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Implement Galileo E1B I/NAV navigation decoding

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onur
2026-07-31 00:15:34 +03:00
parent 2a6ccfc23d
commit 814a788b36
104 changed files with 6351 additions and 10 deletions
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reports/navigation_run/inav_collection_report.json
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{
"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,
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"raw_doppler_hz": -250.0,
"expected_doppler_hz": -367.0,
"start_sample_timestamp": 87566,
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"tracking_final_state": "PLL_TRACK",
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"first_synchronized_symbol_timestamp": 16684718,
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"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,
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"tracking_time_s": 13.982213923998643,
"tracking_final_state": "PLL_TRACK",
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"tracking_lock_timestamp": 101812,
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"first_synchronized_symbol_timestamp": 12598780,
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"page_parts": 29,
"pages": 14,
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"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,
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"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
}
reports/navigation_run/inav_collection_report.md
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# 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 |