gnss-js 2.5.0 → 2.7.0

package/dist/positioning.cjs

@@ -25,6 +25,7 @@ __export(positioning_exports, {
   RtkFloatEngine: () => RtkFloatEngine,
   SbasProcessor: () => SbasProcessor,
   Sp3EphemerisSource: () => Sp3EphemerisSource,
+  ZeroBaselineEngine: () => ZeroBaselineEngine,
   antexFreqOfGroup: () => antexFreqOfGroup,
   applyOrbitClock: () => applyOrbitClock,
   buildPppAntenna: () => buildPppAntenna,
@@ -124,6 +125,28 @@ var START_NTP_TIME = /* @__PURE__ */ new Date("1900-01-01T00:00:00Z");
 // src/constants/gnss.ts
 var C_LIGHT = 299792458;
 var OMEGA_E = 72921151467e-15;
+var FREQ = {
+  G: { "1": 157542e4, "2": 12276e5, "5": 117645e4 },
+  // R bands 4/6 are the CDMA L1OC/L2OC center frequencies
+  R: { "3": 1202025e3, "4": 1600995e3, "6": 124806e4 },
+  E: {
+    "1": 157542e4,
+    "5": 117645e4,
+    "6": 127875e4,
+    "7": 120714e4,
+    "8": 1191795e3
+  },
+  C: {
+    "1": 157542e4,
+    "2": 1561098e3,
+    "5": 117645e4,
+    "6": 126852e4,
+    "7": 120714e4
+  },
+  J: { "1": 157542e4, "2": 12276e5, "5": 117645e4, "6": 127875e4 },
+  I: { "5": 117645e4, "9": 2492028e3 },
+  S: { "1": 157542e4, "5": 117645e4 }
+};
 
 // src/time/gnss.ts
 function getTaiDate(date) {
@@ -1923,6 +1946,162 @@ 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 sd of v) {
+        const res = sd - 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/navbits/index.ts
 var GPS_EPOCH_MS2 = Date.UTC(1980, 0, 6);
 var SEC_PER_WEEK = 7 * 86400;
@@ -4420,6 +4599,7 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
   RtkFloatEngine,
   SbasProcessor,
   Sp3EphemerisSource,
+  ZeroBaselineEngine,
   antexFreqOfGroup,
   applyOrbitClock,
   buildPppAntenna,

package/dist/positioning.d.cts

@@ -558,6 +558,61 @@ interface RtkPostProcessResult {
  */
 declare function postProcessRtk(base: RtkObsInput, rover: RtkObsInput, ephemerides: EphemerisSource, baseEcef: readonly [number, number, number], opts?: RtkPostProcessOptions): RtkPostProcessResult;
 
+interface ZeroBaselineOptions {
+    /** Reference receiver id (every other receiver is differenced against it). */
+    reference: string;
+    /** ISB datum system letter (biases are reported relative to it). Default 'G'. */
+    referenceSystem?: string;
+    /** Phase-SD inter-epoch jump gate (m) for cycle-slip rejection. Default 0.05. */
+    slipThreshM?: number;
+}
+/** One receiver's relative-clock estimate at one epoch. */
+interface ReceiverClockSample {
+    t: number;
+    receiver: string;
+    /** Code relative clock (m); divide by c for seconds. Null with no data. */
+    clockOffsetM: number | null;
+    /** Phase-smoothed relative clock (m) — precise; anchored to the code clock. */
+    clockOffsetPhaseM: number | null;
+    /** Signals used / rejected in the code solution this epoch. */
+    used: number;
+    rejected: number;
+    /** RMS of the code-SD residuals about the clock+ISB fit (m). */
+    residualRmsM: number;
+}
+/** A receiver's inter-system bias relative to the datum system (m). */
+interface ReceiverBias {
+    receiver: string;
+    system: string;
+    biasM: number;
+    /** Epochs the estimate averages over. */
+    n: number;
+}
+declare class ZeroBaselineEngine {
+    private readonly ref;
+    private readonly refSys;
+    private readonly slip;
+    /** Per (receiver|prn|code) continuous phase-SD arc. */
+    private readonly arcs;
+    /** Per receiver: integrated phase-smoothed clock (m). */
+    private readonly phaseClock;
+    /** Per (receiver|system): accumulated ISB (m) + count. */
+    private readonly isb;
+    constructor(opts: ZeroBaselineOptions);
+    reset(): void;
+    /** ISB/IFB estimates accumulated so far, per receiver × system. */
+    biases(): ReceiverBias[];
+    /**
+     * Ingest one time-aligned instant: observations per receiver id. Returns one
+     * {@link ReceiverClockSample} per non-reference receiver present this epoch.
+     */
+    process(epoch: {
+        timeMs: number;
+        obs: Record<string, readonly RawObservation[]>;
+    }): ReceiverClockSample[];
+    private processReceiver;
+}
+
 /**
  * Integer ambiguity resolution: LAMBDA decorrelation + MLAMBDA
  * integer least-squares search.
@@ -1659,4 +1714,4 @@ declare function sbasProtectionLevels(sats: readonly {
  */
 declare function solveSpp(pseudoranges: Map<string, number>, ephemerides: Map<string, Ephemeris>, timeMs: number, opts?: SppOptions): SppSolution | null;
 
-export { type AntennaOffset, type AppliedOrbitClock, type ArFixedSat, type ArOptions, type ArResult, type ArSat, type CorrectionResult, type Degradation, type DgnssOptions, type DgnssSolution, type EphemerisSource, type FixedPositionResult, IONO_L1_M_PER_TECU, type KlobucharCoeffs, type LambdaResult, type NetworkFcbResult, type NetworkFcbSummary, type NlArc, type NlFcbResult, type OrbitClockCorrection, type PppAntennaModel, type PppArc, type PppCorrectionConfig, type PppCorrections, PppEngine, type PppEphemerisSource, type PppEpoch, type PppEpochContext, type PppEpochResult, type PppFixState, type PppOptions, type PppSatObs, type PppSolution, type RawObservation, type RtkAntennaConfig, type RtkAntennaModel, type RtkAntennaOffset, type RtkEpochMeasurements, RtkFloatEngine, type RtkFloatOptions, type RtkFloatSolution, type RtkMeasurement, type RtkObsEpoch, type RtkObsInput, type RtkPostProcessOptions, type RtkPostProcessResult, type RtkReceiverAntenna, type RtkTrackPoint, type SatGeom, type SatSample, type SbasCorrectionSource, type SbasIgp, type SbasIonoDelay, SbasProcessor, type SbasSatCorrection, Sp3EphemerisSource, type SppOptions, type SppSolution, type TropoMapping, type WlArc, type WlFcbOptions, type WlFcbResult, type WlObs, antexFreqOfGroup, applyOrbitClock, buildPppAntenna, buildRtkAntenna, createPppCorrections, estimateNarrowlaneFcb, estimateNetworkFcbs, estimateWidelaneFcb, extractWidelaneArcs, fixPppPosition, gimSlantIonoDelayL1, gimVerticalTec, gmst, hasToOrbitClock, ionoFree, klobucharDelay, lambdaReduction, lambdaSearch, moonEcef, niellMapping, nlWavelength, postProcessRtk, rcvAntennaRangeM, resolvePppAmbiguities, satClockCorrection, sbasIonoDeg, sbasLongTermDeg, sbasProtectionLevels, solidEarthTide, solveDgnss, solvePpp, solveSpp, sunEcef, toRtkEpoch, wlWavelength };
+export { type AntennaOffset, type AppliedOrbitClock, type ArFixedSat, type ArOptions, type ArResult, type ArSat, type CorrectionResult, type Degradation, type DgnssOptions, type DgnssSolution, type EphemerisSource, type FixedPositionResult, IONO_L1_M_PER_TECU, type KlobucharCoeffs, type LambdaResult, type NetworkFcbResult, type NetworkFcbSummary, type NlArc, type NlFcbResult, type OrbitClockCorrection, type PppAntennaModel, type PppArc, type PppCorrectionConfig, type PppCorrections, PppEngine, type PppEphemerisSource, type PppEpoch, type PppEpochContext, type PppEpochResult, type PppFixState, type PppOptions, type PppSatObs, type PppSolution, type RawObservation, type ReceiverBias, type ReceiverClockSample, type RtkAntennaConfig, type RtkAntennaModel, type RtkAntennaOffset, type RtkEpochMeasurements, RtkFloatEngine, type RtkFloatOptions, type RtkFloatSolution, type RtkMeasurement, type RtkObsEpoch, type RtkObsInput, type RtkPostProcessOptions, type RtkPostProcessResult, type RtkReceiverAntenna, type RtkTrackPoint, type SatGeom, type SatSample, type SbasCorrectionSource, type SbasIgp, type SbasIonoDelay, SbasProcessor, type SbasSatCorrection, Sp3EphemerisSource, type SppOptions, type SppSolution, type TropoMapping, type WlArc, type WlFcbOptions, type WlFcbResult, type WlObs, ZeroBaselineEngine, type ZeroBaselineOptions, antexFreqOfGroup, applyOrbitClock, buildPppAntenna, buildRtkAntenna, createPppCorrections, estimateNarrowlaneFcb, estimateNetworkFcbs, estimateWidelaneFcb, extractWidelaneArcs, fixPppPosition, gimSlantIonoDelayL1, gimVerticalTec, gmst, hasToOrbitClock, ionoFree, klobucharDelay, lambdaReduction, lambdaSearch, moonEcef, niellMapping, nlWavelength, postProcessRtk, rcvAntennaRangeM, resolvePppAmbiguities, satClockCorrection, sbasIonoDeg, sbasLongTermDeg, sbasProtectionLevels, solidEarthTide, solveDgnss, solvePpp, solveSpp, sunEcef, toRtkEpoch, wlWavelength };

package/dist/positioning.d.ts

@@ -558,6 +558,61 @@ interface RtkPostProcessResult {
  */
 declare function postProcessRtk(base: RtkObsInput, rover: RtkObsInput, ephemerides: EphemerisSource, baseEcef: readonly [number, number, number], opts?: RtkPostProcessOptions): RtkPostProcessResult;
 
+interface ZeroBaselineOptions {
+    /** Reference receiver id (every other receiver is differenced against it). */
+    reference: string;
+    /** ISB datum system letter (biases are reported relative to it). Default 'G'. */
+    referenceSystem?: string;
+    /** Phase-SD inter-epoch jump gate (m) for cycle-slip rejection. Default 0.05. */
+    slipThreshM?: number;
+}
+/** One receiver's relative-clock estimate at one epoch. */
+interface ReceiverClockSample {
+    t: number;
+    receiver: string;
+    /** Code relative clock (m); divide by c for seconds. Null with no data. */
+    clockOffsetM: number | null;
+    /** Phase-smoothed relative clock (m) — precise; anchored to the code clock. */
+    clockOffsetPhaseM: number | null;
+    /** Signals used / rejected in the code solution this epoch. */
+    used: number;
+    rejected: number;
+    /** RMS of the code-SD residuals about the clock+ISB fit (m). */
+    residualRmsM: number;
+}
+/** A receiver's inter-system bias relative to the datum system (m). */
+interface ReceiverBias {
+    receiver: string;
+    system: string;
+    biasM: number;
+    /** Epochs the estimate averages over. */
+    n: number;
+}
+declare class ZeroBaselineEngine {
+    private readonly ref;
+    private readonly refSys;
+    private readonly slip;
+    /** Per (receiver|prn|code) continuous phase-SD arc. */
+    private readonly arcs;
+    /** Per receiver: integrated phase-smoothed clock (m). */
+    private readonly phaseClock;
+    /** Per (receiver|system): accumulated ISB (m) + count. */
+    private readonly isb;
+    constructor(opts: ZeroBaselineOptions);
+    reset(): void;
+    /** ISB/IFB estimates accumulated so far, per receiver × system. */
+    biases(): ReceiverBias[];
+    /**
+     * Ingest one time-aligned instant: observations per receiver id. Returns one
+     * {@link ReceiverClockSample} per non-reference receiver present this epoch.
+     */
+    process(epoch: {
+        timeMs: number;
+        obs: Record<string, readonly RawObservation[]>;
+    }): ReceiverClockSample[];
+    private processReceiver;
+}
+
 /**
  * Integer ambiguity resolution: LAMBDA decorrelation + MLAMBDA
  * integer least-squares search.
@@ -1659,4 +1714,4 @@ declare function sbasProtectionLevels(sats: readonly {
  */
 declare function solveSpp(pseudoranges: Map<string, number>, ephemerides: Map<string, Ephemeris>, timeMs: number, opts?: SppOptions): SppSolution | null;
 
-export { type AntennaOffset, type AppliedOrbitClock, type ArFixedSat, type ArOptions, type ArResult, type ArSat, type CorrectionResult, type Degradation, type DgnssOptions, type DgnssSolution, type EphemerisSource, type FixedPositionResult, IONO_L1_M_PER_TECU, type KlobucharCoeffs, type LambdaResult, type NetworkFcbResult, type NetworkFcbSummary, type NlArc, type NlFcbResult, type OrbitClockCorrection, type PppAntennaModel, type PppArc, type PppCorrectionConfig, type PppCorrections, PppEngine, type PppEphemerisSource, type PppEpoch, type PppEpochContext, type PppEpochResult, type PppFixState, type PppOptions, type PppSatObs, type PppSolution, type RawObservation, type RtkAntennaConfig, type RtkAntennaModel, type RtkAntennaOffset, type RtkEpochMeasurements, RtkFloatEngine, type RtkFloatOptions, type RtkFloatSolution, type RtkMeasurement, type RtkObsEpoch, type RtkObsInput, type RtkPostProcessOptions, type RtkPostProcessResult, type RtkReceiverAntenna, type RtkTrackPoint, type SatGeom, type SatSample, type SbasCorrectionSource, type SbasIgp, type SbasIonoDelay, SbasProcessor, type SbasSatCorrection, Sp3EphemerisSource, type SppOptions, type SppSolution, type TropoMapping, type WlArc, type WlFcbOptions, type WlFcbResult, type WlObs, antexFreqOfGroup, applyOrbitClock, buildPppAntenna, buildRtkAntenna, createPppCorrections, estimateNarrowlaneFcb, estimateNetworkFcbs, estimateWidelaneFcb, extractWidelaneArcs, fixPppPosition, gimSlantIonoDelayL1, gimVerticalTec, gmst, hasToOrbitClock, ionoFree, klobucharDelay, lambdaReduction, lambdaSearch, moonEcef, niellMapping, nlWavelength, postProcessRtk, rcvAntennaRangeM, resolvePppAmbiguities, satClockCorrection, sbasIonoDeg, sbasLongTermDeg, sbasProtectionLevels, solidEarthTide, solveDgnss, solvePpp, solveSpp, sunEcef, toRtkEpoch, wlWavelength };
+export { type AntennaOffset, type AppliedOrbitClock, type ArFixedSat, type ArOptions, type ArResult, type ArSat, type CorrectionResult, type Degradation, type DgnssOptions, type DgnssSolution, type EphemerisSource, type FixedPositionResult, IONO_L1_M_PER_TECU, type KlobucharCoeffs, type LambdaResult, type NetworkFcbResult, type NetworkFcbSummary, type NlArc, type NlFcbResult, type OrbitClockCorrection, type PppAntennaModel, type PppArc, type PppCorrectionConfig, type PppCorrections, PppEngine, type PppEphemerisSource, type PppEpoch, type PppEpochContext, type PppEpochResult, type PppFixState, type PppOptions, type PppSatObs, type PppSolution, type RawObservation, type ReceiverBias, type ReceiverClockSample, type RtkAntennaConfig, type RtkAntennaModel, type RtkAntennaOffset, type RtkEpochMeasurements, RtkFloatEngine, type RtkFloatOptions, type RtkFloatSolution, type RtkMeasurement, type RtkObsEpoch, type RtkObsInput, type RtkPostProcessOptions, type RtkPostProcessResult, type RtkReceiverAntenna, type RtkTrackPoint, type SatGeom, type SatSample, type SbasCorrectionSource, type SbasIgp, type SbasIonoDelay, SbasProcessor, type SbasSatCorrection, Sp3EphemerisSource, type SppOptions, type SppSolution, type TropoMapping, type WlArc, type WlFcbOptions, type WlFcbResult, type WlObs, ZeroBaselineEngine, type ZeroBaselineOptions, antexFreqOfGroup, applyOrbitClock, buildPppAntenna, buildRtkAntenna, createPppCorrections, estimateNarrowlaneFcb, estimateNetworkFcbs, estimateWidelaneFcb, extractWidelaneArcs, fixPppPosition, gimSlantIonoDelayL1, gimVerticalTec, gmst, hasToOrbitClock, ionoFree, klobucharDelay, lambdaReduction, lambdaSearch, moonEcef, niellMapping, nlWavelength, postProcessRtk, rcvAntennaRangeM, resolvePppAmbiguities, satClockCorrection, sbasIonoDeg, sbasLongTermDeg, sbasProtectionLevels, solidEarthTide, solveDgnss, solvePpp, solveSpp, sunEcef, toRtkEpoch, wlWavelength };

package/dist/positioning.js

@@ -4,6 +4,7 @@ import {
   RtkFloatEngine,
   SbasProcessor,
   Sp3EphemerisSource,
+  ZeroBaselineEngine,
   antexFreqOfGroup,
   applyOrbitClock,
   buildPppAntenna,
@@ -39,11 +40,11 @@ import {
   sunEcef,
   toRtkEpoch,
   wlWavelength
-} from "./chunk-B2XWO4RP.js";
+} from "./chunk-BWLLHLLS.js";
 import "./chunk-WQX354KD.js";
 import "./chunk-JYWYQ7DW.js";
 import "./chunk-HVXYFUCB.js";
-import "./chunk-MIIM4LDY.js";
+import "./chunk-CVCTRIWU.js";
 import "./chunk-37QNKGTC.js";
 import "./chunk-LEEU5OIO.js";
 import "./chunk-6FAL6P4G.js";
@@ -57,6 +58,7 @@ export {
   RtkFloatEngine,
   SbasProcessor,
   Sp3EphemerisSource,
+  ZeroBaselineEngine,
   antexFreqOfGroup,
   applyOrbitClock,
   buildPppAntenna,

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "gnss-js",
-  "version": "2.5.0",
+  "version": "2.7.0",
   "description": "Comprehensive GNSS library for JavaScript — time scales, coordinates, RINEX parsing, RTCM3 decoding, orbit computation, and signal analysis",
   "type": "module",
   "sideEffects": false,