gnss-js 2.10.0 → 2.11.0

package/dist/rinex.cjs

@@ -1495,6 +1495,15 @@ var SEC_PER_WEEK2 = 7 * 86400;
 var CNAV_A_REF = 26559710;
 var CNAV_OMEGA_DOT_REF = -26e-10;
 
+// src/navbits/bds-cnav.ts
+var BDT_EPOCH_MS = Date.UTC(2006, 0, 1);
+var SEC_PER_WEEK3 = 7 * 86400;
+var BDS_CNAV_A_REF_MEO = 27906100;
+var BDS_CNAV_A_REF_IGSO_GEO = 42162200;
+function bdsCnavAref(satType) {
+  return satType === 3 ? BDS_CNAV_A_REF_MEO : BDS_CNAV_A_REF_IGSO_GEO;
+}
+
 // src/rinex/nav.ts
 var DATA_LINES = {
   G: 7,
@@ -1520,16 +1529,17 @@ var R4_MSG_LINES = {
   // RINEX 4 adds orbit-4 (status flags) vs 3 in RINEX 3
   // EPH type parsed into RinexCnavEphemeris for G/J (skipped otherwise)
   CNAV: 9,
-  // EPH types we skip (different field layout)
+  // BeiDou-3 B-CNAV, parsed into BdsCnavEphemeris
   CNV1: 10,
   CNV2: 10,
   CNV3: 9,
+  // EPH types we skip (different field layout)
   L1NV: 8,
   L1OC: 9,
   L3OC: 9
 };
 var GPS_EPOCH_MS3 = Date.UTC(1980, 0, 6);
-var SEC_PER_WEEK3 = 7 * 86400;
+var SEC_PER_WEEK4 = 7 * 86400;
 var QZSS_CNAV_A_REF = 42164200;
 var SUPPORTED_EPH_MSGS = /* @__PURE__ */ new Set([
   "LNAV",
@@ -1674,8 +1684,8 @@ function buildCnavEphemeris(sys, prn, date, epochVals, d) {
   const num = (r, c) => d[r]?.[c] ?? 0;
   const opt = (r, c) => d[r]?.[c] ?? null;
   const t = (date.getTime() - GPS_EPOCH_MS3) / 1e3;
-  const week = Math.floor(t / SEC_PER_WEEK3);
-  const toc = t - week * SEC_PER_WEEK3;
+  const week = Math.floor(t / SEC_PER_WEEK4);
+  const toc = t - week * SEC_PER_WEEK4;
   const sqrtA = num(1, 3);
   const a = sqrtA * sqrtA;
   const aRef = sys === "J" ? QZSS_CNAV_A_REF : CNAV_A_REF;
@@ -1732,6 +1742,68 @@ function buildCnavEphemeris(sys, prn, date, epochVals, d) {
     tow: num(7, 0)
   };
 }
+var BDT_EPOCH_MS2 = Date.UTC(2006, 0, 1);
+function buildBdsCnavEphemeris(message, prn, date, epochVals, d) {
+  const num = (r, c) => d[r]?.[c] ?? 0;
+  const opt = (r, c) => d[r]?.[c] ?? null;
+  const cnv3 = message === "CNV3";
+  const t = (date.getTime() - BDT_EPOCH_MS2) / 1e3;
+  const weekToc = Math.floor(t / SEC_PER_WEEK4);
+  const toc = t - weekToc * SEC_PER_WEEK4;
+  const toe = num(2, 0);
+  const week = toe - toc > SEC_PER_WEEK4 / 2 ? weekToc - 1 : toc - toe > SEC_PER_WEEK4 / 2 ? weekToc + 1 : weekToc;
+  const sqrtA = num(1, 3);
+  const a = sqrtA * sqrtA;
+  const satType = num(4, 2);
+  return {
+    system: "C",
+    prn,
+    message,
+    week,
+    toe,
+    toeDate: new Date(BDT_EPOCH_MS2 + (week * SEC_PER_WEEK4 + toe) * 1e3),
+    toc,
+    tocDate: date,
+    satType,
+    a,
+    deltaA: a - bdsCnavAref(satType),
+    aDot: num(0, 0),
+    deltaN0: num(0, 2),
+    deltaN0Dot: num(4, 1),
+    m0: num(0, 3),
+    e: num(1, 1),
+    omega: num(3, 2),
+    omega0: num(2, 2),
+    i0: num(3, 0),
+    omegaDot: num(3, 3),
+    i0Dot: num(4, 0),
+    cis: num(2, 3),
+    cic: num(2, 1),
+    crs: num(0, 1),
+    crc: num(3, 1),
+    cus: num(1, 2),
+    cuc: num(1, 0),
+    af0: epochVals[0] ?? 0,
+    af1: epochVals[1] ?? 0,
+    af2: epochVals[2] ?? 0,
+    iode: cnv3 ? null : opt(8, 3),
+    iodc: cnv3 ? null : opt(7, 3),
+    tgdB1Cp: cnv3 ? null : opt(6, 2),
+    tgdB2ap: cnv3 ? null : opt(6, 3),
+    iscB1Cd: cnv3 ? null : opt(6, 0),
+    iscB2ad: cnv3 ? null : opt(6, 1),
+    tgdB2bI: cnv3 ? opt(6, 3) : null,
+    top: opt(4, 3),
+    sisaiOe: opt(5, 0),
+    sisaiOcb: opt(5, 1),
+    sisaiOc1: opt(5, 2),
+    sisaiOc2: opt(5, 3),
+    sismai: cnv3 ? opt(6, 0) : opt(7, 0),
+    health: cnv3 ? opt(6, 1) : opt(7, 1),
+    integrityFlags: cnv3 ? opt(6, 2) : opt(7, 2),
+    tow: cnv3 ? num(7, 0) : num(8, 0)
+  };
+}
 function parseNavFile(text) {
   const lines = text.split("\n");
   const header = {
@@ -1742,6 +1814,7 @@ function parseNavFile(text) {
   };
   const ephemerides = [];
   const cnav = [];
+  const bdsCnav = [];
   let inHeader = true;
   let i = 0;
   while (i < lines.length) {
@@ -1810,7 +1883,8 @@ function parseNavFile(text) {
         continue;
       }
       const isCnav = msgType === "CNAV" && (svSys === "G" || svSys === "J");
-      if (!SUPPORTED_EPH_MSGS.has(msgType) && !isCnav) {
+      const isBdsCnav = svSys === "C" && (msgType === "CNV1" || msgType === "CNV2" || msgType === "CNV3");
+      if (!SUPPORTED_EPH_MSGS.has(msgType) && !isCnav && !isBdsCnav) {
         const totalLines = R4_MSG_LINES[msgType] ?? 2;
         i += totalLines + 1;
         continue;
@@ -1822,17 +1896,34 @@ function parseNavFile(text) {
       const sys2 = epochLine.charAt(0);
       const parsed = parseNavEpochV3(epochLine);
       const prn2 = `${sys2}${parsed.prn.substring(1)}`;
-      if (isCnav) {
+      if (isCnav || isBdsCnav) {
         const slotLines = [];
         for (let j = 0; j < numDataLines2; j++) {
           i++;
           if (i >= lines.length) break;
           slotLines.push(parseDataLineSlots(lines[i]));
         }
-        if (slotLines.length === numDataLines2 && (sys2 === "G" || sys2 === "J")) {
-          cnav.push(
-            buildCnavEphemeris(sys2, prn2, parsed.date, parsed.values, slotLines)
-          );
+        if (slotLines.length === numDataLines2) {
+          if (isBdsCnav && sys2 === "C")
+            bdsCnav.push(
+              buildBdsCnavEphemeris(
+                msgType,
+                prn2,
+                parsed.date,
+                parsed.values,
+                slotLines
+              )
+            );
+          else if (sys2 === "G" || sys2 === "J")
+            cnav.push(
+              buildCnavEphemeris(
+                sys2,
+                prn2,
+                parsed.date,
+                parsed.values,
+                slotLines
+              )
+            );
         }
         i++;
         continue;
@@ -1910,7 +2001,12 @@ function parseNavFile(text) {
     }
     i++;
   }
-  return cnav.length > 0 ? { header, ephemerides, cnav } : { header, ephemerides };
+  return {
+    header,
+    ephemerides,
+    ...cnav.length > 0 && { cnav },
+    ...bdsCnav.length > 0 && { bdsCnav }
+  };
 }
 
 // src/rinex/nav-writer.ts
@@ -2106,6 +2202,30 @@ function cnavRecord(eph) {
     orbitLine4([eph.tow, resolveWnOp(eph.week, eph.wnOp)])
   ].join("\n");
 }
+function bdsCnavRecord(eph) {
+  const lines = [
+    epochLine4(eph.prn, eph.tocDate, [eph.af0, eph.af1, eph.af2]),
+    orbitLine4([eph.aDot, eph.crs, eph.deltaN0, eph.m0]),
+    orbitLine4([eph.cuc, eph.e, eph.cus, Math.sqrt(eph.a)]),
+    orbitLine4([eph.toe, eph.cic, eph.omega0, eph.cis]),
+    orbitLine4([eph.i0, eph.crc, eph.omega, eph.omegaDot]),
+    orbitLine4([eph.i0Dot, eph.deltaN0Dot, eph.satType, eph.top]),
+    orbitLine4([eph.sisaiOe, eph.sisaiOcb, eph.sisaiOc1, eph.sisaiOc2])
+  ];
+  if (eph.message === "CNV3") {
+    lines.push(
+      orbitLine4([eph.sismai, eph.health, eph.integrityFlags, eph.tgdB2bI]),
+      orbitLine4([eph.tow])
+    );
+  } else {
+    lines.push(
+      orbitLine4([eph.iscB1Cd, eph.iscB2ad, eph.tgdB1Cp, eph.tgdB2ap]),
+      orbitLine4([eph.sismai, eph.health, eph.integrityFlags, eph.iodc]),
+      orbitLine4([eph.tow, null, null, eph.iode])
+    );
+  }
+  return lines.join("\n");
+}
 var KLOBUCHAR_SOURCES = [
   ["GPSA", "GPSB", "G", "LNAV"],
   ["QZSA", "QZSB", "J", "LNAV"],
@@ -2183,6 +2303,15 @@ function writeRinexNav4(nav) {
 ` + cnavRecord(eph)
     });
   }
+  for (const eph of nav.bdsCnav ?? []) {
+    records.push({
+      prn: eph.prn,
+      time: eph.tocDate.getTime(),
+      label: eph.message,
+      body: `> EPH ${padL(eph.prn, 3)} ${eph.message}
+` + bdsCnavRecord(eph)
+    });
+  }
   records.sort(
     (a, b) => a.prn.localeCompare(b.prn) || a.time - b.time || a.label.localeCompare(b.label)
   );

package/dist/rinex.d.cts

@@ -1,7 +1,7 @@
 import { R as RinexHeader } from './parser-JPjjFgeP.cjs';
 export { E as EpochSummary, P as ParseOptions, a as RinexResult, b as RinexStats, S as SYSTEM_ORDER, c as SatObsCallback, p as parseRinexStream, s as systemCmp, d as systemName } from './parser-JPjjFgeP.cjs';
-import { a as NavResult, N as NavHeader, E as Ephemeris, R as RinexCnavEphemeris } from './nav-DImXUdbp.cjs';
-export { G as GlonassEphemeris, K as KeplerEphemeris, p as parseNavFile } from './nav-DImXUdbp.cjs';
+import { b as NavResult, N as NavHeader, E as Ephemeris, R as RinexCnavEphemeris, B as BdsCnavEphemeris } from './nav-COp0Vmlw.cjs';
+export { a as BdsCnavMessage, G as GlonassEphemeris, K as KeplerEphemeris, p as parseNavFile } from './nav-COp0Vmlw.cjs';
 export { C as ClkFile, I as IonexGrid, S as Sp3File, a as Sp3Sample, c as clkBias, p as parseClk, b as parseIonex, d as parseSp3, s as sp3Position } from './clk-DGVBGRzA.cjs';
 
 /**
@@ -155,7 +155,8 @@ declare function writeRinexNav(nav: NavResult): string;
  *
  * Produces `> EPH` data records for the classic ephemeris types
  * (GPS/QZSS/NavIC LNAV, Galileo INAV, BeiDou D1/D2, GLONASS FDMA,
- * SBAS), `> EPH ... CNAV` records for GPS/QZSS CNAV ephemerides, and
+ * SBAS), `> EPH ... CNAV` records for GPS/QZSS CNAV ephemerides, BeiDou-3
+ * `CNV1`/`CNV2`/`CNV3` records for B-CNAV ephemerides, and
  * `> ION` records for the header's Klobuchar/NeQuick-G coefficients,
  * per the RINEX 4.01 record tables (A9-A18, A21, A26, A32, A33).
  */
@@ -165,13 +166,15 @@ interface Nav4Input {
     header: NavHeader;
     ephemerides: Ephemeris[];
     cnav?: RinexCnavEphemeris[];
+    bdsCnav?: BdsCnavEphemeris[];
 }
 /**
  * Write a RINEX 4.01 mixed navigation file.
  *
  * Emits `> EPH` records for every classic ephemeris (message labels
- * per constellation: LNAV, INAV, D1/D2, FDMA, SBAS) and every CNAV
- * ephemeris (`CNAV`), sorted by PRN, epoch, then label; followed by
+ * per constellation: LNAV, INAV, D1/D2, FDMA, SBAS), every GPS/QZSS
+ * CNAV ephemeris (`CNAV`) and every BeiDou-3 B-CNAV ephemeris (`CNV1`/
+ * `CNV2`/`CNV3`), sorted by PRN, epoch, then label; followed by
  * `> ION` records when the header carries Klobuchar (GPSA/GPSB,
  * QZSA/QZSB, BDSA/BDSB, IRNA/IRNB) or NeQuick-G (GAL) coefficients.
  * ION records need a transmit-time epoch, which RINEX 3-style headers
@@ -320,4 +323,4 @@ declare function createGzipLineSink(): {
  */
 declare function stationHeaderLines(header: RinexHeader): string[];
 
-export { type BiasRecord, type BiasSinex, type CompactEpoch, type CrxField, type DiffState, EMPTY_WARNINGS, Ephemeris, type Nav4Input, NavHeader, NavResult, RinexCnavEphemeris, RinexHeader, type RinexWarning, type RinexWarnings, WarningAccumulator, type WarningSeverity, type WriteCrxOptions, biasMetres, createGzipLineSink, crxDecompress, crxRepair, findSatBias, fmtD, fmtF, hdrLine, modalIntervalS, padL, padR, parseBiasSinex, parseCrxDataLine, stationHeaderLines, writeCrx, writeModernObsBlob, writeRinex2ObsBlob, writeRinex4ObsBlob, writeRinexNav, writeRinexNav4, writeRinexObsBlob };
+export { BdsCnavEphemeris, type BiasRecord, type BiasSinex, type CompactEpoch, type CrxField, type DiffState, EMPTY_WARNINGS, Ephemeris, type Nav4Input, NavHeader, NavResult, RinexCnavEphemeris, RinexHeader, type RinexWarning, type RinexWarnings, WarningAccumulator, type WarningSeverity, type WriteCrxOptions, biasMetres, createGzipLineSink, crxDecompress, crxRepair, findSatBias, fmtD, fmtF, hdrLine, modalIntervalS, padL, padR, parseBiasSinex, parseCrxDataLine, stationHeaderLines, writeCrx, writeModernObsBlob, writeRinex2ObsBlob, writeRinex4ObsBlob, writeRinexNav, writeRinexNav4, writeRinexObsBlob };

package/dist/rinex.d.ts

@@ -1,7 +1,7 @@
 import { R as RinexHeader } from './parser-JPjjFgeP.js';
 export { E as EpochSummary, P as ParseOptions, a as RinexResult, b as RinexStats, S as SYSTEM_ORDER, c as SatObsCallback, p as parseRinexStream, s as systemCmp, d as systemName } from './parser-JPjjFgeP.js';
-import { a as NavResult, N as NavHeader, E as Ephemeris, R as RinexCnavEphemeris } from './nav-DImXUdbp.js';
-export { G as GlonassEphemeris, K as KeplerEphemeris, p as parseNavFile } from './nav-DImXUdbp.js';
+import { b as NavResult, N as NavHeader, E as Ephemeris, R as RinexCnavEphemeris, B as BdsCnavEphemeris } from './nav-COp0Vmlw.js';
+export { a as BdsCnavMessage, G as GlonassEphemeris, K as KeplerEphemeris, p as parseNavFile } from './nav-COp0Vmlw.js';
 export { C as ClkFile, I as IonexGrid, S as Sp3File, a as Sp3Sample, c as clkBias, p as parseClk, b as parseIonex, d as parseSp3, s as sp3Position } from './clk-DGVBGRzA.js';
 
 /**
@@ -155,7 +155,8 @@ declare function writeRinexNav(nav: NavResult): string;
  *
  * Produces `> EPH` data records for the classic ephemeris types
  * (GPS/QZSS/NavIC LNAV, Galileo INAV, BeiDou D1/D2, GLONASS FDMA,
- * SBAS), `> EPH ... CNAV` records for GPS/QZSS CNAV ephemerides, and
+ * SBAS), `> EPH ... CNAV` records for GPS/QZSS CNAV ephemerides, BeiDou-3
+ * `CNV1`/`CNV2`/`CNV3` records for B-CNAV ephemerides, and
  * `> ION` records for the header's Klobuchar/NeQuick-G coefficients,
  * per the RINEX 4.01 record tables (A9-A18, A21, A26, A32, A33).
  */
@@ -165,13 +166,15 @@ interface Nav4Input {
     header: NavHeader;
     ephemerides: Ephemeris[];
     cnav?: RinexCnavEphemeris[];
+    bdsCnav?: BdsCnavEphemeris[];
 }
 /**
  * Write a RINEX 4.01 mixed navigation file.
  *
  * Emits `> EPH` records for every classic ephemeris (message labels
- * per constellation: LNAV, INAV, D1/D2, FDMA, SBAS) and every CNAV
- * ephemeris (`CNAV`), sorted by PRN, epoch, then label; followed by
+ * per constellation: LNAV, INAV, D1/D2, FDMA, SBAS), every GPS/QZSS
+ * CNAV ephemeris (`CNAV`) and every BeiDou-3 B-CNAV ephemeris (`CNV1`/
+ * `CNV2`/`CNV3`), sorted by PRN, epoch, then label; followed by
  * `> ION` records when the header carries Klobuchar (GPSA/GPSB,
  * QZSA/QZSB, BDSA/BDSB, IRNA/IRNB) or NeQuick-G (GAL) coefficients.
  * ION records need a transmit-time epoch, which RINEX 3-style headers
@@ -320,4 +323,4 @@ declare function createGzipLineSink(): {
  */
 declare function stationHeaderLines(header: RinexHeader): string[];
 
-export { type BiasRecord, type BiasSinex, type CompactEpoch, type CrxField, type DiffState, EMPTY_WARNINGS, Ephemeris, type Nav4Input, NavHeader, NavResult, RinexCnavEphemeris, RinexHeader, type RinexWarning, type RinexWarnings, WarningAccumulator, type WarningSeverity, type WriteCrxOptions, biasMetres, createGzipLineSink, crxDecompress, crxRepair, findSatBias, fmtD, fmtF, hdrLine, modalIntervalS, padL, padR, parseBiasSinex, parseCrxDataLine, stationHeaderLines, writeCrx, writeModernObsBlob, writeRinex2ObsBlob, writeRinex4ObsBlob, writeRinexNav, writeRinexNav4, writeRinexObsBlob };
+export { BdsCnavEphemeris, type BiasRecord, type BiasSinex, type CompactEpoch, type CrxField, type DiffState, EMPTY_WARNINGS, Ephemeris, type Nav4Input, NavHeader, NavResult, RinexCnavEphemeris, RinexHeader, type RinexWarning, type RinexWarnings, WarningAccumulator, type WarningSeverity, type WriteCrxOptions, biasMetres, createGzipLineSink, crxDecompress, crxRepair, findSatBias, fmtD, fmtF, hdrLine, modalIntervalS, padL, padR, parseBiasSinex, parseCrxDataLine, stationHeaderLines, writeCrx, writeModernObsBlob, writeRinex2ObsBlob, writeRinex4ObsBlob, writeRinexNav, writeRinexNav4, writeRinexObsBlob };

package/dist/rinex.js

@@ -21,7 +21,7 @@ import {
   writeRinexNav,
   writeRinexNav4,
   writeRinexObsBlob
-} from "./chunk-56HM5B6T.js";
+} from "./chunk-MDO77CCC.js";
 import {
   SYSTEM_ORDER,
   crxDecompress,
@@ -31,13 +31,14 @@ import {
   systemCmp,
   systemName
 } from "./chunk-3U5AX7PY.js";
+import "./chunk-NL2ORX75.js";
 import {
   clkBias,
   parseClk,
   parseSp3,
   sp3Position
 } from "./chunk-GPEP67TG.js";
-import "./chunk-YUW33VXK.js";
+import "./chunk-HUXQABJI.js";
 import "./chunk-V2D5KUKH.js";
 import "./chunk-FIEWO4J4.js";
 export {

package/dist/rtcm3.cjs

@@ -2057,7 +2057,7 @@ function updateStreamStats(stats, frames, rawBytes) {
     entry.count++;
     entry.lastSeen = now;
     entry.totalBytes += frame.length + 6;
-    const obsEpoch = decodeObs(frame);
+    const obsEpoch = decodeObs(frame, { compactMsm: true });
     if (obsEpoch) {
       for (const obs of obsEpoch.observations) {
         const signals = [];

package/dist/rtcm3.js

@@ -21,7 +21,7 @@ import {
   setRtcm3DebugHandler,
   updateStationMeta,
   updateStreamStats
-} from "./chunk-N6GQUHM4.js";
+} from "./chunk-PBENVPFL.js";
 import "./chunk-HVXYFUCB.js";
 import "./chunk-LEEU5OIO.js";
 import "./chunk-FIEWO4J4.js";