gnss-js 1.52.0 → 1.54.0

package/dist/novatel.d.cts

@@ -1,4 +1,5 @@
 import { E as Ephemeris, C as CnavEphemeris } from './nav-DImXUdbp.cjs';
+import { R as ReceiverPvt } from './receiver-pvt-CVFvi4kT.cjs';
 
 /**
  * NovAtel OEM4/6/7 binary framing shared by the measurement and
@@ -113,6 +114,13 @@ declare function parseNovatelNav(data: Uint8Array, opts?: {
     onSbasMessage?: (msg: Uint8Array, prn: number, week: number, tow: number) => void;
 }): NovatelNavResult;
 
+interface NovatelPvtResult {
+    records: ReceiverPvt[];
+    messages: number;
+}
+/** Decode every BESTPOS (binary) message in a NovAtel OEM4/7 byte stream. */
+declare function parseNovatelPvt(data: Uint8Array): NovatelPvtResult;
+
 /**
  * NovAtel OEM4/6/7 raw-measurement decoding (RANGE log, message 43).
  *
@@ -170,4 +178,4 @@ interface NovatelParseResult {
  */
 declare function parseNovatelRange(data: Uint8Array): NovatelParseResult;
 
-export { type NovatelEpoch, type NovatelMeasurement, type NovatelNavResult, type NovatelParseResult, OEM4_HLEN, type Oem4Frame, crc32, oem4Frames, parseNovatelNav, parseNovatelRange };
+export { type NovatelEpoch, type NovatelMeasurement, type NovatelNavResult, type NovatelParseResult, type NovatelPvtResult, OEM4_HLEN, type Oem4Frame, ReceiverPvt, crc32, oem4Frames, parseNovatelNav, parseNovatelPvt, parseNovatelRange };

package/dist/novatel.d.ts

@@ -1,4 +1,5 @@
 import { E as Ephemeris, C as CnavEphemeris } from './nav-DImXUdbp.js';
+import { R as ReceiverPvt } from './receiver-pvt-CVFvi4kT.js';
 
 /**
  * NovAtel OEM4/6/7 binary framing shared by the measurement and
@@ -113,6 +114,13 @@ declare function parseNovatelNav(data: Uint8Array, opts?: {
     onSbasMessage?: (msg: Uint8Array, prn: number, week: number, tow: number) => void;
 }): NovatelNavResult;
 
+interface NovatelPvtResult {
+    records: ReceiverPvt[];
+    messages: number;
+}
+/** Decode every BESTPOS (binary) message in a NovAtel OEM4/7 byte stream. */
+declare function parseNovatelPvt(data: Uint8Array): NovatelPvtResult;
+
 /**
  * NovAtel OEM4/6/7 raw-measurement decoding (RANGE log, message 43).
  *
@@ -170,4 +178,4 @@ interface NovatelParseResult {
  */
 declare function parseNovatelRange(data: Uint8Array): NovatelParseResult;
 
-export { type NovatelEpoch, type NovatelMeasurement, type NovatelNavResult, type NovatelParseResult, OEM4_HLEN, type Oem4Frame, crc32, oem4Frames, parseNovatelNav, parseNovatelRange };
+export { type NovatelEpoch, type NovatelMeasurement, type NovatelNavResult, type NovatelParseResult, type NovatelPvtResult, OEM4_HLEN, type Oem4Frame, ReceiverPvt, crc32, oem4Frames, parseNovatelNav, parseNovatelPvt, parseNovatelRange };

package/dist/novatel.js

@@ -3,8 +3,9 @@ import {
   crc32,
   oem4Frames,
   parseNovatelNav,
+  parseNovatelPvt,
   parseNovatelRange
-} from "./chunk-ZS5RLFWI.js";
+} from "./chunk-KUTNIP3O.js";
 import "./chunk-WQX354KD.js";
 import "./chunk-YUW33VXK.js";
 import "./chunk-V2D5KUKH.js";
@@ -15,5 +16,6 @@ export {
   crc32,
   oem4Frames,
   parseNovatelNav,
+  parseNovatelPvt,
   parseNovatelRange
 };

package/dist/receiver-pvt-CVFvi4kT.d.cts

@@ -0,0 +1,29 @@
+/**
+ * A receiver's own navigation solution (position/velocity/time), normalised
+ * across manufacturers: Septentrio PVTGeodetic, NovAtel BESTPOS, u-blox
+ * NAV-PVT. Useful as a truth/reference to cross-check an independent SPP/SBAS
+ * solution against (position + accuracy), and to know the receiver's own
+ * solution mode.
+ */
+interface ReceiverPvt {
+    /** GPS-scale epoch time (ms). */
+    timeMs: number;
+    week: number;
+    /** Time of week (s). */
+    tow: number;
+    /** Solution mode: 'standalone' | 'differential' | 'sbas-aided' |
+     *  'rtk-float' | 'rtk-fixed' | 'ppp' | 'no-pvt' | 'fixed-location' | … */
+    mode: string;
+    latDeg: number | null;
+    lonDeg: number | null;
+    /** Ellipsoidal height (m). */
+    heightM: number | null;
+    /** Satellites used in the receiver's solution. */
+    nrSV: number | null;
+    /** Receiver horizontal accuracy estimate (m). */
+    hAccuracyM: number | null;
+    /** Receiver vertical accuracy estimate (m). */
+    vAccuracyM: number | null;
+}
+
+export type { ReceiverPvt as R };

package/dist/receiver-pvt-CVFvi4kT.d.ts

@@ -0,0 +1,29 @@
+/**
+ * A receiver's own navigation solution (position/velocity/time), normalised
+ * across manufacturers: Septentrio PVTGeodetic, NovAtel BESTPOS, u-blox
+ * NAV-PVT. Useful as a truth/reference to cross-check an independent SPP/SBAS
+ * solution against (position + accuracy), and to know the receiver's own
+ * solution mode.
+ */
+interface ReceiverPvt {
+    /** GPS-scale epoch time (ms). */
+    timeMs: number;
+    week: number;
+    /** Time of week (s). */
+    tow: number;
+    /** Solution mode: 'standalone' | 'differential' | 'sbas-aided' |
+     *  'rtk-float' | 'rtk-fixed' | 'ppp' | 'no-pvt' | 'fixed-location' | … */
+    mode: string;
+    latDeg: number | null;
+    lonDeg: number | null;
+    /** Ellipsoidal height (m). */
+    heightM: number | null;
+    /** Satellites used in the receiver's solution. */
+    nrSV: number | null;
+    /** Receiver horizontal accuracy estimate (m). */
+    hAccuracyM: number | null;
+    /** Receiver vertical accuracy estimate (m). */
+    vAccuracyM: number | null;
+}
+
+export type { ReceiverPvt as R };

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

@@ -1,4 +1,5 @@
 export { S as SbfAlmanac, a as SbfAlmanacResult, b as SbfGlonassAlmanac, c as SbfKeplerAlmanac, d as SbfNavResult, p as parseSbfAlmanac, e as parseSbfNav } from './nav-BYmYoh9A.cjs';
+import { R as ReceiverPvt } from './receiver-pvt-CVFvi4kT.cjs';
 import { K as KeplerEphemeris, C as CnavEphemeris, E as Ephemeris, G as GlonassEphemeris } from './nav-DImXUdbp.cjs';
 
 /**
@@ -124,6 +125,18 @@ interface SbfReceiverSetup {
  */
 declare function parseSbfReceiverSetup(data: Uint8Array): SbfReceiverSetup | null;
 
+interface SbfPvt extends ReceiverPvt {
+    /** PVT solution type (Mode & 0x0F) — the raw Septentrio code. */
+    modeType: number;
+}
+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 +647,4 @@ 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, ReceiverPvt, 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

@@ -1,4 +1,5 @@
 export { S as SbfAlmanac, a as SbfAlmanacResult, b as SbfGlonassAlmanac, c as SbfKeplerAlmanac, d as SbfNavResult, p as parseSbfAlmanac, e as parseSbfNav } from './nav-CN8rxL4h.js';
+import { R as ReceiverPvt } from './receiver-pvt-CVFvi4kT.js';
 import { K as KeplerEphemeris, C as CnavEphemeris, E as Ephemeris, G as GlonassEphemeris } from './nav-DImXUdbp.js';
 
 /**
@@ -124,6 +125,18 @@ interface SbfReceiverSetup {
  */
 declare function parseSbfReceiverSetup(data: Uint8Array): SbfReceiverSetup | null;
 
+interface SbfPvt extends ReceiverPvt {
+    /** PVT solution type (Mode & 0x0F) — the raw Septentrio code. */
+    modeType: number;
+}
+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 +647,4 @@ 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, ReceiverPvt, 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/dist/ubx.cjs

@@ -23,6 +23,7 @@ __export(ubx_exports, {
   parseUbxCnav: () => parseUbxCnav,
   parseUbxIonoUtc: () => parseUbxIonoUtc,
   parseUbxNav: () => parseUbxNav,
+  parseUbxPvt: () => parseUbxPvt,
   parseUbxRawNav: () => parseUbxRawNav,
   parseUbxRawx: () => parseUbxRawx,
   ubxFrames: () => ubxFrames
@@ -1423,8 +1424,59 @@ function parseUbxRawNav(data, opts = {}) {
   return { ephemerides, counts, badParity };
 }
 
-// src/ubx/index.ts
+// src/ubx/pvt.ts
 var GPS_EPOCH_MS7 = 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_MS7 + iTow;
+    const week = Math.floor((timeMs - GPS_EPOCH_MS7) / 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_MS8 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK3 = 7 * 864e5;
 var SIGNALS = {
   0: { 0: ["G", "1C"], 3: ["G", "2X"], 4: ["G", "2X"] },
@@ -1507,7 +1559,7 @@ function parseUbxRawx(data) {
         if (!codes.includes(sig[1])) codes.push(sig[1]);
       }
       epochs.push({
-        timeMs: GPS_EPOCH_MS7 + week * MS_PER_WEEK3 + Math.round(rcvTow * 1e3),
+        timeMs: GPS_EPOCH_MS8 + week * MS_PER_WEEK3 + Math.round(rcvTow * 1e3),
         leapS: leapValid ? leapS : null,
         meas
       });
@@ -1520,6 +1572,7 @@ function parseUbxRawx(data) {
   parseUbxCnav,
   parseUbxIonoUtc,
   parseUbxNav,
+  parseUbxPvt,
   parseUbxRawNav,
   parseUbxRawx,
   ubxFrames

package/dist/ubx.d.cts

@@ -1,4 +1,5 @@
 import { E as Ephemeris, C as CnavEphemeris } from './nav-DImXUdbp.cjs';
+import { R as ReceiverPvt } from './receiver-pvt-CVFvi4kT.cjs';
 
 /**
  * u-blox UBX framing shared by the measurement and navigation decoders:
@@ -267,6 +268,13 @@ interface UbxRawNavResult {
  */
 declare function parseUbxRawNav(data: Uint8Array, opts?: UbxRawNavOptions): UbxRawNavResult;
 
+interface UbxPvtResult {
+    records: ReceiverPvt[];
+    messages: number;
+}
+/** Decode every UBX-NAV-PVT message in a u-blox byte stream. */
+declare function parseUbxPvt(data: Uint8Array): UbxPvtResult;
+
 /**
  * u-blox UBX raw-measurement decoding (RXM-RAWX) — the path from a
  * receiver log to RINEX-grade observables.
@@ -323,4 +331,4 @@ interface UbxParseResult {
  */
 declare function parseUbxRawx(data: Uint8Array): UbxParseResult;
 
-export { type UbxCnavResult, type UbxFrame, type UbxIonoUtcResult, type UbxMeasurement, type UbxNavOptions, type UbxNavResult, type UbxParseResult, type UbxRawNavOptions, type UbxRawNavResult, type UbxRawxEpoch, parseUbxCnav, parseUbxIonoUtc, parseUbxNav, parseUbxRawNav, parseUbxRawx, ubxFrames };
+export { ReceiverPvt, type UbxCnavResult, type UbxFrame, type UbxIonoUtcResult, type UbxMeasurement, type UbxNavOptions, type UbxNavResult, type UbxParseResult, type UbxPvtResult, type UbxRawNavOptions, type UbxRawNavResult, type UbxRawxEpoch, parseUbxCnav, parseUbxIonoUtc, parseUbxNav, parseUbxPvt, parseUbxRawNav, parseUbxRawx, ubxFrames };

package/dist/ubx.d.ts

@@ -1,4 +1,5 @@
 import { E as Ephemeris, C as CnavEphemeris } from './nav-DImXUdbp.js';
+import { R as ReceiverPvt } from './receiver-pvt-CVFvi4kT.js';
 
 /**
  * u-blox UBX framing shared by the measurement and navigation decoders:
@@ -267,6 +268,13 @@ interface UbxRawNavResult {
  */
 declare function parseUbxRawNav(data: Uint8Array, opts?: UbxRawNavOptions): UbxRawNavResult;
 
+interface UbxPvtResult {
+    records: ReceiverPvt[];
+    messages: number;
+}
+/** Decode every UBX-NAV-PVT message in a u-blox byte stream. */
+declare function parseUbxPvt(data: Uint8Array): UbxPvtResult;
+
 /**
  * u-blox UBX raw-measurement decoding (RXM-RAWX) — the path from a
  * receiver log to RINEX-grade observables.
@@ -323,4 +331,4 @@ interface UbxParseResult {
  */
 declare function parseUbxRawx(data: Uint8Array): UbxParseResult;
 
-export { type UbxCnavResult, type UbxFrame, type UbxIonoUtcResult, type UbxMeasurement, type UbxNavOptions, type UbxNavResult, type UbxParseResult, type UbxRawNavOptions, type UbxRawNavResult, type UbxRawxEpoch, parseUbxCnav, parseUbxIonoUtc, parseUbxNav, parseUbxRawNav, parseUbxRawx, ubxFrames };
+export { ReceiverPvt, type UbxCnavResult, type UbxFrame, type UbxIonoUtcResult, type UbxMeasurement, type UbxNavOptions, type UbxNavResult, type UbxParseResult, type UbxPvtResult, type UbxRawNavOptions, type UbxRawNavResult, type UbxRawxEpoch, parseUbxCnav, parseUbxIonoUtc, parseUbxNav, parseUbxPvt, parseUbxRawNav, parseUbxRawx, ubxFrames };

package/dist/ubx.js

@@ -2,10 +2,11 @@ import {
   parseUbxCnav,
   parseUbxIonoUtc,
   parseUbxNav,
+  parseUbxPvt,
   parseUbxRawNav,
   parseUbxRawx,
   ubxFrames
-} from "./chunk-DEVUKH6A.js";
+} from "./chunk-MRC6LIPM.js";
 import "./chunk-FA2UTLEQ.js";
 import "./chunk-WQX354KD.js";
 import "./chunk-YUW33VXK.js";
@@ -16,6 +17,7 @@ export {
   parseUbxCnav,
   parseUbxIonoUtc,
   parseUbxNav,
+  parseUbxPvt,
   parseUbxRawNav,
   parseUbxRawx,
   ubxFrames

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "gnss-js",
-  "version": "1.52.0",
+  "version": "1.54.0",
   "description": "Comprehensive GNSS library for JavaScript — time scales, coordinates, RINEX parsing, RTCM3 decoding, orbit computation, and signal analysis",
   "type": "module",
   "sideEffects": false,