null && gim)
-            l1M = gimSlantIonoDelayL1(gim, rxLat, rxLon, azim, elev, timeMs);
+            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;
@@ -15165,6 +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);
@@ -15174,8 +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),
@@ -15184,7 +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 } : {}
   };
 }
 
@@ -17722,6 +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, 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, 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, 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, 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

@@ -157,6 +157,7 @@ import {
   postProcessRtk,
   resolvePppAmbiguities,
   satClockCorrection,
+  sbasProtectionLevels,
   solidEarthTide,
   solveDgnss,
   solvePpp,
@@ -164,7 +165,7 @@ import {
   sunEcef,
   toRtkEpoch,
   wlWavelength
-} from "./chunk-E3QCNJL4.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/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]]);
@@ -3649,7 +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);
@@ -3688,7 +3748,7 @@ 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 ((sbas || gim || iono) && positionSane) {
           let l1M = null;
@@ -3696,18 +3756,18 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
             const si = sbas.ionoDelay(
               gpsWeek,
               gpsTow,
-              rxLat,
-              rxLon,
-              rxHgt,
+              rxLat2,
+              rxLon2,
+              rxHgt2,
               azim,
               elev
             );
             if (si) l1M = si.delayM;
           }
           if (l1M === null && gim)
-            l1M = gimSlantIonoDelayL1(gim, rxLat, rxLon, azim, elev, timeMs);
+            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;
@@ -3780,6 +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);
@@ -3789,8 +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),
@@ -3799,7 +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:
@@ -3827,6 +3909,7 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
   postProcessRtk,
   resolvePppAmbiguities,
   satClockCorrection,
+  sbasProtectionLevels,
   solidEarthTide,
   solveDgnss,
   solvePpp,

package/dist/positioning.d.cts

@@ -1261,6 +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`
@@ -1273,6 +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.
  *
@@ -1285,4 +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 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, 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

@@ -1261,6 +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`
@@ -1273,6 +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.
  *
@@ -1285,4 +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 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, 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-E3QCNJL4.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/package.json

@@ -1,6 +1,6 @@
 {
   "name": "gnss-js",
-  "version": "1.51.0",
+  "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,