gnss-js 2.8.2 → 2.10.0

package/dist/positioning.cjs

@@ -49,6 +49,7 @@ __export(positioning_exports, {
   nlWavelength: () => nlWavelength,
   postProcessRtk: () => postProcessRtk,
   rcvAntennaRangeM: () => rcvAntennaRangeM,
+  resolveMsmRanges: () => resolveMsmRanges,
   resolvePppAmbiguities: () => resolvePppAmbiguities,
   satClockCorrection: () => satClockCorrection,
   sbasIonoDeg: () => sbasIonoDeg,
@@ -254,6 +255,38 @@ 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 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/index.ts
 var GM_GPS = 3986005e8;
 var GM_GAL = 3986004418e5;
@@ -452,20 +485,20 @@ 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 H3 = [];
   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);
+    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 += H[k][i] * H[k][j];
+        sum += H3[k][i] * H3[k][j];
       }
       HtH[i][j] = sum;
     }
@@ -501,18 +534,7 @@ function computeSatPosition(eph, timeMs) {
   return keplerPosition(eph, tow);
 }
 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_MS = START_GPS_TIME.getTime();
 var MS_PER_WEEK = 7 * 864e5;
@@ -1308,7 +1330,7 @@ function solveDgnss(rover, base, basePos, ephemerides, timeMs, opts = {}) {
     let cov = null;
     for (let iter = 0; iter < maxIterations; iter++) {
       iterations = iter + 1;
-      const H = [];
+      const H3 = [];
       const v = [];
       const terms = /* @__PURE__ */ new Map();
       const termOf = (g) => {
@@ -1324,11 +1346,11 @@ function solveDgnss(rover, base, basePos, ephemerides, timeMs, opts = {}) {
         const tr = termOf(row.ref);
         const pred = ts.rho - row.g.rhoB + ts.dTropo - (tr.rho - row.ref.rhoB + tr.dTropo);
         v.push(row.z - pred);
-        H.push([ts.u[0] - tr.u[0], ts.u[1] - tr.u[1], ts.u[2] - tr.u[2]]);
+        H3.push([ts.u[0] - tr.u[0], ts.u[1] - tr.u[1], ts.u[2] - tr.u[2]]);
       }
-      const Ht = transpose(H);
+      const Ht = transpose(H3);
       const HtW = matMul(Ht, W);
-      const N = matMul(HtW, H);
+      const N = matMul(HtW, H3);
       const b = matMul(
         HtW,
         v.map((s) => [s])
@@ -1344,7 +1366,7 @@ function solveDgnss(rover, base, basePos, ephemerides, timeMs, opts = {}) {
       z += dx[2][0];
       cov = Ninv;
       rows.forEach((row, i) => {
-        residuals[row.g.prn] = v[i] - (H[i][0] * dx[0][0] + H[i][1] * dx[1][0] + H[i][2] * dx[2][0]);
+        residuals[row.g.prn] = v[i] - (H3[i][0] * dx[0][0] + H3[i][1] * dx[1][0] + H3[i][2] * dx[2][0]);
       });
       if (Math.hypot(dx[0][0], dx[1][0], dx[2][0]) < convergenceM) {
         converged = true;
@@ -1738,19 +1760,19 @@ var RtkFloatEngine = class {
     const PPrior = this.P;
     let xi = [...this.x];
     let K = [];
-    let H = [];
+    let H3 = [];
     for (let it = 0; it < Math.max(o.updateIterations, 1); it++) {
-      H = [];
+      H3 = [];
       const v = [];
       for (const row of rows) {
         const { pred, h } = predict(row, xi);
         let corr = 0;
         for (let j = 0; j < n; j++) corr += h[j] * (xPrior[j] - xi[j]);
         v.push(row.z - pred - corr);
-        H.push(h);
+        H3.push(h);
       }
-      const Ht = transpose(H);
-      const S = matMul(matMul(H, PPrior), Ht);
+      const Ht = transpose(H3);
+      const S = matMul(matMul(H3, PPrior), Ht);
       for (let i = 0; i < rows.length; i++)
         for (let j = 0; j < rows.length; j++) S[i][j] += R[i][j];
       const Sinv = matInv(S);
@@ -1766,7 +1788,7 @@ var RtkFloatEngine = class {
       xi = xPrior.map((s, i) => s + dx[i][0]);
     }
     this.x = xi;
-    const KH = matMul(K, H);
+    const KH = matMul(K, H3);
     const IKH = zeros(n, n);
     for (let i = 0; i < n; i++)
       for (let j = 0; j < n; j++) IKH[i][j] = (i === j ? 1 : 0) - KH[i][j];
@@ -2113,6 +2135,66 @@ 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/navbits/index.ts
 var GPS_EPOCH_MS2 = Date.UTC(1980, 0, 6);
 var SEC_PER_WEEK = 7 * 86400;
@@ -4612,6 +4694,7 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
   nlWavelength,
   postProcessRtk,
   rcvAntennaRangeM,
+  resolveMsmRanges,
   resolvePppAmbiguities,
   satClockCorrection,
   sbasIonoDeg,

package/dist/positioning.d.cts

@@ -2,6 +2,7 @@ import { E as Ephemeris } from './nav-DImXUdbp.cjs';
 import { DopValues } from './orbit.cjs';
 import { I as IonexGrid, C as ClkFile, S as Sp3File } from './clk-DGVBGRzA.cjs';
 import { AntexFile } from './antex.cjs';
+import { a as ObsEpoch } from './msm-DWtoTvx2.cjs';
 import { a as HasOrbitCorrection, b as HasClockCorrection } from './has-BaXnQarR.cjs';
 import './ephemeris-BAnBLLB9.cjs';
 import './ecef-CF0uAysr.cjs';
@@ -613,6 +614,23 @@ declare class ZeroBaselineEngine {
     private processReceiver;
 }
 
+interface MsmResolveOptions {
+    /** Epoch time, GPS-scale ms (as `obsEpochToDate` returns). */
+    timeMs: number;
+    /** Approximate receiver ECEF (m) — the station's 1005/1006, a sourcetable
+     *  position, or a previous fix. Tens of km of error are tolerated. */
+    rxEcef: readonly [number, number, number];
+    /** Broadcast ephemeris for a PRN at this time, or null. */
+    ephFor: (prn: string) => Ephemeris | null;
+}
+/**
+ * Add the missing whole light-milliseconds to an MSM1–3 epoch's ranges.
+ * Returns the epoch with `rangeModulo1ms` cleared, keeping only satellites
+ * whose range could be resolved (an ephemeris, and a prediction consistent
+ * with the rest of the epoch). Epochs that aren't modulo-1-ms pass through.
+ */
+declare function resolveMsmRanges(epoch: ObsEpoch, opts: MsmResolveOptions): ObsEpoch;
+
 /**
  * Integer ambiguity resolution: LAMBDA decorrelation + MLAMBDA
  * integer least-squares search.
@@ -1714,4 +1732,4 @@ 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 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 };
+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 MsmResolveOptions, 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, resolveMsmRanges, resolvePppAmbiguities, satClockCorrection, sbasIonoDeg, sbasLongTermDeg, sbasProtectionLevels, solidEarthTide, solveDgnss, solvePpp, solveSpp, sunEcef, toRtkEpoch, wlWavelength };

package/dist/positioning.d.ts

@@ -2,6 +2,7 @@ import { E as Ephemeris } from './nav-DImXUdbp.js';
 import { DopValues } from './orbit.js';
 import { I as IonexGrid, C as ClkFile, S as Sp3File } from './clk-DGVBGRzA.js';
 import { AntexFile } from './antex.js';
+import { a as ObsEpoch } from './msm-CcQJV3PC.js';
 import { a as HasOrbitCorrection, b as HasClockCorrection } from './has-BaXnQarR.js';
 import './ephemeris-BAnBLLB9.js';
 import './ecef-CF0uAysr.js';
@@ -613,6 +614,23 @@ declare class ZeroBaselineEngine {
     private processReceiver;
 }
 
+interface MsmResolveOptions {
+    /** Epoch time, GPS-scale ms (as `obsEpochToDate` returns). */
+    timeMs: number;
+    /** Approximate receiver ECEF (m) — the station's 1005/1006, a sourcetable
+     *  position, or a previous fix. Tens of km of error are tolerated. */
+    rxEcef: readonly [number, number, number];
+    /** Broadcast ephemeris for a PRN at this time, or null. */
+    ephFor: (prn: string) => Ephemeris | null;
+}
+/**
+ * Add the missing whole light-milliseconds to an MSM1–3 epoch's ranges.
+ * Returns the epoch with `rangeModulo1ms` cleared, keeping only satellites
+ * whose range could be resolved (an ephemeris, and a prediction consistent
+ * with the rest of the epoch). Epochs that aren't modulo-1-ms pass through.
+ */
+declare function resolveMsmRanges(epoch: ObsEpoch, opts: MsmResolveOptions): ObsEpoch;
+
 /**
  * Integer ambiguity resolution: LAMBDA decorrelation + MLAMBDA
  * integer least-squares search.
@@ -1714,4 +1732,4 @@ 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 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 };
+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 MsmResolveOptions, 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, resolveMsmRanges, resolvePppAmbiguities, satClockCorrection, sbasIonoDeg, sbasLongTermDeg, sbasProtectionLevels, solidEarthTide, solveDgnss, solvePpp, solveSpp, sunEcef, toRtkEpoch, wlWavelength };

package/dist/positioning.js

@@ -28,6 +28,7 @@ import {
   nlWavelength,
   postProcessRtk,
   rcvAntennaRangeM,
+  resolveMsmRanges,
   resolvePppAmbiguities,
   satClockCorrection,
   sbasIonoDeg,
@@ -40,9 +41,9 @@ import {
   sunEcef,
   toRtkEpoch,
   wlWavelength
-} from "./chunk-CLNLOYBX.js";
+} from "./chunk-K3GLUWZI.js";
 import "./chunk-WQX354KD.js";
-import "./chunk-5OWRCF56.js";
+import "./chunk-7T5DLVZL.js";
 import "./chunk-HVXYFUCB.js";
 import "./chunk-CVCTRIWU.js";
 import "./chunk-37QNKGTC.js";
@@ -82,6 +83,7 @@ export {
   nlWavelength,
   postProcessRtk,
   rcvAntennaRangeM,
+  resolveMsmRanges,
   resolvePppAmbiguities,
   satClockCorrection,
   sbasIonoDeg,

package/dist/rinex.cjs

@@ -32,6 +32,7 @@ __export(rinex_exports, {
   fmtD: () => fmtD,
   fmtF: () => fmtF,
   hdrLine: () => hdrLine,
+  modalIntervalS: () => modalIntervalS,
   padL: () => padL,
   padR: () => padR,
   parseBiasSinex: () => parseBiasSinex,
@@ -2600,6 +2601,21 @@ 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();
@@ -2646,11 +2662,9 @@ 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(
@@ -2916,6 +2930,7 @@ function writeRinex4ObsBlob(header, epochs, obsTypes) {
   fmtD,
   fmtF,
   hdrLine,
+  modalIntervalS,
   padL,
   padR,
   parseBiasSinex,

package/dist/rinex.d.cts

@@ -258,6 +258,15 @@ interface CompactEpoch {
  * the Float64Array index order for each system.
  */
 declare function writeRinexObsBlob(header: RinexHeader, epochs: CompactEpoch[], obsTypes: Map<string, string[]>): Promise<Blob>;
+/**
+ * The nominal observation interval (s): the most common spacing between
+ * consecutive epochs. The first difference alone mis-states it whenever the
+ * file opens with an irregular gap (a late second epoch, a burst). Null with
+ * fewer than two epochs.
+ */
+declare function modalIntervalS(epochs: readonly {
+    time: number;
+}[]): number | null;
 /** Shared RINEX 3/4 implementation (also used by obs-writer-v4.ts). */
 declare function writeModernObsBlob(header: RinexHeader, epochs: CompactEpoch[], obsTypes: Map<string, string[]>, opts: {
     version: string;
@@ -311,4 +320,4 @@ declare function createGzipLineSink(): {
  */
 declare function stationHeaderLines(header: RinexHeader): string[];
 
-export { type BiasRecord, type BiasSinex, type CompactEpoch, type CrxField, type DiffState, EMPTY_WARNINGS, Ephemeris, type Nav4Input, NavHeader, NavResult, RinexCnavEphemeris, RinexHeader, type RinexWarning, type RinexWarnings, WarningAccumulator, type WarningSeverity, type WriteCrxOptions, biasMetres, createGzipLineSink, crxDecompress, crxRepair, findSatBias, fmtD, fmtF, hdrLine, padL, padR, parseBiasSinex, parseCrxDataLine, stationHeaderLines, writeCrx, writeModernObsBlob, writeRinex2ObsBlob, writeRinex4ObsBlob, writeRinexNav, writeRinexNav4, writeRinexObsBlob };
+export { type BiasRecord, type BiasSinex, type CompactEpoch, type CrxField, type DiffState, EMPTY_WARNINGS, Ephemeris, type Nav4Input, NavHeader, NavResult, RinexCnavEphemeris, RinexHeader, type RinexWarning, type RinexWarnings, WarningAccumulator, type WarningSeverity, type WriteCrxOptions, biasMetres, createGzipLineSink, crxDecompress, crxRepair, findSatBias, fmtD, fmtF, hdrLine, modalIntervalS, padL, padR, parseBiasSinex, parseCrxDataLine, stationHeaderLines, writeCrx, writeModernObsBlob, writeRinex2ObsBlob, writeRinex4ObsBlob, writeRinexNav, writeRinexNav4, writeRinexObsBlob };

package/dist/rinex.d.ts

@@ -258,6 +258,15 @@ interface CompactEpoch {
  * the Float64Array index order for each system.
  */
 declare function writeRinexObsBlob(header: RinexHeader, epochs: CompactEpoch[], obsTypes: Map<string, string[]>): Promise<Blob>;
+/**
+ * The nominal observation interval (s): the most common spacing between
+ * consecutive epochs. The first difference alone mis-states it whenever the
+ * file opens with an irregular gap (a late second epoch, a burst). Null with
+ * fewer than two epochs.
+ */
+declare function modalIntervalS(epochs: readonly {
+    time: number;
+}[]): number | null;
 /** Shared RINEX 3/4 implementation (also used by obs-writer-v4.ts). */
 declare function writeModernObsBlob(header: RinexHeader, epochs: CompactEpoch[], obsTypes: Map<string, string[]>, opts: {
     version: string;
@@ -311,4 +320,4 @@ declare function createGzipLineSink(): {
  */
 declare function stationHeaderLines(header: RinexHeader): string[];
 
-export { type BiasRecord, type BiasSinex, type CompactEpoch, type CrxField, type DiffState, EMPTY_WARNINGS, Ephemeris, type Nav4Input, NavHeader, NavResult, RinexCnavEphemeris, RinexHeader, type RinexWarning, type RinexWarnings, WarningAccumulator, type WarningSeverity, type WriteCrxOptions, biasMetres, createGzipLineSink, crxDecompress, crxRepair, findSatBias, fmtD, fmtF, hdrLine, padL, padR, parseBiasSinex, parseCrxDataLine, stationHeaderLines, writeCrx, writeModernObsBlob, writeRinex2ObsBlob, writeRinex4ObsBlob, writeRinexNav, writeRinexNav4, writeRinexObsBlob };
+export { type BiasRecord, type BiasSinex, type CompactEpoch, type CrxField, type DiffState, EMPTY_WARNINGS, Ephemeris, type Nav4Input, NavHeader, NavResult, RinexCnavEphemeris, RinexHeader, type RinexWarning, type RinexWarnings, WarningAccumulator, type WarningSeverity, type WriteCrxOptions, biasMetres, createGzipLineSink, crxDecompress, crxRepair, findSatBias, fmtD, fmtF, hdrLine, modalIntervalS, padL, padR, parseBiasSinex, parseCrxDataLine, stationHeaderLines, writeCrx, writeModernObsBlob, writeRinex2ObsBlob, writeRinex4ObsBlob, writeRinexNav, writeRinexNav4, writeRinexObsBlob };

package/dist/rinex.js

@@ -7,6 +7,7 @@ import {
   fmtD,
   fmtF,
   hdrLine,
+  modalIntervalS,
   padL,
   padR,
   parseBiasSinex,
@@ -20,7 +21,7 @@ import {
   writeRinexNav,
   writeRinexNav4,
   writeRinexObsBlob
-} from "./chunk-6SWJTN6H.js";
+} from "./chunk-56HM5B6T.js";
 import {
   SYSTEM_ORDER,
   crxDecompress,
@@ -52,6 +53,7 @@ export {
   fmtD,
   fmtF,
   hdrLine,
+  modalIntervalS,
   padL,
   padR,
   parseBiasSinex,

package/dist/rtcm3.cjs

@@ -1287,12 +1287,14 @@ 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 {
@@ -1337,7 +1339,9 @@ 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 {
@@ -1363,7 +1367,18 @@ 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);
@@ -1439,8 +1454,10 @@ 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++;
       }
@@ -1452,7 +1469,8 @@ function decodeMsmFull(frame) {
       messageType: type,
       epochMs,
       system: sys,
-      observations
+      observations,
+      ...compact ? { rangeModulo1ms: true } : {}
     };
   } catch (err) {
     reportDecodeError("msm", err);
@@ -1606,8 +1624,8 @@ 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