gnss-js 2.4.0 → 2.6.0

package/dist/index.cjs

@@ -113,6 +113,7 @@ __export(src_exports, {
   WGS84_SEMI_MAJOR_AXIS: () => WGS84_SEMI_MAJOR_AXIS,
   WGS84_SEMI_MINOR_AXIS: () => WGS84_SEMI_MINOR_AXIS,
   WarningAccumulator: () => WarningAccumulator,
+  ZeroBaselineEngine: () => ZeroBaselineEngine,
   almanacEpochMs: () => almanacEpochMs,
   almanacSatPosition: () => almanacSatPosition,
   analyzeQuality: () => analyzeQuality,
@@ -169,9 +170,11 @@ __export(src_exports, {
   estimateNetworkFcbs: () => estimateNetworkFcbs,
   estimateWidelaneFcb: () => estimateWidelaneFcb,
   euclidean3D: () => euclidean3D,
+  extractSbfNavicSubframe: () => extractSbfNavicSubframe,
   extractWidelaneArcs: () => extractWidelaneArcs,
   feedGeoBlock: () => feedGeoBlock,
   feedGeoL5Block: () => feedGeoL5Block,
+  feedNavicBlock: () => feedNavicBlock,
   fetchSourcetable: () => fetchSourcetable,
   findSatBias: () => findSatBias,
   fixPppPosition: () => fixPppPosition,
@@ -291,6 +294,7 @@ __export(src_exports, {
   parseSbfIonoUtc: () => parseSbfIonoUtc,
   parseSbfMeas: () => parseSbfMeas,
   parseSbfNav: () => parseSbfNav,
+  parseSbfNavic: () => parseSbfNavic,
   parseSbfPvt: () => parseSbfPvt,
   parseSbfReceiverSetup: () => parseSbfReceiverSetup,
   parseSinexBiasDcb: () => parseSinexBiasDcb,
@@ -5270,6 +5274,70 @@ function decodeQzssEphemeris(payload) {
     fitInterval
   };
 }
+function decodeNavicEphemeris(payload) {
+  if (payload.length < 60) return null;
+  const r = new BitReader(payload);
+  r.skip(12);
+  const svId = r.readU(6);
+  const week = r.readU(10);
+  const af0 = r.readS(22) * 2 ** -31;
+  const af1 = r.readS(16) * 2 ** -43;
+  const af2 = r.readS(8) * 2 ** -55;
+  const ura = r.readU(4);
+  const toc = r.readU(16) * 16;
+  const tgd = r.readS(8) * 2 ** -31;
+  const deltaN = r.readS(22) * 2 ** -41 * PI;
+  const iode = r.readU(8);
+  r.skip(10);
+  const l5Health = r.readU(1);
+  const sHealth = r.readU(1);
+  const cuc = r.readS(15) * 2 ** -28;
+  const cus = r.readS(15) * 2 ** -28;
+  const cic = r.readS(15) * 2 ** -28;
+  const cis = r.readS(15) * 2 ** -28;
+  const crc = r.readS(15) * 2 ** -4;
+  const crs = r.readS(15) * 2 ** -4;
+  const idot = r.readS(14) * 2 ** -43 * PI;
+  const m0 = r.readS(32) * 2 ** -31 * PI;
+  const toe = r.readU(16) * 16;
+  const e = r.readU(32) * 2 ** -33;
+  const sqrtA = r.readU(32) * 2 ** -19;
+  const omega0 = r.readS(32) * 2 ** -31 * PI;
+  const argPerigee = r.readS(32) * 2 ** -31 * PI;
+  const omegaDot = r.readS(22) * 2 ** -41 * PI;
+  const i0 = r.readS(32) * 2 ** -31 * PI;
+  return {
+    prn: `I${String(svId).padStart(2, "0")}`,
+    constellation: "NavIC",
+    health: l5Health << 1 | sHealth,
+    lastReceived: Date.now(),
+    messageType: 1041,
+    week,
+    ura,
+    toc,
+    toe,
+    sqrtA,
+    eccentricity: e,
+    inclination: i0,
+    omega0,
+    omegaDot,
+    argPerigee,
+    meanAnomaly: m0,
+    deltaN,
+    idot,
+    crs,
+    crc,
+    cuc,
+    cus,
+    cic,
+    cis,
+    af0,
+    af1,
+    af2,
+    iode,
+    tgd
+  };
+}
 function decodeEphemeris(frame) {
   try {
     switch (frame.messageType) {
@@ -5277,6 +5345,8 @@ function decodeEphemeris(frame) {
         return decodeGpsEphemeris(frame.payload);
       case 1020:
         return decodeGlonassEphemeris(frame.payload);
+      case 1041:
+        return decodeNavicEphemeris(frame.payload);
       case 1042:
         return decodeBdsEphemeris(frame.payload);
       case 1043:
@@ -8379,6 +8449,173 @@ function parseSbfGpsNav(data) {
   return { ephemerides, badParity, messages };
 }
 
+// src/navbits/navic.ts
+var GPS_EPOCH_MS13 = Date.UTC(1980, 0, 6);
+var SEC_PER_WEEK9 = 604800;
+var DATA = 30;
+function navicSubframeCrcOk(sf) {
+  return crc24q(sf, 262) === getBitU(sf, 262, 24);
+}
+function navicSubframeId(sf) {
+  return getBitU(sf, 27, 2) + 1;
+}
+function decodeNavicSubframes(sf1, sf2, opts = {}) {
+  let i = DATA;
+  getBitU(sf1, i, 10);
+  i += 10;
+  const af0 = getBitS(sf1, i, 22) * 2 ** -31;
+  i += 22;
+  const af1 = getBitS(sf1, i, 16) * 2 ** -43;
+  i += 16;
+  const af2 = getBitS(sf1, i, 8) * 2 ** -55;
+  i += 8;
+  i += 4;
+  const tocSec = getBitU(sf1, i, 16) * 16;
+  i += 16;
+  const tgd = getBitS(sf1, i, 8) * 2 ** -31;
+  i += 8;
+  const deltaN = getBitS(sf1, i, 22) * 2 ** -41 * GPS_PI;
+  i += 22;
+  const iode = getBitU(sf1, i, 8);
+  i += 8;
+  i += 10;
+  const l5Health = getBitU(sf1, i, 1);
+  i += 1;
+  const sHealth = getBitU(sf1, i, 1);
+  i += 1;
+  const cuc = getBitS(sf1, i, 15) * 2 ** -28;
+  i += 15;
+  const cus = getBitS(sf1, i, 15) * 2 ** -28;
+  i += 15;
+  const cic = getBitS(sf1, i, 15) * 2 ** -28;
+  i += 15;
+  const cis = getBitS(sf1, i, 15) * 2 ** -28;
+  i += 15;
+  const crc = getBitS(sf1, i, 15) * 2 ** -4;
+  i += 15;
+  const crs = getBitS(sf1, i, 15) * 2 ** -4;
+  i += 15;
+  const idot = getBitS(sf1, i, 14) * 2 ** -43 * GPS_PI;
+  let j = DATA;
+  const m0 = getBitS(sf2, j, 32) * 2 ** -31 * GPS_PI;
+  j += 32;
+  const toeSec = getBitU(sf2, j, 16) * 16;
+  j += 16;
+  const e = getBitU(sf2, j, 32) * 2 ** -33;
+  j += 32;
+  const sqrtA = getBitU(sf2, j, 32) * 2 ** -19;
+  j += 32;
+  const omega0 = getBitS(sf2, j, 32) * 2 ** -31 * GPS_PI;
+  j += 32;
+  const omega = getBitS(sf2, j, 32) * 2 ** -31 * GPS_PI;
+  j += 32;
+  const omegaDot = getBitS(sf2, j, 22) * 2 ** -41 * GPS_PI;
+  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 prn = opts.prn ?? "I00";
+  const tocDate = new Date(
+    GPS_EPOCH_MS13 + (week * SEC_PER_WEEK9 + tocSec) * 1e3
+  );
+  return {
+    system: "I",
+    prn,
+    tocDate,
+    toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK9,
+    af0,
+    af1,
+    af2,
+    iode,
+    crs,
+    deltaN,
+    m0,
+    cuc,
+    e,
+    cus,
+    sqrtA,
+    toe: toeSec,
+    cic,
+    omega0,
+    cis,
+    i0,
+    crc,
+    omega,
+    omegaDot,
+    idot,
+    week,
+    svHealth: l5Health << 1 | sHealth,
+    tgd
+  };
+}
+var NavicAssembler = class {
+  sf1 = /* @__PURE__ */ new Map();
+  last = /* @__PURE__ */ new Map();
+  /**
+   * Push one CRC-valid subframe. Subframe 1 opens a master frame (subframe 2
+   * immediately follows it in the NavIC frame order), so an ephemeris is only
+   * emitted when a subframe 2 pairs with the subframe 1 that opened the *same*
+   * frame — never a stale subframe 1 left over across CRC drops.
+   */
+  push(prn, subframe, refWeek) {
+    if (getBitU(subframe, 25, 1)) return null;
+    const id = navicSubframeId(subframe);
+    if (id === 1) {
+      this.sf1.set(prn, subframe);
+      return null;
+    }
+    if (id !== 2) return null;
+    const a = this.sf1.get(prn);
+    if (!a) return null;
+    this.sf1.delete(prn);
+    const eph = decodeNavicSubframes(a, subframe, { prn, refWeek });
+    if (!eph) return null;
+    const key = `${eph.toc}|${eph.iode}`;
+    if (this.last.get(prn) === key) return null;
+    this.last.set(prn, key);
+    return eph;
+  }
+};
+
+// src/sbf/rawnav-navic.ts
+var WNC_DNU2 = 65535;
+function extractSbfNavicSubframe(view, b) {
+  const sf = new Uint8Array(40);
+  for (let k = 0; k < 10; k++) {
+    const w = view.getUint32(b + 20 + 4 * k, true);
+    sf[4 * k] = w >>> 24;
+    sf[4 * k + 1] = w >>> 16 & 255;
+    sf[4 * k + 2] = w >>> 8 & 255;
+    sf[4 * k + 3] = w & 255;
+  }
+  return sf;
+}
+function feedNavicBlock(view, b, assembler) {
+  const prn = svidToPrn(view.getUint8(b + 14));
+  if (!prn || prn[0] !== "I") return {};
+  const wnc = view.getUint16(b + 12, true);
+  if (wnc === WNC_DNU2) return {};
+  const sf = extractSbfNavicSubframe(view, b);
+  if (!navicSubframeCrcOk(sf)) return { badCrc: true };
+  const eph = assembler.push(prn, sf, wnc);
+  return eph ? { eph } : {};
+}
+function parseSbfNavic(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const ephemerides = [];
+  const assembler = new NavicAssembler();
+  let badCrc = 0;
+  let messages = 0;
+  scanSbfFrames(data, view, (id, b, len) => {
+    if (id !== 4093 || len < 60) return;
+    messages++;
+    const r = feedNavicBlock(view, b, assembler);
+    if (r.eph) ephemerides.push(r.eph);
+    else if (r.badCrc) badCrc++;
+  });
+  return { ephemerides, badCrc, messages };
+}
+
 // src/sbf/rawnav.ts
 var CNAV_SIGNAL_OF_BLOCK = {
   4018: "L2C",
@@ -8477,10 +8714,10 @@ function isFnavDummy(page) {
 }
 
 // src/sbf/rawnav-bds.ts
-var GPS_EPOCH_MS13 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS14 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK6 = 7 * 86400 * 1e3;
 var TOW_DNU = 4294967295;
-var WNC_DNU2 = 65535;
+var WNC_DNU3 = 65535;
 function feedBdsBlock(view, b, assembler) {
   const prn = svidToPrn(view.getUint8(b + 14));
   if (!prn || prn[0] !== "C") return {};
@@ -8520,7 +8757,7 @@ function feedGloBlock(view, b, assembler) {
   if (!prn || prn[0] !== "R") return {};
   const towMs = view.getUint32(b + 8, true);
   const wnc = view.getUint16(b + 12, true);
-  if (towMs === TOW_DNU || wnc === WNC_DNU2) return {};
+  if (towMs === TOW_DNU || wnc === WNC_DNU3) return {};
   const str2 = new Uint8Array(11);
   for (let k = 0; k < 3; k++) {
     const w = view.getUint32(b + 20 + 4 * k, true);
@@ -8538,7 +8775,7 @@ function feedGloBlock(view, b, assembler) {
   const eph = assembler.push(
     prn,
     str2,
-    new Date(GPS_EPOCH_MS13 + wnc * MS_PER_WEEK6 + towMs),
+    new Date(GPS_EPOCH_MS14 + wnc * MS_PER_WEEK6 + towMs),
     view.getUint8(b + 18) - 8
     // FreqNr, offset by 8
   );
@@ -8713,6 +8950,7 @@ function decodeSbfNavigation(data, opts = {}) {
     bdsRaw: 0,
     sbasRaw: 0,
     sbasL5Raw: 0,
+    navicRaw: 0,
     badFrames: 0
   };
   const dfmcByType = {};
@@ -8722,6 +8960,7 @@ function decodeSbfNavigation(data, opts = {}) {
   const gloAsm = new GloStringAssembler();
   const bdsAsm = new BdsAssembler();
   const lnavAsm = new GpsLnavAssembler();
+  const navicAsm = new NavicAssembler();
   const addEph = (e) => {
     if (!e) return;
     const key = ephKey(e);
@@ -8782,6 +9021,14 @@ function decodeSbfNavigation(data, opts = {}) {
         else if (r.badParity) counts.badFrames++;
         return;
       }
+      case 4093: {
+        if (len < 60) return;
+        counts.navicRaw++;
+        const r = feedNavicBlock(view, b, navicAsm);
+        if (r.eph) addEph(r.eph);
+        else if (r.badCrc) counts.badFrames++;
+        return;
+      }
       case 4018:
       // GPSRawL2C
       case 4019: {
@@ -9402,7 +9649,7 @@ function parseSbfHas(data) {
 
 // src/sbf/index.ts
 var CLIGHT = 299792458;
-var GPS_EPOCH_MS14 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS15 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK7 = 7 * 864e5;
 var M3_SYS = ["G", "R", "E", "C", "S", "J", "I"];
 var M3_PR_BASE = [19e6, 19e6, 22e6, 2e7, 34e6, 34e6, 34e6];
@@ -10056,7 +10303,7 @@ function parseSbfMeas(data) {
       const tow = view.getUint32(i + 8, true);
       const wnc = view.getUint16(i + 12, true);
       if (tow !== 4294967295 && wnc !== 65535) {
-        ensureEpoch(GPS_EPOCH_MS14 + wnc * MS_PER_WEEK7 + tow);
+        ensureEpoch(GPS_EPOCH_MS15 + wnc * MS_PER_WEEK7 + tow);
         if (id === 4109) decodeMeas3Ranges(i, tow);
         else if (id === 4110) decodeMeas3CN0(i, len);
         else if (id === 4111) decodeMeas3Doppler(i, len);
@@ -10123,15 +10370,15 @@ var ID_GPSEPHEM = 7;
 var ID_BDSEPHEMERIS = 1696;
 var ID_RAWWAASFRAME = 287;
 var ID_RAWSBASFRAME = 973;
-var GPS_EPOCH_MS15 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS16 = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS3 = Date.UTC(2006, 0, 1);
-var SEC_PER_WEEK9 = 7 * 86400;
+var SEC_PER_WEEK10 = 7 * 86400;
 var SEC_PER_DAY2 = 86400;
-var MS_PER_WEEK8 = SEC_PER_WEEK9 * 1e3;
-var gpsMs2 = (week, sec) => GPS_EPOCH_MS15 + week * MS_PER_WEEK8 + sec * 1e3;
-var sowOf3 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK9;
+var MS_PER_WEEK8 = SEC_PER_WEEK10 * 1e3;
+var gpsMs2 = (week, sec) => GPS_EPOCH_MS16 + week * MS_PER_WEEK8 + sec * 1e3;
+var sowOf3 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK10;
 function nearWeekMs(refMs, sow) {
-  const refWeek = Math.floor((refMs - GPS_EPOCH_MS15) / MS_PER_WEEK8);
+  const refWeek = Math.floor((refMs - GPS_EPOCH_MS16) / MS_PER_WEEK8);
   let ms = gpsMs2(refWeek, sow);
   if (ms < refMs - MS_PER_WEEK8 / 2) ms += MS_PER_WEEK8;
   else if (ms > refMs + MS_PER_WEEK8 / 2) ms -= MS_PER_WEEK8;
@@ -10158,9 +10405,9 @@ 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_MS15 + (week * SEC_PER_WEEK9 + tow) * 1e3;
-  const tofGpsMs = GPS_EPOCH_MS15 + (week * SEC_PER_WEEK9 + tof) * 1e3;
-  const tofUtcSec = (getUtcDate(new Date(tofGpsMs)).getTime() - GPS_EPOCH_MS15) / 1e3;
+  const toeGpsMs = GPS_EPOCH_MS16 + (week * SEC_PER_WEEK10 + tow) * 1e3;
+  const tofGpsMs = GPS_EPOCH_MS16 + (week * SEC_PER_WEEK10 + tof) * 1e3;
+  const tofUtcSec = (getUtcDate(new Date(tofGpsMs)).getTime() - GPS_EPOCH_MS16) / 1e3;
   return {
     system: "R",
     prn: `R${String(slot).padStart(2, "0")}`,
@@ -10168,7 +10415,7 @@ function decodeGloEphemeris(view, p) {
     tauN: -view.getFloat64(p + 100, true),
     // RINEX stores −τ_n
     gammaN: view.getFloat64(p + 116, true),
-    messageFrameTime: (tofUtcSec % SEC_PER_WEEK9 + SEC_PER_WEEK9) % SEC_PER_WEEK9,
+    messageFrameTime: (tofUtcSec % SEC_PER_WEEK10 + SEC_PER_WEEK10) % SEC_PER_WEEK10,
     x: view.getFloat64(p + 28, true) / 1e3,
     y: view.getFloat64(p + 36, true) / 1e3,
     z: view.getFloat64(p + 44, true) / 1e3,
@@ -10225,7 +10472,7 @@ function decodeGalEphemeris(view, p, headerMs) {
       omega: view.getFloat64(p + 60, true),
       omegaDot: view.getFloat64(p + 140, true),
       idot: view.getFloat64(p + 124, true),
-      week: Math.floor((toeMs - GPS_EPOCH_MS15) / MS_PER_WEEK8),
+      week: Math.floor((toeMs - GPS_EPOCH_MS16) / MS_PER_WEEK8),
       // RINEX Galileo SVH bit layout (E1B DVS/HS in bits 0-2, E5a in
       // 3-5, E5b in 6-8) — same packing as RTKLIB.
       svHealth: svhE5b << 7 | dvsE5b << 6 | svhE5a << 4 | dvsE5a << 3 | svhE1b << 1 | dvsE1b,
@@ -10412,7 +10659,7 @@ function parseNovatelNav(data, opts = {}) {
 }
 
 // src/novatel/pvt.ts
-var GPS_EPOCH_MS16 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS17 = Date.UTC(1980, 0, 6);
 var BESTPOS = 42;
 function posTypeToMode(t) {
   if (t === 0) return "no-pvt";
@@ -10444,7 +10691,7 @@ function parseNovatelPvt(data) {
     const nrSV = view.getUint8(p + 65);
     const hasFix = posType !== 0 && Number.isFinite(lat) && Number.isFinite(lon);
     records.push({
-      timeMs: GPS_EPOCH_MS16 + f.week * 6048e5 + f.towMs,
+      timeMs: GPS_EPOCH_MS17 + f.week * 6048e5 + f.towMs,
       week: f.week,
       tow: f.towMs / 1e3,
       mode: posTypeToMode(posType),
@@ -10461,7 +10708,7 @@ function parseNovatelPvt(data) {
 }
 
 // src/novatel/index.ts
-var GPS_EPOCH_MS17 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS18 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK9 = 7 * 864e5;
 var HDR = 28;
 var ID_RANGE = 43;
@@ -10631,7 +10878,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS17 + week * MS_PER_WEEK9 + towMs,
+          timeMs: GPS_EPOCH_MS18 + week * MS_PER_WEEK9 + towMs,
           meas
         });
       }
@@ -10683,7 +10930,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS17 + week * MS_PER_WEEK9 + towMs,
+          timeMs: GPS_EPOCH_MS18 + week * MS_PER_WEEK9 + towMs,
           meas
         });
       }
@@ -10734,15 +10981,15 @@ function* trimbleFrames(data, stats) {
 }
 
 // src/trimble/nav.ts
-var GPS_EPOCH_MS18 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS19 = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS4 = Date.UTC(2006, 0, 1);
-var SEC_PER_WEEK10 = 7 * 86400;
-var MS_PER_WEEK10 = SEC_PER_WEEK10 * 1e3;
+var SEC_PER_WEEK11 = 7 * 86400;
+var MS_PER_WEEK10 = SEC_PER_WEEK11 * 1e3;
 var GPS_PI2 = 3.1415926535898;
 var BDS_WEEK_OFFSET = 1356;
 var BDS_LEAP_SEC = 14;
-var gpsMs3 = (week, sec) => GPS_EPOCH_MS18 + week * MS_PER_WEEK10 + sec * 1e3;
-var sowOf4 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK10;
+var gpsMs3 = (week, sec) => GPS_EPOCH_MS19 + week * MS_PER_WEEK10 + sec * 1e3;
+var sowOf4 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK11;
 var SUB_GPS_EPHEMERIS = 1;
 var SUB_ION_UTC = 3;
 var SUB_GLO_EPHEMERIS = 9;
@@ -10894,7 +11141,7 @@ 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_MS18) / 1e3 % SEC_PER_WEEK10,
+    messageFrameTime: (tocMs - GPS_EPOCH_MS19) / 1e3 % SEC_PER_WEEK11,
     // 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,
@@ -10965,7 +11212,7 @@ function parseTrimbleNav(data) {
 }
 
 // src/trimble/index.ts
-var GPS_EPOCH_MS19 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS20 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK11 = 7 * 864e5;
 var REC_TYPE_27 = 6;
 var SYS = {
@@ -11163,7 +11410,7 @@ function decodeEpoch(epoch, epochs, obsCodes) {
     o += c.length;
   }
   const dv = new DataView(M.buffer, M.byteOffset, M.byteLength);
-  const timeMs = GPS_EPOCH_MS19 + epoch.week * MS_PER_WEEK11 + epoch.towMs;
+  const timeMs = GPS_EPOCH_MS20 + epoch.week * MS_PER_WEEK11 + epoch.towMs;
   const meas = [];
   let q = 0;
   for (let sv = 0; sv < epoch.nsv && q + 8 <= M.length; sv++) {
@@ -11344,14 +11591,14 @@ function* binexRecords(data, view, stats) {
 }
 
 // src/binex/nav.ts
-var GPS_EPOCH_MS20 = Date.UTC(1980, 0, 6);
+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_WEEK11 = 7 * 86400;
-var MS_PER_WEEK12 = SEC_PER_WEEK11 * 1e3;
+var SEC_PER_WEEK12 = 7 * 86400;
+var MS_PER_WEEK12 = SEC_PER_WEEK12 * 1e3;
 var SC2RAD = GPS_PI;
-var gpsMs4 = (week, sec) => GPS_EPOCH_MS20 + week * MS_PER_WEEK12 + sec * 1e3;
-var sowOf5 = (dateMs) => (dateMs / 1e3 % SEC_PER_WEEK11 + SEC_PER_WEEK11) % SEC_PER_WEEK11;
+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 two9 = (n) => String(n).padStart(2, "0");
 var Reader = class {
   constructor(view, start, le) {
@@ -11638,7 +11885,7 @@ function decodeBinexEph(view, body, len, le) {
 }
 
 // src/binex/index.ts
-var GPS_EPOCH_MS21 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS22 = Date.UTC(1980, 0, 6);
 var CLIGHT2 = 299792458;
 var OBS_CODES = {
   0: [
@@ -11896,7 +12143,7 @@ function decodeObsRecord(data, view, body, len, obsCodes) {
   p += 4;
   const msec = view.getUint16(p);
   p += 2;
-  const timeMs = GPS_EPOCH_MS21 + min * 6e4 + msec;
+  const timeMs = GPS_EPOCH_MS22 + min * 6e4 + msec;
   const flag = data[p++];
   const nsat = (flag & 63) + 1;
   if (flag & 128) p += 3;
@@ -11982,7 +12229,7 @@ function parseBinex(data) {
 var GM_GPS = 3986005e8;
 var GM_GAL = 3986004418e5;
 var GM_BDS = 3986004418e5;
-var GPS_EPOCH_MS22 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS23 = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS6 = Date.UTC(2006, 0, 1);
 var WEEK_MS = 6048e5;
 var BDT_MINUS_GPST_MS = 14e3;
@@ -11991,7 +12238,7 @@ function almanacEpochMs(alm) {
   if (alm.system === "C") {
     return BDT_EPOCH_MS6 + alm.weekAlm * WEEK_MS + alm.toaSec * 1e3 + BDT_MINUS_GPST_MS;
   }
-  return GPS_EPOCH_MS22 + alm.weekAlm * WEEK_MS + alm.toaSec * 1e3;
+  return GPS_EPOCH_MS23 + alm.weekAlm * WEEK_MS + alm.toaSec * 1e3;
 }
 function almanacSatPosition(alm, timeMs) {
   const GM = alm.system === "E" ? GM_GAL : alm.system === "C" ? GM_BDS : GM_GPS;
@@ -12500,10 +12747,10 @@ function selectBest(ephs, timeMs) {
   }
   return best;
 }
-var GPS_EPOCH_MS23 = START_GPS_TIME.getTime();
+var GPS_EPOCH_MS24 = START_GPS_TIME.getTime();
 var MS_PER_WEEK13 = 7 * 864e5;
 var BDS_EPOCH_MS = START_BDS_TIME.getTime();
-var GAL_EPOCH_MS = GPS_EPOCH_MS23 + 1024 * MS_PER_WEEK13;
+var GAL_EPOCH_MS = GPS_EPOCH_MS24 + 1024 * MS_PER_WEEK13;
 function ephInfoToEphemeris(info) {
   const sys = info.prn.charAt(0);
   if (sys === "R") {
@@ -12554,8 +12801,8 @@ function ephInfoToEphemeris(info) {
   } else if (sys === "E") {
     epochMs = GAL_EPOCH_MS;
   } else {
-    epochMs = GPS_EPOCH_MS23;
-    const weeksNow = (info.lastReceived - GPS_EPOCH_MS23) / MS_PER_WEEK13;
+    epochMs = GPS_EPOCH_MS24;
+    const weeksNow = (info.lastReceived - GPS_EPOCH_MS24) / MS_PER_WEEK13;
     week += 1024 * Math.round((weeksNow - week) / 1024);
   }
   const tocDate = new Date(epochMs + week * MS_PER_WEEK13 + tocSec * 1e3);
@@ -14390,13 +14637,169 @@ function postProcessRtk(base, rover, ephemerides, baseEcef, opts = {}) {
   return { track, solved, unmatched, fixRate: solved ? fixed / solved : 0 };
 }
 
+// src/positioning/zero-baseline.ts
+function carrierFreqHz2(sys, band, gloChannel) {
+  if (sys === "R") {
+    if (band === "1") return 1602e6 + (gloChannel ?? 0) * 562500;
+    if (band === "2") return 1246e6 + (gloChannel ?? 0) * 437500;
+    return FREQ.R?.[band] ?? 0;
+  }
+  return FREQ[sys]?.[band] ?? 0;
+}
+function median(a) {
+  if (a.length === 0) return 0;
+  const s = [...a].sort((x, y) => x - y);
+  const m = s.length >> 1;
+  return s.length % 2 ? s[m] : (s[m - 1] + s[m]) / 2;
+}
+var ZeroBaselineEngine = class {
+  ref;
+  refSys;
+  slip;
+  /** Per (receiver|prn|code) continuous phase-SD arc. */
+  arcs = /* @__PURE__ */ new Map();
+  /** Per receiver: integrated phase-smoothed clock (m). */
+  phaseClock = /* @__PURE__ */ new Map();
+  /** Per (receiver|system): accumulated ISB (m) + count. */
+  isb = /* @__PURE__ */ new Map();
+  constructor(opts) {
+    this.ref = opts.reference;
+    this.refSys = opts.referenceSystem ?? "G";
+    this.slip = opts.slipThreshM ?? 0.05;
+  }
+  reset() {
+    this.arcs.clear();
+    this.phaseClock.clear();
+    this.isb.clear();
+  }
+  /** ISB/IFB estimates accumulated so far, per receiver × system. */
+  biases() {
+    const out = [];
+    for (const [key, { sum, n }] of this.isb) {
+      const [receiver, system] = key.split("|");
+      out.push({ receiver, system, biasM: sum / n, n });
+    }
+    return out;
+  }
+  /**
+   * Ingest one time-aligned instant: observations per receiver id. Returns one
+   * {@link ReceiverClockSample} per non-reference receiver present this epoch.
+   */
+  process(epoch) {
+    const refObs = epoch.obs[this.ref];
+    if (!refObs) return [];
+    const refByKey = /* @__PURE__ */ new Map();
+    for (const o of refObs)
+      if (o.pr != null && Number.isFinite(o.pr))
+        refByKey.set(`${o.prn}|${o.code}`, o);
+    const out = [];
+    for (const rx of Object.keys(epoch.obs)) {
+      if (rx === this.ref) continue;
+      out.push(
+        this.processReceiver(rx, epoch.obs[rx], refByKey, epoch.timeMs)
+      );
+    }
+    return out;
+  }
+  processReceiver(rx, obs, refByKey, t) {
+    const codeBySys = /* @__PURE__ */ new Map();
+    const phase = [];
+    for (const o of obs) {
+      if (o.pr == null || !Number.isFinite(o.pr)) continue;
+      const r = refByKey.get(`${o.prn}|${o.code}`);
+      if (!r || r.pr == null) continue;
+      const sys = o.prn[0];
+      (codeBySys.get(sys) ?? codeBySys.set(sys, []).get(sys)).push(
+        o.pr - r.pr
+      );
+      if (o.cp != null && r.cp != null) {
+        const f = carrierFreqHz2(
+          sys,
+          o.code[0],
+          o.gloChannel ?? r.gloChannel ?? null
+        );
+        if (f > 0)
+          phase.push({
+            key: `${rx}|${o.prn}|${o.code}`,
+            sdM: (o.cp - r.cp) * (C_LIGHT / f),
+            lock: o.lockTimeS
+          });
+      }
+    }
+    if (codeBySys.size === 0)
+      return {
+        t,
+        receiver: rx,
+        clockOffsetM: null,
+        clockOffsetPhaseM: this.phaseClock.get(rx) ?? null,
+        used: 0,
+        rejected: 0,
+        residualRmsM: 0
+      };
+    const sysMedian = /* @__PURE__ */ new Map();
+    for (const [sys, v] of codeBySys) sysMedian.set(sys, median(v));
+    const allSd = [];
+    for (const v of codeBySys.values()) allSd.push(...v);
+    const clk = sysMedian.get(this.refSys) ?? median(allSd);
+    for (const [sys, med] of sysMedian) {
+      if (sys === this.refSys) continue;
+      const cur = this.isb.get(`${rx}|${sys}`) ?? { sum: 0, n: 0 };
+      cur.sum += med - clk;
+      cur.n += 1;
+      this.isb.set(`${rx}|${sys}`, cur);
+    }
+    let ss = 0, used = 0, rejected = 0;
+    for (const [sys, v] of codeBySys) {
+      const isb = sys === this.refSys ? 0 : sysMedian.get(sys) - clk;
+      for (const sd2 of v) {
+        const res = sd2 - clk - isb;
+        if (Math.abs(res) > 5) {
+          rejected++;
+          continue;
+        }
+        ss += res * res;
+        used++;
+      }
+    }
+    const residualRmsM = used ? Math.sqrt(ss / used) : 0;
+    const deltas = [];
+    for (const p of phase) {
+      const arc = this.arcs.get(p.key);
+      this.arcs.set(p.key, { lastPhaseSdM: p.sdM, lastLock: p.lock });
+      if (!arc) continue;
+      const lockReset = p.lock != null && arc.lastLock != null && p.lock < arc.lastLock;
+      if (lockReset) continue;
+      deltas.push(p.sdM - arc.lastPhaseSdM);
+    }
+    let phaseClockM = this.phaseClock.get(rx) ?? null;
+    if (phaseClockM == null) {
+      phaseClockM = clk;
+    } else if (deltas.length) {
+      const md = median(deltas);
+      const good = deltas.filter((d) => Math.abs(d - md) < this.slip);
+      const step = good.length ? good.reduce((a, b) => a + b, 0) / good.length : md;
+      phaseClockM += step;
+    }
+    this.phaseClock.set(rx, phaseClockM);
+    return {
+      t,
+      receiver: rx,
+      clockOffsetM: clk,
+      clockOffsetPhaseM: phaseClockM,
+      used,
+      rejected,
+      residualRmsM
+    };
+  }
+};
+
 // src/positioning/sbas.ts
 var P2_11 = 2 ** -11;
 var P2_31 = 2 ** -31;
 var P2_39 = 2 ** -39;
 var D2R = Math.PI / 180;
 var R2D = 180 / Math.PI;
-var SEC_PER_WEEK12 = 604800;
+var SEC_PER_WEEK13 = 604800;
 var MAXSBSAGEF = 30;
 var MAXSBSAGEL = 360;
 var MAXBAND = 10;
@@ -14544,7 +14947,7 @@ 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_WEEK12 + tow;
+var gpsSeconds = (week, tow) => week * SEC_PER_WEEK13 + tow;
 function maskPrn(i) {
   if (i >= 1 && i <= 37) return `G${two11(i)}`;
   if (i >= 38 && i <= 61) return `R${two11(i - 37)}`;
@@ -16937,7 +17340,7 @@ async function connectToMountpoint(proxyUrl, info, signal) {
 
 // src/analysis/stats-util.ts
 var MIN_ARC_LENGTH = 10;
-function median(values) {
+function median2(values) {
   const s = [...values].sort((a, b) => a - b);
   const m = s.length >> 1;
   return s.length % 2 ? s[m] : (s[m - 1] + s[m]) / 2;
@@ -17016,7 +17419,7 @@ var MultipathAccumulator = class {
       this.closeArc(prn, band, refBand, bandState);
     } else if (bandState.arc.rawMp.length > 0) {
       const recent = bandState.arc.rawMp.slice(-MP_JUMP_WINDOW);
-      if (Math.abs(mp - median(recent)) > MP_JUMP_M) {
+      if (Math.abs(mp - median2(recent)) > MP_JUMP_M) {
         this.closeArc(prn, band, refBand, bandState);
       }
     }
@@ -17537,7 +17940,7 @@ var IonoAccumulator = class {
   closeArc(prn, pairKey, ps) {
     const arc = ps.arc;
     if (arc.times.length >= MIN_ARC_LENGTH) {
-      const level = median(arc.l4.map((v, k) => v - arc.p4[k]));
+      const level = median2(arc.l4.map((v, k) => v - arc.p4[k]));
       const toTecu = arc.fi * arc.fi / TEC_FACTOR / (arc.gamma - 1);
       let satArcs = this.closed.get(prn);
       if (!satArcs) {
@@ -19141,6 +19544,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   WGS84_SEMI_MAJOR_AXIS,
   WGS84_SEMI_MINOR_AXIS,
   WarningAccumulator,
+  ZeroBaselineEngine,
   almanacEpochMs,
   almanacSatPosition,
   analyzeQuality,
@@ -19197,9 +19601,11 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   estimateNetworkFcbs,
   estimateWidelaneFcb,
   euclidean3D,
+  extractSbfNavicSubframe,
   extractWidelaneArcs,
   feedGeoBlock,
   feedGeoL5Block,
+  feedNavicBlock,
   fetchSourcetable,
   findSatBias,
   fixPppPosition,
@@ -19319,6 +19725,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   parseSbfIonoUtc,
   parseSbfMeas,
   parseSbfNav,
+  parseSbfNavic,
   parseSbfPvt,
   parseSbfReceiverSetup,
   parseSinexBiasDcb,