gnss-js 2.6.0 → 2.8.0

package/dist/coordinates.d.ts

@@ -14,13 +14,29 @@ declare function deg2dms(deg: number): [number, number, number];
  * Vincenty's inverse formula — orthodromic (great-circle) distance,
  * initial bearing, and final bearing on the WGS84 ellipsoid.
  * All angles in radians.
- * @returns { distance (m), initialBearing (rad), finalBearing (rad) }
+ * @returns { distance (m), initialBearing (rad), finalBearing (rad),
+ *   converged } — `converged` is false for near-antipodal pairs, where the
+ *   iteration fails and a spherical approximation is returned instead
+ *   (distance good to ~0.5 %, bearings unreliable).
  */
 declare function vincenty(lat1: number, lon1: number, lat2: number, lon2: number): {
     distance: number;
     initialBearing: number;
     finalBearing: number;
+    converged: boolean;
 };
+/**
+ * Vincenty's direct formula — the point reached from (lat1, lon1) after
+ * `distance` metres along the geodesic leaving at `bearing` (radians,
+ * clockwise from north) on the WGS84 ellipsoid.
+ * @returns [lat, lon] in radians, lon wrapped to (-π, π]
+ */
+declare function vincentyDirect(lat1: number, lon1: number, bearing: number, distance: number): [number, number];
+/**
+ * Meridian arc length from the equator to geodetic latitude `lat` (radians)
+ * on WGS84, via the rectifying latitude (Helmert series in n, sub-mm).
+ */
+declare function meridianArc(lat: number): number;
 /**
  * Loxodromic (rhumb line) distance and constant bearing on the WGS84 ellipsoid.
  * Uses the ellipsoidal rhumb-line formula with isometric latitudes.
@@ -41,7 +57,8 @@ declare function rhumbLine(lat1: number, lon1: number, lat2: number, lon2: numbe
  */
 declare function euclidean3D(x1: number, y1: number, z1: number, x2: number, y2: number, z2: number): number;
 /**
- * Geodetic midpoint along the great-circle arc.
+ * Midpoint of the geodesic (shortest path on the WGS84 ellipsoid) between
+ * two points: half the Vincenty distance along the initial bearing.
  * @returns [lat, lon] in radians
  */
 declare function greatCircleMidpoint(lat1: number, lon1: number, lat2: number, lon2: number): [number, number];
@@ -57,12 +74,18 @@ declare function horizonDistance(heightMeters: number): number;
  * Convert geodetic coordinates to UTM.
  * @param lat Latitude in radians
  * @param lon Longitude in radians
+ * @returns easting/northing (m), zone (1–60, with the Norway/Svalbard
+ *   exceptions), hemisphere, MGRS latitude `band` letter (C–X), and
+ *   `inRange` — false outside UTM's 80°S–84°N, where the values are
+ *   computed at the clamped latitude and are not a valid UTM position.
  */
 declare function geodeticToUtm(lat: number, lon: number): {
     easting: number;
     northing: number;
     zone: number;
     hemisphere: 'N' | 'S';
+    band: string;
+    inRange: boolean;
 };
 /**
  * Maidenhead grid locator (6 characters) from geodetic coordinates.
@@ -78,4 +101,4 @@ declare function geodeticToMaidenhead(lat: number, lon: number): string;
  */
 declare function geodeticToGeohash(lat: number, lon: number, precision?: number): string;
 
-export { deg2dms, deg2rad, euclidean3D, geodeticToGeohash, geodeticToMaidenhead, geodeticToUtm, greatCircleMidpoint, horizonDistance, rad2deg, rhumbLine, vincenty };
+export { deg2dms, deg2rad, euclidean3D, geodeticToGeohash, geodeticToMaidenhead, geodeticToUtm, greatCircleMidpoint, horizonDistance, meridianArc, rad2deg, rhumbLine, vincenty, vincentyDirect };

package/dist/coordinates.js

@@ -7,10 +7,12 @@ import {
   geodeticToUtm,
   greatCircleMidpoint,
   horizonDistance,
+  meridianArc,
   rad2deg,
   rhumbLine,
-  vincenty
-} from "./chunk-MIIM4LDY.js";
+  vincenty,
+  vincentyDirect
+} from "./chunk-CVCTRIWU.js";
 import {
   clampUnit,
   ecefToGeodetic,
@@ -33,7 +35,9 @@ export {
   getEnuDifference,
   greatCircleMidpoint,
   horizonDistance,
+  meridianArc,
   rad2deg,
   rhumbLine,
-  vincenty
+  vincenty,
+  vincentyDirect
 };

package/dist/index.cjs

@@ -261,6 +261,7 @@ __export(src_exports, {
   lambdaSearch: () => lambdaSearch,
   looksLikeRtcm2: () => looksLikeRtcm2,
   maskRadForAzimuth: () => maskRadForAzimuth,
+  meridianArc: () => meridianArc,
   moonEcef: () => moonEcef,
   navTimesFromEph: () => navTimesFromEph,
   niellMapping: () => niellMapping,
@@ -355,6 +356,7 @@ __export(src_exports, {
   updateStreamStats: () => updateStreamStats,
   verifyChecksum: () => verifyChecksum,
   vincenty: () => vincenty,
+  vincentyDirect: () => vincentyDirect,
   wlWavelength: () => wlWavelength,
   writeCrx: () => writeCrx,
   writeModernObsBlob: () => writeModernObsBlob,
@@ -1125,7 +1127,12 @@ function vincenty(lat1, lon1, lat2, lon2) {
       (cosU2 * sinLambda2) ** 2 + (cosU1 * sinU2 - sinU1 * cosU2 * cosLambda2) ** 2
     );
     if (sinSigma === 0) {
-      return { distance: 0, initialBearing: 0, finalBearing: 0 };
+      return {
+        distance: 0,
+        initialBearing: 0,
+        finalBearing: 0,
+        converged: true
+      };
     }
     cosSigma = sinU1 * sinU2 + cosU1 * cosU2 * cosLambda2;
     sigma = Math.atan2(sinSigma, cosSigma);
@@ -1155,7 +1162,7 @@ function vincenty(lat1, lon1, lat2, lon2) {
       cosLat1 * Math.sin(-dLon),
       -sinLat1 * cosLat2 + cosLat1 * sinLat2 * Math.cos(-dLon)
     );
-    return { distance: distance2, initialBearing: ib, finalBearing: fb };
+    return { distance: distance2, initialBearing: ib, finalBearing: fb, converged: false };
   }
   const uSq = cos2Alpha * (WGS84_SEMI_MAJOR_AXIS ** 2 - WGS84_SEMI_MINOR_AXIS ** 2) / WGS84_SEMI_MINOR_AXIS ** 2;
   const A = 1 + uSq / 16384 * (4096 + uSq * (-768 + uSq * (320 - 175 * uSq)));
@@ -1172,10 +1179,53 @@ function vincenty(lat1, lon1, lat2, lon2) {
     cosU1 * sinLambda,
     -sinU1 * cosU2 + cosU1 * sinU2 * cosLambda
   );
-  return { distance, initialBearing, finalBearing };
+  return { distance, initialBearing, finalBearing, converged: true };
+}
+function vincentyDirect(lat1, lon1, bearing, distance) {
+  const a = WGS84_SEMI_MAJOR_AXIS, b = WGS84_SEMI_MINOR_AXIS, f = WGS84_FLATTENING;
+  const sinA1 = Math.sin(bearing), cosA1 = Math.cos(bearing);
+  const tanU1 = (1 - f) * Math.tan(lat1);
+  const cosU1 = 1 / Math.sqrt(1 + tanU1 ** 2), sinU1 = tanU1 * cosU1;
+  const sigma1 = Math.atan2(tanU1, cosA1);
+  const sinAlpha = cosU1 * sinA1;
+  const cos2Alpha = 1 - sinAlpha ** 2;
+  const uSq = cos2Alpha * (a ** 2 - b ** 2) / b ** 2;
+  const A = 1 + uSq / 16384 * (4096 + uSq * (-768 + uSq * (320 - 175 * uSq)));
+  const B = uSq / 1024 * (256 + uSq * (-128 + uSq * (74 - 47 * uSq)));
+  let sigma = distance / (b * A);
+  let sigmaPrev;
+  let cos2SigmaM, sinSigma, cosSigma;
+  let iter = 0;
+  do {
+    cos2SigmaM = Math.cos(2 * sigma1 + sigma);
+    sinSigma = Math.sin(sigma);
+    cosSigma = Math.cos(sigma);
+    const deltaSigma = B * sinSigma * (cos2SigmaM + B / 4 * (cosSigma * (-1 + 2 * cos2SigmaM ** 2) - B / 6 * cos2SigmaM * (-3 + 4 * sinSigma ** 2) * (-3 + 4 * cos2SigmaM ** 2)));
+    sigmaPrev = sigma;
+    sigma = distance / (b * A) + deltaSigma;
+  } while (Math.abs(sigma - sigmaPrev) > 1e-12 && ++iter < 200);
+  const tmp = sinU1 * sinSigma - cosU1 * cosSigma * cosA1;
+  const lat2 = Math.atan2(
+    sinU1 * cosSigma + cosU1 * sinSigma * cosA1,
+    (1 - f) * Math.sqrt(sinAlpha ** 2 + tmp ** 2)
+  );
+  const lambda = Math.atan2(
+    sinSigma * sinA1,
+    cosU1 * cosSigma - sinU1 * sinSigma * cosA1
+  );
+  const C2 = f / 16 * cos2Alpha * (4 + f * (4 - 3 * cos2Alpha));
+  const L = lambda - (1 - C2) * f * sinAlpha * (sigma + C2 * sinSigma * (cos2SigmaM + C2 * cosSigma * (-1 + 2 * cos2SigmaM ** 2)));
+  let lon2 = lon1 + L;
+  lon2 = Math.atan2(Math.sin(lon2), Math.cos(lon2));
+  return [lat2, lon2];
+}
+function meridianArc(lat) {
+  const n = WGS84_FLATTENING / (2 - WGS84_FLATTENING);
+  const n2 = n * n, n3 = n2 * n, n4 = n3 * n;
+  const mu = lat + (-3 * n / 2 + 9 * n3 / 16) * Math.sin(2 * lat) + (15 * n2 / 16 - 15 * n4 / 32) * Math.sin(4 * lat) + -35 * n3 / 48 * Math.sin(6 * lat) + 315 * n4 / 512 * Math.sin(8 * lat);
+  return WGS84_SEMI_MAJOR_AXIS / (1 + n) * (1 + n2 / 4 + n4 / 64) * mu;
 }
 function rhumbLine(lat1, lon1, lat2, lon2) {
-  const dLat = lat2 - lat1;
   let dLon = lon2 - lon1;
   const MAX_LAT = Math.PI / 2 - 1e-10;
   const isometricLat = (lat) => {
@@ -1189,33 +1239,28 @@ function rhumbLine(lat1, lon1, lat2, lon2) {
   const psi1 = isometricLat(lat1);
   const psi2 = isometricLat(lat2);
   const dPsi = psi2 - psi1;
-  const q = Math.abs(dPsi) > 1e-12 ? dLat / dPsi : Math.cos(lat1);
   if (Math.abs(dLon) > Math.PI) {
     dLon = dLon > 0 ? -(2 * Math.PI - dLon) : 2 * Math.PI + dLon;
   }
   const bearing = Math.atan2(dLon, dPsi);
-  const e22 = WGS84_ECCENTRICITY_SQUARED;
-  const e4 = e22 * e22;
-  const e6 = e4 * e22;
-  const meridionalRadius = WGS84_SEMI_MAJOR_AXIS * (1 - e22) * (1 + 3 / 4 * e22 + 45 / 64 * e4 + 175 / 256 * e6);
-  const distance = Math.sqrt(dLat ** 2 + q ** 2 * dLon ** 2) * meridionalRadius;
+  const dM = meridianArc(lat2) - meridianArc(lat1);
+  let q;
+  if (Math.abs(dPsi) > 1e-6) {
+    q = dM / dPsi;
+  } else {
+    const latM = (lat1 + lat2) / 2;
+    q = WGS84_SEMI_MAJOR_AXIS * Math.cos(latM) / Math.sqrt(1 - WGS84_ECCENTRICITY_SQUARED * Math.sin(latM) ** 2);
+  }
+  const distance = Math.sqrt(dM ** 2 + (q * dLon) ** 2);
   return { distance, bearing };
 }
 function euclidean3D(x12, y1, z1, x22, y2, z2) {
   return Math.sqrt((x22 - x12) ** 2 + (y2 - y1) ** 2 + (z2 - z1) ** 2);
 }
 function greatCircleMidpoint(lat1, lon1, lat2, lon2) {
-  const dLon = lon2 - lon1;
-  const Bx = Math.cos(lat2) * Math.cos(dLon);
-  const By = Math.cos(lat2) * Math.sin(dLon);
-  const sumX = Math.cos(lat1) + Bx;
-  const denom = Math.sqrt(sumX ** 2 + By ** 2);
-  if (denom < 1e-15) {
-    return [(lat1 + lat2) / 2, lon1];
-  }
-  const latMid = Math.atan2(Math.sin(lat1) + Math.sin(lat2), denom);
-  const lonMid = lon1 + Math.atan2(By, sumX);
-  return [latMid, lonMid];
+  const { distance, initialBearing } = vincenty(lat1, lon1, lat2, lon2);
+  if (distance === 0) return [lat1, lon1];
+  return vincentyDirect(lat1, lon1, initialBearing, distance / 2);
 }
 function horizonDistance(heightMeters) {
   if (heightMeters <= 0) return 0;
@@ -1228,18 +1273,36 @@ function horizonDistance(heightMeters) {
 // src/coordinates/projections.ts
 var e2 = WGS84_ECCENTRICITY_SQUARED;
 var k0 = 0.9996;
+var UTM_BANDS = "CDEFGHJKLMNPQRSTUVWX";
+function utmZone(latDeg, lonDeg) {
+  let zone = Math.floor((lonDeg + 180) / 6) + 1;
+  if (zone > 60) zone = 1;
+  if (latDeg >= 56 && latDeg < 64 && lonDeg >= 3 && lonDeg < 12) return 32;
+  if (latDeg >= 72 && latDeg <= 84) {
+    if (lonDeg >= 0 && lonDeg < 9) return 31;
+    if (lonDeg >= 9 && lonDeg < 21) return 33;
+    if (lonDeg >= 21 && lonDeg < 33) return 35;
+    if (lonDeg >= 33 && lonDeg < 42) return 37;
+  }
+  return zone;
+}
 function geodeticToUtm(lat, lon) {
+  const rawLatDeg = lat * 180 / Math.PI;
+  const inRange = rawLatDeg >= -80 && rawLatDeg <= 84;
   const MAX_UTM_LAT = 84 * (Math.PI / 180);
   lat = Math.max(-MAX_UTM_LAT, Math.min(MAX_UTM_LAT, lat));
   const latDeg = lat * 180 / Math.PI;
+  lon = Math.atan2(Math.sin(lon), Math.cos(lon));
   const lonDeg = lon * 180 / Math.PI;
-  const zone = Math.floor((lonDeg + 180) / 6) + 1;
+  const zone = utmZone(latDeg, lonDeg);
+  const band = UTM_BANDS[Math.max(0, Math.min(19, Math.floor((latDeg + 80) / 8)))];
   const lon0 = ((zone - 1) * 6 - 180 + 3) * (Math.PI / 180);
   const ep2 = e2 / (1 - e2);
   const N = WGS84_SEMI_MAJOR_AXIS / Math.sqrt(1 - e2 * Math.sin(lat) ** 2);
   const T = Math.tan(lat) ** 2;
   const C2 = ep2 * Math.cos(lat) ** 2;
-  const A = Math.cos(lat) * (lon - lon0);
+  const dLon0 = Math.atan2(Math.sin(lon - lon0), Math.cos(lon - lon0));
+  const A = Math.cos(lat) * dLon0;
   const M = WGS84_SEMI_MAJOR_AXIS * ((1 - e2 / 4 - 3 * e2 ** 2 / 64 - 5 * e2 ** 3 / 256) * lat - (3 * e2 / 8 + 3 * e2 ** 2 / 32 + 45 * e2 ** 3 / 1024) * Math.sin(2 * lat) + (15 * e2 ** 2 / 256 + 45 * e2 ** 3 / 1024) * Math.sin(4 * lat) - 35 * e2 ** 3 / 3072 * Math.sin(6 * lat));
   const easting = k0 * N * (A + (1 - T + C2) * A ** 3 / 6 + (5 - 18 * T + T ** 2 + 72 * C2 - 58 * ep2) * A ** 5 / 120) + 5e5;
   let northing = k0 * (M + N * Math.tan(lat) * (A ** 2 / 2 + (5 - T + 9 * C2 + 4 * C2 ** 2) * A ** 4 / 24 + (61 - 58 * T + T ** 2 + 600 * C2 - 330 * ep2) * A ** 6 / 720));
@@ -1247,7 +1310,7 @@ function geodeticToUtm(lat, lon) {
   if (hemisphere === "S") {
     northing += 1e7;
   }
-  return { easting, northing, zone, hemisphere };
+  return { easting, northing, zone, hemisphere, band, inRange };
 }
 function geodeticToMaidenhead(lat, lon) {
   const latDeg = Math.max(0, Math.min(179.999999, lat * 180 / Math.PI + 90));
@@ -12225,6 +12288,30 @@ function parseBinex(data) {
   return { epochs, ephemerides, messageCounts, obsCodes, badCrc: stats.badCrc };
 }
 
+// src/orbit/matrix.ts
+function invertMatrix(A) {
+  const n = A.length;
+  const M = A.map((row, i) => [
+    ...row,
+    ...Array.from({ length: n }, (_, j) => i === j ? 1 : 0)
+  ]);
+  for (let col = 0; col < n; col++) {
+    let piv = col;
+    for (let r = col + 1; r < n; r++)
+      if (Math.abs(M[r][col]) > Math.abs(M[piv][col])) piv = r;
+    if (Math.abs(M[piv][col]) < 1e-12) return null;
+    [M[col], M[piv]] = [M[piv], M[col]];
+    const d = M[col][col];
+    for (let j = 0; j < 2 * n; j++) M[col][j] /= d;
+    for (let r = 0; r < n; r++) {
+      if (r === col) continue;
+      const f = M[r][col];
+      for (let j = 0; j < 2 * n; j++) M[r][j] -= f * M[col][j];
+    }
+  }
+  return M.map((row) => row.slice(n));
+}
+
 // src/orbit/almanac.ts
 var GM_GPS = 3986005e8;
 var GM_GAL = 3986004418e5;
@@ -12594,15 +12681,20 @@ function ecefToAzEl(rxX, rxY, rxZ, satX, satY, satZ) {
 }
 function computeDop(satAzEls) {
   const n = satAzEls.length;
-  if (n < 4) return null;
+  const clocks = [...new Set(satAzEls.map((s) => s.prn?.[0] ?? ""))];
+  const m = 3 + clocks.length;
+  if (n < Math.max(4, m)) return null;
   const H3 = [];
-  for (const { az, el } of satAzEls) {
+  for (const { az, el, prn } of satAzEls) {
     const cosEl = Math.cos(el);
-    H3.push([cosEl * Math.sin(az), cosEl * Math.cos(az), Math.sin(el), 1]);
-  }
-  const HtH = Array.from({ length: 4 }, () => new Array(4).fill(0));
-  for (let i = 0; i < 4; i++) {
-    for (let j = 0; j < 4; j++) {
+    const row = [cosEl * Math.sin(az), cosEl * Math.cos(az), Math.sin(el)];
+    const sys = prn?.[0] ?? "";
+    for (const c of clocks) row.push(c === sys ? 1 : 0);
+    H3.push(row);
+  }
+  const HtH = Array.from({ length: m }, () => new Array(m).fill(0));
+  for (let i = 0; i < m; i++) {
+    for (let j = 0; j < m; j++) {
       let sum = 0;
       for (let k = 0; k < n; k++) {
         sum += H3[k][i] * H3[k][j];
@@ -12610,46 +12702,18 @@ function computeDop(satAzEls) {
       HtH[i][j] = sum;
     }
   }
-  const Q = invert4x4(HtH);
+  const Q = invertMatrix(HtH);
   if (!Q) return null;
-  const gdop = Math.sqrt(Q[0][0] + Q[1][1] + Q[2][2] + Q[3][3]);
-  const pdop = Math.sqrt(Q[0][0] + Q[1][1] + Q[2][2]);
-  const hdop = Math.sqrt(Q[0][0] + Q[1][1]);
-  const vdop = Math.sqrt(Q[2][2]);
-  return { gdop, pdop, hdop, vdop };
-}
-function invert4x4(m) {
-  const a = m.flat();
-  const inv = new Array(16).fill(0);
-  inv[0] = a[5] * a[10] * a[15] - a[5] * a[11] * a[14] - a[9] * a[6] * a[15] + a[9] * a[7] * a[14] + a[13] * a[6] * a[11] - a[13] * a[7] * a[10];
-  inv[4] = -a[4] * a[10] * a[15] + a[4] * a[11] * a[14] + a[8] * a[6] * a[15] - a[8] * a[7] * a[14] - a[12] * a[6] * a[11] + a[12] * a[7] * a[10];
-  inv[8] = a[4] * a[9] * a[15] - a[4] * a[11] * a[13] - a[8] * a[5] * a[15] + a[8] * a[7] * a[13] + a[12] * a[5] * a[11] - a[12] * a[7] * a[9];
-  inv[12] = -a[4] * a[9] * a[14] + a[4] * a[10] * a[13] + a[8] * a[5] * a[14] - a[8] * a[6] * a[13] - a[12] * a[5] * a[10] + a[12] * a[6] * a[9];
-  inv[1] = -a[1] * a[10] * a[15] + a[1] * a[11] * a[14] + a[9] * a[2] * a[15] - a[9] * a[3] * a[14] - a[13] * a[2] * a[11] + a[13] * a[3] * a[10];
-  inv[5] = a[0] * a[10] * a[15] - a[0] * a[11] * a[14] - a[8] * a[2] * a[15] + a[8] * a[3] * a[14] + a[12] * a[2] * a[11] - a[12] * a[3] * a[10];
-  inv[9] = -a[0] * a[9] * a[15] + a[0] * a[11] * a[13] + a[8] * a[1] * a[15] - a[8] * a[3] * a[13] - a[12] * a[1] * a[11] + a[12] * a[3] * a[9];
-  inv[13] = a[0] * a[9] * a[14] - a[0] * a[10] * a[13] - a[8] * a[1] * a[14] + a[8] * a[2] * a[13] + a[12] * a[1] * a[10] - a[12] * a[2] * a[9];
-  inv[2] = a[1] * a[6] * a[15] - a[1] * a[7] * a[14] - a[5] * a[2] * a[15] + a[5] * a[3] * a[14] + a[13] * a[2] * a[7] - a[13] * a[3] * a[6];
-  inv[6] = -a[0] * a[6] * a[15] + a[0] * a[7] * a[14] + a[4] * a[2] * a[15] - a[4] * a[3] * a[14] - a[12] * a[2] * a[7] + a[12] * a[3] * a[6];
-  inv[10] = a[0] * a[5] * a[15] - a[0] * a[7] * a[13] - a[4] * a[1] * a[15] + a[4] * a[3] * a[13] + a[12] * a[1] * a[7] - a[12] * a[3] * a[5];
-  inv[14] = -a[0] * a[5] * a[14] + a[0] * a[6] * a[13] + a[4] * a[1] * a[14] - a[4] * a[2] * a[13] - a[12] * a[1] * a[6] + a[12] * a[2] * a[5];
-  inv[3] = -a[1] * a[6] * a[11] + a[1] * a[7] * a[10] + a[5] * a[2] * a[11] - a[5] * a[3] * a[10] - a[9] * a[2] * a[7] + a[9] * a[3] * a[6];
-  inv[7] = a[0] * a[6] * a[11] - a[0] * a[7] * a[10] - a[4] * a[2] * a[11] + a[4] * a[3] * a[10] + a[8] * a[2] * a[7] - a[8] * a[3] * a[6];
-  inv[11] = -a[0] * a[5] * a[11] + a[0] * a[7] * a[9] + a[4] * a[1] * a[11] - a[4] * a[3] * a[9] - a[8] * a[1] * a[7] + a[8] * a[3] * a[5];
-  inv[15] = a[0] * a[5] * a[10] - a[0] * a[6] * a[9] - a[4] * a[1] * a[10] + a[4] * a[2] * a[9] + a[8] * a[1] * a[6] - a[8] * a[2] * a[5];
-  let det = a[0] * inv[0] + a[1] * inv[4] + a[2] * inv[8] + a[3] * inv[12];
-  if (Math.abs(det) < 1e-20) return null;
-  det = 1 / det;
-  const result = Array.from(
-    { length: 4 },
-    () => new Array(4).fill(0)
-  );
-  for (let i = 0; i < 4; i++) {
-    for (let j = 0; j < 4; j++) {
-      result[i][j] = inv[i * 4 + j] * det;
-    }
-  }
-  return result;
+  let clockVar = 0;
+  for (let i = 3; i < m; i++) clockVar += Q[i][i];
+  const posVar = Q[0][0] + Q[1][1] + Q[2][2];
+  return {
+    gdop: Math.sqrt(posVar + clockVar),
+    pdop: Math.sqrt(posVar),
+    hdop: Math.sqrt(Q[0][0] + Q[1][1]),
+    vdop: Math.sqrt(Q[2][2]),
+    tdop: Math.sqrt(clockVar)
+  };
 }
 function selectEphemeris(ephemerides, prn, timeMs) {
   return selectBest(
@@ -12909,6 +12973,7 @@ function computeVisibilityFromPositions(all, elevationMaskDeg = 10) {
   const gdop = new Array(times.length).fill(null);
   const hdop = new Array(times.length).fill(null);
   const vdop = new Array(times.length).fill(null);
+  const tdop = new Array(times.length).fill(null);
   const visiblePerEpoch = times.map(() => []);
   for (const prn of all.prns) {
     const series = all.positions[prn];
@@ -12922,7 +12987,7 @@ function computeVisibilityFromPositions(all, elevationMaskDeg = 10) {
         visibleCount[i]++;
         const sys = prn[0];
         (visibleBySystem[sys] ??= new Array(times.length).fill(0))[i]++;
-        visiblePerEpoch[i].push({ az: p.az, el: p.el });
+        visiblePerEpoch[i].push({ az: p.az, el: p.el, prn });
       }
     }
   }
@@ -12932,6 +12997,7 @@ function computeVisibilityFromPositions(all, elevationMaskDeg = 10) {
     gdop[i] = dop ? dop.gdop : null;
     hdop[i] = dop ? dop.hdop : null;
     vdop[i] = dop ? dop.vdop : null;
+    tdop[i] = dop ? dop.tdop : null;
   }
   const passes = [];
   for (const prn of all.prns) {
@@ -12978,6 +13044,7 @@ function computeVisibilityFromPositions(all, elevationMaskDeg = 10) {
     gdop,
     hdop,
     vdop,
+    tdop,
     passes
   };
 }
@@ -16903,28 +16970,6 @@ function sbasAirTropoVar(elRad) {
   const sigTropo = 0.12 * m;
   return sigMp * sigMp + NOISE_DIVG_AADA * NOISE_DIVG_AADA + sigTropo * sigTropo;
 }
-function invertMatrix(A) {
-  const n = A.length;
-  const M = A.map((row, i) => [
-    ...row,
-    ...Array.from({ length: n }, (_, j) => i === j ? 1 : 0)
-  ]);
-  for (let col = 0; col < n; col++) {
-    let piv = col;
-    for (let r = col + 1; r < n; r++)
-      if (Math.abs(M[r][col]) > Math.abs(M[piv][col])) piv = r;
-    if (Math.abs(M[piv][col]) < 1e-12) return null;
-    [M[col], M[piv]] = [M[piv], M[col]];
-    const d = M[col][col];
-    for (let j = 0; j < 2 * n; j++) M[col][j] /= d;
-    for (let r = 0; r < n; r++) {
-      if (r === col) continue;
-      const f = M[r][col];
-      for (let j = 0; j < 2 * n; j++) M[r][j] -= f * M[col][j];
-    }
-  }
-  return M.map((row) => row.slice(n));
-}
 function sbasProtectionLevels(sats, opts = {}) {
   const kH = opts.kH ?? 6;
   const kV = opts.kV ?? 5.33;
@@ -17151,7 +17196,7 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
     const azel = ecefToAzEl(x, y, z, sat.x, sat.y, sat.z);
     if (azel.el >= elevationMaskDeg * Math.PI / 180) {
       used.push(prn);
-      azels.push(azel);
+      azels.push({ ...azel, prn });
       if (sbas) {
         const dx = sat.x - x, dy = sat.y - y, dz = sat.z - z;
         const dr = Math.hypot(dx, dy, dz) || 1;
@@ -19692,6 +19737,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   lambdaSearch,
   looksLikeRtcm2,
   maskRadForAzimuth,
+  meridianArc,
   moonEcef,
   navTimesFromEph,
   niellMapping,
@@ -19786,6 +19832,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   updateStreamStats,
   verifyChecksum,
   vincenty,
+  vincentyDirect,
   wlWavelength,
   writeCrx,
   writeModernObsBlob,

package/dist/index.d.cts

@@ -3,7 +3,7 @@ export { D as DAYS_MJD2000_MJD, a as DAYS_MJD_JULIAN, H as HourCode, M as MILLIS
 export { WGS84_ECCENTRICITY_SQUARED, WGS84_FLATTENING, WGS84_SEMI_MAJOR_AXIS, WGS84_SEMI_MINOR_AXIS } from './constants.cjs';
 export { A as ARC_GAP_FACTOR, B as BAND_LABELS, a as BDS_SATELLITES, b as BdsSatellite, C as C_LIGHT, D as DEFAULT_ELEV_MASK_DEG, c as DUAL_FREQ_PAIRS, F as FREQ, G as GLO_CHANNEL_FALLBACK, d as GLO_F1_BASE, e as GLO_F1_STEP, f as GLO_F2_BASE, g as GLO_F2_STEP, h as GLO_F3, O as OMEGA_E, i as OnSlipDetected, S as SYSTEM_NAMES, j as SYS_SHORT, k as buildGloChannelMap, l as buildObsIndices, m as formatUTCTime, n as getFreq, o as gloFreq } from './gnss-BtXrG3zH.cjs';
 export { Scale, getBdsTime, getDateFromBdsTime, getDateFromDayOfWeek, getDateFromDayOfYear, getDateFromGalTime, getDateFromGloN, getDateFromGpsData, getDateFromGpsTime, getDateFromHourCode, getDateFromJulianDate, getDateFromMJD, getDateFromMJD2000, getDateFromRINEX, getDateFromTai, getDateFromTimeOfDay, getDateFromTt, getDateFromUnixTime, getDateFromUtc, getDayOfWeek, getDayOfYear, getGalTime, getGloN4, getGloNA, getGpsLeap, getGpsTime, getHourCode, getHoursFromTimeDifference, getJulianDate, getLeap, getMJD, getMJD2000, getMinutesFromTimeDifference, getNtpTime, getRINEX, getSecondsFromTimeDifference, getTaiDate, getTimeDifference, getTimeDifferenceFromDays, getTimeDifferenceFromHours, getTimeDifferenceFromMinutes, getTimeDifferenceFromObject, getTimeDifferenceFromSeconds, getTimeOfDay, getTimeOfWeek, getTotalDaysFromTimeDifference, getTtDate, getUnixTime, getUtcDate, getWeekNumber, getWeekOfYear } from './time.cjs';
-export { deg2dms, deg2rad, euclidean3D, geodeticToGeohash, geodeticToMaidenhead, geodeticToUtm, greatCircleMidpoint, horizonDistance, rad2deg, rhumbLine, vincenty } from './coordinates.cjs';
+export { deg2dms, deg2rad, euclidean3D, geodeticToGeohash, geodeticToMaidenhead, geodeticToUtm, greatCircleMidpoint, horizonDistance, meridianArc, rad2deg, rhumbLine, vincenty, vincentyDirect } from './coordinates.cjs';
 export { c as clampUnit, e as ecefToGeodetic, g as geodeticToEcef, a as getAer, b as getEnuDifference } from './ecef-CF0uAysr.cjs';
 export { BiasRecord, BiasSinex, CompactEpoch, CrxField, DiffState, EMPTY_WARNINGS, Nav4Input, RinexWarning, RinexWarnings, WarningAccumulator, WarningSeverity, WriteCrxOptions, biasMetres, createGzipLineSink, crxDecompress, crxRepair, findSatBias, fmtD, fmtF, hdrLine, padL, padR, parseBiasSinex, parseCrxDataLine, stationHeaderLines, writeCrx, writeModernObsBlob, writeRinex2ObsBlob, writeRinex4ObsBlob, writeRinexNav, writeRinexNav4, writeRinexObsBlob } from './rinex.cjs';
 export { E as EpochSummary, P as ParseOptions, R as RinexHeader, a as RinexResult, b as RinexStats, S as SYSTEM_ORDER, c as SatObsCallback, p as parseRinexStream, s as systemCmp, d as systemName } from './parser-JPjjFgeP.cjs';

package/dist/index.d.ts

@@ -3,7 +3,7 @@ export { D as DAYS_MJD2000_MJD, a as DAYS_MJD_JULIAN, H as HourCode, M as MILLIS
 export { WGS84_ECCENTRICITY_SQUARED, WGS84_FLATTENING, WGS84_SEMI_MAJOR_AXIS, WGS84_SEMI_MINOR_AXIS } from './constants.js';
 export { A as ARC_GAP_FACTOR, B as BAND_LABELS, a as BDS_SATELLITES, b as BdsSatellite, C as C_LIGHT, D as DEFAULT_ELEV_MASK_DEG, c as DUAL_FREQ_PAIRS, F as FREQ, G as GLO_CHANNEL_FALLBACK, d as GLO_F1_BASE, e as GLO_F1_STEP, f as GLO_F2_BASE, g as GLO_F2_STEP, h as GLO_F3, O as OMEGA_E, i as OnSlipDetected, S as SYSTEM_NAMES, j as SYS_SHORT, k as buildGloChannelMap, l as buildObsIndices, m as formatUTCTime, n as getFreq, o as gloFreq } from './gnss-DhnEr0Dy.js';
 export { Scale, getBdsTime, getDateFromBdsTime, getDateFromDayOfWeek, getDateFromDayOfYear, getDateFromGalTime, getDateFromGloN, getDateFromGpsData, getDateFromGpsTime, getDateFromHourCode, getDateFromJulianDate, getDateFromMJD, getDateFromMJD2000, getDateFromRINEX, getDateFromTai, getDateFromTimeOfDay, getDateFromTt, getDateFromUnixTime, getDateFromUtc, getDayOfWeek, getDayOfYear, getGalTime, getGloN4, getGloNA, getGpsLeap, getGpsTime, getHourCode, getHoursFromTimeDifference, getJulianDate, getLeap, getMJD, getMJD2000, getMinutesFromTimeDifference, getNtpTime, getRINEX, getSecondsFromTimeDifference, getTaiDate, getTimeDifference, getTimeDifferenceFromDays, getTimeDifferenceFromHours, getTimeDifferenceFromMinutes, getTimeDifferenceFromObject, getTimeDifferenceFromSeconds, getTimeOfDay, getTimeOfWeek, getTotalDaysFromTimeDifference, getTtDate, getUnixTime, getUtcDate, getWeekNumber, getWeekOfYear } from './time.js';
-export { deg2dms, deg2rad, euclidean3D, geodeticToGeohash, geodeticToMaidenhead, geodeticToUtm, greatCircleMidpoint, horizonDistance, rad2deg, rhumbLine, vincenty } from './coordinates.js';
+export { deg2dms, deg2rad, euclidean3D, geodeticToGeohash, geodeticToMaidenhead, geodeticToUtm, greatCircleMidpoint, horizonDistance, meridianArc, rad2deg, rhumbLine, vincenty, vincentyDirect } from './coordinates.js';
 export { c as clampUnit, e as ecefToGeodetic, g as geodeticToEcef, a as getAer, b as getEnuDifference } from './ecef-CF0uAysr.js';
 export { BiasRecord, BiasSinex, CompactEpoch, CrxField, DiffState, EMPTY_WARNINGS, Nav4Input, RinexWarning, RinexWarnings, WarningAccumulator, WarningSeverity, WriteCrxOptions, biasMetres, createGzipLineSink, crxDecompress, crxRepair, findSatBias, fmtD, fmtF, hdrLine, padL, padR, parseBiasSinex, parseCrxDataLine, stationHeaderLines, writeCrx, writeModernObsBlob, writeRinex2ObsBlob, writeRinex4ObsBlob, writeRinexNav, writeRinexNav4, writeRinexObsBlob } from './rinex.js';
 export { E as EpochSummary, P as ParseOptions, R as RinexHeader, a as RinexResult, b as RinexStats, S as SYSTEM_ORDER, c as SatObsCallback, p as parseRinexStream, s as systemCmp, d as systemName } from './parser-JPjjFgeP.js';

package/dist/index.js

@@ -213,7 +213,7 @@ import {
   sunEcef,
   toRtkEpoch,
   wlWavelength
-} from "./chunk-BWLLHLLS.js";
+} from "./chunk-PHS7OFHN.js";
 import "./chunk-WQX354KD.js";
 import {
   almanacEpochMs,
@@ -235,7 +235,7 @@ import {
   navTimesFromEph,
   rangeRate,
   selectEphemeris
-} from "./chunk-JYWYQ7DW.js";
+} from "./chunk-GLMQRZDL.js";
 import {
   getBdsTime,
   getDateFromBdsTime,
@@ -280,10 +280,12 @@ import {
   geodeticToUtm,
   greatCircleMidpoint,
   horizonDistance,
+  meridianArc,
   rad2deg,
   rhumbLine,
-  vincenty
-} from "./chunk-MIIM4LDY.js";
+  vincenty,
+  vincentyDirect
+} from "./chunk-CVCTRIWU.js";
 import {
   clampUnit,
   ecefToGeodetic,
@@ -638,6 +640,7 @@ export {
   lambdaSearch,
   looksLikeRtcm2,
   maskRadForAzimuth,
+  meridianArc,
   moonEcef,
   navTimesFromEph,
   niellMapping,
@@ -732,6 +735,7 @@ export {
   updateStreamStats,
   verifyChecksum,
   vincenty,
+  vincentyDirect,
   wlWavelength,
   writeCrx,
   writeModernObsBlob,