gnss-js 1.52.0 → 1.54.0

package/dist/index.cjs

@@ -256,6 +256,7 @@ __export(src_exports, {
   parseNavFile: () => parseNavFile,
   parseNmeaFile: () => parseNmeaFile,
   parseNovatelNav: () => parseNovatelNav,
+  parseNovatelPvt: () => parseNovatelPvt,
   parseNovatelRange: () => parseNovatelRange,
   parseRinexStream: () => parseRinexStream,
   parseSbfAlmanac: () => parseSbfAlmanac,
@@ -269,6 +270,7 @@ __export(src_exports, {
   parseSbfIonoUtc: () => parseSbfIonoUtc,
   parseSbfMeas: () => parseSbfMeas,
   parseSbfNav: () => parseSbfNav,
+  parseSbfPvt: () => parseSbfPvt,
   parseSbfReceiverSetup: () => parseSbfReceiverSetup,
   parseSinexBiasDcb: () => parseSinexBiasDcb,
   parseSourcetable: () => parseSourcetable,
@@ -278,6 +280,7 @@ __export(src_exports, {
   parseUbxCnav: () => parseUbxCnav,
   parseUbxIonoUtc: () => parseUbxIonoUtc,
   parseUbxNav: () => parseUbxNav,
+  parseUbxPvt: () => parseUbxPvt,
   parseUbxRawNav: () => parseUbxRawNav,
   parseUbxRawx: () => parseUbxRawx,
   phiAltBOC: () => phiAltBOC,
@@ -6960,8 +6963,59 @@ function parseUbxRawNav(data, opts = {}) {
   return { ephemerides, counts, badParity };
 }
 
-// src/ubx/index.ts
+// src/ubx/pvt.ts
 var GPS_EPOCH_MS9 = 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_MS9 + iTow;
+    const week = Math.floor((timeMs - GPS_EPOCH_MS9) / 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_MS10 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK4 = 7 * 864e5;
 var SIGNALS = {
   0: { 0: ["G", "1C"], 3: ["G", "2X"], 4: ["G", "2X"] },
@@ -7044,7 +7098,7 @@ function parseUbxRawx(data) {
         if (!codes.includes(sig[1])) codes.push(sig[1]);
       }
       epochs.push({
-        timeMs: GPS_EPOCH_MS9 + week * MS_PER_WEEK4 + Math.round(rcvTow * 1e3),
+        timeMs: GPS_EPOCH_MS10 + week * MS_PER_WEEK4 + Math.round(rcvTow * 1e3),
         leapS: leapValid ? leapS : null,
         meas
       });
@@ -7115,7 +7169,7 @@ function svidToPrn(svid) {
 
 // src/sbf/nav.ts
 var PI2 = Math.PI;
-var GPS_EPOCH_MS10 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS11 = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS2 = Date.UTC(2006, 0, 1);
 var SEC_PER_WEEK8 = 7 * 86400;
 var MS_PER_WEEK5 = SEC_PER_WEEK8 * 1e3;
@@ -7127,7 +7181,7 @@ function adjustWeek(refWeek, wn, mod) {
   if (offset < -(mod / 2 - 1)) offset += mod;
   return refWeek - offset;
 }
-var gpsMs = (week, sec) => GPS_EPOCH_MS10 + week * MS_PER_WEEK5 + sec * 1e3;
+var gpsMs = (week, sec) => GPS_EPOCH_MS11 + week * MS_PER_WEEK5 + sec * 1e3;
 var sowOf2 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK8;
 function decodeGpsQzsNav(view, b, sys) {
   const svid = view.getUint8(b + 14);
@@ -7277,7 +7331,7 @@ function decodeGloNav(view, b) {
   const tocDate = new Date(toeGpsMs - leapMs);
   const tofGpsMs = gpsMs(wnc, 0) + view.getUint32(b + 8, true);
   const tofLeapMs = getGpsLeap(new Date(tofGpsMs)) * 1e3;
-  const messageFrameTime = (tofGpsMs - tofLeapMs - GPS_EPOCH_MS10) / 1e3 % SEC_PER_WEEK8;
+  const messageFrameTime = (tofGpsMs - tofLeapMs - GPS_EPOCH_MS11) / 1e3 % SEC_PER_WEEK8;
   return {
     system: "R",
     prn,
@@ -7509,6 +7563,58 @@ function parseSbfReceiverSetup(data) {
   return out;
 }
 
+// src/sbf/pvt.ts
+var GPS_EPOCH_MS12 = 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_MS12 + 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) {
@@ -7644,7 +7750,7 @@ function isFnavDummy(page) {
 }
 
 // src/sbf/rawnav-bds.ts
-var GPS_EPOCH_MS11 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS13 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK6 = 7 * 86400 * 1e3;
 var TOW_DNU = 4294967295;
 var WNC_DNU2 = 65535;
@@ -7705,7 +7811,7 @@ 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_MS13 + wnc * MS_PER_WEEK6 + towMs),
     view.getUint8(b + 18) - 8
     // FreqNr, offset by 8
   );
@@ -8455,7 +8561,7 @@ function parseSbfHas(data) {
 
 // src/sbf/index.ts
 var CLIGHT = 299792458;
-var GPS_EPOCH_MS12 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS14 = 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];
@@ -9109,7 +9215,7 @@ 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_MS14 + 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);
@@ -9176,15 +9282,15 @@ 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_MS15 = 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_MS15 + 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_MS15) / 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;
@@ -9211,9 +9317,9 @@ 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_MS15 + (week * SEC_PER_WEEK9 + tow) * 1e3;
+  const tofGpsMs = GPS_EPOCH_MS15 + (week * SEC_PER_WEEK9 + tof) * 1e3;
+  const tofUtcSec = (getUtcDate(new Date(tofGpsMs)).getTime() - GPS_EPOCH_MS15) / 1e3;
   return {
     system: "R",
     prn: `R${String(slot).padStart(2, "0")}`,
@@ -9278,7 +9384,7 @@ 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_MS15) / 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,
@@ -9464,8 +9570,57 @@ function parseNovatelNav(data, opts = {}) {
   };
 }
 
+// src/novatel/pvt.ts
+var GPS_EPOCH_MS16 = 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_MS16 + 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_MS14 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS17 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK9 = 7 * 864e5;
 var HDR = 28;
 var ID_RANGE = 43;
@@ -9635,7 +9790,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS14 + week * MS_PER_WEEK9 + towMs,
+          timeMs: GPS_EPOCH_MS17 + week * MS_PER_WEEK9 + towMs,
           meas
         });
       }
@@ -9687,7 +9842,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS14 + week * MS_PER_WEEK9 + towMs,
+          timeMs: GPS_EPOCH_MS17 + week * MS_PER_WEEK9 + towMs,
           meas
         });
       }
@@ -9738,14 +9893,14 @@ function* trimbleFrames(data, stats) {
 }
 
 // src/trimble/nav.ts
-var GPS_EPOCH_MS15 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS18 = 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_MS18 + week * MS_PER_WEEK10 + sec * 1e3;
 var sowOf4 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK10;
 var SUB_GPS_EPHEMERIS = 1;
 var SUB_ION_UTC = 3;
@@ -9898,7 +10053,7 @@ 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_MS18) / 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,
@@ -9969,7 +10124,7 @@ function parseTrimbleNav(data) {
 }
 
 // src/trimble/index.ts
-var GPS_EPOCH_MS16 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS19 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK11 = 7 * 864e5;
 var REC_TYPE_27 = 6;
 var SYS = {
@@ -10167,7 +10322,7 @@ 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_MS19 + epoch.week * MS_PER_WEEK11 + epoch.towMs;
   const meas = [];
   let q = 0;
   for (let sv = 0; sv < epoch.nsv && q + 8 <= M.length; sv++) {
@@ -10348,13 +10503,13 @@ function* binexRecords(data, view, stats) {
 }
 
 // src/binex/nav.ts
-var GPS_EPOCH_MS17 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS20 = 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_MS20 + 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 {
@@ -10642,7 +10797,7 @@ function decodeBinexEph(view, body, len, le) {
 }
 
 // src/binex/index.ts
-var GPS_EPOCH_MS18 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS21 = Date.UTC(1980, 0, 6);
 var CLIGHT2 = 299792458;
 var OBS_CODES = {
   0: [
@@ -10900,7 +11055,7 @@ 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_MS21 + min * 6e4 + msec;
   const flag = data[p++];
   const nsat = (flag & 63) + 1;
   if (flag & 128) p += 3;
@@ -10986,7 +11141,7 @@ 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_MS22 = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS6 = Date.UTC(2006, 0, 1);
 var WEEK_MS = 6048e5;
 var BDT_MINUS_GPST_MS = 14e3;
@@ -10995,7 +11150,7 @@ 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_MS22 + 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;
@@ -11504,10 +11659,10 @@ function selectBest(ephs, timeMs) {
   }
   return best;
 }
-var GPS_EPOCH_MS20 = START_GPS_TIME.getTime();
+var GPS_EPOCH_MS23 = 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_MS23 + 1024 * MS_PER_WEEK13;
 function ephInfoToEphemeris(info) {
   const sys = info.prn.charAt(0);
   if (sys === "R") {
@@ -11558,8 +11713,8 @@ 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_MS23;
+    const weeksNow = (info.lastReceived - GPS_EPOCH_MS23) / MS_PER_WEEK13;
     week += 1024 * Math.round((weeksNow - week) / 1024);
   }
   const tocDate = new Date(epochMs + week * MS_PER_WEEK13 + tocSec * 1e3);
@@ -17766,6 +17921,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   parseNavFile,
   parseNmeaFile,
   parseNovatelNav,
+  parseNovatelPvt,
   parseNovatelRange,
   parseRinexStream,
   parseSbfAlmanac,
@@ -17779,6 +17935,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   parseSbfIonoUtc,
   parseSbfMeas,
   parseSbfNav,
+  parseSbfPvt,
   parseSbfReceiverSetup,
   parseSinexBiasDcb,
   parseSourcetable,
@@ -17788,6 +17945,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   parseUbxCnav,
   parseUbxIonoUtc,
   parseUbxNav,
+  parseUbxPvt,
   parseUbxRawNav,
   parseUbxRawx,
   phiAltBOC,

package/dist/index.d.cts

@@ -1,3 +1,4 @@
+export { R as ReceiverPvt } from './receiver-pvt-CVFvi4kT.cjs';
 export { D as DAYS_MJD2000_MJD, a as DAYS_MJD_JULIAN, H as HourCode, M as MILLISECONDS_GPS_TAI, b as MILLISECONDS_IN_DAY, c as MILLISECONDS_IN_HOUR, d as MILLISECONDS_IN_MINUTE, e as MILLISECONDS_IN_SECOND, f as MILLISECONDS_IN_WEEK, g as MILLISECONDS_TT_TAI, R as RINEX_CODES, S as SECONDS_IN_DAY, h as SECONDS_IN_HOUR, i as SECONDS_IN_MINUTE, j as SECONDS_IN_WEEK, k as START_BDS_TIME, l as START_GAL_TIME, m as START_GLO_LEAP, n as START_GPS_TIME, o as START_JULIAN_TAI, p as START_MJD_UNIX_SECONDS, q as START_NTP_TIME, r as START_TAI_TIME, s as START_UNIX_TIME, T as TimeDifference } from './time-DnI1VpE8.cjs';
 export { WGS84_ECCENTRICITY_SQUARED, WGS84_FLATTENING, WGS84_SEMI_MAJOR_AXIS, WGS84_SEMI_MINOR_AXIS } from './constants.cjs';
 export { A as ARC_GAP_FACTOR, B as BAND_LABELS, a as BDS_SATELLITES, b as BdsSatellite, C as C_LIGHT, D as DEFAULT_ELEV_MASK_DEG, c as DUAL_FREQ_PAIRS, F as FREQ, G as GLO_CHANNEL_FALLBACK, d as GLO_F1_BASE, e as GLO_F1_STEP, f as GLO_F2_BASE, g as GLO_F2_STEP, h as GLO_F3, O as OMEGA_E, i as OnSlipDetected, S as SYSTEM_NAMES, j as SYS_SHORT, k as buildGloChannelMap, l as buildObsIndices, m as formatUTCTime, n as getFreq, o as gloFreq } from './gnss-BtXrG3zH.cjs';
@@ -10,9 +11,9 @@ export { C as CnavEphemeris, E as Ephemeris, G as GlonassEphemeris, K as KeplerE
 export { C as ClkFile, I as IonexGrid, S as Sp3File, a as Sp3Sample, c as clkBias, p as parseClk, b as parseIonex, d as parseSp3, s as sp3Position } from './clk-DGVBGRzA.cjs';
 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 { NovatelEpoch, NovatelMeasurement, NovatelNavResult, NovatelParseResult, OEM4_HLEN, Oem4Frame, crc32, oem4Frames, parseNovatelNav, parseNovatelRange } from './novatel.cjs';
+export { UbxCnavResult, UbxFrame, UbxIonoUtcResult, UbxMeasurement, UbxNavOptions, UbxNavResult, UbxParseResult, UbxPvtResult, UbxRawNavOptions, UbxRawNavResult, UbxRawxEpoch, parseUbxCnav, parseUbxIonoUtc, parseUbxNav, parseUbxPvt, parseUbxRawNav, parseUbxRawx, ubxFrames } from './ubx.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, NovatelPvtResult, OEM4_HLEN, Oem4Frame, crc32, oem4Frames, parseNovatelNav, parseNovatelPvt, 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';

package/dist/index.d.ts

@@ -1,3 +1,4 @@
+export { R as ReceiverPvt } from './receiver-pvt-CVFvi4kT.js';
 export { D as DAYS_MJD2000_MJD, a as DAYS_MJD_JULIAN, H as HourCode, M as MILLISECONDS_GPS_TAI, b as MILLISECONDS_IN_DAY, c as MILLISECONDS_IN_HOUR, d as MILLISECONDS_IN_MINUTE, e as MILLISECONDS_IN_SECOND, f as MILLISECONDS_IN_WEEK, g as MILLISECONDS_TT_TAI, R as RINEX_CODES, S as SECONDS_IN_DAY, h as SECONDS_IN_HOUR, i as SECONDS_IN_MINUTE, j as SECONDS_IN_WEEK, k as START_BDS_TIME, l as START_GAL_TIME, m as START_GLO_LEAP, n as START_GPS_TIME, o as START_JULIAN_TAI, p as START_MJD_UNIX_SECONDS, q as START_NTP_TIME, r as START_TAI_TIME, s as START_UNIX_TIME, T as TimeDifference } from './time-DnI1VpE8.js';
 export { WGS84_ECCENTRICITY_SQUARED, WGS84_FLATTENING, WGS84_SEMI_MAJOR_AXIS, WGS84_SEMI_MINOR_AXIS } from './constants.js';
 export { A as ARC_GAP_FACTOR, B as BAND_LABELS, a as BDS_SATELLITES, b as BdsSatellite, C as C_LIGHT, D as DEFAULT_ELEV_MASK_DEG, c as DUAL_FREQ_PAIRS, F as FREQ, G as GLO_CHANNEL_FALLBACK, d as GLO_F1_BASE, e as GLO_F1_STEP, f as GLO_F2_BASE, g as GLO_F2_STEP, h as GLO_F3, O as OMEGA_E, i as OnSlipDetected, S as SYSTEM_NAMES, j as SYS_SHORT, k as buildGloChannelMap, l as buildObsIndices, m as formatUTCTime, n as getFreq, o as gloFreq } from './gnss-DhnEr0Dy.js';
@@ -10,9 +11,9 @@ export { C as CnavEphemeris, E as Ephemeris, G as GlonassEphemeris, K as KeplerE
 export { C as ClkFile, I as IonexGrid, S as Sp3File, a as Sp3Sample, c as clkBias, p as parseClk, b as parseIonex, d as parseSp3, s as sp3Position } from './clk-DGVBGRzA.js';
 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 { NovatelEpoch, NovatelMeasurement, NovatelNavResult, NovatelParseResult, OEM4_HLEN, Oem4Frame, crc32, oem4Frames, parseNovatelNav, parseNovatelRange } from './novatel.js';
+export { UbxCnavResult, UbxFrame, UbxIonoUtcResult, UbxMeasurement, UbxNavOptions, UbxNavResult, UbxParseResult, UbxPvtResult, UbxRawNavOptions, UbxRawNavResult, UbxRawxEpoch, parseUbxCnav, parseUbxIonoUtc, parseUbxNav, parseUbxPvt, parseUbxRawNav, parseUbxRawx, ubxFrames } from './ubx.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, NovatelPvtResult, OEM4_HLEN, Oem4Frame, crc32, oem4Frames, parseNovatelNav, parseNovatelPvt, 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';

package/dist/index.js

@@ -47,10 +47,11 @@ import {
   parseUbxCnav,
   parseUbxIonoUtc,
   parseUbxNav,
+  parseUbxPvt,
   parseUbxRawNav,
   parseUbxRawx,
   ubxFrames
-} from "./chunk-DEVUKH6A.js";
+} from "./chunk-MRC6LIPM.js";
 import {
   crc16,
   decodeSbfNavigation,
@@ -66,17 +67,19 @@ import {
   parseSbfIonoUtc,
   parseSbfMeas,
   parseSbfNav,
+  parseSbfPvt,
   parseSbfReceiverSetup,
   scanSbfFrames
-} from "./chunk-DE5IUULR.js";
+} from "./chunk-ZPNMIUNZ.js";
 import "./chunk-FA2UTLEQ.js";
 import {
   OEM4_HLEN,
   crc32,
   oem4Frames,
   parseNovatelNav,
+  parseNovatelPvt,
   parseNovatelRange
-} from "./chunk-ZS5RLFWI.js";
+} from "./chunk-KUTNIP3O.js";
 import {
   parseTrimble,
   parseTrimbleNav,
@@ -593,6 +596,7 @@ export {
   parseNavFile,
   parseNmeaFile,
   parseNovatelNav,
+  parseNovatelPvt,
   parseNovatelRange,
   parseRinexStream,
   parseSbfAlmanac,
@@ -606,6 +610,7 @@ export {
   parseSbfIonoUtc,
   parseSbfMeas,
   parseSbfNav,
+  parseSbfPvt,
   parseSbfReceiverSetup,
   parseSinexBiasDcb,
   parseSourcetable,
@@ -615,6 +620,7 @@ export {
   parseUbxCnav,
   parseUbxIonoUtc,
   parseUbxNav,
+  parseUbxPvt,
   parseUbxRawNav,
   parseUbxRawx,
   phiAltBOC,

package/dist/novatel.cjs

@@ -24,6 +24,7 @@ __export(novatel_exports, {
   crc32: () => crc32,
   oem4Frames: () => oem4Frames,
   parseNovatelNav: () => parseNovatelNav,
+  parseNovatelPvt: () => parseNovatelPvt,
   parseNovatelRange: () => parseNovatelRange
 });
 module.exports = __toCommonJS(novatel_exports);
@@ -823,8 +824,57 @@ function parseNovatelNav(data, opts = {}) {
   };
 }
 
-// src/novatel/index.ts
+// src/novatel/pvt.ts
 var GPS_EPOCH_MS5 = 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_MS5 + 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_MS6 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK3 = 7 * 864e5;
 var HDR = 28;
 var ID_RANGE = 43;
@@ -994,7 +1044,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS5 + week * MS_PER_WEEK3 + towMs,
+          timeMs: GPS_EPOCH_MS6 + week * MS_PER_WEEK3 + towMs,
           meas
         });
       }
@@ -1046,7 +1096,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS5 + week * MS_PER_WEEK3 + towMs,
+          timeMs: GPS_EPOCH_MS6 + week * MS_PER_WEEK3 + towMs,
           meas
         });
       }
@@ -1061,5 +1111,6 @@ function parseNovatelRange(data) {
   crc32,
   oem4Frames,
   parseNovatelNav,
+  parseNovatelPvt,
   parseNovatelRange
 });