gnss-js 2.8.2 → 2.10.0

package/dist/{chunk-6SWJTN6H.js → chunk-56HM5B6T.js}

@@ -1566,6 +1566,21 @@ function writeRinexObsBlob(header, epochs, obsTypes) {
     comment: "Merged from multiple RINEX files"
   });
 }
+function modalIntervalS(epochs) {
+  const counts = /* @__PURE__ */ new Map();
+  for (let i = 1; i < epochs.length; i++) {
+    const d = Math.round(epochs[i].time - epochs[i - 1].time);
+    if (d > 0) counts.set(d, (counts.get(d) ?? 0) + 1);
+  }
+  let best = null;
+  let bestN = 0;
+  for (const [d, n] of counts)
+    if (n > bestN || n === bestN && best !== null && d < best) {
+      best = d;
+      bestN = n;
+    }
+  return best === null ? null : best / 1e3;
+}
 async function writeModernObsBlob(header, epochs, obsTypes, opts) {
   if (epochs.length === 0) return new Blob([], { type: "application/gzip" });
   const sink = createGzipLineSink();
@@ -1612,11 +1627,9 @@ async function writeModernObsBlob(header, epochs, obsTypes, opts) {
       "TIME OF LAST OBS"
     )
   );
-  if (epochs.length >= 2) {
-    const interval = (epochs[1].time - epochs[0].time) / 1e3;
-    if (interval > 0 && interval < 3600) {
-      sink.push(hdrLine(fmtF(interval, 10, 3), "INTERVAL"));
-    }
+  const interval = modalIntervalS(epochs);
+  if (interval !== null && interval < 3600) {
+    sink.push(hdrLine(fmtF(interval, 10, 3), "INTERVAL"));
   }
   if (header.glonassSlots && Object.keys(header.glonassSlots).length > 0) {
     const entries = Object.entries(header.glonassSlots).sort(
@@ -1888,6 +1901,7 @@ export {
   createGzipLineSink,
   stationHeaderLines,
   writeRinexObsBlob,
+  modalIntervalS,
   writeModernObsBlob,
   writeRinex2ObsBlob,
   writeRinex4ObsBlob

package/dist/{chunk-5OWRCF56.js → chunk-7T5DLVZL.js}

@@ -37,6 +37,42 @@ function invertMatrix(A) {
   return M.map((row) => row.slice(n));
 }
 
+// src/orbit/validity.ts
+var H = 36e5;
+var MIN = 6e4;
+var EPHEMERIS_VALIDITY_MS = {
+  G: 2 * H,
+  J: 2 * H,
+  E: 2.5 * H,
+  C: 90 * MIN,
+  R: 15 * MIN,
+  I: 2 * H,
+  S: 6 * MIN
+};
+function tocDistanceMs(eph, tGpsMs) {
+  const t = eph.system === "R" || eph.system === "S" ? tGpsMs - getGpsLeap(new Date(tGpsMs)) * 1e3 : tGpsMs;
+  return Math.abs(eph.tocDate.getTime() - t);
+}
+function isEphemerisValid(eph, tGpsMs) {
+  const w = EPHEMERIS_VALIDITY_MS[eph.system];
+  return w !== void 0 && tocDistanceMs(eph, tGpsMs) <= w;
+}
+function nearestValidEphemeris(ephs, tGpsMs) {
+  if (!ephs) return null;
+  let best = null;
+  let bestDt = Infinity;
+  for (const eph of ephs) {
+    const dt = tocDistanceMs(eph, tGpsMs);
+    const w = EPHEMERIS_VALIDITY_MS[eph.system];
+    if (w === void 0 || dt > w) continue;
+    if (dt < bestDt) {
+      bestDt = dt;
+      best = eph;
+    }
+  }
+  return best;
+}
+
 // src/orbit/almanac.ts
 var GM_GPS = 3986005e8;
 var GM_GAL = 3986004418e5;
@@ -419,20 +455,20 @@ function computeDop(satAzEls) {
   const clocks = [...new Set(sats.map((s) => dopClock(s.prn)))];
   const m = 3 + clocks.length;
   if (n < Math.max(4, m)) return null;
-  const H = [];
+  const H2 = [];
   for (const { az, el, prn } of sats) {
     const cosEl = Math.cos(el);
     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);
+    H2.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];
+        sum += H2[k][i] * H2[k][j];
       }
       HtH[i][j] = sum;
     }
@@ -533,18 +569,7 @@ function computeAllPositions(ephemerides, times, rxPos) {
   return { prns, times, positions };
 }
 function selectBest(ephs, timeMs) {
-  let best = null;
-  let bestDt = Infinity;
-  for (const eph of ephs) {
-    const dt = Math.abs(timeMs - eph.tocDate.getTime());
-    const maxAge = eph.system === "R" || eph.system === "S" ? 18e5 : 4 * 36e5;
-    if (dt > maxAge) continue;
-    if (dt < bestDt) {
-      bestDt = dt;
-      best = eph;
-    }
-  }
-  return best;
+  return nearestValidEphemeris(ephs, timeMs);
 }
 var GPS_EPOCH_MS2 = START_GPS_TIME.getTime();
 var MS_PER_WEEK = 7 * 864e5;
@@ -786,6 +811,9 @@ function computeVisibilityFromPositions(all, elevationMaskDeg = 10) {
 
 export {
   invertMatrix,
+  EPHEMERIS_VALIDITY_MS,
+  isEphemerisValid,
+  nearestValidEphemeris,
   almanacEpochMs,
   almanacSatPosition,
   glonassAlmanacEpochMs,

package/dist/{chunk-CLNLOYBX.js → chunk-K3GLUWZI.js}

@@ -7,7 +7,7 @@ import {
   ecefToAzEl,
   invertMatrix,
   selectEphemeris
-} from "./chunk-5OWRCF56.js";
+} from "./chunk-7T5DLVZL.js";
 import {
   ecefToGeodetic,
   getAer,
@@ -1621,6 +1621,66 @@ var ZeroBaselineEngine = class {
   }
 };
 
+// src/positioning/msm-resolve.ts
+var LIGHT_MS = C_LIGHT / 1e3;
+var MAX_FRACTION_MISFIT = 0.25;
+function predictedRange(eph, timeMs, rx) {
+  let tau = 0.075;
+  for (let i = 0; i < 2; i++) {
+    const tEmit = timeMs - tau * 1e3;
+    const p = computeSatPosition(eph, tEmit);
+    if (!Number.isFinite(p.x)) return null;
+    const rho = Math.hypot(p.x - rx[0], p.y - rx[1], p.z - rx[2]);
+    tau = rho / C_LIGHT;
+    if (i === 1) return rho - C_LIGHT * satClockCorrection(eph, tEmit);
+  }
+  return null;
+}
+function moduloRange(sat) {
+  for (const s of sat.signals)
+    if (s.pseudorange !== void 0) return s.pseudorange;
+  for (const s of sat.signals)
+    if (s.phase !== void 0 && s.wavelength > 0)
+      return s.phase * s.wavelength;
+  return null;
+}
+function resolveMsmRanges(epoch, opts) {
+  if (!epoch.rangeModulo1ms) return epoch;
+  const cand = [];
+  for (const sat of epoch.observations) {
+    const eph = opts.ephFor(sat.prn);
+    const mod = moduloRange(sat);
+    if (!eph || mod === null) continue;
+    const pred = predictedRange(eph, opts.timeMs, opts.rxEcef);
+    if (pred === null) continue;
+    cand.push({ sat, k: (pred - mod) / LIGHT_MS });
+  }
+  const { rangeModulo1ms: _drop, ...rest } = epoch;
+  if (cand.length === 0) return { ...rest, observations: [] };
+  let sx = 0;
+  let sy = 0;
+  for (const c of cand) {
+    sx += Math.cos(2 * Math.PI * c.k);
+    sy += Math.sin(2 * Math.PI * c.k);
+  }
+  const b = Math.atan2(sy, sx) / (2 * Math.PI);
+  const observations = [];
+  for (const { sat, k } of cand) {
+    const n = Math.round(k - b);
+    if (Math.abs(k - b - n) > MAX_FRACTION_MISFIT) continue;
+    const add = n * LIGHT_MS;
+    observations.push({
+      ...sat,
+      signals: sat.signals.map((s) => ({
+        ...s,
+        ...s.pseudorange !== void 0 ? { pseudorange: s.pseudorange + add } : {},
+        ...s.phase !== void 0 && s.wavelength > 0 ? { phase: s.phase + add / s.wavelength } : {}
+      }))
+    });
+  }
+  return { ...rest, observations };
+}
+
 // src/positioning/sbas.ts
 var P2_11 = 2 ** -11;
 var P2_31 = 2 ** -31;
@@ -4011,6 +4071,7 @@ export {
   RtkFloatEngine,
   postProcessRtk,
   ZeroBaselineEngine,
+  resolveMsmRanges,
   sbasLongTermDeg,
   sbasIonoDeg,
   SbasProcessor,

package/dist/{chunk-7GNRNKBR.js → chunk-N6GQUHM4.js}

@@ -1138,12 +1138,14 @@ function satPrn(sys, satIdx1) {
   const num = sys === "S" ? satIdx1 + 119 : satIdx1;
   return `${prefix}${String(num).padStart(2, "0")}`;
 }
-function decodeMsmFull(frame) {
+function decodeMsmFull(frame, opts = {}) {
   const type = frame.messageType;
   const sys = msmSystem(type);
   if (!sys) return null;
   const variant = type % 10;
-  if (variant < 4 || variant > 7) return null;
+  if (variant < 1 || variant > 7) return null;
+  const compact = variant <= 3;
+  if (compact && !opts.compactMsm) return null;
   const payload = frame.payload;
   if (!payload || payload.length < 10) return null;
   try {
@@ -1188,7 +1190,9 @@ function decodeMsmFull(frame) {
     const rrmod = new Float64Array(numSat);
     const extsat = new Int8Array(numSat);
     const rdop = new Float64Array(numSat);
-    if (variant === 4 || variant === 6) {
+    if (compact) {
+      for (let j = 0; j < numSat; j++) rrmod[j] = bits.readU(10) / 1024;
+    } else if (variant === 4 || variant === 6) {
       for (let j = 0; j < numSat; j++) rrint[j] = bits.readU(8);
       for (let j = 0; j < numSat; j++) rrmod[j] = bits.readU(10) / 1024;
     } else {
@@ -1214,7 +1218,18 @@ function decodeMsmFull(frame) {
     psr.fill(-1e30);
     cp.fill(-1e30);
     dop.fill(-1e30);
-    if (variant === 4) {
+    if (variant === 1) {
+      for (let i = 0; i < activeCells; i++) psr[i] = bits.readS(15) / 2 ** 24;
+    } else if (variant === 2) {
+      for (let i = 0; i < activeCells; i++) cp[i] = bits.readS(22) / 2 ** 29;
+      for (let i = 0; i < activeCells; i++) ll[i] = bits.readU(4);
+      for (let i = 0; i < activeCells; i++) hc[i] = bits.readU(1);
+    } else if (variant === 3) {
+      for (let i = 0; i < activeCells; i++) psr[i] = bits.readS(15) / 2 ** 24;
+      for (let i = 0; i < activeCells; i++) cp[i] = bits.readS(22) / 2 ** 29;
+      for (let i = 0; i < activeCells; i++) ll[i] = bits.readU(4);
+      for (let i = 0; i < activeCells; i++) hc[i] = bits.readU(1);
+    } else if (variant === 4) {
       for (let i = 0; i < activeCells; i++) psr[i] = bits.readS(15) / 2 ** 24;
       for (let i = 0; i < activeCells; i++) cp[i] = bits.readS(22) / 2 ** 29;
       for (let i = 0; i < activeCells; i++) ll[i] = bits.readU(4);
@@ -1290,8 +1305,10 @@ function decodeMsmFull(frame) {
         if (cnrVal > 0) {
           signal.cn0 = cnrVal;
         }
-        signal.lockTime = lockTimeSec(type, ll[cellIdx]);
-        signal.halfCycle = hc[cellIdx] === 1;
+        if (variant !== 1) {
+          signal.lockTime = lockTimeSec(type, ll[cellIdx]);
+          signal.halfCycle = hc[cellIdx] === 1;
+        }
         signals.push(signal);
         cellIdx++;
       }
@@ -1303,7 +1320,8 @@ function decodeMsmFull(frame) {
       messageType: type,
       epochMs,
       system: sys,
-      observations
+      observations,
+      ...compact ? { rangeModulo1ms: true } : {}
     };
   } catch (err) {
     reportDecodeError("msm", err);
@@ -1457,8 +1475,8 @@ function decodeLegacyObs(frame) {
   }
   return { messageType: type, epochMs, system, observations };
 }
-function decodeObs(frame) {
-  return decodeMsmFull(frame) ?? decodeLegacyObs(frame);
+function decodeObs(frame, opts = {}) {
+  return decodeMsmFull(frame, opts) ?? decodeLegacyObs(frame);
 }
 
 // src/rtcm3/ssr.ts