gnss-js 1.52.0 → 1.54.0

package/dist/{chunk-ZS5RLFWI.js → chunk-KUTNIP3O.js}

@@ -355,8 +355,57 @@ function parseNovatelNav(data, opts = {}) {
   };
 }
 
-// src/novatel/index.ts
+// src/novatel/pvt.ts
 var GPS_EPOCH_MS2 = Date.UTC(1980, 0, 6);
+var BESTPOS = 42;
+function posTypeToMode(t) {
+  if (t === 0) return "no-pvt";
+  if (t === 16) return "standalone";
+  if (t === 17) return "differential";
+  if (t === 18 || t === 20) return "sbas-aided";
+  if (t === 32 || t === 33 || t === 34) return "rtk-float";
+  if (t === 48 || t === 50) return "rtk-fixed";
+  if (t >= 68 && t <= 78) return "ppp";
+  return `mode-${t}`;
+}
+function parseNovatelPvt(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const records = [];
+  let messages = 0;
+  const stats = { badCrc: 0 };
+  for (const f of oem4Frames(data, view, stats)) {
+    if (f.id !== BESTPOS || !f.binary || f.msgLen < 72) continue;
+    messages++;
+    const p = f.payload;
+    const posType = view.getUint32(p + 4, true);
+    const lat = view.getFloat64(p + 8, true);
+    const lon = view.getFloat64(p + 16, true);
+    const hgtMsl = view.getFloat64(p + 24, true);
+    const undulation = view.getFloat32(p + 32, true);
+    const latSig = view.getFloat32(p + 40, true);
+    const lonSig = view.getFloat32(p + 44, true);
+    const hgtSig = view.getFloat32(p + 48, true);
+    const nrSV = view.getUint8(p + 65);
+    const hasFix = posType !== 0 && Number.isFinite(lat) && Number.isFinite(lon);
+    records.push({
+      timeMs: GPS_EPOCH_MS2 + f.week * 6048e5 + f.towMs,
+      week: f.week,
+      tow: f.towMs / 1e3,
+      mode: posTypeToMode(posType),
+      latDeg: hasFix ? lat : null,
+      lonDeg: hasFix ? lon : null,
+      // BESTPOS height is above MSL; ellipsoidal = MSL + geoid undulation.
+      heightM: hasFix ? hgtMsl + undulation : null,
+      nrSV,
+      hAccuracyM: hasFix ? Math.hypot(latSig, lonSig) : null,
+      vAccuracyM: hasFix ? hgtSig : null
+    });
+  }
+  return { records, messages };
+}
+
+// src/novatel/index.ts
+var GPS_EPOCH_MS3 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK2 = 7 * 864e5;
 var HDR = 28;
 var ID_RANGE = 43;
@@ -526,7 +575,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS2 + week * MS_PER_WEEK2 + towMs,
+          timeMs: GPS_EPOCH_MS3 + week * MS_PER_WEEK2 + towMs,
           meas
         });
       }
@@ -578,7 +627,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS2 + week * MS_PER_WEEK2 + towMs,
+          timeMs: GPS_EPOCH_MS3 + week * MS_PER_WEEK2 + towMs,
           meas
         });
       }
@@ -593,5 +642,6 @@ export {
   crc32,
   oem4Frames,
   parseNovatelNav,
+  parseNovatelPvt,
   parseNovatelRange
 };

package/dist/{chunk-DEVUKH6A.js → chunk-MRC6LIPM.js}

@@ -306,8 +306,59 @@ function parseUbxRawNav(data, opts = {}) {
   return { ephemerides, counts, badParity };
 }
 
-// src/ubx/index.ts
+// src/ubx/pvt.ts
 var GPS_EPOCH_MS2 = Date.UTC(1980, 0, 6);
+function parseUbxPvt(data) {
+  const records = [];
+  let messages = 0;
+  for (const f of ubxFrames(data)) {
+    if (f.msgClass !== 1 || f.msgId !== 7 || f.payload.length < 92)
+      continue;
+    messages++;
+    const v = new DataView(
+      f.payload.buffer,
+      f.payload.byteOffset,
+      f.payload.byteLength
+    );
+    const iTow = v.getUint32(0, true);
+    const year = v.getUint16(4, true);
+    const month = v.getUint8(6);
+    const day = v.getUint8(7);
+    const hour = v.getUint8(8);
+    const min = v.getUint8(9);
+    const sec = v.getUint8(10);
+    const fixType = v.getUint8(20);
+    const flags = v.getUint8(21);
+    const numSV = v.getUint8(23);
+    const lon = v.getInt32(24, true) * 1e-7;
+    const lat = v.getInt32(28, true) * 1e-7;
+    const height = v.getInt32(32, true) / 1e3;
+    const hAcc = v.getUint32(40, true) / 1e3;
+    const vAcc = v.getUint32(44, true) / 1e3;
+    const carrSoln = flags >> 6 & 3;
+    const diffSoln = flags >> 1 & 1;
+    const mode = carrSoln === 2 ? "rtk-fixed" : carrSoln === 1 ? "rtk-float" : diffSoln ? "differential" : fixType >= 2 ? "standalone" : "no-pvt";
+    const hasFix = fixType >= 2;
+    const timeMs = year > 1980 ? Date.UTC(year, month - 1, day, hour, min, sec) : GPS_EPOCH_MS2 + iTow;
+    const week = Math.floor((timeMs - GPS_EPOCH_MS2) / 1e3 / 604800);
+    records.push({
+      timeMs,
+      week,
+      tow: iTow / 1e3,
+      mode,
+      latDeg: hasFix ? lat : null,
+      lonDeg: hasFix ? lon : null,
+      heightM: hasFix ? height : null,
+      nrSV: numSV,
+      hAccuracyM: hasFix ? hAcc : null,
+      vAccuracyM: hasFix ? vAcc : null
+    });
+  }
+  return { records, messages };
+}
+
+// src/ubx/index.ts
+var GPS_EPOCH_MS3 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK = 7 * 864e5;
 var SIGNALS = {
   0: { 0: ["G", "1C"], 3: ["G", "2X"], 4: ["G", "2X"] },
@@ -390,7 +441,7 @@ function parseUbxRawx(data) {
         if (!codes.includes(sig[1])) codes.push(sig[1]);
       }
       epochs.push({
-        timeMs: GPS_EPOCH_MS2 + week * MS_PER_WEEK + Math.round(rcvTow * 1e3),
+        timeMs: GPS_EPOCH_MS3 + week * MS_PER_WEEK + Math.round(rcvTow * 1e3),
         leapS: leapValid ? leapS : null,
         meas
       });
@@ -405,5 +456,6 @@ export {
   parseUbxIonoUtc,
   parseUbxCnav,
   parseUbxRawNav,
+  parseUbxPvt,
   parseUbxRawx
 };

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,