gnss-js 1.65.0 → 2.0.0

package/dist/index.cjs

@@ -81,7 +81,9 @@ __export(src_exports, {
   OMEGA_E: () => OMEGA_E,
   REFERENCE_FRAMES: () => REFERENCE_FRAMES,
   RINEX_CODES: () => RINEX_CODES,
+  RTCM2_MESSAGE_NAMES: () => RTCM2_MESSAGE_NAMES,
   RTCM3_MESSAGE_NAMES: () => RTCM3_MESSAGE_NAMES,
+  Rtcm2Decoder: () => Rtcm2Decoder,
   Rtcm3Decoder: () => Rtcm3Decoder,
   RtkFloatEngine: () => RtkFloatEngine,
   SBAS_L5_MT_NAMES: () => SBAS_L5_MT_NAMES,
@@ -147,6 +149,7 @@ __export(src_exports, {
   decodeIgsSsr: () => decodeIgsSsr,
   decodeLegacyObs: () => decodeLegacyObs,
   decodeMsmFull: () => decodeMsmFull,
+  decodeObs: () => decodeObs,
   decodeSbfNavigation: () => decodeSbfNavigation,
   decodeSsr: () => decodeSsr,
   decodeSystemParams: () => decodeSystemParams,
@@ -247,13 +250,14 @@ __export(src_exports, {
   klobucharDelay: () => klobucharDelay,
   lambdaReduction: () => lambdaReduction,
   lambdaSearch: () => lambdaSearch,
+  looksLikeRtcm2: () => looksLikeRtcm2,
   maskRadForAzimuth: () => maskRadForAzimuth,
   moonEcef: () => moonEcef,
-  msmEpochToDate: () => msmEpochToDate,
   navTimesFromEph: () => navTimesFromEph,
   niellMapping: () => niellMapping,
   nlWavelength: () => nlWavelength,
   nmeaCoordToDecimal: () => nmeaCoordToDecimal,
+  obsEpochToDate: () => obsEpochToDate,
   oem4Frames: () => oem4Frames,
   padL: () => padL,
   padR: () => padR,
@@ -306,6 +310,11 @@ __export(src_exports, {
   resetGloFreqCache: () => resetGloFreqCache,
   resolvePppAmbiguities: () => resolvePppAmbiguities,
   rhumbLine: () => rhumbLine,
+  rtcm2Dgps: () => rtcm2Dgps,
+  rtcm2Observation: () => rtcm2Observation,
+  rtcm2Station: () => rtcm2Station,
+  rtcm2Text: () => rtcm2Text,
+  rtcm2Time: () => rtcm2Time,
   rtcm3Constellation: () => rtcm3Constellation,
   satClockCorrection: () => satClockCorrection,
   sbasIonoDeg: () => sbasIonoDeg,
@@ -4476,6 +4485,265 @@ function writeRinex4ObsBlob(header, epochs, obsTypes) {
   });
 }
 
+// src/rtcm2/index.ts
+var RTCM2_PREAMBLE = 102;
+var HAMMING = [
+  3139384448,
+  1569692224,
+  2932329728,
+  1466164864,
+  1806824256,
+  2340063680
+];
+function getbitu(buff, pos, len) {
+  let v = 0;
+  for (let i = pos; i < pos + len; i++)
+    v = v * 2 + (buff[i >> 3] >> 7 - (i & 7) & 1);
+  return v >>> 0;
+}
+function getbits(buff, pos, len) {
+  const v = getbitu(buff, pos, len);
+  return v & 1 << len - 1 ? v - 2 ** len : v;
+}
+function decodeWord(w) {
+  let word = w >>> 0;
+  if (word & 1073741824) word = (word ^ 1073741760) >>> 0;
+  let parity = 0;
+  for (let i = 0; i < 6; i++) {
+    parity <<= 1;
+    let x = (word & HAMMING[i]) >>> 6;
+    while (x) {
+      parity ^= x & 1;
+      x >>>= 1;
+    }
+  }
+  if (parity >>> 0 !== (word & 63)) return null;
+  return [word >>> 22 & 255, word >>> 14 & 255, word >>> 6 & 255];
+}
+var Rtcm2Decoder = class {
+  word = 0;
+  nbyte = 0;
+  nbit = 0;
+  len = 0;
+  buff = new Uint8Array(256);
+  /** Reset the framer (e.g. after a stream reconnect). */
+  reset() {
+    this.word = 0;
+    this.nbyte = 0;
+    this.nbit = 0;
+    this.len = 0;
+  }
+  decode(bytes) {
+    const frames = [];
+    for (const raw of bytes) {
+      if ((raw & 192) !== 64) continue;
+      let data = raw;
+      for (let i = 0; i < 6; i++, data >>= 1) {
+        this.word = (this.word << 1 | data & 1) >>> 0;
+        if (this.nbyte === 0) {
+          let preamb = this.word >>> 22 & 255;
+          if (this.word & 1073741824) preamb ^= 255;
+          if (preamb !== RTCM2_PREAMBLE) continue;
+          const d2 = decodeWord(this.word);
+          if (!d2) continue;
+          this.buff[0] = d2[0];
+          this.buff[1] = d2[1];
+          this.buff[2] = d2[2];
+          this.nbyte = 3;
+          this.nbit = 0;
+          continue;
+        }
+        if (++this.nbit < 30) continue;
+        this.nbit = 0;
+        const d = decodeWord(this.word);
+        if (!d) {
+          this.nbyte = 0;
+          this.word &= 3;
+          continue;
+        }
+        this.buff[this.nbyte] = d[0];
+        this.buff[this.nbyte + 1] = d[1];
+        this.buff[this.nbyte + 2] = d[2];
+        this.nbyte += 3;
+        if (this.nbyte === 6) this.len = (this.buff[5] >> 3) * 3 + 6;
+        if (this.nbyte < this.len) continue;
+        frames.push(this.readHeader(this.buff.slice(0, this.len)));
+        this.nbyte = 0;
+        this.word &= 3;
+      }
+    }
+    return frames;
+  }
+  readHeader(payload) {
+    return {
+      messageType: getbitu(payload, 8, 6),
+      stationId: getbitu(payload, 14, 10),
+      zcountSec: getbitu(payload, 24, 13) * 0.6,
+      sequenceNo: getbitu(payload, 37, 3),
+      lengthWords: payload[5] >> 3,
+      health: getbitu(payload, 45, 3),
+      payload
+    };
+  }
+};
+function rtcm2Station(frame) {
+  const p = frame.payload;
+  const nbit = frame.lengthWords * 24;
+  if (frame.messageType === 3) {
+    if (nbit < 96) return null;
+    return {
+      position: [
+        getbits(p, 48, 32) * 0.01,
+        getbits(p, 80, 32) * 0.01,
+        getbits(p, 112, 32) * 0.01
+      ]
+    };
+  }
+  if (frame.messageType === 22) {
+    if (nbit < 24) return null;
+    const l1 = [
+      getbits(p, 48, 8) / 25600,
+      getbits(p, 56, 8) / 25600,
+      getbits(p, 64, 8) / 25600
+    ];
+    let height;
+    if (nbit >= 48) {
+      const noh = getbits(p, 48 + 24 + 5, 1);
+      height = noh ? 0 : getbitu(p, 48 + 24 + 6, 18) / 25600;
+    }
+    return { l1Offset: l1, height };
+  }
+  return null;
+}
+function rtcm2Observation(frame) {
+  const t = frame.messageType;
+  if (t !== 18 && t !== 19) return null;
+  const p = frame.payload;
+  const nbit = frame.lengthWords * 24 + 48;
+  let i = 48;
+  if (i + 24 > nbit) return null;
+  const fRaw = getbitu(p, i, 2);
+  i += 4;
+  const microSec = getbitu(p, i, 20);
+  i += 20;
+  if (fRaw & 1) return null;
+  const freq = fRaw >> 1;
+  let sync = false;
+  const records = [];
+  while (i + 48 <= nbit) {
+    sync = getbitu(p, i, 1) === 1;
+    i += 1;
+    const code = getbitu(p, i, 1);
+    i += 1;
+    const sys = getbitu(p, i, 1);
+    i += 1;
+    let prn = getbitu(p, i, 5);
+    i += 5;
+    let loss;
+    if (t === 18) {
+      i += 3;
+      loss = getbitu(p, i, 5);
+      i += 5;
+    } else {
+      i += 8;
+    }
+    const val = t === 18 ? getbits(p, i, 32) : getbitu(p, i, 32);
+    i += 32;
+    if (prn === 0) prn = 32;
+    const system = sys ? "R" : "G";
+    const rec = {
+      prn: `${system}${String(prn).padStart(2, "0")}`,
+      system,
+      freq,
+      code: code ? "P" : "C/A",
+      lossOfLock: loss
+    };
+    if (t === 18)
+      rec.phaseCycles = -val / 256;
+    else rec.pseudorangeM = val * 0.02;
+    records.push(rec);
+  }
+  return { freq, sync, microSec, records };
+}
+function rtcm2Dgps(frame) {
+  const t = frame.messageType;
+  if (t !== 1 && t !== 9 && t !== 31) return null;
+  const system = t === 31 ? "R" : "G";
+  const p = frame.payload;
+  const nbit = frame.lengthWords * 24 + 48;
+  let i = 48;
+  const corrections = [];
+  while (i + 40 <= nbit) {
+    const fact = getbitu(p, i, 1);
+    i += 1;
+    const udre = getbitu(p, i, 2);
+    i += 2;
+    let prn = getbitu(p, i, 5);
+    i += 5;
+    const prc = getbits(p, i, 16);
+    i += 16;
+    const rrc = getbits(p, i, 8);
+    i += 8;
+    const iod = getbits(p, i, 8);
+    i += 8;
+    if (prn === 0) prn = 32;
+    corrections.push({
+      prn: `${system}${String(prn).padStart(2, "0")}`,
+      prc: prc * (fact ? 0.32 : 0.02),
+      rrc: rrc * (fact ? 0.032 : 2e-3),
+      iod,
+      udre
+    });
+  }
+  return { system, corrections };
+}
+function rtcm2Time(frame) {
+  if (frame.messageType !== 14) return null;
+  const p = frame.payload;
+  if (frame.lengthWords * 24 < 24) return null;
+  return {
+    zcountSec: getbitu(p, 24, 13) * 0.6,
+    week: getbitu(p, 48, 10),
+    hour: getbitu(p, 58, 8),
+    leapSeconds: getbitu(p, 66, 6)
+  };
+}
+function rtcm2Text(frame) {
+  if (frame.messageType !== 16) return null;
+  const p = frame.payload;
+  const nbit = frame.lengthWords * 24 + 48;
+  let s = "";
+  for (let i = 48; i + 8 <= nbit; i += 8) {
+    const c = getbitu(p, i, 8);
+    if (c === 0) break;
+    s += String.fromCharCode(c);
+  }
+  return s;
+}
+var RTCM2_MESSAGE_NAMES = {
+  1: "GPS differential corrections",
+  3: "Reference station parameters (ARP)",
+  9: "GPS partial correction set",
+  14: "GPS time of week",
+  16: "GPS special message (text)",
+  17: "GPS ephemerides",
+  18: "RTK uncorrected carrier phase",
+  19: "RTK uncorrected pseudorange",
+  22: "Extended reference station parameters",
+  23: "Antenna type definition",
+  24: "Antenna reference point (ARP)",
+  31: "GLONASS differential corrections",
+  32: "GLONASS reference station parameters",
+  34: "GLONASS partial correction set",
+  36: "GLONASS special message"
+};
+function looksLikeRtcm2(bytes) {
+  const n = Math.min(bytes.length, 4096);
+  if (n < 12) return false;
+  for (let i = 0; i < n; i++) if ((bytes[i] & 192) !== 64) return false;
+  return new Rtcm2Decoder().decode(bytes.subarray(0, n)).length >= 2;
+}
+
 // src/rtcm3/decoder.ts
 var debugHandler = null;
 function setRtcm3DebugHandler(fn) {
@@ -4520,9 +4788,6 @@ var BitReader = class {
   skip(n) {
     this.bitPos += n;
   }
-  get bitsLeft() {
-    return this.data.length * 8 - this.bitPos;
-  }
 };
 function crc24q2(data, length) {
   let crc = 0;
@@ -5024,7 +5289,7 @@ function decodeEphemeris(frame) {
   }
 }
 
-// src/rtcm3/igs-ssr.ts
+// src/rtcm3/ssr-common.ts
 var UPDATE_INTERVAL_S = [
   1,
   2,
@@ -5043,6 +5308,28 @@ var UPDATE_INTERVAL_S = [
   7200,
   10800
 ];
+function ssrUraMm(v) {
+  if (v === 0) return null;
+  const cls = v >> 3 & 7;
+  const val = v & 7;
+  return 3 ** cls * (1 + val / 4) - 1;
+}
+function readSsrOrbit(r, sat) {
+  sat.iode = r.readU(8);
+  sat.deltaRadial = r.readS(22) * 1e-4;
+  sat.deltaAlongTrack = r.readS(20) * 4e-4;
+  sat.deltaCrossTrack = r.readS(20) * 4e-4;
+  sat.dotRadial = r.readS(21) * 1e-6;
+  sat.dotAlongTrack = r.readS(19) * 4e-6;
+  sat.dotCrossTrack = r.readS(19) * 4e-6;
+}
+function readSsrClock(r, sat) {
+  sat.c0 = r.readS(22) * 1e-4;
+  sat.c1 = r.readS(21) * 1e-6;
+  sat.c2 = r.readS(27) * 2e-8;
+}
+
+// src/rtcm3/igs-ssr.ts
 var SYSTEM_BY_BASE = {
   20: "G",
   40: "R",
@@ -5066,12 +5353,6 @@ function prnFor(system, id) {
   if (system === "S") return `S${two(19 + id)}`;
   return `${system}${two(id)}`;
 }
-function ssrUraMm(v) {
-  if (v === 0) return null;
-  const cls = v >> 3 & 7;
-  const val = v & 7;
-  return 3 ** cls * (1 + val / 4) - 1;
-}
 function decodeIgsSsr(frame) {
   if (frame.messageType !== 4076) return null;
   const r = new BitReader(frame.payload);
@@ -5098,26 +5379,12 @@ function decodeIgsSsr(frame) {
     mwConsistency = r.readU(1) === 1;
   }
   const nsat = r.readU(6);
-  const readOrbit = (s) => {
-    s.iode = r.readU(8);
-    s.deltaRadial = r.readS(22) * 1e-4;
-    s.deltaAlongTrack = r.readS(20) * 4e-4;
-    s.deltaCrossTrack = r.readS(20) * 4e-4;
-    s.dotRadial = r.readS(21) * 1e-6;
-    s.dotAlongTrack = r.readS(19) * 4e-6;
-    s.dotCrossTrack = r.readS(19) * 4e-6;
-  };
-  const readClock2 = (s) => {
-    s.c0 = r.readS(22) * 1e-4;
-    s.c1 = r.readS(21) * 1e-6;
-    s.c2 = r.readS(27) * 2e-8;
-  };
   const satellites = [];
   for (let i = 0; i < nsat; i++) {
     const id = r.readU(6);
     const sat = { prn: prnFor(system, id) };
-    if (kind === "orbit" || kind === "combined") readOrbit(sat);
-    if (kind === "clock" || kind === "combined") readClock2(sat);
+    if (kind === "orbit" || kind === "combined") readSsrOrbit(r, sat);
+    if (kind === "clock" || kind === "combined") readSsrClock(r, sat);
     else if (kind === "ura")
       sat.uraMm = ssrUraMm(r.readU(6));
     else if (kind === "highRateClock")
@@ -5210,116 +5477,6 @@ function decodeIono(r, version, im) {
   };
 }
 
-// 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 two2 = (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: `${system}${two2(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"];
@@ -5818,7 +5975,7 @@ function decodeMsmFull(frame) {
 }
 var GPS_EPOCH = START_GPS_TIME.getTime();
 var MS_PER_WEEK = MILLISECONDS_IN_WEEK;
-function msmEpochToDate(sys, epochMs, refTime = /* @__PURE__ */ new Date()) {
+function obsEpochToDate(sys, epochMs, refTime = /* @__PURE__ */ new Date()) {
   const refMs = refTime.getTime();
   if (sys === "R") {
     const dayOfWeek = epochMs >>> 27 & 7;
@@ -5854,25 +6011,120 @@ function resetGloFreqCache() {
   gloFreqNum.fill(-128);
 }
 
+// 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 two2 = (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: `${system}${two2(satId)}`,
+      system,
+      signals
+    });
+  }
+  return { messageType: type, epochMs, system, observations };
+}
+function decodeObs(frame) {
+  return decodeMsmFull(frame) ?? decodeLegacyObs(frame);
+}
+
 // src/rtcm3/ssr.ts
-var UPDATE_INTERVAL_S2 = [
-  1,
-  2,
-  5,
-  10,
-  15,
-  30,
-  60,
-  120,
-  240,
-  300,
-  600,
-  900,
-  1800,
-  3600,
-  7200,
-  10800
-];
 var GPS_SIGNAL = {
   0: "L1 C/A",
   1: "L1 P",
@@ -5907,12 +6159,6 @@ var SSR_KIND = {
   1067: { system: "R", kind: "ura" },
   1068: { system: "R", kind: "highRateClock" }
 };
-function ssrUraMm2(v) {
-  if (v === 0) return null;
-  const cls = v >> 3 & 7;
-  const val = v & 7;
-  return 3 ** cls * (1 + val / 4) - 1;
-}
 var two3 = (n) => n.toString().padStart(2, "0");
 function decodeSsr(frame) {
   const spec = SSR_KIND[frame.messageType];
@@ -5922,7 +6168,7 @@ function decodeSsr(frame) {
   const r = new BitReader(frame.payload);
   r.readU(12);
   const epochS = r.readU(gps ? 20 : 17);
-  const updateIntervalS = UPDATE_INTERVAL_S2[r.readU(4)];
+  const updateIntervalS = UPDATE_INTERVAL_S[r.readU(4)];
   const multipleMessage = r.readU(1) === 1;
   const hasDatum = kind === "orbit" || kind === "combined";
   const referenceDatum = hasDatum ? r.readU(1) : void 0;
@@ -5932,30 +6178,14 @@ function decodeSsr(frame) {
   const nsat = r.readU(6);
   const sigName = gps ? GPS_SIGNAL : GLO_SIGNAL;
   const satellites = [];
-  const readOrbit = (sat) => {
-    sat.deltaRadial = r.readS(22) * 1e-4;
-    sat.deltaAlongTrack = r.readS(20) * 4e-4;
-    sat.deltaCrossTrack = r.readS(20) * 4e-4;
-    sat.dotRadial = r.readS(21) * 1e-6;
-    sat.dotAlongTrack = r.readS(19) * 4e-6;
-    sat.dotCrossTrack = r.readS(19) * 4e-6;
-  };
-  const readClock2 = (sat) => {
-    sat.c0 = r.readS(22) * 1e-4;
-    sat.c1 = r.readS(21) * 1e-6;
-    sat.c2 = r.readS(27) * 2e-8;
-  };
   for (let i = 0; i < nsat; i++) {
     const satId = gps ? r.readU(6) : r.readU(5);
     const sat = { prn: `${system}${two3(satId)}` };
-    if (kind === "orbit" || kind === "combined") {
-      sat.iode = r.readU(8);
-      readOrbit(sat);
-    }
-    if (kind === "combined") readClock2(sat);
-    else if (kind === "clock") readClock2(sat);
+    if (kind === "orbit" || kind === "combined") readSsrOrbit(r, sat);
+    if (kind === "combined") readSsrClock(r, sat);
+    else if (kind === "clock") readSsrClock(r, sat);
     else if (kind === "ura")
-      sat.uraMm = ssrUraMm2(r.readU(6));
+      sat.uraMm = ssrUraMm(r.readU(6));
     else if (kind === "highRateClock")
       sat.highRateClock = r.readS(22) * 1e-4;
     else if (kind === "codeBias") {
@@ -6323,9 +6553,9 @@ function updateStreamStats(stats, frames, rawBytes) {
     entry.count++;
     entry.lastSeen = now;
     entry.totalBytes += frame.length + 6;
-    const msmEpoch = decodeMsmFull(frame);
-    if (msmEpoch) {
-      for (const obs of msmEpoch.observations) {
+    const obsEpoch = decodeObs(frame);
+    if (obsEpoch) {
+      for (const obs of obsEpoch.observations) {
         const signals = [];
         let bestCn0 = 0;
         for (const sig of obs.signals) {
@@ -6334,7 +6564,7 @@ function updateStreamStats(stats, frames, rawBytes) {
             if (sig.cn0 > bestCn0) bestCn0 = sig.cn0;
           }
         }
-        if (signals.length > 0) {
+        if (obs.signals.length > 0) {
           stats.satellites.set(obs.prn, {
             prn: obs.prn,
             system: obs.system,
@@ -18578,7 +18808,9 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   OMEGA_E,
   REFERENCE_FRAMES,
   RINEX_CODES,
+  RTCM2_MESSAGE_NAMES,
   RTCM3_MESSAGE_NAMES,
+  Rtcm2Decoder,
   Rtcm3Decoder,
   RtkFloatEngine,
   SBAS_L5_MT_NAMES,
@@ -18644,6 +18876,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   decodeIgsSsr,
   decodeLegacyObs,
   decodeMsmFull,
+  decodeObs,
   decodeSbfNavigation,
   decodeSsr,
   decodeSystemParams,
@@ -18744,13 +18977,14 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   klobucharDelay,
   lambdaReduction,
   lambdaSearch,
+  looksLikeRtcm2,
   maskRadForAzimuth,
   moonEcef,
-  msmEpochToDate,
   navTimesFromEph,
   niellMapping,
   nlWavelength,
   nmeaCoordToDecimal,
+  obsEpochToDate,
   oem4Frames,
   padL,
   padR,
@@ -18803,6 +19037,11 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   resetGloFreqCache,
   resolvePppAmbiguities,
   rhumbLine,
+  rtcm2Dgps,
+  rtcm2Observation,
+  rtcm2Station,
+  rtcm2Text,
+  rtcm2Time,
   rtcm3Constellation,
   satClockCorrection,
   sbasIonoDeg,