gnss-js 1.51.0 → 1.53.0

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/{chunk-DE5IUULR.js → chunk-ZPNMIUNZ.js}

@@ -486,6 +486,58 @@ function parseSbfReceiverSetup(data) {
   return out;
 }
 
+// src/sbf/pvt.ts
+var GPS_EPOCH_MS2 = Date.UTC(1980, 0, 6);
+var RAD2DEG = 180 / Math.PI;
+var DNU_F8 = -2e10;
+var MODE_LABELS = {
+  0: "no-pvt",
+  1: "standalone",
+  2: "differential",
+  3: "fixed-location",
+  4: "rtk-fixed",
+  5: "rtk-float",
+  6: "sbas-aided",
+  7: "moving-base-rtk-fixed",
+  8: "moving-base-rtk-float",
+  10: "ppp"
+};
+function parseSbfPvt(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const records = [];
+  let messages = 0;
+  scanSbfFrames(data, view, (id, b, len) => {
+    if (id !== 4007 || len < 96) return;
+    messages++;
+    const tow = view.getUint32(b + 8, true);
+    const wnc = view.getUint16(b + 12, true);
+    if (tow === 4294967295 || wnc === 65535) return;
+    const modeByte = view.getUint8(b + 14);
+    const modeType = modeByte & 15;
+    const lat = view.getFloat64(b + 16, true);
+    const lon = view.getFloat64(b + 24, true);
+    const hgt = view.getFloat64(b + 32, true);
+    const nrSV = view.getUint8(b + 74);
+    const hAcc = view.getUint16(b + 90, true);
+    const vAcc = view.getUint16(b + 92, true);
+    const hasFix = lat > DNU_F8 && lon > DNU_F8 && hgt > DNU_F8;
+    records.push({
+      timeMs: GPS_EPOCH_MS2 + wnc * 6048e5 + tow,
+      week: wnc,
+      tow: tow / 1e3,
+      modeType,
+      mode: MODE_LABELS[modeType] ?? `mode-${modeType}`,
+      latDeg: hasFix ? lat * RAD2DEG : null,
+      lonDeg: hasFix ? lon * RAD2DEG : null,
+      heightM: hasFix ? hgt : null,
+      nrSV: nrSV === 255 ? null : nrSV,
+      hAccuracyM: hAcc === 65535 ? null : hAcc / 100,
+      vAccuracyM: vAcc === 65535 ? null : vAcc / 100
+    });
+  });
+  return { records, messages };
+}
+
 // src/sbf/rawnav-gps.ts
 var WNC_DNU = 65535;
 function extractSbfLnavSubframe(view, b) {
@@ -621,7 +673,7 @@ function isFnavDummy(page) {
 }
 
 // src/sbf/rawnav-bds.ts
-var GPS_EPOCH_MS2 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS3 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK2 = 7 * 86400 * 1e3;
 var TOW_DNU = 4294967295;
 var WNC_DNU2 = 65535;
@@ -682,7 +734,7 @@ function feedGloBlock(view, b, assembler) {
   const eph = assembler.push(
     prn,
     str2,
-    new Date(GPS_EPOCH_MS2 + wnc * MS_PER_WEEK2 + towMs),
+    new Date(GPS_EPOCH_MS3 + wnc * MS_PER_WEEK2 + towMs),
     view.getUint8(b + 18) - 8
     // FreqNr, offset by 8
   );
@@ -1432,7 +1484,7 @@ function parseSbfHas(data) {
 
 // src/sbf/index.ts
 var CLIGHT = 299792458;
-var GPS_EPOCH_MS3 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS4 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK3 = 7 * 864e5;
 var M3_SYS = ["G", "R", "E", "C", "S", "J", "I"];
 var M3_PR_BASE = [19e6, 19e6, 22e6, 2e7, 34e6, 34e6, 34e6];
@@ -2086,7 +2138,7 @@ function parseSbfMeas(data) {
       const tow = view.getUint32(i + 8, true);
       const wnc = view.getUint16(i + 12, true);
       if (tow !== 4294967295 && wnc !== 65535) {
-        ensureEpoch(GPS_EPOCH_MS3 + wnc * MS_PER_WEEK3 + tow);
+        ensureEpoch(GPS_EPOCH_MS4 + wnc * MS_PER_WEEK3 + tow);
         if (id === 4109) decodeMeas3Ranges(i, tow);
         else if (id === 4110) decodeMeas3CN0(i, len);
         else if (id === 4111) decodeMeas3Doppler(i, len);
@@ -2105,6 +2157,7 @@ export {
   parseSbfAlmanac,
   parseSbfIonoUtc,
   parseSbfReceiverSetup,
+  parseSbfPvt,
   parseSbfGpsNav,
   parseSbfCnav,
   parseSbfGalNav,