gnss-js 2.10.1 → 2.12.0

package/dist/index.cjs

@@ -106,6 +106,7 @@ __export(src_exports, {
   SYSTEM_NAMES: () => SYSTEM_NAMES,
   SYSTEM_ORDER: () => SYSTEM_ORDER,
   SYS_SHORT: () => SYS_SHORT,
+  SatOsbTable: () => SatOsbTable,
   SbasProcessor: () => SbasProcessor,
   Scale: () => Scale,
   Sp3EphemerisSource: () => Sp3EphemerisSource,
@@ -288,6 +289,7 @@ __export(src_exports, {
   parseNovatelRange: () => parseNovatelRange,
   parseRinexStream: () => parseRinexStream,
   parseSbfAlmanac: () => parseSbfAlmanac,
+  parseSbfBdsCnav: () => parseSbfBdsCnav,
   parseSbfBdsNav: () => parseSbfBdsNav,
   parseSbfCnav: () => parseSbfCnav,
   parseSbfGalNav: () => parseSbfGalNav,
@@ -1373,20 +1375,14 @@ function geodeticToGeohash(lat, lon, precision = 8) {
 // src/rinex/crx.ts
 function crxRepair(old, diff) {
   const chars = old.split("");
-  for (let i = 0; i < diff.length; i++) {
+  const n = Math.min(old.length, diff.length);
+  for (let i = 0; i < n; i++) {
     const dc = diff[i];
-    if (dc === " ") {
-    } else if (dc === "&") {
-      chars[i] = " ";
-    } else {
-      chars[i] = dc;
-    }
-  }
-  if (diff.length > chars.length) {
-    for (let i = chars.length; i < diff.length; i++) {
-      chars[i] = diff[i] === "&" ? " " : diff[i];
-    }
+    if (dc === " ") continue;
+    chars[i] = dc === "&" ? " " : dc;
   }
+  for (let i = old.length; i < diff.length; i++)
+    chars[i] = diff[i] === "&" ? " " : diff[i];
   return chars.join("");
 }
 function parseCrxDataLine(line, ntype) {
@@ -2084,6 +2080,15 @@ function readObsValue(line, index) {
   const v = parseFloat(raw);
   return isNaN(v) ? null : v;
 }
+function normalizePrn(id) {
+  let sys = id[0];
+  let num = id.substring(1);
+  if (sys === " " || /\d/.test(sys)) {
+    num = id;
+    sys = "G";
+  }
+  return sys + num.replace(/\s/g, "").padStart(2, "0");
+}
 function parseEpochLine3(line) {
   if (line[0] !== ">") return null;
   const yr = parseInt(line.substring(2, 6));
@@ -2233,7 +2238,7 @@ async function parseRinexStream(file, onProgress, signal, onSatObs, workerMode)
   function processSatLineV3(line) {
     if (!header || line.length < 3) return;
     const sys = line[0];
-    const prn = line.substring(0, 3);
+    const prn = normalizePrn(line.substring(0, 3));
     trackSat(sys, prn);
     const obsLine = line.substring(3);
     const codes = header.obsTypes[sys] ?? [];
@@ -2258,10 +2263,8 @@ async function parseRinexStream(file, onProgress, signal, onSatObs, workerMode)
   let v2ObsAccum = [];
   function processSatLineV2(line) {
     if (!header || v2SatIndex >= v2SatIds.length) return;
-    const satId = v2SatIds[v2SatIndex];
-    let sys = satId[0];
-    if (sys === " " || /\d/.test(sys)) sys = "G";
-    const prn = sys + satId.substring(1).padStart(2, "0");
+    const prn = normalizePrn(v2SatIds[v2SatIndex]);
+    const sys = prn[0];
     if (v2CurrentSatLine === 0) {
       trackSat(sys, prn);
       if (onSatObs) v2ObsAccum = [];
@@ -2352,6 +2355,7 @@ async function parseRinexStream(file, onProgress, signal, onSatObs, workerMode)
         } else {
           epochLine = crxRepair(crxPrevEpochLine, line);
         }
+        epochLine = epochLine.replace(/ +$/, "");
         if (isV3) {
           if (epochLine[0] !== ">") return;
           const info = parseEpochLine3(epochLine);
@@ -2369,10 +2373,11 @@ async function parseRinexStream(file, onProgress, signal, onSatObs, workerMode)
             return;
           }
           resetEpochAccum(info);
-          const satPart = epochLine.substring(41).replace(/\s+$/, "");
           crxSatList = [];
-          for (let i = 0; i + 3 <= satPart.length; i += 3) {
-            crxSatList.push(satPart.substring(i, i + 3));
+          for (let k = 0; k < info.numSats; k++) {
+            crxSatList.push(
+              normalizePrn(epochLine.substring(41 + 3 * k, 44 + 3 * k))
+            );
           }
           crxSatIndex = 0;
           crxPrevEpochLine = epochLine;
@@ -2393,11 +2398,7 @@ async function parseRinexStream(file, onProgress, signal, onSatObs, workerMode)
             return;
           }
           resetEpochAccum(info);
-          crxSatList = (info.satIds ?? []).map((id) => {
-            let sys = id[0];
-            if (sys === " " || /\d/.test(sys)) sys = "G";
-            return sys + id.substring(1).padStart(2, "0");
-          });
+          crxSatList = (info.satIds ?? []).slice(0, info.numSats).map(normalizePrn);
           crxSatIndex = 0;
           crxPrevEpochLine = epochLine;
           crxPhase = "clock";
@@ -3026,7 +3027,7 @@ var isc = (b, pos) => {
   return raw === -4096 ? null : raw * 2 ** -35;
 };
 function decodeClock(b, msgType) {
-  const clock = {
+  const clock2 = {
     msgType,
     top: getBitU(b, 38, 11) * 300,
     uraNed0: getBitS(b, 49, 5),
@@ -3038,26 +3039,26 @@ function decodeClock(b, msgType) {
     af2: getBitS(b, 117, 10) * 2 ** -60
   };
   if (msgType === 30) {
-    clock.tgd = isc(b, 127);
-    clock.iscL1ca = isc(b, 140);
-    clock.iscL2c = isc(b, 153);
-    clock.iscL5i5 = isc(b, 166);
-    clock.iscL5q5 = isc(b, 179);
-    clock.ionoAlpha = [
+    clock2.tgd = isc(b, 127);
+    clock2.iscL1ca = isc(b, 140);
+    clock2.iscL2c = isc(b, 153);
+    clock2.iscL5i5 = isc(b, 166);
+    clock2.iscL5q5 = isc(b, 179);
+    clock2.ionoAlpha = [
       getBitS(b, 192, 8) * 2 ** -30,
       getBitS(b, 200, 8) * 2 ** -27,
       getBitS(b, 208, 8) * 2 ** -24,
       getBitS(b, 216, 8) * 2 ** -24
     ];
-    clock.ionoBeta = [
+    clock2.ionoBeta = [
       getBitS(b, 224, 8) * 2 ** 11,
       getBitS(b, 232, 8) * 2 ** 14,
       getBitS(b, 240, 8) * 2 ** 16,
       getBitS(b, 248, 8) * 2 ** 16
     ];
-    clock.wnOp = getBitU(b, 256, 8);
+    clock2.wnOp = getBitU(b, 256, 8);
   }
-  return clock;
+  return clock2;
 }
 function resolveWeek(week, towSec, sec) {
   if (sec < towSec - HALF_WEEK) return week + 1;
@@ -3095,10 +3096,10 @@ var CnavAssembler = class {
     return this.tryEmit(prn, sat);
   }
   tryEmit(prn, sat) {
-    const { t10, t11, clock, extras } = sat;
-    if (!t10 || !t11 || !clock) return null;
-    if (t10.toe !== t11.toe || clock.toc !== t10.toe) return null;
-    const key = `${t10.week}:${t10.toe}:${clock.af0}:${clock.af1}`;
+    const { t10, t11, clock: clock2, extras } = sat;
+    if (!t10 || !t11 || !clock2) return null;
+    if (t10.toe !== t11.toe || clock2.toc !== t10.toe) return null;
+    const key = `${t10.week}:${t10.toe}:${clock2.af0}:${clock2.af1}`;
     if (key === sat.lastKey) return null;
     sat.lastKey = key;
     const weekToe = resolveWeek(t10.week, t10.tow, t10.toe);
@@ -3109,9 +3110,9 @@ var CnavAssembler = class {
       week: t10.week,
       health: t10.health,
       uraEd: t10.uraEd,
-      uraNed0: clock.uraNed0,
-      uraNed1: clock.uraNed1,
-      uraNed2: clock.uraNed2,
+      uraNed0: clock2.uraNed0,
+      uraNed1: clock2.uraNed1,
+      uraNed2: clock2.uraNed2,
       top: t10.top,
       toe: t10.toe,
       toeDate: gpsDate(weekToe, t10.toe),
@@ -3134,12 +3135,12 @@ var CnavAssembler = class {
       crc: t11.crc,
       cus: t11.cus,
       cuc: t11.cuc,
-      toc: clock.toc,
-      tocDate: gpsDate(weekToe, clock.toc),
-      af0: clock.af0,
-      af1: clock.af1,
-      af2: clock.af2,
-      clockMsgType: clock.msgType,
+      toc: clock2.toc,
+      tocDate: gpsDate(weekToe, clock2.toc),
+      af0: clock2.af0,
+      af1: clock2.af1,
+      af2: clock2.af2,
+      clockMsgType: clock2.msgType,
       tgd: extras?.tgd ?? null,
       iscL1ca: extras?.iscL1ca ?? null,
       iscL2c: extras?.iscL2c ?? null,
@@ -3155,6 +3156,304 @@ var CnavAssembler = class {
   }
 };
 
+// src/navbits/bds-cnav.ts
+var BDT_EPOCH_MS = Date.UTC(2006, 0, 1);
+var SEC_PER_WEEK3 = 7 * 86400;
+var HALF_WEEK2 = 302400;
+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;
+}
+function ephI(b, p) {
+  return {
+    toe: getBitU(b, p, 11) * 300,
+    satType: getBitU(b, p + 11, 2),
+    deltaA: getBitS(b, p + 13, 26) * 2 ** -9,
+    aDot: getBitS(b, p + 39, 25) * 2 ** -21,
+    deltaN0: getBitS(b, p + 64, 17) * 2 ** -44 * GPS_PI,
+    deltaN0Dot: getBitS(b, p + 81, 23) * 2 ** -57 * GPS_PI,
+    m0: getBitS33(b, p + 104) * 2 ** -32 * GPS_PI,
+    e: getBitU33(b, p + 137) * 2 ** -34,
+    omega: getBitS33(b, p + 170) * 2 ** -32 * GPS_PI
+  };
+}
+function ephII(b, p) {
+  return {
+    omega0: getBitS33(b, p) * 2 ** -32 * GPS_PI,
+    i0: getBitS33(b, p + 33) * 2 ** -32 * GPS_PI,
+    omegaDot: getBitS(b, p + 66, 19) * 2 ** -44 * GPS_PI,
+    i0Dot: getBitS(b, p + 85, 15) * 2 ** -44 * GPS_PI,
+    cis: getBitS(b, p + 100, 16) * 2 ** -30,
+    cic: getBitS(b, p + 116, 16) * 2 ** -30,
+    crs: getBitS(b, p + 132, 24) * 2 ** -8,
+    crc: getBitS(b, p + 156, 24) * 2 ** -8,
+    cus: getBitS(b, p + 180, 21) * 2 ** -30,
+    cuc: getBitS(b, p + 201, 21) * 2 ** -30
+  };
+}
+function clock(b, p) {
+  return {
+    toc: getBitU(b, p, 11) * 300,
+    af0: getBitS(b, p + 11, 25) * 2 ** -34,
+    af1: getBitS(b, p + 36, 22) * 2 ** -50,
+    af2: getBitS(b, p + 58, 11) * 2 ** -66
+  };
+}
+function sisaiOc(b, p) {
+  return {
+    top: getBitU(b, p, 11) * 300,
+    ocb: getBitS(b, p + 11, 5),
+    oc1: getBitS(b, p + 16, 3),
+    oc2: getBitS(b, p + 19, 3)
+  };
+}
+var delay = (b, p) => getBitS(b, p, 12) * 2 ** -34;
+function crcOk(msg, dataBits) {
+  const need = Math.ceil((dataBits + 24) / 8);
+  return msg.length >= need && crc24q(msg, dataBits) === getBitU(msg, dataBits, 24);
+}
+var bdsCnav1Sf2CrcOk = (sf2) => crcOk(sf2, 576);
+var bdsCnav1Sf3CrcOk = (sf3) => crcOk(sf3, 240);
+var bdsCnav2CrcOk = (msg) => crcOk(msg, 264);
+var bdsCnav3CrcOk = (msg) => crcOk(msg, 462);
+function resolveWeek2(week, towSec, sec) {
+  if (sec < towSec - HALF_WEEK2) return week + 1;
+  if (sec > towSec + HALF_WEEK2) return week - 1;
+  return week;
+}
+function bdtDate(week, sec) {
+  return new Date(BDT_EPOCH_MS + (week * SEC_PER_WEEK3 + sec) * 1e3);
+}
+var emptyStatus = () => ({
+  top: null,
+  sisaiOe: null,
+  sisaiOcb: null,
+  sisaiOc1: null,
+  sisaiOc2: null,
+  sismai: null,
+  health: null,
+  integrityFlags: null
+});
+function applyOc(s, oc) {
+  s.top = oc.top;
+  s.sisaiOcb = oc.ocb;
+  s.sisaiOc1 = oc.oc1;
+  s.sisaiOc2 = oc.oc2;
+}
+function build(message, prn, wn, tTm, e1, e22, c, d, s) {
+  const week = resolveWeek2(wn, tTm, e1.toe);
+  const weekToc = resolveWeek2(wn, tTm, c.toc);
+  return {
+    system: "C",
+    prn,
+    message,
+    week,
+    toe: e1.toe,
+    toeDate: bdtDate(week, e1.toe),
+    toc: c.toc,
+    tocDate: bdtDate(weekToc, c.toc),
+    satType: e1.satType,
+    a: bdsCnavAref(e1.satType) + e1.deltaA,
+    deltaA: e1.deltaA,
+    aDot: e1.aDot,
+    deltaN0: e1.deltaN0,
+    deltaN0Dot: e1.deltaN0Dot,
+    m0: e1.m0,
+    e: e1.e,
+    omega: e1.omega,
+    ...e22,
+    af0: c.af0,
+    af1: c.af1,
+    af2: c.af2,
+    ...d,
+    ...s,
+    tow: tTm
+  };
+}
+var prnLabel = (prn) => `C${String(prn).padStart(2, "0")}`;
+var BdsCnav1Assembler = class {
+  status = /* @__PURE__ */ new Map();
+  lastKey = /* @__PURE__ */ new Map();
+  /**
+   * Push one frame's CRC-valid subframes (bit-0 aligned; pass null for
+   * a subframe that failed its CRC) for satellite `prn` (1-63). `tTm`
+   * is the frame's transmit time, s of the BDT week. Returns the newly
+   * seen ephemeris, or null.
+   */
+  push(prn, sf2, sf3, tTm) {
+    let s = this.status.get(prn);
+    if (!s) this.status.set(prn, s = emptyStatus());
+    if (sf3) {
+      const page = getBitU(sf3, 0, 6);
+      if (page >= 1 && page <= 4) {
+        s.health = getBitU(sf3, 6, 2);
+        s.integrityFlags = getBitU(sf3, 8, 3);
+        s.sismai = getBitU(sf3, 11, 4);
+        if (page === 1) {
+          s.sisaiOe = getBitU(sf3, 15, 5);
+          applyOc(s, sisaiOc(sf3, 20));
+        } else if (page === 3) s.sisaiOe = getBitU(sf3, 15, 5);
+        else applyOc(s, sisaiOc(sf3, 15));
+      }
+    }
+    if (!sf2) return null;
+    const wn = getBitU(sf2, 0, 13);
+    const iodc = getBitU(sf2, 21, 10);
+    const iode = getBitU(sf2, 31, 8);
+    const e1 = ephI(sf2, 39);
+    const c = clock(sf2, 464);
+    const key = `${wn}:${iodc}:${iode}:${e1.toe}:${c.toc}`;
+    if (this.lastKey.get(prn) === key) return null;
+    this.lastKey.set(prn, key);
+    return build(
+      "CNV1",
+      prnLabel(prn),
+      wn,
+      tTm,
+      e1,
+      ephII(sf2, 242),
+      c,
+      {
+        iode,
+        iodc,
+        tgdB1Cp: delay(sf2, 557),
+        tgdB2ap: delay(sf2, 533),
+        iscB1Cd: delay(sf2, 545),
+        iscB2ad: null,
+        tgdB2bI: null
+      },
+      { ...s }
+    );
+  }
+};
+var BdsCnav2Assembler = class {
+  sats = /* @__PURE__ */ new Map();
+  /**
+   * Push one CRC-valid 288-bit message (bit 0 = first PRN bit, the
+   * preamble stripped). Returns the newly completed ephemeris, or null.
+   */
+  push(msg) {
+    const prn = getBitU(msg, 0, 6);
+    const type = getBitU(msg, 6, 6);
+    const sow = getBitU(msg, 12, 18) * 3;
+    if (prn < 1) return null;
+    let sat = this.sats.get(prn);
+    if (!sat) this.sats.set(prn, sat = { status: emptyStatus() });
+    const s = sat.status;
+    if (type === 10) {
+      sat.t10 = {
+        wn: getBitU(msg, 30, 13),
+        iode: getBitU(msg, 53, 8),
+        e1: ephI(msg, 61),
+        sow
+      };
+      s.integrityFlags = getBitU(msg, 43, 3) << 3 | getBitU(msg, 50, 3);
+      s.sismai = getBitU(msg, 46, 4);
+      if (sat.t11 && sat.t11.sow < sow) sat.t11 = void 0;
+    } else if (type === 11 || type >= 30 && type <= 34 || type === 40) {
+      s.health = getBitU(msg, 30, 2);
+      s.integrityFlags = getBitU(msg, 32, 3) << 3 | getBitU(msg, 39, 3);
+      s.sismai = getBitU(msg, 35, 4);
+      if (type === 11) {
+        if (!sat.t10 || sow <= sat.t10.sow) return null;
+        sat.t11 = { e2: ephII(msg, 42), sow };
+      } else if (type === 34) {
+        applyOc(s, sisaiOc(msg, 42));
+        sat.clock = { c: clock(msg, 64), iodc: getBitU(msg, 133, 10) };
+      } else if (type === 40) {
+        s.sisaiOe = getBitU(msg, 42, 5);
+        applyOc(s, sisaiOc(msg, 47));
+        return null;
+      } else {
+        sat.clock = { c: clock(msg, 42), iodc: getBitU(msg, 111, 10) };
+        if (type === 30)
+          sat.delays = {
+            tgdB2ap: delay(msg, 121),
+            iscB2ad: delay(msg, 133),
+            tgdB1Cp: delay(msg, 219)
+          };
+      }
+    } else return null;
+    const { t10, t11, clock: ck } = sat;
+    if (!t10 || !t11 || !ck || (ck.iodc & 255) !== t10.iode) return null;
+    const key = `${t10.wn}:${ck.iodc}:${t10.iode}:${t10.e1.toe}:${ck.c.toc}`;
+    if (sat.lastKey === key) return null;
+    sat.lastKey = key;
+    return build(
+      "CNV2",
+      prnLabel(prn),
+      t10.wn,
+      t10.sow,
+      t10.e1,
+      t11.e2,
+      ck.c,
+      {
+        iode: t10.iode,
+        iodc: ck.iodc,
+        tgdB1Cp: sat.delays?.tgdB1Cp ?? null,
+        tgdB2ap: sat.delays?.tgdB2ap ?? null,
+        iscB1Cd: null,
+        iscB2ad: sat.delays?.iscB2ad ?? null,
+        tgdB2bI: null
+      },
+      { ...s }
+    );
+  }
+};
+var BdsCnav3Assembler = class {
+  sats = /* @__PURE__ */ new Map();
+  /**
+   * Push one CRC-valid 486-bit message (bit 0 = first MesType bit) from
+   * satellite `prn`. Returns the newly completed ephemeris, or null.
+   */
+  push(prn, msg) {
+    const type = getBitU(msg, 0, 6);
+    const sow = getBitU(msg, 6, 20);
+    let sat = this.sats.get(prn);
+    if (!sat) this.sats.set(prn, sat = { status: emptyStatus() });
+    const s = sat.status;
+    if (type === 10) {
+      sat.t10 = { e1: ephI(msg, 30), e2: ephII(msg, 233), sow };
+      s.integrityFlags = getBitU(msg, 455, 3);
+      s.sismai = getBitU(msg, 458, 4);
+    } else if (type === 30) {
+      sat.t30 = {
+        wn: getBitU(msg, 26, 13),
+        c: clock(msg, 43),
+        tgd: delay(msg, 112)
+      };
+      applyOc(s, sisaiOc(msg, 433));
+      s.sisaiOe = getBitU(msg, 455, 5);
+      s.health = getBitU(msg, 460, 2);
+    } else return null;
+    const { t10, t30 } = sat;
+    if (!t10 || !t30 || t10.e1.toe !== t30.c.toc) return null;
+    const key = `${t30.wn}:${t10.e1.toe}:${t30.c.af0}:${t10.e1.m0}`;
+    if (sat.lastKey === key) return null;
+    sat.lastKey = key;
+    return build(
+      "CNV3",
+      prnLabel(prn),
+      t30.wn,
+      t10.sow,
+      t10.e1,
+      t10.e2,
+      t30.c,
+      {
+        iode: null,
+        iodc: null,
+        tgdB1Cp: null,
+        tgdB2ap: null,
+        iscB1Cd: null,
+        iscB2ad: null,
+        tgdB2bI: t30.tgd
+      },
+      { ...s }
+    );
+  }
+};
+
 // src/rinex/nav.ts
 var DATA_LINES = {
   G: 7,
@@ -3180,16 +3479,17 @@ 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",
@@ -3334,8 +3634,8 @@ 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;
@@ -3392,6 +3692,68 @@ 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 = {
@@ -3402,6 +3764,7 @@ function parseNavFile(text) {
   };
   const ephemerides = [];
   const cnav = [];
+  const bdsCnav = [];
   let inHeader = true;
   let i = 0;
   while (i < lines.length) {
@@ -3470,7 +3833,8 @@ 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;
@@ -3482,17 +3846,34 @@ 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;
@@ -3570,7 +3951,12 @@ 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
@@ -3766,6 +4152,30 @@ 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"],
@@ -3843,6 +4253,15 @@ 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)} ${eph.message}
+` + bdsCnavRecord(eph)
+    });
+  }
   records.sort(
     (a, b) => a.prn.localeCompare(b.prn) || a.time - b.time || a.label.localeCompare(b.label)
   );
@@ -4189,6 +4608,50 @@ function findSatBias(bias, prn, obs1, obs2, tMs) {
   }
   return null;
 }
+var SatOsbTable = class {
+  byKey = /* @__PURE__ */ new Map();
+  constructor(bias) {
+    const recs = Array.isArray(bias) ? bias : bias.records;
+    const groups = /* @__PURE__ */ new Map();
+    for (const r of recs) {
+      if (r.type !== "OSB" || !r.prn || r.station) continue;
+      if (r.unit !== "ns") continue;
+      const k = `${r.prn} ${r.obs1}`;
+      let g = groups.get(k);
+      if (!g) groups.set(k, g = []);
+      g.push(r);
+    }
+    for (const [k, g] of groups) {
+      g.sort((a, b) => a.startMs - b.startMs);
+      this.byKey.set(k, {
+        start: Float64Array.from(g, (r) => r.startMs),
+        end: Float64Array.from(g, (r) => r.endMs),
+        m: Float64Array.from(g, biasMetres)
+      });
+    }
+  }
+  /** Whether any phase (L…) OSB is present — i.e. the product supports AR. */
+  get hasPhase() {
+    for (const k of this.byKey.keys())
+      if (k.split(" ")[1][0] === "L") return true;
+    return false;
+  }
+  /** OSB (m) of `prn`'s observable `obs` (e.g. 'C1W', 'L2W') at `tMs`;
+   *  null when the product has none valid then. */
+  get(prn, obs, tMs) {
+    const e = this.byKey.get(`${prn} ${obs}`) ?? this.byKey.get(`${prn} ${obs.slice(0, 2)}X`);
+    if (!e) return null;
+    let lo = 0;
+    let hi = e.start.length - 1;
+    if (tMs < e.start[0]) return null;
+    while (lo < hi) {
+      const mid = lo + hi + 1 >> 1;
+      if (e.start[mid] <= tMs) lo = mid;
+      else hi = mid - 1;
+    }
+    return tMs <= e.end[lo] ? e.m[lo] : null;
+  }
+};
 
 // src/rinex/obs-writer-common.ts
 function createGzipLineSink() {
@@ -6937,11 +7400,11 @@ function parseUbxCnav(data) {
 }
 
 // src/navbits/bds.ts
-var BDT_EPOCH_MS = Date.UTC(2006, 0, 1);
-var SEC_PER_WEEK4 = 7 * 86400;
-var MS_PER_WEEK2 = SEC_PER_WEEK4 * 1e3;
-var HALF_WEEK2 = 302400;
-var sowOf = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK4;
+var BDT_EPOCH_MS3 = Date.UTC(2006, 0, 1);
+var SEC_PER_WEEK5 = 7 * 86400;
+var MS_PER_WEEK2 = SEC_PER_WEEK5 * 1e3;
+var HALF_WEEK3 = 302400;
+var sowOf = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK5;
 var BDS_SUBFRAME_BYTES = 38;
 function getBitU2(b, p1, l1, p2, l2) {
   return getBitU(b, p1, l1) * 2 ** l2 + getBitU(b, p2, l2);
@@ -6975,9 +7438,9 @@ function bdsSubframeParityOk(subframe) {
 }
 function buildBdsEphemeris(prn, f) {
   let week = f.week;
-  if (f.toes < f.sow - HALF_WEEK2) week++;
-  else if (f.toes > f.sow + HALF_WEEK2) week--;
-  const tocDate = new Date(BDT_EPOCH_MS + week * MS_PER_WEEK2 + f.tocSec * 1e3);
+  if (f.toes < f.sow - HALF_WEEK3) week++;
+  else if (f.toes > f.sow + HALF_WEEK3) week--;
+  const tocDate = new Date(BDT_EPOCH_MS3 + week * MS_PER_WEEK2 + f.tocSec * 1e3);
   return {
     system: "C",
     prn,
@@ -7216,8 +7679,8 @@ var BdsAssembler = class {
 
 // src/navbits/gal.ts
 var GPS_EPOCH_MS5 = Date.UTC(1980, 0, 6);
-var SEC_PER_WEEK5 = 7 * 86400;
-var HALF_WEEK3 = 302400;
+var SEC_PER_WEEK6 = 7 * 86400;
+var HALF_WEEK4 = 302400;
 var GST_GPS_WEEK_OFFSET = 1024;
 function galInavPageCrcOk(page) {
   if (page.length < 28) return false;
@@ -7228,11 +7691,11 @@ function galFnavPageCrcOk(page) {
   return crc24q(page, 214) === getBitU(page, 214, 24);
 }
 function gpsDate2(week, sec) {
-  return new Date(GPS_EPOCH_MS5 + (week * SEC_PER_WEEK5 + sec) * 1e3);
+  return new Date(GPS_EPOCH_MS5 + (week * SEC_PER_WEEK6 + sec) * 1e3);
 }
 function weekOfToe(week, tow, toe) {
-  if (toe - tow > HALF_WEEK3) return week - 1;
-  if (toe - tow < -HALF_WEEK3) return week + 1;
+  if (toe - tow > HALF_WEEK4) return week - 1;
+  if (toe - tow < -HALF_WEEK4) return week + 1;
   return week;
 }
 var two4 = (n) => String(n).padStart(2, "0");
@@ -7324,7 +7787,7 @@ function decodeGalInavWords(words) {
   return {
     system: "E",
     prn: `E${two4(svid)}`,
-    toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK5,
+    toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK6,
     tocDate,
     af0,
     af1,
@@ -7432,7 +7895,7 @@ function decodeGalFnavPages(pages) {
   return {
     system: "E",
     prn: `E${two4(svid)}`,
-    toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK5,
+    toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK6,
     tocDate,
     af0,
     af1,
@@ -7524,7 +7987,7 @@ var GalFnavAssembler = class {
 
 // src/navbits/glo.ts
 var GPS_EPOCH_MS6 = Date.UTC(1980, 0, 6);
-var SEC_PER_WEEK6 = 7 * 86400;
+var SEC_PER_WEEK7 = 7 * 86400;
 var SEC_PER_DAY = 86400;
 var GLO_STRING_BYTES = 10;
 function getBitG(b, pos, len) {
@@ -7618,8 +8081,8 @@ function decodeGloStrings(strings, refDate, opts = {}) {
   if (frn1 !== 1 || frn2 !== 2 || frn3 !== 3 || frn4 !== 4) return null;
   if (slot < 1 || slot > 27) return null;
   const utcSec = (getUtcDate(refDate).getTime() - GPS_EPOCH_MS6) / 1e3;
-  const week = Math.floor(utcSec / SEC_PER_WEEK6);
-  let tow = utcSec - week * SEC_PER_WEEK6;
+  const week = Math.floor(utcSec / SEC_PER_WEEK7);
+  let tow = utcSec - week * SEC_PER_WEEK7;
   const tod = tow % SEC_PER_DAY;
   tow -= tod;
   let tof = tkH * 3600 + tkM * 60 + tkS - 10800;
@@ -7632,12 +8095,12 @@ function decodeGloStrings(strings, refDate, opts = {}) {
     system: "R",
     prn: `R${String(slot).padStart(2, "0")}`,
     // RINEX GLONASS epochs are UTC: build the UTC toe Date directly.
-    tocDate: new Date(GPS_EPOCH_MS6 + (week * SEC_PER_WEEK6 + tow + toe) * 1e3),
+    tocDate: new Date(GPS_EPOCH_MS6 + (week * SEC_PER_WEEK7 + tow + toe) * 1e3),
     tauN: -tauN,
     // RINEX stores −τn; the SIS carries τn (ICD sign)
     gammaN,
     // v3 message frame time: seconds of the UTC week (RTKLIB tof).
-    messageFrameTime: ((tow + tof) % SEC_PER_WEEK6 + SEC_PER_WEEK6) % SEC_PER_WEEK6,
+    messageFrameTime: ((tow + tof) % SEC_PER_WEEK7 + SEC_PER_WEEK7) % SEC_PER_WEEK7,
     x,
     xDot,
     xAcc,
@@ -7730,7 +8193,7 @@ function decodeSbasGeoNav(msg, prn, week, tow) {
 
 // src/ubx/rawnav.ts
 var GPS_EPOCH_MS8 = Date.UTC(1980, 0, 6);
-var SEC_PER_WEEK7 = 7 * 86400;
+var SEC_PER_WEEK8 = 7 * 86400;
 var two6 = (n) => String(n).padStart(2, "0");
 function parseUbxRawNav(data, opts = {}) {
   const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
@@ -7752,7 +8215,7 @@ function parseUbxRawNav(data, opts = {}) {
       if (week === 0 && opts.refWeek !== void 0) week = opts.refWeek;
       if (week > 0) {
         refDate = new Date(
-          GPS_EPOCH_MS8 + (week * SEC_PER_WEEK7 + rcvTow) * 1e3
+          GPS_EPOCH_MS8 + (week * SEC_PER_WEEK8 + rcvTow) * 1e3
         );
         refWeek = week;
         refTow = rcvTow;
@@ -8066,9 +8529,9 @@ function svidToPrn(svid) {
 // src/sbf/nav.ts
 var PI2 = Math.PI;
 var GPS_EPOCH_MS11 = Date.UTC(1980, 0, 6);
-var BDT_EPOCH_MS2 = Date.UTC(2006, 0, 1);
-var SEC_PER_WEEK8 = 7 * 86400;
-var MS_PER_WEEK5 = SEC_PER_WEEK8 * 1e3;
+var BDT_EPOCH_MS4 = Date.UTC(2006, 0, 1);
+var SEC_PER_WEEK9 = 7 * 86400;
+var MS_PER_WEEK5 = SEC_PER_WEEK9 * 1e3;
 var F4_DNU = -2e10;
 var U4_DNU = 4294967295;
 function adjustWeek(refWeek, wn, mod) {
@@ -8078,7 +8541,7 @@ function adjustWeek(refWeek, wn, mod) {
   return refWeek - offset;
 }
 var gpsMs = (week, sec) => GPS_EPOCH_MS11 + week * MS_PER_WEEK5 + sec * 1e3;
-var sowOf2 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK8;
+var sowOf2 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK9;
 function decodeGpsQzsNav(view, b, sys) {
   const svid = view.getUint8(b + 14);
   const prn = sys === "G" ? svid : svid - 180;
@@ -8181,7 +8644,7 @@ function decodeBdsNav(view, b) {
   const toes = view.getUint32(b + 88, true);
   const wnToc = adjustWeek(bdsWeekRef, view.getUint16(b + 136, true), 8192);
   const wnToe = adjustWeek(bdsWeekRef, view.getUint16(b + 138, true), 8192);
-  const tocDate = new Date(BDT_EPOCH_MS2 + wnToc * MS_PER_WEEK5 + tocs * 1e3);
+  const tocDate = new Date(BDT_EPOCH_MS4 + wnToc * MS_PER_WEEK5 + tocs * 1e3);
   return {
     system: "C",
     prn,
@@ -8227,7 +8690,7 @@ function decodeGloNav(view, b) {
   const tocDate = new Date(toeGpsMs - leapMs);
   const tofGpsMs = gpsMs(wnc, 0) + view.getUint32(b + 8, true);
   const tofLeapMs = getGpsLeap(new Date(tofGpsMs)) * 1e3;
-  const messageFrameTime = (tofGpsMs - tofLeapMs - GPS_EPOCH_MS11) / 1e3 % SEC_PER_WEEK8;
+  const messageFrameTime = (tofGpsMs - tofLeapMs - GPS_EPOCH_MS11) / 1e3 % SEC_PER_WEEK9;
   return {
     system: "R",
     prn,
@@ -8550,7 +9013,7 @@ function parseSbfGpsNav(data) {
 
 // src/navbits/navic.ts
 var GPS_EPOCH_MS13 = Date.UTC(1980, 0, 6);
-var SEC_PER_WEEK9 = 604800;
+var SEC_PER_WEEK10 = 604800;
 var DATA = 30;
 function navicSubframeCrcOk(sf) {
   return crc24q(sf, 262) === getBitU(sf, 262, 24);
@@ -8612,16 +9075,16 @@ function decodeNavicSubframes(sf1, sf2, opts = {}) {
   j += 22;
   const i0 = getBitS(sf2, j, 32) * 2 ** -31 * GPS_PI;
   if (sqrtA <= 0 || e >= 1) return null;
-  const week = opts.refWeek ?? Math.floor((Date.now() - GPS_EPOCH_MS13) / 1e3 / SEC_PER_WEEK9);
+  const week = opts.refWeek ?? Math.floor((Date.now() - GPS_EPOCH_MS13) / 1e3 / SEC_PER_WEEK10);
   const prn = opts.prn ?? "I00";
   const tocDate = new Date(
-    GPS_EPOCH_MS13 + (week * SEC_PER_WEEK9 + tocSec) * 1e3
+    GPS_EPOCH_MS13 + (week * SEC_PER_WEEK10 + tocSec) * 1e3
   );
   return {
     system: "I",
     prn,
     tocDate,
-    toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK9,
+    toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK10,
     af0,
     af1,
     af2,
@@ -8896,6 +9359,80 @@ function parseSbfGloNav(data) {
   return { ephemerides, badCrc, messages };
 }
 
+// src/sbf/rawnav-bds-cnav.ts
+var GPS_BDT_OFFSET = 14;
+var B1C_FRAME_S = 18;
+var TOW_DNU2 = 4294967295;
+function newBdsCnavAssemblers() {
+  return {
+    b1c: new BdsCnav1Assembler(),
+    b2a: new BdsCnav2Assembler(),
+    b2b: new BdsCnav3Assembler()
+  };
+}
+function navBits(view, wordsAt, start, nBits) {
+  const out = new Uint8Array(Math.ceil(nBits / 8));
+  for (let i = 0; i < nBits; i++) {
+    const p = start + i;
+    const w = view.getUint32(wordsAt + 4 * (p >>> 5), true);
+    if (w >>> 31 - (p & 31) & 1) out[i >> 3] |= 128 >> (i & 7);
+  }
+  return out;
+}
+var MIN_LEN = { 4218: 248, 4219: 92, 4242: 144 };
+function feedBdsCnavBlock(view, b, id, len, asm) {
+  if (len < (MIN_LEN[id] ?? Infinity)) return {};
+  const prnStr = svidToPrn(view.getUint8(b + 14));
+  if (!prnStr || prnStr[0] !== "C") return {};
+  const prn = Number(prnStr.slice(1));
+  const words = b + 20;
+  if (id === 4218) {
+    const towMs = view.getUint32(b + 8, true);
+    if (towMs === TOW_DNU2) return {};
+    const sf2 = navBits(view, words, 72, 600);
+    const sf3 = navBits(view, words, 1272, 264);
+    const sf2Ok = bdsCnav1Sf2CrcOk(sf2);
+    const bdt = (towMs / 1e3 - GPS_BDT_OFFSET + 604800) % 604800;
+    const tTm = (Math.floor(bdt) - B1C_FRAME_S + 604800) % 604800;
+    const eph = asm.b1c.push(
+      prn,
+      sf2Ok ? sf2 : null,
+      bdsCnav1Sf3CrcOk(sf3) ? sf3 : null,
+      tTm
+    );
+    if (!sf2Ok) return { badCrc: true };
+    return eph ? { eph } : {};
+  }
+  if (id === 4219) {
+    const msg = navBits(view, words, 0, 288);
+    if (!bdsCnav2CrcOk(msg)) return { badCrc: true };
+    const eph = asm.b2a.push(msg);
+    return eph ? { eph } : {};
+  }
+  if (id === 4242) {
+    const msg = navBits(view, words, 12, 486);
+    if (!bdsCnav3CrcOk(msg)) return { badCrc: true };
+    const eph = asm.b2b.push(prn, msg);
+    return eph ? { eph } : {};
+  }
+  return {};
+}
+function parseSbfBdsCnav(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const asm = newBdsCnavAssemblers();
+  const ephemerides = [];
+  let badCrc = 0;
+  let messages = 0;
+  scanSbfFrames(data, view, (id, b, len) => {
+    if (id !== 4218 && id !== 4219 && id !== 4242) return;
+    messages++;
+    const r = feedBdsCnavBlock(view, b, id, len, asm);
+    if (r.eph) ephemerides.push(r.eph);
+    else if (r.badCrc) badCrc++;
+  });
+  return { ephemerides, badCrc, messages };
+}
+
 // src/navbits/sbas-l5.ts
 var SBAS_L5_PREAMBLE_UW = 6056250;
 function isSbasL1Preamble(msg) {
@@ -9038,6 +9575,7 @@ function decodeSbfNavigation(data, opts = {}) {
   const ephemerides = [];
   const seen = /* @__PURE__ */ new Set();
   const cnav = [];
+  const bdsCnav = [];
   const ionoCorrections = {};
   let leapSeconds = null;
   const counts = {
@@ -9047,6 +9585,7 @@ function decodeSbfNavigation(data, opts = {}) {
     galRaw: 0,
     gloRaw: 0,
     bdsRaw: 0,
+    bdsCnavRaw: 0,
     sbasRaw: 0,
     sbasL5Raw: 0,
     navicRaw: 0,
@@ -9058,6 +9597,7 @@ function decodeSbfNavigation(data, opts = {}) {
   const galAsm = newGalAssemblers();
   const gloAsm = new GloStringAssembler();
   const bdsAsm = new BdsAssembler();
+  const bdsCnavAsm = newBdsCnavAssemblers();
   const lnavAsm = new GpsLnavAssembler();
   const navicAsm = new NavicAssembler();
   const addEph = (e) => {
@@ -9164,6 +9704,17 @@ function decodeSbfNavigation(data, opts = {}) {
         else if (r.badCrc) counts.badFrames++;
         return;
       }
+      case 4218:
+      // BDSRawB1C
+      case 4219:
+      // BDSRawB2a
+      case 4242: {
+        counts.bdsCnavRaw++;
+        const r = feedBdsCnavBlock(view, b, id, len, bdsCnavAsm);
+        if (r.eph) bdsCnav.push(r.eph);
+        else if (r.badCrc) counts.badFrames++;
+        return;
+      }
       case 4020: {
         if (len < 52) return;
         counts.sbasRaw++;
@@ -9220,7 +9771,15 @@ function decodeSbfNavigation(data, opts = {}) {
     prns: [...dfmcPrns].sort(),
     messages: Object.values(dfmcByType).reduce((a, v) => a + v, 0)
   };
-  return { ephemerides, cnav, ionoCorrections, leapSeconds, dfmc, counts };
+  return {
+    ephemerides,
+    cnav,
+    bdsCnav,
+    ionoCorrections,
+    leapSeconds,
+    dfmc,
+    counts
+  };
 }
 
 // src/navbits/rs255.ts
@@ -10470,12 +11029,12 @@ var ID_BDSEPHEMERIS = 1696;
 var ID_RAWWAASFRAME = 287;
 var ID_RAWSBASFRAME = 973;
 var GPS_EPOCH_MS16 = Date.UTC(1980, 0, 6);
-var BDT_EPOCH_MS3 = Date.UTC(2006, 0, 1);
-var SEC_PER_WEEK10 = 7 * 86400;
+var BDT_EPOCH_MS5 = Date.UTC(2006, 0, 1);
+var SEC_PER_WEEK11 = 7 * 86400;
 var SEC_PER_DAY2 = 86400;
-var MS_PER_WEEK8 = SEC_PER_WEEK10 * 1e3;
+var MS_PER_WEEK8 = SEC_PER_WEEK11 * 1e3;
 var gpsMs2 = (week, sec) => GPS_EPOCH_MS16 + week * MS_PER_WEEK8 + sec * 1e3;
-var sowOf3 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK10;
+var sowOf3 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK11;
 function nearWeekMs(refMs, sow) {
   const refWeek = Math.floor((refMs - GPS_EPOCH_MS16) / MS_PER_WEEK8);
   let ms = gpsMs2(refWeek, sow);
@@ -10504,8 +11063,8 @@ function decodeGloEphemeris(view, p) {
   tof += Math.floor(tow / SEC_PER_DAY2) * SEC_PER_DAY2;
   if (tof < tow - 43200) tof += SEC_PER_DAY2;
   else if (tof > tow + 43200) tof -= SEC_PER_DAY2;
-  const toeGpsMs = GPS_EPOCH_MS16 + (week * SEC_PER_WEEK10 + tow) * 1e3;
-  const tofGpsMs = GPS_EPOCH_MS16 + (week * SEC_PER_WEEK10 + tof) * 1e3;
+  const toeGpsMs = GPS_EPOCH_MS16 + (week * SEC_PER_WEEK11 + tow) * 1e3;
+  const tofGpsMs = GPS_EPOCH_MS16 + (week * SEC_PER_WEEK11 + tof) * 1e3;
   const tofUtcSec = (getUtcDate(new Date(tofGpsMs)).getTime() - GPS_EPOCH_MS16) / 1e3;
   return {
     system: "R",
@@ -10514,7 +11073,7 @@ function decodeGloEphemeris(view, p) {
     tauN: -view.getFloat64(p + 100, true),
     // RINEX stores −τ_n
     gammaN: view.getFloat64(p + 116, true),
-    messageFrameTime: (tofUtcSec % SEC_PER_WEEK10 + SEC_PER_WEEK10) % SEC_PER_WEEK10,
+    messageFrameTime: (tofUtcSec % SEC_PER_WEEK11 + SEC_PER_WEEK11) % SEC_PER_WEEK11,
     x: view.getFloat64(p + 28, true) / 1e3,
     y: view.getFloat64(p + 36, true) / 1e3,
     z: view.getFloat64(p + 44, true) / 1e3,
@@ -10588,7 +11147,7 @@ function decodeBdsEphemeris2(view, p) {
   const tgd1 = view.getFloat64(p + 20, true);
   const tocs = view.getUint32(p + 40, true);
   const toes = view.getUint32(p + 72, true);
-  const tocDate = new Date(BDT_EPOCH_MS3 + week * MS_PER_WEEK8 + tocs * 1e3);
+  const tocDate = new Date(BDT_EPOCH_MS5 + week * MS_PER_WEEK8 + tocs * 1e3);
   return {
     system: "C",
     prn: `C${String(prn).padStart(2, "0")}`,
@@ -10936,7 +11495,7 @@ function parseNovatelRange(data) {
           const sigtype = stat >>> 21 & 31;
           const plock = stat >>> 10 & 1;
           const parity = stat >>> 11 & 1;
-          const clock = stat >>> 12 & 1;
+          const clock2 = stat >>> 12 & 1;
           const sig = SIGNALS2[satsys]?.[sigtype];
           if (!sig) continue;
           let [sysL, code] = sig;
@@ -10966,7 +11525,7 @@ function parseNovatelRange(data) {
           meas.push({
             prn: `${sysL}${String(prnNum).padStart(2, "0")}`,
             code,
-            pr: clock ? psr : null,
+            pr: clock2 ? psr : null,
             cp: plock ? cp : null,
             doppler: plock ? dop : null,
             cn0,
@@ -10993,7 +11552,7 @@ function parseNovatelRange(data) {
           const sigtype = stat >>> 21 & 31;
           const plock = stat >>> 10 & 1;
           const parity = stat >>> 11 & 1;
-          const clock = stat >>> 12 & 1;
+          const clock2 = stat >>> 12 & 1;
           const sig = SIGNALS2[satsys]?.[sigtype];
           if (!sig) continue;
           let [sysL, code] = sig;
@@ -11018,7 +11577,7 @@ function parseNovatelRange(data) {
           meas.push({
             prn,
             code,
-            pr: clock ? psr : null,
+            pr: clock2 ? psr : null,
             cp: plock ? -adr : null,
             doppler: plock ? dop : null,
             cn0: snr,
@@ -11081,14 +11640,14 @@ function* trimbleFrames(data, stats) {
 
 // src/trimble/nav.ts
 var GPS_EPOCH_MS19 = Date.UTC(1980, 0, 6);
-var BDT_EPOCH_MS4 = Date.UTC(2006, 0, 1);
-var SEC_PER_WEEK11 = 7 * 86400;
-var MS_PER_WEEK10 = SEC_PER_WEEK11 * 1e3;
+var BDT_EPOCH_MS6 = Date.UTC(2006, 0, 1);
+var SEC_PER_WEEK12 = 7 * 86400;
+var MS_PER_WEEK10 = SEC_PER_WEEK12 * 1e3;
 var GPS_PI2 = 3.1415926535898;
 var BDS_WEEK_OFFSET = 1356;
 var BDS_LEAP_SEC = 14;
 var gpsMs3 = (week, sec) => GPS_EPOCH_MS19 + week * MS_PER_WEEK10 + sec * 1e3;
-var sowOf4 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK11;
+var sowOf4 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK12;
 var SUB_GPS_EPHEMERIS = 1;
 var SUB_ION_UTC = 3;
 var SUB_GLO_EPHEMERIS = 9;
@@ -11169,7 +11728,7 @@ function decodeBdsEphemeris3(view, base) {
   const tocSec = r.tocSec - BDS_LEAP_SEC;
   const toeSec = r.toeSec - BDS_LEAP_SEC;
   const tocDate = new Date(
-    BDT_EPOCH_MS4 + bdsWeek * MS_PER_WEEK10 + tocSec * 1e3
+    BDT_EPOCH_MS6 + bdsWeek * MS_PER_WEEK10 + tocSec * 1e3
   );
   return {
     system: "C",
@@ -11240,7 +11799,7 @@ function decodeGloEphemeris2(view, base) {
     // RINEX stores −τn as the clock bias; the record carries τn (ICD sign).
     tauN: -view.getFloat64(base + 113, false),
     gammaN: view.getFloat64(base + 121, false),
-    messageFrameTime: (tocMs - GPS_EPOCH_MS19) / 1e3 % SEC_PER_WEEK11,
+    messageFrameTime: (tocMs - GPS_EPOCH_MS19) / 1e3 % SEC_PER_WEEK12,
     // State vector: metres / m·s⁻¹ / m·s⁻² → km / km·s⁻¹ / km·s⁻².
     x: view.getFloat64(base + 33, false) / 1e3,
     xDot: view.getFloat64(base + 41, false) / 1e3,
@@ -11692,12 +12251,12 @@ function* binexRecords(data, view, stats) {
 // src/binex/nav.ts
 var GPS_EPOCH_MS21 = Date.UTC(1980, 0, 6);
 var GLO_DAY0_MS = Date.UTC(1980, 0, 1);
-var BDT_EPOCH_MS5 = Date.UTC(2006, 0, 1);
-var SEC_PER_WEEK12 = 7 * 86400;
-var MS_PER_WEEK12 = SEC_PER_WEEK12 * 1e3;
+var BDT_EPOCH_MS7 = Date.UTC(2006, 0, 1);
+var SEC_PER_WEEK13 = 7 * 86400;
+var MS_PER_WEEK12 = SEC_PER_WEEK13 * 1e3;
 var SC2RAD = GPS_PI;
 var gpsMs4 = (week, sec) => GPS_EPOCH_MS21 + week * MS_PER_WEEK12 + sec * 1e3;
-var sowOf5 = (dateMs) => (dateMs / 1e3 % SEC_PER_WEEK12 + SEC_PER_WEEK12) % SEC_PER_WEEK12;
+var sowOf5 = (dateMs) => (dateMs / 1e3 % SEC_PER_WEEK13 + SEC_PER_WEEK13) % SEC_PER_WEEK13;
 var two9 = (n) => String(n).padStart(2, "0");
 var Reader = class {
   constructor(view, start, le) {
@@ -11861,7 +12420,7 @@ function decodeBeidou(view, p, le) {
   const iode = flag1 >> 6 & 31;
   const svHealth = flag1 & 1;
   const tgd = bdsTgd(flag2 >> 4);
-  const tocDate = new Date(BDT_EPOCH_MS5 + week * MS_PER_WEEK12 + toes * 1e3);
+  const tocDate = new Date(BDT_EPOCH_MS7 + week * MS_PER_WEEK12 + toes * 1e3);
   return {
     system: "C",
     prn: `C${two9(prn)}`,
@@ -12389,13 +12948,13 @@ var GM_GPS = 3986005e8;
 var GM_GAL = 3986004418e5;
 var GM_BDS = 3986004418e5;
 var GPS_EPOCH_MS23 = Date.UTC(1980, 0, 6);
-var BDT_EPOCH_MS6 = Date.UTC(2006, 0, 1);
+var BDT_EPOCH_MS8 = Date.UTC(2006, 0, 1);
 var WEEK_MS = 6048e5;
 var BDT_MINUS_GPST_MS = 14e3;
 var BDS_GEO_PRNS = /* @__PURE__ */ new Set([1, 2, 3, 4, 5, 59, 60, 61, 62, 63]);
 function almanacEpochMs(alm) {
   if (alm.system === "C") {
-    return BDT_EPOCH_MS6 + alm.weekAlm * WEEK_MS + alm.toaSec * 1e3 + BDT_MINUS_GPST_MS;
+    return BDT_EPOCH_MS8 + alm.weekAlm * WEEK_MS + alm.toaSec * 1e3 + BDT_MINUS_GPST_MS;
   }
   return GPS_EPOCH_MS23 + alm.weekAlm * WEEK_MS + alm.toaSec * 1e3;
 }
@@ -12770,8 +13329,8 @@ function computeDop(satAzEls) {
   for (const { az, el, prn } of sats) {
     const cosEl = Math.cos(el);
     const row = [cosEl * Math.sin(az), cosEl * Math.cos(az), Math.sin(el)];
-    const clock = dopClock(prn);
-    for (const c of clocks) row.push(c === clock ? 1 : 0);
+    const clock2 = dopClock(prn);
+    for (const c of clocks) row.push(c === clock2 ? 1 : 0);
     H3.push(row);
   }
   const HtH = Array.from({ length: m }, () => new Array(m).fill(0));
@@ -13575,6 +14134,12 @@ function solveZt(n, m, Z2, E) {
     for (let cIdx = 0; cIdx < m; cIdx++) X[r + cIdx * n] = M[r * w + n + cIdx];
   return X;
 }
+function normCdf(x) {
+  const z = Math.abs(x) / Math.SQRT2;
+  const t = 1 / (1 + 0.3275911 * z);
+  const erf = 1 - ((((1.061405429 * t - 1.453152027) * t + 1.421413741) * t - 0.284496736) * t + 0.254829592) * t * Math.exp(-z * z);
+  return x >= 0 ? 0.5 * (1 + erf) : 0.5 * (1 - erf);
+}
 function lambdaSearch(a, Q, n, m = 2) {
   if (n <= 0 || m <= 0 || a.length < n || Q.length < n * n) return null;
   const L = new Float64Array(n * n);
@@ -13601,7 +14166,10 @@ function lambdaSearch(a, Q, n, m = 2) {
     candidates.push(v);
   }
   const ratio = m >= 2 && s[0] > 0 ? s[1] / s[0] : Infinity;
-  return { candidates, residuals: s, ratio };
+  let successRate = 1;
+  for (let i = 0; i < n; i++)
+    successRate *= 2 * normCdf(1 / (2 * Math.sqrt(D[i]))) - 1;
+  return { candidates, residuals: s, ratio, successRate };
 }
 function lambdaReduction(Q, n) {
   if (n <= 0 || Q.length < n * n) return null;
@@ -13616,7 +14184,7 @@ function lambdaReduction(Q, n) {
 
 // src/positioning/ppp-antenna.ts
 function parseAntexTime(s) {
-  const p = s.trim().split(/\s+/).map(Number);
+  const p = s.trim().split(/[\s:-]+/).map(Number);
   if (p.length < 3 || p.some((v) => Number.isNaN(v))) return null;
   return Date.UTC(
     p[0],
@@ -13666,11 +14234,21 @@ function buildPppAntenna(antex) {
     satOffset(prn, dateMs, band1, band2, f1, f2) {
       const list = sats.get(prn);
       if (!list) return null;
-      const entry = list.find((e) => {
-        const from = parseAntexTime(e.validFrom);
-        const until = parseAntexTime(e.validUntil);
-        return (from == null || dateMs >= from) && (until == null || dateMs <= until);
-      });
+      let entry;
+      let bestDist = Infinity;
+      for (const e of list) {
+        const from = parseAntexTime(e.validFrom) ?? -Infinity;
+        const until = parseAntexTime(e.validUntil) ?? Infinity;
+        if (dateMs >= from && dateMs <= until) {
+          entry = e;
+          break;
+        }
+        const dist = dateMs < from ? from - dateMs : dateMs - until;
+        if (dist < bestDist) {
+          bestDist = dist;
+          entry = e;
+        }
+      }
       if (!entry) return null;
       const a = freqOf(entry, band1);
       const b = freqOf(entry, band2);
@@ -13678,10 +14256,14 @@ function buildPppAntenna(antex) {
       return withZen(entry, combineIf(a, b, f1, f2));
     },
     rcvOffset(antType, band1, band2, f1, f2) {
-      const entry = rcvs.get(antType);
+      const entry = rcvs.get(antType) ?? rcvs.get(antType.substring(0, 16).padEnd(16, " ") + "NONE");
       if (!entry) return null;
-      const a = freqOf(entry, band1);
-      const b = freqOf(entry, band2);
+      let a = freqOf(entry, band1);
+      let b = freqOf(entry, band2);
+      if (!a || !b) {
+        a = freqOf(entry, "G01");
+        b = freqOf(entry, "G02");
+      }
       if (!a || !b) return null;
       return withZen(entry, combineIf(a, b, f1, f2));
     }
@@ -13757,13 +14339,13 @@ function phaseWindup(prn, losRcvToSat, satFrame, latRad, lonRad, state) {
     kx[2] - k[2] * kdotx - kcrossY[2]
   ];
   const north = enuToEcef([0, 1, 0], latRad, lonRad);
-  const east = enuToEcef([1, 0, 0], latRad, lonRad);
+  const west = enuToEcef([-1, 0, 0], latRad, lonRad);
   const kdotn = dot(k, north);
-  const kcrossE = cross(k, east);
+  const kcrossW = cross(k, west);
   const dR = [
-    north[0] - k[0] * kdotn + kcrossE[0],
-    north[1] - k[1] * kdotn + kcrossE[1],
-    north[2] - k[2] * kdotn + kcrossE[2]
+    north[0] - k[0] * kdotn + kcrossW[0],
+    north[1] - k[1] * kdotn + kcrossW[1],
+    north[2] - k[2] * kdotn + kcrossW[2]
   ];
   const nS = Math.hypot(dS[0], dS[1], dS[2]) || 1;
   const nR = Math.hypot(dR[0], dR[1], dR[2]) || 1;
@@ -13890,9 +14472,11 @@ function buildGeometry(rover, base, basePos, ephemerides, timeMs, maskRad, tropo
   let baseLatRad = 0;
   let baseLonRad = 0;
   if (antenna?.base) {
-    const [latDeg, lonDeg] = ecefToGeodetic(basePos[0], basePos[1], basePos[2]);
-    baseLatRad = latDeg * Math.PI / 180;
-    baseLonRad = lonDeg * Math.PI / 180;
+    [baseLatRad, baseLonRad] = ecefToGeodetic(
+      basePos[0],
+      basePos[1],
+      basePos[2]
+    );
   }
   for (const [prn, mR] of rover) {
     const sys = prn[0];
@@ -13988,12 +14572,12 @@ function roverTerms(g, x, y, z, troposphere) {
     dTropo = tropoDelay(Math.max(elR, 0.05)) - g.tropoB;
   }
   if (g.offR) {
-    const [latDeg, lonDeg] = ecefToGeodetic(x, y, z);
+    const [latRad, lonRad] = ecefToGeodetic(x, y, z);
     rho += rcvAntennaRangeM(
       g.offR,
       [-u[0], -u[1], -u[2]],
-      latDeg * Math.PI / 180,
-      lonDeg * Math.PI / 180,
+      latRad,
+      lonRad,
       elR,
       g.roverDelta
     );
@@ -14997,7 +15581,7 @@ var P2_31 = 2 ** -31;
 var P2_39 = 2 ** -39;
 var D2R = Math.PI / 180;
 var R2D = 180 / Math.PI;
-var SEC_PER_WEEK13 = 604800;
+var SEC_PER_WEEK14 = 604800;
 var MAXSBSAGEF = 30;
 var MAXSBSAGEL = 360;
 var MAXBAND = 10;
@@ -15145,7 +15729,7 @@ var igpband2 = [
   [{ coord: 60, arr: x5, bits: 1, bite: 72 }, { coord: 65, arr: x6, bits: 73, bite: 108 }, { coord: 70, arr: x6, bits: 109, bite: 144 }, { coord: 75, arr: x6, bits: 145, bite: 180 }, { coord: 85, arr: x7, bits: 181, bite: 192 }],
   [{ coord: -60, arr: x5, bits: 1, bite: 72 }, { coord: -65, arr: x6, bits: 73, bite: 108 }, { coord: -70, arr: x6, bits: 109, bite: 144 }, { coord: -75, arr: x6, bits: 145, bite: 180 }, { coord: -85, arr: x8, bits: 181, bite: 192 }]
 ];
-var gpsSeconds = (week, tow) => week * SEC_PER_WEEK13 + tow;
+var gpsSeconds = (week, tow) => week * SEC_PER_WEEK14 + tow;
 function maskPrn(i) {
   if (i >= 1 && i <= 37) return `G${two11(i)}`;
   if (i >= 38 && i <= 61) return `R${two11(i - 37)}`;
@@ -15525,8 +16109,8 @@ var SbasProcessor = class {
       const j = block * 15 + i;
       if (j >= b.igp.length) continue;
       const give = getBitU(msg, 22 + i * 13 + 9, 4);
-      const delay = getBitU(msg, 22 + i * 13, 9);
-      b.igp[j].delay = delay === 511 ? 0 : delay * 0.125;
+      const delay2 = getBitU(msg, 22 + i * 13, 9);
+      b.igp[j].delay = delay2 === 511 ? 0 : delay2 * 0.125;
       b.igp[j].give = give + 1 >= 16 ? 0 : give + 1;
       b.igp[j].t0s = t0s;
     }
@@ -15692,19 +16276,19 @@ var SbasProcessor = class {
       if (w[3] < 0) return null;
     } else return null;
     const now = gpsSeconds(week, tow);
-    let delay = 0;
+    let delay2 = 0;
     let varVert = 0;
     for (let i = 0; i < 4; i++) {
       const g = pts[i];
       if (!g) continue;
-      delay += w[i] * g.delay;
+      delay2 += w[i] * g.delay;
       const sigGive = Math.sqrt(varicorr(g.give));
       const d = this.degr;
       const eiono = d ? sbasIonoDeg(d, now - g.t0s) : 0;
       const sig2 = d?.rssIono ? sigGive * sigGive + eiono * eiono : (sigGive + eiono) ** 2;
       varVert += w[i] * sig2;
     }
-    return { delayM: delay * fp, varM2: varVert * fp * fp };
+    return { delayM: delay2 * fp, varM2: varVert * fp * fp };
   }
   /** Find the four IGPs bracketing a pierce point (RTKLIB `searchigp`). */
   searchIgp(latP, lonP) {
@@ -15792,10 +16376,10 @@ function applyOrbitClock(eph, corr, timeMs) {
   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) {
+function hasToOrbitClock(orbit, clock2, 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;
+  const clockC0 = clock2 && clock2.deltaClock != null && !clock2.notUsable ? clock2.deltaClock : 0;
   return {
     prn: orbit.prn,
     iod: orbit.gnssIod,
@@ -15808,41 +16392,269 @@ function hasToOrbitClock(orbit, clock, refTimeMs, validitySeconds) {
   };
 }
 
-// src/positioning/ppp-tropo.ts
-var HYD_AVG_A = [
-  0.0012769934,
-  1268323e-9,
-  0.0012465397,
-  0.0012196049,
-  0.0012045996
-];
-var HYD_AVG_B = [
-  0.0029153695,
-  0.0029152299,
-  0.0029288445,
-  0.0029022565,
-  0.0029024912
-];
-var HYD_AVG_C = [
-  0.062610505,
-  0.062837393,
-  0.063721774,
-  0.063824265,
-  0.064258455
-];
-var HYD_AMP_A = [0, 12709626e-12, 26523662e-12, 34000452e-12, 41202191e-12];
-var HYD_AMP_B = [0, 21414979e-12, 30160779e-12, 72562722e-12, 11723375e-11];
-var HYD_AMP_C = [0, 901284e-10, 43497037e-12, 84795348e-11, 0.0017037206];
-var HT_A = 253e-7;
-var HT_B = 549e-5;
-var HT_C = 114e-5;
-var WET_A = [
-  58021897e-11,
-  56794847e-11,
-  58118019e-11,
-  59727542e-11,
-  61641693e-11
-];
+// src/positioning/ppp-ar.ts
+function wlWavelength(f1, f2) {
+  return C_LIGHT / (f1 - f2);
+}
+function nlWavelength(f1, f2) {
+  return C_LIGHT / (f1 + f2);
+}
+function resolvePppAmbiguities(sats, Qaif, opts = {}) {
+  const wlThreshold = opts.wlThreshold ?? 0.25;
+  const ratioThreshold = opts.ratioThreshold ?? 3;
+  const minPartial = opts.minPartial ?? 4;
+  const minSuccess = opts.minSuccessRate ?? 0;
+  const n = sats.length;
+  const none = (rejectedWl2, ratio = 0) => ({
+    fixed: false,
+    ratio,
+    refPrn: null,
+    refPrns: [],
+    sats: [],
+    rejectedWl: rejectedWl2
+  });
+  const elev = (i) => sats[i].elevDeg ?? -1;
+  const wlOf = (i) => sats[i].mwCyc - (sats[i].wlBiasCyc ?? 0);
+  const refOfSys = /* @__PURE__ */ new Map();
+  for (let i = 0; i < n; i++) {
+    const sys = sats[i].prn[0];
+    const r = refOfSys.get(sys);
+    if (r === void 0 || elev(i) > elev(r)) refOfSys.set(sys, i);
+  }
+  const nWlOf = /* @__PURE__ */ new Map();
+  const refIdx = /* @__PURE__ */ new Map();
+  const rejectedWl = [];
+  for (const r of refOfSys.values()) {
+    nWlOf.set(r, Math.round(wlOf(r)));
+    refIdx.set(r, r);
+  }
+  for (let i = 0; i < n; i++) {
+    if (refIdx.has(i)) continue;
+    const r = refOfSys.get(sats[i].prn[0]);
+    const sdWl = wlOf(i) - wlOf(r);
+    const k = Math.round(sdWl);
+    if (Math.abs(sdWl - k) <= wlThreshold) {
+      nWlOf.set(i, nWlOf.get(r) + k);
+      refIdx.set(i, r);
+    } else rejectedWl.push(sats[i].prn);
+  }
+  const lamNl = (i) => nlWavelength(sats[i].f1, sats[i].f2);
+  const n1Float = (i) => {
+    const s = sats[i];
+    return s.aIF / lamNl(i) - s.f2 / (s.f1 - s.f2) * nWlOf.get(i) - (s.nlBiasCyc ?? 0);
+  };
+  const qN1 = (a, b) => Qaif[a * n + b] / (lamNl(a) * lamNl(b));
+  let cand = [...refIdx.keys()].filter((i) => refIdx.get(i) !== i).sort((a, b) => elev(b) - elev(a));
+  if (cand.length < 1) return none(rejectedWl);
+  let best = null;
+  let firstRatio = 0;
+  for (; ; ) {
+    const m = cand.length;
+    const sd2 = new Float64Array(m);
+    const Qsd = new Float64Array(m * m);
+    for (let a = 0; a < m; a++) {
+      const ia = cand[a];
+      const ra = refIdx.get(ia);
+      sd2[a] = n1Float(ia) - n1Float(ra);
+      for (let b = 0; b < m; b++) {
+        const ib = cand[b];
+        const rb = refIdx.get(ib);
+        Qsd[a * m + b] = qN1(ia, ib) - qN1(ia, rb) - qN1(ra, ib) + qN1(ra, rb);
+      }
+    }
+    const res = lambdaSearch(sd2, Qsd, m, 2);
+    const ratio = res ? Math.min(res.ratio, 999.9) : 0;
+    if (best === null && firstRatio === 0) firstRatio = ratio;
+    if (res && ratio >= ratioThreshold && res.successRate >= minSuccess) {
+      best = { set: cand, ratio, fix: Float64Array.from(res.candidates[0]) };
+      break;
+    }
+    if (m <= minPartial) break;
+    cand = cand.slice(0, -1);
+  }
+  if (!best) return { ...none(rejectedWl, firstRatio), refPrn: null };
+  const refN1 = /* @__PURE__ */ new Map();
+  for (const r of refOfSys.values()) refN1.set(r, Math.round(n1Float(r)));
+  const out = [];
+  const emit = (i, n1) => {
+    const s = sats[i];
+    const l = lamNl(i);
+    const nWl = nWlOf.get(i);
+    out.push({
+      prn: s.prn,
+      nWl,
+      n1,
+      aIF: l * n1 + l * (s.f2 / (s.f1 - s.f2)) * nWl,
+      ref: sats[refIdx.get(i)].prn
+    });
+  };
+  const usedRefs = new Set(best.set.map((i) => refIdx.get(i)));
+  for (const r of usedRefs) emit(r, refN1.get(r));
+  best.set.forEach(
+    (i, a) => emit(i, refN1.get(refIdx.get(i)) + Math.round(best.fix[a]))
+  );
+  const refPrns = [...usedRefs].map((r) => sats[r].prn);
+  return {
+    fixed: true,
+    ratio: best.ratio,
+    refPrn: refPrns[0] ?? null,
+    refPrns,
+    sats: out,
+    rejectedWl
+  };
+}
+function solveSpd(A, b) {
+  const n = b.length;
+  const L = Array.from({ length: n }, () => new Array(n).fill(0));
+  for (let i = 0; i < n; i++) {
+    for (let j = 0; j <= i; j++) {
+      let s = A[i][j];
+      for (let k = 0; k < j; k++) s -= L[i][k] * L[j][k];
+      if (i === j) {
+        if (s <= 0) return null;
+        L[i][j] = Math.sqrt(s);
+      } else {
+        L[i][j] = s / L[j][j];
+      }
+    }
+  }
+  const y = new Array(n).fill(0);
+  for (let i = 0; i < n; i++) {
+    let s = b[i];
+    for (let k = 0; k < i; k++) s -= L[i][k] * y[k];
+    y[i] = s / L[i][i];
+  }
+  const x = new Array(n).fill(0);
+  for (let i = n - 1; i >= 0; i--) {
+    let s = y[i];
+    for (let k = i + 1; k < n; k++) s -= L[k][i] * x[k];
+    x[i] = s / L[i][i];
+  }
+  return x;
+}
+function fixPppPosition(state, fcb, opts = {}) {
+  const floatPos = state.position;
+  const noFix = {
+    fixed: false,
+    position: floatPos,
+    floatPosition: floatPos,
+    shift: [0, 0, 0],
+    nFixed: 0,
+    ratio: 0,
+    refPrn: null
+  };
+  const amb = state.ambiguities;
+  if (amb.length < 3) return noFix;
+  const sats = amb.map((a) => ({
+    prn: a.prn,
+    aIF: a.aIF,
+    mwCyc: a.mwCyc,
+    f1: a.f1,
+    f2: a.f2,
+    wlBiasCyc: fcb.satWlFcb.get(a.prn) ?? 0,
+    nlBiasCyc: fcb.satNlFcb.get(a.prn) ?? 0,
+    elevDeg: a.elevDeg
+  }));
+  const n = sats.length;
+  const Qaif = new Float64Array(n * n);
+  for (let i = 0; i < n; i++)
+    for (let j = 0; j < n; j++)
+      Qaif[i * n + j] = state.covariance[amb[i].index][amb[j].index];
+  const res = resolvePppAmbiguities(sats, Qaif, {
+    ...opts,
+    minPartial: opts.minPartial ?? Math.max(4, opts.minFixed ?? 0)
+  });
+  if (!res.fixed || res.refPrn === null) {
+    return { ...noFix, ratio: res.ratio, refPrn: res.refPrn };
+  }
+  const idxOfPrn = new Map(amb.map((a) => [a.prn, a.index]));
+  const floatOfPrn = new Map(amb.map((a) => [a.prn, a.aIF]));
+  const fixedOf = new Map(res.sats.map((s) => [s.prn, s.aIF]));
+  const pairs = res.sats.filter(
+    (s) => s.ref !== s.prn && idxOfPrn.has(s.prn) && idxOfPrn.has(s.ref)
+  ).map((s) => ({ prn: s.prn, ref: s.ref }));
+  const m = pairs.length;
+  if (m < Math.max(1, opts.minFixed ?? 1))
+    return { ...noFix, ratio: res.ratio, refPrn: res.refPrn };
+  const P = state.covariance;
+  const ix = (prn) => idxOfPrn.get(prn);
+  const qAA = (i, j) => P[ix(i)][ix(j)];
+  const qXA = (r, i) => P[r][ix(i)];
+  const Qzz = Array.from({ length: m }, () => new Array(m).fill(0));
+  const z = new Array(m).fill(0);
+  for (let a = 0; a < m; a++) {
+    const { prn: ia, ref: ra } = pairs[a];
+    z[a] = floatOfPrn.get(ia) - floatOfPrn.get(ra) - (fixedOf.get(ia) - fixedOf.get(ra));
+    for (let b = 0; b < m; b++) {
+      const { prn: ib, ref: rb } = pairs[b];
+      Qzz[a][b] = qAA(ia, ib) - qAA(ia, rb) - qAA(ra, ib) + qAA(ra, rb);
+    }
+  }
+  const Qxz = [0, 1, 2].map(
+    (r) => pairs.map(({ prn, ref }) => qXA(r, prn) - qXA(r, ref))
+  );
+  const y = solveSpd(Qzz, z);
+  if (!y) return { ...noFix, ratio: res.ratio, refPrn: res.refPrn };
+  let chi2 = 0;
+  for (let a = 0; a < m; a++) chi2 += z[a] * y[a];
+  if (chi2 / m > (opts.maxChi2 ?? Infinity))
+    return { ...noFix, ratio: res.ratio, refPrn: res.refPrn };
+  const shift = [0, 0, 0];
+  for (let r = 0; r < 3; r++) {
+    let s = 0;
+    for (let a = 0; a < m; a++) s += Qxz[r][a] * y[a];
+    shift[r] = -s;
+  }
+  return {
+    fixed: true,
+    position: [
+      floatPos[0] + shift[0],
+      floatPos[1] + shift[1],
+      floatPos[2] + shift[2]
+    ],
+    floatPosition: floatPos,
+    shift,
+    nFixed: m,
+    ratio: res.ratio,
+    refPrn: res.refPrn
+  };
+}
+
+// src/positioning/ppp-tropo.ts
+var HYD_AVG_A = [
+  0.0012769934,
+  1268323e-9,
+  0.0012465397,
+  0.0012196049,
+  0.0012045996
+];
+var HYD_AVG_B = [
+  0.0029153695,
+  0.0029152299,
+  0.0029288445,
+  0.0029022565,
+  0.0029024912
+];
+var HYD_AVG_C = [
+  0.062610505,
+  0.062837393,
+  0.063721774,
+  0.063824265,
+  0.064258455
+];
+var HYD_AMP_A = [0, 12709626e-12, 26523662e-12, 34000452e-12, 41202191e-12];
+var HYD_AMP_B = [0, 21414979e-12, 30160779e-12, 72562722e-12, 11723375e-11];
+var HYD_AMP_C = [0, 901284e-10, 43497037e-12, 84795348e-11, 0.0017037206];
+var HT_A = 253e-7;
+var HT_B = 549e-5;
+var HT_C = 114e-5;
+var WET_A = [
+  58021897e-11,
+  56794847e-11,
+  58118019e-11,
+  59727542e-11,
+  61641693e-11
+];
 var WET_B = [
   0.0014275268,
   0.0015138625,
@@ -16015,13 +16827,11 @@ function createPppCorrections(cfg) {
       let rangeM = 0;
       let phaseWindupM = 0;
       const e = geom.los;
-      const [latDeg, lonDeg] = ecefToGeodetic(
+      const [latRad, lonRad] = ecefToGeodetic(
         geom.rcvEcef[0],
         geom.rcvEcef[1],
         geom.rcvEcef[2]
       );
-      const latRad = latDeg * Math.PI / 180;
-      const lonRad = lonDeg * Math.PI / 180;
       const frame = ctx ? satBodyFrame(geom.satEcef, ctx.sun) : null;
       if (useSat && frame && geom.band1 && geom.band2) {
         const off = cfg.antenna.satOffset(
@@ -16079,6 +16889,10 @@ function createPppCorrections(cfg) {
 }
 
 // src/positioning/ppp.ts
+var NO_FCB = {
+  satWlFcb: /* @__PURE__ */ new Map(),
+  satNlFcb: /* @__PURE__ */ new Map()
+};
 function matVec(P, h) {
   const n = P.length;
   const out = new Array(n).fill(0);
@@ -16090,6 +16904,34 @@ function matVec(P, h) {
   }
   return out;
 }
+function tdLsq(qs) {
+  const M = [0, 1, 2, 3].map(() => [0, 0, 0, 0, 0]);
+  for (const q of qs) {
+    const a = [-q.v.e[0], -q.v.e[1], -q.v.e[2], 1];
+    for (let i = 0; i < 4; i++) {
+      M[i][4] += a[i] * q.d;
+      for (let j = 0; j < 4; j++) M[i][j] += a[i] * a[j];
+    }
+  }
+  for (let c = 0; c < 4; c++) {
+    let p = c;
+    for (let r = c + 1; r < 4; r++)
+      if (Math.abs(M[r][c]) > Math.abs(M[p][c])) p = r;
+    if (Math.abs(M[p][c]) < 1e-9) return null;
+    [M[c], M[p]] = [M[p], M[c]];
+    for (let r = 0; r < 4; r++) {
+      if (r === c) continue;
+      const f = M[r][c] / M[c][c];
+      for (let k = c; k < 5; k++) M[r][k] -= f * M[c][k];
+    }
+  }
+  return [0, 1, 2, 3].map((i) => M[i][4] / M[i][i]);
+}
+function tdResidual(q, s) {
+  return q.d - (-q.v.e[0] * s[0] - q.v.e[1] * s[1] - q.v.e[2] * s[2] + s[3]);
+}
+var TD_SLIP_M = 0.08;
+var CODE_GATE_M = 15;
 function ekfUpdateScalar(x, P, h, innovation, r, rejectK = 0) {
   const n = x.length;
   const Ph = matVec(P, h);
@@ -16122,10 +16964,17 @@ function ifCoeffs(f1, f2) {
   return { g, lambdaIf };
 }
 var Sp3EphemerisSource = class {
-  constructor(sp3, clk) {
+  constructor(sp3, clk, osb) {
     this.sp3 = sp3;
     this.clk = clk;
+    this.osb = osb;
+    if (osb) {
+      this.codeBias = (prn, code, t) => osb.get(prn, "C" + code, t);
+      this.phaseBias = (prn, code, t) => osb.get(prn, "L" + code, t);
+    }
   }
+  codeBias;
+  phaseBias;
   satState(prn, tEmitMs) {
     const p = sp3Position(this.sp3, prn, tEmitMs);
     if (!p || p.clk == null) return null;
@@ -16143,6 +16992,21 @@ var Sp3EphemerisSource = class {
     return { x: p.x, y: p.y, z: p.z, vx, vy, vz, clkS };
   }
 };
+function applySatBiases(source, o, tMs) {
+  if (!source.codeBias && !source.phaseBias) return o;
+  const b1 = source.codeBias?.(o.prn, o.code1 ?? "", tMs) ?? 0;
+  const b2 = source.codeBias?.(o.prn, o.code2 ?? "", tMs) ?? 0;
+  let l1 = o.l1;
+  let l2 = o.l2;
+  if (source.phaseBias) {
+    const p1 = source.phaseBias(o.prn, o.phase1 ?? o.code1 ?? "", tMs);
+    const p2 = source.phaseBias(o.prn, o.phase2 ?? o.code2 ?? "", tMs);
+    if (p1 == null || p2 == null) return null;
+    l1 -= p1 / (C_LIGHT / o.f1);
+    l2 -= p2 / (C_LIGHT / o.f2);
+  }
+  return { ...o, c1: o.c1 - b1, c2: o.c2 - b2, l1, l2 };
+}
 function sagnacRotate(x, y, z, travelS) {
   const theta = OMEGA_E * travelS;
   const c = Math.cos(theta);
@@ -16204,6 +17068,16 @@ var PppEngine = class {
   arcs;
   arcSnap;
   mwState;
+  /** Previous epoch's phase terms per satellite, for the time-differenced
+   *  (clock-free) cycle-slip test. */
+  tdPrev;
+  /** Consecutive gated-out phase updates per satellite. */
+  phaseRejects;
+  /** PPP-AR: the latest accepted fix (null: float). */
+  lastFix;
+  lastArMs;
+  firstFixMs;
+  fixedEpochs;
   series;
   ei = 0;
   t0 = 0;
@@ -16239,6 +17113,12 @@ var PppEngine = class {
     this.arcs = [];
     this.arcSnap = /* @__PURE__ */ new Map();
     this.mwState = /* @__PURE__ */ new Map();
+    this.tdPrev = /* @__PURE__ */ new Map();
+    this.phaseRejects = /* @__PURE__ */ new Map();
+    this.lastFix = null;
+    this.lastArMs = -Infinity;
+    this.firstFixMs = null;
+    this.fixedEpochs = 0;
     this.series = [];
     this.ei = 0;
     this.t0 = 0;
@@ -16332,7 +17212,9 @@ var PppEngine = class {
       lastSeen,
       arcSnap,
       mwState,
-      series
+      series,
+      tdPrev,
+      phaseRejects
     } = this;
     const flushArc = this.flushArc.bind(this);
     const detectSlip = this.detectSlip.bind(this);
@@ -16354,13 +17236,15 @@ var PppEngine = class {
     for (const ci of clkIdx.values()) P[ci][ci] = CLK_VAR;
     P[IDX_ZWD][IDX_ZWD] += ztdQ * (ei > 0 ? 1 : 0);
     const rcv = [x[IDX_X], x[IDX_Y], x[IDX_Z]];
-    const [latDeg, , heightM] = ecefToGeodetic(rcv[0], rcv[1], rcv[2]);
-    const latRad = latDeg * Math.PI / 180;
+    const [latRad, , heightM] = ecefToGeodetic(rcv[0], rcv[1], rcv[2]);
     const epochCtx = corrections?.epochContext?.(epoch.timeMs, rcv) ?? null;
     const vis = [];
     let epochZhd = 0;
-    for (const o of epoch.obs) {
-      if (o.c1 === 0 || o.c2 === 0 || o.l1 === 0 || o.l2 === 0) continue;
+    for (const raw of epoch.obs) {
+      if (raw.c1 === 0 || raw.c2 === 0 || raw.l1 === 0 || raw.l2 === 0)
+        continue;
+      const o = applySatBiases(source, raw, epoch.timeMs);
+      if (!o) continue;
       const slip = detectSlip(o, ei);
       const sat = satStateAtEmission(source, o.prn, epoch.timeMs, rcv);
       if (!sat) continue;
@@ -16382,9 +17266,7 @@ var PppEngine = class {
       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 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 pIf = g * o.c1 - (g - 1) * o.c2;
       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 };
@@ -16417,9 +17299,63 @@ var PppEngine = class {
         windupM: corr.phaseWindupM,
         slip,
         f1: o.f1,
-        f2: o.f2
+        f2: o.f2,
+        sat: [sat.state.x, sat.state.y, sat.state.z]
       });
     }
+    {
+      const dq = [];
+      for (const v of vis) {
+        const prev = tdPrev.get(v.prn);
+        const model = -v.satClkM + v.tropoFixed + v.windupM;
+        if (prev && prev.ei === ei - 1 && !v.slip) {
+          const r0 = Math.hypot(
+            prev.sat[0] - rcv[0],
+            prev.sat[1] - rcv[1],
+            prev.sat[2] - rcv[2]
+          );
+          dq.push({
+            v,
+            d: v.lIf - prev.lIf - (v.range - r0) - (model - prev.model)
+          });
+        }
+        tdPrev.set(v.prn, { ei, lIf: v.lIf, sat: v.sat, model });
+      }
+      if (!kinematic) {
+        if (dq.length >= 4) {
+          const sorted = dq.map((q) => q.d).sort((a, b) => a - b);
+          const med = sorted[Math.floor(sorted.length / 2)];
+          for (const q of dq)
+            if (Math.abs(q.d - med) > TD_SLIP_M) q.v.slip = true;
+        }
+      } else if (dq.length >= 6) {
+        let use = dq;
+        for (let iter = 0; iter < 6; iter++) {
+          const sol = use.length >= 6 ? tdLsq(use) : null;
+          if (!sol) {
+            for (const q of dq) q.v.slip = true;
+            break;
+          }
+          let worst = -1;
+          let worstR = 0;
+          use.forEach((q, k) => {
+            const r = Math.abs(tdResidual(q, sol));
+            if (r > worstR) {
+              worstR = r;
+              worst = k;
+            }
+          });
+          if (worstR <= TD_SLIP_M || iter === 5) {
+            for (const q of dq)
+              if (Math.abs(tdResidual(q, sol)) > TD_SLIP_M) q.v.slip = true;
+            break;
+          }
+          use = use.filter((_, k) => k !== worst);
+        }
+      } else {
+        for (const q of dq) q.v.slip = true;
+      }
+    }
     const zwd0 = x[IDX_ZWD];
     const bySys = /* @__PURE__ */ new Map();
     for (const v of vis) {
@@ -16429,6 +17365,20 @@ var PppEngine = class {
       if (arr) arr.push(r);
       else bySys.set(sys, [r]);
     }
+    const posSigma = Math.sqrt(
+      P[IDX_X][IDX_X] + P[IDX_Y][IDX_Y] + P[IDX_Z][IDX_Z]
+    );
+    const codeGate = CODE_GATE_M + 3 * posSigma;
+    const screened = /* @__PURE__ */ new Set();
+    for (const [sys, res] of bySys) {
+      if (res.length < 4) continue;
+      const med = [...res].sort((a, b) => a - b)[Math.floor(res.length / 2)];
+      for (const v of vis) {
+        if (v.prn[0] !== sys) continue;
+        const r = v.pIf - (v.range - v.satClkM + v.tropoFixed + zwd0 * v.mw);
+        if (Math.abs(r - med) > codeGate) screened.add(v.prn);
+      }
+    }
     for (const [sys, res] of bySys) {
       const ci = clockOf(sys);
       if (!clockSeeded.has(sys)) {
@@ -16439,9 +17389,11 @@ var PppEngine = class {
       P[ci][ci] = CLK_VAR;
     }
     let nSats = 0;
-    for (const v of vis) {
+    const live = vis.filter((v) => !screened.has(v.prn));
+    const rangeNow = (v) => v.range - (v.e[0] * (x[IDX_X] - rcv[0]) + v.e[1] * (x[IDX_Y] - rcv[1]) + v.e[2] * (x[IDX_Z] - rcv[2]));
+    const prepAmbiguity = (v) => {
       const ci = clockOf(v.prn[0]);
-      const common = v.range + x[ci] - v.satClkM + v.tropoFixed + zwd0 * v.mw;
+      const common = rangeNow(v) + x[ci] - v.satClkM + v.tropoFixed + zwd0 * v.mw;
       if (v.slip) flushArc(v.prn);
       let ai = ambIdx.get(v.prn);
       if (ai === void 0 || v.slip) {
@@ -16458,67 +17410,91 @@ var PppEngine = class {
         }
         ambIdx.set(v.prn, ai);
       }
-      const n = x.length;
+      return ai;
+    };
+    const codeUpdate = (v) => {
+      const ci = clockOf(v.prn[0]);
+      const common = rangeNow(v) + x[ci] - v.satClkM + v.tropoFixed + x[IDX_ZWD] * v.mw;
+      const sinEl = Math.max(Math.sin(v.elRad), 0.1);
+      const h = new Array(x.length).fill(0);
+      h[IDX_X] = -v.e[0];
+      h[IDX_Y] = -v.e[1];
+      h[IDX_Z] = -v.e[2];
+      h[ci] = 1;
+      h[IDX_ZWD] = v.mw;
+      const innov = v.pIf - common;
+      if (Math.abs(innov) < 1e6)
+        ekfUpdateScalar(x, P, h, innov, (codeSigma / sinEl) ** 2, 4);
+    };
+    const phaseUpdate = (v, ai) => {
+      const ci = clockOf(v.prn[0]);
       const sinEl = Math.max(Math.sin(v.elRad), 0.1);
-      const rCode = (codeSigma / sinEl) ** 2;
       const rPhase = (phaseSigma / sinEl) ** 2;
-      {
-        const h = new Array(n).fill(0);
+      const commonPh = rangeNow(v) + x[ci] - v.satClkM + v.tropoFixed + x[IDX_ZWD] * v.mw;
+      const innov = v.lIf - (commonPh + v.windupM + x[ai]);
+      const reinit = (phaseRejects.get(v.prn) ?? 0) >= 3;
+      let used = false;
+      if (!reinit) {
+        const h = new Array(x.length).fill(0);
         h[IDX_X] = -v.e[0];
         h[IDX_Y] = -v.e[1];
         h[IDX_Z] = -v.e[2];
         h[ci] = 1;
         h[IDX_ZWD] = v.mw;
-        const innov = v.pIf - common;
-        if (Math.abs(innov) < 1e6) ekfUpdateScalar(x, P, h, innov, rCode, 4);
+        h[ai] = 1;
+        used = ekfUpdateScalar(x, P, h, innov, rPhase, 4);
       }
-      {
-        const commonPh = v.range + x[ci] - v.satClkM + v.tropoFixed + x[IDX_ZWD] * v.mw;
-        const innov = v.lIf - (commonPh + v.windupM + x[ai]);
-        if (Math.abs(innov) > 0.15) {
-          flushArc(v.prn);
-          x[ai] = v.lIf - (commonPh + v.windupM);
-          for (let j = 0; j < P.length; j++) {
-            P[ai][j] = 0;
-            P[j][ai] = 0;
-          }
-          P[ai][ai] = 100 * 100;
-        } else {
-          const h = new Array(n).fill(0);
-          h[IDX_X] = -v.e[0];
-          h[IDX_Y] = -v.e[1];
-          h[IDX_Z] = -v.e[2];
-          h[ci] = 1;
-          h[IDX_ZWD] = v.mw;
-          h[ai] = 1;
-          ekfUpdateScalar(x, P, h, innov, rPhase, 4);
-        }
-      }
-      {
-        const elevDeg = v.elRad * 180 / Math.PI;
-        const mwMean = mwState.get(v.prn)?.mean ?? 0;
-        const s = arcSnap.get(v.prn);
-        if (s) {
-          s.aIF = x[ai];
-          s.mwCyc = mwMean;
-          s.elevSum += elevDeg;
-          s.nEpochs++;
-          s.endMs = epoch.timeMs;
-        } else {
-          arcSnap.set(v.prn, {
-            aIF: x[ai],
-            mwCyc: mwMean,
-            f1: v.f1,
-            f2: v.f2,
-            elevSum: elevDeg,
-            nEpochs: 1,
-            startMs: epoch.timeMs,
-            endMs: epoch.timeMs
-          });
+      if (reinit) {
+        flushArc(v.prn);
+        x[ai] = v.lIf - (commonPh + v.windupM);
+        for (let j = 0; j < P.length; j++) {
+          P[ai][j] = 0;
+          P[j][ai] = 0;
         }
+        P[ai][ai] = 100 * 100;
+        phaseRejects.delete(v.prn);
+      } else if (used) phaseRejects.delete(v.prn);
+      else phaseRejects.set(v.prn, (phaseRejects.get(v.prn) ?? 0) + 1);
+    };
+    const snapshot = (v, ai) => {
+      const elevDeg = v.elRad * 180 / Math.PI;
+      const mwMean = mwState.get(v.prn)?.mean ?? 0;
+      const s = arcSnap.get(v.prn);
+      if (s) {
+        s.aIF = x[ai];
+        s.mwCyc = mwMean;
+        s.elevSum += elevDeg;
+        s.nEpochs++;
+        s.endMs = epoch.timeMs;
+      } else {
+        arcSnap.set(v.prn, {
+          aIF: x[ai],
+          mwCyc: mwMean,
+          f1: v.f1,
+          f2: v.f2,
+          elevSum: elevDeg,
+          nEpochs: 1,
+          startMs: epoch.timeMs,
+          endMs: epoch.timeMs
+        });
       }
       lastSeen.set(v.prn, ei);
       nSats++;
+    };
+    if (kinematic) {
+      for (const v of live) codeUpdate(v);
+      for (const v of live) {
+        const ai = prepAmbiguity(v);
+        phaseUpdate(v, ai);
+        snapshot(v, ai);
+      }
+    } else {
+      for (const v of live) {
+        const ai = prepAmbiguity(v);
+        codeUpdate(v);
+        phaseUpdate(v, ai);
+        snapshot(v, ai);
+      }
     }
     let sumPhaseResSq = 0;
     let nPhaseRes = 0;
@@ -16529,7 +17505,7 @@ var PppEngine = class {
         if (ai === void 0) continue;
         const sys = v.prn[0];
         const ci = clockOf(sys);
-        const commonPh = v.range + x[ci] - v.satClkM + v.tropoFixed + x[IDX_ZWD] * v.mw;
+        const commonPh = rangeNow(v) + x[ci] - v.satClkM + v.tropoFixed + x[IDX_ZWD] * v.mw;
         const innov = v.lIf - (commonPh + v.windupM + x[ai]);
         if (Math.abs(innov) >= 0.15) continue;
         const arr = bySysRes.get(sys);
@@ -16553,6 +17529,8 @@ var PppEngine = class {
         flushArc(prn);
       }
     }
+    this.tryFix(epoch.timeMs, vis);
+    if (this.lastFix) this.fixedEpochs++;
     const pos = [x[IDX_X], x[IDX_Y], x[IDX_Z]];
     let enu = null;
     let error3d = null;
@@ -16588,12 +17566,75 @@ var PppEngine = class {
       nSats,
       ztdWet: x[IDX_ZWD],
       ztdHydrostatic: epochZhd,
-      phaseResRms: nPhaseRes > 0 ? Math.sqrt(sumPhaseResSq / nPhaseRes) : 0
+      phaseResRms: nPhaseRes > 0 ? Math.sqrt(sumPhaseResSq / nPhaseRes) : 0,
+      nFixed: this.lastFix?.nFixed ?? 0,
+      fixedPosition: this.lastFix?.position ?? null
     };
     series.push(result);
     this.ei = ei + 1;
     return result;
   }
+  /**
+   * PPP-AR. Every `everyS`, resolve the converged ambiguities of the
+   * satellites in view (between satellites of one constellation) and, when
+   * the fix passes the ratio, success-rate and χ² tests, condition the
+   * float position on it ({@link fixPppPosition}). The float filter itself
+   * is never constrained — a wrong fix can't contaminate later epochs, and
+   * the next attempt starts clean. Between attempts the last fix carries
+   * over (static) or is dropped (kinematic).
+   */
+  tryFix(tMs, vis) {
+    const ar = this.opts.ar;
+    if (!ar || !this.source.phaseBias) return;
+    const cfg = ar === true ? {} : ar;
+    if (tMs - this.lastArMs < (cfg.everyS ?? 120) * 1e3) {
+      if (this.kinematic) this.lastFix = null;
+      return;
+    }
+    this.lastArMs = tMs;
+    this.lastFix = null;
+    const { x, P, ambIdx, arcSnap, mwState } = this;
+    const minArcMs = (cfg.minArcS ?? 600) * 1e3;
+    const ambiguities = [];
+    for (const v of vis) {
+      const index = ambIdx.get(v.prn);
+      const snap = arcSnap.get(v.prn);
+      const mw = mwState.get(v.prn);
+      if (index === void 0 || !snap || !mw) continue;
+      if (tMs - snap.startMs < minArcMs || snap.nEpochs < 20) continue;
+      ambiguities.push({
+        prn: v.prn,
+        index,
+        aIF: x[index],
+        mwCyc: mw.mean,
+        f1: v.f1,
+        f2: v.f2,
+        elevDeg: v.elRad * 180 / Math.PI
+      });
+    }
+    const fx = fixPppPosition(
+      {
+        position: [x[IDX_X], x[IDX_Y], x[IDX_Z]],
+        covariance: P,
+        ambiguities
+      },
+      NO_FCB,
+      {
+        ratioThreshold: cfg.ratio ?? 3,
+        wlThreshold: cfg.wlThreshold ?? 0.15,
+        minSuccessRate: cfg.successRate ?? 0.999,
+        minFixed: cfg.minFixed ?? 5,
+        maxChi2: cfg.maxChi2 ?? 20
+      }
+    );
+    if (!fx.fixed) return;
+    this.lastFix = {
+      position: fx.position,
+      nFixed: fx.nFixed,
+      ratio: fx.ratio
+    };
+    this.firstFixMs ??= tMs;
+  }
   /** Finalise the session: capture the AR state, flush open arcs, assemble. */
   solution() {
     const { opts, x, P, ambIdx, arcSnap, mwState, arcs, series, truth } = this;
@@ -16626,7 +17667,12 @@ var PppEngine = class {
       x[IDX_Y],
       x[IDX_Z]
     ];
-    const llh = ecefToGeodetic(finalPos[0], finalPos[1], finalPos[2]);
+    const geo = ecefToGeodetic(finalPos[0], finalPos[1], finalPos[2]);
+    const llh = [
+      geo[0] * 180 / Math.PI,
+      geo[1] * 180 / Math.PI,
+      geo[2]
+    ];
     const finalError3d = truth ? Math.hypot(
       finalPos[0] - truth[0],
       finalPos[1] - truth[1],
@@ -16642,218 +17688,25 @@ var PppEngine = class {
       convergenceSec: this.convergenceSec,
       finalError3d,
       arcs,
-      finalState
+      finalState,
+      ...opts.ar && this.source.phaseBias ? {
+        ar: {
+          firstFixSec: this.firstFixMs === null || !series.length ? null : (this.firstFixMs - series[0].timeMs) / 1e3,
+          nFixedEnd: this.lastFix?.nFixed ?? 0,
+          position: this.lastFix?.position ?? null,
+          fixedEpochShare: series.length ? this.fixedEpochs / series.length : 0
+        }
+      } : {}
     };
   }
 };
 function solvePpp(epochs, sp3OrSource, opts) {
-  const source = "satState" in sp3OrSource ? sp3OrSource : new Sp3EphemerisSource(sp3OrSource, opts.clk);
+  const source = "satState" in sp3OrSource ? sp3OrSource : new Sp3EphemerisSource(sp3OrSource, opts.clk, opts.osb);
   const eng = new PppEngine(opts, source);
   for (const epoch of epochs) eng.process(epoch);
   return eng.solution();
 }
 
-// src/positioning/ppp-ar.ts
-function wlWavelength(f1, f2) {
-  return C_LIGHT / (f1 - f2);
-}
-function nlWavelength(f1, f2) {
-  return C_LIGHT / (f1 + f2);
-}
-function resolvePppAmbiguities(sats, Qaif, opts = {}) {
-  const wlThreshold = opts.wlThreshold ?? 0.25;
-  const ratioThreshold = opts.ratioThreshold ?? 3;
-  const kept = [];
-  const nWl = [];
-  const rejectedWl = [];
-  for (let i = 0; i < sats.length; i++) {
-    const s = sats[i];
-    const wlFloat = s.mwCyc - (s.wlBiasCyc ?? 0);
-    const r = Math.round(wlFloat);
-    if (Math.abs(wlFloat - r) <= wlThreshold) {
-      kept.push(i);
-      nWl.push(r);
-    } else {
-      rejectedWl.push(s.prn);
-    }
-  }
-  if (kept.length < 2) {
-    return {
-      fixed: false,
-      ratio: 0,
-      refPrn: null,
-      sats: [],
-      rejectedWl
-    };
-  }
-  const n1Float = [];
-  const lamNl = [];
-  for (let k = 0; k < kept.length; k++) {
-    const s = sats[kept[k]];
-    const lNl = nlWavelength(s.f1, s.f2);
-    lamNl.push(lNl);
-    const n1 = s.aIF / lNl - s.f2 / (s.f1 - s.f2) * nWl[k] - (s.nlBiasCyc ?? 0);
-    n1Float.push(n1);
-  }
-  let ref = 0;
-  for (let k = 1; k < kept.length; k++) {
-    const e = sats[kept[k]].elevDeg ?? -1;
-    if (e > (sats[kept[ref]].elevDeg ?? -1)) ref = k;
-  }
-  const m = kept.length - 1;
-  const sd2 = new Float64Array(m);
-  const Qsd = new Float64Array(m * m);
-  const others = [];
-  for (let k = 0; k < kept.length; k++) if (k !== ref) others.push(k);
-  const n = sats.length;
-  const qN1 = (ka, kb) => Qaif[kept[ka] * n + kept[kb]] / (lamNl[ka] * lamNl[kb]);
-  for (let a = 0; a < m; a++) {
-    const ka = others[a];
-    sd2[a] = n1Float[ka] - n1Float[ref];
-    for (let b = 0; b < m; b++) {
-      const kb = others[b];
-      Qsd[a * m + b] = qN1(ka, kb) - qN1(ka, ref) - qN1(ref, kb) + qN1(ref, ref);
-    }
-  }
-  const res = lambdaSearch(sd2, Qsd, m, 2);
-  const ratio = res ? Math.min(res.ratio, 999.9) : 0;
-  const fixed = !!res && ratio >= ratioThreshold;
-  const refN1 = Math.round(n1Float[ref]);
-  const sdFix = res?.candidates[0];
-  const outSats = [];
-  for (let k = 0; k < kept.length; k++) {
-    const s = sats[kept[k]];
-    let n1;
-    if (k === ref) {
-      n1 = refN1;
-    } else {
-      const a = others.indexOf(k);
-      n1 = fixed && sdFix ? refN1 + Math.round(sdFix[a]) : Math.round(n1Float[k]);
-    }
-    const lNl = lamNl[k];
-    const aIF = lNl * n1 + lNl * (s.f2 / (s.f1 - s.f2)) * nWl[k];
-    outSats.push({ prn: s.prn, nWl: nWl[k], n1, aIF });
-  }
-  return {
-    fixed,
-    ratio,
-    refPrn: sats[kept[ref]].prn,
-    sats: outSats,
-    rejectedWl
-  };
-}
-function solveSpd(A, b) {
-  const n = b.length;
-  const L = Array.from({ length: n }, () => new Array(n).fill(0));
-  for (let i = 0; i < n; i++) {
-    for (let j = 0; j <= i; j++) {
-      let s = A[i][j];
-      for (let k = 0; k < j; k++) s -= L[i][k] * L[j][k];
-      if (i === j) {
-        if (s <= 0) return null;
-        L[i][j] = Math.sqrt(s);
-      } else {
-        L[i][j] = s / L[j][j];
-      }
-    }
-  }
-  const y = new Array(n).fill(0);
-  for (let i = 0; i < n; i++) {
-    let s = b[i];
-    for (let k = 0; k < i; k++) s -= L[i][k] * y[k];
-    y[i] = s / L[i][i];
-  }
-  const x = new Array(n).fill(0);
-  for (let i = n - 1; i >= 0; i--) {
-    let s = y[i];
-    for (let k = i + 1; k < n; k++) s -= L[k][i] * x[k];
-    x[i] = s / L[i][i];
-  }
-  return x;
-}
-function fixPppPosition(state, fcb, opts = {}) {
-  const floatPos = state.position;
-  const noFix = {
-    fixed: false,
-    position: floatPos,
-    floatPosition: floatPos,
-    shift: [0, 0, 0],
-    nFixed: 0,
-    ratio: 0,
-    refPrn: null
-  };
-  const amb = state.ambiguities;
-  if (amb.length < 3) return noFix;
-  const sats = amb.map((a) => ({
-    prn: a.prn,
-    aIF: a.aIF,
-    mwCyc: a.mwCyc,
-    f1: a.f1,
-    f2: a.f2,
-    wlBiasCyc: fcb.satWlFcb.get(a.prn) ?? 0,
-    nlBiasCyc: fcb.satNlFcb.get(a.prn) ?? 0,
-    elevDeg: a.elevDeg
-  }));
-  const n = sats.length;
-  const Qaif = new Float64Array(n * n);
-  for (let i = 0; i < n; i++)
-    for (let j = 0; j < n; j++)
-      Qaif[i * n + j] = state.covariance[amb[i].index][amb[j].index];
-  const res = resolvePppAmbiguities(sats, Qaif, opts);
-  if (!res.fixed || res.refPrn === null) {
-    return { ...noFix, ratio: res.ratio, refPrn: res.refPrn };
-  }
-  const idxOfPrn = new Map(amb.map((a) => [a.prn, a.index]));
-  const floatOfPrn = new Map(amb.map((a) => [a.prn, a.aIF]));
-  const kept = res.sats.filter((s) => idxOfPrn.has(s.prn));
-  const refPos = kept.findIndex((s) => s.prn === res.refPrn);
-  if (refPos < 0 || kept.length < 2) {
-    return { ...noFix, ratio: res.ratio, refPrn: res.refPrn };
-  }
-  const ambIdx = kept.map((s) => idxOfPrn.get(s.prn));
-  const aFloat = kept.map((s) => floatOfPrn.get(s.prn));
-  const aFixed = kept.map((s) => s.aIF);
-  const others = kept.map((_, i) => i).filter((i) => i !== refPos);
-  const m = others.length;
-  const P = state.covariance;
-  const qAA = (i, j) => P[ambIdx[i]][ambIdx[j]];
-  const qXA = (r, i) => P[r][ambIdx[i]];
-  const Qzz = Array.from({ length: m }, () => new Array(m).fill(0));
-  const z = new Array(m).fill(0);
-  for (let a = 0; a < m; a++) {
-    const ia = others[a];
-    z[a] = aFloat[ia] - aFloat[refPos] - (aFixed[ia] - aFixed[refPos]);
-    for (let b = 0; b < m; b++) {
-      const ib = others[b];
-      Qzz[a][b] = qAA(ia, ib) - qAA(ia, refPos) - qAA(refPos, ib) + qAA(refPos, refPos);
-    }
-  }
-  const Qxz = [0, 1, 2].map(
-    (r) => others.map((ia) => qXA(r, ia) - qXA(r, refPos))
-  );
-  const y = solveSpd(Qzz, z);
-  if (!y) return { ...noFix, ratio: res.ratio, refPrn: res.refPrn };
-  const shift = [0, 0, 0];
-  for (let r = 0; r < 3; r++) {
-    let s = 0;
-    for (let a = 0; a < m; a++) s += Qxz[r][a] * y[a];
-    shift[r] = -s;
-  }
-  return {
-    fixed: true,
-    position: [
-      floatPos[0] + shift[0],
-      floatPos[1] + shift[1],
-      floatPos[2] + shift[2]
-    ],
-    floatPosition: floatPos,
-    shift,
-    nFixed: m,
-    ratio: res.ratio,
-    refPrn: res.refPrn
-  };
-}
-
 // src/positioning/ppp-fcb.ts
 function extractWidelaneArcs(station, epochs, opts = {}) {
   const slipCyc = opts.slipCyc ?? 4;
@@ -17171,7 +18024,7 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
     let x9 = 0;
     let y2 = 0;
     let z2 = 0;
-    const clock2 = new Map(systems.map((s) => [s, 0]));
+    const clock3 = new Map(systems.map((s) => [s, 0]));
     const residuals2 = {};
     let iterations2 = 0;
     let converged2 = false;
@@ -17191,7 +18044,7 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
         const psr = pseudoranges.get(prn);
         const eph = ephemerides.get(prn);
         const sys = prn[0];
-        const clk = clock2.get(sys);
+        const clk = clock3.get(sys);
         const tTx = timeMs - psr / C_LIGHT * 1e3;
         const dtsClock = satClockCorrection(eph, tTx);
         const sat = computeSatPosition(eph, tTx - dtsClock * 1e3);
@@ -17283,13 +18136,13 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
       y2 += dx[1];
       z2 += dx[2];
       for (const s of systems)
-        clock2.set(s, clock2.get(s) + dx[sysIndex.get(s)]);
+        clock3.set(s, clock3.get(s) + dx[sysIndex.get(s)]);
       if (Math.hypot(dx[0], dx[1], dx[2]) < convergenceM) {
         converged2 = true;
         break;
       }
     }
-    return { x: x9, y: y2, z: z2, clock: clock2, residuals: residuals2, iterations: iterations2, converged: converged2 };
+    return { x: x9, y: y2, z: z2, clock: clock3, residuals: residuals2, iterations: iterations2, converged: converged2 };
   };
   const REJECT_THRESHOLD_M = 50;
   let candidates = all;
@@ -17314,7 +18167,7 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
     candidates = remaining;
   }
   if (!inner) return null;
-  const { x, y, z, clock, residuals, iterations, converged } = inner;
+  const { x, y, z, clock: clock2, residuals, iterations, converged } = inner;
   const used = [];
   const azels = [];
   const [rxLat, rxLon, rxHgt] = ecefToGeodetic(x, y, z);
@@ -17354,7 +18207,7 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
   const pl = sbas ? sbasProtectionLevels(sbasRows) : null;
   return {
     position: [x, y, z],
-    clockBias: Object.fromEntries(clock),
+    clockBias: Object.fromEntries(clock2),
     usedSatellites: used,
     rejectedSatellites: rejected,
     residuals,
@@ -19713,6 +20566,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   SYSTEM_NAMES,
   SYSTEM_ORDER,
   SYS_SHORT,
+  SatOsbTable,
   SbasProcessor,
   Scale,
   Sp3EphemerisSource,
@@ -19895,6 +20749,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   parseNovatelRange,
   parseRinexStream,
   parseSbfAlmanac,
+  parseSbfBdsCnav,
   parseSbfBdsNav,
   parseSbfCnav,
   parseSbfGalNav,