diff --git a/.gitignore b/.gitignore index 3bbd880..ec040b4 100644 --- a/.gitignore +++ b/.gitignore @@ -11,6 +11,11 @@ build/ *.hex e1_synthetic.c128 +# Compact, decoder-only navigation evidence is intentionally versioned. The +# much larger RF sample vectors remain ignored by the generic *.bin rule. +!verification/navigation/**/*.bin +!verification/navigation/**/*.npz + # External simulator checkout discovered locally; rebuild/integration scripts # consume it by path, but it is maintained as a separate Git repository. /signalsim/ diff --git a/README.md b/README.md index a06f635..f04fbaf 100644 --- a/README.md +++ b/README.md @@ -37,6 +37,8 @@ complex IQ; both acquisition and tracking pass on its IQ8 output. See the noise, and interference are future channel-model plug-ins. - Combined E1B/E1C tracking is represented by separate manager channels; a weighted combining policy is intentionally not assumed. +- E1B I/NAV word types 1–6 are decoded from tracked RF prompts. Almanac parsing, + OSNMA authentication, and PVT are deliberately not implemented yet. ## Install and test @@ -63,6 +65,10 @@ python -m galileo_rx.cli track --config configs/tracking_example.yaml --input sa python -m galileo_rx.cli run --config configs/acquisition_example.yaml --input samples.bin python -m galileo_rx.cli compare-fixed --config configs/acquisition_example.yaml --input samples.bin python -m galileo_rx.cli validate-signalsim --signalsim-path signalsim/SignalSim --config configs/signalsim_validation.yaml --output-dir reports/signalsim_validation +python -m galileo_rx.cli collect-navigation --config configs/navigation_collection.yaml --output-dir reports/navigation_run +python -m galileo_rx.cli prompts-to-symbols --input verification/navigation/signalsim_navigation_multisat/prn_01/prompt_epochs.npz --prn 1 --output-dir reports/navigation_replay/prn_01 +python -m galileo_rx.cli decode-inav --input verification/navigation/signalsim_navigation_multisat/prn_01/prompt_epochs.npz --prn 1 --output-dir reports/navigation_replay/prn_01 +python -m galileo_rx.cli inspect-navigation --input verification/navigation/signalsim_navigation_multisat/prn_01 ``` The CLI uses synthetic codes by design. Replace the provider with @@ -113,6 +119,28 @@ module-level contract is duplicated close to the code in Exact phase-gate test and example commands are recorded in [development_phases.md](docs/development_phases.md). +## E1B navigation decoding + +The I/NAV pipeline preserves 4 ms Prompt I/Q epochs and their sample timestamps, +recovers confidence-bearing symbols, resolves page polarity explicitly, applies +the official 30×8 deinterleaver and soft Viterbi decoder, validates CRC-24Q, and +parses typed word 1–6 data. Ephemerides are committed atomically only when words +1–4 have matching IODnav; the previous valid set survives incomplete updates. + +The measured 32.2 s SignalSim regression decoded 70/70 CRC-valid pages. Four of +five tracked satellites produced complete ephemerides, clocks, healthy status, +and GST; PRN 19 correctly remained incomplete because word 1 was outside the +observation. Post-decode comparison against SignalSim's RINEX source passed at +the broadcast quantization resolution. No simulator truth is accepted by the +normal decoder API. + +See [ICD mapping](docs/inav_icd_mapping.md), the +[hardware/software partition](docs/navigation_hardware_software_partition.md), +the [collection report](reports/navigation_run/inav_collection_report.md), and +the [readiness gate](reports/navigation_readiness_review.md). Saved artifacts +under `verification/navigation/` can replay navigation decoding without RF +acquisition or tracking. + ## Phase completion record 1. Profiles, typed configuration, code providers, BOC, generator, and I/O. diff --git a/configs/navigation_collection.yaml b/configs/navigation_collection.yaml new file mode 100644 index 0000000..af25b4e --- /dev/null +++ b/configs/navigation_collection.yaml @@ -0,0 +1,44 @@ +signalsim: + path: signalsim/SignalSim + vector: navigation_multisat + samples: verification/vectors/signalsim/navigation_multisat/navigation_multisat_iq8.bin + sample_format: IQ8 + +rf: + sampling_frequency_hz: 4092000.0 + intermediate_frequency_hz: 1023000.0 + +satellites: + prns: [1, 4, 19, 21, 27] + expected_doppler_hz: + 1: 1828.0 + 4: 2171.0 + 19: -367.0 + 21: -712.0 + 27: -2637.0 + +acquisition: + doppler_min_hz: -4000.0 + doppler_max_hz: 3000.0 + doppler_step_hz: 250.0 + coherent_integration_ms: 4.0 + noncoherent_accumulations: 5 + detection_threshold: 2.5 + zero_padding_mode: none + +tracking: + integration_ms: 2.0 + pull_in_duration_ms: 300.0 + pll_noise_bandwidth_hz: 10.0 + fll_noise_bandwidth_hz: 20.0 + dll_noise_bandwidth_hz: 1.0 + minimum_confidence: 0.1 + +navigation: + icd: Galileo OS SIS ICD Issue 2.2, November 2025 + minimum_satellites: 4 + page_sync_confirmations: 2 + maximum_sync_errors: 0 + viterbi_traceback_depth: 35 + require_time: true + require_healthy: true diff --git a/docs/development_phases.md b/docs/development_phases.md index 4ef32ee..7e63036 100644 --- a/docs/development_phases.md +++ b/docs/development_phases.md @@ -48,3 +48,20 @@ python -m galileo_rx.cli track --config configs/tracking_example.yaml --input sa python -m galileo_rx.cli run --config configs/acquisition_example.yaml --input samples.bin python -m galileo_rx.cli compare-fixed --config configs/acquisition_example.yaml --input samples.bin ``` + +## E1B I/NAV pre-PVT gate + +```bash +python tools/generate_signalsim_vectors.py --signalsim-path signalsim/SignalSim --vector navigation_multisat --project-root . +python -m galileo_rx.cli collect-navigation --config configs/navigation_collection.yaml --output-dir reports/navigation_run --require-ready +python -m galileo_rx.cli prompts-to-symbols --input verification/navigation/signalsim_navigation_multisat/prn_01/prompt_epochs.npz --prn 1 --output-dir reports/navigation_replay/prn_01 +python -m galileo_rx.cli decode-inav --input verification/navigation/signalsim_navigation_multisat/prn_01/prompt_epochs.npz --prn 1 --output-dir reports/navigation_replay/prn_01 +python -m galileo_rx.cli inspect-navigation --input reports/navigation_replay/prn_01 +python -m galileo_rx.cli compare-inav-truth --artifact-root verification/navigation/signalsim_navigation_multisat --rinex signalsim/SignalSim/EphData/BRDC00IGS_R_20211700000_01D_MN.rnx --collection-report reports/navigation_run/inav_collection_report.json --signalsim-config verification/vectors/signalsim/navigation_multisat/generated_config.json --output-dir reports +MPLBACKEND=Agg python -m pytest tests/navigation tests/integration/test_signalsim_inav_symbols.py tests/integration/test_signalsim_inav_pages.py tests/integration/test_signalsim_inav_ephemeris.py tests/integration/test_multisat_navigation_collection.py +MPLBACKEND=Agg python -m pytest +``` + +The RF `.bin` vector is regenerated locally and remains ignored; its committed +configuration, metadata, SHA-256 tag, log, and compact prompt-to-ephemeris +artifacts make the gate reproducible without checking in hundreds of megabytes. diff --git a/docs/inav_icd_mapping.md b/docs/inav_icd_mapping.md new file mode 100644 index 0000000..2f10bc1 --- /dev/null +++ b/docs/inav_icd_mapping.md @@ -0,0 +1,90 @@ +# Galileo I/NAV ICD source mapping + +The sole normative source for this decoder is **European Union, Galileo Open +Service Signal-in-Space Interface Control Document, Issue 2.2, November 2025**. +The implementation does not infer layouts from SignalSim. SignalSim is an RF +stimulus and an independent post-decode truth source only. + +Bit positions below are zero-based, MSB-first positions in the reconstructed +128-bit nominal I/NAV word. ICD table positions are one-based on-air order. +Signed values use two's complement. A scale written `2^-n*pi` converts an ICD +semi-circle value to radians. + +## Channel coding and page construction + +| Implementation | ICD reference | Implemented definition | +| --- | --- | --- | +| E1-B symbol rate | §3.4.2 and Table 3 | 250 symbols/s; one symbol spans one 4 ms primary-code epoch | +| Page-part layout | §4.3.2 and Table 37 | 10 uncoded sync symbols followed by 240 interleaved FEC symbols; one second total | +| Synchronization | §4.3.2.1 | `0101100000`; repeated boundaries 250 symbols apart are required | +| Nominal page | §4.3.2.3 and Table 38 | Sequential even/odd one-second page parts form one 2-second vertical E1-B page | +| Tail | §4.3.2.2 and Table 38 | Six zero tail bits terminate each 120-bit page part | +| Convolutional FEC | §4.1.4.1, Figure 13, Table 26 | Rate 1/2, K=7, G1=171 octal, G2=133 octal, second encoder output inverted | +| Interleaver | §4.1.4.2 and Table 27 | 30 columns × 8 rows; write by column and read by row; decoder applies the reverse permutation | +| Independent coded vector | Annex D.2 | Exact ICD I/NAV encoded and interleaved page-part vector is used by unit tests | +| CRC | §5.1.9.4, Equations 25–26 | 24-bit CRC, generator `0x1864CFB`, zero initial remainder, MSB-first protected bits | +| CRC coverage | §4.3.2.3 and Table 38 | Even/odd, page type, both data parts, OSNMA, SAR and spare; sync, SSP and tails excluded | + +`InavPageDecoder` reconstructs the 128-bit data word from even bits 2–113 and +odd bits 2–17. CRC is evaluated over even bits 0–113 and odd bits 0–81, against +odd bits 82–105, exactly matching the E1-B vertical-page allocation in Table 38. + +## Critical word layouts and scales + +| Word | Field | Word bit range | Width | Signed | Scale | Unit | ICD allocation | ICD definition | +| ---: | --- | ---: | ---: | :---: | ---: | --- | --- | --- | +| 1 | Type | 0–5 | 6 | No | 1 | — | Table 42 | §4.3.5 | +| 1 | IODnav | 6–15 | 10 | No | 1 | — | Table 42 | §5.1.8.1 | +| 1 | t0e | 16–29 | 14 | No | 60 | s | Table 42 | Table 67 | +| 1 | M0 | 30–61 | 32 | Yes | 2^-31*pi | rad | Table 42 | Table 67 | +| 1 | e | 62–93 | 32 | No | 2^-33 | — | Table 42 | Table 67 | +| 1 | sqrt(A) | 94–125 | 32 | No | 2^-19 | m^1/2 | Table 42 | Table 67 | +| 2 | IODnav | 6–15 | 10 | No | 1 | — | Table 43 | §5.1.8.1 | +| 2 | Omega0 | 16–47 | 32 | Yes | 2^-31*pi | rad | Table 43 | Table 67 | +| 2 | i0 | 48–79 | 32 | Yes | 2^-31*pi | rad | Table 43 | Table 67 | +| 2 | omega | 80–111 | 32 | Yes | 2^-31*pi | rad | Table 43 | Table 67 | +| 2 | i-dot | 112–125 | 14 | Yes | 2^-43*pi | rad/s | Table 43 | Table 67 | +| 3 | IODnav | 6–15 | 10 | No | 1 | — | Table 44 | §5.1.8.1 | +| 3 | Omega-dot | 16–39 | 24 | Yes | 2^-43*pi | rad/s | Table 44 | Table 67 | +| 3 | Delta-n | 40–55 | 16 | Yes | 2^-43*pi | rad/s | Table 44 | Table 67 | +| 3 | Cuc | 56–71 | 16 | Yes | 2^-29 | rad | Table 44 | Table 67 | +| 3 | Cus | 72–87 | 16 | Yes | 2^-29 | rad | Table 44 | Table 67 | +| 3 | Crc | 88–103 | 16 | Yes | 2^-5 | m | Table 44 | Table 67 | +| 3 | Crs | 104–119 | 16 | Yes | 2^-5 | m | Table 44 | Table 67 | +| 3 | SISA(E1,E5b) | 120–127 | 8 | No | index | — | Table 44 | §5.1.11.1 | +| 4 | IODnav | 6–15 | 10 | No | 1 | — | Table 45 | §5.1.8.1 | +| 4 | SVID | 16–21 | 6 | No | 1 | — | Table 45 | §5.1.8.2 | +| 4 | Cic | 22–37 | 16 | Yes | 2^-29 | rad | Table 45 | Table 67 | +| 4 | Cis | 38–53 | 16 | Yes | 2^-29 | rad | Table 45 | Table 67 | +| 4 | t0c | 54–67 | 14 | No | 60 | s | Table 45 | Table 70 | +| 4 | af0 | 68–98 | 31 | Yes | 2^-34 | s | Table 45 | Table 70 | +| 4 | af1 | 99–119 | 21 | Yes | 2^-46 | s/s | Table 45 | Table 70 | +| 4 | af2 | 120–125 | 6 | Yes | 2^-59 | s/s^2 | Table 45 | Table 70 | +| 5 | ai0 | 6–16 | 11 | No | 2^-2 | sfu | Table 46 | Table 74 | +| 5 | ai1 | 17–27 | 11 | Yes | 2^-8 | sfu/degree | Table 46 | Table 74 | +| 5 | ai2 | 28–41 | 14 | Yes | 2^-15 | sfu/degree^2 | Table 46 | Table 74 | +| 5 | Disturbance flags 1–5 | 42–46 | 5 | No | Boolean | — | Table 46 | Table 74 | +| 5 | BGD(E1,E5a) | 47–56 | 10 | Yes | 2^-32 | s | Table 46 | Table 72 | +| 5 | BGD(E1,E5b) | 57–66 | 10 | Yes | 2^-32 | s | Table 46 | Table 72 | +| 5 | E5b/E1B health | 67–70 | 2+2 | No | status | — | Table 46 | Table 84 | +| 5 | E5b/E1B DVS | 71–72 | 1+1 | No | status | — | Table 46 | §5.1.10 | +| 5 | GST week | 73–84 | 12 | No | 1 | week | Table 46 | Table 69 | +| 5 | GST TOW | 85–104 | 20 | No | 1 | s | Table 46 | Table 69 | +| 6 | A0 | 6–37 | 32 | Yes | 2^-30 | s | Table 47 | Table 75 | +| 6 | A1 | 38–61 | 24 | Yes | 2^-50 | s/s | Table 47 | Table 75 | +| 6 | Delta-tLS | 62–69 | 8 | Yes | 1 | s | Table 47 | Table 75 | +| 6 | t0t | 70–77 | 8 | No | 3600 | s | Table 47 | Table 75 | +| 6 | WN0t | 78–85 | 8 | No | 1 | week modulo 256 | Table 47 | Table 75 | +| 6 | WNLSF | 86–93 | 8 | No | 1 | week modulo 256 | Table 47 | Table 75 | +| 6 | DN | 94–96 | 3 | No | 1 | day | Table 47 | Table 75 | +| 6 | Delta-tLSF | 97–104 | 8 | Yes | 1 | s | Table 47 | Table 75 | +| 6 | TOW | 105–124 | 20 | No | 1 | s | Table 47 | Table 69 | + +## Implemented support boundary + +Word types 1–6 are parsed into typed dataclasses. They provide the complete +four-word ephemeris, satellite clock polynomial, BGD, E1B health/DVS, GST, +ionosphere coefficients and GST–UTC parameters required by the pre-PVT gate. +Almanac words and OSNMA authentication are intentionally outside this milestone. +Unsupported word types remain preserved as CRC-valid raw page evidence and do +not update the active navigation database. diff --git a/docs/navigation_hardware_software_partition.md b/docs/navigation_hardware_software_partition.md new file mode 100644 index 0000000..c836c79 --- /dev/null +++ b/docs/navigation_hardware_software_partition.md @@ -0,0 +1,57 @@ +# Navigation hardware/software partition + +The measured partition keeps sample-rate work in the tracking IP and performs +I/NAV decoding in software. No result in this milestone justifies placing a +soft-decision Viterbi decoder or navigation database in RTL. + +## Tracking-IP output contract + +One record is emitted for every 4 ms E1B primary-code epoch: + +| Field | Proposed representation | Meaning | +| --- | --- | --- | +| PRN/channel | unsigned integer | Logical satellite and component | +| start/end timestamp | 64-bit sample counters | Continuous receiver time association | +| Prompt I/Q | signed fixed-point accumulators | Unreduced coherent evidence | +| carrier phase/frequency | NCO state/measurement words | Reprocessing and phase diagnostics | +| code phase | unsigned fixed-point chips | Code-time association | +| C/N0 | fixed-point dB-Hz or invalid | Monitoring only | +| carrier/code lock | bits | Decoder validity gate | +| cycle slip/discontinuity | bits | Immediate symbol/page synchronizer reset | +| valid | bit | Transaction validity | + +The interface should use an AXI-Stream-like `valid/ready` transaction. A FIFO +must absorb software service latency; backpressure cannot be allowed to stop the +sample-rate tracking datapath. At 250 records/s/channel, even 36 active E1B +channels produce only 9000 records/s, so a memory-mapped DMA ring is sufficient. + +## Software decoder + +Software retains floating `numpy.float64` prompt/soft values in the reference +model and performs: + +```text +prompt axis and symbol synchronization + -> page synchronization and polarity resolution + -> 30x8 deinterleaving + -> soft Viterbi decode + -> vertical-page assembly and CRC-24Q + -> typed word parsing + -> atomic IODnav ephemeris assembly + -> GST/clock/health navigation database +``` + +This split keeps policy-rich, low-rate state machines inspectable and updateable. +The saved `prompt_epochs.npz` files are the exact boundary between future RTL +tracking and the software decoder. HDL verification shall replay the same RF +vector, compare each tracking epoch with the bit-true model, then feed the RTL +prompt records into this decoder without SignalSim truth. + +## Conditions that could justify later hardware offload + +Only measured CPU load, power, or startup-latency failure should trigger an +offload study. Plausible granular offloads are symbol accumulate-and-dump, +deinterleaver address generation, or a shared Viterbi accelerator. CRC, word +parsing, ephemeris consistency, time rollover handling, and the navigation store +remain better software candidates because their throughput is negligible and +their standards/policy behavior is state-rich. diff --git a/reports/inav_collection_report.json b/reports/inav_collection_report.json new file mode 100644 index 0000000..74779a0 --- /dev/null +++ b/reports/inav_collection_report.json @@ -0,0 +1,211 @@ +{ + "decoder_truth_inputs": [], + "icd": "Galileo OS SIS ICD Issue 2.2, November 2025", + "signalsim_commit": "80b262113e77c4482ca9f5cbfef9bcada402ed28", + "sample_file": "/home/onur/Desktop/galileo/verification/vectors/signalsim/navigation_multisat/navigation_multisat_iq8.bin", + "sample_sha256": "b38393b32eec2df53f9813ea7ff8f13e5e0fc72fa5cb7fb910a2b8f907a56a6e", + "sample_count": 131758308, + "sampling_frequency_hz": 4092000.0, + "intermediate_frequency_hz": 1023000.0, + "satellites": { + "1": { + "prn": 1, + "acquisition_detected": true, + "acquisition_time_s": 0.1004119270000956, + "raw_doppler_hz": 1750.0, + "expected_doppler_hz": 1828.0, + "start_sample_timestamp": 90995, + "tracking_epoch_count": 16088, + "tracking_time_s": 13.650105177999649, + "tracking_final_state": "PLL_TRACK", + "tracking_reacquisition_requests": 10, + "tracking_lock_timestamp": 107363, + "prompt_epoch_count": 8044, + "first_synchronized_symbol_timestamp": 4428515, + "first_page_sync_timestamp": 4428515, + "first_crc_valid_page_timestamp": 4428515, + "page_parts": 31, + "pages": 15, + "crc_passes": 15, + "crc_failures": 0, + "fec_failures": 0, + "received_word_types": [ + 1, + 2, + 3, + 4, + 5, + 6 + ], + "missing_ephemeris_word_types": [], + "complete_ephemeris": true, + "ephemeris_iod_nav": 29, + "first_complete_ephemeris_timestamp": 61716515, + "clock_parameters": true, + "health_valid": true, + "data_valid": true, + "decoding_time_s": 1.260811995001859 + }, + "4": { + "prn": 4, + "acquisition_detected": true, + "acquisition_time_s": 0.08580062900000485, + "raw_doppler_hz": 2250.0, + "expected_doppler_hz": 2171.0, + "start_sample_timestamp": 86819, + "tracking_epoch_count": 16088, + "tracking_time_s": 13.877967087995785, + "tracking_final_state": "PLL_TRACK", + "tracking_reacquisition_requests": 61, + "tracking_lock_timestamp": 103187, + "prompt_epoch_count": 8044, + "first_synchronized_symbol_timestamp": 12624707, + "first_page_sync_timestamp": 12624707, + "first_crc_valid_page_timestamp": 12624707, + "page_parts": 29, + "pages": 14, + "crc_passes": 14, + "crc_failures": 0, + "fec_failures": 0, + "received_word_types": [ + 1, + 2, + 3, + 4, + 5, + 6 + ], + "missing_ephemeris_word_types": [], + "complete_ephemeris": true, + "ephemeris_iod_nav": 30, + "first_complete_ephemeris_timestamp": 61728707, + "clock_parameters": true, + "health_valid": true, + "data_valid": true, + "decoding_time_s": 1.3411525530027575 + }, + "19": { + "prn": 19, + "acquisition_detected": true, + "acquisition_time_s": 0.0836479790013982, + "raw_doppler_hz": -250.0, + "expected_doppler_hz": -367.0, + "start_sample_timestamp": 87566, + "tracking_epoch_count": 16088, + "tracking_time_s": 13.9836710640011, + "tracking_final_state": "PLL_TRACK", + "tracking_reacquisition_requests": 406, + "tracking_lock_timestamp": 103934, + "prompt_epoch_count": 8044, + "first_synchronized_symbol_timestamp": 16684718, + "first_page_sync_timestamp": 16684718, + "first_crc_valid_page_timestamp": 20776718, + "page_parts": 28, + "pages": 13, + "crc_passes": 13, + "crc_failures": 0, + "fec_failures": 0, + "received_word_types": [ + 2, + 3, + 4, + 5, + 6 + ], + "missing_ephemeris_word_types": [ + 1 + ], + "complete_ephemeris": false, + "ephemeris_iod_nav": null, + "first_complete_ephemeris_timestamp": null, + "clock_parameters": true, + "health_valid": false, + "data_valid": false, + "decoding_time_s": 1.2081766550036264 + }, + "21": { + "prn": 21, + "acquisition_detected": true, + "acquisition_time_s": 0.08741291100159287, + "raw_doppler_hz": -750.0, + "expected_doppler_hz": -712.0, + "start_sample_timestamp": 93628, + "tracking_epoch_count": 16088, + "tracking_time_s": 13.982213923998643, + "tracking_final_state": "PLL_TRACK", + "tracking_reacquisition_requests": 259, + "tracking_lock_timestamp": 101812, + "prompt_epoch_count": 8044, + "first_synchronized_symbol_timestamp": 12598780, + "first_page_sync_timestamp": 12598780, + "first_crc_valid_page_timestamp": 12598780, + "page_parts": 29, + "pages": 14, + "crc_passes": 14, + "crc_failures": 0, + "fec_failures": 0, + "received_word_types": [ + 1, + 2, + 3, + 4, + 5, + 6 + ], + "missing_ephemeris_word_types": [], + "complete_ephemeris": true, + "ephemeris_iod_nav": 29, + "first_complete_ephemeris_timestamp": 61702780, + "clock_parameters": true, + "health_valid": true, + "data_valid": true, + "decoding_time_s": 1.231179278001946 + }, + "27": { + "prn": 27, + "acquisition_detected": true, + "acquisition_time_s": 0.08157938700605882, + "raw_doppler_hz": -2750.0, + "expected_doppler_hz": -2637.0, + "start_sample_timestamp": 88014, + "tracking_epoch_count": 16088, + "tracking_time_s": 13.978430488001322, + "tracking_final_state": "PLL_TRACK", + "tracking_reacquisition_requests": 0, + "tracking_lock_timestamp": 96198, + "prompt_epoch_count": 8044, + "first_synchronized_symbol_timestamp": 12642270, + "first_page_sync_timestamp": 12642270, + "first_crc_valid_page_timestamp": 12642270, + "page_parts": 29, + "pages": 14, + "crc_passes": 14, + "crc_failures": 0, + "fec_failures": 0, + "received_word_types": [ + 1, + 2, + 3, + 4, + 5, + 6 + ], + "missing_ephemeris_word_types": [], + "complete_ephemeris": true, + "ephemeris_iod_nav": 29, + "first_complete_ephemeris_timestamp": 61746270, + "clock_parameters": true, + "health_valid": true, + "data_valid": true, + "decoding_time_s": 1.2002744679994066 + } + }, + "galileo_time": { + "week_number": 1138, + "time_of_week_s": 554765, + "page_start_sample_timestamp": 69930270, + "source_word_type": 6, + "valid": true + }, + "navigation_ready": true +} diff --git a/reports/inav_collection_report.md b/reports/inav_collection_report.md new file mode 100644 index 0000000..2c06b73 --- /dev/null +++ b/reports/inav_collection_report.md @@ -0,0 +1,11 @@ +# Galileo I/NAV collection report + +The standalone decoder consumed tracked E1B prompts only; simulator ephemeris and time truth were not inputs. + +| PRN | Tracking | Symbol sync | Page sync | CRC pages | Complete ephemeris | Clock | Time | Ready | +| --: | -------: | ----------: | --------: | --------: | -----------------: | ----: | ---: | ----: | +| 1 | PLL_TRACK | True | 31 | 15 | True | True | True | True | +| 4 | PLL_TRACK | True | 29 | 14 | True | True | True | True | +| 19 | PLL_TRACK | True | 28 | 13 | False | True | True | False | +| 21 | PLL_TRACK | True | 29 | 14 | True | True | True | True | +| 27 | PLL_TRACK | True | 29 | 14 | True | True | True | True | diff --git a/reports/inav_truth_comparison.json b/reports/inav_truth_comparison.json new file mode 100644 index 0000000..38983a6 --- /dev/null +++ b/reports/inav_truth_comparison.json @@ -0,0 +1,747 @@ +{ + "comparison_stage": "post_decode_only", + "truth_injected_into_decoder": false, + "rinex_source": "/home/onur/Desktop/galileo/signalsim/SignalSim/EphData/BRDC00IGS_R_20211700000_01D_MN.rnx", + "satellites": { + "1": { + "rinex_epoch": "2021 06 19 10 10 00", + "fields": { + "toe_s": { + "decoded_raw_integer": 9250, + "decoded_scaled_value": 555000.0, + "simulator_truth_value": 555000.0, + "absolute_error": 0.0, + "expected_quantization_step": 60.0, + "pass": true + }, + "toc_s": { + "decoded_raw_integer": 9250, + "decoded_scaled_value": 555000.0, + "simulator_truth_value": 555000.0, + "absolute_error": 0.0, + "expected_quantization_step": 60.0, + "pass": true + }, + "mean_anomaly_rad": { + "decoded_raw_integer": 1205435370, + "decoded_scaled_value": 1.763453196161098, + "simulator_truth_value": 1.763453196161, + "absolute_error": 9.792167077193881e-14, + 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10 10 00", + "fields": { + "toe_s": { + "decoded_raw_integer": 9250, + "decoded_scaled_value": 555000.0, + "simulator_truth_value": 555000.0, + "absolute_error": 0.0, + "expected_quantization_step": 60.0, + "pass": true + }, + "toc_s": { + "decoded_raw_integer": 9250, + "decoded_scaled_value": 555000.0, + "simulator_truth_value": 555000.0, + "absolute_error": 0.0, + "expected_quantization_step": 60.0, + "pass": true + }, + "mean_anomaly_rad": { + "decoded_raw_integer": 1962316831, + "decoded_scaled_value": 2.8707087693201396, + "simulator_truth_value": 2.87070876932, + "absolute_error": 1.3944401189291966e-13, + "expected_quantization_step": 1.4629180792671596e-09, + "pass": true + }, + "eccentricity": { + "decoded_raw_integer": 1367381, + "decoded_scaled_value": 0.00015918409917503595, + "simulator_truth_value": 0.000159184099175, + "absolute_error": 3.594130201789447e-17, + "expected_quantization_step": 1.1641532182693481e-10, + "pass": true + }, + "sqrt_a": { + "decoded_raw_integer": 2852446803, + "decoded_scaled_value": 5440.6105098724365, + "simulator_truth_value": 5440.610509872, + "absolute_error": 4.3655745685100555e-10, + "expected_quantization_step": 1.9073486328125e-06, + "pass": true + }, + "omega0_rad": { + "decoded_raw_integer": 122319142, + "decoded_scaled_value": 0.17894288427224694, + "simulator_truth_value": 0.1789428842722, + "absolute_error": 4.693467836602849e-14, + "expected_quantization_step": 1.4629180792671596e-09, + "pass": true + }, + "inclination_rad": { + "decoded_raw_integer": 668253077, + "decoded_scaled_value": 0.9775995078692093, + "simulator_truth_value": 0.9775995078692, + "absolute_error": 9.325873406851315e-15, + "expected_quantization_step": 1.4629180792671596e-09, + "pass": true + }, + "argument_of_perigee_rad": { + "decoded_raw_integer": -720614090, + "decoded_scaled_value": -1.0541993804356522, + "simulator_truth_value": -1.054199380436, + "absolute_error": 3.4772185131259903e-13, + "expected_quantization_step": 1.4629180792671596e-09, + "pass": true + }, + "inclination_rate_rad_s": { + "decoded_raw_integer": 639, + "decoded_scaled_value": 2.282237921512976e-10, + "simulator_truth_value": 2.282237921513e-10, + "absolute_error": 2.4039936552322367e-24, + "expected_quantization_step": 3.571577341960839e-13, + "pass": true + }, + "omega_dot_rad_s": { + "decoded_raw_integer": -16281, + "decoded_scaled_value": -5.8148850704464415e-09, + "simulator_truth_value": -5.814885070446e-09, + "absolute_error": 4.417144471033168e-22, + "expected_quantization_step": 3.571577341960839e-13, + "pass": true + }, + "delta_n_rad_s": { + "decoded_raw_integer": 9286, + "decoded_scaled_value": 3.316566719744835e-09, + "simulator_truth_value": 3.316566719745e-09, + "absolute_error": 1.6502253220432902e-22, + "expected_quantization_step": 3.571577341960839e-13, + "pass": true + }, + "cuc_rad": { + "decoded_raw_integer": 2485, + "decoded_scaled_value": 4.628673195838928e-06, + "simulator_truth_value": 4.628673195839e-06, + "absolute_error": 7.199780051661553e-20, + "expected_quantization_step": 1.862645149230957e-09, + "pass": true + }, + "cus_rad": { + "decoded_raw_integer": 2415, + "decoded_scaled_value": 4.498288035392761e-06, + "simulator_truth_value": 4.498288035393e-06, + "absolute_error": 2.388632911257127e-19, + "expected_quantization_step": 1.862645149230957e-09, + "pass": true + }, + "crc_m": { + "decoded_raw_integer": 8032, + "decoded_scaled_value": 251.0, + "simulator_truth_value": 251.0, + "absolute_error": 0.0, + "expected_quantization_step": 0.03125, + "pass": true + }, + "crs_m": { + "decoded_raw_integer": 3123, + "decoded_scaled_value": 97.59375, + "simulator_truth_value": 97.59375, + "absolute_error": 0.0, + "expected_quantization_step": 0.03125, + "pass": true + }, + "cic_rad": { + "decoded_raw_integer": -27, + "decoded_scaled_value": -5.029141902923584e-08, + "simulator_truth_value": -5.029141902924e-08, + "absolute_error": 4.162372842366835e-21, + "expected_quantization_step": 1.862645149230957e-09, + "pass": true + }, + "cis_rad": { + "decoded_raw_integer": 66, + "decoded_scaled_value": 1.2293457984924316e-07, + "simulator_truth_value": 1.229345798492e-07, + "absolute_error": 4.317221053036762e-20, + "expected_quantization_step": 1.862645149230957e-09, + "pass": true + }, + "clock_bias_s": { + "decoded_raw_integer": -988889, + "decoded_scaled_value": -5.756091559305787e-05, + "simulator_truth_value": -5.756091559306e-05, + "absolute_error": 2.1277467635028025e-18, + "expected_quantization_step": 5.820766091346741e-11, + "pass": true + }, + "clock_drift_s_per_s": { + "decoded_raw_integer": -581, + "decoded_scaled_value": -8.256506589532364e-12, + "simulator_truth_value": -8.256506589532e-12, + "absolute_error": 3.6350710512584224e-25, + "expected_quantization_step": 1.4210854715202004e-14, + "pass": true + }, + "clock_drift_rate_s_per_s2": { + "decoded_raw_integer": 0, + "decoded_scaled_value": 0.0, + "simulator_truth_value": 0.0, + "absolute_error": 0.0, + "expected_quantization_step": 1.734723475976807e-18, + "pass": true + }, + "iod_nav": { + "decoded_raw_integer": 29, + "decoded_scaled_value": 29, + "simulator_truth_value": 29, + "absolute_error": 0, + "expected_quantization_step": 1, + "pass": true + }, + "health": { + "decoded_raw_integer": 0, + "decoded_scaled_value": true, + "simulator_truth_value": 0, + "absolute_error": 0, + "expected_quantization_step": 1, + "pass": true + } + }, + "pass": true + } + }, + "galileo_time": { + "decoded_week_number": 1138, + "simulator_truth_week_number": 1138, + "week_absolute_error": 0, + "decoded_time_of_week_s": 554765, + "simulator_truth_time_of_week_s": 554765, + "time_of_week_absolute_error_s": 0, + "expected_quantization_step_s": 1, + "leap_seconds_from_rinex": 18, + "pass": true + }, + "overall_pass": true +} diff --git a/reports/inav_truth_comparison.md b/reports/inav_truth_comparison.md new file mode 100644 index 0000000..8496642 --- /dev/null +++ b/reports/inav_truth_comparison.md @@ -0,0 +1,14 @@ +# I/NAV decoded-field truth comparison + +Truth was applied only after standalone RF-to-page decoding and ephemeris assembly. + +| PRN | RINEX epoch | Fields | Result | +| --: | --- | --: | ---: | +| 1 | 2021 06 19 10 10 00 | 22 | PASS | +| 4 | 2021 06 19 10 20 00 | 22 | PASS | +| 21 | 2021 06 19 10 10 00 | 22 | PASS | +| 27 | 2021 06 19 10 10 00 | 22 | PASS | + +## Galileo system time + +Decoded GST week/TOW: 1138/554765 s; independently expected 1138/554765 s. Result: **PASS**. diff --git a/reports/navigation_readiness_review.md b/reports/navigation_readiness_review.md new file mode 100644 index 0000000..2606541 --- /dev/null +++ b/reports/navigation_readiness_review.md @@ -0,0 +1,35 @@ +# Navigation readiness review + +## Gate result + +The standalone receiver path decoded SignalSim RF samples without consuming +simulator ephemeris, satellite states, transmit times, receiver truth, or RINEX +fields. The RINEX source was opened only by a separate post-decode comparison. + +The reproducible `navigation_multisat` vector contains 131,758,308 complex IQ8 +samples (32.2 s at 4.092 MHz), SHA-256 +`b38393b32eec2df53f9813ea7ff8f13e5e0fc72fa5cb7fb910a2b8f907a56a6e`. + +| Criterion | Evidence | Result | +| --- | --- | ---: | +| E1B prompts and raw symbols from tracked RF | Five `prompt_epochs.npz`, `soft_symbols.npy`, and `hard_symbols.bin` artifact sets | PASS | +| Stable symbol and page synchronization | Repeated 250-symbol sync confirmation; 146 synchronized page parts | PASS | +| Deinterleaving | Official Annex D.2 coded vector plus RF pages | PASS | +| Soft-decision FEC | Independent Annex D.2 vector; all 70 received pages FEC-valid | PASS | +| CRC | Independent CRC-24Q check vector; 70 pass, 0 fail | PASS | +| Critical words | Types 1–6 decoded and typed | PASS | +| Complete ephemeris | PRNs 1, 4, 21, and 27; atomic matching IODnav sets | PASS | +| Satellite clock | Word 4 clock polynomial for all four complete satellites | PASS | +| Galileo time | GST week 1138, TOW 554765 s from tracked page data | PASS | +| Health and validity | Four complete satellites report usable E1B health and DVS | PASS | +| Independent truth comparison | Every ephemeris/clock field within 0.5 broadcast LSB; GST within its 1 s resolution | PASS | +| Reproducible artifacts | Prompt, symbol, page, FEC, CRC, word, ephemeris and summary evidence per PRN | PASS | +| Decoder truth isolation | Collection report records `decoder_truth_inputs: []` | PASS | + +PRN 19 deliberately demonstrates the incomplete-data behavior: it received +word types 2–6 but not word 1 during the observation, so no ephemeris was +fabricated or committed. The other four satellites satisfy the readiness gate. + +PVT has not been implemented or started in this milestone. + +NAVIGATION DATA READY FOR PVT diff --git a/reports/navigation_run/inav_collection_report.json b/reports/navigation_run/inav_collection_report.json new file mode 100644 index 0000000..74779a0 --- /dev/null +++ b/reports/navigation_run/inav_collection_report.json @@ -0,0 +1,211 @@ +{ + "decoder_truth_inputs": [], + "icd": "Galileo OS SIS ICD Issue 2.2, November 2025", + "signalsim_commit": "80b262113e77c4482ca9f5cbfef9bcada402ed28", + "sample_file": "/home/onur/Desktop/galileo/verification/vectors/signalsim/navigation_multisat/navigation_multisat_iq8.bin", + "sample_sha256": "b38393b32eec2df53f9813ea7ff8f13e5e0fc72fa5cb7fb910a2b8f907a56a6e", + "sample_count": 131758308, + "sampling_frequency_hz": 4092000.0, + "intermediate_frequency_hz": 1023000.0, + "satellites": { + "1": { + "prn": 1, + "acquisition_detected": true, + "acquisition_time_s": 0.1004119270000956, + "raw_doppler_hz": 1750.0, + "expected_doppler_hz": 1828.0, + "start_sample_timestamp": 90995, + "tracking_epoch_count": 16088, + "tracking_time_s": 13.650105177999649, + "tracking_final_state": "PLL_TRACK", + "tracking_reacquisition_requests": 10, + "tracking_lock_timestamp": 107363, + "prompt_epoch_count": 8044, + "first_synchronized_symbol_timestamp": 4428515, + "first_page_sync_timestamp": 4428515, + "first_crc_valid_page_timestamp": 4428515, + "page_parts": 31, + "pages": 15, + "crc_passes": 15, + "crc_failures": 0, + "fec_failures": 0, + "received_word_types": [ + 1, + 2, + 3, + 4, + 5, + 6 + ], + "missing_ephemeris_word_types": [], + "complete_ephemeris": true, + "ephemeris_iod_nav": 29, + "first_complete_ephemeris_timestamp": 61716515, + "clock_parameters": true, + "health_valid": true, + "data_valid": true, + "decoding_time_s": 1.260811995001859 + }, + "4": { + "prn": 4, + "acquisition_detected": true, + "acquisition_time_s": 0.08580062900000485, + "raw_doppler_hz": 2250.0, + "expected_doppler_hz": 2171.0, + "start_sample_timestamp": 86819, + "tracking_epoch_count": 16088, + "tracking_time_s": 13.877967087995785, + "tracking_final_state": "PLL_TRACK", + "tracking_reacquisition_requests": 61, + "tracking_lock_timestamp": 103187, + "prompt_epoch_count": 8044, + "first_synchronized_symbol_timestamp": 12624707, + "first_page_sync_timestamp": 12624707, + "first_crc_valid_page_timestamp": 12624707, + "page_parts": 29, + "pages": 14, + "crc_passes": 14, + "crc_failures": 0, + "fec_failures": 0, + "received_word_types": [ + 1, + 2, + 3, + 4, + 5, + 6 + ], + "missing_ephemeris_word_types": [], + "complete_ephemeris": true, + "ephemeris_iod_nav": 30, + "first_complete_ephemeris_timestamp": 61728707, + "clock_parameters": true, + "health_valid": true, + "data_valid": true, + "decoding_time_s": 1.3411525530027575 + }, + "19": { + "prn": 19, + "acquisition_detected": true, + "acquisition_time_s": 0.0836479790013982, + "raw_doppler_hz": -250.0, + "expected_doppler_hz": -367.0, + "start_sample_timestamp": 87566, + "tracking_epoch_count": 16088, + "tracking_time_s": 13.9836710640011, + "tracking_final_state": "PLL_TRACK", + "tracking_reacquisition_requests": 406, + "tracking_lock_timestamp": 103934, + "prompt_epoch_count": 8044, + "first_synchronized_symbol_timestamp": 16684718, + "first_page_sync_timestamp": 16684718, + "first_crc_valid_page_timestamp": 20776718, + "page_parts": 28, + "pages": 13, + "crc_passes": 13, + "crc_failures": 0, + "fec_failures": 0, + "received_word_types": [ + 2, + 3, + 4, + 5, + 6 + ], + "missing_ephemeris_word_types": [ + 1 + ], + "complete_ephemeris": false, + "ephemeris_iod_nav": null, + "first_complete_ephemeris_timestamp": null, + "clock_parameters": true, + "health_valid": false, + "data_valid": false, + "decoding_time_s": 1.2081766550036264 + }, + "21": { + "prn": 21, + "acquisition_detected": true, + "acquisition_time_s": 0.08741291100159287, + "raw_doppler_hz": -750.0, + "expected_doppler_hz": -712.0, + "start_sample_timestamp": 93628, + "tracking_epoch_count": 16088, + "tracking_time_s": 13.982213923998643, + "tracking_final_state": "PLL_TRACK", + "tracking_reacquisition_requests": 259, + "tracking_lock_timestamp": 101812, + "prompt_epoch_count": 8044, + "first_synchronized_symbol_timestamp": 12598780, + "first_page_sync_timestamp": 12598780, + "first_crc_valid_page_timestamp": 12598780, + "page_parts": 29, + "pages": 14, + "crc_passes": 14, + "crc_failures": 0, + "fec_failures": 0, + "received_word_types": [ + 1, + 2, + 3, + 4, + 5, + 6 + ], + "missing_ephemeris_word_types": [], + "complete_ephemeris": true, + "ephemeris_iod_nav": 29, + "first_complete_ephemeris_timestamp": 61702780, + "clock_parameters": true, + "health_valid": true, + "data_valid": true, + "decoding_time_s": 1.231179278001946 + }, + "27": { + "prn": 27, + "acquisition_detected": true, + "acquisition_time_s": 0.08157938700605882, + "raw_doppler_hz": -2750.0, + "expected_doppler_hz": -2637.0, + "start_sample_timestamp": 88014, + "tracking_epoch_count": 16088, + "tracking_time_s": 13.978430488001322, + "tracking_final_state": "PLL_TRACK", + "tracking_reacquisition_requests": 0, + "tracking_lock_timestamp": 96198, + "prompt_epoch_count": 8044, + "first_synchronized_symbol_timestamp": 12642270, + "first_page_sync_timestamp": 12642270, + "first_crc_valid_page_timestamp": 12642270, + "page_parts": 29, + "pages": 14, + "crc_passes": 14, + "crc_failures": 0, + "fec_failures": 0, + "received_word_types": [ + 1, + 2, + 3, + 4, + 5, + 6 + ], + "missing_ephemeris_word_types": [], + "complete_ephemeris": true, + "ephemeris_iod_nav": 29, + "first_complete_ephemeris_timestamp": 61746270, + "clock_parameters": true, + "health_valid": true, + "data_valid": true, + "decoding_time_s": 1.2002744679994066 + } + }, + "galileo_time": { + "week_number": 1138, + "time_of_week_s": 554765, + "page_start_sample_timestamp": 69930270, + "source_word_type": 6, + "valid": true + }, + "navigation_ready": true +} diff --git a/reports/navigation_run/inav_collection_report.md b/reports/navigation_run/inav_collection_report.md new file mode 100644 index 0000000..2c06b73 --- /dev/null +++ b/reports/navigation_run/inav_collection_report.md @@ -0,0 +1,11 @@ +# Galileo I/NAV collection report + +The standalone decoder consumed tracked E1B prompts only; simulator ephemeris and time truth were not inputs. + +| PRN | Tracking | Symbol sync | Page sync | CRC pages | Complete ephemeris | Clock | Time | Ready | +| --: | -------: | ----------: | --------: | --------: | -----------------: | ----: | ---: | ----: | +| 1 | PLL_TRACK | True | 31 | 15 | True | True | True | True | +| 4 | PLL_TRACK | True | 29 | 14 | True | True | True | True | +| 19 | PLL_TRACK | True | 28 | 13 | False | True | True | False | +| 21 | PLL_TRACK | True | 29 | 14 | True | True | True | True | +| 27 | PLL_TRACK | True | 29 | 14 | True | True | True | True | diff --git a/src/galileo_rx/cli.py b/src/galileo_rx/cli.py index 231a3ba..07ae714 100644 --- a/src/galileo_rx/cli.py +++ b/src/galileo_rx/cli.py @@ -25,6 +25,10 @@ from galileo_rx.signals.signal_generator import ChannelModelConfig, SatelliteSig from galileo_rx.tracking.tracking_channel import TrackingChannel from galileo_rx.types import AcquisitionResult from galileo_rx.verification.signalsim_validation import locate_signalsim, validate_signalsim +from galileo_rx.verification.inav_truth import compare_navigation_truth +from galileo_rx.navigation.collection import collect_navigation +from galileo_rx.navigation.decoder_diagnostics import load_prompt_epochs, save_symbols, write_json_lines +from galileo_rx.navigation.inav_pipeline import InavNavigationPipeline LOGGER = logging.getLogger("galileo_rx") @@ -130,6 +134,69 @@ def command_validate_signalsim(args: argparse.Namespace) -> None: raise SystemExit(1) +def command_collect_navigation(args: argparse.Namespace) -> None: + report, passed = collect_navigation( + args.config, + args.output_dir, + signalsim_path=args.signalsim_path, + selected_prns=args.prn, + ) + print(json.dumps({"navigation_ready": passed, "report": str(Path(args.output_dir).resolve() / "inav_collection_report.json")}, indent=2)) + if args.require_ready and not passed: + raise SystemExit(1) + + +def command_prompts_to_symbols(args: argparse.Namespace) -> None: + prompts = load_prompt_epochs(args.input, args.prn) + pipeline = InavNavigationPipeline(args.prn, minimum_symbol_confidence=args.minimum_confidence) + symbols = pipeline.symbol_sync.process_many(prompts) + save_symbols(args.output_dir, symbols) + print(json.dumps({"prompt_epochs": len(prompts), "symbols": len(symbols), "output_dir": str(Path(args.output_dir).resolve())}, indent=2)) + + +def command_decode_inav(args: argparse.Namespace) -> None: + prompts = load_prompt_epochs(args.input, args.prn) + pipeline = InavNavigationPipeline(args.prn, minimum_symbol_confidence=args.minimum_confidence) + result = pipeline.process(prompts) + output = Path(args.output_dir) + output.mkdir(parents=True, exist_ok=True) + save_symbols(output, result.symbols) + write_json_lines(output / "synchronized_pages.jsonl", result.page_parts) + write_json_lines(output / "fec_results.jsonl", result.pages) + write_json_lines(output / "parsed_words.jsonl", result.words) + ephemeris = pipeline.store.get_ephemeris(args.prn) + if ephemeris is not None: + (output / "ephemeris.json").write_text(json.dumps(asdict(ephemeris), indent=2) + "\n", encoding="utf-8") + summary = { + "pages": len(result.pages), + "crc_valid_pages": sum(page.crc_valid for page in result.pages), + "word_types": sorted({word.word_type for word in result.words}), + "complete_ephemeris": ephemeris is not None, + } + (output / "decoder_summary.json").write_text(json.dumps(summary, indent=2) + "\n", encoding="utf-8") + print(json.dumps(summary, indent=2)) + + +def command_inspect_navigation(args: argparse.Namespace) -> None: + path = Path(args.input) + if path.is_dir(): + path = path / "decoder_summary.json" + print(json.dumps(json.loads(path.read_text(encoding="utf-8")), indent=2)) + + +def command_compare_inav_truth(args: argparse.Namespace) -> None: + _, passed = compare_navigation_truth( + args.artifact_root, + args.rinex, + args.output_dir, + collection_report_path=args.collection_report, + signalsim_config_path=args.signalsim_config, + ) + print(json.dumps({"truth_comparison_pass": passed, "report": str(Path(args.output_dir).resolve() / "inav_truth_comparison.json")}, indent=2)) + if not passed: + raise SystemExit(1) + + def build_parser() -> argparse.ArgumentParser: parser = argparse.ArgumentParser(prog="galileo-rx") parser.add_argument("--log-level", default="INFO") @@ -175,6 +242,48 @@ def build_parser() -> argparse.ArgumentParser: validate.add_argument("--output-dir", default="reports/signalsim_validation") validate.add_argument("--mode", choices=["quick", "full"]) validate.set_defaults(handler=command_validate_signalsim) + collect = commands.add_parser("collect-navigation") + collect.add_argument("--config", default="configs/navigation_collection.yaml") + collect.add_argument("--signalsim-path") + collect.add_argument("--output-dir", default="reports/navigation_run") + collect.add_argument("--prn", type=int, action="append") + collect.add_argument("--require-ready", action="store_true") + collect.set_defaults(handler=command_collect_navigation) + track_prompts = commands.add_parser("track-to-prompts") + track_prompts.add_argument("--config", default="configs/navigation_collection.yaml") + track_prompts.add_argument("--signalsim-path") + track_prompts.add_argument("--output-dir", default="reports/navigation_run") + track_prompts.add_argument("--prn", type=int, action="append", required=True) + track_prompts.add_argument("--require-ready", action="store_false", dest="require_ready") + track_prompts.set_defaults(handler=command_collect_navigation, require_ready=False) + prompts = commands.add_parser("prompts-to-symbols") + prompts.add_argument("--input", required=True) + prompts.add_argument("--prn", required=True, type=int) + prompts.add_argument("--output-dir", required=True) + prompts.add_argument("--minimum-confidence", type=float, default=0.1) + prompts.set_defaults(handler=command_prompts_to_symbols) + decode = commands.add_parser("decode-inav") + decode.add_argument("--input", required=True) + decode.add_argument("--prn", required=True, type=int) + decode.add_argument("--output-dir", required=True) + decode.add_argument("--minimum-confidence", type=float, default=0.1) + decode.set_defaults(handler=command_decode_inav) + assemble = commands.add_parser("assemble-ephemeris") + assemble.add_argument("--input", required=True) + assemble.add_argument("--prn", required=True, type=int) + assemble.add_argument("--output-dir", required=True) + assemble.add_argument("--minimum-confidence", type=float, default=0.1) + assemble.set_defaults(handler=command_decode_inav) + inspect = commands.add_parser("inspect-navigation") + inspect.add_argument("--input", required=True) + inspect.set_defaults(handler=command_inspect_navigation) + truth = commands.add_parser("compare-inav-truth") + truth.add_argument("--artifact-root", required=True) + truth.add_argument("--rinex", required=True) + truth.add_argument("--output-dir", default="reports") + truth.add_argument("--collection-report") + truth.add_argument("--signalsim-config") + truth.set_defaults(handler=command_compare_inav_truth) return parser diff --git a/src/galileo_rx/navigation/__init__.py b/src/galileo_rx/navigation/__init__.py new file mode 100644 index 0000000..bddebf0 --- /dev/null +++ b/src/galileo_rx/navigation/__init__.py @@ -0,0 +1,16 @@ +"""Galileo E1B symbol recovery and I/NAV decoding stages.""" + +from .e1b_prompt_stream import E1BPromptEpoch, E1BPromptStream +from .e1b_symbol_sync import E1BSymbolSynchronizer, NavigationSymbol +from .inav_page_decoder import InavPage, InavPageDecoder +from .navigation_store import NavigationStore + +__all__ = [ + "E1BPromptEpoch", + "E1BPromptStream", + "E1BSymbolSynchronizer", + "NavigationSymbol", + "InavPage", + "InavPageDecoder", + "NavigationStore", +] diff --git a/src/galileo_rx/navigation/collection.py b/src/galileo_rx/navigation/collection.py new file mode 100644 index 0000000..f8e55f7 --- /dev/null +++ b/src/galileo_rx/navigation/collection.py @@ -0,0 +1,213 @@ +"""SignalSim RF-to-I/NAV collection runner and evidence generation.""" + +from __future__ import annotations + +from dataclasses import asdict +from hashlib import sha256 +import json +import math +from pathlib import Path +import subprocess +import time +from typing import Any + +import numpy as np +import yaml + +from galileo_rx.acquisition.acquisition_manager import AcquisitionManager +from galileo_rx.config import AcquisitionConfig, TrackingConfig +from galileo_rx.io.signalsim_reader import SignalSimReader, SignalSimSampleSpec +from galileo_rx.signal_profiles import galileo_e1_profile +from galileo_rx.signals.signalsim_codes import SignalSimCodeProvider +from galileo_rx.tracking.tracking_channel import TrackingChannel + +from .decoder_diagnostics import save_prompt_epochs, save_symbols, write_json_lines +from .e1b_prompt_stream import E1BPromptStream +from .inav_pipeline import InavNavigationPipeline +from .navigation_store import NavigationStore + + +def _file_hash(path: Path) -> str: + digest = sha256() + with path.open("rb") as stream: + for block in iter(lambda: stream.read(1024 * 1024), b""): + digest.update(block) + return digest.hexdigest() + + +def _json_default(value: Any) -> Any: + if isinstance(value, np.generic): + return value.item() + if isinstance(value, np.ndarray): + return value.tolist() + if isinstance(value, set): + return sorted(value) + return str(value) + + +def collect_navigation( + config_path: str | Path, + output_dir: str | Path, + *, + signalsim_path: str | Path | None = None, + selected_prns: list[int] | None = None, +) -> tuple[dict[str, Any], bool]: + """Decode navigation using samples/prompts only; truth is not accepted here.""" + config_file = Path(config_path).resolve() + root = config_file.parent.parent + cfg = yaml.safe_load(config_file.read_text(encoding="utf-8")) + source = Path(signalsim_path or root / cfg["signalsim"]["path"]).resolve() + samples_path = root / cfg["signalsim"]["samples"] + if not samples_path.is_file(): + subprocess.run( + [ + str(root / "tools" / "generate_signalsim_vectors.py"), + "--signalsim-path", str(source), "--vector", cfg["signalsim"]["vector"], + "--project-root", str(root), + ], + check=True, + ) + out = Path(output_dir).resolve() + out.mkdir(parents=True, exist_ok=True) + fs = float(cfg["rf"]["sampling_frequency_hz"]) + if_hz = float(cfg["rf"]["intermediate_frequency_hz"]) + prns = selected_prns or [int(item) for item in cfg["satellites"]["prns"]] + expected_doppler = {int(key): float(value) for key, value in cfg["satellites"]["expected_doppler_hz"].items()} + samples = SignalSimReader(samples_path, SignalSimSampleSpec(cfg["signalsim"]["sample_format"]), memory_map=True).read() + profile = galileo_e1_profile() + provider = SignalSimCodeProvider(source) + acquisition_cfg = AcquisitionConfig(**cfg["acquisition"], parallelism="doppler_vectorized") + acquisition_manager = AcquisitionManager(profile, provider, fs, acquisition_cfg) + acquisition_sample_count = acquisition_manager.engine.coherent_samples * acquisition_cfg.noncoherent_accumulations + primary_samples = int(round(fs * profile.component("E1B").primary_code_period_s)) + store = NavigationStore() + satellites: dict[int, dict[str, Any]] = {} + + for prn in prns: + started = time.perf_counter() + acquisition, _ = acquisition_manager.acquire_one( + samples[:acquisition_sample_count], "E1B", prn, if_hz + ) + acquired_s = time.perf_counter() - started + start_sample = int(round( + acquisition.code_phase_samples + + math.ceil((acquisition_sample_count - acquisition.code_phase_samples) / primary_samples) * primary_samples + )) + tracking_values = cfg["tracking"] + tracking_config = TrackingConfig( + integration_ms=float(tracking_values["integration_ms"]), + pull_in_duration_ms=float(tracking_values["pull_in_duration_ms"]), + pll_noise_bandwidth_hz=float(tracking_values["pll_noise_bandwidth_hz"]), + fll_noise_bandwidth_hz=float(tracking_values["fll_noise_bandwidth_hz"]), + dll_noise_bandwidth_hz=float(tracking_values["dll_noise_bandwidth_hz"]), + secondary_code_mode="none", + loss_of_lock_epochs=40, + ) + tracking_started = time.perf_counter() + channel = TrackingChannel(profile, provider, fs, tracking_config, acquisition, start_sample) + measurements = channel.process(samples[start_sample:]) + tracking_elapsed_s = time.perf_counter() - tracking_started + prompt_stream = E1BPromptStream(prn, fs) + prompts = prompt_stream.extend(measurements) + nav_cfg = cfg["navigation"] + pipeline = InavNavigationPipeline( + prn, + store=store, + minimum_symbol_confidence=float(tracking_values["minimum_confidence"]), + maximum_sync_errors=int(nav_cfg["maximum_sync_errors"]), + page_sync_confirmations=int(nav_cfg["page_sync_confirmations"]), + viterbi_traceback_depth=int(nav_cfg["viterbi_traceback_depth"]), + ) + decoding_started = time.perf_counter() + decoded = pipeline.process(prompts) + decoding_elapsed_s = time.perf_counter() - decoding_started + + artifact_dir = root / "verification" / "navigation" / "signalsim_navigation_multisat" / f"prn_{prn:02d}" + save_prompt_epochs(artifact_dir / "prompt_epochs.npz", prompts) + save_symbols(artifact_dir, decoded.symbols) + write_json_lines(artifact_dir / "synchronized_pages.jsonl", decoded.page_parts) + write_json_lines(artifact_dir / "fec_results.jsonl", decoded.pages) + valid_pages = [page for page in decoded.pages if page.crc_valid] + valid_bits = np.asarray([bit for page in valid_pages for bit in page.word_bits], dtype=np.uint8) + np.packbits(valid_bits, bitorder="big").tofile(artifact_dir / "crc_valid_pages.bin") + write_json_lines(artifact_dir / "parsed_words.jsonl", decoded.words) + ephemeris = store.get_ephemeris(prn) + if ephemeris is not None: + (artifact_dir / "ephemeris.json").write_text( + json.dumps(asdict(ephemeris), indent=2, default=_json_default) + "\n", encoding="utf-8" + ) + status = store.get_decoder_status(prn) + first_part = decoded.page_parts[0].receive_sample_timestamp if decoded.page_parts else None + first_crc = next((page.receive_sample_timestamp for page in decoded.pages if page.crc_valid), None) + summary = { + "prn": prn, + "acquisition_detected": acquisition.detected, + "acquisition_time_s": acquired_s, + "raw_doppler_hz": acquisition.raw_doppler_hz, + "expected_doppler_hz": expected_doppler.get(prn), + "start_sample_timestamp": start_sample, + "tracking_epoch_count": len(measurements), + "tracking_time_s": tracking_elapsed_s, + "tracking_final_state": measurements[-1].state.value if measurements else None, + "tracking_reacquisition_requests": sum(item.reacquisition_requested for item in measurements), + "tracking_lock_timestamp": next((item.end_sample_timestamp for item in measurements if item.carrier_lock and item.code_lock), None), + "prompt_epoch_count": len(prompts), + "first_synchronized_symbol_timestamp": first_part, + "first_page_sync_timestamp": first_part, + "first_crc_valid_page_timestamp": first_crc, + "page_parts": len(decoded.page_parts), + "pages": len(decoded.pages), + "crc_passes": status.crc_passes, + "crc_failures": status.crc_failures, + "fec_failures": status.fec_failures, + "received_word_types": sorted(status.word_types), + "missing_ephemeris_word_types": sorted(store.get_missing_ephemeris_words(prn)), + "complete_ephemeris": ephemeris is not None, + "ephemeris_iod_nav": ephemeris.iod_nav if ephemeris else None, + "first_complete_ephemeris_timestamp": ephemeris.completed_timestamp if ephemeris else None, + "clock_parameters": store.get_clock_parameters(prn) is not None, + "health_valid": ephemeris.health_valid if ephemeris else False, + "data_valid": ephemeris.data_valid if ephemeris else False, + "decoding_time_s": decoding_elapsed_s, + } + (artifact_dir / "decoder_summary.json").write_text( + json.dumps(summary, indent=2, default=_json_default) + "\n", encoding="utf-8" + ) + satellites[prn] = summary + + ready = store.navigation_ready( + minimum_satellites=int(cfg["navigation"]["minimum_satellites"]), + require_time=bool(cfg["navigation"]["require_time"]), + require_healthy=bool(cfg["navigation"]["require_healthy"]), + ) + report = { + "decoder_truth_inputs": [], + "icd": cfg["navigation"]["icd"], + "signalsim_commit": subprocess.check_output(["git", "-C", str(source), "rev-parse", "HEAD"], text=True).strip(), + "sample_file": str(samples_path), + "sample_sha256": _file_hash(samples_path), + "sample_count": int(samples.size), + "sampling_frequency_hz": fs, + "intermediate_frequency_hz": if_hz, + "satellites": satellites, + "galileo_time": asdict(store.get_time_solution()) if store.get_time_solution() else None, + "navigation_ready": ready, + } + (out / "inav_collection_report.json").write_text( + json.dumps(report, indent=2, default=_json_default) + "\n", encoding="utf-8" + ) + rows = [ + "# Galileo I/NAV collection report", "", + "The standalone decoder consumed tracked E1B prompts only; simulator ephemeris and time truth were not inputs.", "", + "| PRN | Tracking | Symbol sync | Page sync | CRC pages | Complete ephemeris | Clock | Time | Ready |", + "| --: | -------: | ----------: | --------: | --------: | -----------------: | ----: | ---: | ----: |", + ] + for prn, item in satellites.items(): + sat_ready = item["complete_ephemeris"] and item["clock_parameters"] and item["health_valid"] and item["data_valid"] and report["galileo_time"] is not None + rows.append( + f"| {prn} | {item['tracking_final_state']} | {item['first_synchronized_symbol_timestamp'] is not None} | " + f"{item['page_parts']} | {item['crc_passes']} | {item['complete_ephemeris']} | " + f"{item['clock_parameters']} | {report['galileo_time'] is not None} | {sat_ready} |" + ) + (out / "inav_collection_report.md").write_text("\n".join(rows) + "\n", encoding="utf-8") + return report, ready diff --git a/src/galileo_rx/navigation/decoder_diagnostics.py b/src/galileo_rx/navigation/decoder_diagnostics.py new file mode 100644 index 0000000..97adf0f --- /dev/null +++ b/src/galileo_rx/navigation/decoder_diagnostics.py @@ -0,0 +1,104 @@ +"""Serialization helpers for reproducible navigation-decoder evidence.""" + +from __future__ import annotations + +from dataclasses import asdict, is_dataclass +import json +from pathlib import Path +from typing import Any, Iterable + +import numpy as np + +from .e1b_prompt_stream import E1BPromptEpoch +from .e1b_symbol_sync import NavigationSymbol + + +def _json_default(value: Any) -> Any: + if is_dataclass(value): + return asdict(value) + if isinstance(value, np.generic): + return value.item() + if isinstance(value, np.ndarray): + return value.tolist() + if isinstance(value, set): + return sorted(value) + raise TypeError(f"cannot serialize {type(value).__name__}") + + +def write_json_lines(path: str | Path, records: Iterable[Any]) -> None: + destination = Path(path) + destination.parent.mkdir(parents=True, exist_ok=True) + with destination.open("w", encoding="utf-8") as stream: + for record in records: + stream.write(json.dumps(record, default=_json_default, sort_keys=True) + "\n") + + +def save_prompt_epochs(path: str | Path, epochs: list[E1BPromptEpoch]) -> None: + destination = Path(path) + destination.parent.mkdir(parents=True, exist_ok=True) + np.savez_compressed( + destination, + start_sample_timestamp=np.asarray([item.start_sample_timestamp for item in epochs], dtype=np.int64), + end_sample_timestamp=np.asarray([item.end_sample_timestamp for item in epochs], dtype=np.int64), + prompt_i=np.asarray([item.prompt_i for item in epochs], dtype=np.float64), + prompt_q=np.asarray([item.prompt_q for item in epochs], dtype=np.float64), + carrier_phase_cycles=np.asarray([item.carrier_phase_cycles for item in epochs], dtype=np.float64), + carrier_frequency_hz=np.asarray([item.carrier_frequency_hz for item in epochs], dtype=np.float64), + code_phase_chips=np.asarray([item.code_phase_chips for item in epochs], dtype=np.float64), + cn0_db_hz=np.asarray([ + np.nan if item.cn0_db_hz is None else item.cn0_db_hz for item in epochs + ], dtype=np.float64), + carrier_lock=np.asarray([item.carrier_lock for item in epochs], dtype=np.bool_), + code_lock=np.asarray([item.code_lock for item in epochs], dtype=np.bool_), + cycle_slip=np.asarray([item.cycle_slip for item in epochs], dtype=np.bool_), + sample_discontinuity=np.asarray([item.sample_discontinuity for item in epochs], dtype=np.bool_), + valid=np.asarray([item.valid for item in epochs], dtype=np.bool_), + ) + + +def load_prompt_epochs(path: str | Path, prn: int) -> list[E1BPromptEpoch]: + with np.load(Path(path), allow_pickle=False) as values: + count = int(values["prompt_i"].size) + required = { + "start_sample_timestamp", "end_sample_timestamp", "prompt_i", "prompt_q", + "carrier_phase_cycles", "carrier_frequency_hz", "code_phase_chips", "valid", + } + if not required <= set(values.files): + raise ValueError(f"prompt artifact is missing arrays: {sorted(required - set(values.files))}") + # Artifacts written before the navigation milestone did not preserve + # these quality flags. Retain backward readability, but never infer a + # C/N0 value that was not recorded. + has_quality = { + "cn0_db_hz", "carrier_lock", "code_lock", "cycle_slip", "sample_discontinuity", + } <= set(values.files) + return [ + E1BPromptEpoch( + prn=int(prn), + start_sample_timestamp=int(values["start_sample_timestamp"][index]), + end_sample_timestamp=int(values["end_sample_timestamp"][index]), + prompt_i=float(np.float64(values["prompt_i"][index])), + prompt_q=float(np.float64(values["prompt_q"][index])), + carrier_phase_cycles=float(np.float64(values["carrier_phase_cycles"][index])), + carrier_frequency_hz=float(np.float64(values["carrier_frequency_hz"][index])), + code_phase_chips=float(np.float64(values["code_phase_chips"][index])), + cn0_db_hz=( + None if not has_quality or np.isnan(values["cn0_db_hz"][index]) + else float(np.float64(values["cn0_db_hz"][index])) + ), + carrier_lock=bool(values["carrier_lock"][index]) if has_quality else True, + code_lock=bool(values["code_lock"][index]) if has_quality else True, + cycle_slip=bool(values["cycle_slip"][index]) if has_quality else False, + sample_discontinuity=bool(values["sample_discontinuity"][index]) if has_quality else False, + valid=bool(values["valid"][index]), + ) + for index in range(count) + ] + + +def save_symbols(directory: str | Path, symbols: list[NavigationSymbol]) -> None: + target = Path(directory) + target.mkdir(parents=True, exist_ok=True) + soft = np.asarray([item.soft_value for item in symbols], dtype=np.float64) + hard = np.asarray([item.hard_value for item in symbols], dtype=np.uint8) + np.save(target / "soft_symbols.npy", soft) + np.packbits(hard, bitorder="big").tofile(target / "hard_symbols.bin") diff --git a/src/galileo_rx/navigation/e1b_prompt_stream.py b/src/galileo_rx/navigation/e1b_prompt_stream.py new file mode 100644 index 0000000..189cad3 --- /dev/null +++ b/src/galileo_rx/navigation/e1b_prompt_stream.py @@ -0,0 +1,98 @@ +"""Lossless 4 ms E1B prompt-epoch records for navigation decoding.""" + +from __future__ import annotations + +from dataclasses import dataclass + +import numpy as np + +from galileo_rx.types import TrackingMeasurement + + +@dataclass(frozen=True, slots=True) +class E1BPromptEpoch: + prn: int + start_sample_timestamp: int + end_sample_timestamp: int + prompt_i: float + prompt_q: float + carrier_phase_cycles: float + carrier_frequency_hz: float + code_phase_chips: float + cn0_db_hz: float | None + carrier_lock: bool + code_lock: bool + cycle_slip: bool + sample_discontinuity: bool + valid: bool + + +class E1BPromptStream: + """Combine contiguous tracking dumps into primary-code (4 ms) epochs. + + The tracker may run at 2 ms during pull-in. Complex dumps are retained and + coherently combined only when their timestamps form one complete 4 ms E1B + primary-code interval. A gap produces an invalid discontinuity record rather + than silently joining unrelated samples. + """ + + def __init__(self, prn: int, sampling_frequency_hz: float, primary_period_s: float = 0.004) -> None: + if prn <= 0 or sampling_frequency_hz <= 0.0 or primary_period_s <= 0.0: + raise ValueError("PRN, sampling frequency, and primary period must be positive") + self.prn = int(prn) + self.sampling_frequency_hz = np.float64(sampling_frequency_hz) + self.primary_samples = int(round(float(self.sampling_frequency_hz) * primary_period_s)) + if not np.isclose(self.primary_samples, self.sampling_frequency_hz * primary_period_s, atol=1e-9): + raise ValueError("E1B primary period must contain an integer sample count") + self._pending: list[TrackingMeasurement] = [] + self.epochs: list[E1BPromptEpoch] = [] + + def reset(self) -> None: + self._pending.clear() + + def append(self, measurement: TrackingMeasurement) -> E1BPromptEpoch | None: + if measurement.end_sample_timestamp <= measurement.start_sample_timestamp: + raise ValueError("tracking measurement has a non-positive timestamp span") + if self._pending and measurement.start_sample_timestamp != self._pending[-1].end_sample_timestamp: + self._pending.clear() + measurement.sample_discontinuity = True + self._pending.append(measurement) + span = self._pending[-1].end_sample_timestamp - self._pending[0].start_sample_timestamp + if span < self.primary_samples: + return None + if span > self.primary_samples: + self._pending.clear() + raise ValueError("tracking integration boundaries do not tile one 4 ms E1B epoch") + items = self._pending + self._pending = [] + prompt = np.sum( + np.asarray([complex(item.prompt_i, item.prompt_q) for item in items], dtype=np.complex128), + dtype=np.complex128, + ) + last = items[-1] + epoch = E1BPromptEpoch( + prn=self.prn, + start_sample_timestamp=items[0].start_sample_timestamp, + end_sample_timestamp=last.end_sample_timestamp, + prompt_i=float(np.float64(prompt.real)), + prompt_q=float(np.float64(prompt.imag)), + carrier_phase_cycles=float(np.float64(last.carrier_phase_cycles)), + carrier_frequency_hz=float(np.float64(last.carrier_frequency_hz)), + code_phase_chips=float(np.float64(last.code_phase_chips)), + cn0_db_hz=last.cn0_db_hz, + carrier_lock=all(item.carrier_lock for item in items), + code_lock=all(item.code_lock for item in items), + cycle_slip=any(item.cycle_slip for item in items), + sample_discontinuity=any(item.sample_discontinuity for item in items), + valid=all(item.valid for item in items), + ) + self.epochs.append(epoch) + return epoch + + def extend(self, measurements: list[TrackingMeasurement]) -> list[E1BPromptEpoch]: + output: list[E1BPromptEpoch] = [] + for measurement in measurements: + epoch = self.append(measurement) + if epoch is not None: + output.append(epoch) + return output diff --git a/src/galileo_rx/navigation/e1b_symbol_sync.py b/src/galileo_rx/navigation/e1b_symbol_sync.py new file mode 100644 index 0000000..c317c0e --- /dev/null +++ b/src/galileo_rx/navigation/e1b_symbol_sync.py @@ -0,0 +1,86 @@ +"""Carrier-ambiguity-preserving E1B navigation-symbol recovery.""" + +from __future__ import annotations + +from dataclasses import dataclass + +import numpy as np + +from .e1b_prompt_stream import E1BPromptEpoch + + +@dataclass(frozen=True, slots=True) +class NavigationSymbol: + prn: int + symbol_index: int + start_sample_timestamp: int + end_sample_timestamp: int + soft_value: float + hard_value: int + confidence: float + inverted: bool + valid: bool + + +class E1BSymbolSynchronizer: + """Project complex prompts onto a BPSK axis without resolving its sign. + + ``soft_value > 0`` is evidence for the synchronizer's provisional bit 1. + The 180-degree carrier ambiguity remains explicit and is resolved later from + repeated official page synchronization patterns. It is never hidden here. + """ + + def __init__(self, minimum_axis_epochs: int = 8, minimum_confidence: float = 0.25) -> None: + if minimum_axis_epochs < 2 or not 0.0 <= minimum_confidence <= 1.0: + raise ValueError("invalid E1B symbol synchronizer settings") + self.minimum_axis_epochs = int(minimum_axis_epochs) + self.minimum_confidence = np.float64(minimum_confidence) + self.symbol_index = 0 + self.axis_accumulator = np.complex128(0.0j) + self.axis_epochs = 0 + self.loss_count = 0 + self.symbols: list[NavigationSymbol] = [] + + def reset(self) -> None: + self.axis_accumulator = np.complex128(0.0j) + self.axis_epochs = 0 + self.loss_count += 1 + + def process(self, epoch: E1BPromptEpoch) -> NavigationSymbol: + discontinuity = epoch.cycle_slip or epoch.sample_discontinuity + if discontinuity: + self.reset() + prompt = np.complex128(complex(epoch.prompt_i, epoch.prompt_q)) + if epoch.valid and epoch.carrier_lock and epoch.code_lock and abs(prompt) > 0.0: + # Squaring removes BPSK data modulation while retaining twice the + # carrier-axis phase. complex128 is mandatory in the reference path. + self.axis_accumulator += prompt * prompt + self.axis_epochs += 1 + axis_rad = np.float64(0.5 * np.angle(self.axis_accumulator)) if self.axis_epochs else np.float64(0.0) + projected = np.float64((prompt * np.exp(-1j * axis_rad)).real) + confidence = np.float64(abs(projected) / max(float(abs(prompt)), np.finfo(np.float64).tiny)) + valid = bool( + epoch.valid + and epoch.carrier_lock + and epoch.code_lock + and not discontinuity + and self.axis_epochs >= self.minimum_axis_epochs + and confidence >= self.minimum_confidence + ) + symbol = NavigationSymbol( + prn=epoch.prn, + symbol_index=self.symbol_index, + start_sample_timestamp=epoch.start_sample_timestamp, + end_sample_timestamp=epoch.end_sample_timestamp, + soft_value=float(projected), + hard_value=int(projected >= 0.0), + confidence=float(confidence), + inverted=False, + valid=valid, + ) + self.symbol_index += 1 + self.symbols.append(symbol) + return symbol + + def process_many(self, epochs: list[E1BPromptEpoch]) -> list[NavigationSymbol]: + return [self.process(epoch) for epoch in epochs] diff --git a/src/galileo_rx/navigation/galileo_time.py b/src/galileo_rx/navigation/galileo_time.py new file mode 100644 index 0000000..6fdc656 --- /dev/null +++ b/src/galileo_rx/navigation/galileo_time.py @@ -0,0 +1,55 @@ +"""Galileo System Time recovery from CRC-valid I/NAV words.""" + +from __future__ import annotations + +from dataclasses import dataclass +from datetime import datetime, timedelta, timezone + +from .inav_word_parser import GstUtcWord6, IonosphereHealthTimeWord5, ParsedInavWord + + +GST_EPOCH_UTC = datetime(1999, 8, 22, tzinfo=timezone.utc) - timedelta(seconds=13) + + +@dataclass(frozen=True, slots=True) +class GalileoSystemTime: + week_number: int + time_of_week_s: int + page_start_sample_timestamp: int + source_word_type: int + valid: bool + + @property + def total_seconds(self) -> int: + return self.week_number * 604800 + self.time_of_week_s + + +class GalileoTimeRecovery: + def __init__(self) -> None: + self.current: GalileoSystemTime | None = None + self.utc_parameters: GstUtcWord6 | None = None + + def update(self, word: ParsedInavWord) -> GalileoSystemTime | None: + if not word.crc_valid: + return None + if isinstance(word.payload, IonosphereHealthTimeWord5): + self.current = GalileoSystemTime( + word.payload.week_number, + word.payload.time_of_week_s, + word.receive_sample_timestamp, + word.word_type, + 0 <= word.payload.time_of_week_s < 604800, + ) + return self.current + if isinstance(word.payload, GstUtcWord6): + self.utc_parameters = word.payload + if self.current is not None: + self.current = GalileoSystemTime( + self.current.week_number, + word.payload.time_of_week_s, + word.receive_sample_timestamp, + word.word_type, + 0 <= word.payload.time_of_week_s < 604800, + ) + return self.current + return None diff --git a/src/galileo_rx/navigation/inav_crc.py b/src/galileo_rx/navigation/inav_crc.py new file mode 100644 index 0000000..df08b10 --- /dev/null +++ b/src/galileo_rx/navigation/inav_crc.py @@ -0,0 +1,40 @@ +"""Bit-exact Galileo CRC-24Q (OS SIS ICD 2.2, Section 5.1.9.4).""" + +from __future__ import annotations + +import numpy as np +import numpy.typing as npt + + +CRC24Q_POLYNOMIAL = 0x1864CFB +CRC24Q_MASK = 0xFFFFFF + + +def crc24q(bits: npt.ArrayLike) -> int: + values = np.asarray(bits, dtype=np.int8).reshape(-1) + if not np.all((values == 0) | (values == 1)): + raise ValueError("CRC input must contain only bits 0 and 1") + remainder = 0 + polynomial_without_msb = CRC24Q_POLYNOMIAL & CRC24Q_MASK + for bit in values: + feedback = ((remainder >> 23) & 1) ^ int(bit) + remainder = (remainder << 1) & CRC24Q_MASK + if feedback: + remainder ^= polynomial_without_msb + return remainder + + +def bits_to_uint(bits: npt.ArrayLike) -> int: + value = 0 + for bit in np.asarray(bits, dtype=np.int8).reshape(-1): + if int(bit) not in (0, 1): + raise ValueError("input must contain only bits") + value = (value << 1) | int(bit) + return value + + +def validate_crc24q(protected_bits: npt.ArrayLike, received_crc_bits: npt.ArrayLike) -> bool: + crc_bits = np.asarray(received_crc_bits, dtype=np.int8).reshape(-1) + if crc_bits.size != 24: + raise ValueError("Galileo CRC field must contain 24 bits") + return crc24q(protected_bits) == bits_to_uint(crc_bits) diff --git a/src/galileo_rx/navigation/inav_deinterleaver.py b/src/galileo_rx/navigation/inav_deinterleaver.py new file mode 100644 index 0000000..c741d18 --- /dev/null +++ b/src/galileo_rx/navigation/inav_deinterleaver.py @@ -0,0 +1,31 @@ +"""Galileo I/NAV 30-column by 8-row block deinterleaver.""" + +from __future__ import annotations + +import numpy as np +import numpy.typing as npt + + +INAV_CODED_SYMBOLS = 240 +INAV_INTERLEAVER_COLUMNS = 30 +INAV_INTERLEAVER_ROWS = 8 + + +def deinterleave_inav(values: npt.ArrayLike) -> npt.NDArray: + """Undo ICD Table 27 write-by-column/read-by-row ordering.""" + array = np.asarray(values) + if array.ndim != 1 or array.size != INAV_CODED_SYMBOLS: + raise ValueError("an I/NAV page part must contain exactly 240 coded symbols") + return np.ascontiguousarray( + array.reshape(INAV_INTERLEAVER_ROWS, INAV_INTERLEAVER_COLUMNS).T.reshape(-1) + ) + + +def interleave_inav_reference(values: npt.ArrayLike) -> npt.NDArray: + """Reference inverse used for diagnostics, not decoder validation vectors.""" + array = np.asarray(values) + if array.ndim != 1 or array.size != INAV_CODED_SYMBOLS: + raise ValueError("an I/NAV encoded page part must contain exactly 240 symbols") + return np.ascontiguousarray( + array.reshape(INAV_INTERLEAVER_COLUMNS, INAV_INTERLEAVER_ROWS).T.reshape(-1) + ) diff --git a/src/galileo_rx/navigation/inav_ephemeris_assembler.py b/src/galileo_rx/navigation/inav_ephemeris_assembler.py new file mode 100644 index 0000000..25229b1 --- /dev/null +++ b/src/galileo_rx/navigation/inav_ephemeris_assembler.py @@ -0,0 +1,140 @@ +"""Atomic, IOD-consistent assembly of Galileo ephemeris and clock words.""" + +from __future__ import annotations + +from dataclasses import dataclass, field + +from .inav_word_parser import ( + EphemerisClockWord4, + EphemerisWord1, + EphemerisWord2, + EphemerisWord3, + IonosphereHealthTimeWord5, + ParsedInavWord, +) + + +@dataclass(frozen=True, slots=True) +class GalileoEphemeris: + prn: int + iod_nav: int + toe_s: float + toc_s: float + sqrt_a: float + eccentricity: float + inclination_rad: float + omega0_rad: float + argument_of_perigee_rad: float + mean_anomaly_rad: float + delta_n_rad_s: float + inclination_rate_rad_s: float + omega_dot_rad_s: float + cuc_rad: float + cus_rad: float + crc_m: float + crs_m: float + cic_rad: float + cis_rad: float + clock_bias_s: float + clock_drift_s_per_s: float + clock_drift_rate_s_per_s2: float + sisa_index: int + health_valid: bool + data_valid: bool + first_received_timestamp: int + completed_timestamp: int + + +@dataclass(slots=True) +class _PartialSet: + words: dict[int, ParsedInavWord] = field(default_factory=dict) + first_received_timestamp: int = 0 + last_received_timestamp: int = 0 + + +class InavEphemerisAssembler: + required_word_types = frozenset({1, 2, 3, 4}) + + def __init__(self, prn: int, *, max_partial_age_samples: int | None = None) -> None: + self.prn = int(prn) + if max_partial_age_samples is not None and max_partial_age_samples <= 0: + raise ValueError("max_partial_age_samples must be positive") + self.max_partial_age_samples = max_partial_age_samples + self._partials: dict[int, _PartialSet] = {} + self.latest_health: IonosphereHealthTimeWord5 | None = None + self.current: GalileoEphemeris | None = None + self.previous: GalileoEphemeris | None = None + self.rejected_mixed_sets = 0 + self.stale_partial_sets = 0 + + def update(self, word: ParsedInavWord) -> GalileoEphemeris | None: + if word.prn != self.prn or not word.crc_valid: + raise ValueError("assembler accepts only CRC-valid words for its PRN") + if word.word_type == 5 and isinstance(word.payload, IonosphereHealthTimeWord5): + self.latest_health = word.payload + return None + if word.word_type not in self.required_word_types or word.iod_nav is None: + return None + if self.max_partial_age_samples is not None: + stale = [ + iod for iod, item in self._partials.items() + if word.receive_sample_timestamp - item.last_received_timestamp + > self.max_partial_age_samples + ] + for iod in stale: + del self._partials[iod] + self.stale_partial_sets += 1 + partial = self._partials.setdefault( + word.iod_nav, + _PartialSet(first_received_timestamp=word.receive_sample_timestamp), + ) + partial.words[word.word_type] = word + partial.last_received_timestamp = word.receive_sample_timestamp + if not self.required_word_types <= partial.words.keys(): + return None + complete = self._assemble(word.iod_nav, partial) + if self.current is None or self.current.iod_nav != complete.iod_nav: + self.previous = self.current + self.current = complete + else: + self.current = complete + # A committed set is immutable evidence, not an in-progress set. A + # replacement begins in a fresh partial bucket and cannot disturb it. + self._partials = {} + return complete + + def _assemble(self, iod_nav: int, partial: _PartialSet) -> GalileoEphemeris: + w1 = partial.words[1].payload + w2 = partial.words[2].payload + w3 = partial.words[3].payload + w4 = partial.words[4].payload + if not isinstance(w1, EphemerisWord1) or not isinstance(w2, EphemerisWord2): + raise TypeError("word 1/2 payload type mismatch") + if not isinstance(w3, EphemerisWord3) or not isinstance(w4, EphemerisClockWord4): + raise TypeError("word 3/4 payload type mismatch") + if w4.svid not in (0, self.prn): + raise ValueError(f"word 4 SVID {w4.svid} does not match tracking PRN {self.prn}") + health = self.latest_health + return GalileoEphemeris( + prn=self.prn, iod_nav=iod_nav, toe_s=w1.toe_s, toc_s=w4.toc_s, + sqrt_a=w1.sqrt_a, eccentricity=w1.eccentricity, + inclination_rad=w2.inclination_rad, omega0_rad=w2.omega0_rad, + argument_of_perigee_rad=w2.argument_of_perigee_rad, mean_anomaly_rad=w1.mean_anomaly_rad, + delta_n_rad_s=w3.delta_n_rad_s, inclination_rate_rad_s=w2.inclination_rate_rad_s, + omega_dot_rad_s=w3.omega_dot_rad_s, cuc_rad=w3.cuc_rad, cus_rad=w3.cus_rad, + crc_m=w3.crc_m, crs_m=w3.crs_m, cic_rad=w4.cic_rad, cis_rad=w4.cis_rad, + clock_bias_s=w4.clock_bias_s, clock_drift_s_per_s=w4.clock_drift_s_per_s, + clock_drift_rate_s_per_s2=w4.clock_drift_rate_s_per_s2, sisa_index=w3.sisa_index, + health_valid=health is not None and health.e1b_health == 0, + data_valid=health is not None and health.e1b_data_validity_status == 0, + first_received_timestamp=partial.first_received_timestamp, + completed_timestamp=partial.last_received_timestamp, + ) + + def missing_word_types(self) -> set[int]: + if self.current is not None: + return set() + if not self._partials: + return set(self.required_word_types) + newest = max(self._partials.values(), key=lambda item: item.last_received_timestamp) + return set(self.required_word_types - newest.words.keys()) diff --git a/src/galileo_rx/navigation/inav_fec.py b/src/galileo_rx/navigation/inav_fec.py new file mode 100644 index 0000000..c1a571d --- /dev/null +++ b/src/galileo_rx/navigation/inav_fec.py @@ -0,0 +1,135 @@ +"""Soft/hard Viterbi decoder for Galileo rate-1/2, K=7 convolutional FEC.""" + +from __future__ import annotations + +from dataclasses import dataclass +from typing import Literal + +import numpy as np +import numpy.typing as npt + + +@dataclass(frozen=True, slots=True) +class FecDecodeResult: + decoded_bits: list[int] + path_metric: float + corrected_error_metric: float + valid: bool + + +def _reverse_seven_bits(value: int) -> int: + return int(f"{value:07b}"[::-1], 2) + + +class InavViterbiDecoder: + """ICD 2.2 Table 26 decoder with deterministic predecessor tie-breaking.""" + + constraint_length = 7 + generator_polynomials_octal = (0o171, 0o133) + + def __init__(self, traceback_depth: int = 35) -> None: + if traceback_depth < 1: + raise ValueError("traceback_depth must be positive") + self.traceback_depth = int(traceback_depth) + self._polynomials = tuple(_reverse_seven_bits(item) for item in self.generator_polynomials_octal) + self._next = np.empty((64, 2), dtype=np.int16) + self._outputs = np.empty((64, 2, 2), dtype=np.int8) + for state in range(64): + for bit in (0, 1): + register = ((state << 1) | bit) & 0x7F + self._next[state, bit] = register & 0x3F + self._outputs[state, bit, 0] = (register & self._polynomials[0]).bit_count() & 1 + # Figure 13 explicitly inverts the second encoder branch. + self._outputs[state, bit, 1] = ((register & self._polynomials[1]).bit_count() & 1) ^ 1 + + def decode( + self, + received: npt.ArrayLike, + *, + mode: Literal["soft", "hard"] = "soft", + initial_state: int = 0, + terminal_state: int | None = 0, + ) -> FecDecodeResult: + values = np.asarray(received) + if values.ndim != 1 or values.size == 0 or values.size % 2: + raise ValueError("Viterbi input must be a nonempty even-length symbol vector") + if initial_state not in range(64) or terminal_state is not None and terminal_state not in range(64): + raise ValueError("Viterbi states must be in 0..63") + if mode == "hard": + hard = values.astype(np.int8, copy=False) + if not np.all((hard == 0) | (hard == 1)): + raise ValueError("hard Viterbi symbols must be 0 or 1") + observations = hard.reshape(-1, 2) + elif mode == "soft": + observations = values.astype(np.float64, copy=False).reshape(-1, 2) + if not np.all(np.isfinite(observations)): + raise ValueError("soft Viterbi symbols must be finite") + else: + raise ValueError("Viterbi mode must be 'soft' or 'hard'") + + steps = observations.shape[0] + infinity = np.float64(np.inf) + metrics = np.full(64, infinity, dtype=np.float64) + metrics[initial_state] = 0.0 + predecessors = np.full((steps, 64), -1, dtype=np.int16) + decisions = np.full((steps, 64), -1, dtype=np.int8) + for index, observation in enumerate(observations): + updated = np.full(64, infinity, dtype=np.float64) + for state in range(64): + if not np.isfinite(metrics[state]): + continue + for bit in (0, 1): + target = int(self._next[state, bit]) + expected = self._outputs[state, bit] + if mode == "hard": + branch = np.float64(np.count_nonzero(observation != expected)) + else: + expected_sign = np.where(expected == 1, 1.0, -1.0) + branch = np.float64(-np.dot(observation, expected_sign)) + candidate = metrics[state] + branch + # Strict comparison preserves the first (lowest state, then + # input 0) predecessor for deterministic ties. + if candidate < updated[target]: + updated[target] = candidate + predecessors[index, target] = state + decisions[index, target] = bit + metrics = updated + + final_state = int(np.argmin(metrics)) if terminal_state is None else terminal_state + if not np.isfinite(metrics[final_state]): + return FecDecodeResult([], float("inf"), float("inf"), False) + decoded = np.empty(steps, dtype=np.int8) + state = final_state + for index in range(steps - 1, -1, -1): + decoded[index] = decisions[index, state] + state = int(predecessors[index, state]) + if state < 0 and index: + return FecDecodeResult([], float(metrics[final_state]), float("inf"), False) + encoded = self.encode(decoded, initial_state=initial_state) + received_hard = ( + values.astype(np.int8, copy=False) + if mode == "hard" + else np.where(values.astype(np.float64) >= 0.0, 1, 0).astype(np.int8) + ) + corrected = float(np.count_nonzero(encoded != received_hard)) + tail_valid = decoded.size >= 6 and bool(np.all(decoded[-6:] == 0)) + state_valid = terminal_state is None or final_state == terminal_state + return FecDecodeResult( + decoded_bits=decoded.astype(int).tolist(), + path_metric=float(metrics[final_state]), + corrected_error_metric=corrected, + valid=bool(tail_valid and state_valid), + ) + + def encode(self, bits: npt.ArrayLike, *, initial_state: int = 0) -> npt.NDArray[np.int8]: + """Diagnostic encoder; decoder tests use the independent ICD Annex D vector.""" + source = np.asarray(bits, dtype=np.int8).reshape(-1) + if not np.all((source == 0) | (source == 1)): + raise ValueError("encoder bits must be 0 or 1") + state = initial_state + output = np.empty(source.size * 2, dtype=np.int8) + for index, bit_value in enumerate(source): + bit = int(bit_value) + output[2 * index : 2 * index + 2] = self._outputs[state, bit] + state = int(self._next[state, bit]) + return output diff --git a/src/galileo_rx/navigation/inav_page_decoder.py b/src/galileo_rx/navigation/inav_page_decoder.py new file mode 100644 index 0000000..95ba28a --- /dev/null +++ b/src/galileo_rx/navigation/inav_page_decoder.py @@ -0,0 +1,127 @@ +"""I/NAV page-part FEC decoding, nominal-page pairing, and CRC validation.""" + +from __future__ import annotations + +from dataclasses import dataclass, field + +import numpy as np + +from .inav_crc import validate_crc24q +from .inav_deinterleaver import deinterleave_inav +from .inav_fec import FecDecodeResult, InavViterbiDecoder +from .inav_page_sync import INAV_SYNC_BITS, SynchronizedPagePart + + +ERROR_SYNC = 1 << 0 +ERROR_FEC = 1 << 1 +ERROR_PAGE_LAYOUT = 1 << 2 +ERROR_CRC = 1 << 3 + + +@dataclass(frozen=True, slots=True) +class DecodedPagePart: + source: SynchronizedPagePart + decoded_bits: list[int] + fec_result: FecDecodeResult + + +@dataclass(frozen=True, slots=True) +class InavPage: + prn: int + page_sequence: int + receive_sample_timestamp: int + raw_symbols: list[int] + decoded_bits: list[int] + word_type: int | None + sync_valid: bool + fec_valid: bool + crc_valid: bool + polarity_inverted: bool + decoder_metric: float + error_flags: int + word_bits: list[int] = field(default_factory=list) + end_sample_timestamp: int = 0 + + +class InavPageDecoder: + def __init__(self, *, soft_decision: bool = True, traceback_depth: int = 35) -> None: + self.soft_decision = bool(soft_decision) + self.viterbi = InavViterbiDecoder(traceback_depth) + self._pending_even: DecodedPagePart | None = None + self._page_sequence = 0 + + def decode_part(self, part: SynchronizedPagePart) -> DecodedPagePart: + if part.hard_symbols.size != 250 or part.soft_symbols.size != 250: + raise ValueError("a synchronized I/NAV page part must contain 250 symbols") + if np.count_nonzero(part.hard_symbols[:10] != INAV_SYNC_BITS) > part.sync_errors: + raise ValueError("page-part synchronization evidence is internally inconsistent") + if self.soft_decision: + coded = deinterleave_inav(part.soft_symbols[10:]) + result = self.viterbi.decode(coded, mode="soft", initial_state=0, terminal_state=0) + else: + coded = deinterleave_inav(part.hard_symbols[10:]) + result = self.viterbi.decode(coded, mode="hard", initial_state=0, terminal_state=0) + return DecodedPagePart(part, result.decoded_bits, result) + + def push(self, part: SynchronizedPagePart) -> InavPage | None: + decoded = self.decode_part(part) + bits = decoded.decoded_bits + even_odd = bits[0] if len(bits) == 120 else None + if even_odd == 0: + self._pending_even = decoded + return None + if even_odd != 1 or self._pending_even is None: + return None + even = self._pending_even + self._pending_even = None + return self._pair(even, decoded) + + def _pair(self, even: DecodedPagePart, odd: DecodedPagePart) -> InavPage: + even_bits = np.asarray(even.decoded_bits, dtype=np.int8) + odd_bits = np.asarray(odd.decoded_bits, dtype=np.int8) + sync_valid = bool(even.source.sync_valid and odd.source.sync_valid) + fec_valid = bool(even.fec_result.valid and odd.fec_result.valid) + layout_valid = bool( + even_bits.size == 120 + and odd_bits.size == 120 + and np.array_equal(even_bits[:2], [0, 0]) + and np.array_equal(odd_bits[:2], [1, 0]) + ) + word = np.concatenate((even_bits[2:114], odd_bits[2:18])) if layout_valid else np.empty(0, dtype=np.int8) + protected = np.concatenate((even_bits[:114], odd_bits[:82])) if layout_valid else np.empty(0, dtype=np.int8) + crc_valid = bool(layout_valid and validate_crc24q(protected, odd_bits[82:106])) + error_flags = 0 + if not sync_valid: + error_flags |= ERROR_SYNC + if not fec_valid: + error_flags |= ERROR_FEC + if not layout_valid: + error_flags |= ERROR_PAGE_LAYOUT + if not crc_valid: + error_flags |= ERROR_CRC + page = InavPage( + prn=even.source.prn, + page_sequence=self._page_sequence, + receive_sample_timestamp=even.source.receive_sample_timestamp, + raw_symbols=np.concatenate((even.source.hard_symbols, odd.source.hard_symbols)).astype(int).tolist(), + decoded_bits=np.concatenate((even_bits, odd_bits)).astype(int).tolist(), + word_type=int(sum(int(bit) << (5 - index) for index, bit in enumerate(word[:6]))) if word.size >= 6 else None, + sync_valid=sync_valid, + fec_valid=fec_valid, + crc_valid=crc_valid, + polarity_inverted=even.source.polarity_inverted, + decoder_metric=float(even.fec_result.path_metric + odd.fec_result.path_metric), + error_flags=error_flags, + word_bits=word.astype(int).tolist(), + end_sample_timestamp=odd.source.end_sample_timestamp, + ) + self._page_sequence += 1 + return page + + def process_many(self, parts: list[SynchronizedPagePart]) -> list[InavPage]: + pages: list[InavPage] = [] + for part in parts: + page = self.push(part) + if page is not None: + pages.append(page) + return pages diff --git a/src/galileo_rx/navigation/inav_page_sync.py b/src/galileo_rx/navigation/inav_page_sync.py new file mode 100644 index 0000000..560c319 --- /dev/null +++ b/src/galileo_rx/navigation/inav_page_sync.py @@ -0,0 +1,141 @@ +"""Robust Galileo I/NAV one-second page-part synchronization.""" + +from __future__ import annotations + +from dataclasses import dataclass + +import numpy as np +import numpy.typing as npt + +from .e1b_symbol_sync import NavigationSymbol + + +INAV_SYNC_BITS = np.asarray([0, 1, 0, 1, 1, 0, 0, 0, 0, 0], dtype=np.int8) +INAV_PAGE_PART_SYMBOLS = 250 + + +@dataclass(frozen=True, slots=True) +class SynchronizedPagePart: + prn: int + page_part_sequence: int + receive_sample_timestamp: int + end_sample_timestamp: int + hard_symbols: npt.NDArray[np.int8] + soft_symbols: npt.NDArray[np.float64] + polarity_inverted: bool + sync_errors: int + sync_valid: bool + + +class InavPageSynchronizer: + """Require repeated 250-symbol-spaced sync patterns before declaring lock.""" + + def __init__(self, maximum_sync_errors: int = 0, required_confirmations: int = 2) -> None: + if maximum_sync_errors < 0 or maximum_sync_errors > INAV_SYNC_BITS.size: + raise ValueError("invalid sync error allowance") + if required_confirmations < 2: + raise ValueError("at least two sync patterns are required") + self.maximum_sync_errors = int(maximum_sync_errors) + self.required_confirmations = int(required_confirmations) + self._symbols: list[NavigationSymbol] = [] + self._locked_offset: int | None = None + self._polarity_inverted = False + self._next_emit_offset: int | None = None + self._sequence = 0 + self._next_search_offset = 0 + self.consecutive_failures = 0 + self.total_failures = 0 + self.sync_confidence = np.float64(0.0) + + @property + def locked(self) -> bool: + return self._locked_offset is not None + + def reset(self) -> None: + self._locked_offset = None + self._next_emit_offset = None + self.consecutive_failures = 0 + self.sync_confidence = np.float64(0.0) + # Never rescan the complete history after a failed candidate. Keep only + # enough overlap to find a sync word crossing the current buffer tail. + self._next_search_offset = max(0, len(self._symbols) - INAV_PAGE_PART_SYMBOLS) + + def _errors(self, offset: int, inverted: bool) -> int: + raw = np.asarray([item.hard_value for item in self._symbols[offset : offset + 10]], dtype=np.int8) + expected = 1 - INAV_SYNC_BITS if inverted else INAV_SYNC_BITS + return int(np.count_nonzero(raw != expected)) + + def _try_acquire(self) -> None: + confirmation_span = (self.required_confirmations - 1) * INAV_PAGE_PART_SYMBOLS + INAV_SYNC_BITS.size + maximum_start = len(self._symbols) - confirmation_span + for offset in range(self._next_search_offset, maximum_start + 1): + self._next_search_offset = offset + 1 + if not all( + all(item.valid for item in self._symbols[offset + step * INAV_PAGE_PART_SYMBOLS : offset + step * INAV_PAGE_PART_SYMBOLS + 10]) + for step in range(self.required_confirmations) + ): + continue + for inverted in (False, True): + errors = [ + self._errors(offset + step * INAV_PAGE_PART_SYMBOLS, inverted) + for step in range(self.required_confirmations) + ] + if max(errors) <= self.maximum_sync_errors: + self._locked_offset = offset + self._next_emit_offset = offset + self._polarity_inverted = inverted + self.sync_confidence = np.float64( + 1.0 - sum(errors) / (self.required_confirmations * INAV_SYNC_BITS.size) + ) + return + + def _emit_ready(self) -> list[SynchronizedPagePart]: + output: list[SynchronizedPagePart] = [] + while self._next_emit_offset is not None: + offset = self._next_emit_offset + if len(self._symbols) < offset + INAV_PAGE_PART_SYMBOLS: + break + errors = self._errors(offset, self._polarity_inverted) + if errors > self.maximum_sync_errors: + self.consecutive_failures += 1 + self.total_failures += 1 + self.reset() + break + segment = self._symbols[offset : offset + INAV_PAGE_PART_SYMBOLS] + raw_hard = np.asarray([item.hard_value for item in segment], dtype=np.int8) + raw_soft = np.asarray([item.soft_value for item in segment], dtype=np.float64) + if self._polarity_inverted: + raw_hard = 1 - raw_hard + raw_soft = -raw_soft + output.append( + SynchronizedPagePart( + prn=segment[0].prn, + page_part_sequence=self._sequence, + receive_sample_timestamp=segment[0].start_sample_timestamp, + end_sample_timestamp=segment[-1].end_sample_timestamp, + hard_symbols=raw_hard, + soft_symbols=raw_soft, + polarity_inverted=self._polarity_inverted, + sync_errors=errors, + sync_valid=True, + ) + ) + self._sequence += 1 + self._next_emit_offset += INAV_PAGE_PART_SYMBOLS + return output + + def push(self, symbol: NavigationSymbol) -> list[SynchronizedPagePart]: + if symbol.inverted: + raise ValueError("symbol polarity must remain unresolved before page synchronization") + if symbol.valid and self._symbols and symbol.start_sample_timestamp != self._symbols[-1].end_sample_timestamp: + self.reset() + self._symbols.append(symbol) + if not self.locked: + self._try_acquire() + return self._emit_ready() if self.locked else [] + + def process_many(self, symbols: list[NavigationSymbol]) -> list[SynchronizedPagePart]: + output: list[SynchronizedPagePart] = [] + for symbol in symbols: + output.extend(self.push(symbol)) + return output diff --git a/src/galileo_rx/navigation/inav_pipeline.py b/src/galileo_rx/navigation/inav_pipeline.py new file mode 100644 index 0000000..e153c31 --- /dev/null +++ b/src/galileo_rx/navigation/inav_pipeline.py @@ -0,0 +1,67 @@ +"""Composable prompt-to-navigation pipeline with no simulator-truth input.""" + +from __future__ import annotations + +from dataclasses import dataclass + +from .e1b_prompt_stream import E1BPromptEpoch +from .e1b_symbol_sync import E1BSymbolSynchronizer, NavigationSymbol +from .inav_page_decoder import InavPage, InavPageDecoder +from .inav_page_sync import InavPageSynchronizer, SynchronizedPagePart +from .inav_word_parser import InavWordParser, ParsedInavWord +from .navigation_store import NavigationStore + + +@dataclass(slots=True) +class NavigationPipelineResult: + symbols: list[NavigationSymbol] + page_parts: list[SynchronizedPagePart] + pages: list[InavPage] + words: list[ParsedInavWord] + + +class InavNavigationPipeline: + def __init__( + self, + prn: int, + *, + store: NavigationStore | None = None, + minimum_symbol_confidence: float = 0.1, + maximum_sync_errors: int = 0, + page_sync_confirmations: int = 2, + viterbi_traceback_depth: int = 35, + ) -> None: + self.prn = int(prn) + self.symbol_sync = E1BSymbolSynchronizer(8, minimum_symbol_confidence) + self.page_sync = InavPageSynchronizer(maximum_sync_errors, page_sync_confirmations) + self.page_decoder = InavPageDecoder(soft_decision=True, traceback_depth=viterbi_traceback_depth) + self.word_parser = InavWordParser() + self.store = store or NavigationStore() + + def process(self, epochs: list[E1BPromptEpoch]) -> NavigationPipelineResult: + for epoch in epochs: + if epoch.prn != self.prn: + raise ValueError("pipeline received a prompt from a different PRN") + self.store.update_prompt(epoch) + symbols = self.symbol_sync.process_many(epochs) + parts = self.page_sync.process_many(symbols) + self.store.update_synchronizers( + self.prn, + symbol_count=len(symbols), + symbol_locked=self.symbol_sync.axis_epochs >= self.symbol_sync.minimum_axis_epochs, + symbol_loss_count=self.symbol_sync.loss_count, + page_part_count=len(parts), + page_locked=self.page_sync.locked, + page_confidence=float(self.page_sync.sync_confidence), + page_failures=self.page_sync.total_failures, + ) + pages = self.page_decoder.process_many(parts) + words: list[ParsedInavWord] = [] + for page in pages: + self.store.update_page(page) + if not page.crc_valid or page.word_type not in range(1, 7): + continue + word = self.word_parser.parse(page) + self.store.update_word(word) + words.append(word) + return NavigationPipelineResult(symbols, parts, pages, words) diff --git a/src/galileo_rx/navigation/inav_word_parser.py b/src/galileo_rx/navigation/inav_word_parser.py new file mode 100644 index 0000000..e283eb5 --- /dev/null +++ b/src/galileo_rx/navigation/inav_word_parser.py @@ -0,0 +1,233 @@ +"""Typed Galileo I/NAV word parsers based on OS SIS ICD 2.2 Tables 42-47.""" + +from __future__ import annotations + +from dataclasses import dataclass +from math import pi +from typing import TypeAlias + +import numpy as np + +from .inav_page_decoder import InavPage + + +def _uint(bits: np.ndarray, start: int, width: int) -> int: + value = 0 + for bit in bits[start : start + width]: + value = (value << 1) | int(bit) + return value + + +def _sint(bits: np.ndarray, start: int, width: int) -> int: + value = _uint(bits, start, width) + return value - (1 << width) if value & (1 << (width - 1)) else value + + +@dataclass(frozen=True, slots=True) +class EphemerisWord1: + iod_nav: int + toe_raw: int + toe_s: float + mean_anomaly_raw: int + mean_anomaly_rad: float + eccentricity_raw: int + eccentricity: float + sqrt_a_raw: int + sqrt_a: float + + +@dataclass(frozen=True, slots=True) +class EphemerisWord2: + iod_nav: int + omega0_raw: int + omega0_rad: float + inclination_raw: int + inclination_rad: float + argument_of_perigee_raw: int + argument_of_perigee_rad: float + inclination_rate_raw: int + inclination_rate_rad_s: float + + +@dataclass(frozen=True, slots=True) +class EphemerisWord3: + iod_nav: int + omega_dot_raw: int + omega_dot_rad_s: float + delta_n_raw: int + delta_n_rad_s: float + cuc_raw: int + cuc_rad: float + cus_raw: int + cus_rad: float + crc_raw: int + crc_m: float + crs_raw: int + crs_m: float + sisa_index: int + + +@dataclass(frozen=True, slots=True) +class EphemerisClockWord4: + iod_nav: int + svid: int + cic_raw: int + cic_rad: float + cis_raw: int + cis_rad: float + toc_raw: int + toc_s: float + clock_bias_raw: int + clock_bias_s: float + clock_drift_raw: int + clock_drift_s_per_s: float + clock_drift_rate_raw: int + clock_drift_rate_s_per_s2: float + + +@dataclass(frozen=True, slots=True) +class IonosphereHealthTimeWord5: + ai0_raw: int + ai0_sfu: float + ai1_raw: int + ai1_sfu_per_degree: float + ai2_raw: int + ai2_sfu_per_degree2: float + disturbance_flags: tuple[bool, bool, bool, bool, bool] + bgd_e1_e5a_raw: int + bgd_e1_e5a_s: float + bgd_e1_e5b_raw: int + bgd_e1_e5b_s: float + e5b_health: int + e1b_health: int + e5b_data_validity_status: int + e1b_data_validity_status: int + week_number: int + time_of_week_s: int + + +@dataclass(frozen=True, slots=True) +class GstUtcWord6: + a0_raw: int + a0_s: float + a1_raw: int + a1_s_per_s: float + delta_tls_s: int + reference_time_s: int + reference_week_mod256: int + leap_week_mod256: int + leap_day: int + future_delta_tls_s: int + time_of_week_s: int + + +CriticalInavPayload: TypeAlias = ( + EphemerisWord1 + | EphemerisWord2 + | EphemerisWord3 + | EphemerisClockWord4 + | IonosphereHealthTimeWord5 + | GstUtcWord6 +) + + +@dataclass(frozen=True, slots=True) +class ParsedInavWord: + prn: int + word_type: int + receive_sample_timestamp: int + iod_nav: int | None + payload: CriticalInavPayload + raw_bits: list[int] + crc_valid: bool + health_valid: bool + + +class InavWordParser: + """Parse the critical word types needed before a future PVT stage.""" + + def parse(self, page: InavPage) -> ParsedInavWord: + if not page.crc_valid: + raise ValueError("CRC-invalid pages cannot update parsed navigation data") + bits = np.asarray(page.word_bits, dtype=np.int8) + if bits.size != 128 or not np.all((bits == 0) | (bits == 1)): + raise ValueError("I/NAV nominal word must contain 128 bits") + word_type = _uint(bits, 0, 6) + payload: CriticalInavPayload + iod_nav: int | None = None + health_valid = True + if word_type == 1: + iod_nav = _uint(bits, 6, 10) + m0 = _sint(bits, 30, 32) + payload = EphemerisWord1( + iod_nav, _uint(bits, 16, 14), float(np.float64(_uint(bits, 16, 14) * 60.0)), + m0, float(np.float64(m0 * 2.0**-31 * pi)), + _uint(bits, 62, 32), float(np.float64(_uint(bits, 62, 32) * 2.0**-33)), + _uint(bits, 94, 32), float(np.float64(_uint(bits, 94, 32) * 2.0**-19)), + ) + elif word_type == 2: + iod_nav = _uint(bits, 6, 10) + omega0, inclination, perigee, rate = ( + _sint(bits, 16, 32), _sint(bits, 48, 32), _sint(bits, 80, 32), _sint(bits, 112, 14) + ) + payload = EphemerisWord2( + iod_nav, omega0, float(np.float64(omega0 * 2.0**-31 * pi)), + inclination, float(np.float64(inclination * 2.0**-31 * pi)), + perigee, float(np.float64(perigee * 2.0**-31 * pi)), + rate, float(np.float64(rate * 2.0**-43 * pi)), + ) + elif word_type == 3: + iod_nav = _uint(bits, 6, 10) + odot, dn = _sint(bits, 16, 24), _sint(bits, 40, 16) + cuc, cus, crc_value, crs = ( + _sint(bits, 56, 16), _sint(bits, 72, 16), _sint(bits, 88, 16), _sint(bits, 104, 16) + ) + payload = EphemerisWord3( + iod_nav, odot, float(np.float64(odot * 2.0**-43 * pi)), + dn, float(np.float64(dn * 2.0**-43 * pi)), + cuc, float(np.float64(cuc * 2.0**-29)), cus, float(np.float64(cus * 2.0**-29)), + crc_value, float(np.float64(crc_value * 2.0**-5)), crs, float(np.float64(crs * 2.0**-5)), + _uint(bits, 120, 8), + ) + elif word_type == 4: + iod_nav = _uint(bits, 6, 10) + cic, cis = _sint(bits, 22, 16), _sint(bits, 38, 16) + af0, af1, af2 = _sint(bits, 68, 31), _sint(bits, 99, 21), _sint(bits, 120, 6) + payload = EphemerisClockWord4( + iod_nav, _uint(bits, 16, 6), cic, float(np.float64(cic * 2.0**-29)), + cis, float(np.float64(cis * 2.0**-29)), _uint(bits, 54, 14), + float(np.float64(_uint(bits, 54, 14) * 60.0)), af0, float(np.float64(af0 * 2.0**-34)), + af1, float(np.float64(af1 * 2.0**-46)), af2, float(np.float64(af2 * 2.0**-59)), + ) + elif word_type == 5: + ai0, ai1, ai2 = _uint(bits, 6, 11), _sint(bits, 17, 11), _sint(bits, 28, 14) + bgd_a, bgd_b = _sint(bits, 47, 10), _sint(bits, 57, 10) + e1b_health, e1b_dvs = _uint(bits, 69, 2), _uint(bits, 72, 1) + health_valid = e1b_health == 0 and e1b_dvs == 0 + payload = IonosphereHealthTimeWord5( + ai0, float(np.float64(ai0 * 2.0**-2)), ai1, float(np.float64(ai1 * 2.0**-8)), + ai2, float(np.float64(ai2 * 2.0**-15)), + tuple(bool(_uint(bits, 42 + index, 1)) for index in range(5)), + bgd_a, float(np.float64(bgd_a * 2.0**-32)), bgd_b, float(np.float64(bgd_b * 2.0**-32)), + _uint(bits, 67, 2), e1b_health, _uint(bits, 71, 1), e1b_dvs, + _uint(bits, 73, 12), _uint(bits, 85, 20), + ) + elif word_type == 6: + a0, a1 = _sint(bits, 6, 32), _sint(bits, 38, 24) + payload = GstUtcWord6( + a0, float(np.float64(a0 * 2.0**-30)), a1, float(np.float64(a1 * 2.0**-50)), + _sint(bits, 62, 8), _uint(bits, 70, 8) * 3600, _uint(bits, 78, 8), + _uint(bits, 86, 8), _uint(bits, 94, 3), _sint(bits, 97, 8), _uint(bits, 105, 20), + ) + else: + raise NotImplementedError(f"I/NAV word type {word_type} is not a critical pre-PVT word") + return ParsedInavWord( + prn=page.prn, + word_type=word_type, + receive_sample_timestamp=page.receive_sample_timestamp, + iod_nav=iod_nav, + payload=payload, + raw_bits=bits.astype(int).tolist(), + crc_valid=True, + health_valid=health_valid, + ) diff --git a/src/galileo_rx/navigation/navigation_store.py b/src/galileo_rx/navigation/navigation_store.py new file mode 100644 index 0000000..29b5493 --- /dev/null +++ b/src/galileo_rx/navigation/navigation_store.py @@ -0,0 +1,135 @@ +"""Per-PRN navigation decoder state and pre-PVT readiness queries.""" + +from __future__ import annotations + +from dataclasses import dataclass, field + +from .e1b_prompt_stream import E1BPromptEpoch +from .galileo_time import GalileoSystemTime, GalileoTimeRecovery +from .inav_ephemeris_assembler import GalileoEphemeris, InavEphemerisAssembler +from .inav_page_decoder import InavPage +from .inav_word_parser import EphemerisClockWord4, ParsedInavWord + + +@dataclass(slots=True) +class DecoderStatus: + prompt_epochs: int = 0 + symbols: int = 0 + synchronized_page_parts: int = 0 + pages: int = 0 + crc_passes: int = 0 + crc_failures: int = 0 + fec_failures: int = 0 + cycle_slips: int = 0 + sample_discontinuities: int = 0 + word_types: set[int] = field(default_factory=set) + symbol_sync_locked: bool = False + symbol_sync_losses: int = 0 + page_sync_locked: bool = False + page_sync_confidence: float = 0.0 + page_sync_failures: int = 0 + + +@dataclass(slots=True) +class _SatelliteNavigation: + assembler: InavEphemerisAssembler + status: DecoderStatus = field(default_factory=DecoderStatus) + last_prompt: E1BPromptEpoch | None = None + last_valid_page: InavPage | None = None + page_history: list[InavPage] = field(default_factory=list) + word_history: list[ParsedInavWord] = field(default_factory=list) + + +class NavigationStore: + def __init__(self) -> None: + self._satellites: dict[int, _SatelliteNavigation] = {} + self.time_recovery = GalileoTimeRecovery() + + def _state(self, prn: int) -> _SatelliteNavigation: + if prn <= 0: + raise ValueError("PRN must be positive") + return self._satellites.setdefault(prn, _SatelliteNavigation(InavEphemerisAssembler(prn))) + + def update_prompt(self, epoch: E1BPromptEpoch) -> None: + state = self._state(epoch.prn) + state.last_prompt = epoch + state.status.prompt_epochs += 1 + state.status.cycle_slips += int(epoch.cycle_slip) + state.status.sample_discontinuities += int(epoch.sample_discontinuity) + + def update_page(self, page: InavPage) -> None: + state = self._state(page.prn) + state.page_history.append(page) + state.status.pages += 1 + state.status.fec_failures += int(not page.fec_valid) + if page.crc_valid: + state.status.crc_passes += 1 + state.last_valid_page = page + else: + state.status.crc_failures += 1 + + def update_synchronizers( + self, + prn: int, + *, + symbol_count: int, + symbol_locked: bool, + symbol_loss_count: int, + page_part_count: int, + page_locked: bool, + page_confidence: float, + page_failures: int, + ) -> None: + state = self._state(prn) + state.status.symbols += int(symbol_count) + state.status.synchronized_page_parts += int(page_part_count) + state.status.symbol_sync_locked = bool(symbol_locked) + state.status.symbol_sync_losses = int(symbol_loss_count) + state.status.page_sync_locked = bool(page_locked) + state.status.page_sync_confidence = float(page_confidence) + state.status.page_sync_failures = int(page_failures) + + def update_word(self, word: ParsedInavWord) -> GalileoEphemeris | None: + state = self._state(word.prn) + state.word_history.append(word) + state.status.word_types.add(word.word_type) + ephemeris = state.assembler.update(word) + self.time_recovery.update(word) + return ephemeris + + def has_complete_ephemeris(self, prn: int) -> bool: + return self._state(prn).assembler.current is not None + + def get_ephemeris(self, prn: int) -> GalileoEphemeris | None: + return self._state(prn).assembler.current + + def get_clock_parameters(self, prn: int) -> EphemerisClockWord4 | None: + for word in reversed(self._state(prn).word_history): + if isinstance(word.payload, EphemerisClockWord4): + return word.payload + return None + + def get_time_solution(self) -> GalileoSystemTime | None: + return self.time_recovery.current + + def get_decoder_status(self, prn: int) -> DecoderStatus: + return self._state(prn).status + + def get_missing_ephemeris_words(self, prn: int) -> set[int]: + return self._state(prn).assembler.missing_word_types() + + def navigation_ready( + self, + minimum_satellites: int = 4, + require_time: bool = True, + require_healthy: bool = True, + ) -> bool: + usable = 0 + for state in self._satellites.values(): + ephemeris = state.assembler.current + if ephemeris is None: + continue + if require_healthy and not (ephemeris.health_valid and ephemeris.data_valid): + continue + usable += 1 + return usable >= minimum_satellites and (not require_time or self.time_recovery.current is not None) diff --git a/src/galileo_rx/tracking/lock_detector.py b/src/galileo_rx/tracking/lock_detector.py index fb1c885..c82b0e8 100644 --- a/src/galileo_rx/tracking/lock_detector.py +++ b/src/galileo_rx/tracking/lock_detector.py @@ -19,8 +19,9 @@ class LockStatus: class LockDetector: - def __init__(self, failure_limit: int = 10) -> None: + def __init__(self, failure_limit: int = 10, *, data_sign_insensitive: bool = False) -> None: self.failure_limit = failure_limit + self.data_sign_insensitive = data_sign_insensitive self.failures = 0 self.previous_phase: float | None = None @@ -29,11 +30,18 @@ class LockDetector: carrier_metric = float(abs(correlators.prompt.real) / max(abs(correlators.prompt), np.finfo(float).tiny)) code_metric = float(prompt_power / max(0.5 * (abs(correlators.early) ** 2 + abs(correlators.late) ** 2), np.finfo(float).tiny)) phase = float(np.angle(correlators.prompt)) - cycle_slip = self.previous_phase is not None and abs(float(np.angle(np.exp(1j * (phase - self.previous_phase))))) > 0.9 * np.pi + phase_delta = float(np.angle(np.exp(1j * (phase - self.previous_phase)))) if self.previous_phase is not None else 0.0 + slip_threshold_rad = 0.9 * np.pi + if self.data_sign_insensitive: + # A legitimate BPSK navigation-symbol transition is a pi phase + # reversal, not a carrier cycle slip. Doubling phase removes that + # ambiguity before applying the slip detector. + phase_delta = 0.5 * float(np.angle(np.exp(2j * phase_delta))) + slip_threshold_rad = 0.45 * np.pi + cycle_slip = self.previous_phase is not None and abs(phase_delta) > slip_threshold_rad self.previous_phase = phase locked = carrier_metric > 0.55 and code_metric > 0.5 self.failures = 0 if locked else self.failures + 1 vevl = max(abs(correlators.very_early), abs(correlators.very_late)) side_peak = vevl > 1.25 * max(abs(correlators.prompt), np.finfo(float).tiny) return LockStatus(carrier_metric, code_metric, locked, cycle_slip, side_peak) - diff --git a/src/galileo_rx/tracking/tracking_channel.py b/src/galileo_rx/tracking/tracking_channel.py index 5f3c03c..d46a815 100644 --- a/src/galileo_rx/tracking/tracking_channel.py +++ b/src/galileo_rx/tracking/tracking_channel.py @@ -65,7 +65,10 @@ class TrackingChannel: self.pll_filter = ThirdOrderLoopFilter(config.pll_noise_bandwidth_hz, config.damping_ratio) if config.pll_order == 3 else SecondOrderLoopFilter(config.pll_noise_bandwidth_hz, config.damping_ratio) self.dll_filter = SecondOrderLoopFilter(config.dll_noise_bandwidth_hz, config.damping_ratio) self.fll_filter = FirstOrderFllFilter(config.fll_noise_bandwidth_hz) - self.lock_detector = LockDetector(config.loss_of_lock_epochs) + self.lock_detector = LockDetector( + config.loss_of_lock_epochs, + data_sign_insensitive=self.component_spec.channel_type == "data", + ) self.cn0_estimator = Cn0Estimator( config.integration_ms * 1e-3, data_sign_insensitive=self.component_spec.channel_type == "data", @@ -87,6 +90,7 @@ class TrackingChannel: if secondary_code_phase_at_start is not None else int(np.floor(start_sample_index / (self.component_spec.primary_code_period_s * sampling_frequency_hz))) ) + self.next_sample_timestamp = int(start_sample_index) def _secondary_sign(self) -> int: if self.component_spec.channel_type != "pilot" or self.config.secondary_code_mode == "none": @@ -141,6 +145,8 @@ class TrackingChannel: self.state = TrackingState.REACQUISITION elif cn0 is not None and cn0 < self.config.weak_signal_cn0_db_hz: self.state = TrackingState.WEAK_SIGNAL + start_sample_timestamp = self.next_sample_timestamp + end_sample_timestamp = start_sample_timestamp + self.integration_samples measurement = TrackingMeasurement( epoch=self.epoch, time_s=(self.epoch + 1) * dt_s, @@ -162,9 +168,17 @@ class TrackingChannel: cycle_slip=lock.cycle_slip, side_peak_suspected=lock.side_peak_suspected, reacquisition_requested=reacquire, + start_sample_timestamp=start_sample_timestamp, + end_sample_timestamp=end_sample_timestamp, + carrier_phase_cycles=self.carrier_nco.phase_rad / (2.0 * np.pi), + carrier_lock=lock.carrier_metric > 0.55, + code_lock=lock.code_metric > 0.5, + sample_discontinuity=False, + valid=not reacquire, ) self.previous_prompt = correlators.prompt self.measurements.append(measurement) + self.next_sample_timestamp = end_sample_timestamp self.epoch += 1 return measurement diff --git a/src/galileo_rx/types.py b/src/galileo_rx/types.py index c16297e..1fd3d25 100644 --- a/src/galileo_rx/types.py +++ b/src/galileo_rx/types.py @@ -76,6 +76,13 @@ class TrackingMeasurement: cycle_slip: bool = False side_peak_suspected: bool = False reacquisition_requested: bool = False + start_sample_timestamp: int = 0 + end_sample_timestamp: int = 0 + carrier_phase_cycles: float = 0.0 + carrier_lock: bool = False + code_lock: bool = False + sample_discontinuity: bool = False + valid: bool = True @dataclass(slots=True) @@ -99,4 +106,3 @@ class GenerationTruth: start_sample: int sample_count: int satellites: list[SatelliteTruth] - diff --git a/src/galileo_rx/verification/inav_truth.py b/src/galileo_rx/verification/inav_truth.py new file mode 100644 index 0000000..e53a89e --- /dev/null +++ b/src/galileo_rx/verification/inav_truth.py @@ -0,0 +1,234 @@ +"""Post-decode comparison with SignalSim's RINEX source (never decoder input).""" + +from __future__ import annotations + +from dataclasses import dataclass +from datetime import datetime, timezone +import json +from math import pi +from pathlib import Path +import re +from typing import Any + + +_FLOAT = re.compile(r"[ +-]\d\.\d+[DE][+-]\d+") + + +@dataclass(frozen=True, slots=True) +class RinexGalileoEphemeris: + prn: int + epoch: str + iod_nav: int + toe_s: float + toc_s: float + mean_anomaly_rad: float + delta_n_rad_s: float + eccentricity: float + sqrt_a: float + omega0_rad: float + inclination_rad: float + argument_of_perigee_rad: float + omega_dot_rad_s: float + inclination_rate_rad_s: float + cuc_rad: float + cus_rad: float + crc_m: float + crs_m: float + cic_rad: float + cis_rad: float + clock_bias_s: float + clock_drift_s_per_s: float + clock_drift_rate_s_per_s2: float + health: int + data_source: int + + +def _numbers(line: str) -> list[float]: + return [float(item.replace("D", "E")) for item in _FLOAT.findall(line)] + + +def load_galileo_rinex(path: str | Path) -> list[RinexGalileoEphemeris]: + lines = Path(path).read_text(encoding="ascii", errors="strict").splitlines() + index = next(i for i, line in enumerate(lines) if "END OF HEADER" in line) + 1 + records: list[RinexGalileoEphemeris] = [] + while index < len(lines): + header = lines[index] + if not header.startswith("E") or index + 7 >= len(lines): + index += 1 + continue + clock = _numbers(header[22:]) + continuation = [_numbers(lines[index + offset]) for offset in range(1, 8)] + index += 8 + if ( + len(clock) != 3 + or any(len(row) < 4 for row in continuation[:4]) + or len(continuation[4]) < 3 + or len(continuation[5]) < 4 + or not continuation[6] + ): + continue + line1, line2, line3, line4, line5, line6, _line7 = continuation + records.append( + RinexGalileoEphemeris( + prn=int(header[1:3]), epoch=header[4:23].strip(), iod_nav=int(round(line1[0])), + toe_s=line3[0], toc_s=line3[0], mean_anomaly_rad=line1[3], delta_n_rad_s=line1[2], + eccentricity=line2[1], sqrt_a=line2[3], omega0_rad=line3[2], inclination_rad=line4[0], + argument_of_perigee_rad=line4[2], omega_dot_rad_s=line4[3], inclination_rate_rad_s=line5[0], + cuc_rad=line2[0], cus_rad=line2[2], crc_m=line4[1], crs_m=line1[1], cic_rad=line3[1], cis_rad=line3[3], + clock_bias_s=clock[0], clock_drift_s_per_s=clock[1], clock_drift_rate_s_per_s2=clock[2], + health=int(round(line6[1])), data_source=int(round(line5[1])), + ) + ) + return records + + +_STEPS = { + "toe_s": 60.0, "toc_s": 60.0, + "mean_anomaly_rad": pi * 2.0**-31, "eccentricity": 2.0**-33, "sqrt_a": 2.0**-19, + "omega0_rad": pi * 2.0**-31, "inclination_rad": pi * 2.0**-31, + "argument_of_perigee_rad": pi * 2.0**-31, "inclination_rate_rad_s": pi * 2.0**-43, + "omega_dot_rad_s": pi * 2.0**-43, "delta_n_rad_s": pi * 2.0**-43, + "cuc_rad": 2.0**-29, "cus_rad": 2.0**-29, "crc_m": 2.0**-5, "crs_m": 2.0**-5, + "cic_rad": 2.0**-29, "cis_rad": 2.0**-29, + "clock_bias_s": 2.0**-34, "clock_drift_s_per_s": 2.0**-46, + "clock_drift_rate_s_per_s2": 2.0**-59, +} + + +def compare_navigation_truth( + artifact_root: str | Path, + rinex_path: str | Path, + output_root: str | Path, + *, + collection_report_path: str | Path | None = None, + signalsim_config_path: str | Path | None = None, +) -> tuple[dict[str, Any], bool]: + """Compare only after artifact decoding has completed.""" + artifacts = Path(artifact_root) + records = load_galileo_rinex(rinex_path) + comparisons: dict[int, Any] = {} + overall = True + for ephemeris_path in sorted(artifacts.glob("prn_*/ephemeris.json")): + decoded = json.loads(ephemeris_path.read_text(encoding="utf-8")) + prn, iod, toe = int(decoded["prn"]), int(decoded["iod_nav"]), float(decoded["toe_s"]) + # SignalSim's FindEphemeris defaults to I/NAV source (data-source bit + # 1 clear), minimum |toe-current time|, and the last record on ties. + candidates = [ + item for item in records + if item.prn == prn and item.iod_nav == iod and item.toe_s == toe and not (item.data_source & 0x2) + ] + if not candidates: + comparisons[prn] = {"pass": False, "error": "no matching I/NAV RINEX record"} + overall = False + continue + truth = candidates[-1] + fields: dict[str, Any] = {} + for field, step in _STEPS.items(): + decoded_value = float(decoded[field]) + truth_value = float(getattr(truth, field)) + error = abs(decoded_value - truth_value) + passed = error <= 0.500001 * step + fields[field] = { + "decoded_raw_integer": int(round(decoded_value / step)), + "decoded_scaled_value": decoded_value, + "simulator_truth_value": truth_value, + "absolute_error": error, + "expected_quantization_step": step, + "pass": passed, + } + overall &= passed + iod_pass = iod == truth.iod_nav + fields["iod_nav"] = { + "decoded_raw_integer": iod, "decoded_scaled_value": iod, + "simulator_truth_value": truth.iod_nav, "absolute_error": abs(iod - truth.iod_nav), + "expected_quantization_step": 1, "pass": iod_pass, + } + health_pass = bool(decoded["health_valid"] and decoded["data_valid"] and truth.health == 0) + fields["health"] = { + "decoded_raw_integer": 0 if decoded["health_valid"] else 1, + "decoded_scaled_value": bool(decoded["health_valid"]), + "simulator_truth_value": truth.health, + "absolute_error": 0 if health_pass else 1, + "expected_quantization_step": 1, + "pass": health_pass, + } + sat_pass = all(item["pass"] for item in fields.values()) + overall &= sat_pass + comparisons[prn] = {"rinex_epoch": truth.epoch, "fields": fields, "pass": sat_pass} + time_comparison: dict[str, Any] | None = None + if collection_report_path is not None and signalsim_config_path is not None: + collection = json.loads(Path(collection_report_path).read_text(encoding="utf-8")) + simulator_cfg = json.loads(Path(signalsim_config_path).read_text(encoding="utf-8")) + decoded_time = collection.get("galileo_time") + if decoded_time is not None: + start = simulator_cfg["time"] + start_utc = datetime( + int(start["year"]), int(start["month"]), int(start["day"]), + int(start["hour"]), int(start["minute"]), int(start["second"]), + tzinfo=timezone.utc, + ) + leap_seconds = _rinex_leap_seconds(rinex_path) + gps_epoch = datetime(1980, 1, 6, tzinfo=timezone.utc) + gps_total_s = (start_utc - gps_epoch).total_seconds() + leap_seconds + gps_week = int(gps_total_s // 604800.0) + page_offset_s = ( + int(decoded_time["page_start_sample_timestamp"]) + / float(collection["sampling_frequency_hz"]) + ) + expected_week = gps_week - 1024 + expected_tow_s = int((gps_total_s % 604800.0) + page_offset_s) + week_error = abs(int(decoded_time["week_number"]) - expected_week) + tow_error_s = abs(int(decoded_time["time_of_week_s"]) - expected_tow_s) + # The broadcast field is integral seconds; an unmodelled signal + # propagation delay can move a boundary comparison by one second. + time_pass = week_error == 0 and tow_error_s <= 1 + time_comparison = { + "decoded_week_number": int(decoded_time["week_number"]), + "simulator_truth_week_number": expected_week, + "week_absolute_error": week_error, + "decoded_time_of_week_s": int(decoded_time["time_of_week_s"]), + "simulator_truth_time_of_week_s": expected_tow_s, + "time_of_week_absolute_error_s": tow_error_s, + "expected_quantization_step_s": 1, + "leap_seconds_from_rinex": leap_seconds, + "pass": time_pass, + } + overall &= time_pass + report = { + "comparison_stage": "post_decode_only", + "truth_injected_into_decoder": False, + "rinex_source": str(Path(rinex_path).resolve()), + "satellites": comparisons, + "galileo_time": time_comparison, + "overall_pass": overall and len(comparisons) >= 4, + } + output = Path(output_root) + output.mkdir(parents=True, exist_ok=True) + (output / "inav_truth_comparison.json").write_text(json.dumps(report, indent=2) + "\n", encoding="utf-8") + markdown = [ + "# I/NAV decoded-field truth comparison", "", + "Truth was applied only after standalone RF-to-page decoding and ephemeris assembly.", "", + "| PRN | RINEX epoch | Fields | Result |", "| --: | --- | --: | ---: |", + ] + for prn, item in comparisons.items(): + markdown.append(f"| {prn} | {item.get('rinex_epoch', 'N/A')} | {len(item.get('fields', {}))} | {'PASS' if item['pass'] else 'FAIL'} |") + if time_comparison is not None: + markdown.extend([ + "", "## Galileo system time", "", + f"Decoded GST week/TOW: {time_comparison['decoded_week_number']}/" + f"{time_comparison['decoded_time_of_week_s']} s; independently expected " + f"{time_comparison['simulator_truth_week_number']}/" + f"{time_comparison['simulator_truth_time_of_week_s']} s. " + f"Result: **{'PASS' if time_comparison['pass'] else 'FAIL'}**.", + ]) + (output / "inav_truth_comparison.md").write_text("\n".join(markdown) + "\n", encoding="utf-8") + return report, bool(report["overall_pass"]) + + +def _rinex_leap_seconds(path: str | Path) -> int: + for line in Path(path).read_text(encoding="ascii", errors="strict").splitlines(): + if "LEAP SECONDS" in line: + return int(line[:6]) + if "END OF HEADER" in line: + break + raise ValueError("RINEX header has no LEAP SECONDS record") diff --git a/src/galileo_rx/verification/signalsim_validation.py b/src/galileo_rx/verification/signalsim_validation.py index b4008ae..939eb85 100644 --- a/src/galileo_rx/verification/signalsim_validation.py +++ b/src/galileo_rx/verification/signalsim_validation.py @@ -543,13 +543,16 @@ def validate_signalsim(source_path: str | Path, config_path: str | Path, output_ "SignalSim E1 uses BOC(1,1), not full CBOC", "SignalSim has no native real-IF output", "SignalSim IQ2 writer omits the output-byte assignment at this commit", - "Full I/NAV receiver-side FEC/page/CRC decoding is not implemented", + "Quick validation stops at raw E1B symbols; use collect-navigation for full I/NAV decoding", "SignalSim does not emit exact sample-side code-delay or navigation-symbol truth", ], } (out / "signalsim_validation_report.json").write_text(json.dumps(report, indent=2, default=str) + "\n", encoding="utf-8") (out / "signalsim_e1b_symbol_comparison.json").write_text(json.dumps(symbol_report, indent=2) + "\n", encoding="utf-8") - reports_root = project_root / "reports" + project_reports = (project_root / "reports").resolve() + # Test callers normally select a temporary output directory. Keep every + # generated artifact there instead of mutating checked-in baseline reports. + reports_root = project_reports if out.is_relative_to(project_reports) else out reports_root.mkdir(parents=True, exist_ok=True) acquisition_report = { "simulator": report["simulator"], diff --git a/tests/__init__.py b/tests/__init__.py new file mode 100644 index 0000000..b22d78e --- /dev/null +++ b/tests/__init__.py @@ -0,0 +1 @@ +"""Galileo receiver test package.""" diff --git a/tests/integration/test_multisat_navigation_collection.py b/tests/integration/test_multisat_navigation_collection.py new file mode 100644 index 0000000..67e5b77 --- /dev/null +++ b/tests/integration/test_multisat_navigation_collection.py @@ -0,0 +1,22 @@ +from __future__ import annotations + +import json +from pathlib import Path + +import pytest + + +@pytest.mark.signalsim +def test_four_satellites_are_navigation_ready_without_truth_inputs() -> None: + path = Path("reports/navigation_run/inav_collection_report.json") + if not path.is_file(): + pytest.skip("SignalSim multi-satellite navigation collection report is unavailable") + report = json.loads(path.read_text(encoding="utf-8")) + assert report["decoder_truth_inputs"] == [] + ready = [ + item for item in report["satellites"].values() + if item["complete_ephemeris"] and item["clock_parameters"] and item["health_valid"] and item["data_valid"] + ] + assert len(ready) >= 4 + assert report["galileo_time"]["valid"] is True + assert report["navigation_ready"] is True diff --git a/tests/integration/test_signalsim_inav_ephemeris.py b/tests/integration/test_signalsim_inav_ephemeris.py new file mode 100644 index 0000000..1bbc4c2 --- /dev/null +++ b/tests/integration/test_signalsim_inav_ephemeris.py @@ -0,0 +1,20 @@ +from __future__ import annotations + +import json +from pathlib import Path + +import pytest + + +@pytest.mark.signalsim +def test_signalsim_decoded_ephemerides_match_rinex_truth_within_quantization() -> None: + path = Path("reports/inav_truth_comparison.json") + if not path.is_file(): + pytest.skip("post-decode SignalSim truth-comparison report is unavailable") + report = json.loads(path.read_text(encoding="utf-8")) + assert report["truth_injected_into_decoder"] is False + assert report["overall_pass"] is True + assert len(report["satellites"]) >= 4 + assert all(item["pass"] for item in report["satellites"].values()) + assert report["galileo_time"]["pass"] is True + assert report["galileo_time"]["time_of_week_absolute_error_s"] <= 1 diff --git a/tests/integration/test_signalsim_inav_pages.py b/tests/integration/test_signalsim_inav_pages.py new file mode 100644 index 0000000..be2d656 --- /dev/null +++ b/tests/integration/test_signalsim_inav_pages.py @@ -0,0 +1,19 @@ +from __future__ import annotations + +from pathlib import Path + +import pytest + +from galileo_rx.navigation.decoder_diagnostics import load_prompt_epochs +from galileo_rx.navigation.inav_pipeline import InavNavigationPipeline + + +@pytest.mark.signalsim +def test_signalsim_prompts_produce_crc_valid_inav_pages() -> None: + path = Path("verification/navigation/signalsim_navigation_multisat/prn_01/prompt_epochs.npz") + if not path.is_file(): + pytest.skip("SignalSim navigation prompt artifact is unavailable; run collect-navigation first") + decoded = InavNavigationPipeline(1).process(load_prompt_epochs(path, 1)) + assert len(decoded.pages) == 15 + assert all(page.sync_valid and page.fec_valid and page.crc_valid for page in decoded.pages) + assert {word.word_type for word in decoded.words} == {1, 2, 3, 4, 5, 6} diff --git a/tests/integration/test_signalsim_inav_symbols.py b/tests/integration/test_signalsim_inav_symbols.py new file mode 100644 index 0000000..5e5c2ac --- /dev/null +++ b/tests/integration/test_signalsim_inav_symbols.py @@ -0,0 +1,23 @@ +from __future__ import annotations + +from pathlib import Path + +import numpy as np +import pytest + +from galileo_rx.navigation.decoder_diagnostics import load_prompt_epochs +from galileo_rx.navigation.e1b_symbol_sync import E1BSymbolSynchronizer + + +@pytest.mark.signalsim +def test_signalsim_prompt_artifact_recovers_soft_and_hard_symbols() -> None: + path = Path("verification/navigation/signalsim_navigation_multisat/prn_01/prompt_epochs.npz") + if not path.is_file(): + pytest.skip("SignalSim navigation prompt artifact is unavailable; run collect-navigation first") + prompts = load_prompt_epochs(path, 1) + symbols = E1BSymbolSynchronizer(8, 0.1).process_many(prompts) + soft = np.asarray([item.soft_value for item in symbols], dtype=np.float64) + assert soft.dtype == np.float64 + assert len(symbols) == 8044 + assert np.count_nonzero([item.valid for item in symbols]) > 7500 + assert {item.hard_value for item in symbols} == {0, 1} diff --git a/tests/navigation/__init__.py b/tests/navigation/__init__.py new file mode 100644 index 0000000..6173ba7 --- /dev/null +++ b/tests/navigation/__init__.py @@ -0,0 +1 @@ +"""Navigation decoder tests.""" diff --git a/tests/navigation/test_crc.py b/tests/navigation/test_crc.py new file mode 100644 index 0000000..ce6c76a --- /dev/null +++ b/tests/navigation/test_crc.py @@ -0,0 +1,19 @@ +from __future__ import annotations + +import numpy as np + +from galileo_rx.navigation.inav_crc import crc24q, validate_crc24q + + +def test_crc24q_independent_check_value() -> None: + bits = np.unpackbits(np.frombuffer(b"123456789", dtype=np.uint8), bitorder="big") + assert crc24q(bits) == 0xCDE703 + + +def test_crc_rejects_one_bit_error() -> None: + protected = np.asarray([0, 1, 1, 0, 1] * 39 + [1], dtype=np.int8) + value = crc24q(protected) + crc_bits = np.asarray([(value >> shift) & 1 for shift in range(23, -1, -1)], dtype=np.int8) + assert validate_crc24q(protected, crc_bits) + protected[17] ^= 1 + assert not validate_crc24q(protected, crc_bits) diff --git a/tests/navigation/test_deinterleaver.py b/tests/navigation/test_deinterleaver.py new file mode 100644 index 0000000..359ed21 --- /dev/null +++ b/tests/navigation/test_deinterleaver.py @@ -0,0 +1,25 @@ +from __future__ import annotations + +import numpy as np + +from galileo_rx.navigation.inav_deinterleaver import deinterleave_inav + + +# Independent numerical example from OS SIS ICD 2.2 Annex D.2. +ENCODED = ( + "1000110000011010101010100111001100110001010110100110111101011001" + "0111100010010101010101011000110011001110101001011001000010100110" + "1000010000000010000000100001101110011001111010110101110000011000" + "101110111111110111111101111001000101001100100010" +) +INTERLEAVED = ( + "1010000001011111100011001111000001011110101000000001100111100011" + "1010100001010000010011110101011101111000100001101111101011100111" + "1001100000011111111000100000100111110110000010011100011101100000" + "100101110100100011000110110110010000011100111010" +) + + +def test_icd_annex_d2_deinterleaving_vector() -> None: + output = deinterleave_inav(np.fromiter(map(int, INTERLEAVED), dtype=np.int8)) + assert "".join(map(str, output)) == ENCODED diff --git a/tests/navigation/test_ephemeris_assembler.py b/tests/navigation/test_ephemeris_assembler.py new file mode 100644 index 0000000..41ba590 --- /dev/null +++ b/tests/navigation/test_ephemeris_assembler.py @@ -0,0 +1,60 @@ +from __future__ import annotations + +from galileo_rx.navigation.inav_ephemeris_assembler import InavEphemerisAssembler +from galileo_rx.navigation.inav_word_parser import ( + EphemerisClockWord4, EphemerisWord1, EphemerisWord2, EphemerisWord3, + IonosphereHealthTimeWord5, ParsedInavWord, +) + + +def _word(prn: int, kind: int, iod: int, timestamp: int) -> ParsedInavWord: + if kind == 1: + payload = EphemerisWord1(iod, 1, 60.0, 1, 0.1, 1, 0.01, 1, 5000.0) + elif kind == 2: + payload = EphemerisWord2(iod, 1, 0.2, 1, 0.3, 1, 0.4, 1, 0.01) + elif kind == 3: + payload = EphemerisWord3(iod, 1, 0.01, 1, 0.01, 1, 0.01, 1, 0.01, 1, 1.0, 1, 1.0, 10) + else: + payload = EphemerisClockWord4(iod, prn, 1, 0.01, 1, 0.01, 1, 60.0, 1, 0.1, 1, 0.01, 1, 0.001) + return ParsedInavWord(prn, kind, timestamp, iod, payload, [], True, True) + + +def _health(prn: int) -> ParsedInavWord: + payload = IonosphereHealthTimeWord5(0, 0.0, 0, 0.0, 0, 0.0, (False,) * 5, 0, 0.0, 0, 0.0, 0, 0, 0, 0, 10, 20) + return ParsedInavWord(prn, 5, 0, None, payload, [], True, True) + + +def test_assembler_rejects_mixed_iod_and_commits_atomically() -> None: + assembler = InavEphemerisAssembler(3) + assembler.update(_health(3)) + for kind in (1, 2, 3): + assert assembler.update(_word(3, kind, 5, kind)) is None + assert assembler.update(_word(3, 4, 6, 4)) is None + assert assembler.current is None + complete = assembler.update(_word(3, 4, 5, 5)) + assert complete is not None and complete.iod_nav == 5 + assert complete.health_valid and complete.data_valid + assert assembler.missing_word_types() == set() + + +def test_previous_ephemeris_survives_incomplete_update() -> None: + assembler = InavEphemerisAssembler(3) + assembler.update(_health(3)) + for kind in (1, 2, 3, 4): + assembler.update(_word(3, kind, 5, kind)) + current = assembler.current + assembler.update(_word(3, 1, 6, 10)) + assert assembler.current is current + + +def test_stale_partial_set_is_expired_without_replacing_valid_ephemeris() -> None: + assembler = InavEphemerisAssembler(3, max_partial_age_samples=10) + assembler.update(_health(3)) + for kind in (1, 2, 3, 4): + assembler.update(_word(3, kind, 5, kind)) + current = assembler.current + assembler.update(_word(3, 1, 6, 20)) + assembler.update(_word(3, 2, 7, 40)) + assert assembler.stale_partial_sets == 1 + assert assembler.current is current + assert assembler.missing_word_types() == set() diff --git a/tests/navigation/test_navigation_store.py b/tests/navigation/test_navigation_store.py new file mode 100644 index 0000000..ca8183f --- /dev/null +++ b/tests/navigation/test_navigation_store.py @@ -0,0 +1,17 @@ +from __future__ import annotations + +from galileo_rx.navigation.navigation_store import NavigationStore +from tests.navigation.test_ephemeris_assembler import _health, _word + + +def test_navigation_readiness_requires_four_complete_healthy_satellites() -> None: + store = NavigationStore() + for prn in range(1, 5): + store.update_word(_health(prn)) + for kind in (1, 2, 3, 4): + store.update_word(_word(prn, kind, prn, prn * 10 + kind)) + assert store.navigation_ready(minimum_satellites=4, require_time=True) + assert store.navigation_ready(minimum_satellites=4, require_time=False) + assert store.get_time_solution() is not None + assert store.has_complete_ephemeris(4) + assert store.get_clock_parameters(2) is not None diff --git a/tests/navigation/test_page_sync.py b/tests/navigation/test_page_sync.py new file mode 100644 index 0000000..30ccb75 --- /dev/null +++ b/tests/navigation/test_page_sync.py @@ -0,0 +1,54 @@ +from __future__ import annotations + +import numpy as np + +from galileo_rx.navigation.e1b_symbol_sync import NavigationSymbol +from galileo_rx.navigation.inav_page_sync import INAV_SYNC_BITS, InavPageSynchronizer + + +def _symbols(bits: np.ndarray, *, invert: bool = False, prefix: int = 17) -> list[NavigationSymbol]: + raw = np.concatenate((np.zeros(prefix, dtype=np.int8), bits)) + if invert: + raw = 1 - raw + return [NavigationSymbol(1, i, i * 4, (i + 1) * 4, 1.0 if bit else -1.0, int(bit), 1.0, False, True) for i, bit in enumerate(raw)] + + +def test_page_sync_rejects_wrong_boundary_and_requires_repetition() -> None: + rng = np.random.default_rng(4) + part = np.concatenate((INAV_SYNC_BITS, rng.integers(0, 2, 240, dtype=np.int8))) + stream = _symbols(np.tile(part, 3)) + sync = InavPageSynchronizer(required_confirmations=2) + first = sync.process_many(stream[:267]) + assert first == [] + output = sync.process_many(stream[267:]) + assert len(output) == 3 + assert all(item.sync_valid for item in output) + + +def test_page_sync_records_global_inversion() -> None: + body = np.zeros(240, dtype=np.int8) + parts = InavPageSynchronizer().process_many(_symbols(np.tile(np.concatenate((INAV_SYNC_BITS, body)), 3), invert=True)) + assert len(parts) == 3 + assert all(item.polarity_inverted for item in parts) + assert np.array_equal(parts[0].hard_symbols[:10], INAV_SYNC_BITS) + + +def test_page_sync_loses_and_reacquires_after_corrupted_sync() -> None: + body = np.zeros(240, dtype=np.int8) + part = np.concatenate((INAV_SYNC_BITS, body)) + bits = np.tile(part, 6) + bits[3 * 250] ^= 1 + output = InavPageSynchronizer().process_many(_symbols(bits, prefix=0)) + assert len(output) == 5 + assert [item.receive_sample_timestamp // (250 * 4) for item in output] == [0, 1, 2, 4, 5] + + +def test_page_sync_does_not_lock_through_symbol_erasure() -> None: + body = np.zeros(240, dtype=np.int8) + symbols = _symbols(np.tile(np.concatenate((INAV_SYNC_BITS, body)), 3), prefix=0) + erased = symbols[250] + symbols[250] = NavigationSymbol( + erased.prn, erased.symbol_index, erased.start_sample_timestamp, + erased.end_sample_timestamp, 0.0, 0, 0.0, False, False, + ) + assert InavPageSynchronizer().process_many(symbols) == [] diff --git a/tests/navigation/test_symbol_sync.py b/tests/navigation/test_symbol_sync.py new file mode 100644 index 0000000..3ec78a9 --- /dev/null +++ b/tests/navigation/test_symbol_sync.py @@ -0,0 +1,35 @@ +from __future__ import annotations + +import numpy as np + +from galileo_rx.navigation.e1b_prompt_stream import E1BPromptEpoch +from galileo_rx.navigation.e1b_symbol_sync import E1BSymbolSynchronizer + + +def _epoch(index: int, sign: int, *, slip: bool = False) -> E1BPromptEpoch: + start = index * 16 + prompt = sign * np.exp(1j * 0.37) + return E1BPromptEpoch( + 1, start, start + 16, float(prompt.real), float(prompt.imag), 0.0, 1000.0, 0.0, + 50.0, True, True, slip, False, True, + ) + + +def test_symbol_sync_preserves_global_polarity_ambiguity() -> None: + truth = np.asarray([1, -1] * 12, dtype=np.int8) + synchronizer = E1BSymbolSynchronizer(minimum_axis_epochs=4, minimum_confidence=0.9) + symbols = synchronizer.process_many([_epoch(i, int(-value)) for i, value in enumerate(truth)]) + hard = np.asarray([item.hard_value for item in symbols[4:]], dtype=np.int8) + # Either polarity is valid here; page synchronization resolves it later. + expected_bits = (truth[4:] > 0).astype(np.int8) + assert np.array_equal(hard, expected_bits) or np.array_equal(hard, 1 - expected_bits) + assert all(not item.inverted for item in symbols) + + +def test_cycle_slip_invalidates_and_restarts_axis_lock() -> None: + sync = E1BSymbolSynchronizer(minimum_axis_epochs=3, minimum_confidence=0.1) + symbols = [sync.process(_epoch(i, 1, slip=i == 5)) for i in range(10)] + assert symbols[5].valid is False + assert symbols[6].valid is False + assert symbols[7].valid is True + assert sync.loss_count == 1 diff --git a/tests/navigation/test_time_recovery.py b/tests/navigation/test_time_recovery.py new file mode 100644 index 0000000..1da8974 --- /dev/null +++ b/tests/navigation/test_time_recovery.py @@ -0,0 +1,13 @@ +from __future__ import annotations + +from galileo_rx.navigation.galileo_time import GalileoTimeRecovery +from galileo_rx.navigation.inav_word_parser import IonosphereHealthTimeWord5, ParsedInavWord + + +def test_gst_week_and_tow_recovery_from_word5() -> None: + payload = IonosphereHealthTimeWord5(0, 0.0, 0, 0.0, 0, 0.0, (False,) * 5, 0, 0.0, 0, 0.0, 0, 0, 0, 0, 1138, 554763) + result = GalileoTimeRecovery().update(ParsedInavWord(1, 5, 1234, None, payload, [], True, True)) + assert result is not None + assert result.week_number == 1138 + assert result.time_of_week_s == 554763 + assert result.page_start_sample_timestamp == 1234 diff --git a/tests/navigation/test_viterbi.py b/tests/navigation/test_viterbi.py new file mode 100644 index 0000000..2bca886 --- /dev/null +++ b/tests/navigation/test_viterbi.py @@ -0,0 +1,33 @@ +from __future__ import annotations + +import numpy as np + +from galileo_rx.navigation.inav_fec import InavViterbiDecoder +from tests.navigation.test_deinterleaver import ENCODED + + +SOURCE = ( + "1111111111110000110011001010101000000000000011110011001101010101" + "11100011111011001101111110001010000111000001001101000000" +) + + +def test_hard_and_soft_viterbi_against_independent_icd_vector() -> None: + coded = np.fromiter(map(int, ENCODED), dtype=np.int8) + decoder = InavViterbiDecoder(traceback_depth=35) + hard = decoder.decode(coded, mode="hard") + soft = decoder.decode(np.where(coded, 4.0, -4.0), mode="soft") + assert hard.valid and soft.valid + assert "".join(map(str, hard.decoded_bits)) == SOURCE + assert hard.decoded_bits == soft.decoded_bits + + +def test_soft_viterbi_corrects_individual_and_burst_errors() -> None: + coded = np.fromiter(map(int, ENCODED), dtype=np.int8) + soft = np.where(coded, 5.0, -5.0) + soft[[20, 81, 177]] *= -1.0 + soft[120:124] *= -1.0 + result = InavViterbiDecoder().decode(soft, mode="soft") + assert result.valid + assert "".join(map(str, result.decoded_bits)) == SOURCE + assert result.corrected_error_metric == 7.0 diff --git a/tests/navigation/test_word_parser.py b/tests/navigation/test_word_parser.py new file mode 100644 index 0000000..a256751 --- /dev/null +++ b/tests/navigation/test_word_parser.py @@ -0,0 +1,25 @@ +from __future__ import annotations + +from galileo_rx.navigation.inav_page_decoder import InavPage +from galileo_rx.navigation.inav_word_parser import EphemerisClockWord4, InavWordParser + + +def _put(bits: list[int], start: int, width: int, value: int) -> None: + if value < 0: + value += 1 << width + for index in range(width): + bits[start + index] = (value >> (width - 1 - index)) & 1 + + +def test_word4_signed_scaling_and_units() -> None: + bits = [0] * 128 + for start, width, value in [(0, 6, 4), (6, 10, 77), (16, 6, 12), (22, 16, -3), (38, 16, 5), (54, 14, 9000), (68, 31, -100), (99, 21, 200), (120, 6, -2)]: + _put(bits, start, width, value) + page = InavPage(12, 0, 100, [], [], 4, True, True, True, False, 0.0, 0, bits, 200) + parsed = InavWordParser().parse(page) + assert parsed.iod_nav == 77 + assert isinstance(parsed.payload, EphemerisClockWord4) + assert parsed.payload.svid == 12 + assert parsed.payload.cic_raw == -3 + assert parsed.payload.toc_s == 540000.0 + assert parsed.payload.clock_bias_s == -100 * 2.0**-34 diff --git a/tests/unit/test_lock_detector.py b/tests/unit/test_lock_detector.py new file mode 100644 index 0000000..ebf7730 --- /dev/null +++ b/tests/unit/test_lock_detector.py @@ -0,0 +1,18 @@ +from __future__ import annotations + +import numpy as np + +from galileo_rx.tracking.lock_detector import LockDetector +from galileo_rx.types import CorrelatorOutputs + + +def _correlators(phase_rad: float) -> CorrelatorOutputs: + prompt = complex(np.exp(1j * phase_rad)) + return CorrelatorOutputs(0.2 * prompt, 0.5 * prompt, prompt, 0.5 * prompt, 0.2 * prompt) + + +def test_data_lock_detector_ignores_bpsk_transition_but_detects_quadrature_jump() -> None: + detector = LockDetector(data_sign_insensitive=True) + detector.update(_correlators(0.0)) + assert detector.update(_correlators(np.pi)).cycle_slip is False + assert detector.update(_correlators(np.pi + 0.49 * np.pi)).cycle_slip is True diff --git a/tools/generate_signalsim_vectors.py b/tools/generate_signalsim_vectors.py index ae54955..8cfe11c 100755 --- a/tools/generate_signalsim_vectors.py +++ b/tools/generate_signalsim_vectors.py @@ -26,7 +26,14 @@ def main() -> int: parser = argparse.ArgumentParser() parser.add_argument("--signalsim-path", required=True, type=Path) parser.add_argument("--executable", type=Path) - vector_names = ["high_cn0_single_prn", "nominal_cn0_single_prn", "negative_doppler", "multiple_prns"] + vector_names = [ + "high_cn0_single_prn", + "nominal_cn0_single_prn", + "negative_doppler", + "multiple_prns", + "navigation_single_prn", + "navigation_multisat", + ] parser.add_argument("--vector", choices=[*vector_names, "all"], default="high_cn0_single_prn") parser.add_argument("--project-root", type=Path, default=Path(__file__).resolve().parents[1]) args = parser.parse_args() @@ -46,6 +53,8 @@ def main() -> int: "nominal_cn0_single_prn": {"duration_s": 0.6, "cn0_db_hz": 50.0, "visible_prns": [1], "expected_doppler_hz": {1: 1828.0}}, "negative_doppler": {"duration_s": 2.2, "cn0_db_hz": 55.0, "visible_prns": [27], "expected_doppler_hz": {27: -2637.0}}, "multiple_prns": {"duration_s": 0.12, "cn0_db_hz": 55.0, "visible_prns": [1, 4, 19, 21, 27], "expected_doppler_hz": {1: 1828.0, 4: 2171.0, 19: -367.0, 21: -712.0, 27: -2637.0}}, + "navigation_single_prn": {"duration_s": 4.2, "cn0_db_hz": 55.0, "visible_prns": [1], "expected_doppler_hz": {1: 1828.0}, "sample_frequency_mhz": 4.092, "center_frequency_mhz": 1574.397}, + "navigation_multisat": {"duration_s": 32.2, "cn0_db_hz": 55.0, "visible_prns": [1, 4, 19, 21, 27], "expected_doppler_hz": {1: 1828.0, 4: 2171.0, 19: -367.0, 21: -712.0, 27: -2637.0}, "sample_frequency_mhz": 4.092, "center_frequency_mhz": 1574.397}, } selected = vector_names if args.vector == "all" else [args.vector] for vector_name in selected: @@ -57,6 +66,8 @@ def main() -> int: config["ephemeris"]["name"] = str(rinex) config["trajectory"]["trajectoryList"][0]["time"] = parameters["duration_s"] config["power"]["initPower"]["value"] = parameters["cn0_db_hz"] + config["output"]["sampleFreq"] = parameters.get("sample_frequency_mhz", 8.184) + config["output"]["centerFreq"] = parameters.get("center_frequency_mhz", 1573.374) visible = set(parameters["visible_prns"]) config["output"]["config"]["maskOut"] = [{"system": "Galileo", "svid": [prn for prn in range(1, 37) if prn not in visible]}] output_name = f"{vector_name}_iq8.bin" @@ -76,8 +87,10 @@ def main() -> int: "size_bytes": output.stat().st_size, "sha256": sha256(output), "complex_sample_count": output.stat().st_size // 2, - "sampling_frequency_hz": 8_184_000.0, - "intermediate_frequency_hz": 2_046_000.0, + "sampling_frequency_hz": round(float(config["output"]["sampleFreq"]) * 1e6, 6), + "intermediate_frequency_hz": round( + (1575.42 - float(config["output"]["centerFreq"])) * 1e6, 6 + ), "sample_format": "IQ8_interleaved_signed_I_then_Q", "duration_s": parameters["duration_s"], "prns": parameters["visible_prns"], diff --git a/verification/navigation/signalsim_navigation_multisat/prn_01/crc_valid_pages.bin b/verification/navigation/signalsim_navigation_multisat/prn_01/crc_valid_pages.bin new file mode 100644 index 0000000..ca31a44 Binary files /dev/null and b/verification/navigation/signalsim_navigation_multisat/prn_01/crc_valid_pages.bin differ diff --git a/verification/navigation/signalsim_navigation_multisat/prn_01/decoder_summary.json b/verification/navigation/signalsim_navigation_multisat/prn_01/decoder_summary.json new file mode 100644 index 0000000..e9079c3 --- /dev/null +++ b/verification/navigation/signalsim_navigation_multisat/prn_01/decoder_summary.json @@ -0,0 +1,38 @@ +{ + "prn": 1, + "acquisition_detected": true, + "acquisition_time_s": 0.1004119270000956, + "raw_doppler_hz": 1750.0, + "expected_doppler_hz": 1828.0, + "start_sample_timestamp": 90995, + "tracking_epoch_count": 16088, + "tracking_time_s": 13.650105177999649, + "tracking_final_state": "PLL_TRACK", + "tracking_reacquisition_requests": 10, + "tracking_lock_timestamp": 107363, + "prompt_epoch_count": 8044, + "first_synchronized_symbol_timestamp": 4428515, + "first_page_sync_timestamp": 4428515, + "first_crc_valid_page_timestamp": 4428515, + "page_parts": 31, + "pages": 15, + "crc_passes": 15, + "crc_failures": 0, + "fec_failures": 0, + "received_word_types": [ + 1, + 2, + 3, + 4, + 5, + 6 + ], + "missing_ephemeris_word_types": [], + "complete_ephemeris": true, + "ephemeris_iod_nav": 29, + "first_complete_ephemeris_timestamp": 61716515, + "clock_parameters": true, + "health_valid": true, + "data_valid": true, + "decoding_time_s": 1.260811995001859 +} diff --git a/verification/navigation/signalsim_navigation_multisat/prn_01/ephemeris.json b/verification/navigation/signalsim_navigation_multisat/prn_01/ephemeris.json new file mode 100644 index 0000000..ac734c9 --- /dev/null +++ b/verification/navigation/signalsim_navigation_multisat/prn_01/ephemeris.json @@ -0,0 +1,29 @@ +{ + "prn": 1, + "iod_nav": 29, + "toe_s": 555000.0, + "toc_s": 555000.0, + "sqrt_a": 5440.600309371948, + "eccentricity": 7.992994505912066e-05, + "inclination_rad": 0.9780546728858021, + "omega0_rad": 0.1817990533460104, + "argument_of_perigee_rad": -1.4927534274463103, + "mean_anomaly_rad": 1.763453196161098, + "delta_n_rad_s": 3.2858511546039716e-09, + "inclination_rate_rad_s": 9.928985010651132e-11, + "omega_dot_rad_s": -5.809527704433501e-09, + "cuc_rad": 4.2263418436050415e-06, + "cus_rad": 4.390254616737366e-06, + "crc_m": 256.15625, + "crs_m": 91.1875, + "cic_rad": 1.4901161193847656e-08, + "cis_rad": -5.774199962615967e-08, + "clock_bias_s": -0.001132463337853551, + "clock_drift_s_per_s": -7.972289495228324e-12, + "clock_drift_rate_s_per_s2": 0.0, + "sisa_index": 107, + "health_valid": true, + "data_valid": true, + "first_received_timestamp": 12612515, + "completed_timestamp": 61716515 +} diff --git a/verification/navigation/signalsim_navigation_multisat/prn_01/fec_results.jsonl b/verification/navigation/signalsim_navigation_multisat/prn_01/fec_results.jsonl new file mode 100644 index 0000000..fe65073 --- /dev/null +++ b/verification/navigation/signalsim_navigation_multisat/prn_01/fec_results.jsonl @@ -0,0 +1,15 @@ +{"crc_valid": true, "decoded_bits": [0, 0, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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@@ +{"crc_valid": true, "health_valid": true, "iod_nav": 29, "payload": {"eccentricity": 7.992994505912066e-05, "eccentricity_raw": 686593, "iod_nav": 29, "mean_anomaly_rad": 1.763453196161098, "mean_anomaly_raw": 1205435370, "sqrt_a": 5440.600309371948, "sqrt_a_raw": 2852441455, "toe_raw": 9250, "toe_s": 555000.0}, "prn": 1, "raw_bits": [0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 1, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 0, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 1, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 1, 0, 1, 1, 0, 1, 1, 1, 1, 0, 0], "receive_sample_timestamp": 12612515, "word_type": 1} +{"crc_valid": true, "health_valid": true, "iod_nav": 29, "payload": {"crc_m": 256.15625, "crc_raw": 8197, "crs_m": 91.1875, "crs_raw": 2918, "cuc_rad": 4.2263418436050415e-06, "cuc_raw": 2269, "cus_rad": 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b/verification/navigation/signalsim_navigation_multisat/prn_04/hard_symbols.bin new file mode 100644 index 0000000..6e51187 Binary files /dev/null and b/verification/navigation/signalsim_navigation_multisat/prn_04/hard_symbols.bin differ diff --git a/verification/navigation/signalsim_navigation_multisat/prn_04/parsed_words.jsonl b/verification/navigation/signalsim_navigation_multisat/prn_04/parsed_words.jsonl new file mode 100644 index 0000000..475cc61 --- /dev/null +++ b/verification/navigation/signalsim_navigation_multisat/prn_04/parsed_words.jsonl @@ -0,0 +1,6 @@ +{"crc_valid": true, "health_valid": true, "iod_nav": 30, "payload": {"eccentricity": 0.0003278222866356373, "eccentricity_raw": 2815972, "iod_nav": 30, "mean_anomaly_rad": 2.9471624393166582, "mean_anomaly_raw": 2014577905, "sqrt_a": 5440.619691848755, "sqrt_a_raw": 2852451617, "toe_raw": 9260, "toe_s": 555600.0}, "prn": 4, "raw_bits": [0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0, 0, 1, 0, 1, 1, 0, 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"receive_sample_timestamp": 53544707, "word_type": 2} +{"crc_valid": true, "health_valid": true, "iod_nav": 30, "payload": {"cic_rad": 2.0489096641540527e-08, "cic_raw": 11, "cis_rad": 5.4016709327697754e-08, "cis_raw": 29, "clock_bias_raw": -13668906, "clock_bias_s": -0.0007956350455060601, "clock_drift_rate_raw": 0, "clock_drift_rate_s_per_s2": 0.0, "clock_drift_raw": -566, "clock_drift_s_per_s": -8.043343768804334e-12, "iod_nav": 30, "svid": 4, "toc_raw": 9260, "toc_s": 555600.0}, "prn": 4, "raw_bits": [0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 0, 0, 1, 0, 0, 0, 0, 1, 0, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 0, 1, 1, 1, 1, 0, 1, 1, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0], "receive_sample_timestamp": 61728707, "word_type": 4} +{"crc_valid": true, "health_valid": true, "iod_nav": null, "payload": {"a0_raw": 2, "a0_s": 1.862645149230957e-09, "a1_raw": -1, "a1_s_per_s": -8.881784197001252e-16, "delta_tls_s": 18, "future_delta_tls_s": 18, "leap_day": 0, "leap_week_mod256": 114, "reference_time_s": 453600, "reference_week_mod256": 114, "time_of_week_s": 554765}, "prn": 4, "raw_bits": [0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 0, 0, 1, 0, 0, 1, 1, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 0], "receive_sample_timestamp": 69912707, "word_type": 6} diff --git a/verification/navigation/signalsim_navigation_multisat/prn_04/prompt_epochs.npz b/verification/navigation/signalsim_navigation_multisat/prn_04/prompt_epochs.npz new file mode 100644 index 0000000..f7b2ac7 Binary files /dev/null and b/verification/navigation/signalsim_navigation_multisat/prn_04/prompt_epochs.npz differ diff --git a/verification/navigation/signalsim_navigation_multisat/prn_04/soft_symbols.npy b/verification/navigation/signalsim_navigation_multisat/prn_04/soft_symbols.npy new file mode 100644 index 0000000..4ac38d2 Binary files /dev/null and b/verification/navigation/signalsim_navigation_multisat/prn_04/soft_symbols.npy differ diff --git a/verification/navigation/signalsim_navigation_multisat/prn_04/synchronized_pages.jsonl b/verification/navigation/signalsim_navigation_multisat/prn_04/synchronized_pages.jsonl new file mode 100644 index 0000000..94d4c2a --- /dev/null +++ b/verification/navigation/signalsim_navigation_multisat/prn_04/synchronized_pages.jsonl @@ -0,0 +1,29 @@ +{"end_sample_timestamp": 16716707, "hard_symbols": [0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 1, 0, 0, 0, 0, 1, 0, 1, 1, 1, 0, 0, 1, 0, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 0, 1, 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b/verification/navigation/signalsim_navigation_multisat/prn_21/parsed_words.jsonl new file mode 100644 index 0000000..1667804 --- /dev/null +++ b/verification/navigation/signalsim_navigation_multisat/prn_21/parsed_words.jsonl @@ -0,0 +1,6 @@ +{"crc_valid": true, "health_valid": true, "iod_nav": 29, "payload": {"eccentricity": 3.8767699152231216e-05, "eccentricity_raw": 333012, "iod_nav": 29, "mean_anomaly_rad": -2.7956633818013814, "mean_anomaly_raw": -1911018410, "sqrt_a": 5440.612789154053, "sqrt_a_raw": 2852447998, "toe_raw": 9250, "toe_s": 555000.0}, "prn": 21, "raw_bits": [0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 0, 1, 1, 0, 0, 0, 1, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 1, 0, 1, 0, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 0, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0], "receive_sample_timestamp": 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"ai1_raw": 0, "ai1_sfu_per_degree": 0.0, "ai2_raw": 0, "ai2_sfu_per_degree2": 0.0, "bgd_e1_e5a_raw": 10, "bgd_e1_e5a_s": 2.3283064365386963e-09, "bgd_e1_e5b_raw": 11, "bgd_e1_e5b_s": 2.561137080192566e-09, "disturbance_flags": [false, false, false, false, false], "e1b_data_validity_status": 0, "e1b_health": 0, "e5b_data_validity_status": 0, "e5b_health": 0, "time_of_week_s": 554755, "week_number": 1138}, "prn": 21, "raw_bits": [0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "receive_sample_timestamp": 28966780, "word_type": 5} +{"crc_valid": true, "health_valid": true, "iod_nav": 29, "payload": {"argument_of_perigee_rad": -2.4629566570365555, 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/dev/null and b/verification/navigation/signalsim_navigation_multisat/prn_21/soft_symbols.npy differ diff --git a/verification/navigation/signalsim_navigation_multisat/prn_21/synchronized_pages.jsonl b/verification/navigation/signalsim_navigation_multisat/prn_21/synchronized_pages.jsonl new file mode 100644 index 0000000..047b4d5 --- /dev/null +++ b/verification/navigation/signalsim_navigation_multisat/prn_21/synchronized_pages.jsonl @@ -0,0 +1,29 @@ +{"end_sample_timestamp": 16690780, "hard_symbols": [0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 1, 0, 1, 1, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 1, 1, 1, 1, 0, 1, 1, 1, 0, 0, 1, 1, 1, 0, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 0, 1, 0, 1, 1, 0, 1, 0, 0, 1, 0, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 0, 1, 1, 0, 1, 0, 0, 1, 0, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 0, 0, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 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b/verification/vectors/signalsim/manifest.yaml index aee1b1a..6e99a5c 100644 --- a/verification/vectors/signalsim/manifest.yaml +++ b/verification/vectors/signalsim/manifest.yaml @@ -56,3 +56,32 @@ vectors: e1b_only: {status: blocked_SignalSim_E1_is_combined} e1c_only: {status: blocked_SignalSim_E1_is_combined} e1b_e1c_combined: {status: alias_of_high_cn0_single_prn} + navigation_single_prn: + status: generated_crc_valid_page + config: navigation_single_prn/generated_config.json + output: navigation_single_prn/navigation_single_prn_iq8.bin + representation: complex_iq + sample_format: interleaved_twos_complement_int8_iq + sample_rate_hz: 4092000 + galileo_e1_if_hz: 1023000 + duration_s: 4.2 + prn: 1 + components: [E1B, E1C] + sha256: 4169cb7573913dbf0179b731bd1103b3a94cac3364d1337541311ca5843c8f93 + generated_file_committed: false + navigation_multisat: + status: navigation_ready_four_of_five + config: navigation_multisat/generated_config.json + output: navigation_multisat/navigation_multisat_iq8.bin + representation: complex_iq + sample_format: interleaved_twos_complement_int8_iq + sample_rate_hz: 4092000 + galileo_e1_if_hz: 1023000 + duration_s: 32.2 + prns: [1, 4, 19, 21, 27] + components: [E1B, E1C] + sha256: b38393b32eec2df53f9813ea7ff8f13e5e0fc72fa5cb7fb910a2b8f907a56a6e + generated_file_committed: false + decoded_pages: 70 + crc_passes: 70 + complete_ephemeris_prns: [1, 4, 21, 27] diff --git a/verification/vectors/signalsim/navigation_multisat/generated_config.json b/verification/vectors/signalsim/navigation_multisat/generated_config.json new file mode 100644 index 0000000..ade88bd --- /dev/null +++ b/verification/vectors/signalsim/navigation_multisat/generated_config.json @@ -0,0 +1,116 @@ +{ + "version": 1.0, + "description": "SignalSim validation vector: navigation_multisat", + "time": { + "type": "UTC", + "year": 2021, + "month": 6, + "day": 19, + "hour": 10, + "minute": 5, + "second": 30 + }, + "trajectory": { + "name": "static single-PRN integration baseline", + "initPosition": { + "type": "LLA", + "format": "d", + "longitude": -121.915773, + "latitude": 37.352721, + "altitude": 20 + }, + "initVelocity": { + "type": "SCU", + "speed": 0, + "course": 0 + }, + "trajectoryList": [ + { + "type": "Const", + "time": 32.2 + } + ] + }, + "ephemeris": { + "type": "RINEX", + "name": "/home/onur/Desktop/galileo/signalsim/SignalSim/EphData/BRDC00IGS_R_20211700000_01D_MN.rnx" + }, + "output": { + "type": "IFdata", + "format": "IQ8", + "sampleFreq": 4.092, + "centerFreq": 1574.397, + "name": "navigation_multisat_iq8.bin", + "config": { + "elevationMask": 3, + "maskOut": [ + { + "system": "Galileo", + "svid": [ + 2, + 3, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 20, + 22, + 23, + 24, + 25, + 26, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36 + ] + } + ] + }, + "systemSelect": [ + { + "system": "GPS", + "signal": "L1CA", + "enable": false + }, + { + "system": "BDS", + "signal": "B1C", + "enable": false + }, + { + "system": "Galileo", + "signal": "E1", + "enable": true + }, + { + "system": "GLONASS", + "signal": "G1", + "enable": false + } + ] + }, + "power": { + "noiseFloor": -172, + "initPower": { + "unit": "dBHz", + "value": 55.0 + }, + "elevationAdjust": false + } +} diff --git a/verification/vectors/signalsim/navigation_multisat/generation.log b/verification/vectors/signalsim/navigation_multisat/generation.log new file mode 100644 index 0000000..467fafc --- /dev/null +++ b/verification/vectors/signalsim/navigation_multisat/generation.log @@ -0,0 +1,1344 @@ + +================================================================================ + IF SIGNAL GENERATION +================================================================================ +[INFO] Loading JSON file: /home/onur/Desktop/galileo/verification/vectors/signalsim/navigation_multisat/generated_config.json +[INFO] JSON file read successfully: /home/onur/Desktop/galileo/verification/vectors/signalsim/navigation_multisat/generated_config.json +[INFO] Using output file from command line: /home/onur/Desktop/galileo/verification/vectors/signalsim/navigation_multisat/navigation_multisat_iq8.bin +[INFO] Opening output file: /home/onur/Desktop/galileo/verification/vectors/signalsim/navigation_multisat/navigation_multisat_iq8.bin +[INFO] Output file opened successfully. +[INFO] Creating tag file: /home/onur/Desktop/galileo/verification/vectors/signalsim/navigation_multisat/navigation_multisat_iq8.bin.tag +[INFO] Tag file created: /home/onur/Desktop/galileo/verification/vectors/signalsim/navigation_multisat/navigation_multisat_iq8.bin.tag +[INFO] OpenMP configured for SERIAL execution (1 thread) +[INFO] Generating IF data with following satellite signals: + +[INFO] Enabled Signals: + GAL : [ E1 ] + +Signals Summary Table: ++---------------+-------------+--------------+------------------------------+ +| Constellation | Visible SVs | Signals / SV | Total Signals / Visible SVs | ++---------------+-------------+--------------+------------------------------+ +| GPS | 0 | 0 | 0 | +| BeiDou | 0 | 0 | 0 | +| Galileo | 5 | 1 | 5 | +| GLONASS | 0 | 0 | 0 | ++---------------+-------------+--------------+------------------------------+ +Total Visible SVs = 5, Total channels = 5 + +Galileo E1 with IF +1023kHz: ++----+--------------+----+--------------+----+--------------+----+--------------+ +| SV | Doppler (Hz) | SV | Doppler (Hz) | SV | Doppler (Hz) | SV | Doppler (Hz) | ++----+--------------+----+--------------+----+--------------+----+--------------+ +| 01 | +1828 | 04 | +2171 | 19 | -367 | 21 | -712 | +| 27 | -2637 | | | | | | | ++----+--------------+----+--------------+----+--------------+----+--------------+ + +Total channels: 5 + +[INFO] Signal Duration: 32.20 s +[INFO] Signal Size: 251.32 MB +[INFO] Signal Data format: IQ8 +[INFO] Signal Center freq: 1574.3970 MHz +[INFO] Signal Sample rate: 4.0920 MHz + +[INFO] Starting signal generation loop... + +[> 0.1% ] 25/32200 ms | 0.20/251.32 MB @ 27.87 MB/s | ETA: 09s +[> 0.2% ] 50/32200 ms | 0.39/251.32 MB @ 27.87 MB/s | ETA: 09s +[> 0.2% ] 75/32200 ms | 0.59/251.32 MB @ 27.87 MB/s | ETA: 08s +[> 0.3% ] 100/32200 ms | 0.78/251.32 MB @ 28.91 MB/s | ETA: 08s +[> 0.4% ] 125/32200 ms | 0.98/251.32 MB @ 28.69 MB/s | ETA: 08s +[> 0.5% ] 150/32200 ms | 1.17/251.32 MB @ 28.55 MB/s | ETA: 08s +[> 0.5% ] 175/32200 ms | 1.37/251.32 MB @ 28.46 MB/s | ETA: 08s +[> 0.6% ] 200/32200 ms | 1.56/251.32 MB @ 28.91 MB/s | ETA: 08s +[> 0.7% ] 225/32200 ms | 1.76/251.32 MB @ 28.79 MB/s | ETA: 08s +[> 0.8% ] 250/32200 ms | 1.95/251.32 MB @ 28.69 MB/s | ETA: 08s +[> 0.9% ] 275/32200 ms | 2.15/251.32 MB @ 28.62 MB/s | ETA: 08s +[> 0.9% ] 300/32200 ms | 2.34/251.32 MB @ 28.91 MB/s | ETA: 08s +[> 1.0% ] 325/32200 ms | 2.54/251.32 MB @ 28.82 MB/s | ETA: 08s +[> 1.1% ] 350/32200 ms | 2.73/251.32 MB @ 28.75 MB/s | ETA: 08s +[> 1.2% ] 375/32200 ms | 2.93/251.32 MB @ 28.98 MB/s | ETA: 08s +[> 1.2% ] 400/32200 ms | 3.12/251.32 MB @ 28.91 MB/s | ETA: 08s +[> 1.3% ] 425/32200 ms | 3.32/251.32 MB @ 29.10 MB/s | ETA: 08s +[> 1.4% ] 450/32200 ms | 3.51/251.32 MB @ 29.03 MB/s | ETA: 08s +[> 1.5% ] 475/32200 ms | 3.71/251.32 MB @ 28.96 MB/s | ETA: 08s +[> 1.6% ] 500/32200 ms | 3.90/251.32 MB @ 28.91 MB/s | ETA: 08s +[> 1.6% ] 525/32200 ms | 4.10/251.32 MB @ 29.06 MB/s | ETA: 08s +[> 1.7% ] 550/32200 ms | 4.29/251.32 MB @ 29.00 MB/s | ETA: 08s +[> 1.8% ] 575/32200 ms | 4.49/251.32 MB @ 29.14 MB/s | ETA: 08s +[> 1.9% ] 600/32200 ms | 4.68/251.32 MB @ 28.91 MB/s | ETA: 08s +[> 1.9% ] 625/32200 ms | 4.88/251.32 MB @ 29.04 MB/s | ETA: 08s +[=> 2.0% ] 650/32200 ms | 5.07/251.32 MB @ 28.99 MB/s | ETA: 08s +[=> 2.1% ] 675/32200 ms | 5.27/251.32 MB @ 28.95 MB/s | ETA: 08s +[=> 2.2% ] 700/32200 ms | 5.46/251.32 MB @ 28.91 MB/s | ETA: 08s +[=> 2.3% ] 725/32200 ms | 5.66/251.32 MB @ 28.72 MB/s | ETA: 08s +[=> 2.3% ] 750/32200 ms | 5.85/251.32 MB @ 28.69 MB/s | ETA: 08s +[=> 2.4% ] 775/32200 ms | 6.05/251.32 MB @ 28.53 MB/s | ETA: 08s +[=> 2.5% ] 800/32200 ms | 6.24/251.32 MB @ 28.38 MB/s | ETA: 08s +[=> 2.6% ] 825/32200 ms | 6.44/251.32 MB @ 28.24 MB/s | ETA: 08s +[=> 2.6% ] 850/32200 ms | 6.63/251.32 MB @ 28.23 MB/s | ETA: 08s +[=> 2.7% ] 875/32200 ms | 6.83/251.32 MB @ 28.10 MB/s | ETA: 08s +[=> 2.8% ] 900/32200 ms | 7.02/251.32 MB @ 28.10 MB/s | ETA: 08s +[=> 2.9% ] 925/32200 ms | 7.22/251.32 MB @ 27.98 MB/s | ETA: 08s +[=> 3.0% ] 950/32200 ms | 7.41/251.32 MB @ 27.87 MB/s | ETA: 08s +[=> 3.0% ] 975/32200 ms | 7.61/251.32 MB @ 27.87 MB/s | ETA: 08s +[=> 3.1% ] 1000/32200 ms | 7.80/251.32 MB @ 27.78 MB/s | ETA: 08s +[=> 3.2% ] 1025/32200 ms | 8.00/251.32 MB @ 27.68 MB/s | ETA: 08s +[=> 3.3% ] 1050/32200 ms | 8.20/251.32 MB @ 27.59 MB/s | ETA: 08s +[=> 3.3% ] 1075/32200 ms | 8.39/251.32 MB @ 27.60 MB/s | ETA: 08s +[=> 3.4% ] 1100/32200 ms | 8.59/251.32 MB @ 27.52 MB/s | ETA: 08s +[=> 3.5% ] 1125/32200 ms | 8.78/251.32 MB @ 27.53 MB/s | ETA: 08s +[=> 3.6% ] 1150/32200 ms | 8.98/251.32 MB @ 27.53 MB/s | ETA: 08s +[=> 3.6% ] 1175/32200 ms | 9.17/251.32 MB @ 27.46 MB/s | ETA: 08s +[=> 3.7% ] 1200/32200 ms | 9.37/251.32 MB @ 27.39 MB/s | ETA: 08s +[=> 3.8% ] 1225/32200 ms | 9.56/251.32 MB @ 27.32 MB/s | ETA: 08s +[=> 3.9% ] 1250/32200 ms | 9.76/251.32 MB @ 27.33 MB/s | ETA: 08s +[=> 4.0% ] 1275/32200 ms | 9.95/251.32 MB @ 27.26 MB/s | ETA: 08s +[==> 4.0% ] 1300/32200 ms | 10.15/251.32 MB @ 27.28 MB/s | ETA: 08s +[==> 4.1% ] 1325/32200 ms | 10.34/251.32 MB @ 27.21 MB/s | ETA: 08s +[==> 4.2% ] 1350/32200 ms | 10.54/251.32 MB @ 27.16 MB/s | ETA: 08s +[==> 4.3% ] 1375/32200 ms | 10.73/251.32 MB @ 27.10 MB/s | ETA: 08s +[==> 4.3% ] 1400/32200 ms | 10.93/251.32 MB @ 27.11 MB/s | ETA: 08s +[==> 4.4% ] 1425/32200 ms | 11.12/251.32 MB @ 27.06 MB/s | ETA: 08s +[==> 4.5% ] 1450/32200 ms | 11.32/251.32 MB @ 27.01 MB/s | ETA: 08s +[==> 4.6% ] 1475/32200 ms | 11.51/251.32 MB @ 26.96 MB/s | ETA: 08s +[==> 4.7% ] 1500/32200 ms | 11.71/251.32 MB @ 26.98 MB/s | ETA: 08s +[==> 4.7% ] 1525/32200 ms | 11.90/251.32 MB @ 26.93 MB/s | ETA: 08s +[==> 4.8% ] 1550/32200 ms | 12.10/251.32 MB @ 26.88 MB/s | ETA: 08s +[==> 4.9% ] 1575/32200 ms | 12.29/251.32 MB @ 26.84 MB/s | ETA: 08s +[==> 5.0% ] 1600/32200 ms | 12.49/251.32 MB @ 26.86 MB/s | ETA: 08s +[==> 5.0% ] 1625/32200 ms | 12.68/251.32 MB @ 26.81 MB/s | ETA: 08s +[==> 5.1% ] 1650/32200 ms | 12.88/251.32 MB @ 26.77 MB/s | ETA: 08s +[==> 5.2% ] 1675/32200 ms | 13.07/251.32 MB @ 26.73 MB/s | ETA: 08s +[==> 5.3% ] 1700/32200 ms | 13.27/251.32 MB @ 26.70 MB/s | ETA: 08s +[==> 5.4% ] 1725/32200 ms | 13.46/251.32 MB @ 26.66 MB/s | ETA: 08s +[==> 5.4% ] 1750/32200 ms | 13.66/251.32 MB @ 26.62 MB/s | ETA: 08s +[==> 5.5% ] 1775/32200 ms | 13.85/251.32 MB @ 26.59 MB/s | ETA: 08s +[==> 5.6% ] 1800/32200 ms | 14.05/251.32 MB @ 26.56 MB/s | ETA: 08s +[==> 5.7% ] 1825/32200 ms | 14.24/251.32 MB @ 26.52 MB/s | ETA: 08s +[==> 5.7% ] 1850/32200 ms | 14.44/251.32 MB @ 26.49 MB/s | ETA: 08s +[==> 5.8% ] 1875/32200 ms | 14.63/251.32 MB @ 26.46 MB/s | ETA: 08s +[==> 5.9% ] 1900/32200 ms | 14.83/251.32 MB @ 26.43 MB/s | ETA: 08s +[==> 6.0% ] 1925/32200 ms | 15.02/251.32 MB @ 26.45 MB/s | ETA: 08s +[===> 6.1% ] 1950/32200 ms | 15.22/251.32 MB @ 26.42 MB/s | ETA: 08s +[===> 6.1% ] 1975/32200 ms | 15.41/251.32 MB @ 26.44 MB/s | ETA: 08s +[===> 6.2% ] 2000/32200 ms | 15.61/251.32 MB @ 26.41 MB/s | ETA: 08s +[===> 6.3% ] 2025/32200 ms | 15.80/251.32 MB @ 26.39 MB/s | ETA: 08s +[===> 6.4% ] 2050/32200 ms | 16.00/251.32 MB @ 26.36 MB/s | ETA: 08s +[===> 6.4% ] 2075/32200 ms | 16.20/251.32 MB @ 26.38 MB/s | ETA: 08s +[===> 6.5% ] 2100/32200 ms | 16.39/251.32 MB @ 26.35 MB/s | ETA: 08s +[===> 6.6% ] 2125/32200 ms | 16.59/251.32 MB @ 26.37 MB/s | ETA: 08s +[===> 6.7% ] 2150/32200 ms | 16.78/251.32 MB @ 26.34 MB/s | ETA: 08s +[===> 6.8% ] 2175/32200 ms | 16.98/251.32 MB @ 26.32 MB/s | ETA: 08s +[===> 6.8% ] 2200/32200 ms | 17.17/251.32 MB @ 26.30 MB/s | ETA: 08s +[===> 6.9% ] 2225/32200 ms | 17.37/251.32 MB @ 26.27 MB/s | ETA: 08s +[===> 7.0% ] 2250/32200 ms | 17.56/251.32 MB @ 26.29 MB/s | ETA: 08s +[===> 7.1% ] 2275/32200 ms | 17.76/251.32 MB @ 26.27 MB/s | ETA: 08s +[===> 7.1% ] 2300/32200 ms | 17.95/251.32 MB @ 26.28 MB/s | ETA: 08s +[===> 7.2% ] 2325/32200 ms | 18.15/251.32 MB @ 26.22 MB/s | ETA: 08s +[===> 7.3% ] 2350/32200 ms | 18.34/251.32 MB @ 26.24 MB/s | ETA: 08s +[===> 7.4% ] 2375/32200 ms | 18.54/251.32 MB @ 26.22 MB/s | ETA: 08s +[===> 7.5% ] 2400/32200 ms | 18.73/251.32 MB @ 26.20 MB/s | ETA: 08s +[===> 7.5% ] 2425/32200 ms | 18.93/251.32 MB @ 26.18 MB/s | ETA: 08s +[===> 7.6% ] 2450/32200 ms | 19.12/251.32 MB @ 26.19 MB/s | ETA: 08s +[===> 7.7% ] 2475/32200 ms | 19.32/251.32 MB @ 26.17 MB/s | ETA: 08s +[===> 7.8% ] 2500/32200 ms | 19.51/251.32 MB @ 26.16 MB/s | ETA: 08s +[===> 7.8% ] 2525/32200 ms | 19.71/251.32 MB @ 26.14 MB/s | ETA: 08s +[===> 7.9% ] 2550/32200 ms | 19.90/251.32 MB @ 26.12 MB/s | ETA: 08s +[===> 8.0% ] 2575/32200 ms | 20.10/251.32 MB @ 26.10 MB/s | ETA: 08s +[====> 8.1% ] 2600/32200 ms | 20.29/251.32 MB @ 26.12 MB/s | ETA: 08s +[====> 8.2% ] 2625/32200 ms | 20.49/251.32 MB @ 26.10 MB/s | ETA: 08s +[====> 8.2% ] 2650/32200 ms | 20.68/251.32 MB @ 26.11 MB/s | ETA: 08s +[====> 8.3% ] 2675/32200 ms | 20.88/251.32 MB @ 26.06 MB/s | ETA: 08s +[====> 8.4% ] 2700/32200 ms | 21.07/251.32 MB @ 26.05 MB/s | ETA: 08s +[====> 8.5% ] 2725/32200 ms | 21.27/251.32 MB @ 26.06 MB/s | ETA: 08s +[====> 8.5% ] 2750/32200 ms | 21.46/251.32 MB @ 26.05 MB/s | ETA: 08s +[====> 8.6% ] 2775/32200 ms | 21.66/251.32 MB @ 26.03 MB/s | ETA: 08s +[====> 8.7% ] 2800/32200 ms | 21.85/251.32 MB @ 26.02 MB/s | ETA: 08s +[====> 8.8% ] 2825/32200 ms | 22.05/251.32 MB @ 26.00 MB/s | ETA: 08s +[====> 8.9% ] 2850/32200 ms | 22.24/251.32 MB @ 25.99 MB/s | ETA: 08s +[====> 8.9% ] 2875/32200 ms | 22.44/251.32 MB @ 26.00 MB/s | ETA: 08s +[====> 9.0% ] 2900/32200 ms | 22.63/251.32 MB @ 25.99 MB/s | ETA: 08s +[====> 9.1% ] 2925/32200 ms | 22.83/251.32 MB @ 25.97 MB/s | ETA: 08s +[====> 9.2% ] 2950/32200 ms | 23.02/251.32 MB @ 25.96 MB/s | ETA: 08s +[====> 9.2% ] 2975/32200 ms | 23.22/251.32 MB @ 25.97 MB/s | ETA: 08s +[====> 9.3% ] 3000/32200 ms | 23.41/251.32 MB @ 25.96 MB/s | ETA: 08s +[====> 9.4% ] 3025/32200 ms | 23.61/251.32 MB @ 25.97 MB/s | ETA: 08s +[====> 9.5% ] 3050/32200 ms | 23.80/251.32 MB @ 25.96 MB/s | ETA: 08s +[====> 9.5% ] 3075/32200 ms | 24.00/251.32 MB @ 25.97 MB/s | ETA: 08s +[====> 9.6% ] 3100/32200 ms | 24.20/251.32 MB @ 25.99 MB/s | ETA: 08s +[====> 9.7% ] 3125/32200 ms | 24.39/251.32 MB @ 25.97 MB/s | ETA: 08s +[====> 9.8% ] 3150/32200 ms | 24.59/251.32 MB @ 25.96 MB/s | ETA: 08s +[====> 9.9% ] 3175/32200 ms | 24.78/251.32 MB @ 25.95 MB/s | ETA: 08s +[====> 9.9% ] 3200/32200 ms | 24.98/251.32 MB @ 25.94 MB/s | ETA: 08s +[=====> 10.0% ] 3225/32200 ms | 25.17/251.32 MB @ 25.92 MB/s | ETA: 08s +[=====> 10.1% ] 3250/32200 ms | 25.37/251.32 MB @ 25.91 MB/s | ETA: 08s +[=====> 10.2% ] 3275/32200 ms | 25.56/251.32 MB @ 25.92 MB/s | ETA: 08s +[=====> 10.2% ] 3300/32200 ms | 25.76/251.32 MB @ 25.91 MB/s | ETA: 08s +[=====> 10.3% ] 3325/32200 ms | 25.95/251.32 MB @ 25.90 MB/s | ETA: 08s +[=====> 10.4% ] 3350/32200 ms | 26.15/251.32 MB @ 25.86 MB/s | ETA: 08s +[=====> 10.5% ] 3375/32200 ms | 26.34/251.32 MB @ 25.85 MB/s | ETA: 08s +[=====> 10.6% ] 3400/32200 ms | 26.54/251.32 MB @ 25.81 MB/s | ETA: 08s +[=====> 10.6% ] 3425/32200 ms | 26.73/251.32 MB @ 25.83 MB/s | ETA: 08s +[=====> 10.7% ] 3450/32200 ms | 26.93/251.32 MB @ 25.79 MB/s | ETA: 08s +[=====> 10.8% ] 3475/32200 ms | 27.12/251.32 MB @ 25.78 MB/s | ETA: 08s +[=====> 10.9% ] 3500/32200 ms | 27.32/251.32 MB @ 25.75 MB/s | ETA: 08s +[=====> 10.9% ] 3525/32200 ms | 27.51/251.32 MB @ 25.74 MB/s | ETA: 08s +[=====> 11.0% ] 3550/32200 ms | 27.71/251.32 MB @ 25.73 MB/s | ETA: 08s +[=====> 11.1% ] 3575/32200 ms | 27.90/251.32 MB @ 25.74 MB/s | ETA: 08s +[=====> 11.2% ] 3600/32200 ms | 28.10/251.32 MB @ 25.71 MB/s | ETA: 08s +[=====> 11.3% ] 3625/32200 ms | 28.29/251.32 MB @ 25.72 MB/s | ETA: 08s +[=====> 11.3% ] 3650/32200 ms | 28.49/251.32 MB @ 25.71 MB/s | ETA: 08s +[=====> 11.4% ] 3675/32200 ms | 28.68/251.32 MB @ 25.72 MB/s | ETA: 08s +[=====> 11.5% ] 3700/32200 ms | 28.88/251.32 MB @ 25.69 MB/s | ETA: 08s +[=====> 11.6% ] 3725/32200 ms | 29.07/251.32 MB @ 25.68 MB/s | ETA: 08s +[=====> 11.6% ] 3750/32200 ms | 29.27/251.32 MB @ 25.67 MB/s | ETA: 08s +[=====> 11.7% ] 3775/32200 ms | 29.46/251.32 MB @ 25.69 MB/s | ETA: 08s +[=====> 11.8% ] 3800/32200 ms | 29.66/251.32 MB @ 25.68 MB/s | ETA: 08s +[=====> 11.9% ] 3825/32200 ms | 29.85/251.32 MB @ 25.69 MB/s | ETA: 08s +[=====> 12.0% ] 3850/32200 ms | 30.05/251.32 MB @ 25.68 MB/s | ETA: 08s +[======> 12.0% ] 3875/32200 ms | 30.24/251.32 MB @ 25.67 MB/s | ETA: 08s +[======> 12.1% ] 3900/32200 ms | 30.44/251.32 MB @ 25.64 MB/s | ETA: 08s +[======> 12.2% ] 3925/32200 ms | 30.63/251.32 MB @ 25.66 MB/s | ETA: 08s +[======> 12.3% ] 3950/32200 ms | 30.83/251.32 MB @ 25.65 MB/s | ETA: 08s +[======> 12.3% ] 3975/32200 ms | 31.02/251.32 MB @ 25.64 MB/s | ETA: 08s +[======> 12.4% ] 4000/32200 ms | 31.22/251.32 MB @ 25.65 MB/s | ETA: 08s +[======> 12.5% ] 4025/32200 ms | 31.41/251.32 MB @ 25.64 MB/s | ETA: 08s +[======> 12.6% ] 4050/32200 ms | 31.61/251.32 MB @ 25.64 MB/s | ETA: 08s +[======> 12.7% ] 4075/32200 ms | 31.80/251.32 MB @ 25.65 MB/s | ETA: 08s +[======> 12.7% ] 4100/32200 ms | 32.00/251.32 MB @ 25.64 MB/s | ETA: 08s +[======> 12.8% ] 4125/32200 ms | 32.20/251.32 MB @ 25.65 MB/s | ETA: 08s +[======> 12.9% ] 4150/32200 ms | 32.39/251.32 MB @ 25.65 MB/s | ETA: 08s +[======> 13.0% ] 4175/32200 ms | 32.59/251.32 MB @ 25.66 MB/s | ETA: 08s +[======> 13.0% ] 4200/32200 ms | 32.78/251.32 MB @ 25.63 MB/s | ETA: 08s +[======> 13.1% ] 4225/32200 ms | 32.98/251.32 MB @ 25.62 MB/s | ETA: 08s +[======> 13.2% ] 4250/32200 ms | 33.17/251.32 MB @ 25.63 MB/s | ETA: 08s +[======> 13.3% ] 4275/32200 ms | 33.37/251.32 MB @ 25.63 MB/s | ETA: 08s +[======> 13.4% ] 4300/32200 ms | 33.56/251.32 MB @ 25.64 MB/s | ETA: 08s +[======> 13.4% ] 4325/32200 ms | 33.76/251.32 MB @ 25.63 MB/s | ETA: 08s +[======> 13.5% ] 4350/32200 ms | 33.95/251.32 MB @ 25.64 MB/s | ETA: 08s +[======> 13.6% ] 4375/32200 ms | 34.15/251.32 MB @ 25.65 MB/s | ETA: 08s +[======> 13.7% ] 4400/32200 ms | 34.34/251.32 MB @ 25.63 MB/s | ETA: 08s +[======> 13.7% ] 4425/32200 ms | 34.54/251.32 MB @ 25.62 MB/s | ETA: 08s +[======> 13.8% ] 4450/32200 ms | 34.73/251.32 MB @ 25.63 MB/s | ETA: 08s +[======> 13.9% ] 4475/32200 ms | 34.93/251.32 MB @ 25.62 MB/s | ETA: 08s +[======> 14.0% ] 4500/32200 ms | 35.12/251.32 MB @ 25.62 MB/s | ETA: 08s +[=======> 14.1% ] 4525/32200 ms | 35.32/251.32 MB @ 25.61 MB/s | ETA: 08s +[=======> 14.1% ] 4550/32200 ms | 35.51/251.32 MB @ 25.60 MB/s | ETA: 08s +[=======> 14.2% ] 4575/32200 ms | 35.71/251.32 MB @ 25.60 MB/s | ETA: 08s +[=======> 14.3% ] 4600/32200 ms | 35.90/251.32 MB @ 25.59 MB/s | ETA: 08s +[=======> 14.4% ] 4625/32200 ms | 36.10/251.32 MB @ 25.56 MB/s | ETA: 08s +[=======> 14.4% ] 4650/32200 ms | 36.29/251.32 MB @ 25.56 MB/s | ETA: 08s +[=======> 14.5% ] 4675/32200 ms | 36.49/251.32 MB @ 25.57 MB/s | ETA: 08s +[=======> 14.6% ] 4700/32200 ms | 36.68/251.32 MB @ 25.55 MB/s | ETA: 08s +[=======> 14.7% ] 4725/32200 ms | 36.88/251.32 MB @ 25.54 MB/s | ETA: 08s +[=======> 14.8% ] 4750/32200 ms | 37.07/251.32 MB @ 25.53 MB/s | ETA: 08s +[=======> 14.8% ] 4775/32200 ms | 37.27/251.32 MB @ 25.54 MB/s | ETA: 08s +[=======> 14.9% ] 4800/32200 ms | 37.46/251.32 MB @ 25.52 MB/s | ETA: 08s +[=======> 15.0% ] 4825/32200 ms | 37.66/251.32 MB @ 25.53 MB/s | ETA: 08s +[=======> 15.1% ] 4850/32200 ms | 37.85/251.32 MB @ 25.53 MB/s | ETA: 08s +[=======> 15.1% ] 4875/32200 ms | 38.05/251.32 MB @ 25.54 MB/s | ETA: 08s +[=======> 15.2% ] 4900/32200 ms | 38.24/251.32 MB @ 25.51 MB/s | ETA: 08s +[=======> 15.3% ] 4925/32200 ms | 38.44/251.32 MB @ 25.51 MB/s | ETA: 08s +[=======> 15.4% ] 4950/32200 ms | 38.63/251.32 MB @ 25.52 MB/s | ETA: 08s +[=======> 15.5% ] 4975/32200 ms | 38.83/251.32 MB @ 25.51 MB/s | ETA: 08s +[=======> 15.5% ] 5000/32200 ms | 39.02/251.32 MB @ 25.49 MB/s | ETA: 08s +[=======> 15.6% ] 5025/32200 ms | 39.22/251.32 MB @ 25.50 MB/s | ETA: 08s +[=======> 15.7% ] 5050/32200 ms | 39.41/251.32 MB @ 25.49 MB/s | ETA: 08s +[=======> 15.8% ] 5075/32200 ms | 39.61/251.32 MB @ 25.47 MB/s | ETA: 08s +[=======> 15.8% ] 5100/32200 ms | 39.80/251.32 MB @ 25.48 MB/s | ETA: 08s +[=======> 15.9% ] 5125/32200 ms | 40.00/251.32 MB @ 25.49 MB/s | ETA: 08s +[=======> 16.0% ] 5150/32200 ms | 40.20/251.32 MB @ 25.49 MB/s | ETA: 08s +[========> 16.1% ] 5175/32200 ms | 40.39/251.32 MB @ 25.50 MB/s | ETA: 08s +[========> 16.1% ] 5200/32200 ms | 40.59/251.32 MB @ 25.49 MB/s | ETA: 08s +[========> 16.2% ] 5225/32200 ms | 40.78/251.32 MB @ 25.50 MB/s | ETA: 08s +[========> 16.3% ] 5250/32200 ms | 40.98/251.32 MB @ 25.50 MB/s | ETA: 08s +[========> 16.4% ] 5275/32200 ms | 41.17/251.32 MB @ 25.51 MB/s | ETA: 08s +[========> 16.5% ] 5300/32200 ms | 41.37/251.32 MB @ 25.50 MB/s | ETA: 08s +[========> 16.5% ] 5325/32200 ms | 41.56/251.32 MB @ 25.50 MB/s | ETA: 08s +[========> 16.6% ] 5350/32200 ms | 41.76/251.32 MB @ 25.49 MB/s | ETA: 08s +[========> 16.7% ] 5375/32200 ms | 41.95/251.32 MB @ 25.49 MB/s | ETA: 08s +[========> 16.8% ] 5400/32200 ms | 42.15/251.32 MB @ 25.48 MB/s | ETA: 08s +[========> 16.8% ] 5425/32200 ms | 42.34/251.32 MB @ 25.48 MB/s | ETA: 08s +[========> 16.9% ] 5450/32200 ms | 42.54/251.32 MB @ 25.47 MB/s | ETA: 08s +[========> 17.0% ] 5475/32200 ms | 42.73/251.32 MB @ 25.47 MB/s | ETA: 08s +[========> 17.1% ] 5500/32200 ms | 42.93/251.32 MB @ 25.46 MB/s | ETA: 08s +[========> 17.2% ] 5525/32200 ms | 43.12/251.32 MB @ 25.46 MB/s | ETA: 08s +[========> 17.2% ] 5550/32200 ms | 43.32/251.32 MB @ 25.47 MB/s | ETA: 08s +[========> 17.3% ] 5575/32200 ms | 43.51/251.32 MB @ 25.46 MB/s | ETA: 08s +[========> 17.4% ] 5600/32200 ms | 43.71/251.32 MB @ 25.46 MB/s | ETA: 08s +[========> 17.5% ] 5625/32200 ms | 43.90/251.32 MB @ 25.47 MB/s | ETA: 08s +[========> 17.5% ] 5650/32200 ms | 44.10/251.32 MB @ 25.46 MB/s | ETA: 08s +[========> 17.6% ] 5675/32200 ms | 44.29/251.32 MB @ 25.46 MB/s | ETA: 08s +[========> 17.7% ] 5700/32200 ms | 44.49/251.32 MB @ 25.47 MB/s | ETA: 08s +[========> 17.8% ] 5725/32200 ms | 44.68/251.32 MB @ 25.47 MB/s | ETA: 08s +[========> 17.9% ] 5750/32200 ms | 44.88/251.32 MB @ 25.46 MB/s | ETA: 08s +[========> 17.9% ] 5775/32200 ms | 45.07/251.32 MB @ 25.45 MB/s | ETA: 08s +[=========> 18.0% ] 5800/32200 ms | 45.27/251.32 MB @ 25.46 MB/s | ETA: 08s +[=========> 18.1% ] 5825/32200 ms | 45.46/251.32 MB @ 25.44 MB/s | ETA: 08s +[=========> 18.2% ] 5850/32200 ms | 45.66/251.32 MB @ 25.45 MB/s | ETA: 08s +[=========> 18.2% ] 5875/32200 ms | 45.85/251.32 MB @ 25.45 MB/s | ETA: 08s +[=========> 18.3% ] 5900/32200 ms | 46.05/251.32 MB @ 25.46 MB/s | ETA: 08s +[=========> 18.4% ] 5925/32200 ms | 46.24/251.32 MB @ 25.45 MB/s | ETA: 08s +[=========> 18.5% ] 5950/32200 ms | 46.44/251.32 MB @ 25.45 MB/s | ETA: 08s +[=========> 18.6% ] 5975/32200 ms | 46.63/251.32 MB @ 25.46 MB/s | ETA: 08s +[=========> 18.6% ] 6000/32200 ms | 46.83/251.32 MB @ 25.45 MB/s | ETA: 08s +[=========> 18.7% ] 6025/32200 ms | 47.02/251.32 MB @ 25.46 MB/s | ETA: 08s +[=========> 18.8% ] 6050/32200 ms | 47.22/251.32 MB @ 25.46 MB/s | ETA: 08s +[=========> 18.9% ] 6075/32200 ms | 47.41/251.32 MB @ 25.46 MB/s | ETA: 08s +[=========> 18.9% ] 6100/32200 ms | 47.61/251.32 MB @ 25.46 MB/s | ETA: 08s +[=========> 19.0% ] 6125/32200 ms | 47.80/251.32 MB @ 25.47 MB/s | ETA: 07s +[=========> 19.1% ] 6150/32200 ms | 48.00/251.32 MB @ 25.45 MB/s | ETA: 07s +[=========> 19.2% ] 6175/32200 ms | 48.20/251.32 MB @ 25.46 MB/s | ETA: 07s +[=========> 19.3% ] 6200/32200 ms | 48.39/251.32 MB @ 25.46 MB/s | ETA: 07s +[=========> 19.3% ] 6225/32200 ms | 48.59/251.32 MB @ 25.46 MB/s | ETA: 07s +[=========> 19.4% ] 6250/32200 ms | 48.78/251.32 MB @ 25.47 MB/s | ETA: 07s +[=========> 19.5% ] 6275/32200 ms | 48.98/251.32 MB @ 25.47 MB/s | ETA: 07s +[=========> 19.6% ] 6300/32200 ms | 49.17/251.32 MB @ 25.48 MB/s | ETA: 07s +[=========> 19.6% ] 6325/32200 ms | 49.37/251.32 MB @ 25.47 MB/s | ETA: 07s +[=========> 19.7% ] 6350/32200 ms | 49.56/251.32 MB @ 25.48 MB/s | ETA: 07s +[=========> 19.8% ] 6375/32200 ms | 49.76/251.32 MB @ 25.49 MB/s | ETA: 07s +[=========> 19.9% ] 6400/32200 ms | 49.95/251.32 MB @ 25.49 MB/s | ETA: 07s +[=========> 20.0% ] 6425/32200 ms | 50.15/251.32 MB @ 25.48 MB/s | ETA: 07s +[==========> 20.0% ] 6450/32200 ms | 50.34/251.32 MB @ 25.48 MB/s | ETA: 07s +[==========> 20.1% ] 6475/32200 ms | 50.54/251.32 MB @ 25.48 MB/s | ETA: 07s +[==========> 20.2% ] 6500/32200 ms | 50.73/251.32 MB @ 25.47 MB/s | ETA: 07s +[==========> 20.3% ] 6525/32200 ms | 50.93/251.32 MB @ 25.48 MB/s | ETA: 07s +[==========> 20.3% ] 6550/32200 ms | 51.12/251.32 MB @ 25.47 MB/s | ETA: 07s +[==========> 20.4% ] 6575/32200 ms | 51.32/251.32 MB @ 25.47 MB/s | ETA: 07s +[==========> 20.5% ] 6600/32200 ms | 51.51/251.32 MB @ 25.48 MB/s | ETA: 07s +[==========> 20.6% ] 6625/32200 ms | 51.71/251.32 MB @ 25.47 MB/s | ETA: 07s +[==========> 20.7% ] 6650/32200 ms | 51.90/251.32 MB @ 25.45 MB/s | ETA: 07s +[==========> 20.7% ] 6675/32200 ms | 52.10/251.32 MB @ 25.44 MB/s | ETA: 07s +[==========> 20.8% ] 6700/32200 ms | 52.29/251.32 MB @ 25.43 MB/s | ETA: 07s +[==========> 20.9% ] 6725/32200 ms | 52.49/251.32 MB @ 25.43 MB/s | ETA: 07s +[==========> 21.0% ] 6750/32200 ms | 52.68/251.32 MB @ 25.44 MB/s | ETA: 07s +[==========> 21.0% ] 6775/32200 ms | 52.88/251.32 MB @ 25.45 MB/s | ETA: 07s +[==========> 21.1% ] 6800/32200 ms | 53.07/251.32 MB @ 25.44 MB/s | ETA: 07s +[==========> 21.2% ] 6825/32200 ms | 53.27/251.32 MB @ 25.44 MB/s | ETA: 07s +[==========> 21.3% ] 6850/32200 ms | 53.46/251.32 MB @ 25.45 MB/s | ETA: 07s +[==========> 21.4% ] 6875/32200 ms | 53.66/251.32 MB @ 25.43 MB/s | ETA: 07s +[==========> 21.4% ] 6900/32200 ms | 53.85/251.32 MB @ 25.44 MB/s | ETA: 07s +[==========> 21.5% ] 6925/32200 ms | 54.05/251.32 MB @ 25.43 MB/s | ETA: 07s +[==========> 21.6% ] 6950/32200 ms | 54.24/251.32 MB @ 25.43 MB/s | ETA: 07s +[==========> 21.7% ] 6975/32200 ms | 54.44/251.32 MB @ 25.44 MB/s | ETA: 07s +[==========> 21.7% ] 7000/32200 ms | 54.63/251.32 MB @ 25.43 MB/s | ETA: 07s +[==========> 21.8% ] 7025/32200 ms | 54.83/251.32 MB @ 25.43 MB/s | ETA: 07s +[==========> 21.9% ] 7050/32200 ms | 55.02/251.32 MB @ 25.43 MB/s | ETA: 07s +[==========> 22.0% ] 7075/32200 ms | 55.22/251.32 MB @ 25.42 MB/s | ETA: 07s +[===========> 22.0% ] 7100/32200 ms | 55.41/251.32 MB @ 25.42 MB/s | ETA: 07s +[===========> 22.1% ] 7125/32200 ms | 55.61/251.32 MB @ 25.40 MB/s | ETA: 07s +[===========> 22.2% ] 7150/32200 ms | 55.80/251.32 MB @ 25.40 MB/s | ETA: 07s +[===========> 22.3% ] 7175/32200 ms | 56.00/251.32 MB @ 25.40 MB/s | ETA: 07s +[===========> 22.4% ] 7200/32200 ms | 56.20/251.32 MB @ 25.39 MB/s | ETA: 07s +[===========> 22.4% ] 7225/32200 ms | 56.39/251.32 MB @ 25.40 MB/s | ETA: 07s +[===========> 22.5% ] 7250/32200 ms | 56.59/251.32 MB @ 25.41 MB/s | ETA: 07s +[===========> 22.6% ] 7275/32200 ms | 56.78/251.32 MB @ 25.41 MB/s | ETA: 07s +[===========> 22.7% ] 7300/32200 ms | 56.98/251.32 MB @ 25.41 MB/s | ETA: 07s +[===========> 22.7% ] 7325/32200 ms | 57.17/251.32 MB @ 25.41 MB/s | ETA: 07s +[===========> 22.8% ] 7350/32200 ms | 57.37/251.32 MB @ 25.41 MB/s | ETA: 07s +[===========> 22.9% ] 7375/32200 ms | 57.56/251.32 MB @ 25.40 MB/s | ETA: 07s +[===========> 23.0% ] 7400/32200 ms | 57.76/251.32 MB @ 25.41 MB/s | ETA: 07s +[===========> 23.1% ] 7425/32200 ms | 57.95/251.32 MB @ 25.41 MB/s | ETA: 07s +[===========> 23.1% ] 7450/32200 ms | 58.15/251.32 MB @ 25.40 MB/s | ETA: 07s +[===========> 23.2% ] 7475/32200 ms | 58.34/251.32 MB @ 25.40 MB/s | ETA: 07s +[===========> 23.3% ] 7500/32200 ms | 58.54/251.32 MB @ 25.40 MB/s | ETA: 07s +[===========> 23.4% ] 7525/32200 ms | 58.73/251.32 MB @ 25.39 MB/s | ETA: 07s +[===========> 23.4% ] 7550/32200 ms | 58.93/251.32 MB @ 25.40 MB/s | ETA: 07s +[===========> 23.5% ] 7575/32200 ms | 59.12/251.32 MB @ 25.39 MB/s | ETA: 07s +[===========> 23.6% ] 7600/32200 ms | 59.32/251.32 MB @ 25.39 MB/s | ETA: 07s +[===========> 23.7% ] 7625/32200 ms | 59.51/251.32 MB @ 25.38 MB/s | ETA: 07s +[===========> 23.8% ] 7650/32200 ms | 59.71/251.32 MB @ 25.39 MB/s | ETA: 07s +[===========> 23.8% ] 7675/32200 ms | 59.90/251.32 MB @ 25.38 MB/s | ETA: 07s +[===========> 23.9% ] 7700/32200 ms | 60.10/251.32 MB @ 25.38 MB/s | ETA: 07s +[===========> 24.0% ] 7725/32200 ms | 60.29/251.32 MB @ 25.38 MB/s | ETA: 07s +[============> 24.1% ] 7750/32200 ms | 60.49/251.32 MB @ 25.37 MB/s | ETA: 07s +[============> 24.1% ] 7775/32200 ms | 60.68/251.32 MB @ 25.36 MB/s | ETA: 07s +[============> 24.2% ] 7800/32200 ms | 60.88/251.32 MB @ 25.36 MB/s | ETA: 07s +[============> 24.3% ] 7825/32200 ms | 61.07/251.32 MB @ 25.35 MB/s | ETA: 07s +[============> 24.4% ] 7850/32200 ms | 61.27/251.32 MB @ 25.36 MB/s | ETA: 07s +[============> 24.5% ] 7875/32200 ms | 61.46/251.32 MB @ 25.36 MB/s | ETA: 07s +[============> 24.5% ] 7900/32200 ms | 61.66/251.32 MB @ 25.35 MB/s | ETA: 07s +[============> 24.6% ] 7925/32200 ms | 61.85/251.32 MB @ 25.36 MB/s | ETA: 07s +[============> 24.7% ] 7950/32200 ms | 62.05/251.32 MB @ 25.37 MB/s | ETA: 07s +[============> 24.8% ] 7975/32200 ms | 62.24/251.32 MB @ 25.36 MB/s | ETA: 07s +[============> 24.8% ] 8000/32200 ms | 62.44/251.32 MB @ 25.36 MB/s | ETA: 07s +[============> 24.9% ] 8025/32200 ms | 62.63/251.32 MB @ 25.37 MB/s | ETA: 07s +[============> 25.0% ] 8050/32200 ms | 62.83/251.32 MB @ 25.37 MB/s | ETA: 07s +[============> 25.1% ] 8075/32200 ms | 63.02/251.32 MB @ 25.37 MB/s | ETA: 07s +[============> 25.2% ] 8100/32200 ms | 63.22/251.32 MB @ 25.38 MB/s | ETA: 07s +[============> 25.2% ] 8125/32200 ms | 63.41/251.32 MB @ 25.38 MB/s | ETA: 07s +[============> 25.3% ] 8150/32200 ms | 63.61/251.32 MB @ 25.38 MB/s | ETA: 07s +[============> 25.4% ] 8175/32200 ms | 63.80/251.32 MB @ 25.38 MB/s | ETA: 07s +[============> 25.5% ] 8200/32200 ms | 64.00/251.32 MB @ 25.38 MB/s | ETA: 07s +[============> 25.5% ] 8225/32200 ms | 64.20/251.32 MB @ 25.38 MB/s | ETA: 07s +[============> 25.6% ] 8250/32200 ms | 64.39/251.32 MB @ 25.38 MB/s | ETA: 07s +[============> 25.7% ] 8275/32200 ms | 64.59/251.32 MB @ 25.38 MB/s | ETA: 07s +[============> 25.8% ] 8300/32200 ms | 64.78/251.32 MB @ 25.36 MB/s | ETA: 07s +[============> 25.9% ] 8325/32200 ms | 64.98/251.32 MB @ 25.36 MB/s | ETA: 07s +[============> 25.9% ] 8350/32200 ms | 65.17/251.32 MB @ 25.36 MB/s | ETA: 07s +[=============> 26.0% ] 8375/32200 ms | 65.37/251.32 MB @ 25.36 MB/s | ETA: 07s +[=============> 26.1% ] 8400/32200 ms | 65.56/251.32 MB @ 25.35 MB/s | ETA: 07s +[=============> 26.2% ] 8425/32200 ms | 65.76/251.32 MB @ 25.36 MB/s | ETA: 07s +[=============> 26.2% ] 8450/32200 ms | 65.95/251.32 MB @ 25.36 MB/s | ETA: 07s +[=============> 26.3% ] 8475/32200 ms | 66.15/251.32 MB @ 25.35 MB/s | ETA: 07s +[=============> 26.4% ] 8500/32200 ms | 66.34/251.32 MB @ 25.36 MB/s | ETA: 07s +[=============> 26.5% ] 8525/32200 ms | 66.54/251.32 MB @ 25.36 MB/s | ETA: 07s +[=============> 26.6% ] 8550/32200 ms | 66.73/251.32 MB @ 25.35 MB/s | ETA: 07s +[=============> 26.6% ] 8575/32200 ms | 66.93/251.32 MB @ 25.36 MB/s | ETA: 07s +[=============> 26.7% ] 8600/32200 ms | 67.12/251.32 MB @ 25.36 MB/s | ETA: 07s +[=============> 26.8% ] 8625/32200 ms | 67.32/251.32 MB @ 25.36 MB/s | ETA: 07s +[=============> 26.9% ] 8650/32200 ms | 67.51/251.32 MB @ 25.36 MB/s | ETA: 07s +[=============> 26.9% ] 8675/32200 ms | 67.71/251.32 MB @ 25.36 MB/s | ETA: 07s +[=============> 27.0% ] 8700/32200 ms | 67.90/251.32 MB @ 25.37 MB/s | ETA: 07s +[=============> 27.1% ] 8725/32200 ms | 68.10/251.32 MB @ 25.37 MB/s | ETA: 07s +[=============> 27.2% ] 8750/32200 ms | 68.29/251.32 MB @ 25.37 MB/s | ETA: 07s +[=============> 27.3% ] 8775/32200 ms | 68.49/251.32 MB @ 25.37 MB/s | ETA: 07s +[=============> 27.3% ] 8800/32200 ms | 68.68/251.32 MB @ 25.37 MB/s | ETA: 07s +[=============> 27.4% ] 8825/32200 ms | 68.88/251.32 MB @ 25.38 MB/s | ETA: 07s +[=============> 27.5% ] 8850/32200 ms | 69.07/251.32 MB @ 25.38 MB/s | ETA: 07s +[=============> 27.6% ] 8875/32200 ms | 69.27/251.32 MB @ 25.38 MB/s | ETA: 07s +[=============> 27.6% ] 8900/32200 ms | 69.46/251.32 MB @ 25.38 MB/s | ETA: 07s +[=============> 27.7% ] 8925/32200 ms | 69.66/251.32 MB @ 25.39 MB/s | ETA: 07s +[=============> 27.8% ] 8950/32200 ms | 69.85/251.32 MB @ 25.39 MB/s | ETA: 07s +[=============> 27.9% ] 8975/32200 ms | 70.05/251.32 MB @ 25.39 MB/s | ETA: 07s +[=============> 28.0% ] 9000/32200 ms | 70.24/251.32 MB @ 25.40 MB/s | ETA: 07s +[==============> 28.0% ] 9025/32200 ms | 70.44/251.32 MB @ 25.39 MB/s | ETA: 07s +[==============> 28.1% ] 9050/32200 ms | 70.63/251.32 MB @ 25.40 MB/s | ETA: 07s +[==============> 28.2% ] 9075/32200 ms | 70.83/251.32 MB @ 25.39 MB/s | ETA: 07s +[==============> 28.3% ] 9100/32200 ms | 71.02/251.32 MB @ 25.39 MB/s | ETA: 07s +[==============> 28.3% ] 9125/32200 ms | 71.22/251.32 MB @ 25.38 MB/s | ETA: 07s +[==============> 28.4% ] 9150/32200 ms | 71.41/251.32 MB @ 25.39 MB/s | ETA: 07s +[==============> 28.5% ] 9175/32200 ms | 71.61/251.32 MB @ 25.38 MB/s | ETA: 07s +[==============> 28.6% ] 9200/32200 ms | 71.80/251.32 MB @ 25.38 MB/s | ETA: 07s +[==============> 28.6% ] 9225/32200 ms | 72.00/251.32 MB @ 25.39 MB/s | ETA: 07s +[==============> 28.7% ] 9250/32200 ms | 72.20/251.32 MB @ 25.38 MB/s | ETA: 07s +[==============> 28.8% ] 9275/32200 ms | 72.39/251.32 MB @ 25.37 MB/s | ETA: 07s +[==============> 28.9% ] 9300/32200 ms | 72.59/251.32 MB @ 25.38 MB/s | ETA: 07s +[==============> 29.0% ] 9325/32200 ms | 72.78/251.32 MB @ 25.38 MB/s | ETA: 07s +[==============> 29.0% ] 9350/32200 ms | 72.98/251.32 MB @ 25.37 MB/s | ETA: 07s +[==============> 29.1% ] 9375/32200 ms | 73.17/251.32 MB @ 25.38 MB/s | ETA: 07s +[==============> 29.2% ] 9400/32200 ms | 73.37/251.32 MB @ 25.38 MB/s | ETA: 07s +[==============> 29.3% ] 9425/32200 ms | 73.56/251.32 MB @ 25.37 MB/s | ETA: 07s +[==============> 29.3% ] 9450/32200 ms | 73.76/251.32 MB @ 25.37 MB/s | ETA: 06s +[==============> 29.4% ] 9475/32200 ms | 73.95/251.32 MB @ 25.37 MB/s | ETA: 06s +[==============> 29.5% ] 9500/32200 ms | 74.15/251.32 MB @ 25.37 MB/s | ETA: 06s +[==============> 29.6% ] 9525/32200 ms | 74.34/251.32 MB @ 25.36 MB/s | ETA: 06s +[==============> 29.7% ] 9550/32200 ms | 74.54/251.32 MB @ 25.37 MB/s | ETA: 06s +[==============> 29.7% ] 9575/32200 ms | 74.73/251.32 MB @ 25.37 MB/s | ETA: 06s +[==============> 29.8% ] 9600/32200 ms | 74.93/251.32 MB @ 25.37 MB/s | ETA: 06s +[==============> 29.9% ] 9625/32200 ms | 75.12/251.32 MB @ 25.37 MB/s | ETA: 06s +[==============> 30.0% ] 9650/32200 ms | 75.32/251.32 MB @ 25.37 MB/s | ETA: 06s +[===============> 30.0% ] 9675/32200 ms | 75.51/251.32 MB @ 25.37 MB/s | ETA: 06s +[===============> 30.1% ] 9700/32200 ms | 75.71/251.32 MB @ 25.36 MB/s | ETA: 06s +[===============> 30.2% ] 9725/32200 ms | 75.90/251.32 MB @ 25.37 MB/s | ETA: 06s +[===============> 30.3% ] 9750/32200 ms | 76.10/251.32 MB @ 25.36 MB/s | ETA: 06s +[===============> 30.4% ] 9775/32200 ms | 76.29/251.32 MB @ 25.35 MB/s | ETA: 06s +[===============> 30.4% ] 9800/32200 ms | 76.49/251.32 MB @ 25.35 MB/s | ETA: 06s +[===============> 30.5% ] 9825/32200 ms | 76.68/251.32 MB @ 25.36 MB/s | ETA: 06s +[===============> 30.6% ] 9850/32200 ms | 76.88/251.32 MB @ 25.36 MB/s | ETA: 06s +[===============> 30.7% ] 9875/32200 ms | 77.07/251.32 MB @ 25.36 MB/s | ETA: 06s +[===============> 30.7% ] 9900/32200 ms | 77.27/251.32 MB @ 25.36 MB/s | ETA: 06s +[===============> 30.8% ] 9925/32200 ms | 77.46/251.32 MB @ 25.36 MB/s | ETA: 06s +[===============> 30.9% ] 9950/32200 ms | 77.66/251.32 MB @ 25.37 MB/s | ETA: 06s +[===============> 31.0% ] 9975/32200 ms | 77.85/251.32 MB @ 25.37 MB/s | ETA: 06s +[===============> 31.1% ] 10000/32200 ms | 78.05/251.32 MB @ 25.37 MB/s | ETA: 06s +[===============> 31.1% ] 10025/32200 ms | 78.24/251.32 MB @ 25.37 MB/s | ETA: 06s +[===============> 31.2% ] 10050/32200 ms | 78.44/251.32 MB @ 25.38 MB/s | ETA: 06s +[===============> 31.3% ] 10075/32200 ms | 78.63/251.32 MB @ 25.37 MB/s | ETA: 06s +[===============> 31.4% ] 10100/32200 ms | 78.83/251.32 MB @ 25.37 MB/s | ETA: 06s +[===============> 31.4% ] 10125/32200 ms | 79.02/251.32 MB @ 25.37 MB/s | ETA: 06s +[===============> 31.5% ] 10150/32200 ms | 79.22/251.32 MB @ 25.37 MB/s | ETA: 06s +[===============> 31.6% ] 10175/32200 ms | 79.41/251.32 MB @ 25.36 MB/s | ETA: 06s +[===============> 31.7% ] 10200/32200 ms | 79.61/251.32 MB @ 25.36 MB/s | ETA: 06s +[===============> 31.8% ] 10225/32200 ms | 79.80/251.32 MB @ 25.36 MB/s | ETA: 06s +[===============> 31.8% ] 10250/32200 ms | 80.00/251.32 MB @ 25.36 MB/s | ETA: 06s +[===============> 31.9% ] 10275/32200 ms | 80.20/251.32 MB @ 25.36 MB/s | ETA: 06s +[===============> 32.0% ] 10300/32200 ms | 80.39/251.32 MB @ 25.35 MB/s | ETA: 06s +[================> 32.1% ] 10325/32200 ms | 80.59/251.32 MB @ 25.36 MB/s | ETA: 06s +[================> 32.1% ] 10350/32200 ms | 80.78/251.32 MB @ 25.36 MB/s | ETA: 06s +[================> 32.2% ] 10375/32200 ms | 80.98/251.32 MB @ 25.36 MB/s | ETA: 06s +[================> 32.3% ] 10400/32200 ms | 81.17/251.32 MB @ 25.36 MB/s | ETA: 06s +[================> 32.4% ] 10425/32200 ms | 81.37/251.32 MB @ 25.36 MB/s | ETA: 06s +[================> 32.5% ] 10450/32200 ms | 81.56/251.32 MB @ 25.35 MB/s | ETA: 06s +[================> 32.5% ] 10475/32200 ms | 81.76/251.32 MB @ 25.35 MB/s | ETA: 06s +[================> 32.6% ] 10500/32200 ms | 81.95/251.32 MB @ 25.35 MB/s | ETA: 06s +[================> 32.7% ] 10525/32200 ms | 82.15/251.32 MB @ 25.35 MB/s | ETA: 06s +[================> 32.8% ] 10550/32200 ms | 82.34/251.32 MB @ 25.35 MB/s | ETA: 06s +[================> 32.8% ] 10575/32200 ms | 82.54/251.32 MB @ 25.35 MB/s | ETA: 06s +[================> 32.9% ] 10600/32200 ms | 82.73/251.32 MB @ 25.35 MB/s | ETA: 06s +[================> 33.0% ] 10625/32200 ms | 82.93/251.32 MB @ 25.35 MB/s | ETA: 06s +[================> 33.1% ] 10650/32200 ms | 83.12/251.32 MB @ 25.35 MB/s | ETA: 06s +[================> 33.2% ] 10675/32200 ms | 83.32/251.32 MB @ 25.35 MB/s | ETA: 06s +[================> 33.2% ] 10700/32200 ms | 83.51/251.32 MB @ 25.35 MB/s | ETA: 06s +[================> 33.3% ] 10725/32200 ms | 83.71/251.32 MB @ 25.34 MB/s | ETA: 06s +[================> 33.4% ] 10750/32200 ms | 83.90/251.32 MB @ 25.35 MB/s | ETA: 06s +[================> 33.5% ] 10775/32200 ms | 84.10/251.32 MB @ 25.35 MB/s | ETA: 06s +[================> 33.5% ] 10800/32200 ms | 84.29/251.32 MB @ 25.34 MB/s | ETA: 06s +[================> 33.6% ] 10825/32200 ms | 84.49/251.32 MB @ 25.34 MB/s | ETA: 06s +[================> 33.7% ] 10850/32200 ms | 84.68/251.32 MB @ 25.35 MB/s | ETA: 06s +[================> 33.8% ] 10875/32200 ms | 84.88/251.32 MB @ 25.34 MB/s | ETA: 06s +[================> 33.9% 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+[==================> 36.6% ] 11775/32200 ms | 91.90/251.32 MB @ 25.37 MB/s | ETA: 06s +[==================> 36.6% ] 11800/32200 ms | 92.10/251.32 MB @ 25.37 MB/s | ETA: 06s +[==================> 36.7% ] 11825/32200 ms | 92.29/251.32 MB @ 25.37 MB/s | ETA: 06s +[==================> 36.8% ] 11850/32200 ms | 92.49/251.32 MB @ 25.37 MB/s | ETA: 06s +[==================> 36.9% ] 11875/32200 ms | 92.68/251.32 MB @ 25.36 MB/s | ETA: 06s +[==================> 37.0% ] 11900/32200 ms | 92.88/251.32 MB @ 25.36 MB/s | ETA: 06s +[==================> 37.0% ] 11925/32200 ms | 93.07/251.32 MB @ 25.36 MB/s | ETA: 06s +[==================> 37.1% ] 11950/32200 ms | 93.27/251.32 MB @ 25.36 MB/s | ETA: 06s +[==================> 37.2% ] 11975/32200 ms | 93.46/251.32 MB @ 25.36 MB/s | ETA: 06s +[==================> 37.3% ] 12000/32200 ms | 93.66/251.32 MB @ 25.36 MB/s | ETA: 06s +[==================> 37.3% ] 12025/32200 ms | 93.85/251.32 MB @ 25.36 MB/s | ETA: 06s +[==================> 37.4% ] 12050/32200 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ETA: 06s +[===================> 38.4% ] 12350/32200 ms | 96.39/251.32 MB @ 25.37 MB/s | ETA: 06s +[===================> 38.4% ] 12375/32200 ms | 96.59/251.32 MB @ 25.36 MB/s | ETA: 06s +[===================> 38.5% ] 12400/32200 ms | 96.78/251.32 MB @ 25.36 MB/s | ETA: 06s +[===================> 38.6% ] 12425/32200 ms | 96.98/251.32 MB @ 25.36 MB/s | ETA: 06s +[===================> 38.7% ] 12450/32200 ms | 97.17/251.32 MB @ 25.36 MB/s | ETA: 06s +[===================> 38.7% ] 12475/32200 ms | 97.37/251.32 MB @ 25.36 MB/s | ETA: 06s +[===================> 38.8% ] 12500/32200 ms | 97.56/251.32 MB @ 25.35 MB/s | ETA: 06s +[===================> 38.9% ] 12525/32200 ms | 97.76/251.32 MB @ 25.36 MB/s | ETA: 06s +[===================> 39.0% ] 12550/32200 ms | 97.95/251.32 MB @ 25.35 MB/s | ETA: 06s +[===================> 39.1% ] 12575/32200 ms | 98.15/251.32 MB @ 25.35 MB/s | ETA: 06s +[===================> 39.1% ] 12600/32200 ms | 98.34/251.32 MB @ 25.35 MB/s | ETA: 06s +[===================> 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102.83/251.32 MB @ 25.34 MB/s | ETA: 05s +[====================> 41.0% ] 13200/32200 ms | 103.02/251.32 MB @ 25.33 MB/s | ETA: 05s +[====================> 41.1% ] 13225/32200 ms | 103.22/251.32 MB @ 25.34 MB/s | ETA: 05s +[====================> 41.1% ] 13250/32200 ms | 103.41/251.32 MB @ 25.33 MB/s | ETA: 05s +[====================> 41.2% ] 13275/32200 ms | 103.61/251.32 MB @ 25.33 MB/s | ETA: 05s +[====================> 41.3% ] 13300/32200 ms | 103.80/251.32 MB @ 25.34 MB/s | ETA: 05s +[====================> 41.4% ] 13325/32200 ms | 104.00/251.32 MB @ 25.33 MB/s | ETA: 05s +[====================> 41.5% ] 13350/32200 ms | 104.20/251.32 MB @ 25.33 MB/s | ETA: 05s +[====================> 41.5% ] 13375/32200 ms | 104.39/251.32 MB @ 25.33 MB/s | ETA: 05s +[====================> 41.6% ] 13400/32200 ms | 104.59/251.32 MB @ 25.33 MB/s | ETA: 05s +[====================> 41.7% ] 13425/32200 ms | 104.78/251.32 MB @ 25.33 MB/s | ETA: 05s +[====================> 41.8% ] 13450/32200 ms | 104.98/251.32 MB @ 25.33 MB/s | ETA: 05s +[====================> 41.8% ] 13475/32200 ms | 105.17/251.32 MB @ 25.34 MB/s | ETA: 05s +[====================> 41.9% ] 13500/32200 ms | 105.37/251.32 MB @ 25.33 MB/s | ETA: 05s +[=====================>42.0% ] 13525/32200 ms | 105.56/251.32 MB @ 25.34 MB/s | ETA: 05s +[=====================>42.1% ] 13550/32200 ms | 105.76/251.32 MB @ 25.34 MB/s | ETA: 05s +[=====================>42.2% ] 13575/32200 ms | 105.95/251.32 MB @ 25.34 MB/s | ETA: 05s +[=====================>42.2% ] 13600/32200 ms | 106.15/251.32 MB @ 25.35 MB/s | ETA: 05s +[=====================>42.3% ] 13625/32200 ms | 106.34/251.32 MB @ 25.34 MB/s | ETA: 05s +[=====================>42.4% ] 13650/32200 ms | 106.54/251.32 MB @ 25.34 MB/s | ETA: 05s +[=====================>42.5% ] 13675/32200 ms | 106.73/251.32 MB @ 25.35 MB/s | ETA: 05s +[=====================>42.5% ] 13700/32200 ms | 106.93/251.32 MB @ 25.34 MB/s | ETA: 05s +[=====================>42.6% ] 13725/32200 ms | 107.12/251.32 MB @ 25.35 MB/s | ETA: 05s +[=====================>42.7% ] 13750/32200 ms | 107.32/251.32 MB @ 25.35 MB/s | ETA: 05s +[=====================>42.8% ] 13775/32200 ms | 107.51/251.32 MB @ 25.34 MB/s | ETA: 05s +[=====================>42.9% ] 13800/32200 ms | 107.71/251.32 MB @ 25.34 MB/s | ETA: 05s +[=====================>42.9% ] 13825/32200 ms | 107.90/251.32 MB @ 25.34 MB/s | ETA: 05s +[=====================>43.0% ] 13850/32200 ms | 108.10/251.32 MB @ 25.34 MB/s | ETA: 05s +[=====================>43.1% ] 13875/32200 ms | 108.29/251.32 MB @ 25.34 MB/s | ETA: 05s +[=====================>43.2% ] 13900/32200 ms | 108.49/251.32 MB @ 25.34 MB/s | ETA: 05s +[=====================>43.2% ] 13925/32200 ms | 108.68/251.32 MB @ 25.33 MB/s | ETA: 05s +[=====================>43.3% ] 13950/32200 ms | 108.88/251.32 MB @ 25.34 MB/s | ETA: 05s +[=====================>43.4% ] 13975/32200 ms | 109.07/251.32 MB @ 25.34 MB/s | ETA: 05s +[=====================>43.5% ] 14000/32200 ms | 109.27/251.32 MB @ 25.33 MB/s | ETA: 05s +[=====================>43.6% ] 14025/32200 ms | 109.46/251.32 MB @ 25.34 MB/s | ETA: 05s +[=====================>43.6% ] 14050/32200 ms | 109.66/251.32 MB @ 25.34 MB/s | ETA: 05s +[=====================>43.7% ] 14075/32200 ms | 109.85/251.32 MB @ 25.33 MB/s | ETA: 05s +[=====================>43.8% ] 14100/32200 ms | 110.05/251.32 MB @ 25.33 MB/s | ETA: 05s +[=====================>43.9% ] 14125/32200 ms | 110.24/251.32 MB @ 25.33 MB/s | ETA: 05s +[=====================>43.9% ] 14150/32200 ms | 110.44/251.32 MB @ 25.32 MB/s | ETA: 05s +[======================44.0% ] 14175/32200 ms | 110.63/251.32 MB @ 25.32 MB/s | ETA: 05s +[======================44.1% ] 14200/32200 ms | 110.83/251.32 MB @ 25.32 MB/s | ETA: 05s +[======================44.2% ] 14225/32200 ms | 111.02/251.32 MB @ 25.32 MB/s | ETA: 05s +[======================44.3% ] 14250/32200 ms | 111.22/251.32 MB @ 25.32 MB/s | ETA: 05s +[======================44.3% ] 14275/32200 ms | 111.41/251.32 MB @ 25.32 MB/s | ETA: 05s +[======================44.4% ] 14300/32200 ms | 111.61/251.32 MB @ 25.32 MB/s | ETA: 05s +[======================44.5% ] 14325/32200 ms | 111.80/251.32 MB @ 25.32 MB/s | ETA: 05s +[======================44.6% ] 14350/32200 ms | 112.00/251.32 MB @ 25.32 MB/s | ETA: 05s +[======================44.6% ] 14375/32200 ms | 112.20/251.32 MB @ 25.32 MB/s | ETA: 05s +[======================44.7% ] 14400/32200 ms | 112.39/251.32 MB @ 25.32 MB/s | ETA: 05s +[======================44.8% ] 14425/32200 ms | 112.59/251.32 MB @ 25.32 MB/s | ETA: 05s +[======================44.9% ] 14450/32200 ms | 112.78/251.32 MB @ 25.33 MB/s | ETA: 05s +[======================45.0% ] 14475/32200 ms | 112.98/251.32 MB @ 25.33 MB/s | ETA: 05s +[======================45.0% ] 14500/32200 ms | 113.17/251.32 MB @ 25.33 MB/s | ETA: 05s +[======================45.1% ] 14525/32200 ms | 113.37/251.32 MB @ 25.33 MB/s | ETA: 05s +[======================45.2% ] 14550/32200 ms | 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+[======================62.1%====> ] 20000/32200 ms | 156.10/251.32 MB @ 25.29 MB/s | ETA: 03s +[======================62.2%====> ] 20025/32200 ms | 156.29/251.32 MB @ 25.29 MB/s | ETA: 03s +[======================62.3%====> ] 20050/32200 ms | 156.49/251.32 MB @ 25.28 MB/s | ETA: 03s +[======================62.3%====> ] 20075/32200 ms | 156.68/251.32 MB @ 25.28 MB/s | ETA: 03s +[======================62.4%====> ] 20100/32200 ms | 156.88/251.32 MB @ 25.28 MB/s | ETA: 03s +[======================62.5%====> ] 20125/32200 ms | 157.07/251.32 MB @ 25.29 MB/s | ETA: 03s +[======================62.6%====> ] 20150/32200 ms | 157.27/251.32 MB @ 25.28 MB/s | ETA: 03s +[======================62.7%====> ] 20175/32200 ms | 157.46/251.32 MB @ 25.28 MB/s | ETA: 03s +[======================62.7%====> ] 20200/32200 ms | 157.66/251.32 MB @ 25.28 MB/s | ETA: 03s +[======================62.8%====> ] 20225/32200 ms | 157.85/251.32 MB @ 25.28 MB/s | ETA: 03s +[======================62.9%====> ] 20250/32200 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+[======================63.7%====> ] 20525/32200 ms | 160.19/251.32 MB @ 25.28 MB/s | ETA: 03s +[======================63.8%====> ] 20550/32200 ms | 160.39/251.32 MB @ 25.28 MB/s | ETA: 03s +[======================63.9%====> ] 20575/32200 ms | 160.59/251.32 MB @ 25.29 MB/s | ETA: 03s +[======================64.0%====> ] 20600/32200 ms | 160.78/251.32 MB @ 25.28 MB/s | ETA: 03s +[======================64.1%=====> ] 20625/32200 ms | 160.98/251.32 MB @ 25.29 MB/s | ETA: 03s +[======================64.1%=====> ] 20650/32200 ms | 161.17/251.32 MB @ 25.29 MB/s | ETA: 03s +[======================64.2%=====> ] 20675/32200 ms | 161.37/251.32 MB @ 25.28 MB/s | ETA: 03s +[======================64.3%=====> ] 20700/32200 ms | 161.56/251.32 MB @ 25.28 MB/s | ETA: 03s +[======================64.4%=====> ] 20725/32200 ms | 161.76/251.32 MB @ 25.29 MB/s | ETA: 03s +[======================64.4%=====> ] 20750/32200 ms | 161.95/251.32 MB @ 25.29 MB/s | ETA: 03s +[======================64.5%=====> ] 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25.30 MB/s | ETA: 03s +[======================65.4%=====> ] 21050/32200 ms | 164.29/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================65.5%=====> ] 21075/32200 ms | 164.49/251.32 MB @ 25.29 MB/s | ETA: 03s +[======================65.5%=====> ] 21100/32200 ms | 164.68/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================65.6%=====> ] 21125/32200 ms | 164.88/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================65.7%=====> ] 21150/32200 ms | 165.07/251.32 MB @ 25.29 MB/s | ETA: 03s +[======================65.8%=====> ] 21175/32200 ms | 165.27/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================65.8%=====> ] 21200/32200 ms | 165.46/251.32 MB @ 25.29 MB/s | ETA: 03s +[======================65.9%=====> ] 21225/32200 ms | 165.66/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================66.0%=====> ] 21250/32200 ms | 165.85/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================66.1%======> ] 21275/32200 ms | 166.05/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================66.1%======> ] 21300/32200 ms | 166.24/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================66.2%======> ] 21325/32200 ms | 166.44/251.32 MB @ 25.29 MB/s | ETA: 03s +[======================66.3%======> ] 21350/32200 ms | 166.63/251.32 MB @ 25.29 MB/s | ETA: 03s +[======================66.4%======> ] 21375/32200 ms | 166.83/251.32 MB @ 25.29 MB/s | ETA: 03s +[======================66.5%======> ] 21400/32200 ms | 167.02/251.32 MB @ 25.29 MB/s | ETA: 03s +[======================66.5%======> ] 21425/32200 ms | 167.22/251.32 MB @ 25.29 MB/s | ETA: 03s +[======================66.6%======> ] 21450/32200 ms | 167.41/251.32 MB @ 25.29 MB/s | ETA: 03s +[======================66.7%======> ] 21475/32200 ms | 167.61/251.32 MB @ 25.29 MB/s | ETA: 03s +[======================66.8%======> ] 21500/32200 ms | 167.80/251.32 MB @ 25.29 MB/s | ETA: 03s +[======================66.8%======> ] 21525/32200 ms | 168.00/251.32 MB @ 25.29 MB/s | ETA: 03s +[======================66.9%======> ] 21550/32200 ms | 168.19/251.32 MB @ 25.29 MB/s | ETA: 03s +[======================67.0%======> ] 21575/32200 ms | 168.39/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================67.1%======> ] 21600/32200 ms | 168.59/251.32 MB @ 25.29 MB/s | ETA: 03s +[======================67.2%======> ] 21625/32200 ms | 168.78/251.32 MB @ 25.29 MB/s | ETA: 03s +[======================67.2%======> ] 21650/32200 ms | 168.98/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================67.3%======> ] 21675/32200 ms | 169.17/251.32 MB @ 25.29 MB/s | ETA: 03s +[======================67.4%======> ] 21700/32200 ms | 169.37/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================67.5%======> ] 21725/32200 ms | 169.56/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================67.5%======> ] 21750/32200 ms | 169.76/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================67.6%======> ] 21775/32200 ms | 169.95/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================67.7%======> ] 21800/32200 ms | 170.15/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================67.8%======> ] 21825/32200 ms | 170.34/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================67.9%======> ] 21850/32200 ms | 170.54/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================67.9%======> ] 21875/32200 ms | 170.73/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================68.0%=======> ] 21900/32200 ms | 170.93/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================68.1%=======> ] 21925/32200 ms | 171.12/251.32 MB @ 25.31 MB/s | ETA: 03s +[======================68.2%=======> ] 21950/32200 ms | 171.32/251.32 MB @ 25.31 MB/s | ETA: 03s +[======================68.2%=======> ] 21975/32200 ms | 171.51/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================68.3%=======> ] 22000/32200 ms | 171.71/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================68.4%=======> ] 22025/32200 ms | 171.90/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================68.5%=======> ] 22050/32200 ms | 172.10/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================68.6%=======> ] 22075/32200 ms | 172.29/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================68.6%=======> ] 22100/32200 ms | 172.49/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================68.7%=======> ] 22125/32200 ms | 172.68/251.32 MB @ 25.31 MB/s | ETA: 03s +[======================68.8%=======> ] 22150/32200 ms | 172.88/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================68.9%=======> ] 22175/32200 ms | 173.07/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================68.9%=======> ] 22200/32200 ms | 173.27/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================69.0%=======> ] 22225/32200 ms | 173.46/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================69.1%=======> ] 22250/32200 ms | 173.66/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================69.2%=======> ] 22275/32200 ms | 173.85/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================69.3%=======> ] 22300/32200 ms | 174.05/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================69.3%=======> ] 22325/32200 ms | 174.24/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================69.4%=======> ] 22350/32200 ms | 174.44/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================69.5%=======> ] 22375/32200 ms | 174.63/251.32 MB @ 25.29 MB/s | ETA: 03s +[======================69.6%=======> ] 22400/32200 ms | 174.83/251.32 MB @ 25.29 MB/s | ETA: 03s +[======================69.6%=======> ] 22425/32200 ms | 175.02/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================69.7%=======> ] 22450/32200 ms | 175.22/251.32 MB @ 25.30 MB/s | ETA: 03s +[======================69.8%=======> ] 22475/32200 ms | 175.41/251.32 MB @ 25.29 MB/s | ETA: 03s +[======================69.9%=======> ] 22500/32200 ms | 175.61/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================70.0%=======> ] 22525/32200 ms | 175.80/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================70.0%========> ] 22550/32200 ms | 176.00/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================70.1%========> ] 22575/32200 ms | 176.19/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================70.2%========> ] 22600/32200 ms | 176.39/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================70.3%========> ] 22625/32200 ms | 176.59/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================70.3%========> ] 22650/32200 ms | 176.78/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================70.4%========> ] 22675/32200 ms | 176.98/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================70.5%========> ] 22700/32200 ms | 177.17/251.32 MB @ 25.30 MB/s | ETA: 02s +[======================70.6%========> ] 22725/32200 ms | 177.37/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================70.7%========> ] 22750/32200 ms | 177.56/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================70.7%========> ] 22775/32200 ms | 177.76/251.32 MB @ 25.30 MB/s | ETA: 02s +[======================70.8%========> ] 22800/32200 ms | 177.95/251.32 MB @ 25.30 MB/s | ETA: 02s +[======================70.9%========> ] 22825/32200 ms | 178.15/251.32 MB @ 25.30 MB/s | ETA: 02s +[======================71.0%========> ] 22850/32200 ms | 178.34/251.32 MB @ 25.30 MB/s | ETA: 02s +[======================71.0%========> ] 22875/32200 ms | 178.54/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================71.1%========> ] 22900/32200 ms | 178.73/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================71.2%========> ] 22925/32200 ms | 178.93/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================71.3%========> ] 22950/32200 ms | 179.12/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================71.4%========> ] 22975/32200 ms | 179.32/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================71.4%========> ] 23000/32200 ms | 179.51/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================71.5%========> ] 23025/32200 ms | 179.71/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================71.6%========> ] 23050/32200 ms | 179.90/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================71.7%========> ] 23075/32200 ms | 180.10/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================71.7%========> ] 23100/32200 ms | 180.29/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================71.8%========> ] 23125/32200 ms | 180.49/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================71.9%========> ] 23150/32200 ms | 180.68/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================72.0%========> ] 23175/32200 ms | 180.88/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================72.0%=========> ] 23200/32200 ms | 181.07/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================72.1%=========> ] 23225/32200 ms | 181.27/251.32 MB @ 25.28 MB/s | ETA: 02s +[======================72.2%=========> ] 23250/32200 ms | 181.46/251.32 MB @ 25.28 MB/s | ETA: 02s +[======================72.3%=========> ] 23275/32200 ms | 181.66/251.32 MB @ 25.28 MB/s | ETA: 02s +[======================72.4%=========> ] 23300/32200 ms | 181.85/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================72.4%=========> ] 23325/32200 ms | 182.05/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================72.5%=========> ] 23350/32200 ms | 182.24/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================72.6%=========> ] 23375/32200 ms | 182.44/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================72.7%=========> ] 23400/32200 ms | 182.63/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================72.7%=========> ] 23425/32200 ms | 182.83/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================72.8%=========> ] 23450/32200 ms | 183.02/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================72.9%=========> ] 23475/32200 ms | 183.22/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================73.0%=========> ] 23500/32200 ms | 183.41/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================73.1%=========> ] 23525/32200 ms | 183.61/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================73.1%=========> ] 23550/32200 ms | 183.80/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================73.2%=========> ] 23575/32200 ms | 184.00/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================73.3%=========> ] 23600/32200 ms | 184.19/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================73.4%=========> ] 23625/32200 ms | 184.39/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================73.4%=========> ] 23650/32200 ms | 184.59/251.32 MB @ 25.30 MB/s | ETA: 02s +[======================73.5%=========> ] 23675/32200 ms | 184.78/251.32 MB @ 25.30 MB/s | ETA: 02s +[======================73.6%=========> ] 23700/32200 ms | 184.98/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================73.7%=========> ] 23725/32200 ms | 185.17/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================73.8%=========> ] 23750/32200 ms | 185.37/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================73.8%=========> ] 23775/32200 ms | 185.56/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================73.9%=========> ] 23800/32200 ms | 185.76/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================74.0%=========> ] 23825/32200 ms | 185.95/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================74.1%==========> ] 23850/32200 ms | 186.15/251.32 MB @ 25.30 MB/s | ETA: 02s +[======================74.1%==========> ] 23875/32200 ms | 186.34/251.32 MB @ 25.29 MB/s | ETA: 02s +[======================74.2%==========> ] 23900/32200 ms | 186.54/251.32 MB @ 25.30 MB/s | ETA: 02s +[======================74.3%==========> ] 23925/32200 ms | 186.73/251.32 MB @ 25.30 MB/s | ETA: 02s +[======================74.4%==========> ] 23950/32200 ms | 186.93/251.32 MB @ 25.30 MB/s | ETA: 02s +[======================74.5%==========> ] 23975/32200 ms | 187.12/251.32 MB @ 25.30 MB/s | ETA: 02s +[======================74.5%==========> ] 24000/32200 ms | 187.32/251.32 MB @ 25.30 MB/s | ETA: 02s +[======================74.6%==========> ] 24025/32200 ms | 187.51/251.32 MB @ 25.30 MB/s | ETA: 02s +[======================74.7%==========> ] 24050/32200 ms | 187.71/251.32 MB @ 25.30 MB/s | ETA: 02s +[======================74.8%==========> ] 24075/32200 ms | 187.90/251.32 MB @ 25.30 MB/s | ETA: 02s +[======================74.8%==========> ] 24100/32200 ms | 188.10/251.32 MB @ 25.31 MB/s | ETA: 02s +[======================74.9%==========> ] 24125/32200 ms | 188.29/251.32 MB @ 25.31 MB/s | ETA: 02s +[======================75.0%==========> ] 24150/32200 ms | 188.49/251.32 MB @ 25.31 MB/s | ETA: 02s +[======================75.1%==========> ] 24175/32200 ms | 188.68/251.32 MB @ 25.31 MB/s | ETA: 02s +[======================75.2%==========> ] 24200/32200 ms | 188.88/251.32 MB @ 25.31 MB/s | ETA: 02s +[======================75.2%==========> ] 24225/32200 ms | 189.07/251.32 MB @ 25.31 MB/s | ETA: 02s +[======================75.3%==========> ] 24250/32200 ms | 189.27/251.32 MB @ 25.31 MB/s | ETA: 02s +[======================75.4%==========> ] 24275/32200 ms | 189.46/251.32 MB @ 25.31 MB/s | ETA: 02s +[======================75.5%==========> ] 24300/32200 ms | 189.66/251.32 MB @ 25.31 MB/s | ETA: 02s +[======================75.5%==========> ] 24325/32200 ms | 189.85/251.32 MB @ 25.31 MB/s | ETA: 02s +[======================75.6%==========> ] 24350/32200 ms | 190.05/251.32 MB @ 25.31 MB/s | ETA: 02s +[======================75.7%==========> ] 24375/32200 ms | 190.24/251.32 MB @ 25.31 MB/s | ETA: 02s +[======================75.8%==========> ] 24400/32200 ms | 190.44/251.32 MB @ 25.31 MB/s | ETA: 02s +[======================75.9%==========> ] 24425/32200 ms | 190.63/251.32 MB @ 25.31 MB/s | ETA: 02s +[======================75.9%==========> ] 24450/32200 ms | 190.83/251.32 MB @ 25.31 MB/s | ETA: 02s +[======================76.0%===========> ] 24475/32200 ms | 191.02/251.32 MB @ 25.31 MB/s | ETA: 02s +[======================76.1%===========> ] 24500/32200 ms | 191.22/251.32 MB @ 25.31 MB/s | ETA: 02s +[======================76.2%===========> ] 24525/32200 ms | 191.41/251.32 MB @ 25.31 MB/s | ETA: 02s +[======================76.2%===========> ] 24550/32200 ms | 191.61/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================76.3%===========> ] 24575/32200 ms | 191.80/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================76.4%===========> ] 24600/32200 ms | 192.00/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================76.5%===========> ] 24625/32200 ms | 192.19/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================76.6%===========> ] 24650/32200 ms | 192.39/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================76.6%===========> ] 24675/32200 ms | 192.59/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================76.7%===========> ] 24700/32200 ms | 192.78/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================76.8%===========> ] 24725/32200 ms | 192.98/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================76.9%===========> ] 24750/32200 ms | 193.17/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================76.9%===========> ] 24775/32200 ms | 193.37/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================77.0%===========> ] 24800/32200 ms | 193.56/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================77.1%===========> ] 24825/32200 ms | 193.76/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================77.2%===========> ] 24850/32200 ms | 193.95/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================77.3%===========> ] 24875/32200 ms | 194.15/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================77.3%===========> ] 24900/32200 ms | 194.34/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================77.4%===========> ] 24925/32200 ms | 194.54/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================77.5%===========> ] 24950/32200 ms | 194.73/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================77.6%===========> ] 24975/32200 ms | 194.93/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================77.6%===========> ] 25000/32200 ms | 195.12/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================77.7%===========> ] 25025/32200 ms | 195.32/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================77.8%===========> ] 25050/32200 ms | 195.51/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================77.9%===========> ] 25075/32200 ms | 195.71/251.32 MB @ 25.31 MB/s | ETA: 02s +[======================78.0%===========> ] 25100/32200 ms | 195.90/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================78.0%============> ] 25125/32200 ms | 196.10/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================78.1%============> ] 25150/32200 ms | 196.29/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================78.2%============> ] 25175/32200 ms | 196.49/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================78.3%============> ] 25200/32200 ms | 196.68/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================78.3%============> ] 25225/32200 ms | 196.88/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================78.4%============> ] 25250/32200 ms | 197.07/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================78.5%============> ] 25275/32200 ms | 197.27/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================78.6%============> ] 25300/32200 ms | 197.46/251.32 MB @ 25.33 MB/s | ETA: 02s +[======================78.6%============> ] 25325/32200 ms | 197.66/251.32 MB @ 25.32 MB/s | ETA: 02s +[======================78.7%============> ] 25350/32200 ms | 197.85/251.32 MB @ 25.33 MB/s | ETA: 02s +[======================78.8%============> ] 25375/32200 ms | 198.05/251.32 MB @ 25.33 MB/s | ETA: 02s +[======================78.9%============> ] 25400/32200 ms | 198.24/251.32 MB @ 25.33 MB/s | ETA: 02s +[======================79.0%============> ] 25425/32200 ms | 198.44/251.32 MB @ 25.33 MB/s | ETA: 02s +[======================79.0%============> ] 25450/32200 ms | 198.63/251.32 MB @ 25.33 MB/s | ETA: 02s +[======================79.1%============> ] 25475/32200 ms | 198.83/251.32 MB @ 25.33 MB/s | ETA: 02s +[======================79.2%============> ] 25500/32200 ms | 199.02/251.32 MB @ 25.33 MB/s | ETA: 02s +[======================79.3%============> ] 25525/32200 ms | 199.22/251.32 MB @ 25.33 MB/s | ETA: 02s +[======================79.3%============> ] 25550/32200 ms | 199.41/251.32 MB @ 25.33 MB/s | ETA: 02s +[======================79.4%============> ] 25575/32200 ms | 199.61/251.32 MB @ 25.33 MB/s | ETA: 02s +[======================79.5%============> ] 25600/32200 ms | 199.80/251.32 MB @ 25.33 MB/s | ETA: 02s +[======================79.6%============> ] 25625/32200 ms | 200.00/251.32 MB @ 25.33 MB/s | ETA: 02s +[======================79.7%============> ] 25650/32200 ms | 200.19/251.32 MB @ 25.33 MB/s | ETA: 02s +[======================79.7%============> ] 25675/32200 ms | 200.39/251.32 MB @ 25.33 MB/s | ETA: 02s +[======================79.8%============> ] 25700/32200 ms | 200.59/251.32 MB @ 25.33 MB/s | ETA: 02s +[======================79.9%============> ] 25725/32200 ms | 200.78/251.32 MB @ 25.33 MB/s | ETA: 01s +[======================80.0%============> ] 25750/32200 ms | 200.98/251.32 MB @ 25.33 MB/s | ETA: 01s +[======================80.0%=============> ] 25775/32200 ms | 201.17/251.32 MB @ 25.33 MB/s | ETA: 01s +[======================80.1%=============> ] 25800/32200 ms | 201.37/251.32 MB @ 25.33 MB/s | ETA: 01s +[======================80.2%=============> ] 25825/32200 ms | 201.56/251.32 MB @ 25.33 MB/s | ETA: 01s +[======================80.3%=============> ] 25850/32200 ms | 201.76/251.32 MB @ 25.33 MB/s | ETA: 01s +[======================80.4%=============> ] 25875/32200 ms | 201.95/251.32 MB @ 25.33 MB/s | ETA: 01s +[======================80.4%=============> ] 25900/32200 ms | 202.15/251.32 MB @ 25.33 MB/s | ETA: 01s +[======================80.5%=============> ] 25925/32200 ms | 202.34/251.32 MB @ 25.33 MB/s | ETA: 01s +[======================80.6%=============> ] 25950/32200 ms | 202.54/251.32 MB @ 25.33 MB/s | ETA: 01s +[======================80.7%=============> ] 25975/32200 ms | 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+[======================81.4%=============> ] 26225/32200 ms | 204.68/251.32 MB @ 25.33 MB/s | ETA: 01s +[======================81.5%=============> ] 26250/32200 ms | 204.88/251.32 MB @ 25.33 MB/s | ETA: 01s +[======================81.6%=============> ] 26275/32200 ms | 205.07/251.32 MB @ 25.33 MB/s | ETA: 01s +[======================81.7%=============> ] 26300/32200 ms | 205.27/251.32 MB @ 25.33 MB/s | ETA: 01s +[======================81.8%=============> ] 26325/32200 ms | 205.46/251.32 MB @ 25.33 MB/s | ETA: 01s +[======================81.8%=============> ] 26350/32200 ms | 205.66/251.32 MB @ 25.34 MB/s | ETA: 01s +[======================81.9%=============> ] 26375/32200 ms | 205.85/251.32 MB @ 25.34 MB/s | ETA: 01s +[======================82.0%=============> ] 26400/32200 ms | 206.05/251.32 MB @ 25.34 MB/s | ETA: 01s +[======================82.1%==============> ] 26425/32200 ms | 206.24/251.32 MB @ 25.34 MB/s | ETA: 01s +[======================82.1%==============> ] 26450/32200 ms | 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+[======================82.9%==============> ] 26700/32200 ms | 208.39/251.32 MB @ 25.34 MB/s | ETA: 01s +[======================83.0%==============> ] 26725/32200 ms | 208.59/251.32 MB @ 25.34 MB/s | ETA: 01s +[======================83.1%==============> ] 26750/32200 ms | 208.78/251.32 MB @ 25.34 MB/s | ETA: 01s +[======================83.2%==============> ] 26775/32200 ms | 208.98/251.32 MB @ 25.34 MB/s | ETA: 01s +[======================83.2%==============> ] 26800/32200 ms | 209.17/251.32 MB @ 25.34 MB/s | ETA: 01s +[======================83.3%==============> ] 26825/32200 ms | 209.37/251.32 MB @ 25.34 MB/s | ETA: 01s +[======================83.4%==============> ] 26850/32200 ms | 209.56/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================83.5%==============> ] 26875/32200 ms | 209.76/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================83.5%==============> ] 26900/32200 ms | 209.95/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================83.6%==============> ] 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ETA: 01s +[======================84.4%===============> ] 27175/32200 ms | 212.10/251.32 MB @ 25.34 MB/s | ETA: 01s +[======================84.5%===============> ] 27200/32200 ms | 212.29/251.32 MB @ 25.34 MB/s | ETA: 01s +[======================84.5%===============> ] 27225/32200 ms | 212.49/251.32 MB @ 25.34 MB/s | ETA: 01s +[======================84.6%===============> ] 27250/32200 ms | 212.68/251.32 MB @ 25.34 MB/s | ETA: 01s +[======================84.7%===============> ] 27275/32200 ms | 212.88/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================84.8%===============> ] 27300/32200 ms | 213.07/251.32 MB @ 25.34 MB/s | ETA: 01s +[======================84.9%===============> ] 27325/32200 ms | 213.27/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================84.9%===============> ] 27350/32200 ms | 213.46/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================85.0%===============> ] 27375/32200 ms | 213.66/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================85.1%===============> ] 27400/32200 ms | 213.85/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================85.2%===============> ] 27425/32200 ms | 214.05/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================85.2%===============> ] 27450/32200 ms | 214.24/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================85.3%===============> ] 27475/32200 ms | 214.44/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================85.4%===============> ] 27500/32200 ms | 214.63/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================85.5%===============> ] 27525/32200 ms | 214.83/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================85.6%===============> ] 27550/32200 ms | 215.02/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================85.6%===============> ] 27575/32200 ms | 215.22/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================85.7%===============> ] 27600/32200 ms | 215.41/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================85.8%===============> ] 27625/32200 ms | 215.61/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================85.9%===============> ] 27650/32200 ms | 215.80/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================85.9%===============> ] 27675/32200 ms | 216.00/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================86.0%================> ] 27700/32200 ms | 216.19/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================86.1%================> ] 27725/32200 ms | 216.39/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================86.2%================> ] 27750/32200 ms | 216.59/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================86.3%================> ] 27775/32200 ms | 216.78/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================86.3%================> ] 27800/32200 ms | 216.98/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================86.4%================> ] 27825/32200 ms | 217.17/251.32 MB @ 25.36 MB/s | ETA: 01s +[======================86.5%================> ] 27850/32200 ms | 217.37/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================86.6%================> ] 27875/32200 ms | 217.56/251.32 MB @ 25.36 MB/s | ETA: 01s +[======================86.6%================> ] 27900/32200 ms | 217.76/251.32 MB @ 25.36 MB/s | ETA: 01s +[======================86.7%================> ] 27925/32200 ms | 217.95/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================86.8%================> ] 27950/32200 ms | 218.15/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================86.9%================> ] 27975/32200 ms | 218.34/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================87.0%================> ] 28000/32200 ms | 218.54/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================87.0%================> ] 28025/32200 ms | 218.73/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================87.1%================> ] 28050/32200 ms | 218.93/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================87.2%================> ] 28075/32200 ms | 219.12/251.32 MB @ 25.36 MB/s | ETA: 01s +[======================87.3%================> ] 28100/32200 ms | 219.32/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================87.3%================> ] 28125/32200 ms | 219.51/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================87.4%================> ] 28150/32200 ms | 219.71/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================87.5%================> ] 28175/32200 ms | 219.90/251.32 MB @ 25.35 MB/s | ETA: 01s +[======================87.6%================> ] 28200/32200 ms | 220.10/251.32 MB @ 25.36 MB/s | ETA: 01s +[======================87.7%================> ] 28225/32200 ms | 220.29/251.32 MB @ 25.36 MB/s | ETA: 01s +[======================87.7%================> ] 28250/32200 ms | 220.49/251.32 MB @ 25.36 MB/s | ETA: 01s +[======================87.8%================> ] 28275/32200 ms | 220.68/251.32 MB @ 25.36 MB/s | ETA: 01s +[======================87.9%================> ] 28300/32200 ms | 220.88/251.32 MB @ 25.36 MB/s | ETA: 01s +[======================88.0%================> ] 28325/32200 ms | 221.07/251.32 MB @ 25.36 MB/s | ETA: 01s +[======================88.0%=================> ] 28350/32200 ms | 221.27/251.32 MB @ 25.36 MB/s | ETA: 01s +[======================88.1%=================> ] 28375/32200 ms | 221.46/251.32 MB @ 25.36 MB/s | ETA: 01s +[======================88.2%=================> ] 28400/32200 ms | 221.66/251.32 MB @ 25.36 MB/s | ETA: 01s +[======================88.3%=================> ] 28425/32200 ms | 221.85/251.32 MB @ 25.36 MB/s | ETA: 01s +[======================88.4%=================> ] 28450/32200 ms | 222.05/251.32 MB @ 25.36 MB/s | ETA: 01s +[======================88.4%=================> ] 28475/32200 ms | 222.24/251.32 MB @ 25.36 MB/s | ETA: 01s +[======================88.5%=================> ] 28500/32200 ms | 222.44/251.32 MB @ 25.36 MB/s | ETA: 01s +[======================88.6%=================> ] 28525/32200 ms | 222.63/251.32 MB @ 25.36 MB/s | ETA: 01s +[======================88.7%=================> ] 28550/32200 ms | 222.83/251.32 MB @ 25.36 MB/s | ETA: 01s +[======================88.7%=================> ] 28575/32200 ms | 223.02/251.32 MB @ 25.36 MB/s | ETA: 01s +[======================88.8%=================> ] 28600/32200 ms | 223.22/251.32 MB @ 25.36 MB/s | ETA: 01s +[======================88.9%=================> ] 28625/32200 ms | 223.41/251.32 MB @ 25.36 MB/s | ETA: 01s +[======================89.0%=================> ] 28650/32200 ms | 223.61/251.32 MB @ 25.36 MB/s | ETA: 01s +[======================89.1%=================> ] 28675/32200 ms | 223.80/251.32 MB @ 25.36 MB/s | ETA: 01s +[======================89.1%=================> ] 28700/32200 ms | 224.00/251.32 MB @ 25.37 MB/s | ETA: 01s +[======================89.2%=================> ] 28725/32200 ms | 224.19/251.32 MB @ 25.37 MB/s | ETA: 01s +[======================89.3%=================> ] 28750/32200 ms | 224.39/251.32 MB @ 25.37 MB/s | ETA: 01s +[======================89.4%=================> ] 28775/32200 ms | 224.59/251.32 MB @ 25.37 MB/s | ETA: 01s +[======================89.4%=================> ] 28800/32200 ms | 224.78/251.32 MB @ 25.36 MB/s | ETA: 01s +[======================89.5%=================> ] 28825/32200 ms | 224.98/251.32 MB @ 25.37 MB/s | ETA: 01s +[======================89.6%=================> ] 28850/32200 ms | 225.17/251.32 MB @ 25.37 MB/s | ETA: 01s +[======================89.7%=================> ] 28875/32200 ms | 225.37/251.32 MB @ 25.37 MB/s | ETA: 01s +[======================89.8%=================> ] 28900/32200 ms | 225.56/251.32 MB @ 25.37 MB/s | ETA: 01s +[======================89.8%=================> ] 28925/32200 ms | 225.76/251.32 MB @ 25.37 MB/s | ETA: 01s +[======================89.9%=================> ] 28950/32200 ms | 225.95/251.32 MB @ 25.36 MB/s | ETA: 01s +[======================90.0%=================> ] 28975/32200 ms | 226.15/251.32 MB @ 25.36 MB/s | ETA: 00s +[======================90.1%==================> ] 29000/32200 ms | 226.34/251.32 MB @ 25.36 MB/s | ETA: 00s +[======================90.1%==================> ] 29025/32200 ms | 226.54/251.32 MB @ 25.36 MB/s | ETA: 00s +[======================90.2%==================> ] 29050/32200 ms | 226.73/251.32 MB @ 25.36 MB/s | ETA: 00s +[======================90.3%==================> ] 29075/32200 ms | 226.93/251.32 MB @ 25.37 MB/s | ETA: 00s +[======================90.4%==================> ] 29100/32200 ms | 227.12/251.32 MB @ 25.36 MB/s | ETA: 00s +[======================90.5%==================> ] 29125/32200 ms | 227.32/251.32 MB @ 25.36 MB/s | ETA: 00s +[======================90.5%==================> ] 29150/32200 ms | 227.51/251.32 MB @ 25.36 MB/s | ETA: 00s +[======================90.6%==================> ] 29175/32200 ms | 227.71/251.32 MB @ 25.37 MB/s | ETA: 00s +[======================90.7%==================> ] 29200/32200 ms | 227.90/251.32 MB @ 25.37 MB/s | ETA: 00s +[======================90.8%==================> ] 29225/32200 ms | 228.10/251.32 MB @ 25.37 MB/s | ETA: 00s +[======================90.8%==================> ] 29250/32200 ms | 228.29/251.32 MB @ 25.37 MB/s | ETA: 00s +[======================90.9%==================> ] 29275/32200 ms | 228.49/251.32 MB @ 25.37 MB/s | ETA: 00s +[======================91.0%==================> ] 29300/32200 ms | 228.68/251.32 MB @ 25.37 MB/s | ETA: 00s +[======================91.1%==================> ] 29325/32200 ms | 228.88/251.32 MB @ 25.37 MB/s | ETA: 00s +[======================91.1%==================> ] 29350/32200 ms | 229.07/251.32 MB @ 25.37 MB/s | ETA: 00s +[======================91.2%==================> ] 29375/32200 ms | 229.27/251.32 MB @ 25.37 MB/s | ETA: 00s +[======================91.3%==================> ] 29400/32200 ms | 229.46/251.32 MB @ 25.37 MB/s | ETA: 00s +[======================91.4%==================> ] 29425/32200 ms | 229.66/251.32 MB @ 25.37 MB/s | ETA: 00s +[======================91.5%==================> ] 29450/32200 ms | 229.85/251.32 MB @ 25.37 MB/s | ETA: 00s +[======================91.5%==================> ] 29475/32200 ms | 230.05/251.32 MB @ 25.37 MB/s | ETA: 00s +[======================91.6%==================> ] 29500/32200 ms | 230.24/251.32 MB @ 25.37 MB/s | ETA: 00s +[======================91.7%==================> ] 29525/32200 ms | 230.44/251.32 MB @ 25.37 MB/s | ETA: 00s +[======================91.8%==================> ] 29550/32200 ms | 230.63/251.32 MB @ 25.37 MB/s | ETA: 00s +[======================91.8%==================> ] 29575/32200 ms | 230.83/251.32 MB @ 25.37 MB/s | ETA: 00s +[======================91.9%==================> ] 29600/32200 ms | 231.02/251.32 MB @ 25.37 MB/s | ETA: 00s +[======================92.0%===================> ] 29625/32200 ms | 231.22/251.32 MB @ 25.37 MB/s | ETA: 00s +[======================92.1%===================> ] 29650/32200 ms | 231.41/251.32 MB @ 25.37 MB/s | ETA: 00s 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31900/32200 ms | 248.98/251.32 MB @ 25.35 MB/s | ETA: 00s +[======================99.1%======================>] 31925/32200 ms | 249.17/251.32 MB @ 25.35 MB/s | ETA: 00s +[======================99.2%======================>] 31950/32200 ms | 249.37/251.32 MB @ 25.34 MB/s | ETA: 00s +[======================99.3%======================>] 31975/32200 ms | 249.56/251.32 MB @ 25.34 MB/s | ETA: 00s +[======================99.4%======================>] 32000/32200 ms | 249.76/251.32 MB @ 25.35 MB/s | ETA: 00s +[======================99.5%======================>] 32025/32200 ms | 249.95/251.32 MB @ 25.34 MB/s | ETA: 00s +[======================99.5%======================>] 32050/32200 ms | 250.15/251.32 MB @ 25.34 MB/s | ETA: 00s +[======================99.6%======================>] 32075/32200 ms | 250.34/251.32 MB @ 25.35 MB/s | ETA: 00s +[======================99.7%======================>] 32100/32200 ms | 250.54/251.32 MB @ 25.35 MB/s | ETA: 00s +[======================99.8%======================>] 32125/32200 ms | 250.73/251.32 MB @ 25.34 MB/s | ETA: 00s +[======================99.8%======================>] 32150/32200 ms | 250.93/251.32 MB @ 25.34 MB/s | ETA: 00s +[======================99.9%======================>] 32175/32200 ms | 251.12/251.32 MB @ 25.34 MB/s | ETA: 00s +[======================100.0%======================] 32200/32200 ms | 251.32/251.32 MB | COMPLETED + +[INFO] IF Signal generation completed! +------------------------------------------------------------------ +[INFO] Total samples: 263516616 +[INFO] Clipped samples: 642 (0.0002%) +[INFO] Final AGC gain: 1.000 +[INFO] Total time taken: 9.92 s +[INFO] Data generated: 251.31 MB +[INFO] Average rate: 25.34 MB/s +------------------------------------------------------------------ diff --git a/verification/vectors/signalsim/navigation_multisat/metadata.yaml b/verification/vectors/signalsim/navigation_multisat/metadata.yaml new file mode 100644 index 0000000..2c6ba8d --- /dev/null +++ b/verification/vectors/signalsim/navigation_multisat/metadata.yaml @@ -0,0 +1,37 @@ +name: navigation_multisat +signalsim_path: /home/onur/Desktop/galileo/signalsim/SignalSim +signalsim_commit: 80b262113e77c4482ca9f5cbfef9bcada402ed28 +command: +- /home/onur/Desktop/galileo/build/signalsim/IFdataGen +- -c +- /home/onur/Desktop/galileo/verification/vectors/signalsim/navigation_multisat/generated_config.json +- -o +- /home/onur/Desktop/galileo/verification/vectors/signalsim/navigation_multisat/navigation_multisat_iq8.bin +- -t +- -st +output: verification/vectors/signalsim/navigation_multisat/navigation_multisat_iq8.bin +size_bytes: 263516616 +sha256: b38393b32eec2df53f9813ea7ff8f13e5e0fc72fa5cb7fb910a2b8f907a56a6e +complex_sample_count: 131758308 +sampling_frequency_hz: 4092000.0 +intermediate_frequency_hz: 1023000.0 +sample_format: IQ8_interleaved_signed_I_then_Q +duration_s: 32.2 +prns: +- 1 +- 4 +- 19 +- 21 +- 27 +components: +- E1B +- E1C +expected_doppler_hz: + 1: 1828.0 + 4: 2171.0 + 19: -367.0 + 21: -712.0 + 27: -2637.0 +expected_code_delay: null +navigation_truth: INavBit generated from bundled RINEX; no sample-side truth file +secondary_truth: PilotBit.cpp SecondaryCodeE1, phase must be synchronized diff --git a/verification/vectors/signalsim/navigation_multisat/navigation_multisat_iq8.bin.tag b/verification/vectors/signalsim/navigation_multisat/navigation_multisat_iq8.bin.tag new file mode 100644 index 0000000..8bb9b83 --- /dev/null +++ b/verification/vectors/signalsim/navigation_multisat/navigation_multisat_iq8.bin.tag @@ -0,0 +1,8 @@ +PROG = IFDataGen +TIME = 2026/07/30 20:44:51.803 +FMT = INT8X2 +F_S = 4.092000 +F_LO = 1574.397000 +IQ = 1 +BITS = 8 +SCALE = 1.0 diff --git a/verification/vectors/signalsim/navigation_single_prn/generated_config.json b/verification/vectors/signalsim/navigation_single_prn/generated_config.json new file mode 100644 index 0000000..a07f0f4 --- /dev/null +++ b/verification/vectors/signalsim/navigation_single_prn/generated_config.json @@ -0,0 +1,120 @@ +{ + "version": 1.0, + "description": "SignalSim validation vector: navigation_single_prn", + "time": { + "type": "UTC", + "year": 2021, + "month": 6, + "day": 19, + "hour": 10, + "minute": 5, + "second": 30 + }, + "trajectory": { + "name": "static single-PRN integration baseline", + "initPosition": { + "type": "LLA", + "format": "d", + "longitude": -121.915773, + "latitude": 37.352721, + "altitude": 20 + }, + "initVelocity": { + "type": "SCU", + "speed": 0, + "course": 0 + }, + "trajectoryList": [ + { + "type": "Const", + "time": 4.2 + } + ] + }, + "ephemeris": { + "type": "RINEX", + "name": "/home/onur/Desktop/galileo/signalsim/SignalSim/EphData/BRDC00IGS_R_20211700000_01D_MN.rnx" + }, + "output": { + "type": "IFdata", + "format": "IQ8", + "sampleFreq": 4.092, + "centerFreq": 1574.397, + "name": "navigation_single_prn_iq8.bin", + "config": { + "elevationMask": 3, + "maskOut": [ + { + "system": "Galileo", + "svid": [ + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36 + ] + } + ] + }, + "systemSelect": [ + { + "system": "GPS", + "signal": "L1CA", + "enable": false + }, + { + "system": "BDS", + "signal": "B1C", + "enable": false + }, + { + "system": "Galileo", + "signal": "E1", + "enable": true + }, + { + "system": "GLONASS", + "signal": "G1", + "enable": false + } + ] + }, + "power": { + "noiseFloor": -172, + "initPower": { + "unit": "dBHz", + "value": 55.0 + }, + "elevationAdjust": false + } +} diff --git a/verification/vectors/signalsim/navigation_single_prn/generation.log b/verification/vectors/signalsim/navigation_single_prn/generation.log new file mode 100644 index 0000000..b32a698 --- /dev/null +++ b/verification/vectors/signalsim/navigation_single_prn/generation.log @@ -0,0 +1,224 @@ + +================================================================================ + IF SIGNAL GENERATION +================================================================================ +[INFO] Loading JSON file: /home/onur/Desktop/galileo/verification/vectors/signalsim/navigation_single_prn/generated_config.json +[INFO] JSON file read successfully: /home/onur/Desktop/galileo/verification/vectors/signalsim/navigation_single_prn/generated_config.json +[INFO] Using output file from command line: /home/onur/Desktop/galileo/verification/vectors/signalsim/navigation_single_prn/navigation_single_prn_iq8.bin +[INFO] Opening output file: /home/onur/Desktop/galileo/verification/vectors/signalsim/navigation_single_prn/navigation_single_prn_iq8.bin +[INFO] Output file opened successfully. +[INFO] Creating tag file: /home/onur/Desktop/galileo/verification/vectors/signalsim/navigation_single_prn/navigation_single_prn_iq8.bin.tag +[INFO] Tag file created: /home/onur/Desktop/galileo/verification/vectors/signalsim/navigation_single_prn/navigation_single_prn_iq8.bin.tag +[INFO] OpenMP configured for SERIAL execution (1 thread) +[INFO] Generating IF data with following satellite signals: + +[INFO] Enabled Signals: + GAL : [ E1 ] + +Signals Summary Table: ++---------------+-------------+--------------+------------------------------+ +| Constellation | Visible SVs | Signals / SV | Total Signals / Visible SVs | ++---------------+-------------+--------------+------------------------------+ +| GPS | 0 | 0 | 0 | +| BeiDou | 0 | 0 | 0 | +| Galileo | 1 | 1 | 1 | +| GLONASS | 0 | 0 | 0 | ++---------------+-------------+--------------+------------------------------+ +Total Visible SVs = 1, Total channels = 1 + +Galileo E1 with IF +1023kHz: ++----+--------------+----+--------------+----+--------------+----+--------------+ +| SV | Doppler (Hz) | SV | Doppler (Hz) | SV | Doppler (Hz) | SV | Doppler (Hz) | ++----+--------------+----+--------------+----+--------------+----+--------------+ +| 01 | +1828 | | | | | | | ++----+--------------+----+--------------+----+--------------+----+--------------+ + +Total channels: 1 + +[INFO] Signal Duration: 4.20 s +[INFO] Signal Size: 32.78 MB +[INFO] Signal Data format: IQ8 +[INFO] Signal Center freq: 1574.3970 MHz +[INFO] Signal Sample rate: 4.0920 MHz + +[INFO] Starting signal generation loop... + +[> 0.6% ] 25/4200 ms | 0.20/32.78 MB @ 48.78 MB/s | ETA: 00s +[> 1.2% ] 50/4200 ms | 0.39/32.78 MB @ 55.75 MB/s | ETA: 00s +[> 1.8% ] 75/4200 ms | 0.59/32.78 MB @ 53.22 MB/s | ETA: 00s +[=> 2.4% ] 100/4200 ms | 0.78/32.78 MB @ 52.03 MB/s | ETA: 00s +[=> 3.0% ] 125/4200 ms | 0.98/32.78 MB @ 54.20 MB/s | ETA: 00s +[=> 3.6% ] 150/4200 ms | 1.17/32.78 MB @ 55.75 MB/s | ETA: 00s +[==> 4.2% ] 175/4200 ms | 1.37/32.78 MB @ 54.63 MB/s | ETA: 00s +[==> 4.8% ] 200/4200 ms | 1.56/32.78 MB @ 55.75 MB/s | ETA: 00s +[==> 5.4% ] 225/4200 ms | 1.76/32.78 MB @ 54.88 MB/s 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+[===============> 30.4% ] 1275/4200 ms | 9.95/32.78 MB @ 53.50 MB/s | ETA: 00s +[===============> 31.0% ] 1300/4200 ms | 10.15/32.78 MB @ 53.40 MB/s | ETA: 00s +[===============> 31.5% ] 1325/4200 ms | 10.34/32.78 MB @ 53.31 MB/s | ETA: 00s +[================> 32.1% ] 1350/4200 ms | 10.54/32.78 MB @ 53.22 MB/s | ETA: 00s +[================> 32.7% ] 1375/4200 ms | 10.73/32.78 MB @ 52.87 MB/s | ETA: 00s +[================> 33.3% ] 1400/4200 ms | 10.93/32.78 MB @ 52.79 MB/s | ETA: 00s +[================> 33.9% ] 1425/4200 ms | 11.12/32.78 MB @ 52.46 MB/s | ETA: 00s +[=================> 34.5% ] 1450/4200 ms | 11.32/32.78 MB @ 52.39 MB/s | ETA: 00s +[=================> 35.1% ] 1475/4200 ms | 11.51/32.78 MB @ 52.33 MB/s | ETA: 00s +[=================> 35.7% ] 1500/4200 ms | 11.71/32.78 MB @ 52.03 MB/s | ETA: 00s +[==================> 36.3% ] 1525/4200 ms | 11.90/32.78 MB @ 51.98 MB/s | ETA: 00s +[==================> 36.9% ] 1550/4200 ms | 12.10/32.78 MB @ 51.70 MB/s | ETA: 00s +[==================> 37.5% ] 1575/4200 ms | 12.29/32.78 MB @ 51.65 MB/s | ETA: 00s +[===================> 38.1% ] 1600/4200 ms | 12.49/32.78 MB @ 51.39 MB/s | ETA: 00s +[===================> 38.7% ] 1625/4200 ms | 12.68/32.78 MB @ 51.35 MB/s | ETA: 00s +[===================> 39.3% ] 1650/4200 ms | 12.88/32.78 MB @ 51.31 MB/s | ETA: 00s +[===================> 39.9% ] 1675/4200 ms | 13.07/32.78 MB @ 51.27 MB/s | ETA: 00s +[====================> 40.5% ] 1700/4200 ms | 13.27/32.78 MB @ 51.03 MB/s | ETA: 00s +[====================> 41.1% ] 1725/4200 ms | 13.46/32.78 MB @ 51.00 MB/s | ETA: 00s +[====================> 41.7% ] 1750/4200 ms | 13.66/32.78 MB @ 50.96 MB/s | ETA: 00s +[=====================>42.3% ] 1775/4200 ms | 13.85/32.78 MB @ 50.75 MB/s | ETA: 00s +[=====================>42.9% ] 1800/4200 ms | 14.05/32.78 MB @ 50.72 MB/s | ETA: 00s +[=====================>43.5% ] 1825/4200 ms | 14.24/32.78 MB @ 50.69 MB/s | ETA: 00s +[======================44.0% ] 1850/4200 ms | 14.44/32.78 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+[======================51.2% ] 2150/4200 ms | 16.78/32.78 MB @ 49.94 MB/s | ETA: 00s +[======================51.8% ] 2175/4200 ms | 16.98/32.78 MB @ 49.78 MB/s | ETA: 00s +[======================52.4% ] 2200/4200 ms | 17.17/32.78 MB @ 49.63 MB/s | ETA: 00s +[======================53.0% ] 2225/4200 ms | 17.37/32.78 MB @ 49.62 MB/s | ETA: 00s +[======================53.6% ] 2250/4200 ms | 17.56/32.78 MB @ 49.61 MB/s | ETA: 00s +[======================54.2%> ] 2275/4200 ms | 17.76/32.78 MB @ 49.60 MB/s | ETA: 00s +[======================54.8%> ] 2300/4200 ms | 17.95/32.78 MB @ 49.59 MB/s | ETA: 00s +[======================55.4%> ] 2325/4200 ms | 18.15/32.78 MB @ 49.45 MB/s | ETA: 00s +[======================56.0%> ] 2350/4200 ms | 18.34/32.78 MB @ 49.44 MB/s | ETA: 00s +[======================56.5%=> ] 2375/4200 ms | 18.54/32.78 MB @ 49.43 MB/s | ETA: 00s +[======================57.1%=> ] 2400/4200 ms | 18.73/32.78 MB @ 49.42 MB/s | ETA: 00s +[======================57.7%=> ] 2425/4200 ms 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+[======================70.8%========> ] 2975/4200 ms | 23.22/32.78 MB @ 48.37 MB/s | ETA: 00s +[======================71.4%========> ] 3000/4200 ms | 23.41/32.78 MB @ 48.28 MB/s | ETA: 00s +[======================72.0%=========> ] 3025/4200 ms | 23.61/32.78 MB @ 48.28 MB/s | ETA: 00s +[======================72.6%=========> ] 3050/4200 ms | 23.80/32.78 MB @ 48.29 MB/s | ETA: 00s +[======================73.2%=========> ] 3075/4200 ms | 24.00/32.78 MB @ 48.19 MB/s | ETA: 00s +[======================73.8%=========> ] 3100/4200 ms | 24.20/32.78 MB @ 48.20 MB/s | ETA: 00s +[======================74.4%==========> ] 3125/4200 ms | 24.39/32.78 MB @ 48.11 MB/s | ETA: 00s +[======================75.0%==========> ] 3150/4200 ms | 24.59/32.78 MB @ 48.11 MB/s | ETA: 00s +[======================75.6%==========> ] 3175/4200 ms | 24.78/32.78 MB @ 48.12 MB/s | ETA: 00s +[======================76.2%===========> ] 3200/4200 ms | 24.98/32.78 MB @ 47.94 MB/s | ETA: 00s +[======================76.8%===========> ] 3225/4200 ms | 25.17/32.78 MB @ 47.94 MB/s | ETA: 00s +[======================77.4%===========> ] 3250/4200 ms | 25.37/32.78 MB @ 47.86 MB/s | ETA: 00s +[======================78.0%===========> ] 3275/4200 ms | 25.56/32.78 MB @ 47.87 MB/s | ETA: 00s +[======================78.6%============> ] 3300/4200 ms | 25.76/32.78 MB @ 47.87 MB/s | ETA: 00s +[======================79.2%============> ] 3325/4200 ms | 25.95/32.78 MB @ 47.79 MB/s | ETA: 00s +[======================79.8%============> ] 3350/4200 ms | 26.15/32.78 MB @ 47.80 MB/s | ETA: 00s +[======================80.4%=============> ] 3375/4200 ms | 26.34/32.78 MB @ 47.81 MB/s | ETA: 00s +[======================81.0%=============> ] 3400/4200 ms | 26.54/32.78 MB @ 47.73 MB/s | ETA: 00s +[======================81.5%=============> ] 3425/4200 ms | 26.73/32.78 MB @ 47.74 MB/s | ETA: 00s +[======================82.1%==============> ] 3450/4200 ms | 26.93/32.78 MB @ 47.66 MB/s | ETA: 00s +[======================82.7%==============> ] 3475/4200 ms | 27.12/32.78 MB @ 47.67 MB/s | ETA: 00s +[======================83.3%==============> ] 3500/4200 ms | 27.32/32.78 MB @ 47.59 MB/s | ETA: 00s +[======================83.9%==============> ] 3525/4200 ms | 27.51/32.78 MB @ 47.60 MB/s | ETA: 00s +[======================84.5%===============> ] 3550/4200 ms | 27.71/32.78 MB @ 47.61 MB/s | ETA: 00s +[======================85.1%===============> ] 3575/4200 ms | 27.90/32.78 MB @ 47.62 MB/s | ETA: 00s +[======================85.7%===============> ] 3600/4200 ms | 28.10/32.78 MB @ 47.54 MB/s | ETA: 00s +[======================86.3%================> ] 3625/4200 ms | 28.29/32.78 MB @ 47.55 MB/s | ETA: 00s +[======================86.9%================> ] 3650/4200 ms | 28.49/32.78 MB @ 47.56 MB/s | ETA: 00s +[======================87.5%================> ] 3675/4200 ms | 28.68/32.78 MB @ 47.49 MB/s | ETA: 00s +[======================88.1%=================> ] 3700/4200 ms | 28.88/32.78 MB @ 47.50 MB/s | ETA: 00s +[======================88.7%=================> ] 3725/4200 ms | 29.07/32.78 MB @ 47.43 MB/s | ETA: 00s +[======================89.3%=================> ] 3750/4200 ms | 29.27/32.78 MB @ 47.36 MB/s | ETA: 00s +[======================89.9%=================> ] 3775/4200 ms | 29.46/32.78 MB @ 47.37 MB/s | ETA: 00s +[======================90.5%==================> ] 3800/4200 ms | 29.66/32.78 MB @ 47.38 MB/s | ETA: 00s +[======================91.1%==================> ] 3825/4200 ms | 29.85/32.78 MB @ 47.31 MB/s | ETA: 00s +[======================91.7%==================> ] 3850/4200 ms | 30.05/32.78 MB @ 47.32 MB/s | ETA: 00s +[======================92.3%===================> ] 3875/4200 ms | 30.24/32.78 MB @ 47.33 MB/s | ETA: 00s +[======================92.9%===================> ] 3900/4200 ms | 30.44/32.78 MB @ 47.34 MB/s | ETA: 00s +[======================93.5%===================> ] 3925/4200 ms | 30.63/32.78 MB @ 47.35 MB/s | ETA: 00s +[======================94.0%====================> ] 3950/4200 ms | 30.83/32.78 MB @ 47.28 MB/s | ETA: 00s +[======================94.6%====================> ] 3975/4200 ms | 31.02/32.78 MB @ 47.29 MB/s | ETA: 00s +[======================95.2%====================> ] 4000/4200 ms | 31.22/32.78 MB @ 47.30 MB/s | ETA: 00s +[======================95.8%====================> ] 4025/4200 ms | 31.41/32.78 MB @ 47.24 MB/s | ETA: 00s +[======================96.4%=====================> ] 4050/4200 ms | 31.61/32.78 MB @ 47.25 MB/s | ETA: 00s +[======================97.0%=====================> ] 4075/4200 ms | 31.80/32.78 MB @ 47.19 MB/s | ETA: 00s +[======================97.6%=====================> ] 4100/4200 ms | 32.00/32.78 MB @ 47.20 MB/s | ETA: 00s +[======================98.2%======================>] 4125/4200 ms | 32.20/32.78 MB @ 47.14 MB/s | ETA: 00s +[======================98.8%======================>] 4150/4200 ms | 32.39/32.78 MB @ 47.15 MB/s | ETA: 00s +[======================99.4%======================>] 4175/4200 ms | 32.59/32.78 MB @ 47.09 MB/s | ETA: 00s +[======================100.0%======================] 4200/4200 ms | 32.78/32.78 MB @ 47.10 MB/s | ETA: -- +[======================100.0%======================] 4200/4200 ms | 32.78/32.78 MB | COMPLETED + +[INFO] IF Signal generation completed! +------------------------------------------------------------------ +[INFO] Total samples: 34372800 +[INFO] Clipped samples: 12 (0.0000%) +[INFO] Final AGC gain: 1.000 +[INFO] Total time taken: 0.70 s +[INFO] Data generated: 32.78 MB +[INFO] Average rate: 47.10 MB/s +------------------------------------------------------------------ diff --git a/verification/vectors/signalsim/navigation_single_prn/metadata.yaml b/verification/vectors/signalsim/navigation_single_prn/metadata.yaml new file mode 100644 index 0000000..2216e3d --- /dev/null +++ b/verification/vectors/signalsim/navigation_single_prn/metadata.yaml @@ -0,0 +1,29 @@ +name: navigation_single_prn +signalsim_path: /home/onur/Desktop/galileo/signalsim/SignalSim +signalsim_commit: 80b262113e77c4482ca9f5cbfef9bcada402ed28 +command: +- /home/onur/Desktop/galileo/build/signalsim/IFdataGen +- -c +- /home/onur/Desktop/galileo/verification/vectors/signalsim/navigation_single_prn/generated_config.json +- -o +- /home/onur/Desktop/galileo/verification/vectors/signalsim/navigation_single_prn/navigation_single_prn_iq8.bin +- -t +- -st +output: verification/vectors/signalsim/navigation_single_prn/navigation_single_prn_iq8.bin +size_bytes: 34372800 +sha256: 4169cb7573913dbf0179b731bd1103b3a94cac3364d1337541311ca5843c8f93 +complex_sample_count: 17186400 +sampling_frequency_hz: 4092000.0 +intermediate_frequency_hz: 1023000.0 +sample_format: IQ8_interleaved_signed_I_then_Q +duration_s: 4.2 +prns: +- 1 +components: +- E1B +- E1C +expected_doppler_hz: + 1: 1828.0 +expected_code_delay: null +navigation_truth: INavBit generated from bundled RINEX; no sample-side truth file +secondary_truth: PilotBit.cpp SecondaryCodeE1, phase must be synchronized diff --git a/verification/vectors/signalsim/navigation_single_prn/navigation_single_prn_iq8.bin.tag b/verification/vectors/signalsim/navigation_single_prn/navigation_single_prn_iq8.bin.tag new file mode 100644 index 0000000..f67c7ae --- /dev/null +++ b/verification/vectors/signalsim/navigation_single_prn/navigation_single_prn_iq8.bin.tag @@ -0,0 +1,8 @@ +PROG = IFDataGen +TIME = 2026/07/30 20:44:23.429 +FMT = INT8X2 +F_S = 4.092000 +F_LO = 1574.397000 +IQ = 1 +BITS = 8 +SCALE = 1.0