gnss-js 1.56.0 → 1.58.0

package/dist/{chunk-BU6YC6VK.js → chunk-SWVIBUHS.js}

@@ -1270,6 +1270,17 @@ var DEGF = [
   58e-4
 ];
 var degfcorr = (ai) => ai > 0 && ai <= 15 ? DEGF[ai] : 58e-4;
+function sbasLongTermDeg(d, vel, ageSec) {
+  if (vel) {
+    if (ageSec > 0 && ageSec < d.iltcV1) return 0;
+    return d.cltcLsb + d.cltcV1 * Math.max(0, -ageSec, ageSec - d.iltcV1);
+  }
+  return d.cltcV0 * Math.floor(Math.abs(ageSec) / d.iltcV0);
+}
+function sbasIonoDeg(d, ageSec) {
+  const dt = Math.abs(ageSec);
+  return d.cionoStep * Math.floor(dt / d.iiono) + d.cionoRamp * dt;
+}
 var x1 = [-75, -65, -55, -50, -45, -40, -35, -30, -25, -20, -15, -10, -5, 0, 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 65, 75, 85];
 var x2 = [-55, -50, -45, -40, -35, -30, -25, -20, -15, -10, -5, 0, 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55];
 var x3 = [-75, -65, -55, -50, -45, -40, -35, -30, -25, -20, -15, -10, -5, 0, 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 65, 75];
@@ -1323,6 +1334,7 @@ var SbasProcessor = class {
   satIdx = /* @__PURE__ */ new Map();
   iodp = -1;
   tlat = 0;
+  degr = null;
   ion = [];
   /** GEO PRN(s) whose messages have been ingested. */
   geoPrns = /* @__PURE__ */ new Set();
@@ -1349,6 +1361,8 @@ var SbasProcessor = class {
         return this.decodeIntegrity(msg) ? type : -1;
       case 7:
         return this.decodeDegradation(msg) ? type : -1;
+      case 10:
+        return this.decodeMt10(msg) ? type : -1;
       case 18:
         return this.decodeIgpMask(msg) ? type : -1;
       case 24:
@@ -1417,6 +1431,30 @@ var SbasProcessor = class {
     }
     return true;
   }
+  /** MT10 degradation factors (DO-229D Table A-9). Fields follow the 8-bit
+   *  preamble + 6-bit type (start bit 14), MSB-first, with the listed LSBs.
+   *  Iiono / Iltc_v0 of 0 must be read as 1 (Table A-9, Note 3). */
+  decodeMt10(msg) {
+    const u = (p, n) => getBitU(msg, p, n);
+    this.degr = {
+      brrc: u(14, 10) * 2e-3,
+      cltcLsb: u(24, 10) * 2e-3,
+      cltcV1: u(34, 10) * 5e-5,
+      iltcV1: u(44, 9),
+      cltcV0: u(53, 10) * 2e-3,
+      iltcV0: u(63, 9) || 1,
+      cgeoLsb: u(72, 10) * 5e-4,
+      cgeoV: u(82, 10) * 5e-5,
+      igeo: u(92, 9),
+      cer: u(101, 6) * 0.5,
+      cionoStep: u(107, 10) * 1e-3,
+      iiono: u(117, 9) || 1,
+      cionoRamp: u(126, 10) * 5e-6,
+      rssUdre: u(136, 1) === 1,
+      rssIono: u(137, 1) === 1
+    };
+    return true;
+  }
   decodeMixed(msg, week, tow) {
     if (this.iodp !== getBitU(msg, 110, 2)) return false;
     const blk = getBitU(msg, 112, 2);
@@ -1463,7 +1501,8 @@ var SbasProcessor = class {
       dvel: [0, 0, 0],
       daf0: getBitS(msg, p + 41, 10) * P2_31,
       daf1: 0,
-      t0s: gpsSeconds(week, tow)
+      t0s: gpsSeconds(week, tow),
+      vel: false
     };
     return true;
   }
@@ -1487,7 +1526,8 @@ var SbasProcessor = class {
       ],
       daf0: getBitS(msg, p + 47, 11) * P2_31,
       daf1: getBitS(msg, p + 82, 8) * P2_39,
-      t0s: gpsSeconds(week, tow + t)
+      t0s: gpsSeconds(week, tow + t),
+      vel: true
     };
     return true;
   }
@@ -1608,9 +1648,16 @@ var SbasProcessor = class {
     const tf = now - s.fcorr.t0s + this.tlat;
     if (Math.abs(tf) > MAXSBSAGEF || s.fcorr.udre >= 15) return null;
     const prc = s.fcorr.prc;
-    const varM2 = varfcorr(s.fcorr.udre) + degfcorr(s.fcorr.ai) * tf * tf / 2;
+    const sigUdre = Math.sqrt(varfcorr(s.fcorr.udre));
+    const efc = degfcorr(s.fcorr.ai) * tf * tf / 2;
+    const eltc = this.degr && s.lcorr && s.lcorr.t0s !== 0 ? sbasLongTermDeg(this.degr, s.lcorr.vel, now - s.lcorr.t0s) : 0;
+    const varM2 = this.degr?.rssUdre ? sigUdre * sigUdre + efc * efc + eltc * eltc : (sigUdre + efc + eltc) ** 2;
     return { dPos: drs, dClkS: dclk + prc / C_LIGHT, prcM: prc, varM2, iode };
   }
+  /** The last-decoded MT10 degradation factors, or null if none seen. */
+  get degradation() {
+    return this.degr;
+  }
   /**
    * Slant L1 ionospheric delay (m) at the pierce point for a receiver geodetic
    * position (lat/lon rad, height m) and a satellite az/el (rad), interpolated
@@ -1659,14 +1706,18 @@ var SbasProcessor = class {
     } else return null;
     const now = gpsSeconds(week, tow);
     let delay = 0;
-    let varM2 = 0;
+    let varVert = 0;
     for (let i = 0; i < 4; i++) {
       const g = pts[i];
       if (!g) continue;
       delay += w[i] * g.delay;
-      varM2 += w[i] * varicorr(g.give) * 9e-8 * Math.abs(now - g.t0s);
+      const sigGive = Math.sqrt(varicorr(g.give));
+      const d = this.degr;
+      const eiono = d ? sbasIonoDeg(d, now - g.t0s) : 0;
+      const sig2 = d?.rssIono ? sigGive * sigGive + eiono * eiono : (sigGive + eiono) ** 2;
+      varVert += w[i] * sig2;
     }
-    return { delayM: delay * fp, varM2: varM2 * fp * fp };
+    return { delayM: delay * fp, varM2: varVert * fp * fp };
   }
   /** Find the four IGPs bracketing a pierce point (RTKLIB `searchigp`). */
   searchIgp(latP, lonP) {
@@ -3081,10 +3132,10 @@ function sagnac2(pos, travelTimeS) {
 function sbasAirTropoVar(elRad) {
   const elDeg = elRad * 180 / Math.PI;
   const sigMp = 0.13 + 0.53 * Math.exp(-elDeg / 10);
-  const sigNoise = 0.15 + 0.43 * Math.exp(-elDeg / 6.9);
+  const NOISE_DIVG_AADA = 0.36;
   const m = 1.001 / Math.sqrt(2001e-6 + Math.sin(elRad) * Math.sin(elRad));
   const sigTropo = 0.12 * m;
-  return sigMp * sigMp + sigNoise * sigNoise + sigTropo * sigTropo;
+  return sigMp * sigMp + NOISE_DIVG_AADA * NOISE_DIVG_AADA + sigTropo * sigTropo;
 }
 function invertMatrix(A) {
   const n = A.length;
@@ -3380,6 +3431,8 @@ export {
   solveDgnss,
   RtkFloatEngine,
   postProcessRtk,
+  sbasLongTermDeg,
+  sbasIonoDeg,
   SbasProcessor,
   niellMapping,
   gmst,

package/dist/{chunk-ZPNMIUNZ.js → chunk-UHLUAU6H.js}

@@ -756,13 +756,42 @@ function parseSbfGloNav(data) {
   return { ephemerides, badCrc, messages };
 }
 
+// src/navbits/sbas-l5.ts
+var SBAS_L5_PREAMBLE_UW = 6056250;
+function isSbasL1Preamble(msg) {
+  return msg[0] === 83 || msg[0] === 154 || msg[0] === 198;
+}
+function sbasL5MessageType(msg) {
+  return getBitU(msg, 4, 6);
+}
+var SBAS_L5_MT_NAMES = {
+  0: "Do Not Use (test)",
+  31: "SBAS satellite mask",
+  32: "Satellite clock-ephemeris corrections + covariance",
+  34: "Integrity (DFREI/DFRECI)",
+  35: "Integrity (DFREI/DFRECI)",
+  36: "Integrity (DFREI/DFRECI)",
+  37: "Degradation parameters + DFREI scale table",
+  39: "SBAS satellite clock/ephemeris/covariance-1",
+  40: "SBAS satellite clock/ephemeris/covariance-2",
+  42: "SNT-to-UTC offset",
+  47: "SBAS satellite almanacs",
+  62: "Reserved",
+  63: "Null message"
+};
+function sbasL5MessageName(type) {
+  return SBAS_L5_MT_NAMES[type] ?? (type >= 1 && type <= 61 ? "Spare" : `Type ${type}`);
+}
+function isSbasL5Correction(type) {
+  return type === 31 || type === 32 || type >= 34 && type <= 37 || type === 39 || type === 40 || type === 42 || type === 47;
+}
+
 // src/sbf/rawnav-sbas.ts
-function feedGeoBlock(view, b, onSbasMessage) {
+function readGeoMessage(view, b) {
   const tow = view.getUint32(b + 8, true);
   const wnc = view.getUint16(b + 12, true);
-  const svid = view.getUint8(b + 14);
-  const prnStr = svidToPrn(svid);
-  if (!prnStr || prnStr[0] !== "S") return {};
+  const prnStr = svidToPrn(view.getUint8(b + 14));
+  if (!prnStr || prnStr[0] !== "S") return null;
   const msg = new Uint8Array(32);
   for (let k = 0; k < 8; k++) {
     const w = view.getUint32(b + 20 + 4 * k, true);
@@ -771,12 +800,29 @@ function feedGeoBlock(view, b, onSbasMessage) {
     msg[4 * k + 2] = w >>> 8 & 255;
     msg[4 * k + 3] = w & 255;
   }
-  if (!sbasCrcOk(msg)) return { badCrc: true };
-  const prn = Number(prnStr.slice(1)) + 100;
-  onSbasMessage?.(msg, prn, wnc, tow / 1e3);
-  const eph = decodeSbasGeoNav(msg, prn, wnc, tow / 1e3);
+  return { msg, prn: Number(prnStr.slice(1)) + 100, wnc, towSec: tow / 1e3 };
+}
+function feedGeoBlock(view, b, onSbasMessage) {
+  const g = readGeoMessage(view, b);
+  if (!g) return {};
+  if (!sbasCrcOk(g.msg)) return { badCrc: true };
+  onSbasMessage?.(g.msg, g.prn, g.wnc, g.towSec);
+  const eph = decodeSbasGeoNav(g.msg, g.prn, g.wnc, g.towSec);
   return eph ? { eph } : {};
 }
+function feedGeoL5Block(view, b, onSbasMessage, onDfmcMessage) {
+  const g = readGeoMessage(view, b);
+  if (!g) return {};
+  if (!sbasCrcOk(g.msg)) return { badCrc: true };
+  if (isSbasL1Preamble(g.msg)) {
+    onSbasMessage?.(g.msg, g.prn, g.wnc, g.towSec);
+    const eph = decodeSbasGeoNav(g.msg, g.prn, g.wnc, g.towSec);
+    return eph ? { kind: "l1", eph } : { kind: "l1" };
+  }
+  const dfmcType = sbasL5MessageType(g.msg);
+  onDfmcMessage?.(g.msg, g.prn, g.wnc, g.towSec, dfmcType);
+  return { kind: "l5", dfmcType };
+}
 function parseSbfGeoNav(data, opts = {}) {
   const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
   const ephemerides = [];
@@ -799,6 +845,47 @@ function parseSbfGeoNav(data, opts = {}) {
   });
   return { ephemerides, badCrc, messages };
 }
+function parseSbfGeoL5(data, opts = {}) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const ephemerides = [];
+  const seen = /* @__PURE__ */ new Set();
+  const byType = {};
+  const dfmcPrns = /* @__PURE__ */ new Set();
+  let legacyMessages = 0;
+  let dfmcMessages = 0;
+  let badCrc = 0;
+  let messages = 0;
+  scanSbfFrames(data, view, (id, b, len) => {
+    if (id !== 4021 || len < 52) return;
+    messages++;
+    const r = feedGeoL5Block(view, b, opts.onSbasMessage, opts.onDfmcMessage);
+    if (r.badCrc) {
+      badCrc++;
+    } else if (r.kind === "l1") {
+      legacyMessages++;
+      if (r.eph) {
+        const key = `${r.eph.prn}|${r.eph.tocDate.getTime()}`;
+        if (!seen.has(key)) {
+          seen.add(key);
+          ephemerides.push(r.eph);
+        }
+      }
+    } else if (r.kind === "l5" && r.dfmcType !== void 0) {
+      dfmcMessages++;
+      byType[r.dfmcType] = (byType[r.dfmcType] ?? 0) + 1;
+      const prn = view.getUint8(b + 14);
+      const s = svidToPrn(prn);
+      if (s) dfmcPrns.add(s);
+    }
+  });
+  return {
+    ephemerides,
+    legacyMessages,
+    dfmc: { byType, prns: [...dfmcPrns].sort(), messages: dfmcMessages },
+    badCrc,
+    messages
+  };
+}
 
 // src/sbf/navigation.ts
 var F4_DNU4 = -2e10;
@@ -821,8 +908,11 @@ function decodeSbfNavigation(data, opts = {}) {
     gloRaw: 0,
     bdsRaw: 0,
     sbasRaw: 0,
+    sbasL5Raw: 0,
     badFrames: 0
   };
+  const dfmcByType = {};
+  const dfmcPrns = /* @__PURE__ */ new Set();
   const cnavAsm = newCnavAssemblers();
   const galAsm = newGalAssemblers();
   const gloAsm = new GloStringAssembler();
@@ -932,6 +1022,25 @@ function decodeSbfNavigation(data, opts = {}) {
         else if (r.badCrc) counts.badFrames++;
         return;
       }
+      case 4021: {
+        if (len < 52) return;
+        counts.sbasL5Raw++;
+        const r = feedGeoL5Block(
+          view,
+          b,
+          opts.onSbasMessage,
+          opts.onDfmcMessage
+        );
+        if (r.badCrc) counts.badFrames++;
+        else if (r.kind === "l1") {
+          if (r.eph) addEph(r.eph);
+        } else if (r.kind === "l5" && r.dfmcType !== void 0) {
+          dfmcByType[r.dfmcType] = (dfmcByType[r.dfmcType] ?? 0) + 1;
+          const s = svidToPrn(view.getUint8(b + 14));
+          if (s) dfmcPrns.add(s);
+        }
+        return;
+      }
       /* ---- iono / UTC ---- */
       case 5893:
       // GPSIon
@@ -956,7 +1065,12 @@ function decodeSbfNavigation(data, opts = {}) {
         return;
     }
   });
-  return { ephemerides, cnav, ionoCorrections, leapSeconds, counts };
+  const dfmc = {
+    byType: dfmcByType,
+    prns: [...dfmcPrns].sort(),
+    messages: Object.values(dfmcByType).reduce((a, v) => a + v, 0)
+  };
+  return { ephemerides, cnav, ionoCorrections, leapSeconds, dfmc, counts };
 }
 
 // src/navbits/rs255.ts
@@ -2163,8 +2277,16 @@ export {
   parseSbfGalNav,
   parseSbfBdsNav,
   parseSbfGloNav,
+  SBAS_L5_PREAMBLE_UW,
+  isSbasL1Preamble,
+  sbasL5MessageType,
+  SBAS_L5_MT_NAMES,
+  sbasL5MessageName,
+  isSbasL5Correction,
   feedGeoBlock,
+  feedGeoL5Block,
   parseSbfGeoNav,
+  parseSbfGeoL5,
   decodeSbfNavigation,
   parseSbfHas,
   parseSbfMeas