gnss-js 2.7.0 → 2.8.1

package/dist/{chunk-BWLLHLLS.js → chunk-F6KOFOXN.js}

@@ -5,8 +5,9 @@ import {
   computeDop,
   computeSatPosition,
   ecefToAzEl,
+  invertMatrix,
   selectEphemeris
-} from "./chunk-JYWYQ7DW.js";
+} from "./chunk-T5M3LVBJ.js";
 import {
   ecefToGeodetic,
   getAer,
@@ -3730,28 +3731,6 @@ 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;
@@ -3978,7 +3957,7 @@ 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;

package/dist/{chunk-JYWYQ7DW.js → chunk-T5M3LVBJ.js}

@@ -13,6 +13,30 @@ import {
   OMEGA_E
 } from "./chunk-FIEWO4J4.js";
 
+// 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;
@@ -380,17 +404,26 @@ function ecefToAzEl(rxX, rxY, rxZ, satX, satY, satZ) {
   const el = Math.atan2(up, Math.sqrt(east * east + north * north));
   return { az: (az + TWO_PI) % TWO_PI, el };
 }
+function dopClock(prn) {
+  const sys = prn?.[0] ?? "";
+  return sys === "J" || sys === "S" ? "G" : sys;
+}
 function computeDop(satAzEls) {
   const n = satAzEls.length;
-  if (n < 4) return null;
+  const clocks = [...new Set(satAzEls.map((s) => dopClock(s.prn)))];
+  const m = 3 + clocks.length;
+  if (n < Math.max(4, m)) return null;
   const H = [];
-  for (const { az, el } of satAzEls) {
+  for (const { az, el, prn } of satAzEls) {
     const cosEl = Math.cos(el);
-    H.push([cosEl * Math.sin(az), cosEl * Math.cos(az), Math.sin(el), 1]);
+    const row = [cosEl * Math.sin(az), cosEl * Math.cos(az), Math.sin(el)];
+    const clock = dopClock(prn);
+    for (const c of clocks) row.push(c === clock ? 1 : 0);
+    H.push(row);
   }
-  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 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 += H[k][i] * H[k][j];
@@ -398,46 +431,18 @@ 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(
@@ -697,6 +702,7 @@ 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];
@@ -710,7 +716,7 @@ 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 });
       }
     }
   }
@@ -720,6 +726,7 @@ 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) {
@@ -766,11 +773,13 @@ function computeVisibilityFromPositions(all, elevationMaskDeg = 10) {
     gdop,
     hdop,
     vdop,
+    tdop,
     passes
   };
 }
 
 export {
+  invertMatrix,
   almanacEpochMs,
   almanacSatPosition,
   glonassAlmanacEpochMs,

package/dist/index.cjs

@@ -12288,6 +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;
@@ -12655,17 +12679,26 @@ function ecefToAzEl(rxX, rxY, rxZ, satX, satY, satZ) {
   const el = Math.atan2(up, Math.sqrt(east * east + north * north));
   return { az: (az + TWO_PI) % TWO_PI, el };
 }
+function dopClock(prn) {
+  const sys = prn?.[0] ?? "";
+  return sys === "J" || sys === "S" ? "G" : sys;
+}
 function computeDop(satAzEls) {
   const n = satAzEls.length;
-  if (n < 4) return null;
+  const clocks = [...new Set(satAzEls.map((s) => dopClock(s.prn)))];
+  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 clock = dopClock(prn);
+    for (const c of clocks) row.push(c === clock ? 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];
@@ -12673,46 +12706,18 @@ 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(
@@ -12972,6 +12977,7 @@ 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];
@@ -12985,7 +12991,7 @@ 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 });
       }
     }
   }
@@ -12995,6 +13001,7 @@ 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) {
@@ -13041,6 +13048,7 @@ function computeVisibilityFromPositions(all, elevationMaskDeg = 10) {
     gdop,
     hdop,
     vdop,
+    tdop,
     passes
   };
 }
@@ -16966,28 +16974,6 @@ 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;
@@ -17214,7 +17200,7 @@ 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;

package/dist/index.js

@@ -213,7 +213,7 @@ import {
   sunEcef,
   toRtkEpoch,
   wlWavelength
-} from "./chunk-BWLLHLLS.js";
+} from "./chunk-F6KOFOXN.js";
 import "./chunk-WQX354KD.js";
 import {
   almanacEpochMs,
@@ -235,7 +235,7 @@ import {
   navTimesFromEph,
   rangeRate,
   selectEphemeris
-} from "./chunk-JYWYQ7DW.js";
+} from "./chunk-T5M3LVBJ.js";
 import {
   getBdsTime,
   getDateFromBdsTime,

package/dist/orbit.cjs

@@ -174,6 +174,30 @@ function getGpsLeap(date) {
   return leap_seconds - 19;
 }
 
+// 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;
@@ -541,17 +565,26 @@ function ecefToAzEl(rxX, rxY, rxZ, satX, satY, satZ) {
   const el = Math.atan2(up, Math.sqrt(east * east + north * north));
   return { az: (az + TWO_PI) % TWO_PI, el };
 }
+function dopClock(prn) {
+  const sys = prn?.[0] ?? "";
+  return sys === "J" || sys === "S" ? "G" : sys;
+}
 function computeDop(satAzEls) {
   const n = satAzEls.length;
-  if (n < 4) return null;
+  const clocks = [...new Set(satAzEls.map((s) => dopClock(s.prn)))];
+  const m = 3 + clocks.length;
+  if (n < Math.max(4, m)) return null;
   const H = [];
-  for (const { az, el } of satAzEls) {
+  for (const { az, el, prn } of satAzEls) {
     const cosEl = Math.cos(el);
-    H.push([cosEl * Math.sin(az), cosEl * Math.cos(az), Math.sin(el), 1]);
+    const row = [cosEl * Math.sin(az), cosEl * Math.cos(az), Math.sin(el)];
+    const clock = dopClock(prn);
+    for (const c of clocks) row.push(c === clock ? 1 : 0);
+    H.push(row);
   }
-  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 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 += H[k][i] * H[k][j];
@@ -559,46 +592,18 @@ 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(
@@ -858,6 +863,7 @@ 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];
@@ -871,7 +877,7 @@ 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 });
       }
     }
   }
@@ -881,6 +887,7 @@ 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) {
@@ -927,6 +934,7 @@ function computeVisibilityFromPositions(all, elevationMaskDeg = 10) {
     gdop,
     hdop,
     vdop,
+    tdop,
     passes
   };
 }

package/dist/orbit.d.cts

@@ -118,6 +118,11 @@ interface DopValues {
     pdop: number;
     hdop: number;
     vdop: number;
+    /**
+     * Time DOP: root of the summed receiver-clock variances (one clock per
+     * constellation in view), so GDOP² = PDOP² + TDOP².
+     */
+    tdop: number;
 }
 /**
  * Compute satellite ECEF position and velocity from Keplerian ephemeris.
@@ -154,12 +159,23 @@ declare function ecefToAzEl(rxX: number, rxY: number, rxZ: number, satX: number,
 };
 /**
  * Compute DOP values from a set of satellite az/el.
- * @param satAzEls Array of satellite azimuth/elevation pairs (radians)
- * @returns DOP values (GDOP, PDOP, HDOP, VDOP), or null if fewer than 4 satellites
+ *
+ * Satellites tagged with a `prn` get one receiver-clock unknown per
+ * constellation time scale, as a multi-GNSS receiver solves: every extra
+ * time scale costs one observation. QZSS and SBAS share the GPS clock —
+ * QZSST and SBAS network time are steered to GPST (RTKLIB pntpos does the
+ * same) — so a lone SBAS GEO doesn't inflate TDOP/GDOP. Untagged
+ * satellites share a single clock (the classic single-system model).
+ *
+ * @param satAzEls Satellite azimuth/elevation pairs (radians), optionally
+ *   tagged with their PRN.
+ * @returns DOP values, or null when there are fewer satellites than
+ *   unknowns (3 + one clock per constellation) or the geometry is singular.
  */
 declare function computeDop(satAzEls: {
     az: number;
     el: number;
+    prn?: string;
 }[]): DopValues | null;
 /**
  * Find the best ephemeris for a given PRN at a given time.
@@ -242,14 +258,16 @@ interface VisibilityResult {
     visibleCount: number[];
     /** Per-system visible counts per epoch (system letter → counts). */
     visibleBySystem: Record<string, number[]>;
-    /** PDOP per epoch (null when < 4 satellites above the mask). */
+    /** PDOP per epoch (null when fewer satellites than unknowns). */
     pdop: (number | null)[];
-    /** GDOP per epoch (null when < 4 satellites above the mask). */
+    /** GDOP per epoch (null when fewer satellites than unknowns). */
     gdop: (number | null)[];
-    /** HDOP per epoch (null when < 4 satellites above the mask). */
+    /** HDOP per epoch (null when fewer satellites than unknowns). */
     hdop: (number | null)[];
-    /** VDOP per epoch (null when < 4 satellites above the mask). */
+    /** VDOP per epoch (null when fewer satellites than unknowns). */
     vdop: (number | null)[];
+    /** TDOP per epoch (all constellation clocks; null like the others). */
+    tdop: (number | null)[];
     /** Discrete above-mask passes, sorted by rise time. */
     passes: VisibilityPass[];
 }

package/dist/orbit.d.ts

@@ -118,6 +118,11 @@ interface DopValues {
     pdop: number;
     hdop: number;
     vdop: number;
+    /**
+     * Time DOP: root of the summed receiver-clock variances (one clock per
+     * constellation in view), so GDOP² = PDOP² + TDOP².
+     */
+    tdop: number;
 }
 /**
  * Compute satellite ECEF position and velocity from Keplerian ephemeris.
@@ -154,12 +159,23 @@ declare function ecefToAzEl(rxX: number, rxY: number, rxZ: number, satX: number,
 };
 /**
  * Compute DOP values from a set of satellite az/el.
- * @param satAzEls Array of satellite azimuth/elevation pairs (radians)
- * @returns DOP values (GDOP, PDOP, HDOP, VDOP), or null if fewer than 4 satellites
+ *
+ * Satellites tagged with a `prn` get one receiver-clock unknown per
+ * constellation time scale, as a multi-GNSS receiver solves: every extra
+ * time scale costs one observation. QZSS and SBAS share the GPS clock —
+ * QZSST and SBAS network time are steered to GPST (RTKLIB pntpos does the
+ * same) — so a lone SBAS GEO doesn't inflate TDOP/GDOP. Untagged
+ * satellites share a single clock (the classic single-system model).
+ *
+ * @param satAzEls Satellite azimuth/elevation pairs (radians), optionally
+ *   tagged with their PRN.
+ * @returns DOP values, or null when there are fewer satellites than
+ *   unknowns (3 + one clock per constellation) or the geometry is singular.
  */
 declare function computeDop(satAzEls: {
     az: number;
     el: number;
+    prn?: string;
 }[]): DopValues | null;
 /**
  * Find the best ephemeris for a given PRN at a given time.
@@ -242,14 +258,16 @@ interface VisibilityResult {
     visibleCount: number[];
     /** Per-system visible counts per epoch (system letter → counts). */
     visibleBySystem: Record<string, number[]>;
-    /** PDOP per epoch (null when < 4 satellites above the mask). */
+    /** PDOP per epoch (null when fewer satellites than unknowns). */
     pdop: (number | null)[];
-    /** GDOP per epoch (null when < 4 satellites above the mask). */
+    /** GDOP per epoch (null when fewer satellites than unknowns). */
     gdop: (number | null)[];
-    /** HDOP per epoch (null when < 4 satellites above the mask). */
+    /** HDOP per epoch (null when fewer satellites than unknowns). */
     hdop: (number | null)[];
-    /** VDOP per epoch (null when < 4 satellites above the mask). */
+    /** VDOP per epoch (null when fewer satellites than unknowns). */
     vdop: (number | null)[];
+    /** TDOP per epoch (all constellation clocks; null like the others). */
+    tdop: (number | null)[];
     /** Discrete above-mask passes, sorted by rise time. */
     passes: VisibilityPass[];
 }

package/dist/orbit.js

@@ -18,7 +18,7 @@ import {
   navTimesFromEph,
   rangeRate,
   selectEphemeris
-} from "./chunk-JYWYQ7DW.js";
+} from "./chunk-T5M3LVBJ.js";
 import "./chunk-HVXYFUCB.js";
 import {
   ecefToGeodetic,

package/dist/positioning.cjs

@@ -230,6 +230,30 @@ function getGpsLeap(date) {
   return leap_seconds - 19;
 }
 
+// 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/index.ts
 var GM_GPS = 3986005e8;
 var GM_GAL = 3986004418e5;
@@ -413,17 +437,26 @@ function ecefToAzEl(rxX, rxY, rxZ, satX, satY, satZ) {
   const el = Math.atan2(up, Math.sqrt(east * east + north * north));
   return { az: (az + TWO_PI) % TWO_PI, el };
 }
+function dopClock(prn) {
+  const sys = prn?.[0] ?? "";
+  return sys === "J" || sys === "S" ? "G" : sys;
+}
 function computeDop(satAzEls) {
   const n = satAzEls.length;
-  if (n < 4) return null;
+  const clocks = [...new Set(satAzEls.map((s) => dopClock(s.prn)))];
+  const m = 3 + clocks.length;
+  if (n < Math.max(4, m)) return null;
   const H = [];
-  for (const { az, el } of satAzEls) {
+  for (const { az, el, prn } of satAzEls) {
     const cosEl = Math.cos(el);
-    H.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 clock = dopClock(prn);
+    for (const c of clocks) row.push(c === clock ? 1 : 0);
+    H.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 += H[k][i] * H[k][j];
@@ -431,46 +464,18 @@ 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(
@@ -4307,28 +4312,6 @@ 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;
@@ -4555,7 +4538,7 @@ 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;

package/dist/positioning.js

@@ -40,9 +40,9 @@ import {
   sunEcef,
   toRtkEpoch,
   wlWavelength
-} from "./chunk-BWLLHLLS.js";
+} from "./chunk-F6KOFOXN.js";
 import "./chunk-WQX354KD.js";
-import "./chunk-JYWYQ7DW.js";
+import "./chunk-T5M3LVBJ.js";
 import "./chunk-HVXYFUCB.js";
 import "./chunk-CVCTRIWU.js";
 import "./chunk-37QNKGTC.js";

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "gnss-js",
-  "version": "2.7.0",
+  "version": "2.8.1",
   "description": "Comprehensive GNSS library for JavaScript — time scales, coordinates, RINEX parsing, RTCM3 decoding, orbit computation, and signal analysis",
   "type": "module",
   "sideEffects": false,