gnss-js 1.66.0 → 2.1.0

package/dist/index.cjs

@@ -79,6 +79,7 @@ __export(src_exports, {
   MultipathAccumulator: () => MultipathAccumulator,
   OEM4_HLEN: () => OEM4_HLEN,
   OMEGA_E: () => OMEGA_E,
+  PppEngine: () => PppEngine,
   REFERENCE_FRAMES: () => REFERENCE_FRAMES,
   RINEX_CODES: () => RINEX_CODES,
   RTCM2_MESSAGE_NAMES: () => RTCM2_MESSAGE_NAMES,
@@ -106,6 +107,7 @@ __export(src_exports, {
   SYS_SHORT: () => SYS_SHORT,
   SbasProcessor: () => SbasProcessor,
   Scale: () => Scale,
+  Sp3EphemerisSource: () => Sp3EphemerisSource,
   WGS84_ECCENTRICITY_SQUARED: () => WGS84_ECCENTRICITY_SQUARED,
   WGS84_FLATTENING: () => WGS84_FLATTENING,
   WGS84_SEMI_MAJOR_AXIS: () => WGS84_SEMI_MAJOR_AXIS,
@@ -116,6 +118,7 @@ __export(src_exports, {
   analyzeQuality: () => analyzeQuality,
   applyHelmert: () => applyHelmert,
   applyIonoDcb: () => applyIonoDcb,
+  applyOrbitClock: () => applyOrbitClock,
   biasMetres: () => biasMetres,
   binexCrc16: () => binexCrc16,
   binexCrc32: () => binexCrc32,
@@ -149,6 +152,7 @@ __export(src_exports, {
   decodeIgsSsr: () => decodeIgsSsr,
   decodeLegacyObs: () => decodeLegacyObs,
   decodeMsmFull: () => decodeMsmFull,
+  decodeObs: () => decodeObs,
   decodeSbfNavigation: () => decodeSbfNavigation,
   decodeSsr: () => decodeSsr,
   decodeSystemParams: () => decodeSystemParams,
@@ -239,6 +243,7 @@ __export(src_exports, {
   glonassPosition: () => glonassPosition,
   gmst: () => gmst,
   greatCircleMidpoint: () => greatCircleMidpoint,
+  hasToOrbitClock: () => hasToOrbitClock,
   hdrLine: () => hdrLine,
   horizonDistance: () => horizonDistance,
   ionoFree: () => ionoFree,
@@ -252,11 +257,11 @@ __export(src_exports, {
   looksLikeRtcm2: () => looksLikeRtcm2,
   maskRadForAzimuth: () => maskRadForAzimuth,
   moonEcef: () => moonEcef,
-  msmEpochToDate: () => msmEpochToDate,
   navTimesFromEph: () => navTimesFromEph,
   niellMapping: () => niellMapping,
   nlWavelength: () => nlWavelength,
   nmeaCoordToDecimal: () => nmeaCoordToDecimal,
+  obsEpochToDate: () => obsEpochToDate,
   oem4Frames: () => oem4Frames,
   padL: () => padL,
   padR: () => padR,
@@ -4068,7 +4073,7 @@ function parseBiasSinex(text) {
     const endMs = parseEpoch(line.slice(50, 64), Infinity);
     const tail = line.slice(65).trim().split(/\s+/);
     if (tail.length < 2) continue;
-    const unit = tail[0];
+    const unit2 = tail[0];
     const value = Number(tail[1]);
     if (!Number.isFinite(value)) continue;
     records.push({
@@ -4080,7 +4085,7 @@ function parseBiasSinex(text) {
       startMs,
       endMs,
       value,
-      unit
+      unit: unit2
     });
   }
   const bySat = /* @__PURE__ */ new Map();
@@ -4787,9 +4792,6 @@ var BitReader = class {
   skip(n) {
     this.bitPos += n;
   }
-  get bitsLeft() {
-    return this.data.length * 8 - this.bitPos;
-  }
 };
 function crc24q2(data, length) {
   let crc = 0;
@@ -5291,7 +5293,7 @@ function decodeEphemeris(frame) {
   }
 }
 
-// src/rtcm3/igs-ssr.ts
+// src/rtcm3/ssr-common.ts
 var UPDATE_INTERVAL_S = [
   1,
   2,
@@ -5310,6 +5312,28 @@ 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",
@@ -5333,12 +5357,6 @@ 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);
@@ -5365,26 +5383,12 @@ 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")
@@ -5477,116 +5481,6 @@ 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"];
@@ -6085,7 +5979,7 @@ 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;
@@ -6121,25 +6015,120 @@ 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",
@@ -6174,12 +6163,6 @@ 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];
@@ -6189,7 +6172,7 @@ 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;
@@ -6199,30 +6182,14 @@ 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") {
@@ -6590,9 +6557,9 @@ 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) {
@@ -6601,7 +6568,7 @@ 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,
@@ -9152,14 +9119,14 @@ function parseOrbitBlock(c, masks) {
       const gnssIod = c.u(IOD_BITS[sys.system]);
       const rad = c.s(13);
       const inT = c.s(12);
-      const cross2 = c.s(12);
+      const cross3 = c.s(12);
       corrections.push({
         system: sys.system,
         prn,
         gnssIod,
         deltaRadial: rad === -4096 ? null : rad * 25e-4,
         deltaInTrack: inT === -2048 ? null : inT * 8e-3,
-        deltaCrossTrack: cross2 === -2048 ? null : cross2 * 8e-3
+        deltaCrossTrack: cross3 === -2048 ? null : cross3 * 8e-3
       });
     }
   }
@@ -14874,6 +14841,55 @@ var SbasProcessor = class {
   }
 };
 
+// src/positioning/ssr-apply.ts
+var cross = (a, b) => [
+  a[1] * b[2] - a[2] * b[1],
+  a[2] * b[0] - a[0] * b[2],
+  a[0] * b[1] - a[1] * b[0]
+];
+var norm = (a) => Math.hypot(a[0], a[1], a[2]);
+var unit = (a) => {
+  const n = norm(a);
+  return n > 0 ? [a[0] / n, a[1] / n, a[2] / n] : [0, 0, 0];
+};
+function applyOrbitClock(eph, corr, timeMs) {
+  if (eph.system === "R" || eph.system === "S") return null;
+  if (eph.iode !== corr.iod) return null;
+  const age = (timeMs - corr.refTimeMs) / 1e3;
+  if (corr.validitySeconds != null && (age < -1 || age > corr.validitySeconds))
+    return null;
+  const s = computeSatPosition(eph, timeMs);
+  if (!Number.isFinite(s.x)) return null;
+  const p = [s.x, s.y, s.z];
+  const v = [s.vx, s.vy, s.vz];
+  const er = unit(p);
+  const en = unit(cross(p, v));
+  const ea = cross(en, er);
+  const dr = corr.radial + (corr.dotRadial ?? 0) * age;
+  const da = corr.along + (corr.dotAlong ?? 0) * age;
+  const dc = corr.cross + (corr.dotCross ?? 0) * age;
+  const x = s.x + dr * er[0] + da * ea[0] + dc * en[0];
+  const y = s.y + dr * er[1] + da * ea[1] + dc * en[1];
+  const z = s.z + dr * er[2] + da * ea[2] + dc * en[2];
+  const clockM = corr.clockC0 + (corr.clockC1 ?? 0) * age + (corr.clockC2 ?? 0) * age * age + (corr.highRateClock ?? 0);
+  return { x, y, z, clockOffsetS: clockM / C_LIGHT };
+}
+function hasToOrbitClock(orbit, clock, refTimeMs, validitySeconds) {
+  if (orbit.deltaRadial == null || orbit.deltaInTrack == null || orbit.deltaCrossTrack == null)
+    return null;
+  const clockC0 = clock && clock.deltaClock != null && !clock.notUsable ? clock.deltaClock : 0;
+  return {
+    prn: orbit.prn,
+    iod: orbit.gnssIod,
+    refTimeMs,
+    radial: orbit.deltaRadial,
+    along: orbit.deltaInTrack,
+    cross: orbit.deltaCrossTrack,
+    clockC0,
+    validitySeconds
+  };
+}
+
 // src/positioning/ppp-tropo.ts
 var HYD_AVG_A = [
   0.0012769934,
@@ -15131,14 +15147,14 @@ function buildPppAntenna(antex) {
     }
   };
 }
-function cross(a, b) {
+function cross2(a, b) {
   return [
     a[1] * b[2] - a[2] * b[1],
     a[2] * b[0] - a[0] * b[2],
     a[0] * b[1] - a[1] * b[0]
   ];
 }
-function norm(a) {
+function norm2(a) {
   const n = Math.hypot(a[0], a[1], a[2]) || 1;
   return [a[0] / n, a[1] / n, a[2] / n];
 }
@@ -15146,14 +15162,14 @@ function dot(a, b) {
   return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
 }
 function satBodyFrame(satEcef, sunEcef2) {
-  const z = norm([-satEcef[0], -satEcef[1], -satEcef[2]]);
-  const eSun = norm([
+  const z = norm2([-satEcef[0], -satEcef[1], -satEcef[2]]);
+  const eSun = norm2([
     sunEcef2[0] - satEcef[0],
     sunEcef2[1] - satEcef[1],
     sunEcef2[2] - satEcef[2]
   ]);
-  const y = norm(cross(z, eSun));
-  const x = norm(cross(y, z));
+  const y = norm2(cross2(z, eSun));
+  const x = norm2(cross2(y, z));
   return { x, y, z };
 }
 function satPcoToEcef(pcoBody, frame) {
@@ -15194,7 +15210,7 @@ function phaseWindup(prn, losRcvToSat, satFrame, latRad, lonRad, state) {
   const kx = satFrame.x;
   const ky = satFrame.y;
   const kdotx = dot(k, kx);
-  const kcrossY = cross(k, ky);
+  const kcrossY = cross2(k, ky);
   const dS = [
     kx[0] - k[0] * kdotx - kcrossY[0],
     kx[1] - k[1] * kdotx - kcrossY[1],
@@ -15203,7 +15219,7 @@ function phaseWindup(prn, losRcvToSat, satFrame, latRad, lonRad, state) {
   const north = enuToEcef([0, 1, 0], latRad, lonRad);
   const east = enuToEcef([1, 0, 0], latRad, lonRad);
   const kdotn = dot(k, north);
-  const kcrossE = cross(k, east);
+  const kcrossE = cross2(k, east);
   const dR = [
     north[0] - k[0] * kdotn + kcrossE[0],
     north[1] - k[1] * kdotn + kcrossE[1],
@@ -15213,7 +15229,7 @@ function phaseWindup(prn, losRcvToSat, satFrame, latRad, lonRad, state) {
   const nR = Math.hypot(dR[0], dR[1], dR[2]) || 1;
   let cosPhi = dot(dS, dR) / (nS * nR);
   cosPhi = Math.max(-1, Math.min(1, cosPhi));
-  const zeta = cross(dS, dR);
+  const zeta = cross2(dS, dR);
   const sign = dot(k, zeta) >= 0 ? 1 : -1;
   const dphi = sign * Math.acos(cosPhi) / (2 * Math.PI);
   const prev = state.get(prn);
@@ -15351,13 +15367,35 @@ function ifCoeffs(f1, f2) {
   const lambdaIf = C_LIGHT / (f1 + f2);
   return { g, lambdaIf };
 }
+var Sp3EphemerisSource = class {
+  constructor(sp3, clk) {
+    this.sp3 = sp3;
+    this.clk = clk;
+  }
+  satState(prn, tEmitMs) {
+    const p = sp3Position(this.sp3, prn, tEmitMs);
+    if (!p || p.clk == null) return null;
+    const pPlus = sp3Position(this.sp3, prn, tEmitMs + 500);
+    const pMinus = sp3Position(this.sp3, prn, tEmitMs - 500);
+    let vx = 0;
+    let vy = 0;
+    let vz = 0;
+    if (pPlus && pMinus) {
+      vx = pPlus.x - pMinus.x;
+      vy = pPlus.y - pMinus.y;
+      vz = pPlus.z - pMinus.z;
+    }
+    const clkS = (this.clk ? clkBias(this.clk, prn, tEmitMs) : null) ?? p.clk;
+    return { x: p.x, y: p.y, z: p.z, vx, vy, vz, clkS };
+  }
+};
 function sagnacRotate(x, y, z, travelS) {
   const theta = OMEGA_E * travelS;
   const c = Math.cos(theta);
   const s = Math.sin(theta);
   return [x * c + y * s, -x * s + y * c, z];
 }
-function satStateAtEmission(sp3, prn, recvTimeMs, rcv, clk) {
+function satStateAtEmission(source, prn, recvTimeMs, rcv) {
   let travelS = 0.075;
   let sx = 0;
   let sy = 0;
@@ -15366,18 +15404,11 @@ function satStateAtEmission(sp3, prn, recvTimeMs, rcv, clk) {
   let velDotPos = 0;
   for (let iter = 0; iter < 3; iter++) {
     const tEmit = recvTimeMs - travelS * 1e3;
-    const p = sp3Position(sp3, prn, tEmit);
-    if (!p || p.clk == null) return null;
-    const pPlus = sp3Position(sp3, prn, tEmit + 500);
-    const pMinus = sp3Position(sp3, prn, tEmit - 500);
-    if (pPlus && pMinus) {
-      const vx = (pPlus.x - pMinus.x) / 1;
-      const vy = (pPlus.y - pMinus.y) / 1;
-      const vz = (pPlus.z - pMinus.z) / 1;
-      velDotPos = p.x * vx + p.y * vy + p.z * vz;
-    }
-    clkS = (clk && clkBias(clk, prn, tEmit)) ?? p.clk;
-    const [rx, ry, rz] = sagnacRotate(p.x, p.y, p.z, travelS);
+    const s = source.satState(prn, tEmit);
+    if (!s) return null;
+    velDotPos = s.x * s.vx + s.y * s.vy + s.z * s.vz;
+    clkS = s.clkS;
+    const [rx, ry, rz] = sagnacRotate(s.x, s.y, s.z, travelS);
     sx = rx;
     sy = ry;
     sz = rz;
@@ -15399,39 +15430,72 @@ var IDX_ZWD = 3;
 var NBASE = 4;
 var CLK_VAR = 1e10;
 var POS_VAR = 60 * 60;
-function solvePpp(epochs, sp3, opts) {
-  const elevMask = (opts.elevationMaskDeg ?? 10) * Math.PI / 180;
-  const codeSigma = opts.codeSigma ?? 3;
-  const phaseSigma = opts.phaseSigma ?? 0.01;
-  const ztdQ = opts.ztdProcessNoise ?? 1e-8;
-  const kinematic = opts.mode === "kinematic";
-  const corrections = opts.corrections;
-  const x = [
-    opts.aprioriPos[0],
-    opts.aprioriPos[1],
-    opts.aprioriPos[2],
-    0.1
-    // zenith wet delay (m) a priori
-  ];
-  const P = [];
-  for (let i = 0; i < NBASE; i++) {
-    P.push(new Array(NBASE).fill(0));
-  }
-  P[IDX_X][IDX_X] = 100 * 100;
-  P[IDX_Y][IDX_Y] = 100 * 100;
-  P[IDX_Z][IDX_Z] = 100 * 100;
-  P[IDX_ZWD][IDX_ZWD] = 0.5 * 0.5;
-  const clkIdx = /* @__PURE__ */ new Map();
-  const clockSeeded = /* @__PURE__ */ new Set();
-  const ambIdx = /* @__PURE__ */ new Map();
-  const lastSeen = /* @__PURE__ */ new Map();
-  const arcs = [];
-  const arcSnap = /* @__PURE__ */ new Map();
-  const flushArc = (prn, minEpochs = 10) => {
-    const s = arcSnap.get(prn);
-    arcSnap.delete(prn);
+var PppEngine = class {
+  source;
+  opts;
+  elevMask;
+  codeSigma;
+  phaseSigma;
+  ztdQ;
+  kinematic;
+  corrections;
+  truth;
+  // Filter state (reset() initialises; mutated in place across epochs).
+  x;
+  P;
+  clkIdx;
+  clockSeeded;
+  ambIdx;
+  lastSeen;
+  arcs;
+  arcSnap;
+  mwState;
+  series;
+  ei = 0;
+  t0 = 0;
+  convergenceSec = null;
+  convergedStreak = 0;
+  constructor(opts, source) {
+    this.opts = opts;
+    this.source = source;
+    this.elevMask = (opts.elevationMaskDeg ?? 10) * Math.PI / 180;
+    this.codeSigma = opts.codeSigma ?? 3;
+    this.phaseSigma = opts.phaseSigma ?? 0.01;
+    this.ztdQ = opts.ztdProcessNoise ?? 1e-8;
+    this.kinematic = opts.mode === "kinematic";
+    this.corrections = opts.corrections;
+    this.truth = opts.groundTruth;
+    this.reset();
+  }
+  /** Reinitialise the filter (fresh session). */
+  reset() {
+    const { opts } = this;
+    this.x = [opts.aprioriPos[0], opts.aprioriPos[1], opts.aprioriPos[2], 0.1];
+    const P = [];
+    for (let i = 0; i < NBASE; i++) P.push(new Array(NBASE).fill(0));
+    P[IDX_X][IDX_X] = 100 * 100;
+    P[IDX_Y][IDX_Y] = 100 * 100;
+    P[IDX_Z][IDX_Z] = 100 * 100;
+    P[IDX_ZWD][IDX_ZWD] = 0.5 * 0.5;
+    this.P = P;
+    this.clkIdx = /* @__PURE__ */ new Map();
+    this.clockSeeded = /* @__PURE__ */ new Set();
+    this.ambIdx = /* @__PURE__ */ new Map();
+    this.lastSeen = /* @__PURE__ */ new Map();
+    this.arcs = [];
+    this.arcSnap = /* @__PURE__ */ new Map();
+    this.mwState = /* @__PURE__ */ new Map();
+    this.series = [];
+    this.ei = 0;
+    this.t0 = 0;
+    this.convergenceSec = null;
+    this.convergedStreak = 0;
+  }
+  flushArc(prn, minEpochs = 10) {
+    const s = this.arcSnap.get(prn);
+    this.arcSnap.delete(prn);
     if (!s || s.nEpochs < minEpochs) return;
-    arcs.push({
+    this.arcs.push({
       prn,
       aIF: s.aIF,
       mwCyc: s.mwCyc,
@@ -15442,64 +15506,88 @@ function solvePpp(epochs, sp3, opts) {
       startMs: s.startMs,
       endMs: s.endMs
     });
-  };
-  const mwState = /* @__PURE__ */ new Map();
-  const detectSlip = (o, ei) => {
+  }
+  /** Detect a cycle slip via the Melbourne–Wübbena wide-lane ambiguity. */
+  detectSlip(o, ei) {
     const lamW = C_LIGHT / (o.f1 - o.f2);
     const lw = o.l1 - o.l2;
     const pn = (o.f1 * o.c1 + o.f2 * o.c2) / (o.f1 + o.f2);
     const mw = lw - pn / lamW;
-    const st = mwState.get(o.prn);
+    const st = this.mwState.get(o.prn);
     let slip = o.slip;
     if (!st || ei - st.lastEi > 2)
       slip = true;
     else if (Math.abs(mw - st.mean) > 4) slip = true;
-    if (slip) mwState.set(o.prn, { mean: mw, n: 1, lastEi: ei });
+    if (slip) this.mwState.set(o.prn, { mean: mw, n: 1, lastEi: ei });
     else {
       const n = st.n + 1;
-      mwState.set(o.prn, {
+      this.mwState.set(o.prn, {
         mean: st.mean + (mw - st.mean) / Math.min(n, 100),
         n,
         lastEi: ei
       });
     }
     return slip;
-  };
-  const growState = (initVal, initVar) => {
-    const idx = x.length;
-    x.push(initVal);
-    for (const row of P) row.push(0);
-    P.push(new Array(x.length).fill(0));
-    P[idx][idx] = initVar;
+  }
+  growState(initVal, initVar) {
+    const idx = this.x.length;
+    this.x.push(initVal);
+    for (const row of this.P) row.push(0);
+    this.P.push(new Array(this.x.length).fill(0));
+    this.P[idx][idx] = initVar;
     return idx;
-  };
-  const dropState = (idx) => {
-    x.splice(idx, 1);
-    P.splice(idx, 1);
-    for (const row of P) row.splice(idx, 1);
-    for (const [prn, i] of ambIdx) {
-      if (i === idx) ambIdx.delete(prn);
-      else if (i > idx) ambIdx.set(prn, i - 1);
+  }
+  dropState(idx) {
+    this.x.splice(idx, 1);
+    this.P.splice(idx, 1);
+    for (const row of this.P) row.splice(idx, 1);
+    for (const [prn, i] of this.ambIdx) {
+      if (i === idx) this.ambIdx.delete(prn);
+      else if (i > idx) this.ambIdx.set(prn, i - 1);
     }
-    for (const [sys, i] of clkIdx) {
-      if (i > idx) clkIdx.set(sys, i - 1);
+    for (const [sys, i] of this.clkIdx) {
+      if (i > idx) this.clkIdx.set(sys, i - 1);
     }
-  };
-  const clockOf = (sys) => {
-    let i = clkIdx.get(sys);
+  }
+  /** State index of a constellation's receiver clock, creating it lazily. */
+  clockOf(sys) {
+    let i = this.clkIdx.get(sys);
     if (i === void 0) {
-      i = growState(0, CLK_VAR);
-      clkIdx.set(sys, i);
+      i = this.growState(0, CLK_VAR);
+      this.clkIdx.set(sys, i);
     }
     return i;
-  };
-  const series = [];
-  const truth = opts.groundTruth;
-  const t0 = epochs[0]?.timeMs ?? 0;
-  let convergenceSec = null;
-  let convergedStreak = 0;
-  for (let ei = 0; ei < epochs.length; ei++) {
-    const epoch = epochs[ei];
+  }
+  /** Process one epoch, carrying the filter forward; returns its result. */
+  process(epoch) {
+    const {
+      source,
+      opts,
+      elevMask,
+      codeSigma,
+      phaseSigma,
+      ztdQ,
+      kinematic,
+      corrections,
+      truth,
+      x,
+      P,
+      clkIdx,
+      clockSeeded,
+      ambIdx,
+      lastSeen,
+      arcSnap,
+      mwState,
+      series
+    } = this;
+    const flushArc = this.flushArc.bind(this);
+    const detectSlip = this.detectSlip.bind(this);
+    const growState = this.growState.bind(this);
+    const dropState = this.dropState.bind(this);
+    const clockOf = this.clockOf.bind(this);
+    const ei = this.ei;
+    if (ei === 0) this.t0 = epoch.timeMs;
+    const t0 = this.t0;
     if (kinematic && ei > 0) {
       for (const p of [IDX_X, IDX_Y, IDX_Z]) {
         for (let j = 0; j < x.length; j++) {
@@ -15520,7 +15608,7 @@ function solvePpp(epochs, sp3, opts) {
     for (const o of epoch.obs) {
       if (o.c1 === 0 || o.c2 === 0 || o.l1 === 0 || o.l2 === 0) continue;
       const slip = detectSlip(o, ei);
-      const sat = satStateAtEmission(sp3, o.prn, epoch.timeMs, rcv, opts.clk);
+      const sat = satStateAtEmission(source, o.prn, epoch.timeMs, rcv);
       if (!sat) continue;
       const [elRad, azRad] = getAer(
         sat.state.x,
@@ -15540,7 +15628,9 @@ function solvePpp(epochs, sp3, opts) {
       const lam1 = C_LIGHT / o.f1;
       const lam2 = C_LIGHT / o.f2;
       if (o.c1 === 0 || o.c2 === 0 || o.l1 === 0 || o.l2 === 0) continue;
-      const pIf = g * o.c1 - (g - 1) * o.c2;
+      const b1 = source.codeBias?.(o.prn, o.code1 ?? "", epoch.timeMs) ?? 0;
+      const b2 = source.codeBias?.(o.prn, o.code2 ?? "", epoch.timeMs) ?? 0;
+      const pIf = g * (o.c1 - b1) - (g - 1) * (o.c2 - b2);
       const lIf = g * (o.l1 * lam1) - (g - 1) * (o.l2 * lam2);
       if (!Number.isFinite(pIf) || !Number.isFinite(lIf)) continue;
       const trop = opts.troposphere ?? true ? niellMapping(elRad, latRad, heightM, epoch.timeMs) : { zhd: 0, mh: 0, mw: 0 };
@@ -15727,16 +15817,16 @@ function solvePpp(epochs, sp3, opts) {
         pos[2] - truth[2]
       );
       if (error3d < 0.1) {
-        convergedStreak++;
-        if (convergedStreak >= 10 && convergenceSec == null) {
-          convergenceSec = (epoch.timeMs - t0) / 1e3;
+        this.convergedStreak++;
+        if (this.convergedStreak >= 10 && this.convergenceSec == null) {
+          this.convergenceSec = (epoch.timeMs - t0) / 1e3;
         }
       } else {
-        convergedStreak = 0;
-        convergenceSec = null;
+        this.convergedStreak = 0;
+        this.convergenceSec = null;
       }
     }
-    series.push({
+    const result = {
       timeMs: epoch.timeMs,
       enu,
       error3d,
@@ -15745,50 +15835,68 @@ function solvePpp(epochs, sp3, opts) {
       ztdWet: x[IDX_ZWD],
       ztdHydrostatic: epochZhd,
       phaseResRms: nPhaseRes > 0 ? Math.sqrt(sumPhaseResSq / nPhaseRes) : 0
-    });
-  }
-  let finalState;
-  if (opts.exposeState) {
-    const ambs = [];
-    for (const [prn, index] of ambIdx) {
-      const s = arcSnap.get(prn);
-      if (!s || s.nEpochs < 10) continue;
-      ambs.push({
-        prn,
-        index,
-        aIF: x[index],
-        mwCyc: mwState.get(prn)?.mean ?? s.mwCyc,
-        f1: s.f1,
-        f2: s.f2,
-        elevDeg: s.elevSum / s.nEpochs
-      });
+    };
+    series.push(result);
+    this.ei = ei + 1;
+    return result;
+  }
+  /** Finalise the session: capture the AR state, flush open arcs, assemble. */
+  solution() {
+    const { opts, x, P, ambIdx, arcSnap, mwState, arcs, series, truth } = this;
+    const flushArc = this.flushArc.bind(this);
+    let finalState;
+    if (opts.exposeState) {
+      const ambs = [];
+      for (const [prn, index] of ambIdx) {
+        const s = arcSnap.get(prn);
+        if (!s || s.nEpochs < 10) continue;
+        ambs.push({
+          prn,
+          index,
+          aIF: x[index],
+          mwCyc: mwState.get(prn)?.mean ?? s.mwCyc,
+          f1: s.f1,
+          f2: s.f2,
+          elevDeg: s.elevSum / s.nEpochs
+        });
+      }
+      finalState = {
+        position: [x[IDX_X], x[IDX_Y], x[IDX_Z]],
+        covariance: P.map((row) => row.slice()),
+        ambiguities: ambs
+      };
     }
-    finalState = {
-      position: [x[IDX_X], x[IDX_Y], x[IDX_Z]],
-      covariance: P.map((row) => row.slice()),
-      ambiguities: ambs
+    for (const prn of [...arcSnap.keys()]) flushArc(prn);
+    const finalPos = [
+      x[IDX_X],
+      x[IDX_Y],
+      x[IDX_Z]
+    ];
+    const llh = ecefToGeodetic(finalPos[0], finalPos[1], finalPos[2]);
+    const finalError3d = truth ? Math.hypot(
+      finalPos[0] - truth[0],
+      finalPos[1] - truth[1],
+      finalPos[2] - truth[2]
+    ) : null;
+    return {
+      position: finalPos,
+      llh,
+      series,
+      ztdWet: x[IDX_ZWD],
+      ztdHydrostatic: series.length ? series[series.length - 1].ztdHydrostatic : 0,
+      epochsUsed: series.length,
+      convergenceSec: this.convergenceSec,
+      finalError3d,
+      arcs,
+      finalState
     };
   }
-  for (const prn of [...arcSnap.keys()]) flushArc(prn);
-  const finalPos = [x[IDX_X], x[IDX_Y], x[IDX_Z]];
-  const llh = ecefToGeodetic(finalPos[0], finalPos[1], finalPos[2]);
-  const finalError3d = truth ? Math.hypot(
-    finalPos[0] - truth[0],
-    finalPos[1] - truth[1],
-    finalPos[2] - truth[2]
-  ) : null;
-  return {
-    position: finalPos,
-    llh,
-    series,
-    ztdWet: x[IDX_ZWD],
-    ztdHydrostatic: series.length ? series[series.length - 1].ztdHydrostatic : 0,
-    epochsUsed: epochs.length,
-    convergenceSec,
-    finalError3d,
-    arcs,
-    finalState
-  };
+};
+function solvePpp(epochs, sp3OrSource, opts) {
+  const source = "satState" in sp3OrSource ? sp3OrSource : new Sp3EphemerisSource(sp3OrSource, opts.clk);
+  const eng = new PppEngine(opts, source);
+  for (const epoch of epochs) eng.process(epoch);
+  return eng.solution();
 }
 
 // src/positioning/ppp-ar.ts
@@ -18843,6 +18951,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   MultipathAccumulator,
   OEM4_HLEN,
   OMEGA_E,
+  PppEngine,
   REFERENCE_FRAMES,
   RINEX_CODES,
   RTCM2_MESSAGE_NAMES,
@@ -18870,6 +18979,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   SYS_SHORT,
   SbasProcessor,
   Scale,
+  Sp3EphemerisSource,
   WGS84_ECCENTRICITY_SQUARED,
   WGS84_FLATTENING,
   WGS84_SEMI_MAJOR_AXIS,
@@ -18880,6 +18990,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   analyzeQuality,
   applyHelmert,
   applyIonoDcb,
+  applyOrbitClock,
   biasMetres,
   binexCrc16,
   binexCrc32,
@@ -18913,6 +19024,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   decodeIgsSsr,
   decodeLegacyObs,
   decodeMsmFull,
+  decodeObs,
   decodeSbfNavigation,
   decodeSsr,
   decodeSystemParams,
@@ -19003,6 +19115,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   glonassPosition,
   gmst,
   greatCircleMidpoint,
+  hasToOrbitClock,
   hdrLine,
   horizonDistance,
   ionoFree,
@@ -19016,11 +19129,11 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   looksLikeRtcm2,
   maskRadForAzimuth,
   moonEcef,
-  msmEpochToDate,
   navTimesFromEph,
   niellMapping,
   nlWavelength,
   nmeaCoordToDecimal,
+  obsEpochToDate,
   oem4Frames,
   padL,
   padR,