gnss-js 1.62.0 → 1.63.0

package/dist/{chunk-BRT6XZ7B.js → chunk-QN7Q2ALS.js}

@@ -563,6 +563,116 @@ function decodeEphemeris(frame) {
   }
 }
 
+// src/rtcm3/legacy-obs.ts
+var PRUNIT_GPS = 299792.458;
+var PRUNIT_GLO = 599584.916;
+var LAM_GPS_L1 = C_LIGHT / 157542e4;
+var LAM_GPS_L2 = C_LIGHT / 12276e5;
+var PPR_INVALID = -(2 ** 19);
+var PR21_INVALID = -(2 ** 13);
+function legacyLockSec(i) {
+  if (i < 24) return i;
+  if (i < 48) return 2 * i - 24;
+  if (i < 72) return 4 * i - 120;
+  if (i < 96) return 8 * i - 408;
+  if (i < 120) return 16 * i - 1176;
+  if (i < 127) return 32 * i - 3096;
+  return 937;
+}
+var two = (n) => n.toString().padStart(2, "0");
+function decodeLegacyObs(frame) {
+  const type = frame.messageType;
+  const gps = type >= 1001 && type <= 1004;
+  const glo = type >= 1009 && type <= 1012;
+  if (!gps && !glo) return null;
+  const ext = type === 1002 || type === 1004 || type === 1010 || type === 1012;
+  const dual = type === 1003 || type === 1004 || type === 1011 || type === 1012;
+  const system = gps ? "G" : "R";
+  const r = new BitReader(frame.payload);
+  r.readU(12);
+  r.readU(12);
+  let epochMs;
+  let nsat;
+  if (gps) {
+    epochMs = r.readU(30);
+    r.readU(1);
+    nsat = r.readU(5);
+    r.readU(1);
+    r.readU(3);
+  } else {
+    const tk = r.readU(27);
+    r.readU(1);
+    nsat = r.readU(5);
+    r.readU(1);
+    r.readU(3);
+    const gloDow = new Date(Date.now() + 3 * 36e5).getUTCDay();
+    epochMs = (gloDow << 27 | tk) >>> 0;
+  }
+  const observations = [];
+  for (let s = 0; s < nsat; s++) {
+    const satId = r.readU(6);
+    const code1 = r.readU(1);
+    const freqCh = glo ? r.readU(5) : 0;
+    const pr1raw = r.readU(gps ? 24 : 25);
+    const ppr1 = r.readS(20);
+    const lock1 = r.readU(7);
+    let amb = 0;
+    let cnr1 = 0;
+    if (ext) {
+      amb = r.readU(gps ? 8 : 7);
+      cnr1 = r.readU(8);
+    }
+    let code2 = 0;
+    let pr21 = 0;
+    let ppr2 = 0;
+    let lock2 = 0;
+    let cnr2 = 0;
+    if (dual) {
+      code2 = r.readU(2);
+      pr21 = r.readS(14);
+      ppr2 = r.readS(20);
+      lock2 = r.readU(7);
+      if (ext) cnr2 = r.readU(8);
+    }
+    if (gps && (satId < 1 || satId > 32)) continue;
+    if (glo && (satId < 1 || satId > 24)) continue;
+    const prunit = gps ? PRUNIT_GPS : PRUNIT_GLO;
+    const pr1 = pr1raw * 0.02 + amb * prunit;
+    const k = freqCh - 7;
+    const lamL1 = gps ? LAM_GPS_L1 : C_LIGHT / (GLO_F1_BASE + k * GLO_F1_STEP);
+    const lamL2 = gps ? LAM_GPS_L2 : C_LIGHT / (GLO_F2_BASE + k * GLO_F2_STEP);
+    const signals = [];
+    {
+      const sig = {
+        rinexCode: gps ? code1 ? "1W" : "1C" : code1 ? "1P" : "1C",
+        pseudorange: pr1,
+        wavelength: lamL1,
+        lockTime: legacyLockSec(lock1)
+      };
+      if (ppr1 !== PPR_INVALID) sig.phase = (pr1 + ppr1 * 5e-4) / lamL1;
+      if (ext && cnr1 > 0) sig.cn0 = cnr1 * 0.25;
+      signals.push(sig);
+    }
+    if (dual) {
+      const sig = {
+        rinexCode: gps ? code2 === 0 ? "2X" : "2W" : code2 === 0 ? "2C" : "2P",
+        wavelength: lamL2,
+        lockTime: legacyLockSec(lock2)
+      };
+      if (pr21 !== PR21_INVALID) sig.pseudorange = pr1 + pr21 * 0.02;
+      if (ppr2 !== PPR_INVALID) sig.phase = (pr1 + ppr2 * 5e-4) / lamL2;
+      if (ext && cnr2 > 0) sig.cn0 = cnr2 * 0.25;
+      signals.push(sig);
+    }
+    observations.push({
+      prn: `${system}${two(satId)}`,
+      system,
+      signals
+    });
+  }
+  return { messageType: type, epochMs, system, observations };
+}
+
 // src/rtcm3/msm.ts
 var GPS_L1 = FREQ.G["1"];
 var GPS_L2 = FREQ.G["2"];
@@ -1447,6 +1557,7 @@ export {
   Rtcm3Decoder,
   readString,
   decodeEphemeris,
+  decodeLegacyObs,
   decodeMsmFull,
   msmEpochToDate,
   setGloFreqNumber,

package/dist/index.cjs

@@ -144,6 +144,7 @@ __export(src_exports, {
   dateToEpoch: () => dateToEpoch,
   decodeBinexEph: () => decodeBinexEph,
   decodeEphemeris: () => decodeEphemeris,
+  decodeLegacyObs: () => decodeLegacyObs,
   decodeMsmFull: () => decodeMsmFull,
   decodeSbfNavigation: () => decodeSbfNavigation,
   deg2dms: () => deg2dms,
@@ -5019,6 +5020,116 @@ function decodeEphemeris(frame) {
   }
 }
 
+// src/rtcm3/legacy-obs.ts
+var PRUNIT_GPS = 299792.458;
+var PRUNIT_GLO = 599584.916;
+var LAM_GPS_L1 = C_LIGHT / 157542e4;
+var LAM_GPS_L2 = C_LIGHT / 12276e5;
+var PPR_INVALID = -(2 ** 19);
+var PR21_INVALID = -(2 ** 13);
+function legacyLockSec(i) {
+  if (i < 24) return i;
+  if (i < 48) return 2 * i - 24;
+  if (i < 72) return 4 * i - 120;
+  if (i < 96) return 8 * i - 408;
+  if (i < 120) return 16 * i - 1176;
+  if (i < 127) return 32 * i - 3096;
+  return 937;
+}
+var two = (n) => n.toString().padStart(2, "0");
+function decodeLegacyObs(frame) {
+  const type = frame.messageType;
+  const gps = type >= 1001 && type <= 1004;
+  const glo = type >= 1009 && type <= 1012;
+  if (!gps && !glo) return null;
+  const ext = type === 1002 || type === 1004 || type === 1010 || type === 1012;
+  const dual = type === 1003 || type === 1004 || type === 1011 || type === 1012;
+  const system = gps ? "G" : "R";
+  const r = new BitReader(frame.payload);
+  r.readU(12);
+  r.readU(12);
+  let epochMs;
+  let nsat;
+  if (gps) {
+    epochMs = r.readU(30);
+    r.readU(1);
+    nsat = r.readU(5);
+    r.readU(1);
+    r.readU(3);
+  } else {
+    const tk = r.readU(27);
+    r.readU(1);
+    nsat = r.readU(5);
+    r.readU(1);
+    r.readU(3);
+    const gloDow = new Date(Date.now() + 3 * 36e5).getUTCDay();
+    epochMs = (gloDow << 27 | tk) >>> 0;
+  }
+  const observations = [];
+  for (let s = 0; s < nsat; s++) {
+    const satId = r.readU(6);
+    const code1 = r.readU(1);
+    const freqCh = glo ? r.readU(5) : 0;
+    const pr1raw = r.readU(gps ? 24 : 25);
+    const ppr1 = r.readS(20);
+    const lock1 = r.readU(7);
+    let amb = 0;
+    let cnr1 = 0;
+    if (ext) {
+      amb = r.readU(gps ? 8 : 7);
+      cnr1 = r.readU(8);
+    }
+    let code2 = 0;
+    let pr21 = 0;
+    let ppr2 = 0;
+    let lock2 = 0;
+    let cnr2 = 0;
+    if (dual) {
+      code2 = r.readU(2);
+      pr21 = r.readS(14);
+      ppr2 = r.readS(20);
+      lock2 = r.readU(7);
+      if (ext) cnr2 = r.readU(8);
+    }
+    if (gps && (satId < 1 || satId > 32)) continue;
+    if (glo && (satId < 1 || satId > 24)) continue;
+    const prunit = gps ? PRUNIT_GPS : PRUNIT_GLO;
+    const pr1 = pr1raw * 0.02 + amb * prunit;
+    const k = freqCh - 7;
+    const lamL1 = gps ? LAM_GPS_L1 : C_LIGHT / (GLO_F1_BASE + k * GLO_F1_STEP);
+    const lamL2 = gps ? LAM_GPS_L2 : C_LIGHT / (GLO_F2_BASE + k * GLO_F2_STEP);
+    const signals = [];
+    {
+      const sig = {
+        rinexCode: gps ? code1 ? "1W" : "1C" : code1 ? "1P" : "1C",
+        pseudorange: pr1,
+        wavelength: lamL1,
+        lockTime: legacyLockSec(lock1)
+      };
+      if (ppr1 !== PPR_INVALID) sig.phase = (pr1 + ppr1 * 5e-4) / lamL1;
+      if (ext && cnr1 > 0) sig.cn0 = cnr1 * 0.25;
+      signals.push(sig);
+    }
+    if (dual) {
+      const sig = {
+        rinexCode: gps ? code2 === 0 ? "2X" : "2W" : code2 === 0 ? "2C" : "2P",
+        wavelength: lamL2,
+        lockTime: legacyLockSec(lock2)
+      };
+      if (pr21 !== PR21_INVALID) sig.pseudorange = pr1 + pr21 * 0.02;
+      if (ppr2 !== PPR_INVALID) sig.phase = (pr1 + ppr2 * 5e-4) / lamL2;
+      if (ext && cnr2 > 0) sig.cn0 = cnr2 * 0.25;
+      signals.push(sig);
+    }
+    observations.push({
+      prn: `${system}${two(satId)}`,
+      system,
+      signals
+    });
+  }
+  return { messageType: type, epochMs, system, observations };
+}
+
 // src/rtcm3/msm.ts
 var GPS_L1 = FREQ.G["1"];
 var GPS_L2 = FREQ.G["2"];
@@ -6349,7 +6460,7 @@ function weekOfToe(week, tow, toe) {
   if (toe - tow < -HALF_WEEK3) return week + 1;
   return week;
 }
-var two = (n) => String(n).padStart(2, "0");
+var two2 = (n) => String(n).padStart(2, "0");
 function decodeGalInavWords(words) {
   if (words.length < 96) return null;
   const b = words;
@@ -6437,7 +6548,7 @@ function decodeGalInavWords(words) {
   const tocDate = gpsDate2(week, tocs);
   return {
     system: "E",
-    prn: `E${two(svid)}`,
+    prn: `E${two2(svid)}`,
     toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK5,
     tocDate,
     af0,
@@ -6545,7 +6656,7 @@ function decodeGalFnavPages(pages) {
   const tocDate = gpsDate2(week, tocs);
   return {
     system: "E",
-    prn: `E${two(svid)}`,
+    prn: `E${two2(svid)}`,
     toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK5,
     tocDate,
     af0,
@@ -6601,7 +6712,7 @@ var GalInavAssembler = class {
     sat.words[type * 16 + 15] = getBitU(page, 124, 8);
     if (type !== 5) return null;
     const eph = decodeGalInavWords(sat.words);
-    if (!eph || eph.prn !== `E${two(prn)}`) return null;
+    if (!eph || eph.prn !== `E${two2(prn)}`) return null;
     const key = dedupKey(eph);
     if (key === sat.lastKey) return null;
     sat.lastKey = key;
@@ -6628,7 +6739,7 @@ var GalFnavAssembler = class {
     sat.words.set(page.subarray(0, 31), (type - 1) * 31);
     if (type !== 4) return null;
     const eph = decodeGalFnavPages(sat.words);
-    if (!eph || eph.prn !== `E${two(prn)}`) return null;
+    if (!eph || eph.prn !== `E${two2(prn)}`) return null;
     const key = dedupKey(eph);
     if (key === sat.lastKey) return null;
     sat.lastKey = key;
@@ -6802,7 +6913,7 @@ var GloStringAssembler = class {
 // src/navbits/sbas.ts
 var GPS_EPOCH_MS7 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK3 = 7 * 86400 * 1e3;
-var two2 = (n) => String(n).padStart(2, "0");
+var two3 = (n) => String(n).padStart(2, "0");
 var SBAS_MT_GEO_NAV = 9;
 function sbasMessageType(msg) {
   return getBitU(msg, 8, 6);
@@ -6821,7 +6932,7 @@ function decodeSbasGeoNav(msg, prn, week, tow) {
   const ura = getBitU(msg, 35, 4);
   return {
     system: "S",
-    prn: `S${two2(prn - 100)}`,
+    prn: `S${two3(prn - 100)}`,
     tocDate: new Date(GPS_EPOCH_MS7 + week * MS_PER_WEEK3 + t0Sec * 1e3),
     tauN: getBitS(msg, 206, 12) * 2 ** -31,
     // a_Gf0, clock offset (s)
@@ -6845,7 +6956,7 @@ function decodeSbasGeoNav(msg, prn, week, tow) {
 // src/ubx/rawnav.ts
 var GPS_EPOCH_MS8 = Date.UTC(1980, 0, 6);
 var SEC_PER_WEEK7 = 7 * 86400;
-var two3 = (n) => String(n).padStart(2, "0");
+var two4 = (n) => String(n).padStart(2, "0");
 function parseUbxRawNav(data, opts = {}) {
   const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
   const ephemerides = [];
@@ -6921,7 +7032,7 @@ function parseUbxRawNav(data, opts = {}) {
         badParity++;
         continue;
       }
-      const eph = bds.push(`C${two3(svId)}`, sf);
+      const eph = bds.push(`C${two4(svId)}`, sf);
       if (eph) ephemerides.push(eph);
     } else if (gnssId === 6) {
       if (p.length < 8 + 16) continue;
@@ -6940,7 +7051,7 @@ function parseUbxRawNav(data, opts = {}) {
         continue;
       }
       if (!refDate) continue;
-      const eph = glo.push(`R${two3(svId)}`, str2, refDate, p[3] - 7);
+      const eph = glo.push(`R${two4(svId)}`, str2, refDate, p[3] - 7);
       if (eph) ephemerides.push(eph);
     } else if (gnssId === 1) {
       if (p.length < 8 + 32) continue;
@@ -7042,20 +7153,20 @@ var SIGNALS = {
   // GLONASS L1OF, L2OF
 };
 function prnFor(gnssId, svId) {
-  const two9 = (n) => String(n).padStart(2, "0");
+  const two10 = (n) => String(n).padStart(2, "0");
   switch (gnssId) {
     case 0:
-      return svId >= 1 && svId <= 32 ? `G${two9(svId)}` : null;
+      return svId >= 1 && svId <= 32 ? `G${two10(svId)}` : null;
     case 1:
-      return svId >= 120 && svId <= 158 ? `S${two9(svId - 100)}` : null;
+      return svId >= 120 && svId <= 158 ? `S${two10(svId - 100)}` : null;
     case 2:
-      return svId >= 1 && svId <= 36 ? `E${two9(svId)}` : null;
+      return svId >= 1 && svId <= 36 ? `E${two10(svId)}` : null;
     case 3:
-      return svId >= 1 && svId <= 63 ? `C${two9(svId)}` : null;
+      return svId >= 1 && svId <= 63 ? `C${two10(svId)}` : null;
     case 5:
-      return svId >= 1 && svId <= 10 ? `J${two9(svId)}` : null;
+      return svId >= 1 && svId <= 10 ? `J${two10(svId)}` : null;
     case 6:
-      return svId >= 1 && svId <= 32 ? `R${two9(svId)}` : null;
+      return svId >= 1 && svId <= 32 ? `R${two10(svId)}` : null;
     default:
       return null;
   }
@@ -7158,22 +7269,22 @@ function scanSbfFrames(data, view, onBlock) {
   }
   return badCrc;
 }
-var two4 = (n) => String(n).padStart(2, "0");
+var two5 = (n) => String(n).padStart(2, "0");
 function svidToPrn(svid) {
-  if (svid >= 1 && svid <= 37) return svid <= 32 ? `G${two4(svid)}` : null;
-  if (svid <= 61) return svid - 37 <= 27 ? `R${two4(svid - 37)}` : null;
+  if (svid >= 1 && svid <= 37) return svid <= 32 ? `G${two5(svid)}` : null;
+  if (svid <= 61) return svid - 37 <= 27 ? `R${two5(svid - 37)}` : null;
   if (svid <= 62) return null;
-  if (svid <= 68) return svid - 38 <= 27 ? `R${two4(svid - 38)}` : null;
+  if (svid <= 68) return svid - 38 <= 27 ? `R${two5(svid - 38)}` : null;
   if (svid <= 70) return null;
-  if (svid <= 106) return svid - 70 <= 36 ? `E${two4(svid - 70)}` : null;
+  if (svid <= 106) return svid - 70 <= 36 ? `E${two5(svid - 70)}` : null;
   if (svid <= 119) return null;
-  if (svid <= 140) return `S${two4(svid - 100)}`;
-  if (svid <= 180) return svid - 140 <= 50 ? `C${two4(svid - 140)}` : null;
-  if (svid <= 190) return `J${two4(svid - 180)}`;
-  if (svid <= 197) return svid - 190 <= 14 ? `I${two4(svid - 190)}` : null;
-  if (svid <= 215) return `S${two4(svid - 157)}`;
-  if (svid <= 222) return svid - 208 <= 14 ? `I${two4(svid - 208)}` : null;
-  if (svid <= 245) return svid - 182 <= 50 ? `C${two4(svid - 182)}` : null;
+  if (svid <= 140) return `S${two5(svid - 100)}`;
+  if (svid <= 180) return svid - 140 <= 50 ? `C${two5(svid - 140)}` : null;
+  if (svid <= 190) return `J${two5(svid - 180)}`;
+  if (svid <= 197) return svid - 190 <= 14 ? `I${two5(svid - 190)}` : null;
+  if (svid <= 215) return `S${two5(svid - 157)}`;
+  if (svid <= 222) return svid - 208 <= 14 ? `I${two5(svid - 208)}` : null;
+  if (svid <= 245) return svid - 182 <= 50 ? `C${two5(svid - 182)}` : null;
   return null;
 }
 
@@ -8785,23 +8896,23 @@ var MEAS2_SIG = [
   ["J", "1E"],
   ["J", "5P"]
 ];
-var two5 = (n) => String(n).padStart(2, "0");
+var two6 = (n) => String(n).padStart(2, "0");
 function m3Prn(navsys, svid) {
   switch (navsys) {
     case 0:
-      return svid < 32 ? `G${two5(svid + 1)}` : null;
+      return svid < 32 ? `G${two6(svid + 1)}` : null;
     case 1:
-      return svid < 27 ? `R${two5(svid + 1)}` : null;
+      return svid < 27 ? `R${two6(svid + 1)}` : null;
     case 2:
-      return svid < 36 ? `E${two5(svid + 1)}` : null;
+      return svid < 36 ? `E${two6(svid + 1)}` : null;
     case 3:
-      return svid < 50 ? `C${two5(svid + 1)}` : null;
+      return svid < 50 ? `C${two6(svid + 1)}` : null;
     case 4:
-      return svid <= 38 ? `S${two5(svid + 20)}` : null;
+      return svid <= 38 ? `S${two6(svid + 20)}` : null;
     case 5:
-      return svid < 10 ? `J${two5(svid + 1)}` : null;
+      return svid < 10 ? `J${two6(svid + 1)}` : null;
     case 6:
-      return svid < 14 ? `I${two5(svid + 1)}` : null;
+      return svid < 14 ? `I${two6(svid + 1)}` : null;
     default:
       return null;
   }
@@ -10635,7 +10746,7 @@ var MS_PER_WEEK12 = SEC_PER_WEEK11 * 1e3;
 var SC2RAD = GPS_PI;
 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 two7 = (n) => String(n).padStart(2, "0");
 var Reader = class {
   constructor(view, start, le) {
     this.view = view;
@@ -10730,7 +10841,7 @@ function decodeGpsQzss(view, p, le, sys) {
   const tocDate = new Date(gpsMs4(week, toes));
   return {
     system: sys,
-    prn: `${sys}${two6(prn)}`,
+    prn: `${sys}${two7(prn)}`,
     toc: sowOf5(tocDate.getTime()),
     tocDate,
     af0,
@@ -10763,7 +10874,7 @@ function decodeGalileo(view, p, le) {
   const tocDate = new Date(gpsMs4(week, toes));
   return {
     system: "E",
-    prn: `E${two6(prn)}`,
+    prn: `E${two7(prn)}`,
     toc: sowOf5(tocDate.getTime()),
     tocDate,
     af0,
@@ -10801,7 +10912,7 @@ function decodeBeidou(view, p, le) {
   const tocDate = new Date(BDT_EPOCH_MS5 + week * MS_PER_WEEK12 + toes * 1e3);
   return {
     system: "C",
-    prn: `C${two6(prn)}`,
+    prn: `C${two7(prn)}`,
     toc: sowOf5(tocDate.getTime()),
     tocDate,
     af0,
@@ -10841,7 +10952,7 @@ function decodeGlonass(view, p, le) {
   );
   return {
     system: "R",
-    prn: `R${two6(slot)}`,
+    prn: `R${two7(slot)}`,
     tocDate,
     tauN,
     gammaN,
@@ -10880,7 +10991,7 @@ function decodeSbas(view, p, le) {
   if (prn < 120 || prn > 158) return null;
   return {
     system: "S",
-    prn: `S${two6(prn - 100)}`,
+    prn: `S${two7(prn - 100)}`,
     tocDate: new Date(gpsMs4(week, toe)),
     tauN: af0,
     gammaN: af1,
@@ -11057,22 +11168,22 @@ var OBS_CODES = {
   ]
   // QZSS
 };
-var two7 = (n) => String(n).padStart(2, "0");
+var two8 = (n) => String(n).padStart(2, "0");
 function obsPrn(sys, prn) {
   switch (sys) {
     case 0:
-      return prn >= 1 && prn <= 32 ? `G${two7(prn)}` : null;
+      return prn >= 1 && prn <= 32 ? `G${two8(prn)}` : null;
     case 1:
-      return prn >= 1 && prn <= 27 ? `R${two7(prn)}` : null;
+      return prn >= 1 && prn <= 27 ? `R${two8(prn)}` : null;
     case 2:
-      return prn >= 120 && prn <= 158 ? `S${two7(prn - 100)}` : null;
+      return prn >= 120 && prn <= 158 ? `S${two8(prn - 100)}` : null;
     case 3:
-      return prn >= 1 && prn <= 36 ? `E${two7(prn)}` : null;
+      return prn >= 1 && prn <= 36 ? `E${two8(prn)}` : null;
     case 4:
-      return prn >= 1 && prn <= 63 ? `C${two7(prn)}` : null;
+      return prn >= 1 && prn <= 63 ? `C${two8(prn)}` : null;
     case 5:
-      if (prn >= 193 && prn <= 202) return `J${two7(prn - 192)}`;
-      return prn >= 1 && prn <= 10 ? `J${two7(prn)}` : null;
+      if (prn >= 193 && prn <= 202) return `J${two8(prn - 192)}`;
+      return prn >= 1 && prn <= 10 ? `J${two8(prn)}` : null;
     default:
       return null;
   }
@@ -13425,7 +13536,7 @@ var SEC_PER_WEEK12 = 604800;
 var MAXSBSAGEF = 30;
 var MAXSBSAGEL = 360;
 var MAXBAND = 10;
-var two8 = (n) => String(n).padStart(2, "0");
+var two9 = (n) => String(n).padStart(2, "0");
 var VAR_FCORR = [
   0.052,
   0.0924,
@@ -13571,10 +13682,10 @@ var igpband2 = [
 ];
 var gpsSeconds = (week, tow) => week * SEC_PER_WEEK12 + tow;
 function maskPrn(i) {
-  if (i >= 1 && i <= 37) return `G${two8(i)}`;
-  if (i >= 38 && i <= 61) return `R${two8(i - 37)}`;
-  if (i >= 120 && i <= 138) return `S${two8(i - 100)}`;
-  if (i >= 193 && i <= 202) return `J${two8(i - 192)}`;
+  if (i >= 1 && i <= 37) return `G${two9(i)}`;
+  if (i >= 38 && i <= 61) return `R${two9(i - 37)}`;
+  if (i >= 120 && i <= 138) return `S${two9(i - 100)}`;
+  if (i >= 193 && i <= 202) return `J${two9(i - 192)}`;
   return null;
 }
 function ionppp(latRad, lonRad, azRad, elRad, re, hion) {
@@ -13613,7 +13724,7 @@ var SbasProcessor = class {
     if (week === 0) return -1;
     const type = sbasMessageType(msg);
     if (geoPrn != null && geoPrn >= 120 && geoPrn <= 158)
-      this.geoPrns.add(`S${two8(geoPrn - 100)}`);
+      this.geoPrns.add(`S${two9(geoPrn - 100)}`);
     switch (type) {
       case 1:
         return this.decodeMask(msg) ? type : -1;
@@ -18162,6 +18273,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   dateToEpoch,
   decodeBinexEph,
   decodeEphemeris,
+  decodeLegacyObs,
   decodeMsmFull,
   decodeSbfNavigation,
   deg2dms,

package/dist/index.d.cts

@@ -10,7 +10,7 @@ export { E as EpochSummary, P as ParseOptions, R as RinexHeader, a as RinexResul
 export { C as CnavEphemeris, E as Ephemeris, G as GlonassEphemeris, K as KeplerEphemeris, N as NavHeader, a as NavResult, R as RinexCnavEphemeris, p as parseNavFile } from './nav-DImXUdbp.cjs';
 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 { MessageTypeStats, MsmEpoch, MsmSatObs, MsmSignal, RTCM3_MESSAGE_NAMES, SatCn0, SignalCn0, StationMeta, StreamStats, createStationMeta, createStreamStats, decodeLegacyObs, decodeMsmFull, msmEpochToDate, resetGloFreqCache, rtcm3Constellation, setGloFreqNumber, updateStationMeta, updateStreamStats } from './rtcm3.cjs';
 export { UbxCnavResult, UbxFrame, UbxIonoUtcResult, UbxMeasurement, UbxNavOptions, UbxNavResult, UbxParseResult, UbxPvtResult, UbxRawNavOptions, UbxRawNavResult, UbxRawxEpoch, parseUbxCnav, parseUbxIonoUtc, parseUbxNav, parseUbxPvt, parseUbxRawNav, parseUbxRawx, ubxFrames } from './ubx.cjs';
 export { DfmcCensus, DfmcMessageCb, GeoL5Result, HasMessage, SBAS_L5_MT_NAMES, SBAS_L5_PREAMBLE_UW, SbasMessageCb, SbfBdsNavResult, SbfCnavEphemeris, SbfCnavResult, SbfGalEphemeris, SbfGalNavResult, SbfGeoL5Result, SbfGeoNavResult, SbfGloNavResult, SbfGpsNavResult, SbfHasMessage, SbfHasResult, SbfIonoUtcResult, SbfMeasEpoch, SbfMeasurement, SbfNavCounts, SbfNavigation, SbfParseResult, SbfPvt, SbfPvtResult, SbfReceiverSetup, decodeSbfNavigation, feedGeoBlock, feedGeoL5Block, isSbasL1Preamble, isSbasL5Correction, parseSbfBdsNav, parseSbfCnav, parseSbfGalNav, parseSbfGeoL5, parseSbfGeoNav, parseSbfGloNav, parseSbfGpsNav, parseSbfHas, parseSbfIonoUtc, parseSbfMeas, parseSbfPvt, parseSbfReceiverSetup, sbasL5MessageName, sbasL5MessageType, sbfCrc16, scanSbfFrames } from './sbf.cjs';
 export { NovatelEpoch, NovatelMeasurement, NovatelNavResult, NovatelParseResult, NovatelPvtResult, OEM4_HLEN, Oem4Frame, crc32, oem4Frames, parseNovatelNav, parseNovatelPvt, parseNovatelRange } from './novatel.cjs';

package/dist/index.d.ts

@@ -10,7 +10,7 @@ export { E as EpochSummary, P as ParseOptions, R as RinexHeader, a as RinexResul
 export { C as CnavEphemeris, E as Ephemeris, G as GlonassEphemeris, K as KeplerEphemeris, N as NavHeader, a as NavResult, R as RinexCnavEphemeris, p as parseNavFile } from './nav-DImXUdbp.js';
 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 { MessageTypeStats, MsmEpoch, MsmSatObs, MsmSignal, RTCM3_MESSAGE_NAMES, SatCn0, SignalCn0, StationMeta, StreamStats, createStationMeta, createStreamStats, decodeLegacyObs, decodeMsmFull, msmEpochToDate, resetGloFreqCache, rtcm3Constellation, setGloFreqNumber, updateStationMeta, updateStreamStats } from './rtcm3.js';
 export { UbxCnavResult, UbxFrame, UbxIonoUtcResult, UbxMeasurement, UbxNavOptions, UbxNavResult, UbxParseResult, UbxPvtResult, UbxRawNavOptions, UbxRawNavResult, UbxRawxEpoch, parseUbxCnav, parseUbxIonoUtc, parseUbxNav, parseUbxPvt, parseUbxRawNav, parseUbxRawx, ubxFrames } from './ubx.js';
 export { DfmcCensus, DfmcMessageCb, GeoL5Result, HasMessage, SBAS_L5_MT_NAMES, SBAS_L5_PREAMBLE_UW, SbasMessageCb, SbfBdsNavResult, SbfCnavEphemeris, SbfCnavResult, SbfGalEphemeris, SbfGalNavResult, SbfGeoL5Result, SbfGeoNavResult, SbfGloNavResult, SbfGpsNavResult, SbfHasMessage, SbfHasResult, SbfIonoUtcResult, SbfMeasEpoch, SbfMeasurement, SbfNavCounts, SbfNavigation, SbfParseResult, SbfPvt, SbfPvtResult, SbfReceiverSetup, decodeSbfNavigation, feedGeoBlock, feedGeoL5Block, isSbasL1Preamble, isSbasL5Correction, parseSbfBdsNav, parseSbfCnav, parseSbfGalNav, parseSbfGeoL5, parseSbfGeoNav, parseSbfGloNav, parseSbfGpsNav, parseSbfHas, parseSbfIonoUtc, parseSbfMeas, parseSbfPvt, parseSbfReceiverSetup, sbasL5MessageName, sbasL5MessageType, sbfCrc16, scanSbfFrames } from './sbf.js';
 export { NovatelEpoch, NovatelMeasurement, NovatelNavResult, NovatelParseResult, NovatelPvtResult, OEM4_HLEN, Oem4Frame, crc32, oem4Frames, parseNovatelNav, parseNovatelPvt, parseNovatelRange } from './novatel.js';

package/dist/index.js

@@ -275,6 +275,7 @@ import {
   createStationMeta,
   createStreamStats,
   decodeEphemeris,
+  decodeLegacyObs,
   decodeMsmFull,
   msmEpochToDate,
   readString,
@@ -285,7 +286,7 @@ import {
   setRtcm3DebugHandler,
   updateStationMeta,
   updateStreamStats
-} from "./chunk-BRT6XZ7B.js";
+} from "./chunk-QN7Q2ALS.js";
 import {
   getBdsTime,
   getDateFromBdsTime,
@@ -494,6 +495,7 @@ export {
   dateToEpoch,
   decodeBinexEph,
   decodeEphemeris,
+  decodeLegacyObs,
   decodeMsmFull,
   decodeSbfNavigation,
   deg2dms,

package/dist/rtcm3.cjs

@@ -26,6 +26,7 @@ __export(rtcm3_exports, {
   createStationMeta: () => createStationMeta,
   createStreamStats: () => createStreamStats,
   decodeEphemeris: () => decodeEphemeris,
+  decodeLegacyObs: () => decodeLegacyObs,
   decodeMsmFull: () => decodeMsmFull,
   msmEpochToDate: () => msmEpochToDate,
   readString: () => readString,
@@ -587,6 +588,145 @@ function decodeEphemeris(frame) {
   }
 }
 
+// src/constants/gnss.ts
+var C_LIGHT = 299792458;
+var FREQ = {
+  G: { "1": 157542e4, "2": 12276e5, "5": 117645e4 },
+  // R bands 4/6 are the CDMA L1OC/L2OC center frequencies
+  R: { "3": 1202025e3, "4": 1600995e3, "6": 124806e4 },
+  E: {
+    "1": 157542e4,
+    "5": 117645e4,
+    "6": 127875e4,
+    "7": 120714e4,
+    "8": 1191795e3
+  },
+  C: {
+    "1": 157542e4,
+    "2": 1561098e3,
+    "5": 117645e4,
+    "6": 126852e4,
+    "7": 120714e4
+  },
+  J: { "1": 157542e4, "2": 12276e5, "5": 117645e4, "6": 127875e4 },
+  I: { "5": 117645e4, "9": 2492028e3 },
+  S: { "1": 157542e4, "5": 117645e4 }
+};
+var GLO_F1_BASE = 1602e6;
+var GLO_F1_STEP = 562500;
+var GLO_F2_BASE = 1246e6;
+var GLO_F2_STEP = 437500;
+
+// src/rtcm3/legacy-obs.ts
+var PRUNIT_GPS = 299792.458;
+var PRUNIT_GLO = 599584.916;
+var LAM_GPS_L1 = C_LIGHT / 157542e4;
+var LAM_GPS_L2 = C_LIGHT / 12276e5;
+var PPR_INVALID = -(2 ** 19);
+var PR21_INVALID = -(2 ** 13);
+function legacyLockSec(i) {
+  if (i < 24) return i;
+  if (i < 48) return 2 * i - 24;
+  if (i < 72) return 4 * i - 120;
+  if (i < 96) return 8 * i - 408;
+  if (i < 120) return 16 * i - 1176;
+  if (i < 127) return 32 * i - 3096;
+  return 937;
+}
+var two = (n) => n.toString().padStart(2, "0");
+function decodeLegacyObs(frame) {
+  const type = frame.messageType;
+  const gps = type >= 1001 && type <= 1004;
+  const glo = type >= 1009 && type <= 1012;
+  if (!gps && !glo) return null;
+  const ext = type === 1002 || type === 1004 || type === 1010 || type === 1012;
+  const dual = type === 1003 || type === 1004 || type === 1011 || type === 1012;
+  const system = gps ? "G" : "R";
+  const r = new BitReader(frame.payload);
+  r.readU(12);
+  r.readU(12);
+  let epochMs;
+  let nsat;
+  if (gps) {
+    epochMs = r.readU(30);
+    r.readU(1);
+    nsat = r.readU(5);
+    r.readU(1);
+    r.readU(3);
+  } else {
+    const tk = r.readU(27);
+    r.readU(1);
+    nsat = r.readU(5);
+    r.readU(1);
+    r.readU(3);
+    const gloDow = new Date(Date.now() + 3 * 36e5).getUTCDay();
+    epochMs = (gloDow << 27 | tk) >>> 0;
+  }
+  const observations = [];
+  for (let s = 0; s < nsat; s++) {
+    const satId = r.readU(6);
+    const code1 = r.readU(1);
+    const freqCh = glo ? r.readU(5) : 0;
+    const pr1raw = r.readU(gps ? 24 : 25);
+    const ppr1 = r.readS(20);
+    const lock1 = r.readU(7);
+    let amb = 0;
+    let cnr1 = 0;
+    if (ext) {
+      amb = r.readU(gps ? 8 : 7);
+      cnr1 = r.readU(8);
+    }
+    let code2 = 0;
+    let pr21 = 0;
+    let ppr2 = 0;
+    let lock2 = 0;
+    let cnr2 = 0;
+    if (dual) {
+      code2 = r.readU(2);
+      pr21 = r.readS(14);
+      ppr2 = r.readS(20);
+      lock2 = r.readU(7);
+      if (ext) cnr2 = r.readU(8);
+    }
+    if (gps && (satId < 1 || satId > 32)) continue;
+    if (glo && (satId < 1 || satId > 24)) continue;
+    const prunit = gps ? PRUNIT_GPS : PRUNIT_GLO;
+    const pr1 = pr1raw * 0.02 + amb * prunit;
+    const k = freqCh - 7;
+    const lamL1 = gps ? LAM_GPS_L1 : C_LIGHT / (GLO_F1_BASE + k * GLO_F1_STEP);
+    const lamL2 = gps ? LAM_GPS_L2 : C_LIGHT / (GLO_F2_BASE + k * GLO_F2_STEP);
+    const signals = [];
+    {
+      const sig = {
+        rinexCode: gps ? code1 ? "1W" : "1C" : code1 ? "1P" : "1C",
+        pseudorange: pr1,
+        wavelength: lamL1,
+        lockTime: legacyLockSec(lock1)
+      };
+      if (ppr1 !== PPR_INVALID) sig.phase = (pr1 + ppr1 * 5e-4) / lamL1;
+      if (ext && cnr1 > 0) sig.cn0 = cnr1 * 0.25;
+      signals.push(sig);
+    }
+    if (dual) {
+      const sig = {
+        rinexCode: gps ? code2 === 0 ? "2X" : "2W" : code2 === 0 ? "2C" : "2P",
+        wavelength: lamL2,
+        lockTime: legacyLockSec(lock2)
+      };
+      if (pr21 !== PR21_INVALID) sig.pseudorange = pr1 + pr21 * 0.02;
+      if (ppr2 !== PPR_INVALID) sig.phase = (pr1 + ppr2 * 5e-4) / lamL2;
+      if (ext && cnr2 > 0) sig.cn0 = cnr2 * 0.25;
+      signals.push(sig);
+    }
+    observations.push({
+      prn: `${system}${two(satId)}`,
+      system,
+      signals
+    });
+  }
+  return { messageType: type, epochMs, system, observations };
+}
+
 // src/constants/time.ts
 var MILLISECONDS_IN_WEEK = 6048e5;
 var MILLISECONDS_IN_SECOND = 1e3;
@@ -677,35 +817,6 @@ function getGpsLeap(date) {
   return leap_seconds - 19;
 }
 
-// src/constants/gnss.ts
-var C_LIGHT = 299792458;
-var FREQ = {
-  G: { "1": 157542e4, "2": 12276e5, "5": 117645e4 },
-  // R bands 4/6 are the CDMA L1OC/L2OC center frequencies
-  R: { "3": 1202025e3, "4": 1600995e3, "6": 124806e4 },
-  E: {
-    "1": 157542e4,
-    "5": 117645e4,
-    "6": 127875e4,
-    "7": 120714e4,
-    "8": 1191795e3
-  },
-  C: {
-    "1": 157542e4,
-    "2": 1561098e3,
-    "5": 117645e4,
-    "6": 126852e4,
-    "7": 120714e4
-  },
-  J: { "1": 157542e4, "2": 12276e5, "5": 117645e4, "6": 127875e4 },
-  I: { "5": 117645e4, "9": 2492028e3 },
-  S: { "1": 157542e4, "5": 117645e4 }
-};
-var GLO_F1_BASE = 1602e6;
-var GLO_F1_STEP = 562500;
-var GLO_F2_BASE = 1246e6;
-var GLO_F2_STEP = 437500;
-
 // src/rtcm3/msm.ts
 var GPS_L1 = FREQ.G["1"];
 var GPS_L2 = FREQ.G["2"];
@@ -1590,6 +1701,7 @@ function updateStreamStats(stats, frames, rawBytes) {
   createStationMeta,
   createStreamStats,
   decodeEphemeris,
+  decodeLegacyObs,
   decodeMsmFull,
   msmEpochToDate,
   readString,

package/dist/rtcm3.d.cts

@@ -82,6 +82,12 @@ declare function setGloFreqNumber(slot: number, k: number): void;
  */
 declare function resetGloFreqCache(): void;
 
+/**
+ * Decode a legacy RTCM3 observation frame (1001–1004 GPS, 1009–1012 GLONASS)
+ * into an {@link MsmEpoch}, or null for any other message type.
+ */
+declare function decodeLegacyObs(frame: Rtcm3Frame): MsmEpoch | null;
+
 /**
  * RTCM3 station metadata decoders (messages 1005/1006, 1007/1008, 1029, 1033).
  */
@@ -154,4 +160,4 @@ declare function rtcm3Constellation(msgType: number): string | null;
 declare function createStreamStats(): StreamStats;
 declare function updateStreamStats(stats: StreamStats, frames: Rtcm3Frame[], rawBytes: number): void;
 
-export { EphemerisInfo, type MessageTypeStats, type MsmEpoch, type MsmSatObs, type MsmSignal, RTCM3_MESSAGE_NAMES, Rtcm3Frame, type SatCn0, type SignalCn0, type StationMeta, type StreamStats, createStationMeta, createStreamStats, decodeMsmFull, msmEpochToDate, resetGloFreqCache, rtcm3Constellation, setGloFreqNumber, updateStationMeta, updateStreamStats };
+export { EphemerisInfo, type MessageTypeStats, type MsmEpoch, type MsmSatObs, type MsmSignal, RTCM3_MESSAGE_NAMES, Rtcm3Frame, type SatCn0, type SignalCn0, type StationMeta, type StreamStats, createStationMeta, createStreamStats, decodeLegacyObs, decodeMsmFull, msmEpochToDate, resetGloFreqCache, rtcm3Constellation, setGloFreqNumber, updateStationMeta, updateStreamStats };

package/dist/rtcm3.d.ts

@@ -82,6 +82,12 @@ declare function setGloFreqNumber(slot: number, k: number): void;
  */
 declare function resetGloFreqCache(): void;
 
+/**
+ * Decode a legacy RTCM3 observation frame (1001–1004 GPS, 1009–1012 GLONASS)
+ * into an {@link MsmEpoch}, or null for any other message type.
+ */
+declare function decodeLegacyObs(frame: Rtcm3Frame): MsmEpoch | null;
+
 /**
  * RTCM3 station metadata decoders (messages 1005/1006, 1007/1008, 1029, 1033).
  */
@@ -154,4 +160,4 @@ declare function rtcm3Constellation(msgType: number): string | null;
 declare function createStreamStats(): StreamStats;
 declare function updateStreamStats(stats: StreamStats, frames: Rtcm3Frame[], rawBytes: number): void;
 
-export { EphemerisInfo, type MessageTypeStats, type MsmEpoch, type MsmSatObs, type MsmSignal, RTCM3_MESSAGE_NAMES, Rtcm3Frame, type SatCn0, type SignalCn0, type StationMeta, type StreamStats, createStationMeta, createStreamStats, decodeMsmFull, msmEpochToDate, resetGloFreqCache, rtcm3Constellation, setGloFreqNumber, updateStationMeta, updateStreamStats };
+export { EphemerisInfo, type MessageTypeStats, type MsmEpoch, type MsmSatObs, type MsmSignal, RTCM3_MESSAGE_NAMES, Rtcm3Frame, type SatCn0, type SignalCn0, type StationMeta, type StreamStats, createStationMeta, createStreamStats, decodeLegacyObs, decodeMsmFull, msmEpochToDate, resetGloFreqCache, rtcm3Constellation, setGloFreqNumber, updateStationMeta, updateStreamStats };

package/dist/rtcm3.js

@@ -5,6 +5,7 @@ import {
   createStationMeta,
   createStreamStats,
   decodeEphemeris,
+  decodeLegacyObs,
   decodeMsmFull,
   msmEpochToDate,
   readString,
@@ -15,7 +16,7 @@ import {
   setRtcm3DebugHandler,
   updateStationMeta,
   updateStreamStats
-} from "./chunk-BRT6XZ7B.js";
+} from "./chunk-QN7Q2ALS.js";
 import "./chunk-HVXYFUCB.js";
 import "./chunk-LEEU5OIO.js";
 import "./chunk-FIEWO4J4.js";
@@ -26,6 +27,7 @@ export {
   createStationMeta,
   createStreamStats,
   decodeEphemeris,
+  decodeLegacyObs,
   decodeMsmFull,
   msmEpochToDate,
   readString,

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "gnss-js",
-  "version": "1.62.0",
+  "version": "1.63.0",
   "description": "Comprehensive GNSS library for JavaScript — time scales, coordinates, RINEX parsing, RTCM3 decoding, orbit computation, and signal analysis",
   "type": "module",
   "sideEffects": false,