gnss-js 1.53.0 → 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/index.cjs

@@ -256,6 +256,7 @@ __export(src_exports, {
   parseNavFile: () => parseNavFile,
   parseNmeaFile: () => parseNmeaFile,
   parseNovatelNav: () => parseNovatelNav,
+  parseNovatelPvt: () => parseNovatelPvt,
   parseNovatelRange: () => parseNovatelRange,
   parseRinexStream: () => parseRinexStream,
   parseSbfAlmanac: () => parseSbfAlmanac,
@@ -279,6 +280,7 @@ __export(src_exports, {
   parseUbxCnav: () => parseUbxCnav,
   parseUbxIonoUtc: () => parseUbxIonoUtc,
   parseUbxNav: () => parseUbxNav,
+  parseUbxPvt: () => parseUbxPvt,
   parseUbxRawNav: () => parseUbxRawNav,
   parseUbxRawx: () => parseUbxRawx,
   phiAltBOC: () => phiAltBOC,
@@ -6961,8 +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"] },
@@ -7045,7 +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
       });
@@ -7116,7 +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;
@@ -7128,7 +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);
@@ -7278,7 +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,
@@ -7511,7 +7564,7 @@ function parseSbfReceiverSetup(data) {
 }
 
 // src/sbf/pvt.ts
-var GPS_EPOCH_MS11 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS12 = Date.UTC(1980, 0, 6);
 var RAD2DEG = 180 / Math.PI;
 var DNU_F8 = -2e10;
 var MODE_LABELS = {
@@ -7546,7 +7599,7 @@ function parseSbfPvt(data) {
     const vAcc = view.getUint16(b + 92, true);
     const hasFix = lat > DNU_F8 && lon > DNU_F8 && hgt > DNU_F8;
     records.push({
-      timeMs: GPS_EPOCH_MS11 + wnc * 6048e5 + tow,
+      timeMs: GPS_EPOCH_MS12 + wnc * 6048e5 + tow,
       week: wnc,
       tow: tow / 1e3,
       modeType,
@@ -7697,7 +7750,7 @@ function isFnavDummy(page) {
 }
 
 // src/sbf/rawnav-bds.ts
-var GPS_EPOCH_MS12 = 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;
@@ -7758,7 +7811,7 @@ function feedGloBlock(view, b, assembler) {
   const eph = assembler.push(
     prn,
     str2,
-    new Date(GPS_EPOCH_MS12 + wnc * MS_PER_WEEK6 + towMs),
+    new Date(GPS_EPOCH_MS13 + wnc * MS_PER_WEEK6 + towMs),
     view.getUint8(b + 18) - 8
     // FreqNr, offset by 8
   );
@@ -8508,7 +8561,7 @@ function parseSbfHas(data) {
 
 // src/sbf/index.ts
 var CLIGHT = 299792458;
-var GPS_EPOCH_MS13 = 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];
@@ -9162,7 +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_MS13 + 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);
@@ -9229,15 +9282,15 @@ var ID_GPSEPHEM = 7;
 var ID_BDSEPHEMERIS = 1696;
 var ID_RAWWAASFRAME = 287;
 var ID_RAWSBASFRAME = 973;
-var GPS_EPOCH_MS14 = 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_MS14 + 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_MS14) / 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;
@@ -9264,9 +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_MS14 + (week * SEC_PER_WEEK9 + tow) * 1e3;
-  const tofGpsMs = GPS_EPOCH_MS14 + (week * SEC_PER_WEEK9 + tof) * 1e3;
-  const tofUtcSec = (getUtcDate(new Date(tofGpsMs)).getTime() - GPS_EPOCH_MS14) / 1e3;
+  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")}`,
@@ -9331,7 +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_MS14) / 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,
@@ -9517,8 +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_MS15 = 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;
@@ -9688,7 +9790,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS15 + week * MS_PER_WEEK9 + towMs,
+          timeMs: GPS_EPOCH_MS17 + week * MS_PER_WEEK9 + towMs,
           meas
         });
       }
@@ -9740,7 +9842,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS15 + week * MS_PER_WEEK9 + towMs,
+          timeMs: GPS_EPOCH_MS17 + week * MS_PER_WEEK9 + towMs,
           meas
         });
       }
@@ -9791,14 +9893,14 @@ function* trimbleFrames(data, stats) {
 }
 
 // src/trimble/nav.ts
-var GPS_EPOCH_MS16 = 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_MS16 + 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;
@@ -9951,7 +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_MS16) / 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,
@@ -10022,7 +10124,7 @@ function parseTrimbleNav(data) {
 }
 
 // src/trimble/index.ts
-var GPS_EPOCH_MS17 = 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 = {
@@ -10220,7 +10322,7 @@ function decodeEpoch(epoch, epochs, obsCodes) {
     o += c.length;
   }
   const dv = new DataView(M.buffer, M.byteOffset, M.byteLength);
-  const timeMs = GPS_EPOCH_MS17 + 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++) {
@@ -10401,13 +10503,13 @@ function* binexRecords(data, view, stats) {
 }
 
 // src/binex/nav.ts
-var GPS_EPOCH_MS18 = 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_MS18 + 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 {
@@ -10695,7 +10797,7 @@ function decodeBinexEph(view, body, len, le) {
 }
 
 // src/binex/index.ts
-var GPS_EPOCH_MS19 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS21 = Date.UTC(1980, 0, 6);
 var CLIGHT2 = 299792458;
 var OBS_CODES = {
   0: [
@@ -10953,7 +11055,7 @@ function decodeObsRecord(data, view, body, len, obsCodes) {
   p += 4;
   const msec = view.getUint16(p);
   p += 2;
-  const timeMs = GPS_EPOCH_MS19 + 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;
@@ -11039,7 +11141,7 @@ function parseBinex(data) {
 var GM_GPS = 3986005e8;
 var GM_GAL = 3986004418e5;
 var GM_BDS = 3986004418e5;
-var GPS_EPOCH_MS20 = 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;
@@ -11048,7 +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_MS20 + 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;
@@ -11557,10 +11659,10 @@ function selectBest(ephs, timeMs) {
   }
   return best;
 }
-var GPS_EPOCH_MS21 = 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_MS21 + 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") {
@@ -11611,8 +11713,8 @@ function ephInfoToEphemeris(info) {
   } else if (sys === "E") {
     epochMs = GAL_EPOCH_MS;
   } else {
-    epochMs = GPS_EPOCH_MS21;
-    const weeksNow = (info.lastReceived - GPS_EPOCH_MS21) / 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);
@@ -17819,6 +17921,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   parseNavFile,
   parseNmeaFile,
   parseNovatelNav,
+  parseNovatelPvt,
   parseNovatelRange,
   parseRinexStream,
   parseSbfAlmanac,
@@ -17842,6 +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 { 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, OEM4_HLEN, Oem4Frame, crc32, oem4Frames, parseNovatelNav, parseNovatelRange } from './novatel.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 { 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, OEM4_HLEN, Oem4Frame, crc32, oem4Frames, parseNovatelNav, parseNovatelRange } from './novatel.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,
@@ -76,8 +77,9 @@ import {
   crc32,
   oem4Frames,
   parseNovatelNav,
+  parseNovatelPvt,
   parseNovatelRange
-} from "./chunk-ZS5RLFWI.js";
+} from "./chunk-KUTNIP3O.js";
 import {
   parseTrimble,
   parseTrimbleNav,
@@ -594,6 +596,7 @@ export {
   parseNavFile,
   parseNmeaFile,
   parseNovatelNav,
+  parseNovatelPvt,
   parseNovatelRange,
   parseRinexStream,
   parseSbfAlmanac,
@@ -617,6 +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
 });

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.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';
 
 /**
@@ -124,26 +125,9 @@ 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). */
+interface SbfPvt extends ReceiverPvt {
+    /** PVT solution type (Mode & 0x0F) — the raw Septentrio code. */
     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[];
@@ -663,4 +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 SbfPvt, type SbfPvtResult, type SbfReceiverSetup, decodeSbfNavigation, feedGeoBlock, parseSbfBdsNav, parseSbfCnav, parseSbfGalNav, parseSbfGeoNav, parseSbfGloNav, parseSbfGpsNav, parseSbfHas, parseSbfIonoUtc, parseSbfMeas, parseSbfPvt, 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';
 
 /**
@@ -124,26 +125,9 @@ 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). */
+interface SbfPvt extends ReceiverPvt {
+    /** PVT solution type (Mode & 0x0F) — the raw Septentrio code. */
     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[];
@@ -663,4 +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 SbfPvt, type SbfPvtResult, type SbfReceiverSetup, decodeSbfNavigation, feedGeoBlock, parseSbfBdsNav, parseSbfCnav, parseSbfGalNav, parseSbfGeoNav, parseSbfGloNav, parseSbfGpsNav, parseSbfHas, parseSbfIonoUtc, parseSbfMeas, parseSbfPvt, 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/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": "1.53.0",
+  "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,