gnss-js 1.51.0 → 1.53.0

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/dist/sbf.cjs

@@ -33,6 +33,7 @@ __export(sbf_exports, {
   parseSbfIonoUtc: () => parseSbfIonoUtc,
   parseSbfMeas: () => parseSbfMeas,
   parseSbfNav: () => parseSbfNav,
+  parseSbfPvt: () => parseSbfPvt,
   parseSbfReceiverSetup: () => parseSbfReceiverSetup,
   sbfCrc16: () => crc16,
   scanSbfFrames: () => scanSbfFrames
@@ -601,9 +602,61 @@ 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/navbits/index.ts
 var GPS_PI = 3.1415926535898;
-var GPS_EPOCH_MS2 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS3 = Date.UTC(1980, 0, 6);
 var SEC_PER_WEEK2 = 7 * 86400;
 function getBitU(buff, pos, len) {
   let bits = 0;
@@ -733,13 +786,13 @@ function decodeGpsLnavFrame(subframes, opts = {}) {
   const iodc = iodc0 * 256 + iodc1;
   if (id1 !== 1 || id2 !== 2 || id3 !== 3) return null;
   if (iode3 !== iode || iode !== (iodc & 255)) return null;
-  const ref = opts.refWeek ?? Math.floor((Date.now() - GPS_EPOCH_MS2) / 1e3 / SEC_PER_WEEK2);
+  const ref = opts.refWeek ?? Math.floor((Date.now() - GPS_EPOCH_MS3) / 1e3 / SEC_PER_WEEK2);
   let week = week10 + 1024 * Math.round((ref - week10) / 1024);
   if (toes < tow1 - 302400) week++;
   else if (toes > tow1 + 302400) week--;
   const prn = opts.prn ?? "G00";
   const tocDate = new Date(
-    GPS_EPOCH_MS2 + (week * SEC_PER_WEEK2 + tocSec) * 1e3
+    GPS_EPOCH_MS3 + (week * SEC_PER_WEEK2 + tocSec) * 1e3
   );
   return {
     system: prn[0] === "J" ? "J" : "G",
@@ -812,7 +865,7 @@ function parseSbfGpsNav(data) {
 }
 
 // src/navbits/cnav.ts
-var GPS_EPOCH_MS3 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS4 = Date.UTC(1980, 0, 6);
 var SEC_PER_WEEK3 = 7 * 86400;
 var HALF_WEEK = 302400;
 var CNAV_PREAMBLE = 139;
@@ -917,7 +970,7 @@ function resolveWeek(week, towSec, sec) {
   return week;
 }
 function gpsDate(week, sec) {
-  return new Date(GPS_EPOCH_MS3 + (week * SEC_PER_WEEK3 + sec) * 1e3);
+  return new Date(GPS_EPOCH_MS4 + (week * SEC_PER_WEEK3 + sec) * 1e3);
 }
 var CnavAssembler = class {
   sats = /* @__PURE__ */ new Map();
@@ -1047,7 +1100,7 @@ function parseSbfCnav(data) {
 }
 
 // src/navbits/gal.ts
-var GPS_EPOCH_MS4 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS5 = Date.UTC(1980, 0, 6);
 var SEC_PER_WEEK4 = 7 * 86400;
 var HALF_WEEK2 = 302400;
 var GST_GPS_WEEK_OFFSET = 1024;
@@ -1060,7 +1113,7 @@ function galFnavPageCrcOk(page) {
   return crc24q(page, 214) === getBitU(page, 214, 24);
 }
 function gpsDate2(week, sec) {
-  return new Date(GPS_EPOCH_MS4 + (week * SEC_PER_WEEK4 + sec) * 1e3);
+  return new Date(GPS_EPOCH_MS5 + (week * SEC_PER_WEEK4 + sec) * 1e3);
 }
 function weekOfToe(week, tow, toe) {
   if (toe - tow > HALF_WEEK2) return week - 1;
@@ -1691,7 +1744,7 @@ var BdsAssembler = class {
 };
 
 // src/navbits/glo.ts
-var GPS_EPOCH_MS5 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS6 = Date.UTC(1980, 0, 6);
 var SEC_PER_WEEK6 = 7 * 86400;
 var SEC_PER_DAY = 86400;
 var GLO_STRING_BYTES = 10;
@@ -1785,7 +1838,7 @@ function decodeGloStrings(strings, refDate, opts = {}) {
   const slot = getBitU(b, i, 5);
   if (frn1 !== 1 || frn2 !== 2 || frn3 !== 3 || frn4 !== 4) return null;
   if (slot < 1 || slot > 27) return null;
-  const utcSec = (getUtcDate(refDate).getTime() - GPS_EPOCH_MS5) / 1e3;
+  const utcSec = (getUtcDate(refDate).getTime() - GPS_EPOCH_MS6) / 1e3;
   const week = Math.floor(utcSec / SEC_PER_WEEK6);
   let tow = utcSec - week * SEC_PER_WEEK6;
   const tod = tow % SEC_PER_DAY;
@@ -1800,7 +1853,7 @@ function decodeGloStrings(strings, refDate, opts = {}) {
     system: "R",
     prn: `R${String(slot).padStart(2, "0")}`,
     // RINEX GLONASS epochs are UTC: build the UTC toe Date directly.
-    tocDate: new Date(GPS_EPOCH_MS5 + (week * SEC_PER_WEEK6 + tow + toe) * 1e3),
+    tocDate: new Date(GPS_EPOCH_MS6 + (week * SEC_PER_WEEK6 + tow + toe) * 1e3),
     tauN: -tauN,
     // RINEX stores −τn; the SIS carries τn (ICD sign)
     gammaN,
@@ -1854,7 +1907,7 @@ var GloStringAssembler = class {
 };
 
 // src/sbf/rawnav-bds.ts
-var GPS_EPOCH_MS6 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS7 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK3 = 7 * 86400 * 1e3;
 var TOW_DNU = 4294967295;
 var WNC_DNU2 = 65535;
@@ -1915,7 +1968,7 @@ function feedGloBlock(view, b, assembler) {
   const eph = assembler.push(
     prn,
     str2,
-    new Date(GPS_EPOCH_MS6 + wnc * MS_PER_WEEK3 + towMs),
+    new Date(GPS_EPOCH_MS7 + wnc * MS_PER_WEEK3 + towMs),
     view.getUint8(b + 18) - 8
     // FreqNr, offset by 8
   );
@@ -1938,7 +1991,7 @@ function parseSbfGloNav(data) {
 }
 
 // src/navbits/sbas.ts
-var GPS_EPOCH_MS7 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS8 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK4 = 7 * 86400 * 1e3;
 var two3 = (n) => String(n).padStart(2, "0");
 var SBAS_MT_GEO_NAV = 9;
@@ -1960,7 +2013,7 @@ function decodeSbasGeoNav(msg, prn, week, tow) {
   return {
     system: "S",
     prn: `S${two3(prn - 100)}`,
-    tocDate: new Date(GPS_EPOCH_MS7 + week * MS_PER_WEEK4 + t0Sec * 1e3),
+    tocDate: new Date(GPS_EPOCH_MS8 + week * MS_PER_WEEK4 + t0Sec * 1e3),
     tauN: getBitS(msg, 206, 12) * 2 ** -31,
     // a_Gf0, clock offset (s)
     gammaN: getBitS(msg, 218, 8) * 2 ** -39 / 2,
@@ -2708,7 +2761,7 @@ function parseSbfHas(data) {
 
 // src/sbf/index.ts
 var CLIGHT = 299792458;
-var GPS_EPOCH_MS8 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS9 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK5 = 7 * 864e5;
 var M3_SYS = ["G", "R", "E", "C", "S", "J", "I"];
 var M3_PR_BASE = [19e6, 19e6, 22e6, 2e7, 34e6, 34e6, 34e6];
@@ -3362,7 +3415,7 @@ 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_MS8 + wnc * MS_PER_WEEK5 + tow);
+        ensureEpoch(GPS_EPOCH_MS9 + wnc * MS_PER_WEEK5 + tow);
         if (id === 4109) decodeMeas3Ranges(i, tow);
         else if (id === 4110) decodeMeas3CN0(i, len);
         else if (id === 4111) decodeMeas3Doppler(i, len);
@@ -3388,6 +3441,7 @@ function parseSbfMeas(data) {
   parseSbfIonoUtc,
   parseSbfMeas,
   parseSbfNav,
+  parseSbfPvt,
   parseSbfReceiverSetup,
   sbfCrc16,
   scanSbfFrames

package/dist/sbf.d.cts

@@ -124,6 +124,35 @@ interface SbfReceiverSetup {
  */
 declare function parseSbfReceiverSetup(data: Uint8Array): SbfReceiverSetup | null;
 
+interface SbfPvt {
+    /** GPS-scale epoch time (ms). */
+    timeMs: number;
+    week: number;
+    /** Time of week (s). */
+    tow: number;
+    /** PVT solution type (Mode & 0x0F). */
+    modeType: number;
+    /** Human label for `modeType` ('standalone', 'sbas-aided', 'rtk-fixed', …). */
+    mode: string;
+    /** Geodetic position, or null when the receiver has no fix this epoch. */
+    latDeg: number | null;
+    lonDeg: number | null;
+    heightM: number | null;
+    /** Satellites used in the receiver's solution. */
+    nrSV: number | null;
+    /** Receiver 2-σ horizontal accuracy estimate (m), or null. */
+    hAccuracyM: number | null;
+    /** Receiver 2-σ vertical accuracy estimate (m), or null. */
+    vAccuracyM: number | null;
+}
+interface SbfPvtResult {
+    records: SbfPvt[];
+    /** PVTGeodetic blocks seen (with valid framing). */
+    messages: number;
+}
+/** Decode every PVTGeodetic (4007) block in an SBF byte stream. */
+declare function parseSbfPvt(data: Uint8Array): SbfPvtResult;
+
 /**
  * Septentrio SBF raw GPS / QZSS LNAV navigation-bit blocks: GPSRawCA
  * (4017) and QZSRawL1CA (4066) each carry one 300-bit L1 C/A (LNAV)
@@ -634,4 +663,4 @@ interface SbfParseResult {
  */
 declare function parseSbfMeas(data: Uint8Array): SbfParseResult;
 
-export { CnavEphemeris, type HasMessage, type SbfBdsNavResult, type SbfCnavEphemeris, type SbfCnavResult, type SbfGalEphemeris, type SbfGalNavResult, type SbfGeoNavResult, type SbfGloNavResult, type SbfGpsNavResult, type SbfHasMessage, type SbfHasResult, type SbfIonoUtcResult, type SbfMeasEpoch, type SbfMeasurement, type SbfNavCounts, type SbfNavigation, type SbfParseResult, type SbfReceiverSetup, decodeSbfNavigation, feedGeoBlock, parseSbfBdsNav, parseSbfCnav, parseSbfGalNav, parseSbfGeoNav, parseSbfGloNav, parseSbfGpsNav, parseSbfHas, parseSbfIonoUtc, parseSbfMeas, parseSbfReceiverSetup, crc16 as sbfCrc16, scanSbfFrames };
+export { CnavEphemeris, type HasMessage, type SbfBdsNavResult, type SbfCnavEphemeris, type SbfCnavResult, type SbfGalEphemeris, type SbfGalNavResult, type SbfGeoNavResult, type SbfGloNavResult, type SbfGpsNavResult, type SbfHasMessage, type SbfHasResult, type SbfIonoUtcResult, type SbfMeasEpoch, type SbfMeasurement, type SbfNavCounts, type SbfNavigation, type SbfParseResult, type SbfPvt, type SbfPvtResult, type SbfReceiverSetup, decodeSbfNavigation, feedGeoBlock, parseSbfBdsNav, parseSbfCnav, parseSbfGalNav, parseSbfGeoNav, parseSbfGloNav, parseSbfGpsNav, parseSbfHas, parseSbfIonoUtc, parseSbfMeas, parseSbfPvt, parseSbfReceiverSetup, crc16 as sbfCrc16, scanSbfFrames };

package/dist/sbf.d.ts

@@ -124,6 +124,35 @@ interface SbfReceiverSetup {
  */
 declare function parseSbfReceiverSetup(data: Uint8Array): SbfReceiverSetup | null;
 
+interface SbfPvt {
+    /** GPS-scale epoch time (ms). */
+    timeMs: number;
+    week: number;
+    /** Time of week (s). */
+    tow: number;
+    /** PVT solution type (Mode & 0x0F). */
+    modeType: number;
+    /** Human label for `modeType` ('standalone', 'sbas-aided', 'rtk-fixed', …). */
+    mode: string;
+    /** Geodetic position, or null when the receiver has no fix this epoch. */
+    latDeg: number | null;
+    lonDeg: number | null;
+    heightM: number | null;
+    /** Satellites used in the receiver's solution. */
+    nrSV: number | null;
+    /** Receiver 2-σ horizontal accuracy estimate (m), or null. */
+    hAccuracyM: number | null;
+    /** Receiver 2-σ vertical accuracy estimate (m), or null. */
+    vAccuracyM: number | null;
+}
+interface SbfPvtResult {
+    records: SbfPvt[];
+    /** PVTGeodetic blocks seen (with valid framing). */
+    messages: number;
+}
+/** Decode every PVTGeodetic (4007) block in an SBF byte stream. */
+declare function parseSbfPvt(data: Uint8Array): SbfPvtResult;
+
 /**
  * Septentrio SBF raw GPS / QZSS LNAV navigation-bit blocks: GPSRawCA
  * (4017) and QZSRawL1CA (4066) each carry one 300-bit L1 C/A (LNAV)
@@ -634,4 +663,4 @@ interface SbfParseResult {
  */
 declare function parseSbfMeas(data: Uint8Array): SbfParseResult;
 
-export { CnavEphemeris, type HasMessage, type SbfBdsNavResult, type SbfCnavEphemeris, type SbfCnavResult, type SbfGalEphemeris, type SbfGalNavResult, type SbfGeoNavResult, type SbfGloNavResult, type SbfGpsNavResult, type SbfHasMessage, type SbfHasResult, type SbfIonoUtcResult, type SbfMeasEpoch, type SbfMeasurement, type SbfNavCounts, type SbfNavigation, type SbfParseResult, type SbfReceiverSetup, decodeSbfNavigation, feedGeoBlock, parseSbfBdsNav, parseSbfCnav, parseSbfGalNav, parseSbfGeoNav, parseSbfGloNav, parseSbfGpsNav, parseSbfHas, parseSbfIonoUtc, parseSbfMeas, parseSbfReceiverSetup, crc16 as sbfCrc16, scanSbfFrames };
+export { CnavEphemeris, type HasMessage, type SbfBdsNavResult, type SbfCnavEphemeris, type SbfCnavResult, type SbfGalEphemeris, type SbfGalNavResult, type SbfGeoNavResult, type SbfGloNavResult, type SbfGpsNavResult, type SbfHasMessage, type SbfHasResult, type SbfIonoUtcResult, type SbfMeasEpoch, type SbfMeasurement, type SbfNavCounts, type SbfNavigation, type SbfParseResult, type SbfPvt, type SbfPvtResult, type SbfReceiverSetup, decodeSbfNavigation, feedGeoBlock, parseSbfBdsNav, parseSbfCnav, parseSbfGalNav, parseSbfGeoNav, parseSbfGloNav, parseSbfGpsNav, parseSbfHas, parseSbfIonoUtc, parseSbfMeas, parseSbfPvt, parseSbfReceiverSetup, crc16 as sbfCrc16, scanSbfFrames };

package/dist/sbf.js

@@ -13,9 +13,10 @@ import {
   parseSbfIonoUtc,
   parseSbfMeas,
   parseSbfNav,
+  parseSbfPvt,
   parseSbfReceiverSetup,
   scanSbfFrames
-} from "./chunk-DE5IUULR.js";
+} from "./chunk-ZPNMIUNZ.js";
 import "./chunk-FA2UTLEQ.js";
 import "./chunk-WQX354KD.js";
 import "./chunk-37QNKGTC.js";
@@ -38,6 +39,7 @@ export {
   parseSbfIonoUtc,
   parseSbfMeas,
   parseSbfNav,
+  parseSbfPvt,
   parseSbfReceiverSetup,
   crc16 as sbfCrc16,
   scanSbfFrames

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "gnss-js",
-  "version": "1.51.0",
+  "version": "1.53.0",
   "description": "Comprehensive GNSS library for JavaScript — time scales, coordinates, RINEX parsing, RTCM3 decoding, orbit computation, and signal analysis",
   "type": "module",
   "sideEffects": false,