gnss-js 1.51.0 → 1.53.0

package/dist/index.cjs

@@ -269,6 +269,7 @@ __export(src_exports, {
   parseSbfIonoUtc: () => parseSbfIonoUtc,
   parseSbfMeas: () => parseSbfMeas,
   parseSbfNav: () => parseSbfNav,
+  parseSbfPvt: () => parseSbfPvt,
   parseSbfReceiverSetup: () => parseSbfReceiverSetup,
   parseSinexBiasDcb: () => parseSinexBiasDcb,
   parseSourcetable: () => parseSourcetable,
@@ -294,6 +295,7 @@ __export(src_exports, {
   rhumbLine: () => rhumbLine,
   rtcm3Constellation: () => rtcm3Constellation,
   satClockCorrection: () => satClockCorrection,
+  sbasProtectionLevels: () => sbasProtectionLevels,
   sbfCrc16: () => crc16,
   scanSbfFrames: () => scanSbfFrames,
   selectEphemeris: () => selectEphemeris,
@@ -7508,6 +7510,58 @@ function parseSbfReceiverSetup(data) {
   return out;
 }
 
+// src/sbf/pvt.ts
+var GPS_EPOCH_MS11 = 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_MS11 + 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) {
@@ -7643,7 +7697,7 @@ function isFnavDummy(page) {
 }
 
 // src/sbf/rawnav-bds.ts
-var GPS_EPOCH_MS11 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS12 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK6 = 7 * 86400 * 1e3;
 var TOW_DNU = 4294967295;
 var WNC_DNU2 = 65535;
@@ -7704,7 +7758,7 @@ function feedGloBlock(view, b, assembler) {
   const eph = assembler.push(
     prn,
     str2,
-    new Date(GPS_EPOCH_MS11 + wnc * MS_PER_WEEK6 + towMs),
+    new Date(GPS_EPOCH_MS12 + wnc * MS_PER_WEEK6 + towMs),
     view.getUint8(b + 18) - 8
     // FreqNr, offset by 8
   );
@@ -8454,7 +8508,7 @@ function parseSbfHas(data) {
 
 // src/sbf/index.ts
 var CLIGHT = 299792458;
-var GPS_EPOCH_MS12 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS13 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK7 = 7 * 864e5;
 var M3_SYS = ["G", "R", "E", "C", "S", "J", "I"];
 var M3_PR_BASE = [19e6, 19e6, 22e6, 2e7, 34e6, 34e6, 34e6];
@@ -9108,7 +9162,7 @@ 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_MS12 + wnc * MS_PER_WEEK7 + tow);
+        ensureEpoch(GPS_EPOCH_MS13 + wnc * MS_PER_WEEK7 + tow);
         if (id === 4109) decodeMeas3Ranges(i, tow);
         else if (id === 4110) decodeMeas3CN0(i, len);
         else if (id === 4111) decodeMeas3Doppler(i, len);
@@ -9175,15 +9229,15 @@ var ID_GPSEPHEM = 7;
 var ID_BDSEPHEMERIS = 1696;
 var ID_RAWWAASFRAME = 287;
 var ID_RAWSBASFRAME = 973;
-var GPS_EPOCH_MS13 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS14 = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS3 = Date.UTC(2006, 0, 1);
 var SEC_PER_WEEK9 = 7 * 86400;
 var SEC_PER_DAY2 = 86400;
 var MS_PER_WEEK8 = SEC_PER_WEEK9 * 1e3;
-var gpsMs2 = (week, sec) => GPS_EPOCH_MS13 + week * MS_PER_WEEK8 + sec * 1e3;
+var gpsMs2 = (week, sec) => GPS_EPOCH_MS14 + week * MS_PER_WEEK8 + sec * 1e3;
 var sowOf3 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK9;
 function nearWeekMs(refMs, sow) {
-  const refWeek = Math.floor((refMs - GPS_EPOCH_MS13) / MS_PER_WEEK8);
+  const refWeek = Math.floor((refMs - GPS_EPOCH_MS14) / MS_PER_WEEK8);
   let ms = gpsMs2(refWeek, sow);
   if (ms < refMs - MS_PER_WEEK8 / 2) ms += MS_PER_WEEK8;
   else if (ms > refMs + MS_PER_WEEK8 / 2) ms -= MS_PER_WEEK8;
@@ -9210,9 +9264,9 @@ function decodeGloEphemeris(view, p) {
   tof += Math.floor(tow / SEC_PER_DAY2) * SEC_PER_DAY2;
   if (tof < tow - 43200) tof += SEC_PER_DAY2;
   else if (tof > tow + 43200) tof -= SEC_PER_DAY2;
-  const toeGpsMs = GPS_EPOCH_MS13 + (week * SEC_PER_WEEK9 + tow) * 1e3;
-  const tofGpsMs = GPS_EPOCH_MS13 + (week * SEC_PER_WEEK9 + tof) * 1e3;
-  const tofUtcSec = (getUtcDate(new Date(tofGpsMs)).getTime() - GPS_EPOCH_MS13) / 1e3;
+  const toeGpsMs = GPS_EPOCH_MS14 + (week * SEC_PER_WEEK9 + tow) * 1e3;
+  const tofGpsMs = GPS_EPOCH_MS14 + (week * SEC_PER_WEEK9 + tof) * 1e3;
+  const tofUtcSec = (getUtcDate(new Date(tofGpsMs)).getTime() - GPS_EPOCH_MS14) / 1e3;
   return {
     system: "R",
     prn: `R${String(slot).padStart(2, "0")}`,
@@ -9277,7 +9331,7 @@ function decodeGalEphemeris(view, p, headerMs) {
       omega: view.getFloat64(p + 60, true),
       omegaDot: view.getFloat64(p + 140, true),
       idot: view.getFloat64(p + 124, true),
-      week: Math.floor((toeMs - GPS_EPOCH_MS13) / MS_PER_WEEK8),
+      week: Math.floor((toeMs - GPS_EPOCH_MS14) / MS_PER_WEEK8),
       // RINEX Galileo SVH bit layout (E1B DVS/HS in bits 0-2, E5a in
       // 3-5, E5b in 6-8) — same packing as RTKLIB.
       svHealth: svhE5b << 7 | dvsE5b << 6 | svhE5a << 4 | dvsE5a << 3 | svhE1b << 1 | dvsE1b,
@@ -9464,7 +9518,7 @@ function parseNovatelNav(data, opts = {}) {
 }
 
 // src/novatel/index.ts
-var GPS_EPOCH_MS14 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS15 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK9 = 7 * 864e5;
 var HDR = 28;
 var ID_RANGE = 43;
@@ -9634,7 +9688,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS14 + week * MS_PER_WEEK9 + towMs,
+          timeMs: GPS_EPOCH_MS15 + week * MS_PER_WEEK9 + towMs,
           meas
         });
       }
@@ -9686,7 +9740,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS14 + week * MS_PER_WEEK9 + towMs,
+          timeMs: GPS_EPOCH_MS15 + week * MS_PER_WEEK9 + towMs,
           meas
         });
       }
@@ -9737,14 +9791,14 @@ function* trimbleFrames(data, stats) {
 }
 
 // src/trimble/nav.ts
-var GPS_EPOCH_MS15 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS16 = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS4 = Date.UTC(2006, 0, 1);
 var SEC_PER_WEEK10 = 7 * 86400;
 var MS_PER_WEEK10 = SEC_PER_WEEK10 * 1e3;
 var GPS_PI2 = 3.1415926535898;
 var BDS_WEEK_OFFSET = 1356;
 var BDS_LEAP_SEC = 14;
-var gpsMs3 = (week, sec) => GPS_EPOCH_MS15 + week * MS_PER_WEEK10 + sec * 1e3;
+var gpsMs3 = (week, sec) => GPS_EPOCH_MS16 + week * MS_PER_WEEK10 + sec * 1e3;
 var sowOf4 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK10;
 var SUB_GPS_EPHEMERIS = 1;
 var SUB_ION_UTC = 3;
@@ -9897,7 +9951,7 @@ function decodeGloEphemeris2(view, base) {
     // RINEX stores −τn as the clock bias; the record carries τn (ICD sign).
     tauN: -view.getFloat64(base + 113, false),
     gammaN: view.getFloat64(base + 121, false),
-    messageFrameTime: (tocMs - GPS_EPOCH_MS15) / 1e3 % SEC_PER_WEEK10,
+    messageFrameTime: (tocMs - GPS_EPOCH_MS16) / 1e3 % SEC_PER_WEEK10,
     // State vector: metres / m·s⁻¹ / m·s⁻² → km / km·s⁻¹ / km·s⁻².
     x: view.getFloat64(base + 33, false) / 1e3,
     xDot: view.getFloat64(base + 41, false) / 1e3,
@@ -9968,7 +10022,7 @@ function parseTrimbleNav(data) {
 }
 
 // src/trimble/index.ts
-var GPS_EPOCH_MS16 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS17 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK11 = 7 * 864e5;
 var REC_TYPE_27 = 6;
 var SYS = {
@@ -10166,7 +10220,7 @@ function decodeEpoch(epoch, epochs, obsCodes) {
     o += c.length;
   }
   const dv = new DataView(M.buffer, M.byteOffset, M.byteLength);
-  const timeMs = GPS_EPOCH_MS16 + epoch.week * MS_PER_WEEK11 + epoch.towMs;
+  const timeMs = GPS_EPOCH_MS17 + epoch.week * MS_PER_WEEK11 + epoch.towMs;
   const meas = [];
   let q = 0;
   for (let sv = 0; sv < epoch.nsv && q + 8 <= M.length; sv++) {
@@ -10347,13 +10401,13 @@ function* binexRecords(data, view, stats) {
 }
 
 // src/binex/nav.ts
-var GPS_EPOCH_MS17 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS18 = Date.UTC(1980, 0, 6);
 var GLO_DAY0_MS = Date.UTC(1980, 0, 1);
 var BDT_EPOCH_MS5 = Date.UTC(2006, 0, 1);
 var SEC_PER_WEEK11 = 7 * 86400;
 var MS_PER_WEEK12 = SEC_PER_WEEK11 * 1e3;
 var SC2RAD = GPS_PI;
-var gpsMs4 = (week, sec) => GPS_EPOCH_MS17 + week * MS_PER_WEEK12 + sec * 1e3;
+var gpsMs4 = (week, sec) => GPS_EPOCH_MS18 + week * MS_PER_WEEK12 + sec * 1e3;
 var sowOf5 = (dateMs) => (dateMs / 1e3 % SEC_PER_WEEK11 + SEC_PER_WEEK11) % SEC_PER_WEEK11;
 var two6 = (n) => String(n).padStart(2, "0");
 var Reader = class {
@@ -10641,7 +10695,7 @@ function decodeBinexEph(view, body, len, le) {
 }
 
 // src/binex/index.ts
-var GPS_EPOCH_MS18 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS19 = Date.UTC(1980, 0, 6);
 var CLIGHT2 = 299792458;
 var OBS_CODES = {
   0: [
@@ -10899,7 +10953,7 @@ function decodeObsRecord(data, view, body, len, obsCodes) {
   p += 4;
   const msec = view.getUint16(p);
   p += 2;
-  const timeMs = GPS_EPOCH_MS18 + min * 6e4 + msec;
+  const timeMs = GPS_EPOCH_MS19 + min * 6e4 + msec;
   const flag = data[p++];
   const nsat = (flag & 63) + 1;
   if (flag & 128) p += 3;
@@ -10985,7 +11039,7 @@ function parseBinex(data) {
 var GM_GPS = 3986005e8;
 var GM_GAL = 3986004418e5;
 var GM_BDS = 3986004418e5;
-var GPS_EPOCH_MS19 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS20 = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS6 = Date.UTC(2006, 0, 1);
 var WEEK_MS = 6048e5;
 var BDT_MINUS_GPST_MS = 14e3;
@@ -10994,7 +11048,7 @@ function almanacEpochMs(alm) {
   if (alm.system === "C") {
     return BDT_EPOCH_MS6 + alm.weekAlm * WEEK_MS + alm.toaSec * 1e3 + BDT_MINUS_GPST_MS;
   }
-  return GPS_EPOCH_MS19 + alm.weekAlm * WEEK_MS + alm.toaSec * 1e3;
+  return GPS_EPOCH_MS20 + alm.weekAlm * WEEK_MS + alm.toaSec * 1e3;
 }
 function almanacSatPosition(alm, timeMs) {
   const GM = alm.system === "E" ? GM_GAL : alm.system === "C" ? GM_BDS : GM_GPS;
@@ -11503,10 +11557,10 @@ function selectBest(ephs, timeMs) {
   }
   return best;
 }
-var GPS_EPOCH_MS20 = START_GPS_TIME.getTime();
+var GPS_EPOCH_MS21 = START_GPS_TIME.getTime();
 var MS_PER_WEEK13 = 7 * 864e5;
 var BDS_EPOCH_MS = START_BDS_TIME.getTime();
-var GAL_EPOCH_MS = GPS_EPOCH_MS20 + 1024 * MS_PER_WEEK13;
+var GAL_EPOCH_MS = GPS_EPOCH_MS21 + 1024 * MS_PER_WEEK13;
 function ephInfoToEphemeris(info) {
   const sys = info.prn.charAt(0);
   if (sys === "R") {
@@ -11557,8 +11611,8 @@ function ephInfoToEphemeris(info) {
   } else if (sys === "E") {
     epochMs = GAL_EPOCH_MS;
   } else {
-    epochMs = GPS_EPOCH_MS20;
-    const weeksNow = (info.lastReceived - GPS_EPOCH_MS20) / MS_PER_WEEK13;
+    epochMs = GPS_EPOCH_MS21;
+    const weeksNow = (info.lastReceived - GPS_EPOCH_MS21) / MS_PER_WEEK13;
     week += 1024 * Math.round((weeksNow - week) / 1024);
   }
   const tocDate = new Date(epochMs + week * MS_PER_WEEK13 + tocSec * 1e3);
@@ -14978,6 +15032,65 @@ 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 +15147,7 @@ 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 +15186,7 @@ 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 +15194,18 @@ 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 +15278,8 @@ 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 +15289,27 @@ 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 +15318,8 @@ 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 +17832,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   parseSbfIonoUtc,
   parseSbfMeas,
   parseSbfNav,
+  parseSbfPvt,
   parseSbfReceiverSetup,
   parseSinexBiasDcb,
   parseSourcetable,
@@ -17722,6 +17858,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   rhumbLine,
   rtcm3Constellation,
   satClockCorrection,
+  sbasProtectionLevels,
   sbfCrc16,
   scanSbfFrames,
   selectEphemeris,

package/dist/index.d.cts

@@ -11,13 +11,13 @@ export { C as ClkFile, I as IonexGrid, S as Sp3File, a as Sp3Sample, c as clkBia
 export { B as BitReader, E as EphemerisInfo, R as Rtcm3DebugHandler, a as Rtcm3Decoder, b as Rtcm3Frame, d as decodeEphemeris, r as readString, c as reportDecodeError, s as setRtcm3DebugHandler } from './ephemeris-Ohl6NAfw.cjs';
 export { MessageTypeStats, MsmEpoch, MsmSatObs, MsmSignal, RTCM3_MESSAGE_NAMES, SatCn0, SignalCn0, StationMeta, StreamStats, createStationMeta, createStreamStats, decodeMsmFull, msmEpochToDate, resetGloFreqCache, rtcm3Constellation, setGloFreqNumber, updateStationMeta, updateStreamStats } from './rtcm3.cjs';
 export { UbxCnavResult, UbxFrame, UbxIonoUtcResult, UbxMeasurement, UbxNavOptions, UbxNavResult, UbxParseResult, UbxRawNavOptions, UbxRawNavResult, UbxRawxEpoch, parseUbxCnav, parseUbxIonoUtc, parseUbxNav, parseUbxRawNav, parseUbxRawx, ubxFrames } from './ubx.cjs';
-export { HasMessage, SbfBdsNavResult, SbfCnavEphemeris, SbfCnavResult, SbfGalEphemeris, SbfGalNavResult, SbfGeoNavResult, SbfGloNavResult, SbfGpsNavResult, SbfHasMessage, SbfHasResult, SbfIonoUtcResult, SbfMeasEpoch, SbfMeasurement, SbfNavCounts, SbfNavigation, SbfParseResult, SbfReceiverSetup, decodeSbfNavigation, feedGeoBlock, parseSbfBdsNav, parseSbfCnav, parseSbfGalNav, parseSbfGeoNav, parseSbfGloNav, parseSbfGpsNav, parseSbfHas, parseSbfIonoUtc, parseSbfMeas, parseSbfReceiverSetup, sbfCrc16, scanSbfFrames } from './sbf.cjs';
+export { HasMessage, SbfBdsNavResult, SbfCnavEphemeris, SbfCnavResult, SbfGalEphemeris, SbfGalNavResult, SbfGeoNavResult, SbfGloNavResult, SbfGpsNavResult, SbfHasMessage, SbfHasResult, SbfIonoUtcResult, SbfMeasEpoch, SbfMeasurement, SbfNavCounts, SbfNavigation, SbfParseResult, SbfPvt, SbfPvtResult, SbfReceiverSetup, decodeSbfNavigation, feedGeoBlock, parseSbfBdsNav, parseSbfCnav, parseSbfGalNav, parseSbfGeoNav, parseSbfGloNav, parseSbfGpsNav, parseSbfHas, parseSbfIonoUtc, parseSbfMeas, parseSbfPvt, parseSbfReceiverSetup, sbfCrc16, scanSbfFrames } from './sbf.cjs';
 export { NovatelEpoch, NovatelMeasurement, NovatelNavResult, NovatelParseResult, OEM4_HLEN, Oem4Frame, crc32, oem4Frames, parseNovatelNav, parseNovatelRange } from './novatel.cjs';
 export { TrimbleEpoch, TrimbleFrame, TrimbleMeasurement, TrimbleNavResult, TrimbleParseResult, parseTrimble, parseTrimbleNav, trimbleFrames } from './trimble.cjs';
 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

@@ -11,13 +11,13 @@ export { C as ClkFile, I as IonexGrid, S as Sp3File, a as Sp3Sample, c as clkBia
 export { B as BitReader, E as EphemerisInfo, R as Rtcm3DebugHandler, a as Rtcm3Decoder, b as Rtcm3Frame, d as decodeEphemeris, r as readString, c as reportDecodeError, s as setRtcm3DebugHandler } from './ephemeris-Ohl6NAfw.js';
 export { MessageTypeStats, MsmEpoch, MsmSatObs, MsmSignal, RTCM3_MESSAGE_NAMES, SatCn0, SignalCn0, StationMeta, StreamStats, createStationMeta, createStreamStats, decodeMsmFull, msmEpochToDate, resetGloFreqCache, rtcm3Constellation, setGloFreqNumber, updateStationMeta, updateStreamStats } from './rtcm3.js';
 export { UbxCnavResult, UbxFrame, UbxIonoUtcResult, UbxMeasurement, UbxNavOptions, UbxNavResult, UbxParseResult, UbxRawNavOptions, UbxRawNavResult, UbxRawxEpoch, parseUbxCnav, parseUbxIonoUtc, parseUbxNav, parseUbxRawNav, parseUbxRawx, ubxFrames } from './ubx.js';
-export { HasMessage, SbfBdsNavResult, SbfCnavEphemeris, SbfCnavResult, SbfGalEphemeris, SbfGalNavResult, SbfGeoNavResult, SbfGloNavResult, SbfGpsNavResult, SbfHasMessage, SbfHasResult, SbfIonoUtcResult, SbfMeasEpoch, SbfMeasurement, SbfNavCounts, SbfNavigation, SbfParseResult, SbfReceiverSetup, decodeSbfNavigation, feedGeoBlock, parseSbfBdsNav, parseSbfCnav, parseSbfGalNav, parseSbfGeoNav, parseSbfGloNav, parseSbfGpsNav, parseSbfHas, parseSbfIonoUtc, parseSbfMeas, parseSbfReceiverSetup, sbfCrc16, scanSbfFrames } from './sbf.js';
+export { HasMessage, SbfBdsNavResult, SbfCnavEphemeris, SbfCnavResult, SbfGalEphemeris, SbfGalNavResult, SbfGeoNavResult, SbfGloNavResult, SbfGpsNavResult, SbfHasMessage, SbfHasResult, SbfIonoUtcResult, SbfMeasEpoch, SbfMeasurement, SbfNavCounts, SbfNavigation, SbfParseResult, SbfPvt, SbfPvtResult, SbfReceiverSetup, decodeSbfNavigation, feedGeoBlock, parseSbfBdsNav, parseSbfCnav, parseSbfGalNav, parseSbfGeoNav, parseSbfGloNav, parseSbfGpsNav, parseSbfHas, parseSbfIonoUtc, parseSbfMeas, parseSbfPvt, parseSbfReceiverSetup, sbfCrc16, scanSbfFrames } from './sbf.js';
 export { NovatelEpoch, NovatelMeasurement, NovatelNavResult, NovatelParseResult, OEM4_HLEN, Oem4Frame, crc32, oem4Frames, parseNovatelNav, parseNovatelRange } from './novatel.js';
 export { TrimbleEpoch, TrimbleFrame, TrimbleMeasurement, TrimbleNavResult, TrimbleParseResult, parseTrimble, parseTrimbleNav, trimbleFrames } from './trimble.js';
 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

@@ -66,9 +66,10 @@ import {
   parseSbfIonoUtc,
   parseSbfMeas,
   parseSbfNav,
+  parseSbfPvt,
   parseSbfReceiverSetup,
   scanSbfFrames
-} from "./chunk-DE5IUULR.js";
+} from "./chunk-ZPNMIUNZ.js";
 import "./chunk-FA2UTLEQ.js";
 import {
   OEM4_HLEN,
@@ -157,6 +158,7 @@ import {
   postProcessRtk,
   resolvePppAmbiguities,
   satClockCorrection,
+  sbasProtectionLevels,
   solidEarthTide,
   solveDgnss,
   solvePpp,
@@ -164,7 +166,7 @@ import {
   sunEcef,
   toRtkEpoch,
   wlWavelength
-} from "./chunk-E3QCNJL4.js";
+} from "./chunk-U32IU7RO.js";
 import "./chunk-WQX354KD.js";
 import {
   almanacEpochMs,
@@ -605,6 +607,7 @@ export {
   parseSbfIonoUtc,
   parseSbfMeas,
   parseSbfNav,
+  parseSbfPvt,
   parseSbfReceiverSetup,
   parseSinexBiasDcb,
   parseSourcetable,
@@ -630,6 +633,7 @@ export {
   rhumbLine,
   rtcm3Constellation,
   satClockCorrection,
+  sbasProtectionLevels,
   crc16 as sbfCrc16,
   scanSbfFrames,
   selectEphemeris,