gnss-js 2.4.0 → 2.6.0

package/dist/sbf.cjs

@@ -23,8 +23,10 @@ __export(sbf_exports, {
   SBAS_L5_MT_NAMES: () => SBAS_L5_MT_NAMES,
   SBAS_L5_PREAMBLE_UW: () => SBAS_L5_PREAMBLE_UW,
   decodeSbfNavigation: () => decodeSbfNavigation,
+  extractSbfNavicSubframe: () => extractSbfNavicSubframe,
   feedGeoBlock: () => feedGeoBlock,
   feedGeoL5Block: () => feedGeoL5Block,
+  feedNavicBlock: () => feedNavicBlock,
   isSbasL1Preamble: () => isSbasL1Preamble,
   isSbasL5Correction: () => isSbasL5Correction,
   parseSbfAlmanac: () => parseSbfAlmanac,
@@ -39,6 +41,7 @@ __export(sbf_exports, {
   parseSbfIonoUtc: () => parseSbfIonoUtc,
   parseSbfMeas: () => parseSbfMeas,
   parseSbfNav: () => parseSbfNav,
+  parseSbfNavic: () => parseSbfNavic,
   parseSbfPvt: () => parseSbfPvt,
   parseSbfReceiverSetup: () => parseSbfReceiverSetup,
   sbasL5MessageName: () => sbasL5MessageName,
@@ -1068,6 +1071,173 @@ var CnavAssembler = class {
   }
 };
 
+// src/navbits/navic.ts
+var GPS_EPOCH_MS5 = Date.UTC(1980, 0, 6);
+var SEC_PER_WEEK4 = 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_MS5) / 1e3 / SEC_PER_WEEK4);
+  const prn = opts.prn ?? "I00";
+  const tocDate = new Date(
+    GPS_EPOCH_MS5 + (week * SEC_PER_WEEK4 + tocSec) * 1e3
+  );
+  return {
+    system: "I",
+    prn,
+    tocDate,
+    toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK4,
+    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",
@@ -1108,8 +1278,8 @@ function parseSbfCnav(data) {
 }
 
 // src/navbits/gal.ts
-var GPS_EPOCH_MS5 = Date.UTC(1980, 0, 6);
-var SEC_PER_WEEK4 = 7 * 86400;
+var GPS_EPOCH_MS6 = Date.UTC(1980, 0, 6);
+var SEC_PER_WEEK5 = 7 * 86400;
 var HALF_WEEK2 = 302400;
 var GST_GPS_WEEK_OFFSET = 1024;
 function galInavPageCrcOk(page) {
@@ -1121,7 +1291,7 @@ function galFnavPageCrcOk(page) {
   return crc24q(page, 214) === getBitU(page, 214, 24);
 }
 function gpsDate2(week, sec) {
-  return new Date(GPS_EPOCH_MS5 + (week * SEC_PER_WEEK4 + sec) * 1e3);
+  return new Date(GPS_EPOCH_MS6 + (week * SEC_PER_WEEK5 + sec) * 1e3);
 }
 function weekOfToe(week, tow, toe) {
   if (toe - tow > HALF_WEEK2) return week - 1;
@@ -1217,7 +1387,7 @@ function decodeGalInavWords(words) {
   return {
     system: "E",
     prn: `E${two2(svid)}`,
-    toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK4,
+    toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK5,
     tocDate,
     af0,
     af1,
@@ -1325,7 +1495,7 @@ function decodeGalFnavPages(pages) {
   return {
     system: "E",
     prn: `E${two2(svid)}`,
-    toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK4,
+    toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK5,
     tocDate,
     af0,
     af1,
@@ -1475,10 +1645,10 @@ function isFnavDummy(page) {
 
 // src/navbits/bds.ts
 var BDT_EPOCH_MS2 = Date.UTC(2006, 0, 1);
-var SEC_PER_WEEK5 = 7 * 86400;
-var MS_PER_WEEK2 = SEC_PER_WEEK5 * 1e3;
+var SEC_PER_WEEK6 = 7 * 86400;
+var MS_PER_WEEK2 = SEC_PER_WEEK6 * 1e3;
 var HALF_WEEK3 = 302400;
-var sowOf2 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK5;
+var sowOf2 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK6;
 var BDS_SUBFRAME_BYTES = 38;
 function getBitU22(b, p1, l1, p2, l2) {
   return getBitU(b, p1, l1) * 2 ** l2 + getBitU(b, p2, l2);
@@ -1752,8 +1922,8 @@ var BdsAssembler = class {
 };
 
 // src/navbits/glo.ts
-var GPS_EPOCH_MS6 = Date.UTC(1980, 0, 6);
-var SEC_PER_WEEK6 = 7 * 86400;
+var GPS_EPOCH_MS7 = Date.UTC(1980, 0, 6);
+var SEC_PER_WEEK7 = 7 * 86400;
 var SEC_PER_DAY = 86400;
 var GLO_STRING_BYTES = 10;
 function getBitG(b, pos, len) {
@@ -1846,9 +2016,9 @@ function decodeGloStrings(strings, refDate, opts = {}) {
   const slot = getBitU(b, i, 5);
   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 utcSec = (getUtcDate(refDate).getTime() - GPS_EPOCH_MS7) / 1e3;
+  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;
@@ -1861,12 +2031,12 @@ 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_MS7 + (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,
@@ -1915,10 +2085,10 @@ var GloStringAssembler = class {
 };
 
 // src/sbf/rawnav-bds.ts
-var GPS_EPOCH_MS7 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS8 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK3 = 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 {};
@@ -1958,7 +2128,7 @@ 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);
@@ -1976,7 +2146,7 @@ function feedGloBlock(view, b, assembler) {
   const eph = assembler.push(
     prn,
     str2,
-    new Date(GPS_EPOCH_MS7 + wnc * MS_PER_WEEK3 + towMs),
+    new Date(GPS_EPOCH_MS8 + wnc * MS_PER_WEEK3 + towMs),
     view.getUint8(b + 18) - 8
     // FreqNr, offset by 8
   );
@@ -1999,7 +2169,7 @@ function parseSbfGloNav(data) {
 }
 
 // src/navbits/sbas.ts
-var GPS_EPOCH_MS8 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS9 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK4 = 7 * 86400 * 1e3;
 var two3 = (n) => String(n).padStart(2, "0");
 var SBAS_MT_GEO_NAV = 9;
@@ -2021,7 +2191,7 @@ function decodeSbasGeoNav(msg, prn, week, tow) {
   return {
     system: "S",
     prn: `S${two3(prn - 100)}`,
-    tocDate: new Date(GPS_EPOCH_MS8 + week * MS_PER_WEEK4 + t0Sec * 1e3),
+    tocDate: new Date(GPS_EPOCH_MS9 + week * MS_PER_WEEK4 + t0Sec * 1e3),
     tauN: getBitS(msg, 206, 12) * 2 ** -31,
     // a_Gf0, clock offset (s)
     gammaN: getBitS(msg, 218, 8) * 2 ** -39 / 2,
@@ -2194,6 +2364,7 @@ function decodeSbfNavigation(data, opts = {}) {
     bdsRaw: 0,
     sbasRaw: 0,
     sbasL5Raw: 0,
+    navicRaw: 0,
     badFrames: 0
   };
   const dfmcByType = {};
@@ -2203,6 +2374,7 @@ 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);
@@ -2263,6 +2435,14 @@ 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: {
@@ -2883,7 +3063,7 @@ function parseSbfHas(data) {
 
 // src/sbf/index.ts
 var CLIGHT = 299792458;
-var GPS_EPOCH_MS9 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS10 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK5 = 7 * 864e5;
 var M3_SYS = ["G", "R", "E", "C", "S", "J", "I"];
 var M3_PR_BASE = [19e6, 19e6, 22e6, 2e7, 34e6, 34e6, 34e6];
@@ -3537,7 +3717,7 @@ 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_MS9 + wnc * MS_PER_WEEK5 + tow);
+        ensureEpoch(GPS_EPOCH_MS10 + wnc * MS_PER_WEEK5 + tow);
         if (id === 4109) decodeMeas3Ranges(i, tow);
         else if (id === 4110) decodeMeas3CN0(i, len);
         else if (id === 4111) decodeMeas3Doppler(i, len);
@@ -3553,8 +3733,10 @@ function parseSbfMeas(data) {
   SBAS_L5_MT_NAMES,
   SBAS_L5_PREAMBLE_UW,
   decodeSbfNavigation,
+  extractSbfNavicSubframe,
   feedGeoBlock,
   feedGeoL5Block,
+  feedNavicBlock,
   isSbasL1Preamble,
   isSbasL5Correction,
   parseSbfAlmanac,
@@ -3569,6 +3751,7 @@ function parseSbfMeas(data) {
   parseSbfIonoUtc,
   parseSbfMeas,
   parseSbfNav,
+  parseSbfNavic,
   parseSbfPvt,
   parseSbfReceiverSetup,
   sbasL5MessageName,

package/dist/sbf.d.cts

@@ -174,6 +174,65 @@ interface SbfGpsNavResult {
  */
 declare function parseSbfGpsNav(data: Uint8Array): SbfGpsNavResult;
 
+/**
+ * Streaming assembler: feed 292-bit NavIC subframes per PRN; emits a fresh
+ * ephemeris once a satellite's subframe 1 and 2 are both in hand (deduped by
+ * toc + IODEC). Mirrors {@link GpsLnavAssembler} for the raw-frame formats.
+ */
+declare class NavicAssembler {
+    private readonly sf1;
+    private readonly last;
+    /**
+     * 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: string, subframe: Uint8Array, refWeek: number): KeplerEphemeris | null;
+}
+
+/**
+ * Septentrio SBF NAVICRaw (4093) blocks: each carries one 292-bit NavIC L5/S
+ * SPS subframe. Subframes 1 & 2 are assembled per satellite into a Keplerian
+ * ephemeris by the shared {@link NavicAssembler}.
+ *
+ * Block layout (mosaic-X5 reference guide §4): after the 8-byte SBF header,
+ * TOW u4 + WNc u2 (full GPS week), SVID u1, CRCPassed u1, ViterbiCnt u1,
+ * Source u1, FreqNr u1, RxChannel u1, then NAVBits as u4[10] — the first
+ * received bit is the MSB of NAVBits[0] (each u4 little-endian in the stream,
+ * message bits MSB-first within the word). Only the first 292 bits are used.
+ *
+ * The receiver's own CRCPassed flag is ignored in favour of re-running CRC-24Q
+ * on the transported bits, so `badCrc` counts exactly what this library rejects.
+ */
+
+interface SbfNavicResult {
+    /** Assembled NavIC ephemerides in stream order, repeats suppressed. */
+    ephemerides: KeplerEphemeris[];
+    /** Subframes whose CRC-24Q check failed (dropped). */
+    badCrc: number;
+    /** Total NAVICRaw blocks seen (with valid SBF framing). */
+    messages: number;
+}
+/** Extract the 292-bit NavIC subframe (MSB-first) from a NAVICRaw block. */
+declare function extractSbfNavicSubframe(view: DataView, b: number): Uint8Array;
+/**
+ * Process one NAVICRaw (4093) block at frame offset `b`: map SVID → NavIC PRN,
+ * extract + CRC-24Q gate the subframe, and push it to the shared assembler
+ * with the block's full WNc week. Returns a fresh ephemeris, `{ badCrc: true }`
+ * on a failed CRC, or `{}`. Shared by {@link parseSbfNavic} and the one-pass
+ * {@link decodeSbfNavigation}.
+ */
+declare function feedNavicBlock(view: DataView, b: number, assembler: NavicAssembler): {
+    eph?: KeplerEphemeris;
+    badCrc?: boolean;
+};
+/**
+ * Decode every NAVICRaw (4093) block in an SBF byte stream and assemble the
+ * carried subframes into NavIC ephemerides (`system` 'I').
+ */
+declare function parseSbfNavic(data: Uint8Array): SbfNavicResult;
+
 /**
  * Septentrio SBF raw CNAV navigation-bit blocks: GPSRawL2C (4018) and
  * GPSRawL5 (4019) each carry one 300-bit GPS CNAV message.
@@ -339,6 +398,8 @@ interface SbfNavCounts {
     sbasRaw: number;
     /** Raw SBAS L5 GEO message blocks (GEORawL5) — DO-229-on-L5 + native DFMC. */
     sbasL5Raw: number;
+    /** Raw NavIC L5/S SPS subframe blocks (NAVICRaw). */
+    navicRaw: number;
     /** Frames dropped by a CRC/parity check across all raw decoders. */
     badFrames: number;
 }
@@ -610,4 +671,4 @@ interface SbfParseResult {
  */
 declare function parseSbfMeas(data: Uint8Array): SbfParseResult;
 
-export { CnavEphemeris, type DfmcCensus, type DfmcMessageCb, type GeoL5Result, HasMessage, ReceiverPvt, SBAS_L5_MT_NAMES, SBAS_L5_PREAMBLE_UW, type SbasMessageCb, type SbfBdsNavResult, type SbfCnavEphemeris, type SbfCnavResult, type SbfGalEphemeris, type SbfGalNavResult, type SbfGeoL5Result, type SbfGeoNavResult, type SbfGloNavResult, type SbfGpsNavResult, type SbfHasMessage, type SbfHasResult, type SbfIonoUtcResult, type SbfMeasEpoch, type SbfMeasurement, type SbfNavCounts, type SbfNavigation, type SbfParseResult, type SbfPvt, type SbfPvtResult, type SbfReceiverSetup, decodeSbfNavigation, feedGeoBlock, feedGeoL5Block, isSbasL1Preamble, isSbasL5Correction, parseSbfBdsNav, parseSbfCnav, parseSbfGalNav, parseSbfGeoL5, parseSbfGeoNav, parseSbfGloNav, parseSbfGpsNav, parseSbfHas, parseSbfIonoUtc, parseSbfMeas, parseSbfPvt, parseSbfReceiverSetup, sbasL5MessageName, sbasL5MessageType, crc16 as sbfCrc16, scanSbfFrames };
+export { CnavEphemeris, type DfmcCensus, type DfmcMessageCb, type GeoL5Result, HasMessage, ReceiverPvt, SBAS_L5_MT_NAMES, SBAS_L5_PREAMBLE_UW, type SbasMessageCb, type SbfBdsNavResult, type SbfCnavEphemeris, type SbfCnavResult, type SbfGalEphemeris, type SbfGalNavResult, type SbfGeoL5Result, type SbfGeoNavResult, type SbfGloNavResult, type SbfGpsNavResult, type SbfHasMessage, type SbfHasResult, type SbfIonoUtcResult, type SbfMeasEpoch, type SbfMeasurement, type SbfNavCounts, type SbfNavicResult, type SbfNavigation, type SbfParseResult, type SbfPvt, type SbfPvtResult, type SbfReceiverSetup, decodeSbfNavigation, extractSbfNavicSubframe, feedGeoBlock, feedGeoL5Block, feedNavicBlock, isSbasL1Preamble, isSbasL5Correction, parseSbfBdsNav, parseSbfCnav, parseSbfGalNav, parseSbfGeoL5, parseSbfGeoNav, parseSbfGloNav, parseSbfGpsNav, parseSbfHas, parseSbfIonoUtc, parseSbfMeas, parseSbfNavic, parseSbfPvt, parseSbfReceiverSetup, sbasL5MessageName, sbasL5MessageType, crc16 as sbfCrc16, scanSbfFrames };

package/dist/sbf.d.ts

@@ -174,6 +174,65 @@ interface SbfGpsNavResult {
  */
 declare function parseSbfGpsNav(data: Uint8Array): SbfGpsNavResult;
 
+/**
+ * Streaming assembler: feed 292-bit NavIC subframes per PRN; emits a fresh
+ * ephemeris once a satellite's subframe 1 and 2 are both in hand (deduped by
+ * toc + IODEC). Mirrors {@link GpsLnavAssembler} for the raw-frame formats.
+ */
+declare class NavicAssembler {
+    private readonly sf1;
+    private readonly last;
+    /**
+     * 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: string, subframe: Uint8Array, refWeek: number): KeplerEphemeris | null;
+}
+
+/**
+ * Septentrio SBF NAVICRaw (4093) blocks: each carries one 292-bit NavIC L5/S
+ * SPS subframe. Subframes 1 & 2 are assembled per satellite into a Keplerian
+ * ephemeris by the shared {@link NavicAssembler}.
+ *
+ * Block layout (mosaic-X5 reference guide §4): after the 8-byte SBF header,
+ * TOW u4 + WNc u2 (full GPS week), SVID u1, CRCPassed u1, ViterbiCnt u1,
+ * Source u1, FreqNr u1, RxChannel u1, then NAVBits as u4[10] — the first
+ * received bit is the MSB of NAVBits[0] (each u4 little-endian in the stream,
+ * message bits MSB-first within the word). Only the first 292 bits are used.
+ *
+ * The receiver's own CRCPassed flag is ignored in favour of re-running CRC-24Q
+ * on the transported bits, so `badCrc` counts exactly what this library rejects.
+ */
+
+interface SbfNavicResult {
+    /** Assembled NavIC ephemerides in stream order, repeats suppressed. */
+    ephemerides: KeplerEphemeris[];
+    /** Subframes whose CRC-24Q check failed (dropped). */
+    badCrc: number;
+    /** Total NAVICRaw blocks seen (with valid SBF framing). */
+    messages: number;
+}
+/** Extract the 292-bit NavIC subframe (MSB-first) from a NAVICRaw block. */
+declare function extractSbfNavicSubframe(view: DataView, b: number): Uint8Array;
+/**
+ * Process one NAVICRaw (4093) block at frame offset `b`: map SVID → NavIC PRN,
+ * extract + CRC-24Q gate the subframe, and push it to the shared assembler
+ * with the block's full WNc week. Returns a fresh ephemeris, `{ badCrc: true }`
+ * on a failed CRC, or `{}`. Shared by {@link parseSbfNavic} and the one-pass
+ * {@link decodeSbfNavigation}.
+ */
+declare function feedNavicBlock(view: DataView, b: number, assembler: NavicAssembler): {
+    eph?: KeplerEphemeris;
+    badCrc?: boolean;
+};
+/**
+ * Decode every NAVICRaw (4093) block in an SBF byte stream and assemble the
+ * carried subframes into NavIC ephemerides (`system` 'I').
+ */
+declare function parseSbfNavic(data: Uint8Array): SbfNavicResult;
+
 /**
  * Septentrio SBF raw CNAV navigation-bit blocks: GPSRawL2C (4018) and
  * GPSRawL5 (4019) each carry one 300-bit GPS CNAV message.
@@ -339,6 +398,8 @@ interface SbfNavCounts {
     sbasRaw: number;
     /** Raw SBAS L5 GEO message blocks (GEORawL5) — DO-229-on-L5 + native DFMC. */
     sbasL5Raw: number;
+    /** Raw NavIC L5/S SPS subframe blocks (NAVICRaw). */
+    navicRaw: number;
     /** Frames dropped by a CRC/parity check across all raw decoders. */
     badFrames: number;
 }
@@ -610,4 +671,4 @@ interface SbfParseResult {
  */
 declare function parseSbfMeas(data: Uint8Array): SbfParseResult;
 
-export { CnavEphemeris, type DfmcCensus, type DfmcMessageCb, type GeoL5Result, HasMessage, ReceiverPvt, SBAS_L5_MT_NAMES, SBAS_L5_PREAMBLE_UW, type SbasMessageCb, type SbfBdsNavResult, type SbfCnavEphemeris, type SbfCnavResult, type SbfGalEphemeris, type SbfGalNavResult, type SbfGeoL5Result, type SbfGeoNavResult, type SbfGloNavResult, type SbfGpsNavResult, type SbfHasMessage, type SbfHasResult, type SbfIonoUtcResult, type SbfMeasEpoch, type SbfMeasurement, type SbfNavCounts, type SbfNavigation, type SbfParseResult, type SbfPvt, type SbfPvtResult, type SbfReceiverSetup, decodeSbfNavigation, feedGeoBlock, feedGeoL5Block, isSbasL1Preamble, isSbasL5Correction, parseSbfBdsNav, parseSbfCnav, parseSbfGalNav, parseSbfGeoL5, parseSbfGeoNav, parseSbfGloNav, parseSbfGpsNav, parseSbfHas, parseSbfIonoUtc, parseSbfMeas, parseSbfPvt, parseSbfReceiverSetup, sbasL5MessageName, sbasL5MessageType, crc16 as sbfCrc16, scanSbfFrames };
+export { CnavEphemeris, type DfmcCensus, type DfmcMessageCb, type GeoL5Result, HasMessage, ReceiverPvt, SBAS_L5_MT_NAMES, SBAS_L5_PREAMBLE_UW, type SbasMessageCb, type SbfBdsNavResult, type SbfCnavEphemeris, type SbfCnavResult, type SbfGalEphemeris, type SbfGalNavResult, type SbfGeoL5Result, type SbfGeoNavResult, type SbfGloNavResult, type SbfGpsNavResult, type SbfHasMessage, type SbfHasResult, type SbfIonoUtcResult, type SbfMeasEpoch, type SbfMeasurement, type SbfNavCounts, type SbfNavicResult, type SbfNavigation, type SbfParseResult, type SbfPvt, type SbfPvtResult, type SbfReceiverSetup, decodeSbfNavigation, extractSbfNavicSubframe, feedGeoBlock, feedGeoL5Block, feedNavicBlock, isSbasL1Preamble, isSbasL5Correction, parseSbfBdsNav, parseSbfCnav, parseSbfGalNav, parseSbfGeoL5, parseSbfGeoNav, parseSbfGloNav, parseSbfGpsNav, parseSbfHas, parseSbfIonoUtc, parseSbfMeas, parseSbfNavic, parseSbfPvt, parseSbfReceiverSetup, sbasL5MessageName, sbasL5MessageType, crc16 as sbfCrc16, scanSbfFrames };

package/dist/sbf.js

@@ -3,8 +3,10 @@ import {
   SBAS_L5_PREAMBLE_UW,
   crc16,
   decodeSbfNavigation,
+  extractSbfNavicSubframe,
   feedGeoBlock,
   feedGeoL5Block,
+  feedNavicBlock,
   isSbasL1Preamble,
   isSbasL5Correction,
   parseSbfAlmanac,
@@ -19,12 +21,13 @@ import {
   parseSbfIonoUtc,
   parseSbfMeas,
   parseSbfNav,
+  parseSbfNavic,
   parseSbfPvt,
   parseSbfReceiverSetup,
   sbasL5MessageName,
   sbasL5MessageType,
   scanSbfFrames
-} from "./chunk-WW3DKCDN.js";
+} from "./chunk-74IVYOQV.js";
 import "./chunk-3KSDL3CO.js";
 import "./chunk-WQX354KD.js";
 import "./chunk-HVXYFUCB.js";
@@ -37,8 +40,10 @@ export {
   SBAS_L5_MT_NAMES,
   SBAS_L5_PREAMBLE_UW,
   decodeSbfNavigation,
+  extractSbfNavicSubframe,
   feedGeoBlock,
   feedGeoL5Block,
+  feedNavicBlock,
   isSbasL1Preamble,
   isSbasL5Correction,
   parseSbfAlmanac,
@@ -53,6 +58,7 @@ export {
   parseSbfIonoUtc,
   parseSbfMeas,
   parseSbfNav,
+  parseSbfNavic,
   parseSbfPvt,
   parseSbfReceiverSetup,
   sbasL5MessageName,

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "gnss-js",
-  "version": "2.4.0",
+  "version": "2.6.0",
   "description": "Comprehensive GNSS library for JavaScript — time scales, coordinates, RINEX parsing, RTCM3 decoding, orbit computation, and signal analysis",
   "type": "module",
   "sideEffects": false,