gnss-js 1.9.0 → 1.11.0

package/dist/{chunk-647YMBJV.js → chunk-DMNFB7Q6.js}

@@ -9,6 +9,7 @@ import {
   START_GPS_TIME
 } from "./chunk-LEEU5OIO.js";
 import {
+  C_LIGHT,
   OMEGA_E
 } from "./chunk-FIEWO4J4.js";
 
@@ -27,6 +28,7 @@ function gmForSystem(sys) {
   if (sys === "C") return GM_BDS;
   return GM_GPS;
 }
+var geoVelocityPass = false;
 function keplerPosition(eph, t) {
   const GM = gmForSystem(eph.system);
   const a = eph.sqrtA * eph.sqrtA;
@@ -54,8 +56,16 @@ function keplerPosition(eph, t) {
   const uk = phik + duk;
   const rk = a * (1 - eph.e * cosE) + drk;
   const ik = eph.i0 + dik + eph.idot * tk;
+  const EkDot = n / (1 - eph.e * cosE);
+  const vkDot = EkDot * Math.sqrt(1 - eph.e * eph.e) / (1 - eph.e * cosE);
+  const dukDot = 2 * vkDot * (eph.cus * cos2phi - eph.cuc * sin2phi);
+  const drkDot = a * eph.e * sinE * EkDot + 2 * vkDot * (eph.crs * cos2phi - eph.crc * sin2phi);
+  const dikDot = eph.idot + 2 * vkDot * (eph.cis * cos2phi - eph.cic * sin2phi);
+  const ukDot = vkDot + dukDot;
   const xp = rk * Math.cos(uk);
   const yp = rk * Math.sin(uk);
+  const xpDot = drkDot * Math.cos(uk) - rk * ukDot * Math.sin(uk);
+  const ypDot = drkDot * Math.sin(uk) + rk * ukDot * Math.cos(uk);
   const isBdsGeo = eph.system === "C" && Math.abs(eph.i0) < BDS_GEO_MAX_INCLINATION_RAD && a > BDS_GEO_MIN_SEMIMAJOR_AXIS_M;
   if (isBdsGeo) {
     const omegak2 = eph.omega0 + eph.omegaDot * tk - OMEGA_E * eph.toe;
@@ -71,23 +81,43 @@ function keplerPosition(eph, t) {
     const sinPhi = Math.sin(phi);
     const COS5 = Math.cos(-5 * Math.PI / 180);
     const SIN5 = Math.sin(-5 * Math.PI / 180);
+    const px = xg * cosPhi + yg * sinPhi * COS5 + zg * sinPhi * SIN5;
+    const py = -xg * sinPhi + yg * cosPhi * COS5 + zg * cosPhi * SIN5;
+    const pz = -yg * SIN5 + zg * COS5;
+    if (geoVelocityPass) {
+      return { prn: eph.prn, x: px, y: py, z: pz, vx: 0, vy: 0, vz: 0 };
+    }
+    geoVelocityPass = true;
+    const h = 0.5;
+    const pm = keplerPosition(eph, t - h);
+    const pp = keplerPosition(eph, t + h);
+    geoVelocityPass = false;
     return {
       prn: eph.prn,
-      x: xg * cosPhi + yg * sinPhi * COS5 + zg * sinPhi * SIN5,
-      y: -xg * sinPhi + yg * cosPhi * COS5 + zg * cosPhi * SIN5,
-      z: -yg * SIN5 + zg * COS5
+      x: px,
+      y: py,
+      z: pz,
+      vx: (pp.x - pm.x) / (2 * h),
+      vy: (pp.y - pm.y) / (2 * h),
+      vz: (pp.z - pm.z) / (2 * h)
     };
   }
   const omegak = eph.omega0 + (eph.omegaDot - OMEGA_E) * tk - OMEGA_E * eph.toe;
+  const omegakDot = eph.omegaDot - OMEGA_E;
   const cosO = Math.cos(omegak);
   const sinO = Math.sin(omegak);
   const cosI = Math.cos(ik);
   const sinI = Math.sin(ik);
+  const x = xp * cosO - yp * cosI * sinO;
+  const y = xp * sinO + yp * cosI * cosO;
   return {
     prn: eph.prn,
-    x: xp * cosO - yp * cosI * sinO,
-    y: xp * sinO + yp * cosI * cosO,
-    z: yp * sinI
+    x,
+    y,
+    z: yp * sinI,
+    vx: xpDot * cosO - ypDot * cosI * sinO + yp * sinI * sinO * dikDot - omegakDot * y,
+    vy: xpDot * sinO + ypDot * cosI * cosO - yp * sinI * cosO * dikDot + omegakDot * x,
+    vz: ypDot * sinI + yp * cosI * dikDot
   };
 }
 function gloDerivatives(state, acc) {
@@ -141,7 +171,25 @@ function glonassPosition(eph, tUtc) {
   if (Math.abs(remainder) > 1e-3) {
     state = rk4Step(state, acc, remainder);
   }
-  return { prn: eph.prn, x: state[0], y: state[1], z: state[2] };
+  return {
+    prn: eph.prn,
+    x: state[0],
+    y: state[1],
+    z: state[2],
+    vx: state[3],
+    vy: state[4],
+    vz: state[5]
+  };
+}
+function rangeRate(sat, rx, rxVel = [0, 0, 0]) {
+  const dx = sat.x - rx[0];
+  const dy = sat.y - rx[1];
+  const dz = sat.z - rx[2];
+  const rho = Math.hypot(dx, dy, dz);
+  return ((sat.vx - rxVel[0]) * dx + (sat.vy - rxVel[1]) * dy + (sat.vz - rxVel[2]) * dz) / rho;
+}
+function dopplerHz(rangeRateMs, freqHz) {
+  return -rangeRateMs * freqHz / C_LIGHT;
 }
 function ecefToAzEl(rxX, rxY, rxZ, satX, satY, satZ) {
   const [lat, lon] = ecefToGeodetic(rxX, rxY, rxZ);
@@ -465,6 +513,7 @@ function computeVisibility(ephemerides, rxPos, startMs, endMs, stepSec = 300, el
   const subLat = {};
   const subLon = {};
   const visibleCount = new Array(times.length).fill(0);
+  const visibleBySystem = {};
   const pdop = new Array(times.length).fill(null);
   const gdop = new Array(times.length).fill(null);
   const hdop = new Array(times.length).fill(null);
@@ -480,6 +529,8 @@ function computeVisibility(ephemerides, rxPos, startMs, endMs, stepSec = 300, el
       const p = series[i];
       if (p && p.el >= maskRadFor(p.az)) {
         visibleCount[i]++;
+        const sys = prn[0];
+        (visibleBySystem[sys] ??= new Array(times.length).fill(0))[i]++;
         visiblePerEpoch[i].push({ az: p.az, el: p.el });
       }
     }
@@ -531,6 +582,7 @@ function computeVisibility(ephemerides, rxPos, startMs, endMs, stepSec = 300, el
     subLat,
     subLon,
     visibleCount,
+    visibleBySystem,
     pdop,
     gdop,
     hdop,
@@ -542,6 +594,8 @@ function computeVisibility(ephemerides, rxPos, startMs, endMs, stepSec = 300, el
 export {
   keplerPosition,
   glonassPosition,
+  rangeRate,
+  dopplerHz,
   ecefToAzEl,
   computeDop,
   selectEphemeris,

package/dist/{chunk-ZRBRVNHK.js → chunk-LKFSXVIZ.js}

@@ -2,12 +2,46 @@ import {
   computeDop,
   computeSatPosition,
   ecefToAzEl
-} from "./chunk-647YMBJV.js";
+} from "./chunk-DMNFB7Q6.js";
+import {
+  ecefToGeodetic
+} from "./chunk-37QNKGTC.js";
 import {
   C_LIGHT,
   OMEGA_E
 } from "./chunk-FIEWO4J4.js";
 
+// src/positioning/klobuchar.ts
+function klobucharDelay(coeffs, latRad, lonRad, azRad, elRad, gpsTowSec) {
+  const { alpha, beta } = coeffs;
+  if (alpha.length < 4 || beta.length < 4) return 0;
+  const E = elRad / Math.PI;
+  const phiU = latRad / Math.PI;
+  const lambdaU = lonRad / Math.PI;
+  const psi = 0.0137 / (E + 0.11) - 0.022;
+  let phiI = phiU + psi * Math.cos(azRad);
+  if (phiI > 0.416) phiI = 0.416;
+  else if (phiI < -0.416) phiI = -0.416;
+  const lambdaI = lambdaU + psi * Math.sin(azRad) / Math.cos(phiI * Math.PI);
+  const phiM = phiI + 0.064 * Math.cos((lambdaI - 1.617) * Math.PI);
+  let t = 43200 * lambdaI + gpsTowSec;
+  t %= 86400;
+  if (t < 0) t += 86400;
+  let amp = 0;
+  let per = 0;
+  for (let n = 3; n >= 0; n--) {
+    amp = amp * phiM + alpha[n];
+    per = per * phiM + beta[n];
+  }
+  if (amp < 0) amp = 0;
+  if (per < 72e3) per = 72e3;
+  const F = 1 + 16 * Math.pow(0.53 - E, 3);
+  const x = 2 * Math.PI * (t - 50400) / per;
+  if (Math.abs(x) >= 1.57) return F * 5e-9;
+  const x2 = x * x;
+  return F * (5e-9 + amp * (1 - x2 / 2 + x2 * x2 / 24));
+}
+
 // src/positioning/index.ts
 var GM_GPS = 3986005e8;
 var F_REL = -4442807633e-19;
@@ -34,6 +68,16 @@ function ionoFree(p1, p2, f1, f2) {
   const g = f1 * f1 / (f1 * f1 - f2 * f2);
   return g * p1 - (g - 1) * p2;
 }
+var GPS_EPOCH_MS_SPP = Date.UTC(1980, 0, 6);
+var PRIMARY_FREQ_HZ = {
+  G: 157542e4,
+  E: 157542e4,
+  J: 157542e4,
+  S: 157542e4,
+  C: 1561098e3,
+  R: 1602e6
+};
+var F_L1 = 157542e4;
 function tropoDelay(elevationRad) {
   const sinEl = Math.sin(elevationRad);
   return 2.47 / (sinEl + 0.0121);
@@ -68,8 +112,10 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
     troposphere = true,
     maxIterations = 15,
     convergenceM = 1e-4,
-    tgd = true
+    tgd = true,
+    iono
   } = opts;
+  const gpsTow = (timeMs - GPS_EPOCH_MS_SPP) / 1e3 % 604800;
   const all = [...pseudoranges.keys()].filter((p) => ephemerides.has(p));
   const minSats = (list) => 3 + new Set(list.map((p) => p[0])).size;
   if (all.length < minSats(all)) return null;
@@ -93,6 +139,8 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
       const Htv = new Array(dim).fill(0);
       let rows = 0;
       for (const k of Object.keys(residuals2)) delete residuals2[k];
+      const positionSaneIter = x2 * x2 + y2 * y2 + z2 * z2 > 1e12;
+      const [rxLat, rxLon] = positionSaneIter ? ecefToGeodetic(x2, y2, z2) : [0, 0];
       for (const prn of prns) {
         const psr = pseudoranges.get(prn);
         const eph = ephemerides.get(prn);
@@ -111,17 +159,24 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
         const uy = (y2 - sy) / rho;
         const uz = (z2 - sz) / rho;
         let elev = Math.PI / 2;
+        let azim = 0;
         let weight = 1;
-        const positionSane = x2 * x2 + y2 * y2 + z2 * z2 > 1e12;
+        const positionSane = positionSaneIter;
         if (positionSane) {
           const azel = ecefToAzEl(x2, y2, z2, sx, sy, sz);
           elev = azel.el;
+          azim = azel.az;
           if (iter >= 2 && elev < elevationMaskDeg * Math.PI / 180) continue;
           const sinEl = Math.max(Math.sin(elev), 0.1);
           weight = sinEl * sinEl;
         }
         const tropo = troposphere && positionSane ? tropoDelay(elev) : 0;
-        const predicted = rho + clk - C_LIGHT * dts + tropo;
+        let ionoM = 0;
+        if (iono && positionSane) {
+          const f = PRIMARY_FREQ_HZ[sys] ?? F_L1;
+          ionoM = C_LIGHT * klobucharDelay(iono, rxLat, rxLon, azim, elev, gpsTow) * (F_L1 / f * (F_L1 / f));
+        }
+        const predicted = rho + clk - C_LIGHT * dts + tropo + ionoM;
         const v = psr - predicted;
         const h = new Array(dim).fill(0);
         h[0] = ux;
@@ -200,6 +255,7 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
 }
 
 export {
+  klobucharDelay,
   satClockCorrection,
   ionoFree,
   solveSpp

package/dist/index.cjs

@@ -128,6 +128,7 @@ __export(src_exports, {
   deg2dms: () => deg2dms,
   deg2rad: () => deg2rad,
   detrendIonoArcs: () => detrendIonoArcs,
+  dopplerHz: () => dopplerHz,
   ecefToAzEl: () => ecefToAzEl,
   ecefToGeodetic: () => ecefToGeodetic,
   ephInfoToEphemeris: () => ephInfoToEphemeris,
@@ -200,6 +201,7 @@ __export(src_exports, {
   horizonDistance: () => horizonDistance,
   ionoFree: () => ionoFree,
   keplerPosition: () => keplerPosition,
+  klobucharDelay: () => klobucharDelay,
   maskRadForAzimuth: () => maskRadForAzimuth,
   msmEpochToDate: () => msmEpochToDate,
   navTimesFromEph: () => navTimesFromEph,
@@ -219,6 +221,7 @@ __export(src_exports, {
   phiBOCs: () => phiBOCs,
   phiBPSK: () => phiBPSK,
   rad2deg: () => rad2deg,
+  rangeRate: () => rangeRate,
   readString: () => readString,
   reportDecodeError: () => reportDecodeError,
   resetGloFreqCache: () => resetGloFreqCache,
@@ -4104,6 +4107,7 @@ function gmForSystem(sys) {
   if (sys === "C") return GM_BDS;
   return GM_GPS;
 }
+var geoVelocityPass = false;
 function keplerPosition(eph, t) {
   const GM = gmForSystem(eph.system);
   const a = eph.sqrtA * eph.sqrtA;
@@ -4131,8 +4135,16 @@ function keplerPosition(eph, t) {
   const uk = phik + duk;
   const rk = a * (1 - eph.e * cosE) + drk;
   const ik = eph.i0 + dik + eph.idot * tk;
+  const EkDot = n / (1 - eph.e * cosE);
+  const vkDot = EkDot * Math.sqrt(1 - eph.e * eph.e) / (1 - eph.e * cosE);
+  const dukDot = 2 * vkDot * (eph.cus * cos2phi - eph.cuc * sin2phi);
+  const drkDot = a * eph.e * sinE * EkDot + 2 * vkDot * (eph.crs * cos2phi - eph.crc * sin2phi);
+  const dikDot = eph.idot + 2 * vkDot * (eph.cis * cos2phi - eph.cic * sin2phi);
+  const ukDot = vkDot + dukDot;
   const xp = rk * Math.cos(uk);
   const yp = rk * Math.sin(uk);
+  const xpDot = drkDot * Math.cos(uk) - rk * ukDot * Math.sin(uk);
+  const ypDot = drkDot * Math.sin(uk) + rk * ukDot * Math.cos(uk);
   const isBdsGeo = eph.system === "C" && Math.abs(eph.i0) < BDS_GEO_MAX_INCLINATION_RAD && a > BDS_GEO_MIN_SEMIMAJOR_AXIS_M;
   if (isBdsGeo) {
     const omegak2 = eph.omega0 + eph.omegaDot * tk - OMEGA_E * eph.toe;
@@ -4148,23 +4160,43 @@ function keplerPosition(eph, t) {
     const sinPhi = Math.sin(phi);
     const COS5 = Math.cos(-5 * Math.PI / 180);
     const SIN5 = Math.sin(-5 * Math.PI / 180);
+    const px = xg * cosPhi + yg * sinPhi * COS5 + zg * sinPhi * SIN5;
+    const py = -xg * sinPhi + yg * cosPhi * COS5 + zg * cosPhi * SIN5;
+    const pz = -yg * SIN5 + zg * COS5;
+    if (geoVelocityPass) {
+      return { prn: eph.prn, x: px, y: py, z: pz, vx: 0, vy: 0, vz: 0 };
+    }
+    geoVelocityPass = true;
+    const h = 0.5;
+    const pm = keplerPosition(eph, t - h);
+    const pp = keplerPosition(eph, t + h);
+    geoVelocityPass = false;
     return {
       prn: eph.prn,
-      x: xg * cosPhi + yg * sinPhi * COS5 + zg * sinPhi * SIN5,
-      y: -xg * sinPhi + yg * cosPhi * COS5 + zg * cosPhi * SIN5,
-      z: -yg * SIN5 + zg * COS5
+      x: px,
+      y: py,
+      z: pz,
+      vx: (pp.x - pm.x) / (2 * h),
+      vy: (pp.y - pm.y) / (2 * h),
+      vz: (pp.z - pm.z) / (2 * h)
     };
   }
   const omegak = eph.omega0 + (eph.omegaDot - OMEGA_E) * tk - OMEGA_E * eph.toe;
+  const omegakDot = eph.omegaDot - OMEGA_E;
   const cosO = Math.cos(omegak);
   const sinO = Math.sin(omegak);
   const cosI = Math.cos(ik);
   const sinI = Math.sin(ik);
+  const x = xp * cosO - yp * cosI * sinO;
+  const y = xp * sinO + yp * cosI * cosO;
   return {
     prn: eph.prn,
-    x: xp * cosO - yp * cosI * sinO,
-    y: xp * sinO + yp * cosI * cosO,
-    z: yp * sinI
+    x,
+    y,
+    z: yp * sinI,
+    vx: xpDot * cosO - ypDot * cosI * sinO + yp * sinI * sinO * dikDot - omegakDot * y,
+    vy: xpDot * sinO + ypDot * cosI * cosO - yp * sinI * cosO * dikDot + omegakDot * x,
+    vz: ypDot * sinI + yp * cosI * dikDot
   };
 }
 function gloDerivatives(state, acc) {
@@ -4218,7 +4250,25 @@ function glonassPosition(eph, tUtc) {
   if (Math.abs(remainder) > 1e-3) {
     state = rk4Step(state, acc, remainder);
   }
-  return { prn: eph.prn, x: state[0], y: state[1], z: state[2] };
+  return {
+    prn: eph.prn,
+    x: state[0],
+    y: state[1],
+    z: state[2],
+    vx: state[3],
+    vy: state[4],
+    vz: state[5]
+  };
+}
+function rangeRate(sat, rx, rxVel = [0, 0, 0]) {
+  const dx = sat.x - rx[0];
+  const dy = sat.y - rx[1];
+  const dz = sat.z - rx[2];
+  const rho = Math.hypot(dx, dy, dz);
+  return ((sat.vx - rxVel[0]) * dx + (sat.vy - rxVel[1]) * dy + (sat.vz - rxVel[2]) * dz) / rho;
+}
+function dopplerHz(rangeRateMs, freqHz) {
+  return -rangeRateMs * freqHz / C_LIGHT;
 }
 function ecefToAzEl(rxX, rxY, rxZ, satX, satY, satZ) {
   const [lat, lon] = ecefToGeodetic(rxX, rxY, rxZ);
@@ -4542,6 +4592,7 @@ function computeVisibility(ephemerides, rxPos, startMs, endMs, stepSec = 300, el
   const subLat = {};
   const subLon = {};
   const visibleCount = new Array(times.length).fill(0);
+  const visibleBySystem = {};
   const pdop = new Array(times.length).fill(null);
   const gdop = new Array(times.length).fill(null);
   const hdop = new Array(times.length).fill(null);
@@ -4557,6 +4608,8 @@ function computeVisibility(ephemerides, rxPos, startMs, endMs, stepSec = 300, el
       const p = series[i];
       if (p && p.el >= maskRadFor(p.az)) {
         visibleCount[i]++;
+        const sys = prn[0];
+        (visibleBySystem[sys] ??= new Array(times.length).fill(0))[i]++;
         visiblePerEpoch[i].push({ az: p.az, el: p.el });
       }
     }
@@ -4608,6 +4661,7 @@ function computeVisibility(ephemerides, rxPos, startMs, endMs, stepSec = 300, el
     subLat,
     subLon,
     visibleCount,
+    visibleBySystem,
     pdop,
     gdop,
     hdop,
@@ -4833,6 +4887,37 @@ function dateToEpoch(date) {
   return year + (date.getTime() - start) / (end - start);
 }
 
+// src/positioning/klobuchar.ts
+function klobucharDelay(coeffs, latRad, lonRad, azRad, elRad, gpsTowSec) {
+  const { alpha, beta } = coeffs;
+  if (alpha.length < 4 || beta.length < 4) return 0;
+  const E = elRad / Math.PI;
+  const phiU = latRad / Math.PI;
+  const lambdaU = lonRad / Math.PI;
+  const psi = 0.0137 / (E + 0.11) - 0.022;
+  let phiI = phiU + psi * Math.cos(azRad);
+  if (phiI > 0.416) phiI = 0.416;
+  else if (phiI < -0.416) phiI = -0.416;
+  const lambdaI = lambdaU + psi * Math.sin(azRad) / Math.cos(phiI * Math.PI);
+  const phiM = phiI + 0.064 * Math.cos((lambdaI - 1.617) * Math.PI);
+  let t = 43200 * lambdaI + gpsTowSec;
+  t %= 86400;
+  if (t < 0) t += 86400;
+  let amp = 0;
+  let per = 0;
+  for (let n = 3; n >= 0; n--) {
+    amp = amp * phiM + alpha[n];
+    per = per * phiM + beta[n];
+  }
+  if (amp < 0) amp = 0;
+  if (per < 72e3) per = 72e3;
+  const F = 1 + 16 * Math.pow(0.53 - E, 3);
+  const x = 2 * Math.PI * (t - 50400) / per;
+  if (Math.abs(x) >= 1.57) return F * 5e-9;
+  const x2 = x * x;
+  return F * (5e-9 + amp * (1 - x2 / 2 + x2 * x2 / 24));
+}
+
 // src/positioning/index.ts
 var GM_GPS2 = 3986005e8;
 var F_REL = -4442807633e-19;
@@ -4859,6 +4944,16 @@ function ionoFree(p1, p2, f1, f2) {
   const g = f1 * f1 / (f1 * f1 - f2 * f2);
   return g * p1 - (g - 1) * p2;
 }
+var GPS_EPOCH_MS_SPP = Date.UTC(1980, 0, 6);
+var PRIMARY_FREQ_HZ = {
+  G: 157542e4,
+  E: 157542e4,
+  J: 157542e4,
+  S: 157542e4,
+  C: 1561098e3,
+  R: 1602e6
+};
+var F_L1 = 157542e4;
 function tropoDelay(elevationRad) {
   const sinEl = Math.sin(elevationRad);
   return 2.47 / (sinEl + 0.0121);
@@ -4893,8 +4988,10 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
     troposphere = true,
     maxIterations = 15,
     convergenceM = 1e-4,
-    tgd = true
+    tgd = true,
+    iono
   } = opts;
+  const gpsTow = (timeMs - GPS_EPOCH_MS_SPP) / 1e3 % 604800;
   const all = [...pseudoranges.keys()].filter((p) => ephemerides.has(p));
   const minSats = (list) => 3 + new Set(list.map((p) => p[0])).size;
   if (all.length < minSats(all)) return null;
@@ -4918,6 +5015,8 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
       const Htv = new Array(dim).fill(0);
       let rows = 0;
       for (const k of Object.keys(residuals2)) delete residuals2[k];
+      const positionSaneIter = x2 * x2 + y2 * y2 + z2 * z2 > 1e12;
+      const [rxLat, rxLon] = positionSaneIter ? ecefToGeodetic(x2, y2, z2) : [0, 0];
       for (const prn of prns) {
         const psr = pseudoranges.get(prn);
         const eph = ephemerides.get(prn);
@@ -4936,17 +5035,24 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
         const uy = (y2 - sy) / rho;
         const uz = (z2 - sz) / rho;
         let elev = Math.PI / 2;
+        let azim = 0;
         let weight = 1;
-        const positionSane = x2 * x2 + y2 * y2 + z2 * z2 > 1e12;
+        const positionSane = positionSaneIter;
         if (positionSane) {
           const azel = ecefToAzEl(x2, y2, z2, sx, sy, sz);
           elev = azel.el;
+          azim = azel.az;
           if (iter >= 2 && elev < elevationMaskDeg * Math.PI / 180) continue;
           const sinEl = Math.max(Math.sin(elev), 0.1);
           weight = sinEl * sinEl;
         }
         const tropo = troposphere && positionSane ? tropoDelay(elev) : 0;
-        const predicted = rho + clk - C_LIGHT * dts + tropo;
+        let ionoM = 0;
+        if (iono && positionSane) {
+          const f = PRIMARY_FREQ_HZ[sys] ?? F_L1;
+          ionoM = C_LIGHT * klobucharDelay(iono, rxLat, rxLon, azim, elev, gpsTow) * (F_L1 / f * (F_L1 / f));
+        }
+        const predicted = rho + clk - C_LIGHT * dts + tropo + ionoM;
         const v = psr - predicted;
         const h = new Array(dim).fill(0);
         h[0] = ux;
@@ -7392,6 +7498,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   deg2dms,
   deg2rad,
   detrendIonoArcs,
+  dopplerHz,
   ecefToAzEl,
   ecefToGeodetic,
   ephInfoToEphemeris,
@@ -7464,6 +7571,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   horizonDistance,
   ionoFree,
   keplerPosition,
+  klobucharDelay,
   maskRadForAzimuth,
   msmEpochToDate,
   navTimesFromEph,
@@ -7483,6 +7591,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   phiBOCs,
   phiBPSK,
   rad2deg,
+  rangeRate,
   readString,
   reportDecodeError,
   resetGloFreqCache,

package/dist/index.d.cts

@@ -9,9 +9,9 @@ export { E as EpochSummary, P as ParseOptions, R as RinexHeader, a as RinexResul
 export { E as Ephemeris, G as GlonassEphemeris, K as KeplerEphemeris, N as NavHeader, a as NavResult, p as parseNavFile } from './nav-BAI1a9vK.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 { AllPositionsData, DopValues, EpochSkyData, SatAzEl, SatPoint, SatPosition, VisibilityPass, VisibilityResult, computeAllPositions, computeDop, computeLiveSkyPositions, computeSatPosition, computeVisibility, ecefToAzEl, ephInfoToEphemeris, glonassPosition, keplerPosition, maskRadForAzimuth, navTimesFromEph, selectEphemeris } from './orbit.cjs';
+export { AllPositionsData, DopValues, EpochSkyData, SatAzEl, SatPoint, SatPosition, VisibilityPass, VisibilityResult, computeAllPositions, computeDop, computeLiveSkyPositions, computeSatPosition, computeVisibility, dopplerHz, ecefToAzEl, ephInfoToEphemeris, glonassPosition, keplerPosition, maskRadForAzimuth, navTimesFromEph, rangeRate, selectEphemeris } from './orbit.cjs';
 export { Helmert14, REFERENCE_FRAMES, ReferenceFrame, applyHelmert, dateToEpoch, transformFrame } from './frames.cjs';
-export { SppOptions, SppSolution, ionoFree, satClockCorrection, solveSpp } from './positioning.cjs';
+export { KlobucharCoeffs, SppOptions, SppSolution, ionoFree, klobucharDelay, satClockCorrection, solveSpp } from './positioning.cjs';
 export { NtripCaster, NtripConnectionInfo, NtripNetwork, NtripStream, NtripStreamConnection, NtripVersion, Sourcetable, SourcetableEntry, connectToMountpoint, fetchSourcetable, parseSourcetable } from './ntrip.cjs';
 export { CompleteSatSignal, CompleteSignalStats, CompletenessAccumulator, CompletenessResult, CycleSlipAccumulator, CycleSlipEvent, CycleSlipResult, CycleSlipSignalStats, IonoAccumulator, IonoDcbResult, IonoPoint, IonoRatePoint, IonoRateSeries, IonoResult, IonoSeries, MultipathAccumulator, MultipathPoint, MultipathResult, MultipathSeries, MultipathSignalStat, QualityResult, SatDcbMap, analyzeQuality, applyIonoDcb, computeIonoRate, detrendIonoArcs, parseSinexBiasDcb } from './analysis.cjs';
 export { AntennaEntry, AntexFile, FrequencyData, frequencyLabel, parseAntex } from './antex.cjs';

package/dist/index.d.ts

@@ -9,9 +9,9 @@ export { E as EpochSummary, P as ParseOptions, R as RinexHeader, a as RinexResul
 export { E as Ephemeris, G as GlonassEphemeris, K as KeplerEphemeris, N as NavHeader, a as NavResult, p as parseNavFile } from './nav-BAI1a9vK.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 { AllPositionsData, DopValues, EpochSkyData, SatAzEl, SatPoint, SatPosition, VisibilityPass, VisibilityResult, computeAllPositions, computeDop, computeLiveSkyPositions, computeSatPosition, computeVisibility, ecefToAzEl, ephInfoToEphemeris, glonassPosition, keplerPosition, maskRadForAzimuth, navTimesFromEph, selectEphemeris } from './orbit.js';
+export { AllPositionsData, DopValues, EpochSkyData, SatAzEl, SatPoint, SatPosition, VisibilityPass, VisibilityResult, computeAllPositions, computeDop, computeLiveSkyPositions, computeSatPosition, computeVisibility, dopplerHz, ecefToAzEl, ephInfoToEphemeris, glonassPosition, keplerPosition, maskRadForAzimuth, navTimesFromEph, rangeRate, selectEphemeris } from './orbit.js';
 export { Helmert14, REFERENCE_FRAMES, ReferenceFrame, applyHelmert, dateToEpoch, transformFrame } from './frames.js';
-export { SppOptions, SppSolution, ionoFree, satClockCorrection, solveSpp } from './positioning.js';
+export { KlobucharCoeffs, SppOptions, SppSolution, ionoFree, klobucharDelay, satClockCorrection, solveSpp } from './positioning.js';
 export { NtripCaster, NtripConnectionInfo, NtripNetwork, NtripStream, NtripStreamConnection, NtripVersion, Sourcetable, SourcetableEntry, connectToMountpoint, fetchSourcetable, parseSourcetable } from './ntrip.js';
 export { CompleteSatSignal, CompleteSignalStats, CompletenessAccumulator, CompletenessResult, CycleSlipAccumulator, CycleSlipEvent, CycleSlipResult, CycleSlipSignalStats, IonoAccumulator, IonoDcbResult, IonoPoint, IonoRatePoint, IonoRateSeries, IonoResult, IonoSeries, MultipathAccumulator, MultipathPoint, MultipathResult, MultipathSeries, MultipathSignalStat, QualityResult, SatDcbMap, analyzeQuality, applyIonoDcb, computeIonoRate, detrendIonoArcs, parseSinexBiasDcb } from './analysis.js';
 export { AntennaEntry, AntexFile, FrequencyData, frequencyLabel, parseAntex } from './antex.js';

package/dist/index.js

@@ -100,23 +100,26 @@ import {
 } from "./chunk-4KOXMHUW.js";
 import {
   ionoFree,
+  klobucharDelay,
   satClockCorrection,
   solveSpp
-} from "./chunk-ZRBRVNHK.js";
+} from "./chunk-LKFSXVIZ.js";
 import {
   computeAllPositions,
   computeDop,
   computeLiveSkyPositions,
   computeSatPosition,
   computeVisibility,
+  dopplerHz,
   ecefToAzEl,
   ephInfoToEphemeris,
   glonassPosition,
   keplerPosition,
   maskRadForAzimuth,
   navTimesFromEph,
+  rangeRate,
   selectEphemeris
-} from "./chunk-647YMBJV.js";
+} from "./chunk-DMNFB7Q6.js";
 import {
   getBdsTime,
   getDateFromBdsTime,
@@ -361,6 +364,7 @@ export {
   deg2dms,
   deg2rad,
   detrendIonoArcs,
+  dopplerHz,
   ecefToAzEl,
   ecefToGeodetic,
   ephInfoToEphemeris,
@@ -433,6 +437,7 @@ export {
   horizonDistance,
   ionoFree,
   keplerPosition,
+  klobucharDelay,
   maskRadForAzimuth,
   msmEpochToDate,
   navTimesFromEph,
@@ -452,6 +457,7 @@ export {
   phiBOCs,
   phiBPSK,
   rad2deg,
+  rangeRate,
   readString,
   reportDecodeError,
   resetGloFreqCache,

package/dist/orbit.cjs

@@ -25,6 +25,7 @@ __export(orbit_exports, {
   computeLiveSkyPositions: () => computeLiveSkyPositions,
   computeSatPosition: () => computeSatPosition,
   computeVisibility: () => computeVisibility,
+  dopplerHz: () => dopplerHz,
   ecefToAzEl: () => ecefToAzEl,
   ecefToGeodetic: () => ecefToGeodetic,
   ephInfoToEphemeris: () => ephInfoToEphemeris,
@@ -33,6 +34,7 @@ __export(orbit_exports, {
   keplerPosition: () => keplerPosition,
   maskRadForAzimuth: () => maskRadForAzimuth,
   navTimesFromEph: () => navTimesFromEph,
+  rangeRate: () => rangeRate,
   selectEphemeris: () => selectEphemeris
 });
 module.exports = __toCommonJS(orbit_exports);
@@ -82,6 +84,7 @@ var START_BDS_TIME = /* @__PURE__ */ new Date("2006-01-01T00:00:14Z");
 var START_NTP_TIME = /* @__PURE__ */ new Date("1900-01-01T00:00:00Z");
 
 // src/constants/gnss.ts
+var C_LIGHT = 299792458;
 var OMEGA_E = 72921151467e-15;
 
 // src/time/gnss.ts
@@ -181,6 +184,7 @@ function gmForSystem(sys) {
   if (sys === "C") return GM_BDS;
   return GM_GPS;
 }
+var geoVelocityPass = false;
 function keplerPosition(eph, t) {
   const GM = gmForSystem(eph.system);
   const a = eph.sqrtA * eph.sqrtA;
@@ -208,8 +212,16 @@ function keplerPosition(eph, t) {
   const uk = phik + duk;
   const rk = a * (1 - eph.e * cosE) + drk;
   const ik = eph.i0 + dik + eph.idot * tk;
+  const EkDot = n / (1 - eph.e * cosE);
+  const vkDot = EkDot * Math.sqrt(1 - eph.e * eph.e) / (1 - eph.e * cosE);
+  const dukDot = 2 * vkDot * (eph.cus * cos2phi - eph.cuc * sin2phi);
+  const drkDot = a * eph.e * sinE * EkDot + 2 * vkDot * (eph.crs * cos2phi - eph.crc * sin2phi);
+  const dikDot = eph.idot + 2 * vkDot * (eph.cis * cos2phi - eph.cic * sin2phi);
+  const ukDot = vkDot + dukDot;
   const xp = rk * Math.cos(uk);
   const yp = rk * Math.sin(uk);
+  const xpDot = drkDot * Math.cos(uk) - rk * ukDot * Math.sin(uk);
+  const ypDot = drkDot * Math.sin(uk) + rk * ukDot * Math.cos(uk);
   const isBdsGeo = eph.system === "C" && Math.abs(eph.i0) < BDS_GEO_MAX_INCLINATION_RAD && a > BDS_GEO_MIN_SEMIMAJOR_AXIS_M;
   if (isBdsGeo) {
     const omegak2 = eph.omega0 + eph.omegaDot * tk - OMEGA_E * eph.toe;
@@ -225,23 +237,43 @@ function keplerPosition(eph, t) {
     const sinPhi = Math.sin(phi);
     const COS5 = Math.cos(-5 * Math.PI / 180);
     const SIN5 = Math.sin(-5 * Math.PI / 180);
+    const px = xg * cosPhi + yg * sinPhi * COS5 + zg * sinPhi * SIN5;
+    const py = -xg * sinPhi + yg * cosPhi * COS5 + zg * cosPhi * SIN5;
+    const pz = -yg * SIN5 + zg * COS5;
+    if (geoVelocityPass) {
+      return { prn: eph.prn, x: px, y: py, z: pz, vx: 0, vy: 0, vz: 0 };
+    }
+    geoVelocityPass = true;
+    const h = 0.5;
+    const pm = keplerPosition(eph, t - h);
+    const pp = keplerPosition(eph, t + h);
+    geoVelocityPass = false;
     return {
       prn: eph.prn,
-      x: xg * cosPhi + yg * sinPhi * COS5 + zg * sinPhi * SIN5,
-      y: -xg * sinPhi + yg * cosPhi * COS5 + zg * cosPhi * SIN5,
-      z: -yg * SIN5 + zg * COS5
+      x: px,
+      y: py,
+      z: pz,
+      vx: (pp.x - pm.x) / (2 * h),
+      vy: (pp.y - pm.y) / (2 * h),
+      vz: (pp.z - pm.z) / (2 * h)
     };
   }
   const omegak = eph.omega0 + (eph.omegaDot - OMEGA_E) * tk - OMEGA_E * eph.toe;
+  const omegakDot = eph.omegaDot - OMEGA_E;
   const cosO = Math.cos(omegak);
   const sinO = Math.sin(omegak);
   const cosI = Math.cos(ik);
   const sinI = Math.sin(ik);
+  const x = xp * cosO - yp * cosI * sinO;
+  const y = xp * sinO + yp * cosI * cosO;
   return {
     prn: eph.prn,
-    x: xp * cosO - yp * cosI * sinO,
-    y: xp * sinO + yp * cosI * cosO,
-    z: yp * sinI
+    x,
+    y,
+    z: yp * sinI,
+    vx: xpDot * cosO - ypDot * cosI * sinO + yp * sinI * sinO * dikDot - omegakDot * y,
+    vy: xpDot * sinO + ypDot * cosI * cosO - yp * sinI * cosO * dikDot + omegakDot * x,
+    vz: ypDot * sinI + yp * cosI * dikDot
   };
 }
 function gloDerivatives(state, acc) {
@@ -295,7 +327,25 @@ function glonassPosition(eph, tUtc) {
   if (Math.abs(remainder) > 1e-3) {
     state = rk4Step(state, acc, remainder);
   }
-  return { prn: eph.prn, x: state[0], y: state[1], z: state[2] };
+  return {
+    prn: eph.prn,
+    x: state[0],
+    y: state[1],
+    z: state[2],
+    vx: state[3],
+    vy: state[4],
+    vz: state[5]
+  };
+}
+function rangeRate(sat, rx, rxVel = [0, 0, 0]) {
+  const dx = sat.x - rx[0];
+  const dy = sat.y - rx[1];
+  const dz = sat.z - rx[2];
+  const rho = Math.hypot(dx, dy, dz);
+  return ((sat.vx - rxVel[0]) * dx + (sat.vy - rxVel[1]) * dy + (sat.vz - rxVel[2]) * dz) / rho;
+}
+function dopplerHz(rangeRateMs, freqHz) {
+  return -rangeRateMs * freqHz / C_LIGHT;
 }
 function ecefToAzEl(rxX, rxY, rxZ, satX, satY, satZ) {
   const [lat, lon] = ecefToGeodetic(rxX, rxY, rxZ);
@@ -619,6 +669,7 @@ function computeVisibility(ephemerides, rxPos, startMs, endMs, stepSec = 300, el
   const subLat = {};
   const subLon = {};
   const visibleCount = new Array(times.length).fill(0);
+  const visibleBySystem = {};
   const pdop = new Array(times.length).fill(null);
   const gdop = new Array(times.length).fill(null);
   const hdop = new Array(times.length).fill(null);
@@ -634,6 +685,8 @@ function computeVisibility(ephemerides, rxPos, startMs, endMs, stepSec = 300, el
       const p = series[i];
       if (p && p.el >= maskRadFor(p.az)) {
         visibleCount[i]++;
+        const sys = prn[0];
+        (visibleBySystem[sys] ??= new Array(times.length).fill(0))[i]++;
         visiblePerEpoch[i].push({ az: p.az, el: p.el });
       }
     }
@@ -685,6 +738,7 @@ function computeVisibility(ephemerides, rxPos, startMs, endMs, stepSec = 300, el
     subLat,
     subLon,
     visibleCount,
+    visibleBySystem,
     pdop,
     gdop,
     hdop,
@@ -699,6 +753,7 @@ function computeVisibility(ephemerides, rxPos, startMs, endMs, stepSec = 300, el
   computeLiveSkyPositions,
   computeSatPosition,
   computeVisibility,
+  dopplerHz,
   ecefToAzEl,
   ecefToGeodetic,
   ephInfoToEphemeris,
@@ -707,5 +762,6 @@ function computeVisibility(ephemerides, rxPos, startMs, endMs, stepSec = 300, el
   keplerPosition,
   maskRadForAzimuth,
   navTimesFromEph,
+  rangeRate,
   selectEphemeris
 });

package/dist/orbit.d.cts

@@ -12,6 +12,9 @@ interface SatPosition {
     x: number;
     y: number;
     z: number;
+    vx: number;
+    vy: number;
+    vz: number;
 }
 interface SatAzEl {
     prn: string;
@@ -28,7 +31,7 @@ interface DopValues {
     vdop: number;
 }
 /**
- * Compute satellite ECEF position from Keplerian ephemeris.
+ * Compute satellite ECEF position and velocity from Keplerian ephemeris.
  * @param eph Broadcast ephemeris
  * @param t GPS time of week in seconds
  */
@@ -39,6 +42,13 @@ declare function keplerPosition(eph: KeplerEphemeris, t: number): SatPosition;
  * @param tUtc Target time as UTC seconds since Unix epoch
  */
 declare function glonassPosition(eph: GlonassEphemeris, tUtc: number): SatPosition;
+/**
+ * Geometric range rate (m/s, positive = receding) between a satellite
+ * with ECEF velocity and a receiver (static by default).
+ */
+declare function rangeRate(sat: SatPosition, rx: [number, number, number], rxVel?: [number, number, number]): number;
+/** Predicted carrier Doppler (Hz) from a range rate at frequency f. */
+declare function dopplerHz(rangeRateMs: number, freqHz: number): number;
 /**
  * Compute azimuth and elevation from receiver ECEF to satellite ECEF.
  * @param rxX Receiver X in meters (ECEF)
@@ -141,6 +151,8 @@ interface VisibilityResult {
     subLon: Record<string, (number | null)[]>;
     /** Number of satellites at or above the mask, per epoch. */
     visibleCount: number[];
+    /** Per-system visible counts per epoch (system letter → counts). */
+    visibleBySystem: Record<string, number[]>;
     /** PDOP per epoch (null when < 4 satellites above the mask). */
     pdop: (number | null)[];
     /** GDOP per epoch (null when < 4 satellites above the mask). */
@@ -174,4 +186,4 @@ declare function maskRadForAzimuth(maskDeg: number | number[]): (azRad: number)
  */
 declare function computeVisibility(ephemerides: Ephemeris[], rxPos: [number, number, number], startMs: number, endMs: number, stepSec?: number, elevationMaskDeg?: number | number[]): VisibilityResult;
 
-export { type AllPositionsData, type DopValues, type EpochSkyData, type SatAzEl, type SatPoint, type SatPosition, type VisibilityPass, type VisibilityResult, computeAllPositions, computeDop, computeLiveSkyPositions, computeSatPosition, computeVisibility, ecefToAzEl, ephInfoToEphemeris, glonassPosition, keplerPosition, maskRadForAzimuth, navTimesFromEph, selectEphemeris };
+export { type AllPositionsData, type DopValues, type EpochSkyData, type SatAzEl, type SatPoint, type SatPosition, type VisibilityPass, type VisibilityResult, computeAllPositions, computeDop, computeLiveSkyPositions, computeSatPosition, computeVisibility, dopplerHz, ecefToAzEl, ephInfoToEphemeris, glonassPosition, keplerPosition, maskRadForAzimuth, navTimesFromEph, rangeRate, selectEphemeris };

package/dist/orbit.d.ts

@@ -12,6 +12,9 @@ interface SatPosition {
     x: number;
     y: number;
     z: number;
+    vx: number;
+    vy: number;
+    vz: number;
 }
 interface SatAzEl {
     prn: string;
@@ -28,7 +31,7 @@ interface DopValues {
     vdop: number;
 }
 /**
- * Compute satellite ECEF position from Keplerian ephemeris.
+ * Compute satellite ECEF position and velocity from Keplerian ephemeris.
  * @param eph Broadcast ephemeris
  * @param t GPS time of week in seconds
  */
@@ -39,6 +42,13 @@ declare function keplerPosition(eph: KeplerEphemeris, t: number): SatPosition;
  * @param tUtc Target time as UTC seconds since Unix epoch
  */
 declare function glonassPosition(eph: GlonassEphemeris, tUtc: number): SatPosition;
+/**
+ * Geometric range rate (m/s, positive = receding) between a satellite
+ * with ECEF velocity and a receiver (static by default).
+ */
+declare function rangeRate(sat: SatPosition, rx: [number, number, number], rxVel?: [number, number, number]): number;
+/** Predicted carrier Doppler (Hz) from a range rate at frequency f. */
+declare function dopplerHz(rangeRateMs: number, freqHz: number): number;
 /**
  * Compute azimuth and elevation from receiver ECEF to satellite ECEF.
  * @param rxX Receiver X in meters (ECEF)
@@ -141,6 +151,8 @@ interface VisibilityResult {
     subLon: Record<string, (number | null)[]>;
     /** Number of satellites at or above the mask, per epoch. */
     visibleCount: number[];
+    /** Per-system visible counts per epoch (system letter → counts). */
+    visibleBySystem: Record<string, number[]>;
     /** PDOP per epoch (null when < 4 satellites above the mask). */
     pdop: (number | null)[];
     /** GDOP per epoch (null when < 4 satellites above the mask). */
@@ -174,4 +186,4 @@ declare function maskRadForAzimuth(maskDeg: number | number[]): (azRad: number)
  */
 declare function computeVisibility(ephemerides: Ephemeris[], rxPos: [number, number, number], startMs: number, endMs: number, stepSec?: number, elevationMaskDeg?: number | number[]): VisibilityResult;
 
-export { type AllPositionsData, type DopValues, type EpochSkyData, type SatAzEl, type SatPoint, type SatPosition, type VisibilityPass, type VisibilityResult, computeAllPositions, computeDop, computeLiveSkyPositions, computeSatPosition, computeVisibility, ecefToAzEl, ephInfoToEphemeris, glonassPosition, keplerPosition, maskRadForAzimuth, navTimesFromEph, selectEphemeris };
+export { type AllPositionsData, type DopValues, type EpochSkyData, type SatAzEl, type SatPoint, type SatPosition, type VisibilityPass, type VisibilityResult, computeAllPositions, computeDop, computeLiveSkyPositions, computeSatPosition, computeVisibility, dopplerHz, ecefToAzEl, ephInfoToEphemeris, glonassPosition, keplerPosition, maskRadForAzimuth, navTimesFromEph, rangeRate, selectEphemeris };

package/dist/orbit.js

@@ -4,14 +4,16 @@ import {
   computeLiveSkyPositions,
   computeSatPosition,
   computeVisibility,
+  dopplerHz,
   ecefToAzEl,
   ephInfoToEphemeris,
   glonassPosition,
   keplerPosition,
   maskRadForAzimuth,
   navTimesFromEph,
+  rangeRate,
   selectEphemeris
-} from "./chunk-647YMBJV.js";
+} from "./chunk-DMNFB7Q6.js";
 import "./chunk-HVXYFUCB.js";
 import {
   ecefToGeodetic,
@@ -26,6 +28,7 @@ export {
   computeLiveSkyPositions,
   computeSatPosition,
   computeVisibility,
+  dopplerHz,
   ecefToAzEl,
   ecefToGeodetic,
   ephInfoToEphemeris,
@@ -34,5 +37,6 @@ export {
   keplerPosition,
   maskRadForAzimuth,
   navTimesFromEph,
+  rangeRate,
   selectEphemeris
 };

package/dist/positioning.cjs

@@ -21,6 +21,7 @@ var __toCommonJS = (mod) => __copyProps(__defProp({}, "__esModule", { value: tru
 var positioning_exports = {};
 __export(positioning_exports, {
   ionoFree: () => ionoFree,
+  klobucharDelay: () => klobucharDelay,
   satClockCorrection: () => satClockCorrection,
   solveSpp: () => solveSpp
 });
@@ -164,6 +165,7 @@ function gmForSystem(sys) {
   if (sys === "C") return GM_BDS;
   return GM_GPS;
 }
+var geoVelocityPass = false;
 function keplerPosition(eph, t) {
   const GM = gmForSystem(eph.system);
   const a = eph.sqrtA * eph.sqrtA;
@@ -191,8 +193,16 @@ function keplerPosition(eph, t) {
   const uk = phik + duk;
   const rk = a * (1 - eph.e * cosE) + drk;
   const ik = eph.i0 + dik + eph.idot * tk;
+  const EkDot = n / (1 - eph.e * cosE);
+  const vkDot = EkDot * Math.sqrt(1 - eph.e * eph.e) / (1 - eph.e * cosE);
+  const dukDot = 2 * vkDot * (eph.cus * cos2phi - eph.cuc * sin2phi);
+  const drkDot = a * eph.e * sinE * EkDot + 2 * vkDot * (eph.crs * cos2phi - eph.crc * sin2phi);
+  const dikDot = eph.idot + 2 * vkDot * (eph.cis * cos2phi - eph.cic * sin2phi);
+  const ukDot = vkDot + dukDot;
   const xp = rk * Math.cos(uk);
   const yp = rk * Math.sin(uk);
+  const xpDot = drkDot * Math.cos(uk) - rk * ukDot * Math.sin(uk);
+  const ypDot = drkDot * Math.sin(uk) + rk * ukDot * Math.cos(uk);
   const isBdsGeo = eph.system === "C" && Math.abs(eph.i0) < BDS_GEO_MAX_INCLINATION_RAD && a > BDS_GEO_MIN_SEMIMAJOR_AXIS_M;
   if (isBdsGeo) {
     const omegak2 = eph.omega0 + eph.omegaDot * tk - OMEGA_E * eph.toe;
@@ -208,23 +218,43 @@ function keplerPosition(eph, t) {
     const sinPhi = Math.sin(phi);
     const COS5 = Math.cos(-5 * Math.PI / 180);
     const SIN5 = Math.sin(-5 * Math.PI / 180);
+    const px = xg * cosPhi + yg * sinPhi * COS5 + zg * sinPhi * SIN5;
+    const py = -xg * sinPhi + yg * cosPhi * COS5 + zg * cosPhi * SIN5;
+    const pz = -yg * SIN5 + zg * COS5;
+    if (geoVelocityPass) {
+      return { prn: eph.prn, x: px, y: py, z: pz, vx: 0, vy: 0, vz: 0 };
+    }
+    geoVelocityPass = true;
+    const h = 0.5;
+    const pm = keplerPosition(eph, t - h);
+    const pp = keplerPosition(eph, t + h);
+    geoVelocityPass = false;
     return {
       prn: eph.prn,
-      x: xg * cosPhi + yg * sinPhi * COS5 + zg * sinPhi * SIN5,
-      y: -xg * sinPhi + yg * cosPhi * COS5 + zg * cosPhi * SIN5,
-      z: -yg * SIN5 + zg * COS5
+      x: px,
+      y: py,
+      z: pz,
+      vx: (pp.x - pm.x) / (2 * h),
+      vy: (pp.y - pm.y) / (2 * h),
+      vz: (pp.z - pm.z) / (2 * h)
     };
   }
   const omegak = eph.omega0 + (eph.omegaDot - OMEGA_E) * tk - OMEGA_E * eph.toe;
+  const omegakDot = eph.omegaDot - OMEGA_E;
   const cosO = Math.cos(omegak);
   const sinO = Math.sin(omegak);
   const cosI = Math.cos(ik);
   const sinI = Math.sin(ik);
+  const x = xp * cosO - yp * cosI * sinO;
+  const y = xp * sinO + yp * cosI * cosO;
   return {
     prn: eph.prn,
-    x: xp * cosO - yp * cosI * sinO,
-    y: xp * sinO + yp * cosI * cosO,
-    z: yp * sinI
+    x,
+    y,
+    z: yp * sinI,
+    vx: xpDot * cosO - ypDot * cosI * sinO + yp * sinI * sinO * dikDot - omegakDot * y,
+    vy: xpDot * sinO + ypDot * cosI * cosO - yp * sinI * cosO * dikDot + omegakDot * x,
+    vz: ypDot * sinI + yp * cosI * dikDot
   };
 }
 function gloDerivatives(state, acc) {
@@ -278,7 +308,15 @@ function glonassPosition(eph, tUtc) {
   if (Math.abs(remainder) > 1e-3) {
     state = rk4Step(state, acc, remainder);
   }
-  return { prn: eph.prn, x: state[0], y: state[1], z: state[2] };
+  return {
+    prn: eph.prn,
+    x: state[0],
+    y: state[1],
+    z: state[2],
+    vx: state[3],
+    vy: state[4],
+    vz: state[5]
+  };
 }
 function ecefToAzEl(rxX, rxY, rxZ, satX, satY, satZ) {
   const [lat, lon] = ecefToGeodetic(rxX, rxY, rxZ);
@@ -371,6 +409,37 @@ var MS_PER_WEEK = 7 * 864e5;
 var BDS_EPOCH_MS = START_BDS_TIME.getTime();
 var GAL_EPOCH_MS = GPS_EPOCH_MS + 1024 * MS_PER_WEEK;
 
+// src/positioning/klobuchar.ts
+function klobucharDelay(coeffs, latRad, lonRad, azRad, elRad, gpsTowSec) {
+  const { alpha, beta } = coeffs;
+  if (alpha.length < 4 || beta.length < 4) return 0;
+  const E = elRad / Math.PI;
+  const phiU = latRad / Math.PI;
+  const lambdaU = lonRad / Math.PI;
+  const psi = 0.0137 / (E + 0.11) - 0.022;
+  let phiI = phiU + psi * Math.cos(azRad);
+  if (phiI > 0.416) phiI = 0.416;
+  else if (phiI < -0.416) phiI = -0.416;
+  const lambdaI = lambdaU + psi * Math.sin(azRad) / Math.cos(phiI * Math.PI);
+  const phiM = phiI + 0.064 * Math.cos((lambdaI - 1.617) * Math.PI);
+  let t = 43200 * lambdaI + gpsTowSec;
+  t %= 86400;
+  if (t < 0) t += 86400;
+  let amp = 0;
+  let per = 0;
+  for (let n = 3; n >= 0; n--) {
+    amp = amp * phiM + alpha[n];
+    per = per * phiM + beta[n];
+  }
+  if (amp < 0) amp = 0;
+  if (per < 72e3) per = 72e3;
+  const F = 1 + 16 * Math.pow(0.53 - E, 3);
+  const x = 2 * Math.PI * (t - 50400) / per;
+  if (Math.abs(x) >= 1.57) return F * 5e-9;
+  const x2 = x * x;
+  return F * (5e-9 + amp * (1 - x2 / 2 + x2 * x2 / 24));
+}
+
 // src/positioning/index.ts
 var GM_GPS2 = 3986005e8;
 var F_REL = -4442807633e-19;
@@ -397,6 +466,16 @@ function ionoFree(p1, p2, f1, f2) {
   const g = f1 * f1 / (f1 * f1 - f2 * f2);
   return g * p1 - (g - 1) * p2;
 }
+var GPS_EPOCH_MS_SPP = Date.UTC(1980, 0, 6);
+var PRIMARY_FREQ_HZ = {
+  G: 157542e4,
+  E: 157542e4,
+  J: 157542e4,
+  S: 157542e4,
+  C: 1561098e3,
+  R: 1602e6
+};
+var F_L1 = 157542e4;
 function tropoDelay(elevationRad) {
   const sinEl = Math.sin(elevationRad);
   return 2.47 / (sinEl + 0.0121);
@@ -431,8 +510,10 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
     troposphere = true,
     maxIterations = 15,
     convergenceM = 1e-4,
-    tgd = true
+    tgd = true,
+    iono
   } = opts;
+  const gpsTow = (timeMs - GPS_EPOCH_MS_SPP) / 1e3 % 604800;
   const all = [...pseudoranges.keys()].filter((p) => ephemerides.has(p));
   const minSats = (list) => 3 + new Set(list.map((p) => p[0])).size;
   if (all.length < minSats(all)) return null;
@@ -456,6 +537,8 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
       const Htv = new Array(dim).fill(0);
       let rows = 0;
       for (const k of Object.keys(residuals2)) delete residuals2[k];
+      const positionSaneIter = x2 * x2 + y2 * y2 + z2 * z2 > 1e12;
+      const [rxLat, rxLon] = positionSaneIter ? ecefToGeodetic(x2, y2, z2) : [0, 0];
       for (const prn of prns) {
         const psr = pseudoranges.get(prn);
         const eph = ephemerides.get(prn);
@@ -474,17 +557,24 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
         const uy = (y2 - sy) / rho;
         const uz = (z2 - sz) / rho;
         let elev = Math.PI / 2;
+        let azim = 0;
         let weight = 1;
-        const positionSane = x2 * x2 + y2 * y2 + z2 * z2 > 1e12;
+        const positionSane = positionSaneIter;
         if (positionSane) {
           const azel = ecefToAzEl(x2, y2, z2, sx, sy, sz);
           elev = azel.el;
+          azim = azel.az;
           if (iter >= 2 && elev < elevationMaskDeg * Math.PI / 180) continue;
           const sinEl = Math.max(Math.sin(elev), 0.1);
           weight = sinEl * sinEl;
         }
         const tropo = troposphere && positionSane ? tropoDelay(elev) : 0;
-        const predicted = rho + clk - C_LIGHT * dts + tropo;
+        let ionoM = 0;
+        if (iono && positionSane) {
+          const f = PRIMARY_FREQ_HZ[sys] ?? F_L1;
+          ionoM = C_LIGHT * klobucharDelay(iono, rxLat, rxLon, azim, elev, gpsTow) * (F_L1 / f * (F_L1 / f));
+        }
+        const predicted = rho + clk - C_LIGHT * dts + tropo + ionoM;
         const v = psr - predicted;
         const h = new Array(dim).fill(0);
         h[0] = ux;
@@ -564,6 +654,7 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
 // Annotate the CommonJS export names for ESM import in node:
 0 && (module.exports = {
   ionoFree,
+  klobucharDelay,
   satClockCorrection,
   solveSpp
 });

package/dist/positioning.d.cts

@@ -3,6 +3,36 @@ import { DopValues } from './orbit.cjs';
 import './ephemeris-Ohl6NAfw.cjs';
 import './ecef-CF0uAysr.cjs';
 
+/**
+ * Klobuchar broadcast ionospheric model (IS-GPS-200, 20.3.3.5.2.5).
+ *
+ * Evaluates the single-frequency vertical→slant ionospheric delay from
+ * the eight coefficients broadcast in the GPS navigation message (and
+ * carried in RINEX nav headers as GPSA/GPSB, or ION ALPHA/BETA in
+ * RINEX 2). The model captures ~50% RMS of the actual delay — crude,
+ * but exactly what a single-frequency receiver applies, which makes it
+ * both a useful SPP correction and an honest "what broadcast users
+ * get" reference against measured or GIM TEC.
+ */
+/** The eight Klobuchar coefficients from the navigation message. */
+interface KlobucharCoeffs {
+    /** GPSA: alpha0..alpha3 (s, s/sc, s/sc², s/sc³). */
+    alpha: number[];
+    /** GPSB: beta0..beta3 (s, s/sc, s/sc², s/sc³). */
+    beta: number[];
+}
+/**
+ * Slant ionospheric group delay on GPS L1, in seconds.
+ *
+ * @param coeffs Broadcast alpha/beta coefficients
+ * @param latRad Receiver geodetic latitude (radians)
+ * @param lonRad Receiver geodetic longitude (radians)
+ * @param azRad Satellite azimuth (radians)
+ * @param elRad Satellite elevation (radians)
+ * @param gpsTowSec GPS time of week (seconds)
+ */
+declare function klobucharDelay(coeffs: KlobucharCoeffs, latRad: number, lonRad: number, azRad: number, elRad: number, gpsTowSec: number): number;
+
 /**
  * Single-point positioning (SPP) from pseudoranges and broadcast
  * ephemerides.
@@ -11,9 +41,11 @@ import './ecef-CF0uAysr.cjs';
  * constellation (absorbing inter-system time offsets), satellite clock
  * polynomial + relativistic correction, broadcast group delay
  * (TGD/BGD), Sagnac (Earth-rotation) correction, elevation
- * masking/weighting, and a simple tropospheric model. Ionospheric delay is NOT modelled — use the iono-free
- * combination (ionoFree helper) with dual-frequency pseudoranges for
- * metre-level results, or expect ~2–10 m of iono bias on L1-only.
+ * masking/weighting, and a simple tropospheric model. Ionospheric
+ * delay can be modelled from the broadcast Klobuchar coefficients
+ * (`iono` option) for single-frequency measurements; for metre-level
+ * results prefer the iono-free combination (ionoFree helper) with
+ * dual-frequency pseudoranges.
  */
 
 interface SppOptions {
@@ -25,6 +57,14 @@ interface SppOptions {
     maxIterations?: number;
     /** Convergence threshold on the position update (m). Default 1e-4. */
     convergenceM?: number;
+    /**
+     * Broadcast Klobuchar coefficients (RINEX nav header GPSA/GPSB —
+     * `NavResult.header.ionoCorrections`). When given, the modelled
+     * slant delay is removed from every single-frequency pseudorange,
+     * scaled to each system's primary frequency. Omit when feeding
+     * iono-free combinations.
+     */
+    iono?: KlobucharCoeffs;
     /**
      * Apply the broadcast group-delay correction (GPS TGD, Galileo
      * BGD E5a/E1, BeiDou TGD1) to the satellite clock. Correct for
@@ -73,4 +113,4 @@ declare function ionoFree(p1: number, p2: number, f1: number, f2: number): numbe
  */
 declare function solveSpp(pseudoranges: Map<string, number>, ephemerides: Map<string, Ephemeris>, timeMs: number, opts?: SppOptions): SppSolution | null;
 
-export { type SppOptions, type SppSolution, ionoFree, satClockCorrection, solveSpp };
+export { type KlobucharCoeffs, type SppOptions, type SppSolution, ionoFree, klobucharDelay, satClockCorrection, solveSpp };

package/dist/positioning.d.ts

@@ -3,6 +3,36 @@ import { DopValues } from './orbit.js';
 import './ephemeris-Ohl6NAfw.js';
 import './ecef-CF0uAysr.js';
 
+/**
+ * Klobuchar broadcast ionospheric model (IS-GPS-200, 20.3.3.5.2.5).
+ *
+ * Evaluates the single-frequency vertical→slant ionospheric delay from
+ * the eight coefficients broadcast in the GPS navigation message (and
+ * carried in RINEX nav headers as GPSA/GPSB, or ION ALPHA/BETA in
+ * RINEX 2). The model captures ~50% RMS of the actual delay — crude,
+ * but exactly what a single-frequency receiver applies, which makes it
+ * both a useful SPP correction and an honest "what broadcast users
+ * get" reference against measured or GIM TEC.
+ */
+/** The eight Klobuchar coefficients from the navigation message. */
+interface KlobucharCoeffs {
+    /** GPSA: alpha0..alpha3 (s, s/sc, s/sc², s/sc³). */
+    alpha: number[];
+    /** GPSB: beta0..beta3 (s, s/sc, s/sc², s/sc³). */
+    beta: number[];
+}
+/**
+ * Slant ionospheric group delay on GPS L1, in seconds.
+ *
+ * @param coeffs Broadcast alpha/beta coefficients
+ * @param latRad Receiver geodetic latitude (radians)
+ * @param lonRad Receiver geodetic longitude (radians)
+ * @param azRad Satellite azimuth (radians)
+ * @param elRad Satellite elevation (radians)
+ * @param gpsTowSec GPS time of week (seconds)
+ */
+declare function klobucharDelay(coeffs: KlobucharCoeffs, latRad: number, lonRad: number, azRad: number, elRad: number, gpsTowSec: number): number;
+
 /**
  * Single-point positioning (SPP) from pseudoranges and broadcast
  * ephemerides.
@@ -11,9 +41,11 @@ import './ecef-CF0uAysr.js';
  * constellation (absorbing inter-system time offsets), satellite clock
  * polynomial + relativistic correction, broadcast group delay
  * (TGD/BGD), Sagnac (Earth-rotation) correction, elevation
- * masking/weighting, and a simple tropospheric model. Ionospheric delay is NOT modelled — use the iono-free
- * combination (ionoFree helper) with dual-frequency pseudoranges for
- * metre-level results, or expect ~2–10 m of iono bias on L1-only.
+ * masking/weighting, and a simple tropospheric model. Ionospheric
+ * delay can be modelled from the broadcast Klobuchar coefficients
+ * (`iono` option) for single-frequency measurements; for metre-level
+ * results prefer the iono-free combination (ionoFree helper) with
+ * dual-frequency pseudoranges.
  */
 
 interface SppOptions {
@@ -25,6 +57,14 @@ interface SppOptions {
     maxIterations?: number;
     /** Convergence threshold on the position update (m). Default 1e-4. */
     convergenceM?: number;
+    /**
+     * Broadcast Klobuchar coefficients (RINEX nav header GPSA/GPSB —
+     * `NavResult.header.ionoCorrections`). When given, the modelled
+     * slant delay is removed from every single-frequency pseudorange,
+     * scaled to each system's primary frequency. Omit when feeding
+     * iono-free combinations.
+     */
+    iono?: KlobucharCoeffs;
     /**
      * Apply the broadcast group-delay correction (GPS TGD, Galileo
      * BGD E5a/E1, BeiDou TGD1) to the satellite clock. Correct for
@@ -73,4 +113,4 @@ declare function ionoFree(p1: number, p2: number, f1: number, f2: number): numbe
  */
 declare function solveSpp(pseudoranges: Map<string, number>, ephemerides: Map<string, Ephemeris>, timeMs: number, opts?: SppOptions): SppSolution | null;
 
-export { type SppOptions, type SppSolution, ionoFree, satClockCorrection, solveSpp };
+export { type KlobucharCoeffs, type SppOptions, type SppSolution, ionoFree, klobucharDelay, satClockCorrection, solveSpp };

package/dist/positioning.js

@@ -1,9 +1,10 @@
 import {
   ionoFree,
+  klobucharDelay,
   satClockCorrection,
   solveSpp
-} from "./chunk-ZRBRVNHK.js";
-import "./chunk-647YMBJV.js";
+} from "./chunk-LKFSXVIZ.js";
+import "./chunk-DMNFB7Q6.js";
 import "./chunk-HVXYFUCB.js";
 import "./chunk-37QNKGTC.js";
 import "./chunk-6FAL6P4G.js";
@@ -11,6 +12,7 @@ import "./chunk-LEEU5OIO.js";
 import "./chunk-FIEWO4J4.js";
 export {
   ionoFree,
+  klobucharDelay,
   satClockCorrection,
   solveSpp
 };

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "gnss-js",
-  "version": "1.9.0",
+  "version": "1.11.0",
   "description": "Comprehensive GNSS library for JavaScript — time scales, coordinates, RINEX parsing, RTCM3 decoding, orbit computation, and signal analysis",
   "type": "module",
   "sideEffects": false,