Add BOC-aware lock detection and E1C-aided tracking

This commit is contained in:
2026-07-31 01:13:35 +03:00
parent 814a788b36
commit 9db955d02e
133 changed files with 6536 additions and 42 deletions
+8
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@@ -16,6 +16,14 @@ e1_synthetic.c128
!verification/navigation/**/*.bin
!verification/navigation/**/*.npz
# Full-rate lock-diagnostic arrays and exploratory replay directories are
# reproducible from the committed tools/reports but unnecessarily large.
verification/navigation/signalsim_navigation_multisat_*/**/tracking_measurements.npz
/reports/tracking_lock_baseline/
/reports/tracking_lock_boc_aware/
/reports/tracking_lock_coherence_prn19/
/reports/navigation_pilot_prn1/
# External simulator checkout discovered locally; rebuild/integration scripts
# consume it by path, but it is maintained as a separate Git repository.
/signalsim/
+19 -8
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@@ -25,7 +25,8 @@ complex IQ; both acquisition and tracking pass on its IQ8 output. See the
- E1 profile: 1.023 Mcps, 4092 chips, 4 ms, 1575.42 MHz.
- BOC(1,1) is implemented; CBOC and unambiguous BOC are API extension points.
- E1B bit-transition hypotheses and E1C secondary wipeoff/search are available
for acquisition. E1C tracking supports known-phase wipeoff.
for acquisition. E1C tracking jointly searches the 25-symbol phase and
residual carrier frequency before continuous secondary-code wipeoff.
- The code-table provider, not the DSP engine, determines whether codes are
synthetic or official.
- The floating-point model is executable. The fixed PCPS model is bit-true at
@@ -35,8 +36,13 @@ complex IQ; both acquisition and tracking pass on its IQ8 output. See the
- Channel impairments include Doppler rate, sampling-clock offset, carrier
offset, AWGN, clipping, and quantization. Multipath, jerk, oscillator phase
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.
- The default navigation architecture acquires E1C, synchronizes/wipes its
25-symbol secondary code, and drives shared carrier/code states, C/N0, and
BOC-aware lock monitoring from E1C. A phase-coherent E1B branch supplies only
Prompt I/Q to I/NAV decoding. E1B-only tracking remains a regression mode.
- Code lock is derived from smoothed VE/E/P/L/VL BOC-shape powers with explicit
metric validity, hysteresis, and side-peak/signal-loss tests; the legacy
instantaneous Prompt/Early/Late ratio is diagnostic-only.
- E1B I/NAV word types 1–6 are decoded from tracked RF prompts. Almanac parsing,
OSNMA authentication, and PVT are deliberately not implemented yet.
@@ -66,9 +72,11 @@ python -m galileo_rx.cli run --config configs/acquisition_example.yaml --input s
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
python -m galileo_rx.cli collect-navigation --config configs/navigation_collection.yaml --output-dir reports/navigation_e1b --tracking-mode e1b_only
python tools/compare_e1_tracking_modes.py --config configs/navigation_collection.yaml --output-dir reports/e1_tracking_mode_comparison
python -m galileo_rx.cli prompts-to-symbols --input verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/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_e1c_pilot_aided_e1b/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_e1c_pilot_aided_e1b/prn_01
```
The CLI uses synthetic codes by design. Replace the provider with
@@ -103,8 +111,9 @@ not change.
sample source -> streaming front end -> sample buffer -> PCPS acquisition
| |
+---- tracking manager
+-- E1B channel
+-- E1C channel
+-- E1C pilot master
+-- shared NCO phases
+-- E1B navigation branch
float blocks <-> fixed block boundaries <-> cycle transactions <-> RTL
```
@@ -136,6 +145,8 @@ normal decoder API.
See [ICD mapping](docs/inav_icd_mapping.md), the
[hardware/software partition](docs/navigation_hardware_software_partition.md),
[BOC-aware lock design](docs/boc_aware_lock_detector.md),
[pilot-aided tracking architecture](docs/e1_pilot_aided_tracking.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
+1
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@@ -27,6 +27,7 @@ acquisition:
zero_padding_mode: none
tracking:
architecture: e1c_pilot_aided_e1b
integration_ms: 2.0
pull_in_duration_ms: 300.0
pll_noise_bandwidth_hz: 10.0
+79
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@@ -0,0 +1,79 @@
# BOC-aware code-lock detector
## Root cause
The previous code-lock flag compared an instantaneous Prompt power with the
mean Early/Late power:
\[
M_{legacy}=\frac{|P|^2}{(|E|^2+|L|^2)/2}.
\]
That ratio assumes a single-peaked BPSK autocorrelation. It is not a valid
lock predicate for the BOC(1,1) replica used by this SignalSim checkout and the
receiver. With E/L at +/-0.25 chip, the ideal BOC shape at a +0.25-chip local
error has normalized tap powers `E=1`, `P=0.0625`, and `L=0.25`, so the legacy
metric is 0.1 even though the local phase is still inside the central-peak
basin. No threshold on this ratio can distinguish that valid shoulder from a
genuine loss across the complete BOC shape.
SignalSim commit `80b2621` selects `PRN_ATTRIBUTE_BOC`, doubles the nominal
chip rate to 2.046 Mchip/s, shifts the E1B/E1C memory-code index every two
subchips, and negates the second half. It therefore generates BOC(1,1), not the
BOC(6,1) part of full Galileo CBOC. The Python replica follows the same
half-chip convention. The validation plot is generated from SignalSim's actual
E1B code table, not a fabricated PRN.
## Corrected metric
The detector noncoherently averages all five tap powers over a configurable
window. It then evaluates:
\[
M_{main}=\frac{|E|^2+|P|^2+|L|^2}
{|VE|^2+|E|^2+|P|^2+|L|^2+|VL|^2}
\]
and
\[
M_{side}=\frac{\max(|VE|^2,|VL|^2)}{|E|^2+|P|^2+|L|^2}.
\]
Power fractions alone cannot distinguish the negative Prompt sidelobe at a
half-chip error. The detector also smooths the carrier-invariant tap-sign term
\[
M_{coh}=\frac{\operatorname{Re}\{(E+L)P^*\}}
{|P|(|E|+|L|)}.
\]
It is 1 at the ideal main peak, 1/3 at a quarter-chip main shoulder, and 0 at
the +/-0.5-chip negative Prompt sidelobe. Outer-tap dominance covers the
+/-0.75-chip false-lock cases. Both tests have independent hysteresis.
`metric_valid` is independent of `code_lock`. It remains false until the power
window is full, and invalid/non-finite integrations do not enter the smoother.
The tracker currently rejects incomplete integrations before correlation; a
trailing partial block is not measured. At 4.092 MHz there are exactly four
samples/chip. At non-integer ratios, the double-precision code NCO maintains a
fractional-chip phase while replica chips and the rectangular BOC subcarrier
are selected at each sample. There is no unexplained integer sample shift or
interpolation filter in the lock calculation.
Lock uses separate entry/exit limits, consecutive confirmations, and sustained
failure counting. A signal-power peak hold detects signal disappearance. A
sustained outer-tap dominance declares a BOC side-peak condition. A single
instantaneous P/E/L crossing cannot clear lock.
All five accumulations span the same samples and use the same replica amplitude,
so the shape metrics normalize by their own summed tap power; division by the
integration length (or its square for power) cancels exactly. Mixing raw and
normalized taps is prohibited. Boundary-crossing 2 ms dumps are valid because
two dumps exactly tile each 4 ms primary period; only a truncated final dump is
dropped before the detector.
The lock detector does not change PLL, DLL, FLL, carrier NCO, or code NCO
states. Its false-lock and true-loss behavior is regression-tested with ideal
main-peak, quarter-chip shoulder, outer-tap side-peak, zero-signal, invalid
integration, and one-epoch disturbance vectors.
+12
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@@ -25,4 +25,16 @@ Default YAML files:
- `e1_default.yaml`: requested 16.368 MHz nominal defaults.
- `acquisition_example.yaml`: faster 4.092 MHz executable search.
- `tracking_example.yaml`: 4.092 MHz tracking defaults.
- `navigation_collection.yaml`: SignalSim IQ-to-I/NAV regression. Its default
`tracking.architecture` is `e1c_pilot_aided_e1b`; the CLI can select
`e1b_only` for an A/B replay.
The BOC lock detector parameters are part of `TrackingConfig`. The defaults use
25 noncoherent power epochs, three confirmations, and the configured
`loss_of_lock_epochs` for sustained failure. Carrier and BOC central/outer
shape thresholds have explicit entry and exit values. `lock_signal_loss_power_ratio`
sets the five-tap power loss test. These parameters affect monitoring and
reacquisition only; they do not change discriminator or loop-filter coefficients.
`boc_side_peak_coherence_enter/exit` calibrate the coherent E/L-to-P tap-sign
test needed to distinguish the negative half-chip BOC sidelobe from the main
peak using more than magnitude-only information.
+34
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@@ -0,0 +1,34 @@
# E1C-pilot-aided E1B tracking
The default E1 architecture uses two phase-coherent correlator branches:
```text
raw SignalSim IQ8
-> E1C PCPS acquisition
-> E1C 25-symbol secondary-code phase/frequency search
-> shared double-precision carrier and code phase vectors
-> E1C VE/E/P/L/VL -> FLL/PLL/DLL/CN0/BOC lock
-> E1B VE/E/P/L/VL -> 4 ms Prompt stream -> I/NAV decoder
```
The secondary synchronizer jointly searches code phase and residual carrier
frequency using complex 4 ms Prompt values. Its estimated secondary phase is
then applied at every E1C primary-code epoch. Integrations may divide the 4 ms
primary period exactly; the 2 ms navigation configuration applies the same
secondary symbol to both halves.
E1B navigation polarity never enters the pilot loop discriminators, C/N0
estimator, or lock detector. The E1B branch receives the identical carrier and
code phase arrays before either NCO advances, preserving sample-by-sample
coherence. Only E1B Prompt I/Q is passed to symbol synchronization and I/NAV
decoding.
The initial 400 ms E1C secondary search operates on a buffered portion of the
same input stream. The offline regression replays that buffer through the
closed loops after synchronization; it does not load frozen Prompt, symbol,
page, or ephemeris artifacts. A streaming implementation can use the same
bounded input buffer or start output after synchronization.
This pilot architecture is a separate robustness improvement. It is not used
to conceal the legacy BOC metric defect: E1B-only and E1C-aided modes are both
evaluated with the same corrected BOC-aware lock detector.
+12 -2
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@@ -6,7 +6,10 @@ 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:
The tracking IP uses E1C VE/E/P/L/VL for shared carrier/code loops, C/N0, and
BOC-aware lock monitoring. A separate E1B correlator branch consumes the same
sample-by-sample NCO phases. One navigation record is emitted from that branch
for every 4 ms E1B primary-code epoch:
| Field | Proposed representation | Meaning |
| --- | --- | --- |
@@ -16,7 +19,9 @@ One record is emitted for every 4 ms E1B primary-code epoch:
| 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 |
| carrier/code lock | bits | E1C pilot-derived decoder validity gate |
| lock metric valid | bit | BOC smoothing/calibration window is valid |
| BOC main/side metrics | fixed-point monitor words | false-lock diagnosis |
| cycle slip/discontinuity | bits | Immediate symbol/page synchronizer reset |
| valid | bit | Transaction validity |
@@ -25,6 +30,11 @@ 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.
E1C secondary-code synchronization can remain software-assisted initially: a
bounded Prompt buffer is searched for secondary phase and residual carrier
frequency, then the phase is written to tracking-channel state. Continuous
secondary wipeoff and the E1C/E1B correlator branches remain sample-rate RTL.
## Software decoder
Software retains floating `numpy.float64` prompt/soft values in the reference
@@ -0,0 +1,232 @@
{
"classification": "LOCK DETECTOR CHATTER CONFIRMED",
"primary_cause": "instantaneous BPSK-style Prompt/Early/Late power ratio is invalid on the BOC(1,1) main-peak shoulder",
"signal_modulation": "SignalSim BOC(1,1); no BOC(6,1) CBOC term",
"loop_coefficients_changed": false,
"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,
"exact_replay_command": "python tools/compare_e1_tracking_modes.py --config configs/navigation_collection.yaml --output-dir reports/e1_tracking_mode_comparison",
"legacy_total_code_lock_falling_edges": 397,
"boc_aware_total_code_lock_falling_edges": 0,
"crc_valid_pages": 75,
"crc_invalid_pages": 0,
"complete_ephemerides": 5,
"satellites": {
"1": {
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"boc_aware_code_lock_falling_edges": 0,
"boc_aware_longest_code_lock_s": 32.124,
"legacy_failure_behavior": {
"epochs": 419,
"dll_error_rms_chips": 0.08595496042669856,
"dll_error_p99_abs_chips": 0.12241806445109668,
"code_phase_residual_rms_chips": 14.36062232244801,
"code_phase_residual_p99_abs_chips": 18.53252004246325,
"prompt_power_median": 108501744.67290671,
"early_power_median": 1382974759.31233,
"late_power_median": 466361919.31117284,
"very_early_power_median": 307844457.5642177,
"very_late_power_median": 19056312.68379797,
"boc_main_peak_fraction_min": 0.8248937085423966,
"boc_side_peak_metric_max": 0.20376990864112443,
"boc_main_peak_coherence_min": 0.34017817990919674
},
"legacy_pass_behavior": {
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"dll_error_p99_abs_chips": 0.15667600596267559,
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"very_late_power_median": 103958458.73893663,
"boc_main_peak_fraction_min": 0.8309234034145184,
"boc_side_peak_metric_max": 0.19490409504935216,
"boc_main_peak_coherence_min": 0.36173522031393907
},
"side_peak_suspected_epochs": 0,
"cycle_slip_candidates": 1,
"sample_discontinuities": 0,
"crc_valid_pages": 15,
"crc_invalid_pages": 0,
"complete_ephemeris": true
},
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"complete_ephemeris": true
},
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},
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"complete_ephemeris": true
},
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"boc_main_peak_coherence_min": 0.33918431088914197
},
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"sample_discontinuities": 0,
"crc_valid_pages": 15,
"crc_invalid_pages": 0,
"complete_ephemeris": true
},
"27": {
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"boc_aware_code_lock_falling_edges": 0,
"boc_aware_longest_code_lock_s": 32.124,
"legacy_failure_behavior": {
"epochs": 344,
"dll_error_rms_chips": 0.08580174731724177,
"dll_error_p99_abs_chips": 0.11904739019023991,
"code_phase_residual_rms_chips": 20.756058971087125,
"code_phase_residual_p99_abs_chips": 26.772812207727803,
"prompt_power_median": 116680356.99560717,
"early_power_median": 478044790.6615449,
"late_power_median": 1323037640.8633256,
"very_early_power_median": 21059764.41682536,
"very_late_power_median": 301495191.6249375,
"boc_main_peak_fraction_min": 0.8520196594098788,
"boc_side_peak_metric_max": 0.1598536311317901,
"boc_main_peak_coherence_min": 0.5220145133276418
},
"legacy_pass_behavior": {
"epochs": 15495,
"dll_error_rms_chips": 0.057575532524275004,
"dll_error_p99_abs_chips": 0.1638616542926032,
"code_phase_residual_rms_chips": 15.543010751491565,
"code_phase_residual_p99_abs_chips": 27.027411115714,
"prompt_power_median": 1553941487.134823,
"early_power_median": 103487220.28957783,
"late_power_median": 103902035.7428725,
"very_early_power_median": 102551866.10199845,
"very_late_power_median": 102470250.29049863,
"boc_main_peak_fraction_min": 0.8478458386727497,
"boc_side_peak_metric_max": 0.16693609746582583,
"boc_main_peak_coherence_min": 0.4883110563425638
},
"side_peak_suspected_epochs": 0,
"cycle_slip_candidates": 0,
"sample_discontinuities": 0,
"crc_valid_pages": 15,
"crc_invalid_pages": 0,
"complete_ephemeris": true
}
},
"regression_tests": {
"main_peak_and_metric_validity": "tests/unit/test_lock_detector.py",
"quarter_chip_shoulder_false_unlock": "tests/unit/test_lock_detector.py",
"outer_tap_side_peak": "tests/unit/test_lock_detector.py",
"zero_signal_true_loss": "tests/unit/test_lock_detector.py",
"invalid_and_single_bad_epoch": "tests/unit/test_lock_detector.py",
"e1c_pilot_secondary_and_e1b_branch": "tests/integration/test_signalsim_e1c_pilot_aided_tracking.py"
}
}
@@ -0,0 +1,28 @@
# BOC-aware lock-detector validation
**LOCK DETECTOR CHATTER CONFIRMED**
The loops were not retuned. The failure source was the legacy instantaneous `P² / mean(E²,L²)` predicate, which falls to 0.1 at an ideal quarter-chip BOC(1,1) shoulder even though the five-tap energy remains in the central correlation basin.
Input evidence: 131758308 complex IQ8 samples at 4092000 Hz (32.199 s stored from the 32.2 s configured run), SHA-256 `b38393b32eec2df53f9813ea7ff8f13e5e0fc72fa5cb7fb910a2b8f907a56a6e`.
Replay: `python tools/compare_e1_tracking_modes.py --config configs/navigation_collection.yaml --output-dir reports/e1_tracking_mode_comparison`
| PRN | Legacy falls | Corrected falls | Longest corrected lock (s) | DLL RMS during old failures (chips) | Failure P power median | Failure E power median | Failure L power median | Max side metric | Min main coherence | CRC valid/invalid | Ephemeris |
| --: | --: | --: | --: | --: | --: | --: | --: | --: | --: | --: | ---: |
| 1 | 105 | 0 | 32.124 | 0.085955 | 1.085e+08 | 1.383e+09 | 4.664e+08 | 0.2038 | 0.3402 | 15/0 | True |
| 4 | 102 | 0 | 32.124 | 0.085628 | 1.090e+08 | 1.400e+09 | 4.570e+08 | 0.2125 | 0.3171 | 15/0 | True |
| 19 | 28 | 0 | 32.124 | 0.083826 | 1.041e+08 | 4.950e+08 | 1.419e+09 | 0.2139 | 0.3097 | 15/0 | True |
| 21 | 53 | 0 | 32.124 | 0.084246 | 1.112e+08 | 4.856e+08 | 1.409e+09 | 0.2127 | 0.3047 | 15/0 | True |
| 27 | 109 | 0 | 32.124 | 0.085802 | 1.167e+08 | 4.780e+08 | 1.323e+09 | 0.1599 | 0.5220 | 15/0 | True |
Total legacy/corrected falling edges: **397/0**.
Navigation result: **75/75 CRC-valid pages**, 5 complete ephemerides.
Each PRN artifact directory contains the complete double-precision measurement NPZ, a CSV row for every legacy falling edge, and a six-panel plot with old metric, corrected BOC metrics, VE/E/P/L/VL powers, PLL/DLL errors, NCOs, C/N0, and transition markers.
The observed smoothed outer/central metric and coherent tap-sign metric remain in the calibrated central basin during the legacy failures. Thus none was a main-to-side-peak transition. Synthetic +/-0.5-chip negative Prompt sidelobes and sustained outer-tap dominance both clear lock after debounce; zero-signal input clears signal presence and code lock. Invalid and incomplete integrations cannot seed the smoothing window.
Two E1B phase-jump candidates (PRN 1 and 4) were recorded by the pre-existing one-epoch cycle-slip candidate test; neither coincided with NCO divergence, a discontinuity, CRC loss, or corrected code-lock loss. E1C-aided tracking recorded zero such candidates. They are reported rather than silently discarded.
See `boc11_correlation_and_lock_metrics.png` in the comparison report and per-PRN `tracking_lock_diagnostics.png` under `verification/navigation/signalsim_navigation_multisat_e1b_only/`.
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{
"modes": {
"e1b_only": {
"navigation_ready": true,
"satellites": {
"1": {
"prn": 1,
"legacy_code_lock_falling_edges": 105,
"boc_aware_code_lock_falling_edges": 0,
"longest_boc_aware_code_lock_s": 32.124,
"pll_error_rms_rad": 0.08022448736431988,
"dll_error_rms_chips": 0.056473751245269044,
"cn0_median_db_hz": 46.870552785374464,
"cycle_slips": 1,
"sample_discontinuities": 0,
"raw_navigation_symbols": 8044,
"crc_valid_pages": 15,
"crc_invalid_pages": 0,
"complete_ephemeris": true,
"secondary_code_sync": null
},
"4": {
"prn": 4,
"legacy_code_lock_falling_edges": 102,
"boc_aware_code_lock_falling_edges": 0,
"longest_boc_aware_code_lock_s": 32.124,
"pll_error_rms_rad": 0.08339194913655366,
"dll_error_rms_chips": 0.05755699775579458,
"cn0_median_db_hz": 46.629410476651934,
"cycle_slips": 1,
"sample_discontinuities": 0,
"raw_navigation_symbols": 8044,
"crc_valid_pages": 15,
"crc_invalid_pages": 0,
"complete_ephemeris": true,
"secondary_code_sync": null
},
"19": {
"prn": 19,
"legacy_code_lock_falling_edges": 28,
"boc_aware_code_lock_falling_edges": 0,
"longest_boc_aware_code_lock_s": 32.124,
"pll_error_rms_rad": 0.09139711767212633,
"dll_error_rms_chips": 0.056352156142962954,
"cn0_median_db_hz": 47.38005914259544,
"cycle_slips": 0,
"sample_discontinuities": 0,
"raw_navigation_symbols": 8044,
"crc_valid_pages": 15,
"crc_invalid_pages": 0,
"complete_ephemeris": true,
"secondary_code_sync": null
},
"21": {
"prn": 21,
"legacy_code_lock_falling_edges": 53,
"boc_aware_code_lock_falling_edges": 0,
"longest_boc_aware_code_lock_s": 32.124,
"pll_error_rms_rad": 0.08461586517746887,
"dll_error_rms_chips": 0.05604235022384973,
"cn0_median_db_hz": 47.6095854731344,
"cycle_slips": 0,
"sample_discontinuities": 0,
"raw_navigation_symbols": 8044,
"crc_valid_pages": 15,
"crc_invalid_pages": 0,
"complete_ephemeris": true,
"secondary_code_sync": null
},
"27": {
"prn": 27,
"legacy_code_lock_falling_edges": 109,
"boc_aware_code_lock_falling_edges": 0,
"longest_boc_aware_code_lock_s": 32.124,
"pll_error_rms_rad": 0.07824456217725519,
"dll_error_rms_chips": 0.05833383960144811,
"cn0_median_db_hz": 46.09243167825323,
"cycle_slips": 0,
"sample_discontinuities": 0,
"raw_navigation_symbols": 8044,
"crc_valid_pages": 15,
"crc_invalid_pages": 0,
"complete_ephemeris": true,
"secondary_code_sync": null
}
},
"total_crc_valid_pages": 75,
"complete_ephemerides": 5
},
"e1c_pilot_aided_e1b": {
"navigation_ready": true,
"satellites": {
"1": {
"prn": 1,
"legacy_code_lock_falling_edges": 102,
"boc_aware_code_lock_falling_edges": 0,
"longest_boc_aware_code_lock_s": 32.124,
"pll_error_rms_rad": 0.07859984972937414,
"dll_error_rms_chips": 0.056565003221219566,
"cn0_median_db_hz": 46.94012968974618,
"cycle_slips": 0,
"sample_discontinuities": 0,
"raw_navigation_symbols": 8044,
"crc_valid_pages": 15,
"crc_invalid_pages": 0,
"complete_ephemeris": true,
"secondary_code_sync": {
"phase": 10,
"residual_frequency_hz": 59.5,
"normalized_correlation": 0.9941599620460754,
"compared_periods": 100,
"sign_errors": 0
}
},
"4": {
"prn": 4,
"legacy_code_lock_falling_edges": 110,
"boc_aware_code_lock_falling_edges": 0,
"longest_boc_aware_code_lock_s": 32.124,
"pll_error_rms_rad": 0.08218993802219834,
"dll_error_rms_chips": 0.05809960919771263,
"cn0_median_db_hz": 46.40741068588617,
"cycle_slips": 0,
"sample_discontinuities": 0,
"raw_navigation_symbols": 8044,
"crc_valid_pages": 15,
"crc_invalid_pages": 0,
"complete_ephemeris": true,
"secondary_code_sync": {
"phase": 9,
"residual_frequency_hz": -62.5,
"normalized_correlation": 0.9860075818874949,
"compared_periods": 100,
"sign_errors": 0
}
},
"19": {
"prn": 19,
"legacy_code_lock_falling_edges": 31,
"boc_aware_code_lock_falling_edges": 0,
"longest_boc_aware_code_lock_s": 32.124,
"pll_error_rms_rad": 0.08798351512883444,
"dll_error_rms_chips": 0.05665648411462819,
"cn0_median_db_hz": 47.306377947072626,
"cycle_slips": 0,
"sample_discontinuities": 0,
"raw_navigation_symbols": 8044,
"crc_valid_pages": 15,
"crc_invalid_pages": 0,
"complete_ephemeris": true,
"secondary_code_sync": {
"phase": 11,
"residual_frequency_hz": -38.5,
"normalized_correlation": 0.9953855496694146,
"compared_periods": 100,
"sign_errors": 0
}
},
"21": {
"prn": 21,
"legacy_code_lock_falling_edges": 51,
"boc_aware_code_lock_falling_edges": 0,
"longest_boc_aware_code_lock_s": 32.124,
"pll_error_rms_rad": 0.08950722912725978,
"dll_error_rms_chips": 0.056152318470159265,
"cn0_median_db_hz": 47.64003907257697,
"cycle_slips": 0,
"sample_discontinuities": 0,
"raw_navigation_symbols": 8044,
"crc_valid_pages": 15,
"crc_invalid_pages": 0,
"complete_ephemeris": true,
"secondary_code_sync": {
"phase": 11,
"residual_frequency_hz": 37.5,
"normalized_correlation": 0.9856821042522145,
"compared_periods": 100,
"sign_errors": 0
}
},
"27": {
"prn": 27,
"legacy_code_lock_falling_edges": 122,
"boc_aware_code_lock_falling_edges": 0,
"longest_boc_aware_code_lock_s": 32.124,
"pll_error_rms_rad": 0.0768043956210642,
"dll_error_rms_chips": 0.057805622538207146,
"cn0_median_db_hz": 45.94570799038448,
"cycle_slips": 0,
"sample_discontinuities": 0,
"raw_navigation_symbols": 8044,
"crc_valid_pages": 15,
"crc_invalid_pages": 0,
"complete_ephemeris": true,
"secondary_code_sync": {
"phase": 8,
"residual_frequency_hz": 36.5,
"normalized_correlation": 0.996052910867296,
"compared_periods": 100,
"sign_errors": 0
}
}
},
"total_crc_valid_pages": 75,
"complete_ephemerides": 5
}
},
"prns": [
1,
4,
19,
21,
27
],
"boc11_calibration_points": {
"-0.75": {
"very_early_amplitude": 0.0,
"very_early_power": 0.0,
"early_amplitude": 0.0,
"early_power": 0.0,
"prompt_amplitude": -0.25,
"prompt_power": 0.0625,
"late_amplitude": -0.5,
"late_power": 0.25,
"very_late_amplitude": 1.0,
"very_late_power": 1.0,
"legacy_prompt_el_ratio": 0.5,
"main_peak_fraction": 0.23809523809523808,
"side_peak_ratio": 3.2,
"main_peak_coherence": 1.0
},
"-0.50": {
"very_early_amplitude": 0.0,
"very_early_power": 0.0,
"early_amplitude": -0.25,
"early_power": 0.0625,
"prompt_amplitude": -0.5,
"prompt_power": 0.25,
"late_amplitude": 0.25,
"late_power": 0.0625,
"very_late_amplitude": 0.25,
"very_late_power": 0.0625,
"legacy_prompt_el_ratio": 4.0,
"main_peak_fraction": 0.8571428571428571,
"side_peak_ratio": 0.16666666666666666,
"main_peak_coherence": -0.0
},
"-0.25": {
"very_early_amplitude": 0.0,
"very_early_power": 0.0,
"early_amplitude": -0.5,
"early_power": 0.25,
"prompt_amplitude": 0.25,
"prompt_power": 0.0625,
"late_amplitude": 1.0,
"late_power": 1.0,
"very_late_amplitude": -0.5,
"very_late_power": 0.25,
"legacy_prompt_el_ratio": 0.1,
"main_peak_fraction": 0.84,
"side_peak_ratio": 0.19047619047619047,
"main_peak_coherence": 0.3333333333333333
},
"+0.00": {
"very_early_amplitude": -0.25,
"very_early_power": 0.0625,
"early_amplitude": 0.25,
"early_power": 0.0625,
"prompt_amplitude": 1.0,
"prompt_power": 1.0,
"late_amplitude": 0.25,
"late_power": 0.0625,
"very_late_amplitude": -0.25,
"very_late_power": 0.0625,
"legacy_prompt_el_ratio": 16.0,
"main_peak_fraction": 0.9,
"side_peak_ratio": 0.05555555555555555,
"main_peak_coherence": 1.0
},
"+0.25": {
"very_early_amplitude": -0.5,
"very_early_power": 0.25,
"early_amplitude": 1.0,
"early_power": 1.0,
"prompt_amplitude": 0.25,
"prompt_power": 0.0625,
"late_amplitude": -0.5,
"late_power": 0.25,
"very_late_amplitude": 0.0,
"very_late_power": 0.0,
"legacy_prompt_el_ratio": 0.1,
"main_peak_fraction": 0.84,
"side_peak_ratio": 0.19047619047619047,
"main_peak_coherence": 0.3333333333333333
},
"+0.50": {
"very_early_amplitude": 0.25,
"very_early_power": 0.0625,
"early_amplitude": 0.25,
"early_power": 0.0625,
"prompt_amplitude": -0.5,
"prompt_power": 0.25,
"late_amplitude": -0.25,
"late_power": 0.0625,
"very_late_amplitude": 0.0,
"very_late_power": 0.0,
"legacy_prompt_el_ratio": 4.0,
"main_peak_fraction": 0.8571428571428571,
"side_peak_ratio": 0.16666666666666666,
"main_peak_coherence": -0.0
},
"+0.75": {
"very_early_amplitude": 1.0,
"very_early_power": 1.0,
"early_amplitude": -0.5,
"early_power": 0.25,
"prompt_amplitude": -0.25,
"prompt_power": 0.0625,
"late_amplitude": 0.0,
"late_power": 0.0,
"very_late_amplitude": 0.0,
"very_late_power": 0.0,
"legacy_prompt_el_ratio": 0.5,
"main_peak_fraction": 0.23809523809523808,
"side_peak_ratio": 3.2,
"main_peak_coherence": 1.0
}
},
"all_navigation_ready": true,
"input": {
"sample_file": "/home/onur/Desktop/galileo/verification/vectors/signalsim/navigation_multisat/navigation_multisat_iq8.bin",
"sample_sha256": "b38393b32eec2df53f9813ea7ff8f13e5e0fc72fa5cb7fb910a2b8f907a56a6e",
"complex_sample_count": 131758308,
"sampling_frequency_hz": 4092000.0,
"stored_duration_s": 32.199,
"configured_duration_s": 32.2
}
}
@@ -0,0 +1,18 @@
# Corrected BOC lock and E1 tracking architecture comparison
Both modes consume the same SignalSim IQ8 vector configured for 32.2 s. The file contains 131758308 complex samples (32.199 s at 4092000 Hz), so the stored vector is exactly 1 ms shorter than the requested duration. The E1C mode uses E1C acquisition, secondary-code synchronization/wipeoff, and pilot loop states; only its separate E1B Prompt branch enters I/NAV decoding.
| Mode | PRN | Legacy falls | Corrected falls | Longest lock (s) | PLL RMS (rad) | DLL RMS (chips) | C/N0 (dB-Hz) | Slip candidates | Discontinuities | Secondary corr. | Symbols | CRC pages | Ephemeris |
| --- | --: | --: | --: | --: | --: | --: | --: | --: | --: | --: | --: | --: | ---: |
| e1b_only | 1 | 105 | 0 | 32.124 | 0.080224 | 0.056474 | 46.871 | 1 | 0 | - | 8044 | 15 | True |
| e1b_only | 4 | 102 | 0 | 32.124 | 0.083392 | 0.057557 | 46.629 | 1 | 0 | - | 8044 | 15 | True |
| e1b_only | 19 | 28 | 0 | 32.124 | 0.091397 | 0.056352 | 47.380 | 0 | 0 | - | 8044 | 15 | True |
| e1b_only | 21 | 53 | 0 | 32.124 | 0.084616 | 0.056042 | 47.610 | 0 | 0 | - | 8044 | 15 | True |
| e1b_only | 27 | 109 | 0 | 32.124 | 0.078245 | 0.058334 | 46.092 | 0 | 0 | - | 8044 | 15 | True |
| e1c_pilot_aided_e1b | 1 | 102 | 0 | 32.124 | 0.078600 | 0.056565 | 46.940 | 0 | 0 | 0.9942 | 8044 | 15 | True |
| e1c_pilot_aided_e1b | 4 | 110 | 0 | 32.124 | 0.082190 | 0.058100 | 46.407 | 0 | 0 | 0.9860 | 8044 | 15 | True |
| e1c_pilot_aided_e1b | 19 | 31 | 0 | 32.124 | 0.087984 | 0.056656 | 47.306 | 0 | 0 | 0.9954 | 8044 | 15 | True |
| e1c_pilot_aided_e1b | 21 | 51 | 0 | 32.124 | 0.089507 | 0.056152 | 47.640 | 0 | 0 | 0.9857 | 8044 | 15 | True |
| e1c_pilot_aided_e1b | 27 | 122 | 0 | 32.124 | 0.076804 | 0.057806 | 45.946 | 0 | 0 | 0.9961 | 8044 | 15 | True |
All navigation readiness gates passed: **True**.
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@@ -0,0 +1,801 @@
{
"decoder_truth_inputs": [],
"tracking_architecture": "e1b_only",
"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,
"tracking_architecture": "e1b_only",
"acquisition_component": "E1B",
"acquisition_detected": true,
"acquisition_time_s": 0.10830689100112068,
"raw_doppler_hz": 1750.0,
"expected_doppler_hz": 1828.0,
"start_sample_timestamp": 90995,
"tracking_epoch_count": 16088,
"tracking_time_s": 14.402149740999448,
"tracking_final_state": "PLL_TRACK",
"tracking_reacquisition_requests": 0,
"tracking_lock_timestamp": 369251,
"prompt_epoch_count": 8044,
"valid_prompt_epoch_count": 8044,
"invalid_prompt_epoch_count": 0,
"cycle_slips": 1,
"sample_discontinuities": 0,
"raw_navigation_symbol_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": 1.3377819750021445,
"secondary_code_sync": null,
"lock_analysis": {
"prn": 1,
"epochs": 16088,
"integration_ms": 2.0,
"start_sample_timestamp": 90995,
"end_sample_timestamp": 131755187,
"raw_carrier_lock_pass_epochs": 16053,
"raw_code_lock_pass_epochs": 15581,
"raw_combined_lock_pass_epochs": 15561,
"raw_combined_lock_fail_epochs": 527,
"false_transition_count": 111,
"legacy_code_lock_falling_edges": 105,
"boc_aware_code_lock_falling_edges": 0,
"boc_aware_metric_valid_epochs": 16064,
"boc_aware_code_lock_pass_epochs": 16062,
"boc_aware_combined_lock_pass_epochs": 16055,
"boc_aware_longest_code_lock_s": 32.124,
"boc_side_peak_suspected_epochs": 0,
"carrier_metric_caused_transitions": 7,
"code_metric_caused_transitions": 105,
"symbol_transition_coincident_false_transitions": 25,
"cycle_slips": 1,
"sample_discontinuities": 0,
"cn0_unavailable_false_transitions": 2,
"false_run_count": 112,
"single_epoch_false_runs": 39,
"maximum_false_run_epochs": 49,
"maximum_false_run_ms": 98.0,
"maximum_continuous_raw_lock_epochs": 527,
"maximum_continuous_raw_lock_s": 1.054,
"carrier_metric_percentiles": {
"1": 0.924754620433948,
"5": 0.9885487615596471,
"50": 0.9988920935338705,
"95": 0.999988889095012,
"99": 0.9999995126772309
},
"code_metric_percentiles": {
"1": 0.08551747376691506,
"5": 8.93110718797863,
"50": 14.284296796423222,
"95": 20.964203945365327,
"99": 25.01283950305672
},
"boc_main_peak_fraction_percentiles": {
"1": 0.8459457202588582,
"5": 0.8743060376964639,
"50": 0.8893911166731225,
"95": 0.8991623523366161,
"99": 0.9030265243663507
},
"boc_side_peak_metric_percentiles": {
"1": 0.05558653630324674,
"5": 0.05810940234394848,
"50": 0.06563094730036426,
"95": 0.08861816884470392,
"99": 0.15873840916919643
},
"boc_main_peak_coherence_percentiles": {
"1": 0.5697390611615102,
"5": 0.8854239302839105,
"50": 0.968031049010735,
"95": 0.9797568799767267,
"99": 0.9829484849900356
},
"legacy_code_metric_failure_behavior": {
"epochs": 419,
"dll_error_rms_chips": 0.08595496042669856,
"dll_error_p99_abs_chips": 0.12241806445109668,
"code_phase_residual_rms_chips": 14.36062232244801,
"code_phase_residual_p99_abs_chips": 18.53252004246325,
"prompt_power_median": 108501744.67290671,
"early_power_median": 1382974759.31233,
"late_power_median": 466361919.31117284,
"very_early_power_median": 307844457.5642177,
"very_late_power_median": 19056312.68379797,
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},
"galileo_time": {
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},
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}
@@ -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 | 31 | 15 | True | True | True | True |
| 19 | PLL_TRACK | True | 31 | 15 | True | True | True | True |
| 21 | PLL_TRACK | True | 31 | 15 | True | True | True | True |
| 27 | PLL_TRACK | True | 31 | 15 | True | True | True | True |
@@ -0,0 +1,831 @@
{
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"95": 0.9999895126224544,
"99": 0.9999995737755365
},
"code_metric_percentiles": {
"1": 0.06685317434009187,
"5": 0.18474101219165578,
"50": 14.188567533729127,
"95": 20.853641899942982,
"99": 24.900783119459
},
"boc_main_peak_fraction_percentiles": {
"1": 0.8331077551592363,
"5": 0.8556563253779765,
"50": 0.8898638926439826,
"95": 0.8995272735597457,
"99": 0.9034500829578935
},
"boc_side_peak_metric_percentiles": {
"1": 0.05517877177836974,
"5": 0.057838743800940465,
"50": 0.06512106911574578,
"95": 0.13637269202092908,
"99": 0.19432472241219176
},
"boc_main_peak_coherence_percentiles": {
"1": 0.3285514186082982,
"5": 0.6780597999663746,
"50": 0.9697975202111472,
"95": 0.9804065041471643,
"99": 0.98403198606922
},
"legacy_code_metric_failure_behavior": {
"epochs": 728,
"dll_error_rms_chips": 0.08437694864253784,
"dll_error_p99_abs_chips": 0.11420464213225176,
"code_phase_residual_rms_chips": 2.68046518243341,
"code_phase_residual_p99_abs_chips": 3.8578061850383074,
"prompt_power_median": 107058906.74306475,
"early_power_median": 589909306.6672449,
"late_power_median": 1246213886.4347653,
"very_early_power_median": 42916283.52768795,
"very_late_power_median": 242361314.9778272,
"boc_main_peak_fraction_min": 0.8262777121115853,
"boc_side_peak_metric_max": 0.2062479029943051,
"boc_main_peak_coherence_min": 0.3152967643499338
},
"legacy_code_metric_pass_behavior": {
"epochs": 15111,
"dll_error_rms_chips": 0.05496916685224953,
"dll_error_p99_abs_chips": 0.14811405306726963,
"code_phase_residual_rms_chips": 2.1905835998108185,
"code_phase_residual_p99_abs_chips": 3.853546458312098,
"prompt_power_median": 1572867668.3084347,
"early_power_median": 104616403.78707226,
"late_power_median": 105273180.84896234,
"very_early_power_median": 104208400.61576208,
"very_late_power_median": 104196595.71394174,
"boc_main_peak_fraction_min": 0.8244860197459938,
"boc_side_peak_metric_max": 0.20227746225808624,
"boc_main_peak_coherence_min": 0.34505028117893527
},
"post_pull_in": {
"pll_error_rms_rad": 0.08798351512883444,
"pll_error_p99_abs_rad": 0.33384337105425854,
"dll_error_rms_chips": 0.05665648411462819,
"dll_error_p99_abs_chips": 0.14671966000911835,
"carrier_frequency_min_hz": 1022617.3013250588,
"carrier_frequency_max_hz": 1022640.4852699582,
"carrier_frequency_last_minus_first_hz": -12.029085914371535,
"code_frequency_min_hz": 1022999.1296675402,
"code_frequency_max_hz": 1023000.3486243897,
"code_frequency_last_minus_first_hz": 0.4431725781178102,
"cn0_median_db_hz": 47.306377947072626,
"cn0_min_db_hz": 28.833883219972133
}
}
},
"21": {
"prn": 21,
"tracking_architecture": "e1c_pilot_aided_e1b",
"acquisition_component": "E1C",
"acquisition_detected": true,
"acquisition_time_s": 0.07517363399529131,
"raw_doppler_hz": -750.0,
"expected_doppler_hz": -712.0,
"start_sample_timestamp": 93628,
"tracking_epoch_count": 16088,
"tracking_time_s": 28.729486084004748,
"tracking_final_state": "PLL_TRACK",
"tracking_reacquisition_requests": 0,
"tracking_lock_timestamp": 339148,
"prompt_epoch_count": 8044,
"valid_prompt_epoch_count": 8044,
"invalid_prompt_epoch_count": 0,
"cycle_slips": 0,
"sample_discontinuities": 0,
"raw_navigation_symbol_count": 8044,
"first_synchronized_symbol_timestamp": 4414780,
"first_page_sync_timestamp": 4414780,
"first_crc_valid_page_timestamp": 4414780,
"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": 61702780,
"clock_parameters": true,
"health_valid": true,
"data_valid": true,
"decoding_time_s": 1.246713754000666,
"secondary_code_sync": {
"phase": 11,
"residual_frequency_hz": 37.5,
"normalized_correlation": 0.9856821042522145,
"compared_periods": 100,
"sign_errors": 0
},
"lock_analysis": {
"prn": 21,
"epochs": 16088,
"integration_ms": 2.0,
"start_sample_timestamp": 93628,
"end_sample_timestamp": 131757820,
"raw_carrier_lock_pass_epochs": 16031,
"raw_code_lock_pass_epochs": 15249,
"raw_combined_lock_pass_epochs": 15249,
"raw_combined_lock_fail_epochs": 839,
"false_transition_count": 51,
"legacy_code_lock_falling_edges": 51,
"boc_aware_code_lock_falling_edges": 0,
"boc_aware_metric_valid_epochs": 16064,
"boc_aware_code_lock_pass_epochs": 16062,
"boc_aware_combined_lock_pass_epochs": 16059,
"boc_aware_longest_code_lock_s": 32.124,
"boc_side_peak_suspected_epochs": 0,
"carrier_metric_caused_transitions": 0,
"code_metric_caused_transitions": 51,
"symbol_transition_coincident_false_transitions": 0,
"cycle_slips": 0,
"sample_discontinuities": 0,
"cn0_unavailable_false_transitions": 0,
"false_run_count": 51,
"single_epoch_false_runs": 4,
"maximum_false_run_epochs": 157,
"maximum_false_run_ms": 314.0,
"maximum_continuous_raw_lock_epochs": 793,
"maximum_continuous_raw_lock_s": 1.586,
"carrier_metric_percentiles": {
"1": 0.7939514446493192,
"5": 0.985632857889365,
"50": 0.9988523785765591,
"95": 0.9999895032338855,
"99": 0.9999995002250147
},
"code_metric_percentiles": {
"1": 0.06616391188826821,
"5": 0.2581154135198231,
"50": 14.22150508819822,
"95": 21.041903291304745,
"99": 25.29011298405983
},
"boc_main_peak_fraction_percentiles": {
"1": 0.8328410713646706,
"5": 0.862839862016292,
"50": 0.8894454265519192,
"95": 0.899005820753033,
"99": 0.902725891411603
},
"boc_side_peak_metric_percentiles": {
"1": 0.05581216956145967,
"5": 0.0581020070281789,
"50": 0.06537705791281424,
"95": 0.12414647994867094,
"99": 0.19464888907499955
},
"boc_main_peak_coherence_percentiles": {
"1": 0.32651431878020987,
"5": 0.7456684567711471,
"50": 0.9698504431158739,
"95": 0.9804936771751901,
"99": 0.9837504008164109
},
"legacy_code_metric_failure_behavior": {
"epochs": 682,
"dll_error_rms_chips": 0.08442597625870917,
"dll_error_p99_abs_chips": 0.11360544478812587,
"code_phase_residual_rms_chips": 5.679331578203824,
"code_phase_residual_p99_abs_chips": 7.326207964266705,
"prompt_power_median": 104189541.93969142,
"early_power_median": 503192371.15070486,
"late_power_median": 1403405103.7404156,
"very_early_power_median": 22039174.93790304,
"very_late_power_median": 317213067.5344795,
"boc_main_peak_fraction_min": 0.8192520869211634,
"boc_side_peak_metric_max": 0.21126892991099358,
"boc_main_peak_coherence_min": 0.3116800253668606
},
"legacy_code_metric_pass_behavior": {
"epochs": 15157,
"dll_error_rms_chips": 0.05453659411635098,
"dll_error_p99_abs_chips": 0.1449088577056262,
"code_phase_residual_rms_chips": 4.188063318602212,
"code_phase_residual_p99_abs_chips": 7.374789512632724,
"prompt_power_median": 1569583185.8754468,
"early_power_median": 103618886.08421741,
"late_power_median": 103783265.51861823,
"very_early_power_median": 104017003.65515691,
"very_late_power_median": 104035110.46635103,
"boc_main_peak_fraction_min": 0.8344860559063105,
"boc_side_peak_metric_max": 0.19273063690182018,
"boc_main_peak_coherence_min": 0.33714214192677894
},
"post_pull_in": {
"pll_error_rms_rad": 0.08950722912725978,
"pll_error_p99_abs_rad": 0.34532589523816604,
"dll_error_rms_chips": 0.056152318470159265,
"dll_error_p99_abs_chips": 0.14402921672670457,
"carrier_frequency_min_hz": 1022268.5496190831,
"carrier_frequency_max_hz": 1022294.5921728422,
"carrier_frequency_last_minus_first_hz": -11.265239437692799,
"code_frequency_min_hz": 1022998.8592261485,
"code_frequency_max_hz": 1023000.1806048183,
"code_frequency_last_minus_first_hz": -0.1938835997134447,
"cn0_median_db_hz": 47.64003907257697,
"cn0_min_db_hz": 28.276106571211788
}
}
},
"27": {
"prn": 27,
"tracking_architecture": "e1c_pilot_aided_e1b",
"acquisition_component": "E1C",
"acquisition_detected": true,
"acquisition_time_s": 0.07462809099524748,
"raw_doppler_hz": -2750.0,
"expected_doppler_hz": -2637.0,
"start_sample_timestamp": 88014,
"tracking_epoch_count": 16088,
"tracking_time_s": 28.702013941998302,
"tracking_final_state": "PLL_TRACK",
"tracking_reacquisition_requests": 0,
"tracking_lock_timestamp": 1381086,
"prompt_epoch_count": 8044,
"valid_prompt_epoch_count": 8044,
"invalid_prompt_epoch_count": 0,
"cycle_slips": 0,
"sample_discontinuities": 0,
"raw_navigation_symbol_count": 8044,
"first_synchronized_symbol_timestamp": 4458270,
"first_page_sync_timestamp": 4458270,
"first_crc_valid_page_timestamp": 4458270,
"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": 61746270,
"clock_parameters": true,
"health_valid": true,
"data_valid": true,
"decoding_time_s": 1.2526050119995489,
"secondary_code_sync": {
"phase": 8,
"residual_frequency_hz": 36.5,
"normalized_correlation": 0.996052910867296,
"compared_periods": 100,
"sign_errors": 0
},
"lock_analysis": {
"prn": 27,
"epochs": 16088,
"integration_ms": 2.0,
"start_sample_timestamp": 88014,
"end_sample_timestamp": 131752206,
"raw_carrier_lock_pass_epochs": 15936,
"raw_code_lock_pass_epochs": 15647,
"raw_combined_lock_pass_epochs": 15556,
"raw_combined_lock_fail_epochs": 532,
"false_transition_count": 120,
"legacy_code_lock_falling_edges": 122,
"boc_aware_code_lock_falling_edges": 0,
"boc_aware_metric_valid_epochs": 16064,
"boc_aware_code_lock_pass_epochs": 16062,
"boc_aware_combined_lock_pass_epochs": 15931,
"boc_aware_longest_code_lock_s": 32.124,
"boc_side_peak_suspected_epochs": 0,
"carrier_metric_caused_transitions": 0,
"code_metric_caused_transitions": 120,
"symbol_transition_coincident_false_transitions": 0,
"cycle_slips": 0,
"sample_discontinuities": 0,
"cn0_unavailable_false_transitions": 0,
"false_run_count": 121,
"single_epoch_false_runs": 58,
"maximum_false_run_epochs": 155,
"maximum_false_run_ms": 310.0,
"maximum_continuous_raw_lock_epochs": 1095,
"maximum_continuous_raw_lock_s": 2.19,
"carrier_metric_percentiles": {
"1": 0.7206432555049623,
"5": 0.988611380400891,
"50": 0.9988895300080884,
"95": 0.9999910174511765,
"99": 0.9999996463442009
},
"code_metric_percentiles": {
"1": 0.0963945544624243,
"5": 9.022094975682883,
"50": 14.336371788159624,
"95": 21.01430502486875,
"99": 25.223778227213373
},
"boc_main_peak_fraction_percentiles": {
"1": 0.8563053481254727,
"5": 0.8761216856241046,
"50": 0.8897298346486104,
"95": 0.8989983348293147,
"99": 0.9027659012322223
},
"boc_side_peak_metric_percentiles": {
"1": 0.055865232111185666,
"5": 0.05827544455675619,
"50": 0.06545776761892909,
"95": 0.08721718306155764,
"99": 0.13554248142317915
},
"boc_main_peak_coherence_percentiles": {
"1": 0.6963850681372143,
"5": 0.8864149571238227,
"50": 0.9668775731513674,
"95": 0.9797144500640755,
"99": 0.9833546124056554
},
"legacy_code_metric_failure_behavior": {
"epochs": 353,
"dll_error_rms_chips": 0.08692287486188564,
"dll_error_p99_abs_chips": 0.12211690739906192,
"code_phase_residual_rms_chips": 20.83535121208654,
"code_phase_residual_p99_abs_chips": 26.7740789856638,
"prompt_power_median": 113099284.09916593,
"early_power_median": 496253334.48126817,
"late_power_median": 1219569538.2556756,
"very_early_power_median": 22055861.48928148,
"very_late_power_median": 272969579.3795633,
"boc_main_peak_fraction_min": 0.8211892376838884,
"boc_side_peak_metric_max": 0.20314364512635572,
"boc_main_peak_coherence_min": 0.47009464074954066
},
"legacy_code_metric_pass_behavior": {
"epochs": 15486,
"dll_error_rms_chips": 0.05696868079676946,
"dll_error_p99_abs_chips": 0.15879673488599466,
"code_phase_residual_rms_chips": 15.537475523073843,
"code_phase_residual_p99_abs_chips": 27.042686964558467,
"prompt_power_median": 1549780078.7121413,
"early_power_median": 102583529.59728253,
"late_power_median": 102880717.96247455,
"very_early_power_median": 101579724.68762413,
"very_late_power_median": 103913161.92134063,
"boc_main_peak_fraction_min": 0.8199308789902463,
"boc_side_peak_metric_max": 0.20370582760979403,
"boc_main_peak_coherence_min": 0.46610449527987624
},
"post_pull_in": {
"pll_error_rms_rad": 0.0768043956210642,
"pll_error_p99_abs_rad": 0.21602664107569355,
"dll_error_rms_chips": 0.057805622538207146,
"dll_error_p99_abs_chips": 0.15780488364179804,
"carrier_frequency_min_hz": 1020353.622410044,
"carrier_frequency_max_hz": 1020369.6683440519,
"carrier_frequency_last_minus_first_hz": -2.8634769301861525,
"code_frequency_min_hz": 1022997.605345076,
"code_frequency_max_hz": 1022998.939424797,
"code_frequency_last_minus_first_hz": -0.08650950586888939,
"cn0_median_db_hz": 45.94570799038448,
"cn0_min_db_hz": 32.27042575677653
}
}
}
},
"galileo_time": {
"week_number": 1138,
"time_of_week_s": 554765,
"page_start_sample_timestamp": 69930270,
"source_word_type": 6,
"valid": true
},
"navigation_ready": true
}
@@ -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 | 31 | 15 | True | True | True | True |
| 19 | PLL_TRACK | True | 31 | 15 | True | True | True | True |
| 21 | PLL_TRACK | True | 31 | 15 | True | True | True | True |
| 27 | PLL_TRACK | True | 31 | 15 | True | True | True | True |
+9
View File
@@ -140,6 +140,7 @@ def command_collect_navigation(args: argparse.Namespace) -> None:
args.output_dir,
signalsim_path=args.signalsim_path,
selected_prns=args.prn,
tracking_mode=args.tracking_mode,
)
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:
@@ -248,6 +249,11 @@ def build_parser() -> argparse.ArgumentParser:
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.add_argument(
"--tracking-mode",
choices=["e1b_only", "e1c_pilot_aided_e1b"],
help="override the configured tracking architecture",
)
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")
@@ -255,6 +261,9 @@ def build_parser() -> argparse.ArgumentParser:
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.add_argument(
"--tracking-mode", choices=["e1b_only", "e1c_pilot_aided_e1b"]
)
track_prompts.set_defaults(handler=command_collect_navigation, require_ready=False)
prompts = commands.add_parser("prompts-to-symbols")
prompts.add_argument("--input", required=True)
+14
View File
@@ -78,6 +78,18 @@ class TrackingConfig:
secondary_code_mode: Literal["none", "wipeoff", "search"] = "wipeoff"
loss_of_lock_epochs: int = 10
weak_signal_cn0_db_hz: float = 25.0
lock_smoothing_epochs: int = 25
lock_confirmation_epochs: int = 3
carrier_lock_enter_threshold: float = 0.55
carrier_lock_exit_threshold: float = 0.45
boc_main_peak_enter_fraction: float = 0.65
boc_main_peak_exit_fraction: float = 0.50
boc_side_peak_enter_ratio: float = 0.80
boc_side_peak_exit_ratio: float = 0.55
boc_side_peak_coherence_enter: float = 0.15
boc_side_peak_coherence_exit: float = 0.25
boc_maximum_el_imbalance: float = 0.90
lock_signal_loss_power_ratio: float = 0.02
def validate(self) -> None:
if self.integration_ms <= 0:
@@ -88,6 +100,8 @@ class TrackingConfig:
raise ValueError("supported PLL orders are 2/3 and DLL orders are 1/2")
if min(self.dll_noise_bandwidth_hz, self.pll_noise_bandwidth_hz, self.fll_noise_bandwidth_hz) <= 0:
raise ValueError("loop noise bandwidths must be positive")
if min(self.loss_of_lock_epochs, self.lock_smoothing_epochs, self.lock_confirmation_epochs) < 1:
raise ValueError("lock-detector epoch counts must be positive")
@dataclass(slots=True)
@@ -0,0 +1,133 @@
"""Numerical BOC(1,1) correlation-shape validation for lock calibration."""
from __future__ import annotations
from pathlib import Path
from typing import Any
import numpy as np
import numpy.typing as npt
def boc11_autocorrelation(
code: npt.ArrayLike,
*,
samples_per_chip: int = 128,
delay_min_chips: float = -1.25,
delay_max_chips: float = 1.25,
) -> dict[str, npt.NDArray[np.float64]]:
"""Return a densely sampled periodic BOC(1,1) autocorrelation.
Integer oversampling is used only to characterize the ideal local replica;
it does not claim additional RF delay information.
"""
chips = np.asarray(code, dtype=np.int8).reshape(-1)
if samples_per_chip < 4 or samples_per_chip % 2:
raise ValueError("samples_per_chip must be an even integer >= 4")
half = samples_per_chip // 2
subcarrier = np.tile(
np.concatenate((np.ones(half), -np.ones(half))).astype(np.float64), chips.size
)
waveform = np.repeat(chips.astype(np.float64), samples_per_chip) * subcarrier
shifts = np.arange(
int(round(delay_min_chips * samples_per_chip)),
int(round(delay_max_chips * samples_per_chip)) + 1,
dtype=np.int64,
)
correlation = np.asarray(
[np.mean(waveform * np.roll(waveform, int(shift)), dtype=np.float64) for shift in shifts],
dtype=np.float64,
)
return {
"delay_chips": shifts.astype(np.float64) / np.float64(samples_per_chip),
"correlation": correlation,
}
def boc11_five_tap_shape(
shape: dict[str, npt.NDArray[np.float64]],
local_error_chips: npt.ArrayLike,
*,
early_late_spacing_chips: float = 0.25,
very_early_late_spacing_chips: float = 0.75,
) -> dict[str, npt.NDArray[np.float64]]:
delay = shape["delay_chips"]
correlation = shape["correlation"]
errors = np.asarray(local_error_chips, dtype=np.float64)
offsets = {
"very_early": -very_early_late_spacing_chips,
"early": -early_late_spacing_chips,
"prompt": 0.0,
"late": early_late_spacing_chips,
"very_late": very_early_late_spacing_chips,
}
output: dict[str, npt.NDArray[np.float64]] = {"code_error_chips": errors}
for name, offset in offsets.items():
amplitude = np.interp(errors + offset, delay, correlation)
output[f"{name}_amplitude"] = amplitude
output[f"{name}_power"] = np.square(amplitude, dtype=np.float64)
central = output["early_power"] + output["prompt_power"] + output["late_power"]
outer = output["very_early_power"] + output["very_late_power"]
tiny = np.finfo(np.float64).tiny
output["legacy_prompt_el_ratio"] = output["prompt_power"] / np.maximum(
0.5 * (output["early_power"] + output["late_power"]), tiny
)
output["main_peak_fraction"] = central / np.maximum(central + outer, tiny)
output["side_peak_ratio"] = np.maximum(
output["very_early_power"], output["very_late_power"]
) / np.maximum(central, tiny)
output["main_peak_coherence"] = (
(output["early_amplitude"] + output["late_amplitude"])
* output["prompt_amplitude"]
/ np.maximum(
np.abs(output["prompt_amplitude"])
* (np.abs(output["early_amplitude"]) + np.abs(output["late_amplitude"])),
tiny,
)
)
return output
def plot_boc11_lock_calibration(
path: str | Path,
shape: dict[str, npt.NDArray[np.float64]],
taps: dict[str, npt.NDArray[np.float64]],
) -> None:
import matplotlib.pyplot as plt
destination = Path(path)
destination.parent.mkdir(parents=True, exist_ok=True)
figure, axes = plt.subplots(3, 1, figsize=(11, 10), sharex=False)
axes[0].plot(shape["delay_chips"], shape["correlation"], color="black")
axes[0].axvline(0.0, color="tab:green", linestyle="--")
axes[0].set(xlabel="delay (chips)", ylabel="normalized amplitude", title="BOC(1,1) autocorrelation")
errors = taps["code_error_chips"]
for name in ("very_early", "early", "prompt", "late", "very_late"):
axes[1].plot(errors, taps[f"{name}_power"], label=name)
axes[1].set(ylabel="normalized tap power", title="VE/E/P/L/VL versus local code error")
axes[1].legend(ncol=5, fontsize=8)
axes[2].plot(errors, taps["legacy_prompt_el_ratio"], label="legacy P / mean(E,L)")
axes[2].plot(errors, taps["main_peak_fraction"], label="central / five-tap power")
axes[2].plot(errors, taps["side_peak_ratio"], label="max(outer) / central")
axes[2].plot(errors, taps["main_peak_coherence"], label="Re{(E+L)P*} coherence")
axes[2].axhline(0.5, color="tab:red", linestyle="--", linewidth=0.8, label="legacy threshold")
axes[2].set(xlabel="local code error (chips)", ylabel="metric", ylim=(-1.05, 3.0))
axes[2].legend(fontsize=8)
for axis in axes:
axis.grid(True, alpha=0.25)
figure.tight_layout()
figure.savefig(destination, dpi=160)
plt.close(figure)
def calibration_points(taps: dict[str, npt.NDArray[np.float64]]) -> dict[str, dict[str, Any]]:
points: dict[str, dict[str, Any]] = {}
error = taps["code_error_chips"]
for requested in (-0.75, -0.50, -0.25, 0.0, 0.25, 0.50, 0.75):
index = int(np.argmin(np.abs(error - requested)))
points[f"{requested:+.2f}"] = {
name: float(values[index])
for name, values in taps.items()
if name != "code_error_chips"
}
return points
+364
View File
@@ -0,0 +1,364 @@
"""Tracking-lock transition analysis without changing loop dynamics."""
from __future__ import annotations
import csv
from dataclasses import asdict, dataclass
import json
from pathlib import Path
from typing import Any, Sequence
import numpy as np
from galileo_rx.types import TrackingMeasurement
@dataclass(frozen=True, slots=True)
class LockThresholds:
carrier_lock: float = 0.55
code_lock: float = 0.5
def _array(measurements: Sequence[TrackingMeasurement], field: str) -> np.ndarray:
return np.asarray([getattr(item, field) for item in measurements], dtype=np.float64)
def _derived_navigation_transitions(
measurements: Sequence[TrackingMeasurement],
symbol_epochs: int,
) -> np.ndarray:
"""Mark receiver-derived BPSK symbol transitions at group boundaries."""
output = np.zeros(len(measurements), dtype=np.bool_)
if symbol_epochs < 1 or len(measurements) < 2 * symbol_epochs:
return output
prompt = np.asarray(
[complex(item.prompt_i, item.prompt_q) for item in measurements], dtype=np.complex128
)
complete = prompt.size // symbol_epochs
coherent = prompt[: complete * symbol_epochs].reshape(complete, symbol_epochs).sum(axis=1)
axis = np.float64(0.5 * np.angle(np.sum(coherent * coherent, dtype=np.complex128)))
hard = (np.real(coherent * np.exp(-1j * axis)) >= 0.0).astype(np.int8)
changed = np.flatnonzero(hard[1:] != hard[:-1]) + 1
output[changed * symbol_epochs] = True
return output
def _runs(mask: np.ndarray) -> tuple[np.ndarray, np.ndarray]:
padded = np.concatenate(([False], mask.astype(np.bool_), [False])).astype(np.int8)
changes = np.diff(padded)
return np.flatnonzero(changes == 1), np.flatnonzero(changes == -1)
def analyze_tracking_lock(
prn: int,
measurements: Sequence[TrackingMeasurement],
*,
carrier_center_hz: float,
integration_ms: float,
primary_code_period_ms: float = 4.0,
thresholds: LockThresholds = LockThresholds(),
) -> tuple[dict[str, Any], list[dict[str, Any]], np.ndarray]:
if not measurements:
raise ValueError("lock analysis requires tracking measurements")
symbol_epochs = int(round(primary_code_period_ms / integration_ms))
if not np.isclose(symbol_epochs * integration_ms, primary_code_period_ms, atol=1e-12):
raise ValueError("tracking integrations must tile an E1B navigation symbol")
carrier_metric = _array(measurements, "carrier_lock_metric")
code_metric = _array(measurements, "code_lock_metric")
raw_carrier = carrier_metric > thresholds.carrier_lock
raw_code = code_metric > thresholds.code_lock
raw_combined = raw_carrier & raw_code
false_transitions = np.flatnonzero(raw_combined[:-1] & ~raw_combined[1:]) + 1
new_code = np.asarray([item.code_lock for item in measurements], dtype=np.bool_)
new_carrier = np.asarray([item.carrier_lock for item in measurements], dtype=np.bool_)
metric_valid = np.asarray([item.lock_metric_valid for item in measurements], dtype=np.bool_)
new_combined = new_code & new_carrier
new_code_falling = np.flatnonzero(new_code[:-1] & ~new_code[1:]) + 1
nav_transitions = _derived_navigation_transitions(measurements, symbol_epochs)
rows: list[dict[str, Any]] = []
for index in false_transitions:
item = measurements[int(index)]
previous = measurements[int(index) - 1]
rows.append({
"prn": int(prn),
"epoch": int(item.epoch),
"sample_timestamp": int(item.start_sample_timestamp),
"state_transition": f"{previous.state.value}->{item.state.value}",
"carrier_lock_metric": float(item.carrier_lock_metric),
"carrier_lock_threshold": float(thresholds.carrier_lock),
"carrier_threshold_pass": bool(raw_carrier[index]),
"code_lock_metric": float(item.code_lock_metric),
"code_lock_threshold": float(thresholds.code_lock),
"code_threshold_pass": bool(raw_code[index]),
"prompt_i": float(item.prompt_i),
"prompt_q": float(item.prompt_q),
"prompt_power": float(item.prompt_i**2 + item.prompt_q**2),
"pll_error_rad": float(item.pll_error_rad),
"fll_error_hz": float(item.fll_error_hz),
"dll_error_chips": float(item.dll_error_chips),
"estimated_doppler_hz": float(item.carrier_frequency_hz - carrier_center_hz),
"code_frequency_hz": float(item.code_frequency_hz),
"cn0_db_hz": None if item.cn0_db_hz is None else float(item.cn0_db_hz),
"navigation_symbol_transition": bool(nav_transitions[index]),
"cycle_slip": bool(item.cycle_slip),
"sample_discontinuity": bool(item.sample_discontinuity),
"new_metric_valid": bool(item.lock_metric_valid),
"new_code_lock": bool(item.code_lock),
"smoothed_code_metric": float(item.smoothed_code_lock_metric),
"boc_main_peak_fraction": float(item.boc_main_peak_fraction),
"boc_side_peak_metric": float(item.boc_side_peak_metric),
"boc_main_peak_coherence": float(item.boc_main_peak_coherence),
"very_early_power": float(item.very_early_magnitude**2),
"early_power": float(item.early_magnitude**2),
"late_power": float(item.late_magnitude**2),
"very_late_power": float(item.very_late_magnitude**2),
})
false_starts, false_ends = _runs(~raw_combined)
locked_starts, locked_ends = _runs(raw_combined)
false_lengths = false_ends - false_starts
locked_lengths = locked_ends - locked_starts
new_locked_starts, new_locked_ends = _runs(new_code)
new_locked_lengths = new_locked_ends - new_locked_starts
after_pull_in = np.asarray([item.time_s >= 0.5 for item in measurements], dtype=np.bool_)
carrier_frequency = _array(measurements, "carrier_frequency_hz")
code_frequency = _array(measurements, "code_frequency_hz")
pll = _array(measurements, "pll_error_rad")
dll = _array(measurements, "dll_error_chips")
cn0 = np.asarray([
np.nan if item.cn0_db_hz is None else item.cn0_db_hz for item in measurements
], dtype=np.float64)
stable = after_pull_in
legacy_failure = ~raw_code & stable
legacy_pass = raw_code & stable
primary_chips = 4092.0
phase = _array(measurements, "code_phase_chips")
parity_reference = np.asarray([
np.angle(np.mean(np.exp(2j * np.pi * phase[(np.arange(phase.size) % 2) == parity] / primary_chips)))
* primary_chips / (2.0 * np.pi)
for parity in (0, 1)
], dtype=np.float64)
phase_reference = parity_reference[np.arange(phase.size) % 2]
phase_residual = (
phase - phase_reference + 0.5 * primary_chips
) % primary_chips - 0.5 * primary_chips
prompt_power = _array(measurements, "prompt_i") ** 2 + _array(measurements, "prompt_q") ** 2
early_power = _array(measurements, "early_magnitude") ** 2
late_power = _array(measurements, "late_magnitude") ** 2
ve_power = _array(measurements, "very_early_magnitude") ** 2
vl_power = _array(measurements, "very_late_magnitude") ** 2
def behavior(mask: np.ndarray) -> dict[str, float | int]:
if not np.any(mask):
return {"epochs": 0}
return {
"epochs": int(np.count_nonzero(mask)),
"dll_error_rms_chips": float(np.sqrt(np.mean(dll[mask] ** 2))),
"dll_error_p99_abs_chips": float(np.percentile(np.abs(dll[mask]), 99)),
"code_phase_residual_rms_chips": float(np.sqrt(np.mean(phase_residual[mask] ** 2))),
"code_phase_residual_p99_abs_chips": float(np.percentile(np.abs(phase_residual[mask]), 99)),
"prompt_power_median": float(np.median(prompt_power[mask])),
"early_power_median": float(np.median(early_power[mask])),
"late_power_median": float(np.median(late_power[mask])),
"very_early_power_median": float(np.median(ve_power[mask])),
"very_late_power_median": float(np.median(vl_power[mask])),
"boc_main_peak_fraction_min": float(np.min(_array(measurements, "boc_main_peak_fraction")[mask])),
"boc_side_peak_metric_max": float(np.max(_array(measurements, "boc_side_peak_metric")[mask])),
"boc_main_peak_coherence_min": float(np.min(_array(measurements, "boc_main_peak_coherence")[mask])),
}
summary: dict[str, Any] = {
"prn": int(prn),
"epochs": len(measurements),
"integration_ms": float(integration_ms),
"start_sample_timestamp": int(measurements[0].start_sample_timestamp),
"end_sample_timestamp": int(measurements[-1].end_sample_timestamp),
"raw_carrier_lock_pass_epochs": int(np.count_nonzero(raw_carrier)),
"raw_code_lock_pass_epochs": int(np.count_nonzero(raw_code)),
"raw_combined_lock_pass_epochs": int(np.count_nonzero(raw_combined)),
"raw_combined_lock_fail_epochs": int(np.count_nonzero(~raw_combined)),
"false_transition_count": int(false_transitions.size),
"legacy_code_lock_falling_edges": int(np.count_nonzero(raw_code[:-1] & ~raw_code[1:])),
"boc_aware_code_lock_falling_edges": int(new_code_falling.size),
"boc_aware_metric_valid_epochs": int(np.count_nonzero(metric_valid)),
"boc_aware_code_lock_pass_epochs": int(np.count_nonzero(new_code)),
"boc_aware_combined_lock_pass_epochs": int(np.count_nonzero(new_combined)),
"boc_aware_longest_code_lock_s": float(
new_locked_lengths.max(initial=0) * integration_ms * 1e-3
),
"boc_side_peak_suspected_epochs": int(sum(item.side_peak_suspected for item in measurements)),
"carrier_metric_caused_transitions": int(sum(not row["carrier_threshold_pass"] for row in rows)),
"code_metric_caused_transitions": int(sum(not row["code_threshold_pass"] for row in rows)),
"symbol_transition_coincident_false_transitions": int(sum(row["navigation_symbol_transition"] for row in rows)),
"cycle_slips": int(sum(item.cycle_slip for item in measurements)),
"sample_discontinuities": int(sum(item.sample_discontinuity for item in measurements)),
"cn0_unavailable_false_transitions": int(sum(row["cn0_db_hz"] is None for row in rows)),
"false_run_count": int(false_lengths.size),
"single_epoch_false_runs": int(np.count_nonzero(false_lengths == 1)),
"maximum_false_run_epochs": int(false_lengths.max(initial=0)),
"maximum_false_run_ms": float(false_lengths.max(initial=0) * integration_ms),
"maximum_continuous_raw_lock_epochs": int(locked_lengths.max(initial=0)),
"maximum_continuous_raw_lock_s": float(locked_lengths.max(initial=0) * integration_ms * 1e-3),
"carrier_metric_percentiles": {
str(q): float(np.percentile(carrier_metric, q)) for q in (1, 5, 50, 95, 99)
},
"code_metric_percentiles": {
str(q): float(np.percentile(code_metric, q)) for q in (1, 5, 50, 95, 99)
},
"boc_main_peak_fraction_percentiles": {
str(q): float(np.percentile(_array(measurements, "boc_main_peak_fraction")[metric_valid], q))
for q in (1, 5, 50, 95, 99)
},
"boc_side_peak_metric_percentiles": {
str(q): float(np.percentile(_array(measurements, "boc_side_peak_metric")[metric_valid], q))
for q in (1, 5, 50, 95, 99)
},
"boc_main_peak_coherence_percentiles": {
str(q): float(np.percentile(_array(measurements, "boc_main_peak_coherence")[metric_valid], q))
for q in (1, 5, 50, 95, 99)
},
"legacy_code_metric_failure_behavior": behavior(legacy_failure),
"legacy_code_metric_pass_behavior": behavior(legacy_pass),
"post_pull_in": {
"pll_error_rms_rad": float(np.sqrt(np.mean(pll[stable] ** 2))),
"pll_error_p99_abs_rad": float(np.percentile(np.abs(pll[stable]), 99)),
"dll_error_rms_chips": float(np.sqrt(np.mean(dll[stable] ** 2))),
"dll_error_p99_abs_chips": float(np.percentile(np.abs(dll[stable]), 99)),
"carrier_frequency_min_hz": float(np.min(carrier_frequency[stable])),
"carrier_frequency_max_hz": float(np.max(carrier_frequency[stable])),
"carrier_frequency_last_minus_first_hz": float(carrier_frequency[stable][-1] - carrier_frequency[stable][0]),
"code_frequency_min_hz": float(np.min(code_frequency[stable])),
"code_frequency_max_hz": float(np.max(code_frequency[stable])),
"code_frequency_last_minus_first_hz": float(code_frequency[stable][-1] - code_frequency[stable][0]),
"cn0_median_db_hz": float(np.nanmedian(cn0[stable])),
"cn0_min_db_hz": float(np.nanmin(cn0[stable])),
},
}
return summary, rows, nav_transitions
def write_transition_csv(path: str | Path, rows: Sequence[dict[str, Any]]) -> None:
destination = Path(path)
destination.parent.mkdir(parents=True, exist_ok=True)
if not rows:
destination.write_text("", encoding="utf-8")
return
with destination.open("w", newline="", encoding="utf-8") as stream:
writer = csv.DictWriter(stream, fieldnames=list(rows[0]))
writer.writeheader()
writer.writerows(rows)
def write_lock_report(path: str | Path, report: dict[str, Any]) -> None:
destination = Path(path)
destination.parent.mkdir(parents=True, exist_ok=True)
destination.write_text(json.dumps(report, indent=2) + "\n", encoding="utf-8")
def save_tracking_measurements(
path: str | Path,
measurements: Sequence[TrackingMeasurement],
) -> None:
"""Save the complete double-precision diagnostic stream for offline analysis."""
destination = Path(path)
destination.parent.mkdir(parents=True, exist_ok=True)
numeric_fields = (
"epoch", "time_s", "start_sample_timestamp", "end_sample_timestamp",
"prompt_i", "prompt_q", "early_magnitude", "late_magnitude",
"pll_error_rad", "fll_error_hz", "dll_error_chips", "carrier_frequency_hz",
"code_frequency_hz", "carrier_phase_rad", "code_phase_chips", "cn0_db_hz",
"carrier_lock_metric", "code_lock_metric",
"very_early_magnitude", "very_late_magnitude", "smoothed_code_lock_metric",
"boc_main_peak_fraction", "boc_side_peak_metric",
"boc_main_peak_coherence",
)
arrays: dict[str, np.ndarray] = {}
for field in numeric_fields:
if field in {"epoch", "start_sample_timestamp", "end_sample_timestamp"}:
arrays[field] = np.asarray([getattr(item, field) for item in measurements], dtype=np.int64)
elif field == "cn0_db_hz":
arrays[field] = np.asarray([
np.nan if item.cn0_db_hz is None else item.cn0_db_hz for item in measurements
], dtype=np.float64)
else:
arrays[field] = np.asarray([getattr(item, field) for item in measurements], dtype=np.float64)
for field in (
"carrier_lock", "code_lock", "cycle_slip", "sample_discontinuity",
"reacquisition_requested", "valid",
"lock_metric_valid", "signal_present", "side_peak_suspected",
):
arrays[field] = np.asarray([getattr(item, field) for item in measurements], dtype=np.bool_)
arrays["state"] = np.asarray([item.state.value for item in measurements], dtype="U24")
np.savez_compressed(destination, **arrays)
def plot_tracking_lock_diagnostics(
path: str | Path,
measurements: Sequence[TrackingMeasurement],
nav_transitions: np.ndarray,
*,
carrier_center_hz: float,
thresholds: LockThresholds = LockThresholds(),
) -> None:
import matplotlib.pyplot as plt
destination = Path(path)
destination.parent.mkdir(parents=True, exist_ok=True)
time_s = _array(measurements, "time_s")
carrier = _array(measurements, "carrier_lock_metric")
code = _array(measurements, "code_lock_metric")
combined = (carrier > thresholds.carrier_lock) & (code > thresholds.code_lock)
falling = np.flatnonzero(combined[:-1] & ~combined[1:]) + 1
new_code = np.asarray([item.code_lock for item in measurements], dtype=np.bool_)
prompt_i = _array(measurements, "prompt_i")
prompt_q = _array(measurements, "prompt_q")
cn0 = np.asarray([np.nan if item.cn0_db_hz is None else item.cn0_db_hz for item in measurements])
figure, axes = plt.subplots(6, 1, figsize=(14, 15), sharex=True)
axes[0].plot(time_s, carrier, linewidth=0.7, label="carrier metric")
axes[0].plot(time_s, code, linewidth=0.7, label="code metric")
axes[0].axhline(thresholds.carrier_lock, color="tab:blue", linestyle="--", label="carrier threshold")
axes[0].axhline(thresholds.code_lock, color="tab:orange", linestyle="--", label="code threshold")
axes[0].legend(ncol=4, fontsize=8)
axes[0].set_ylabel("lock metric")
axes[1].plot(time_s, _array(measurements, "boc_main_peak_fraction"), linewidth=0.7, label="BOC central-energy fraction")
axes[1].plot(time_s, _array(measurements, "boc_side_peak_metric"), linewidth=0.7, label="BOC outer/central metric")
axes[1].plot(time_s, _array(measurements, "boc_main_peak_coherence"), linewidth=0.7, label="BOC E/L-to-P coherence")
axes[1].step(time_s, new_code.astype(np.float64), where="post", linewidth=0.6, label="BOC-aware code lock")
axes[1].legend(fontsize=8)
axes[1].set_ylabel("BOC shape")
powers = {
"VE": _array(measurements, "very_early_magnitude") ** 2,
"E": _array(measurements, "early_magnitude") ** 2,
"P": prompt_i**2 + prompt_q**2,
"L": _array(measurements, "late_magnitude") ** 2,
"VL": _array(measurements, "very_late_magnitude") ** 2,
}
for label, power in powers.items():
axes[2].plot(time_s, power, linewidth=0.45, label=label)
axes[2].legend(fontsize=8)
axes[2].set_ylabel("tap power")
axes[3].plot(time_s, _array(measurements, "pll_error_rad"), linewidth=0.6, label="PLL rad")
axes[3].plot(time_s, _array(measurements, "dll_error_chips"), linewidth=0.6, label="DLL chips")
axes[3].legend(fontsize=8)
axes[3].set_ylabel("discriminator")
axes[4].plot(time_s, _array(measurements, "carrier_frequency_hz") - carrier_center_hz, linewidth=0.7, label="Doppler Hz")
axes[4].plot(time_s, _array(measurements, "code_frequency_hz") - 1.023e6, linewidth=0.7, label="code offset Hz")
axes[4].legend(fontsize=8)
axes[4].set_ylabel("NCO offset")
axes[5].plot(time_s, cn0, linewidth=0.7, label="C/N0 dB-Hz")
axes[5].step(time_s, combined.astype(float) * 5.0 + np.nanmin(cn0), where="post", linewidth=0.6, label="legacy raw lock (offset)")
for axis in axes:
ymin, ymax = axis.get_ylim()
axis.vlines(time_s[falling], ymin, ymax, color="tab:red", alpha=0.12, linewidth=0.6)
axis.grid(True, alpha=0.2)
nav_indices = np.flatnonzero(nav_transitions)
axes[5].scatter(
time_s[nav_indices], np.full(nav_indices.size, np.nanmin(cn0) + 2.5),
s=2, color="tab:green", alpha=0.25, label="derived nav transition",
)
axes[5].legend(fontsize=8)
axes[5].set_ylabel("C/N0")
axes[5].set_xlabel("tracking time (s)")
figure.tight_layout()
figure.savefig(destination, dpi=150)
plt.close(figure)
+96 -9
View File
@@ -2,7 +2,7 @@
from __future__ import annotations
from dataclasses import asdict
from dataclasses import asdict, replace
from hashlib import sha256
import json
import math
@@ -17,9 +17,19 @@ 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.diagnostics.lock_analysis import (
analyze_tracking_lock,
plot_tracking_lock_diagnostics,
save_tracking_measurements,
write_transition_csv,
)
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 galileo_rx.tracking.pilot_aided_e1 import (
E1CPilotAidedE1TrackingChannel,
synchronize_e1c_for_tracking,
)
from .decoder_diagnostics import save_prompt_epochs, save_symbols, write_json_lines
from .e1b_prompt_stream import E1BPromptStream
@@ -51,6 +61,7 @@ def collect_navigation(
*,
signalsim_path: str | Path | None = None,
selected_prns: list[int] | None = None,
tracking_mode: str | None = None,
) -> tuple[dict[str, Any], bool]:
"""Decode navigation using samples/prompts only; truth is not accepted here."""
config_file = Path(config_path).resolve()
@@ -76,6 +87,11 @@ def collect_navigation(
samples = SignalSimReader(samples_path, SignalSimSampleSpec(cfg["signalsim"]["sample_format"]), memory_map=True).read()
profile = galileo_e1_profile()
provider = SignalSimCodeProvider(source)
selected_tracking_mode = tracking_mode or cfg["tracking"].get(
"architecture", "e1c_pilot_aided_e1b"
)
if selected_tracking_mode not in {"e1b_only", "e1c_pilot_aided_e1b"}:
raise ValueError(f"unsupported E1 tracking architecture {selected_tracking_mode!r}")
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
@@ -85,14 +101,28 @@ def collect_navigation(
for prn in prns:
started = time.perf_counter()
acquisition_component = "E1B" if selected_tracking_mode == "e1b_only" else "E1C"
acquisition, _ = acquisition_manager.acquire_one(
samples[:acquisition_sample_count], "E1B", prn, if_hz
samples[:acquisition_sample_count], acquisition_component, 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
))
secondary_sync = None
if selected_tracking_mode == "e1c_pilot_aided_e1b":
secondary_sync = synchronize_e1c_for_tracking(
samples,
profile,
provider,
fs,
acquisition,
acquisition_sample_count,
)
acquisition = secondary_sync.acquisition
start_sample = secondary_sync.tracking_start_sample
else:
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"]),
@@ -104,8 +134,38 @@ def collect_navigation(
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:])
if selected_tracking_mode == "e1b_only":
channel = TrackingChannel(profile, provider, fs, tracking_config, acquisition, start_sample)
measurements = channel.process(samples[start_sample:])
tracking_diagnostics = measurements
else:
assert secondary_sync is not None
pilot_channel = E1CPilotAidedE1TrackingChannel(
profile,
provider,
fs,
replace(tracking_config, secondary_code_mode="wipeoff"),
acquisition,
start_sample,
secondary_sync.sync.phase,
)
pilot_epochs = pilot_channel.process_pilot_aided(samples[start_sample:])
channel = pilot_channel
tracking_diagnostics = [item.pilot for item in pilot_epochs]
# Navigation consumes only the separate E1B branch. Carrier/code
# states and every lock metric remain those of the E1C pilot.
measurements = [
replace(
item.pilot,
prompt_i=float(np.float64(item.e1b_correlators.prompt.real)),
prompt_q=float(np.float64(item.e1b_correlators.prompt.imag)),
early_magnitude=float(np.float64(abs(item.e1b_correlators.early))),
late_magnitude=float(np.float64(abs(item.e1b_correlators.late))),
very_early_magnitude=float(np.float64(abs(item.e1b_correlators.very_early))),
very_late_magnitude=float(np.float64(abs(item.e1b_correlators.very_late))),
)
for item in pilot_epochs
]
tracking_elapsed_s = time.perf_counter() - tracking_started
prompt_stream = E1BPromptStream(prn, fs)
prompts = prompt_stream.extend(measurements)
@@ -122,7 +182,24 @@ def collect_navigation(
decoded = pipeline.process(prompts)
decoding_elapsed_s = time.perf_counter() - decoding_started
artifact_dir = root / "verification" / "navigation" / "signalsim_navigation_multisat" / f"prn_{prn:02d}"
artifact_dir = (
root / "verification" / "navigation"
/ f"signalsim_navigation_multisat_{selected_tracking_mode}" / f"prn_{prn:02d}"
)
lock_summary, lock_rows, nav_transitions = analyze_tracking_lock(
prn,
tracking_diagnostics,
carrier_center_hz=channel.carrier_center_hz,
integration_ms=tracking_config.integration_ms,
)
save_tracking_measurements(artifact_dir / "tracking_measurements.npz", tracking_diagnostics)
write_transition_csv(artifact_dir / "legacy_lock_false_transitions.csv", lock_rows)
plot_tracking_lock_diagnostics(
artifact_dir / "tracking_lock_diagnostics.png",
tracking_diagnostics,
nav_transitions,
carrier_center_hz=channel.carrier_center_hz,
)
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)
@@ -141,6 +218,8 @@ def collect_navigation(
first_crc = next((page.receive_sample_timestamp for page in decoded.pages if page.crc_valid), None)
summary = {
"prn": prn,
"tracking_architecture": selected_tracking_mode,
"acquisition_component": acquisition_component,
"acquisition_detected": acquisition.detected,
"acquisition_time_s": acquired_s,
"raw_doppler_hz": acquisition.raw_doppler_hz,
@@ -152,6 +231,11 @@ def collect_navigation(
"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),
"valid_prompt_epoch_count": sum(item.valid for item in prompts),
"invalid_prompt_epoch_count": sum(not item.valid for item in prompts),
"cycle_slips": sum(item.cycle_slip for item in tracking_diagnostics),
"sample_discontinuities": sum(item.sample_discontinuity for item in tracking_diagnostics),
"raw_navigation_symbol_count": len(decoded.symbols),
"first_synchronized_symbol_timestamp": first_part,
"first_page_sync_timestamp": first_part,
"first_crc_valid_page_timestamp": first_crc,
@@ -169,6 +253,8 @@ def collect_navigation(
"health_valid": ephemeris.health_valid if ephemeris else False,
"data_valid": ephemeris.data_valid if ephemeris else False,
"decoding_time_s": decoding_elapsed_s,
"secondary_code_sync": asdict(secondary_sync.sync) if secondary_sync else None,
"lock_analysis": lock_summary,
}
(artifact_dir / "decoder_summary.json").write_text(
json.dumps(summary, indent=2, default=_json_default) + "\n", encoding="utf-8"
@@ -182,6 +268,7 @@ def collect_navigation(
)
report = {
"decoder_truth_inputs": [],
"tracking_architecture": selected_tracking_mode,
"icd": cfg["navigation"]["icd"],
"signalsim_commit": subprocess.check_output(["git", "-C", str(source), "rev-parse", "HEAD"], text=True).strip(),
"sample_file": str(samples_path),
+20
View File
@@ -38,6 +38,26 @@ class CorrelatorBank:
array = np.asarray(samples, dtype=np.complex128)
carrier_phase = self.carrier_nco.phases(array.size)
code_phase = self.code_nco.phases(array.size)
return self.correlate_with_phases(array, carrier_phase, code_phase, secondary_sign)
def correlate_with_phases(
self,
samples: npt.NDArray[np.generic],
carrier_phase_rad: npt.NDArray[np.float64],
code_phase_chips: npt.NDArray[np.float64],
secondary_sign: int = 1,
) -> CorrelatorOutputs:
"""Correlate using shared phases without advancing either NCO.
This is the pilot/data branch boundary: E1C and E1B consume exactly the
same carrier and code phase vectors while retaining independent codes
and correlator outputs.
"""
array = np.asarray(samples, dtype=np.complex128)
carrier_phase = np.asarray(carrier_phase_rad, dtype=np.float64)
code_phase = np.asarray(code_phase_chips, dtype=np.float64)
if carrier_phase.shape != array.shape or code_phase.shape != array.shape:
raise ValueError("sample, carrier-phase, and code-phase vectors must have equal shapes")
wiped = array * np.exp(-1j * carrier_phase) * secondary_sign
taps = {
"very_early": -self.very_early_late_spacing_chips,
+257 -16
View File
@@ -1,7 +1,18 @@
"""Lock metrics and hysteretic failure counting."""
"""BOC-aware tracking lock detection.
The legacy detector used ``|P|^2 / mean(|E|^2, |L|^2)`` as an instantaneous
code-lock decision. That metric is appropriate for a single-peaked BPSK
correlation function, but it is not a valid lock predicate for BOC(1,1): at a
quarter-chip main-peak shoulder either E or L is expected to exceed P.
This detector therefore smooths *powers* (not ratios), distinguishes numerical
metric validity from lock state, and classifies the five-tap correlation shape.
No discriminator or NCO state is changed here.
"""
from __future__ import annotations
from collections import deque
from dataclasses import dataclass
import numpy as np
@@ -9,39 +20,269 @@ import numpy as np
from galileo_rx.types import CorrelatorOutputs
@dataclass(frozen=True, slots=True)
class BocLockDetectorConfig:
smoothing_epochs: int = 25
confirmation_epochs: int = 3
failure_epochs: int = 40
carrier_enter_threshold: float = 0.55
carrier_exit_threshold: float = 0.45
main_peak_enter_fraction: float = 0.65
main_peak_exit_fraction: float = 0.50
side_peak_enter_ratio: float = 0.80
side_peak_exit_ratio: float = 0.55
side_peak_coherence_enter: float = 0.15
side_peak_coherence_exit: float = 0.25
maximum_el_imbalance: float = 0.90
signal_loss_power_ratio: float = 0.02
def validate(self) -> None:
if min(self.smoothing_epochs, self.confirmation_epochs, self.failure_epochs) < 1:
raise ValueError("lock-detector epoch counts must be positive")
if not 0.0 <= self.carrier_exit_threshold < self.carrier_enter_threshold <= 1.0:
raise ValueError("carrier lock hysteresis thresholds are invalid")
if not 0.0 < self.main_peak_exit_fraction < self.main_peak_enter_fraction < 1.0:
raise ValueError("BOC main-peak hysteresis thresholds are invalid")
if not 0.0 < self.side_peak_exit_ratio < self.side_peak_enter_ratio:
raise ValueError("BOC side-peak hysteresis thresholds are invalid")
if not -1.0 <= self.side_peak_coherence_enter < self.side_peak_coherence_exit <= 1.0:
raise ValueError("BOC side-peak coherence hysteresis thresholds are invalid")
if not 0.0 < self.maximum_el_imbalance <= 1.0:
raise ValueError("maximum_el_imbalance must be in (0, 1]")
if not 0.0 < self.signal_loss_power_ratio < 1.0:
raise ValueError("signal_loss_power_ratio must be in (0, 1)")
@dataclass(slots=True)
class LockStatus:
carrier_metric: float
code_metric: float
smoothed_code_metric: float
boc_main_peak_fraction: float
boc_side_peak_ratio: float
boc_main_peak_coherence: float
metric_valid: bool
carrier_locked: bool
code_locked: bool
locked: bool
cycle_slip: bool
side_peak_suspected: bool
signal_present: bool
class LockDetector:
def __init__(self, failure_limit: int = 10, *, data_sign_insensitive: bool = False) -> None:
self.failure_limit = failure_limit
"""Five-tap BOC lock detector with power smoothing and debounce."""
def __init__(
self,
failure_limit: int = 40,
*,
data_sign_insensitive: bool = False,
smoothing_epochs: int = 25,
confirmation_epochs: int = 3,
config: BocLockDetectorConfig | None = None,
) -> None:
self.config = config or BocLockDetectorConfig(
smoothing_epochs=smoothing_epochs,
confirmation_epochs=confirmation_epochs,
failure_epochs=failure_limit,
)
self.config.validate()
self.data_sign_insensitive = data_sign_insensitive
self.failures = 0
self.previous_phase: float | None = None
self._powers: deque[np.ndarray] = deque(maxlen=self.config.smoothing_epochs)
self._power_sum = np.zeros(5, dtype=np.float64)
self._coherence_terms: deque[np.ndarray] = deque(maxlen=self.config.smoothing_epochs)
self._coherence_sum = np.zeros(2, dtype=np.float64)
self._power_reference = np.float64(0.0)
self._carrier_locked = False
self._code_locked = False
self._side_peak = False
self._has_locked = False
self._carrier_passes = 0
self._carrier_failures = 0
self._code_passes = 0
self._code_failures = 0
@staticmethod
def _tap_powers(correlators: CorrelatorOutputs) -> np.ndarray:
values = np.asarray([
correlators.very_early,
correlators.early,
correlators.prompt,
correlators.late,
correlators.very_late,
], dtype=np.complex128)
return np.square(np.abs(values), dtype=np.float64)
def _append_powers(self, powers: np.ndarray, correlators: CorrelatorOutputs) -> None:
if len(self._powers) == self._powers.maxlen:
self._power_sum -= self._powers[0]
self._coherence_sum -= self._coherence_terms[0]
prompt = correlators.prompt
early_late_sum = correlators.early + correlators.late
coherence_terms = np.asarray([
np.real(early_late_sum * np.conj(prompt)),
abs(prompt) * (abs(correlators.early) + abs(correlators.late)),
], dtype=np.float64)
self._powers.append(powers)
self._power_sum += powers
self._coherence_terms.append(coherence_terms)
self._coherence_sum += coherence_terms
@staticmethod
def _debounce(
state: bool,
passing: bool,
passes: int,
failures: int,
confirmation_epochs: int,
failure_epochs: int,
) -> tuple[bool, int, int]:
if passing:
passes += 1
failures = 0
if not state and passes >= confirmation_epochs:
state = True
else:
failures += 1
passes = 0
if state and failures >= failure_epochs:
state = False
return state, passes, failures
def update(
self,
correlators: CorrelatorOutputs,
*,
metric_input_valid: bool = True,
) -> LockStatus:
powers = self._tap_powers(correlators)
finite = bool(np.all(np.isfinite(powers)))
if metric_input_valid and finite:
self._append_powers(powers, correlators)
tiny = np.finfo(np.float64).tiny
prompt_amplitude = abs(correlators.prompt)
carrier_metric = float(abs(correlators.prompt.real) / max(prompt_amplitude, tiny))
code_metric = float(powers[2] / max(0.5 * (powers[1] + powers[3]), tiny))
metric_valid = bool(
metric_input_valid
and finite
and len(self._powers) == self.config.smoothing_epochs
and np.sum(self._power_sum) > tiny
)
if self._powers:
smoothed = self._power_sum / np.float64(len(self._powers))
else:
smoothed = np.zeros(5, dtype=np.float64)
central_power = float(smoothed[1] + smoothed[2] + smoothed[3])
outer_power = float(smoothed[0] + smoothed[4])
total_power = central_power + outer_power
smoothed_code_metric = float(smoothed[2] / max(0.5 * (smoothed[1] + smoothed[3]), tiny))
main_peak_fraction = float(central_power / max(total_power, tiny))
side_peak_ratio = float(max(smoothed[0], smoothed[4]) / max(central_power, tiny))
main_peak_coherence = float(self._coherence_sum[0] / max(self._coherence_sum[1], tiny))
el_imbalance = float(abs(smoothed[1] - smoothed[3]) / max(smoothed[1] + smoothed[3], tiny))
# The reference has a very slow peak hold. It supplies an independent
# signal-loss test while remaining insensitive to normal BOC power
# redistribution among P/E/L/VE/VL.
if metric_valid:
self._power_reference = max(
np.float64(total_power), self._power_reference * np.float64(0.9995)
)
signal_present = bool(
metric_valid
and self._power_reference > tiny
and total_power >= self.config.signal_loss_power_ratio * self._power_reference
)
if self._side_peak:
self._side_peak = metric_valid and (
side_peak_ratio > self.config.side_peak_exit_ratio
or main_peak_coherence < self.config.side_peak_coherence_exit
)
else:
self._side_peak = metric_valid and (
side_peak_ratio >= self.config.side_peak_enter_ratio
or main_peak_coherence <= self.config.side_peak_coherence_enter
)
carrier_threshold = (
self.config.carrier_exit_threshold if self._carrier_locked
else self.config.carrier_enter_threshold
)
carrier_pass = metric_valid and signal_present and carrier_metric >= carrier_threshold
self._carrier_locked, self._carrier_passes, self._carrier_failures = self._debounce(
self._carrier_locked,
carrier_pass,
self._carrier_passes,
self._carrier_failures,
self.config.confirmation_epochs,
self.config.failure_epochs,
)
main_threshold = (
self.config.main_peak_exit_fraction if self._code_locked
else self.config.main_peak_enter_fraction
)
# A quarter-chip BOC shoulder has one dominant E/L tap and remains in
# the central basin. The generous imbalance bound permits that shape;
# outer-tap dominance and sustained absence of correlation do not.
code_pass = bool(
metric_valid
and signal_present
and main_peak_fraction >= main_threshold
and el_imbalance <= self.config.maximum_el_imbalance
and not self._side_peak
)
self._code_locked, self._code_passes, self._code_failures = self._debounce(
self._code_locked,
code_pass,
self._code_passes,
self._code_failures,
self.config.confirmation_epochs,
self.config.failure_epochs,
)
def update(self, correlators: CorrelatorOutputs) -> LockStatus:
prompt_power = abs(correlators.prompt) ** 2
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))
phase_delta = float(np.angle(np.exp(1j * (phase - self.previous_phase)))) if self.previous_phase is not None else 0.0
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)
locked = self._carrier_locked and self._code_locked
if locked:
self._has_locked = True
self.failures = 0
elif self._has_locked or (
metric_input_valid and finite and float(np.sum(powers, dtype=np.float64)) <= tiny
):
self.failures += 1
else:
# Metric warm-up is not a loss of a lock that never existed.
self.failures = 0
return LockStatus(
carrier_metric=carrier_metric,
code_metric=code_metric,
smoothed_code_metric=smoothed_code_metric,
boc_main_peak_fraction=main_peak_fraction,
boc_side_peak_ratio=side_peak_ratio,
boc_main_peak_coherence=main_peak_coherence,
metric_valid=metric_valid,
carrier_locked=self._carrier_locked,
code_locked=self._code_locked,
locked=locked,
cycle_slip=cycle_slip,
side_peak_suspected=self._side_peak,
signal_present=signal_present,
)
+170
View File
@@ -0,0 +1,170 @@
"""E1C-pilot master tracking with a phase-coherent E1B data branch."""
from __future__ import annotations
from dataclasses import dataclass, replace
import math
import numpy as np
import numpy.typing as npt
from galileo_rx.config import TrackingConfig
from galileo_rx.signal_profiles import SignalProfile
from galileo_rx.signals.code_provider import CodeProvider
from galileo_rx.types import AcquisitionResult, CorrelatorOutputs, TrackingMeasurement
from .correlator import CorrelatorBank
from .nco import CarrierNco, CodeNco
from .symbol_sync import SecondaryCodeSyncResult, synchronize_secondary_code
from .tracking_channel import TrackingChannel
@dataclass(frozen=True, slots=True)
class PilotAidedE1Epoch:
pilot: TrackingMeasurement
e1b_correlators: CorrelatorOutputs
@dataclass(frozen=True, slots=True)
class E1CSecondarySynchronization:
acquisition: AcquisitionResult
tracking_start_sample: int
sync: SecondaryCodeSyncResult
def synchronize_e1c_for_tracking(
samples: npt.NDArray[np.generic],
profile: SignalProfile,
provider: CodeProvider,
sampling_frequency_hz: float,
acquisition: AcquisitionResult,
acquisition_observation_samples: int,
*,
search_primary_epochs: int = 100,
residual_frequency_step_hz: float = 0.5,
) -> E1CSecondarySynchronization:
"""Synchronize E1C secondary phase before closing the pilot loops."""
if acquisition.component != "E1C":
raise ValueError("E1C secondary synchronization requires an E1C acquisition")
component = profile.component("E1C")
primary_samples = int(round(sampling_frequency_hz * component.primary_code_period_s))
start = int(round(
acquisition.code_phase_samples
+ math.ceil(
(acquisition_observation_samples - acquisition.code_phase_samples) / primary_samples
) * primary_samples
))
available = max(0, (np.asarray(samples).size - start) // primary_samples)
epoch_count = min(int(search_primary_epochs), available)
if epoch_count < component.secondary_code_length:
raise ValueError("insufficient E1C primary epochs for secondary-code synchronization")
carrier = CarrierNco(
sampling_frequency_hz,
acquisition.carrier_frequency_hz,
2.0 * np.pi * acquisition.carrier_frequency_hz * start / sampling_frequency_hz % (2.0 * np.pi),
)
code = CodeNco(
sampling_frequency_hz,
component.primary_code_length_chips,
profile.code_rate_hz * (1.0 + acquisition.doppler_hz / profile.carrier_frequency_hz),
(-acquisition.code_phase_chips + start * profile.code_rate_hz / sampling_frequency_hz)
% component.primary_code_length_chips,
)
bank = CorrelatorBank(profile, provider, "E1C", acquisition.prn, carrier, code, 0.25, 0.75)
prompts = np.asarray([
bank.correlate(
np.asarray(samples)[start + index * primary_samples : start + (index + 1) * primary_samples]
).prompt
for index in range(epoch_count)
], dtype=np.complex128)
secondary = provider.secondary_code(profile, "E1C", acquisition.prn)
if secondary is None:
raise ValueError("E1C code provider has no secondary code")
sync = synchronize_secondary_code(
prompts,
secondary,
component.primary_code_period_s,
residual_frequency_step_hz=residual_frequency_step_hz,
)
adjusted = replace(
acquisition,
doppler_hz=acquisition.doppler_hz + sync.residual_frequency_hz,
carrier_frequency_hz=acquisition.carrier_frequency_hz + sync.residual_frequency_hz,
)
return E1CSecondarySynchronization(adjusted, start, sync)
class E1CPilotAidedE1TrackingChannel(TrackingChannel):
"""Drive all loop and lock decisions from E1C; expose E1B Prompt separately."""
def __init__(
self,
profile: SignalProfile,
provider: CodeProvider,
sampling_frequency_hz: float,
config: TrackingConfig,
e1c_acquisition: AcquisitionResult,
start_sample_index: int,
secondary_code_phase_at_start: int,
) -> None:
if e1c_acquisition.component != "E1C":
raise ValueError("pilot-aided E1 tracking requires an E1C acquisition")
primary_ms = profile.component("E1C").primary_code_period_s * 1e3
integrations_per_primary = primary_ms / config.integration_ms
if not np.isclose(integrations_per_primary, round(integrations_per_primary), atol=1e-12):
raise ValueError("pilot-aided integration must exactly divide the 4 ms E1 primary period")
super().__init__(
profile,
provider,
sampling_frequency_hz,
config,
e1c_acquisition,
start_sample_index,
secondary_code_phase_at_start,
)
self.e1b_correlator = CorrelatorBank(
profile,
provider,
"E1B",
e1c_acquisition.prn,
self.carrier_nco,
self.code_nco,
config.early_late_spacing_chips,
config.very_early_late_spacing_chips,
)
self.last_e1b_correlators = CorrelatorOutputs()
def _correlate_epoch(
self,
samples: npt.NDArray[np.generic],
secondary_sign: int,
) -> CorrelatorOutputs:
array = np.asarray(samples, dtype=np.complex128)
carrier_phase = self.carrier_nco.phases(array.size)
code_phase = self.code_nco.phases(array.size)
pilot = self.correlator.correlate_with_phases(
array, carrier_phase, code_phase, secondary_sign
)
self.last_e1b_correlators = self.e1b_correlator.correlate_with_phases(
array, carrier_phase, code_phase, 1
)
return pilot
def process_pilot_aided_epoch(
self,
samples: npt.NDArray[np.generic],
) -> PilotAidedE1Epoch:
pilot = super().process_epoch(samples)
return PilotAidedE1Epoch(pilot, self.last_e1b_correlators)
def process_pilot_aided(
self,
samples: npt.NDArray[np.generic],
) -> list[PilotAidedE1Epoch]:
array = np.asarray(samples)
epochs = array.size // self.integration_samples
return [
self.process_pilot_aided_epoch(
array[index * self.integration_samples : (index + 1) * self.integration_samples]
)
for index in range(epochs)
]
+36 -6
View File
@@ -18,7 +18,7 @@ from .discriminators import (
pll_four_quadrant_rad,
pll_two_quadrant_rad,
)
from .lock_detector import LockDetector
from .lock_detector import BocLockDetectorConfig, LockDetector
from .loop_filters import FirstOrderFllFilter, SecondOrderLoopFilter, ThirdOrderLoopFilter
from .nco import CarrierNco, CodeNco
@@ -66,8 +66,22 @@ class TrackingChannel:
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,
data_sign_insensitive=self.component_spec.channel_type == "data",
config=BocLockDetectorConfig(
smoothing_epochs=config.lock_smoothing_epochs,
confirmation_epochs=config.lock_confirmation_epochs,
failure_epochs=config.loss_of_lock_epochs,
carrier_enter_threshold=config.carrier_lock_enter_threshold,
carrier_exit_threshold=config.carrier_lock_exit_threshold,
main_peak_enter_fraction=config.boc_main_peak_enter_fraction,
main_peak_exit_fraction=config.boc_main_peak_exit_fraction,
side_peak_enter_ratio=config.boc_side_peak_enter_ratio,
side_peak_exit_ratio=config.boc_side_peak_exit_ratio,
side_peak_coherence_enter=config.boc_side_peak_coherence_enter,
side_peak_coherence_exit=config.boc_side_peak_coherence_exit,
maximum_el_imbalance=config.boc_maximum_el_imbalance,
signal_loss_power_ratio=config.lock_signal_loss_power_ratio,
),
)
self.cn0_estimator = Cn0Estimator(
config.integration_ms * 1e-3,
@@ -98,13 +112,21 @@ class TrackingChannel:
secondary = self.provider.secondary_code(self.profile, self.acquisition.component, self.acquisition.prn)
if secondary is None:
return 1
return int(secondary[(self.secondary_epoch_offset + self.epoch) % secondary.size])
primary_epoch = int(np.floor(
self.epoch * self.config.integration_ms
/ (self.component_spec.primary_code_period_s * 1e3)
))
return int(secondary[(self.secondary_epoch_offset + primary_epoch) % secondary.size])
def _correlate_epoch(self, samples: npt.NDArray[np.generic], secondary_sign: int) -> CorrelatorOutputs:
"""Extension point for phase-coherent pilot/data correlator branches."""
return self.correlator.correlate(samples, secondary_sign)
def process_epoch(self, samples: npt.NDArray[np.generic]) -> TrackingMeasurement:
if len(samples) != self.integration_samples:
raise ValueError(f"tracking epoch requires {self.integration_samples} samples")
dt_s = self.config.integration_ms * 1e-3
correlators = self.correlator.correlate(samples, self._secondary_sign())
correlators = self._correlate_epoch(samples, self._secondary_sign())
self.last_correlators = correlators
pll_error = pll_two_quadrant_rad(correlators.prompt) if self.component_spec.channel_type == "data" else pll_four_quadrant_rad(correlators.prompt)
fll_error = (
@@ -171,10 +193,18 @@ class TrackingChannel:
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,
carrier_lock=lock.carrier_locked,
code_lock=lock.code_locked,
sample_discontinuity=False,
valid=not reacquire,
very_early_magnitude=float(abs(correlators.very_early)),
very_late_magnitude=float(abs(correlators.very_late)),
lock_metric_valid=lock.metric_valid,
smoothed_code_lock_metric=lock.smoothed_code_metric,
boc_main_peak_fraction=lock.boc_main_peak_fraction,
boc_side_peak_metric=lock.boc_side_peak_ratio,
signal_present=lock.signal_present,
boc_main_peak_coherence=lock.boc_main_peak_coherence,
)
self.previous_prompt = correlators.prompt
self.measurements.append(measurement)
+8
View File
@@ -83,6 +83,14 @@ class TrackingMeasurement:
code_lock: bool = False
sample_discontinuity: bool = False
valid: bool = True
very_early_magnitude: float = 0.0
very_late_magnitude: float = 0.0
lock_metric_valid: bool = False
smoothed_code_lock_metric: float = 0.0
boc_main_peak_fraction: float = 0.0
boc_side_peak_metric: float = 0.0
signal_present: bool = False
boc_main_peak_coherence: float = 0.0
@dataclass(slots=True)
@@ -0,0 +1,78 @@
from __future__ import annotations
from pathlib import Path
import numpy as np
import pytest
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.pilot_aided_e1 import (
E1CPilotAidedE1TrackingChannel,
synchronize_e1c_for_tracking,
)
@pytest.mark.signalsim
def test_e1c_secondary_sync_and_pilot_aided_e1b_branch() -> None:
cfg = yaml.safe_load(Path("configs/navigation_collection.yaml").read_text(encoding="utf-8"))
source = Path(cfg["signalsim"]["path"])
vector = Path(cfg["signalsim"]["samples"])
if not source.is_dir() or not vector.is_file():
pytest.skip("SignalSim checkout or 32.2-second navigation IQ8 vector is unavailable")
fs = float(cfg["rf"]["sampling_frequency_hz"])
samples = SignalSimReader(
vector, SignalSimSampleSpec(cfg["signalsim"]["sample_format"]), memory_map=True
).read()
profile = galileo_e1_profile()
provider = SignalSimCodeProvider(source)
acquisition_config = AcquisitionConfig(
**cfg["acquisition"], parallelism="doppler_vectorized"
)
manager = AcquisitionManager(profile, provider, fs, acquisition_config)
observation_samples = (
manager.engine.coherent_samples * acquisition_config.noncoherent_accumulations
)
acquisition, _ = manager.acquire_one(
samples[:observation_samples], "E1C", 1, float(cfg["rf"]["intermediate_frequency_hz"])
)
assert acquisition.detected
synchronized = synchronize_e1c_for_tracking(
samples, profile, provider, fs, acquisition, observation_samples
)
assert synchronized.sync.normalized_correlation > 0.98
assert synchronized.sync.sign_errors == 0
channel = E1CPilotAidedE1TrackingChannel(
profile,
provider,
fs,
TrackingConfig(
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,
secondary_code_mode="wipeoff",
loss_of_lock_epochs=40,
),
synchronized.acquisition,
synchronized.tracking_start_sample,
synchronized.sync.phase,
)
count = int(round(fs * 1.0))
epochs = channel.process_pilot_aided(
samples[synchronized.tracking_start_sample : synchronized.tracking_start_sample + count]
)
pilot = [item.pilot for item in epochs]
assert len(pilot) == 500
assert sum(item.code_lock and item.carrier_lock for item in pilot[30:]) > 460
assert not any(item.cycle_slip or item.sample_discontinuity for item in pilot)
assert sum(pilot[index - 1].code_lock and not pilot[index].code_lock for index in range(1, len(pilot))) == 0
assert np.median(
np.asarray([abs(item.e1b_correlators.prompt) for item in epochs[150:]], dtype=np.float64)
) > 1.0e4
+24
View File
@@ -0,0 +1,24 @@
from __future__ import annotations
import numpy as np
from galileo_rx.diagnostics.boc_lock_validation import (
boc11_autocorrelation,
boc11_five_tap_shape,
)
from galileo_rx.signal_profiles import galileo_e1_profile
from galileo_rx.signals.code_provider import SyntheticCodeProvider
def test_ideal_boc11_shoulder_and_negative_sidelobe_metrics() -> None:
profile = galileo_e1_profile()
code = SyntheticCodeProvider().primary_code(profile, "E1B", 1)
shape = boc11_autocorrelation(code, samples_per_chip=32)
taps = boc11_five_tap_shape(shape, np.asarray([0.0, 0.25, 0.5], dtype=np.float64))
# Finite-code adjacent-chip cross terms perturb the ideal 0.1/0.84/1/3
# values slightly; the classification must remain unchanged.
assert 0.08 < taps["legacy_prompt_el_ratio"][1] < 0.12
assert 0.80 < taps["main_peak_fraction"][1] < 0.88
assert 0.28 < taps["main_peak_coherence"][1] < 0.38
assert -0.55 < taps["prompt_amplitude"][2] < -0.45
assert abs(taps["main_peak_coherence"][2]) < 1e-12
+87 -1
View File
@@ -2,7 +2,7 @@ from __future__ import annotations
import numpy as np
from galileo_rx.tracking.lock_detector import LockDetector
from galileo_rx.tracking.lock_detector import BocLockDetectorConfig, LockDetector
from galileo_rx.types import CorrelatorOutputs
@@ -16,3 +16,89 @@ def test_data_lock_detector_ignores_bpsk_transition_but_detects_quadrature_jump(
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
def _detector() -> LockDetector:
return LockDetector(
data_sign_insensitive=True,
config=BocLockDetectorConfig(
smoothing_epochs=4,
confirmation_epochs=2,
failure_epochs=3,
),
)
def _repeat(detector: LockDetector, values: CorrelatorOutputs, count: int):
return [detector.update(values) for _ in range(count)]
def test_boc_lock_metric_validity_is_separate_from_lock_state() -> None:
detector = _detector()
statuses = _repeat(detector, _correlators(0.0), 5)
assert [status.metric_valid for status in statuses] == [False, False, False, True, True]
assert statuses[3].code_locked is False
assert statuses[4].code_locked is True
def test_boc_quarter_chip_shoulder_does_not_cause_false_unlock() -> None:
detector = _detector()
centered = CorrelatorOutputs(0.25 + 0j, 0.25 + 0j, 1.0 + 0j, 0.25 + 0j, 0.25 + 0j)
_repeat(detector, centered, 8)
# Ideal BOC(1,1) at +0.25 chip: one E/L tap is at the main peak,
# while P is only 0.25 in amplitude. The legacy P/E/L ratio is 0.1.
shoulder = CorrelatorOutputs(-0.5 + 0j, 1.0 + 0j, 0.25 + 0j, -0.5 + 0j, 0j)
statuses = _repeat(detector, shoulder, 12)
assert min(status.code_metric for status in statuses) < 0.11
assert all(status.code_locked for status in statuses)
assert not any(status.side_peak_suspected for status in statuses)
def test_boc_outer_tap_side_peak_and_signal_loss_are_detected_after_debounce() -> None:
detector = _detector()
centered = CorrelatorOutputs(0.25 + 0j, 0.25 + 0j, 1.0 + 0j, 0.25 + 0j, 0.25 + 0j)
_repeat(detector, centered, 8)
side_peak = CorrelatorOutputs(1.0 + 0j, 0.5 + 0j, 0.25 + 0j, 0j, 0j)
side_status = _repeat(detector, side_peak, 8)
assert any(status.side_peak_suspected for status in side_status)
assert side_status[-1].code_locked is False
detector = _detector()
_repeat(detector, centered, 8)
lost = _repeat(detector, CorrelatorOutputs(), 8)
assert lost[-1].signal_present is False
assert lost[-1].code_locked is False
def test_boc_negative_half_chip_prompt_side_peak_is_detected_by_tap_coherence() -> None:
detector = _detector()
centered = CorrelatorOutputs(-0.25 + 0j, 0.25 + 0j, 1.0 + 0j, 0.25 + 0j, -0.25 + 0j)
_repeat(detector, centered, 8)
# At +0.5 chip the Prompt is the negative BOC sidelobe. E and L have
# opposing signs, so powers alone are ambiguous but Re{(E+L)P*} is zero.
half_chip_side = CorrelatorOutputs(0.25 + 0j, 0.25 + 0j, -0.5 + 0j, -0.25 + 0j, 0j)
statuses = _repeat(detector, half_chip_side, 8)
assert statuses[-1].boc_main_peak_coherence <= 0.15
assert statuses[-1].side_peak_suspected is True
assert statuses[-1].code_locked is False
def test_single_bad_boc_epoch_is_debounced() -> None:
detector = _detector()
centered = CorrelatorOutputs(0.25 + 0j, 0.25 + 0j, 1.0 + 0j, 0.25 + 0j, 0.25 + 0j)
_repeat(detector, centered, 8)
side_peak = CorrelatorOutputs(1.0 + 0j, 0.5 + 0j, 0.25 + 0j, 0j, 0j)
assert detector.update(side_peak).code_locked is True
assert detector.update(centered).code_locked is True
def test_invalid_integration_does_not_enter_power_smoother() -> None:
detector = _detector()
centered = CorrelatorOutputs(0.25 + 0j, 0.25 + 0j, 1.0 + 0j, 0.25 + 0j, 0.25 + 0j)
for _ in range(10):
status = detector.update(centered, metric_input_valid=False)
assert status.metric_valid is False
assert status.code_locked is False
statuses = _repeat(detector, centered, 5)
assert statuses[-1].metric_valid is True
assert statuses[-1].code_locked is True
+120
View File
@@ -0,0 +1,120 @@
#!/usr/bin/env python3
"""Re-run SignalSim E1B acquisition/tracking and diagnose lock transitions."""
from __future__ import annotations
import argparse
from dataclasses import asdict
import json
import math
from pathlib import Path
import sys
from typing import Any
import numpy as np
import yaml
PROJECT_ROOT = Path(__file__).resolve().parents[1]
sys.path.insert(0, str(PROJECT_ROOT / "src"))
from galileo_rx.acquisition.acquisition_manager import AcquisitionManager
from galileo_rx.config import AcquisitionConfig, TrackingConfig
from galileo_rx.diagnostics.lock_analysis import (
LockThresholds,
analyze_tracking_lock,
plot_tracking_lock_diagnostics,
save_tracking_measurements,
write_lock_report,
write_transition_csv,
)
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
def main() -> int:
parser = argparse.ArgumentParser()
parser.add_argument("--config", default="configs/navigation_collection.yaml")
parser.add_argument("--output-dir", default="reports/tracking_lock_baseline")
parser.add_argument("--prn", type=int, action="append")
args = parser.parse_args()
config_path = Path(args.config).resolve()
root = config_path.parent.parent
cfg = yaml.safe_load(config_path.read_text(encoding="utf-8"))
fs = float(cfg["rf"]["sampling_frequency_hz"])
if_hz = float(cfg["rf"]["intermediate_frequency_hz"])
source = (root / cfg["signalsim"]["path"]).resolve()
samples_path = (root / cfg["signalsim"]["samples"]).resolve()
samples = SignalSimReader(
samples_path, SignalSimSampleSpec(cfg["signalsim"]["sample_format"]), memory_map=True
).read()
profile = galileo_e1_profile()
acquisition_cfg = AcquisitionConfig(**cfg["acquisition"], parallelism="doppler_vectorized")
provider = SignalSimCodeProvider(source)
manager = AcquisitionManager(profile, provider, fs, acquisition_cfg)
acquisition_count = manager.engine.coherent_samples * acquisition_cfg.noncoherent_accumulations
primary_samples = int(round(fs * profile.component("E1B").primary_code_period_s))
output = Path(args.output_dir).resolve()
output.mkdir(parents=True, exist_ok=True)
report: dict[str, Any] = {
"analysis": "unmodified raw lock detector baseline",
"sample_file": str(samples_path),
"sample_count": int(samples.size),
"thresholds": asdict(LockThresholds()),
"satellites": {},
}
all_rows: list[dict[str, Any]] = []
for prn in (args.prn or [int(value) for value in cfg["satellites"]["prns"]]):
acquisition, _ = manager.acquire_one(samples[:acquisition_count], "E1B", prn, if_hz)
start_sample = int(round(
acquisition.code_phase_samples
+ math.ceil((acquisition_count - acquisition.code_phase_samples) / primary_samples) * primary_samples
))
tracking_values = cfg["tracking"]
tracking_cfg = 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,
)
channel = TrackingChannel(profile, provider, fs, tracking_cfg, acquisition, start_sample)
measurements = channel.process(samples[start_sample:])
summary, rows, nav_transitions = analyze_tracking_lock(
prn,
measurements,
carrier_center_hz=channel.carrier_center_hz,
integration_ms=tracking_cfg.integration_ms,
)
summary["acquisition"] = asdict(acquisition)
report["satellites"][prn] = summary
all_rows.extend(rows)
plot_tracking_lock_diagnostics(
output / f"prn_{prn:02d}_lock_diagnostics.png",
measurements,
nav_transitions,
carrier_center_hz=channel.carrier_center_hz,
)
save_tracking_measurements(output / f"prn_{prn:02d}_measurements.npz", measurements)
print(json.dumps({"prn": prn, "false_transitions": len(rows), "post_pull_in": summary["post_pull_in"]}))
collection_path = root / "reports" / "inav_collection_report.json"
if collection_path.is_file():
collection = json.loads(collection_path.read_text(encoding="utf-8"))
report["navigation_result"] = {
"pages": sum(item["pages"] for item in collection["satellites"].values()),
"crc_passes": sum(item["crc_passes"] for item in collection["satellites"].values()),
"crc_failures": sum(item["crc_failures"] for item in collection["satellites"].values()),
"complete_ephemeris_prns": [
int(prn) for prn, item in collection["satellites"].items() if item["complete_ephemeris"]
],
}
write_transition_csv(output / "lock_false_transitions.csv", all_rows)
write_lock_report(output / "tracking_lock_baseline.json", report)
return 0
if __name__ == "__main__":
raise SystemExit(main())
+173
View File
@@ -0,0 +1,173 @@
#!/usr/bin/env python3
"""Replay SignalSim IQ through E1B-only and E1C-aided receiver modes."""
from __future__ import annotations
import argparse
from dataclasses import asdict
import json
from pathlib import Path
import sys
import numpy as np
PROJECT_ROOT = Path(__file__).resolve().parents[1]
sys.path.insert(0, str(PROJECT_ROOT / "src"))
from galileo_rx.diagnostics.boc_lock_validation import (
boc11_autocorrelation,
boc11_five_tap_shape,
calibration_points,
plot_boc11_lock_calibration,
)
from galileo_rx.navigation.collection import collect_navigation
from galileo_rx.signal_profiles import galileo_e1_profile
from galileo_rx.signals.signalsim_codes import SignalSimCodeProvider
def _satellite_row(item: dict) -> dict:
lock = item["lock_analysis"]
stable = lock["post_pull_in"]
return {
"prn": int(item["prn"]),
"legacy_code_lock_falling_edges": int(lock["legacy_code_lock_falling_edges"]),
"boc_aware_code_lock_falling_edges": int(lock["boc_aware_code_lock_falling_edges"]),
"longest_boc_aware_code_lock_s": float(lock["boc_aware_longest_code_lock_s"]),
"pll_error_rms_rad": float(stable["pll_error_rms_rad"]),
"dll_error_rms_chips": float(stable["dll_error_rms_chips"]),
"cn0_median_db_hz": float(stable["cn0_median_db_hz"]),
"cycle_slips": int(item["cycle_slips"]),
"sample_discontinuities": int(item["sample_discontinuities"]),
"raw_navigation_symbols": int(item["raw_navigation_symbol_count"]),
"crc_valid_pages": int(item["crc_passes"]),
"crc_invalid_pages": int(item["crc_failures"]),
"complete_ephemeris": bool(item["complete_ephemeris"]),
"secondary_code_sync": item["secondary_code_sync"],
}
def _plot_comparison(path: Path, comparison: dict) -> None:
import matplotlib.pyplot as plt
modes = list(comparison["modes"])
prns = [int(value) for value in comparison["prns"]]
x = np.arange(len(prns), dtype=np.float64)
width = 0.36
figure, axes = plt.subplots(3, 2, figsize=(13, 11))
metrics = (
("boc_aware_code_lock_falling_edges", "corrected lock falling edges"),
("longest_boc_aware_code_lock_s", "longest code lock (s)"),
("pll_error_rms_rad", "PLL RMS (rad)"),
("dll_error_rms_chips", "DLL RMS (chips)"),
("cn0_median_db_hz", "median C/N0 (dB-Hz)"),
("crc_valid_pages", "CRC-valid I/NAV pages"),
)
for axis, (field, label) in zip(axes.flat, metrics, strict=True):
for mode_index, mode in enumerate(modes):
rows = comparison["modes"][mode]["satellites"]
values = [rows[str(prn)][field] for prn in prns]
axis.bar(x + (mode_index - 0.5) * width, values, width, label=mode)
axis.set_xticks(x, [str(prn) for prn in prns])
axis.set_xlabel("PRN")
axis.set_ylabel(label)
axis.grid(True, axis="y", alpha=0.25)
axes[0, 0].legend(fontsize=8)
figure.tight_layout()
figure.savefig(path, dpi=160)
plt.close(figure)
def main() -> int:
parser = argparse.ArgumentParser()
parser.add_argument("--config", default="configs/navigation_collection.yaml")
parser.add_argument("--output-dir", default="reports/e1_tracking_mode_comparison")
parser.add_argument("--signalsim-path")
parser.add_argument(
"--report-only", action="store_true",
help="regenerate plots/Markdown from the existing comparison JSON",
)
args = parser.parse_args()
output = Path(args.output_dir).resolve()
output.mkdir(parents=True, exist_ok=True)
comparison_path = output / "e1_tracking_mode_comparison.json"
if args.report_only:
if not comparison_path.is_file():
raise FileNotFoundError(f"comparison JSON is unavailable: {comparison_path}")
comparison = json.loads(comparison_path.read_text(encoding="utf-8"))
passed = bool(comparison["all_navigation_ready"])
else:
comparison = {"modes": {}, "prns": []}
passed = True
for mode in ("e1b_only", "e1c_pilot_aided_e1b"):
report, ready = collect_navigation(
args.config,
output / mode,
signalsim_path=args.signalsim_path,
tracking_mode=mode,
)
mode_rows = {
str(prn): _satellite_row(item) for prn, item in report["satellites"].items()
}
comparison["modes"][mode] = {
"navigation_ready": bool(ready),
"satellites": mode_rows,
"total_crc_valid_pages": sum(row["crc_valid_pages"] for row in mode_rows.values()),
"complete_ephemerides": sum(row["complete_ephemeris"] for row in mode_rows.values()),
}
comparison["prns"] = sorted(int(prn) for prn in mode_rows)
passed = passed and ready
input_report_path = output / "e1b_only" / "inav_collection_report.json"
input_report = json.loads(input_report_path.read_text(encoding="utf-8"))
comparison["input"] = {
"sample_file": input_report["sample_file"],
"sample_sha256": input_report["sample_sha256"],
"complex_sample_count": input_report["sample_count"],
"sampling_frequency_hz": input_report["sampling_frequency_hz"],
"stored_duration_s": input_report["sample_count"] / input_report["sampling_frequency_hz"],
"configured_duration_s": 32.2,
}
source = Path(args.signalsim_path or PROJECT_ROOT / "signalsim" / "SignalSim").resolve()
provider = SignalSimCodeProvider(source)
profile = galileo_e1_profile()
shape = boc11_autocorrelation(provider.primary_code(profile, "E1B", comparison["prns"][0]))
errors = np.linspace(-1.0, 1.0, 513, dtype=np.float64)
taps = boc11_five_tap_shape(shape, errors)
comparison["boc11_calibration_points"] = calibration_points(taps)
comparison["all_navigation_ready"] = passed
plot_boc11_lock_calibration(output / "boc11_correlation_and_lock_metrics.png", shape, taps)
_plot_comparison(output / "e1_tracking_mode_comparison.png", comparison)
comparison_path.write_text(
json.dumps(comparison, indent=2) + "\n", encoding="utf-8"
)
rows = [
"# Corrected BOC lock and E1 tracking architecture comparison", "",
f"Both modes consume the same SignalSim IQ8 vector configured for 32.2 s. The file contains {comparison['input']['complex_sample_count']} complex samples ({comparison['input']['stored_duration_s']:.3f} s at {comparison['input']['sampling_frequency_hz']:.0f} Hz), so the stored vector is exactly 1 ms shorter than the requested duration. The E1C mode uses E1C acquisition, secondary-code synchronization/wipeoff, and pilot loop states; only its separate E1B Prompt branch enters I/NAV decoding.", "",
"| Mode | PRN | Legacy falls | Corrected falls | Longest lock (s) | PLL RMS (rad) | DLL RMS (chips) | C/N0 (dB-Hz) | Slip candidates | Discontinuities | Secondary corr. | Symbols | CRC pages | Ephemeris |",
"| --- | --: | --: | --: | --: | --: | --: | --: | --: | --: | --: | --: | --: | ---: |",
]
for mode, mode_result in comparison["modes"].items():
for prn in comparison["prns"]:
item = mode_result["satellites"][str(prn)]
secondary_correlation = (
"-" if item["secondary_code_sync"] is None
else f"{item['secondary_code_sync']['normalized_correlation']:.4f}"
)
rows.append(
f"| {mode} | {prn} | {item['legacy_code_lock_falling_edges']} | "
f"{item['boc_aware_code_lock_falling_edges']} | {item['longest_boc_aware_code_lock_s']:.3f} | "
f"{item['pll_error_rms_rad']:.6f} | {item['dll_error_rms_chips']:.6f} | "
f"{item['cn0_median_db_hz']:.3f} | {item['cycle_slips']} | "
f"{item['sample_discontinuities']} | {secondary_correlation} | {item['raw_navigation_symbols']} | "
f"{item['crc_valid_pages']} | {item['complete_ephemeris']} |"
)
rows.extend(["", f"All navigation readiness gates passed: **{passed}**."])
(output / "e1_tracking_mode_comparison.md").write_text("\n".join(rows) + "\n", encoding="utf-8")
print(json.dumps({"passed": passed, "report": str(output / "e1_tracking_mode_comparison.json")}, indent=2))
return 0 if passed else 1
if __name__ == "__main__":
raise SystemExit(main())
+112
View File
@@ -0,0 +1,112 @@
#!/usr/bin/env python3
"""Build the measured BOC lock root-cause report from replay JSON."""
from __future__ import annotations
import argparse
import json
from pathlib import Path
def main() -> int:
parser = argparse.ArgumentParser()
parser.add_argument(
"--comparison",
default="reports/e1_tracking_mode_comparison/e1_tracking_mode_comparison.json",
)
parser.add_argument("--output-dir", default="reports/boc_lock_detector_validation")
args = parser.parse_args()
comparison_path = Path(args.comparison).resolve()
comparison = json.loads(comparison_path.read_text(encoding="utf-8"))
e1b_report_path = comparison_path.parent / "e1b_only" / "inav_collection_report.json"
e1b_report = json.loads(e1b_report_path.read_text(encoding="utf-8"))
output = Path(args.output_dir).resolve()
output.mkdir(parents=True, exist_ok=True)
satellites: dict[str, dict] = {}
for prn, item in e1b_report["satellites"].items():
lock = item["lock_analysis"]
satellites[str(prn)] = {
"legacy_code_lock_falling_edges": lock["legacy_code_lock_falling_edges"],
"boc_aware_code_lock_falling_edges": lock["boc_aware_code_lock_falling_edges"],
"boc_aware_longest_code_lock_s": lock["boc_aware_longest_code_lock_s"],
"legacy_failure_behavior": lock["legacy_code_metric_failure_behavior"],
"legacy_pass_behavior": lock["legacy_code_metric_pass_behavior"],
"side_peak_suspected_epochs": lock["boc_side_peak_suspected_epochs"],
"cycle_slip_candidates": item["cycle_slips"],
"sample_discontinuities": item["sample_discontinuities"],
"crc_valid_pages": item["crc_passes"],
"crc_invalid_pages": item["crc_failures"],
"complete_ephemeris": item["complete_ephemeris"],
}
report = {
"classification": "LOCK DETECTOR CHATTER CONFIRMED",
"primary_cause": "instantaneous BPSK-style Prompt/Early/Late power ratio is invalid on the BOC(1,1) main-peak shoulder",
"signal_modulation": "SignalSim BOC(1,1); no BOC(6,1) CBOC term",
"loop_coefficients_changed": False,
"sample_file": e1b_report["sample_file"],
"sample_sha256": e1b_report["sample_sha256"],
"sample_count": e1b_report["sample_count"],
"sampling_frequency_hz": e1b_report["sampling_frequency_hz"],
"intermediate_frequency_hz": e1b_report["intermediate_frequency_hz"],
"exact_replay_command": "python tools/compare_e1_tracking_modes.py --config configs/navigation_collection.yaml --output-dir reports/e1_tracking_mode_comparison",
"legacy_total_code_lock_falling_edges": sum(
item["legacy_code_lock_falling_edges"] for item in satellites.values()
),
"boc_aware_total_code_lock_falling_edges": sum(
item["boc_aware_code_lock_falling_edges"] for item in satellites.values()
),
"crc_valid_pages": sum(item["crc_valid_pages"] for item in satellites.values()),
"crc_invalid_pages": sum(item["crc_invalid_pages"] for item in satellites.values()),
"complete_ephemerides": sum(item["complete_ephemeris"] for item in satellites.values()),
"satellites": satellites,
"regression_tests": {
"main_peak_and_metric_validity": "tests/unit/test_lock_detector.py",
"quarter_chip_shoulder_false_unlock": "tests/unit/test_lock_detector.py",
"outer_tap_side_peak": "tests/unit/test_lock_detector.py",
"zero_signal_true_loss": "tests/unit/test_lock_detector.py",
"invalid_and_single_bad_epoch": "tests/unit/test_lock_detector.py",
"e1c_pilot_secondary_and_e1b_branch": "tests/integration/test_signalsim_e1c_pilot_aided_tracking.py",
},
}
(output / "boc_lock_detector_validation.json").write_text(
json.dumps(report, indent=2) + "\n", encoding="utf-8"
)
lines = [
"# BOC-aware lock-detector validation", "",
"**LOCK DETECTOR CHATTER CONFIRMED**", "",
"The loops were not retuned. The failure source was the legacy instantaneous `P² / mean(E²,L²)` predicate, which falls to 0.1 at an ideal quarter-chip BOC(1,1) shoulder even though the five-tap energy remains in the central correlation basin.", "",
f"Input evidence: {report['sample_count']} complex IQ8 samples at {report['sampling_frequency_hz']:.0f} Hz ({report['sample_count'] / report['sampling_frequency_hz']:.3f} s stored from the 32.2 s configured run), SHA-256 `{report['sample_sha256']}`.", "",
f"Replay: `{report['exact_replay_command']}`", "",
"| PRN | Legacy falls | Corrected falls | Longest corrected lock (s) | DLL RMS during old failures (chips) | Failure P power median | Failure E power median | Failure L power median | Max side metric | Min main coherence | CRC valid/invalid | Ephemeris |",
"| --: | --: | --: | --: | --: | --: | --: | --: | --: | --: | --: | ---: |",
]
for prn, item in satellites.items():
failure = item["legacy_failure_behavior"]
lines.append(
f"| {prn} | {item['legacy_code_lock_falling_edges']} | {item['boc_aware_code_lock_falling_edges']} | "
f"{item['boc_aware_longest_code_lock_s']:.3f} | {failure['dll_error_rms_chips']:.6f} | "
f"{failure['prompt_power_median']:.3e} | {failure['early_power_median']:.3e} | "
f"{failure['late_power_median']:.3e} | {failure['boc_side_peak_metric_max']:.4f} | "
f"{failure['boc_main_peak_coherence_min']:.4f} | "
f"{item['crc_valid_pages']}/{item['crc_invalid_pages']} | {item['complete_ephemeris']} |"
)
lines.extend([
"",
f"Total legacy/corrected falling edges: **{report['legacy_total_code_lock_falling_edges']}/{report['boc_aware_total_code_lock_falling_edges']}**.",
f"Navigation result: **{report['crc_valid_pages']}/{report['crc_valid_pages'] + report['crc_invalid_pages']} CRC-valid pages**, {report['complete_ephemerides']} complete ephemerides.",
"",
"Each PRN artifact directory contains the complete double-precision measurement NPZ, a CSV row for every legacy falling edge, and a six-panel plot with old metric, corrected BOC metrics, VE/E/P/L/VL powers, PLL/DLL errors, NCOs, C/N0, and transition markers.",
"",
"The observed smoothed outer/central metric and coherent tap-sign metric remain in the calibrated central basin during the legacy failures. Thus none was a main-to-side-peak transition. Synthetic +/-0.5-chip negative Prompt sidelobes and sustained outer-tap dominance both clear lock after debounce; zero-signal input clears signal presence and code lock. Invalid and incomplete integrations cannot seed the smoothing window.",
"",
"Two E1B phase-jump candidates (PRN 1 and 4) were recorded by the pre-existing one-epoch cycle-slip candidate test; neither coincided with NCO divergence, a discontinuity, CRC loss, or corrected code-lock loss. E1C-aided tracking recorded zero such candidates. They are reported rather than silently discarded.",
"",
"See `boc11_correlation_and_lock_metrics.png` in the comparison report and per-PRN `tracking_lock_diagnostics.png` under `verification/navigation/signalsim_navigation_multisat_e1b_only/`.",
])
(output / "boc_lock_detector_validation.md").write_text("\n".join(lines) + "\n", encoding="utf-8")
return 0
if __name__ == "__main__":
raise SystemExit(main())
@@ -0,0 +1,156 @@
{
"prn": 1,
"tracking_architecture": "e1b_only",
"acquisition_component": "E1B",
"acquisition_detected": true,
"acquisition_time_s": 0.10830689100112068,
"raw_doppler_hz": 1750.0,
"expected_doppler_hz": 1828.0,
"start_sample_timestamp": 90995,
"tracking_epoch_count": 16088,
"tracking_time_s": 14.402149740999448,
"tracking_final_state": "PLL_TRACK",
"tracking_reacquisition_requests": 0,
"tracking_lock_timestamp": 369251,
"prompt_epoch_count": 8044,
"valid_prompt_epoch_count": 8044,
"invalid_prompt_epoch_count": 0,
"cycle_slips": 1,
"sample_discontinuities": 0,
"raw_navigation_symbol_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": 1.3377819750021445,
"secondary_code_sync": null,
"lock_analysis": {
"prn": 1,
"epochs": 16088,
"integration_ms": 2.0,
"start_sample_timestamp": 90995,
"end_sample_timestamp": 131755187,
"raw_carrier_lock_pass_epochs": 16053,
"raw_code_lock_pass_epochs": 15581,
"raw_combined_lock_pass_epochs": 15561,
"raw_combined_lock_fail_epochs": 527,
"false_transition_count": 111,
"legacy_code_lock_falling_edges": 105,
"boc_aware_code_lock_falling_edges": 0,
"boc_aware_metric_valid_epochs": 16064,
"boc_aware_code_lock_pass_epochs": 16062,
"boc_aware_combined_lock_pass_epochs": 16055,
"boc_aware_longest_code_lock_s": 32.124,
"boc_side_peak_suspected_epochs": 0,
"carrier_metric_caused_transitions": 7,
"code_metric_caused_transitions": 105,
"symbol_transition_coincident_false_transitions": 25,
"cycle_slips": 1,
"sample_discontinuities": 0,
"cn0_unavailable_false_transitions": 2,
"false_run_count": 112,
"single_epoch_false_runs": 39,
"maximum_false_run_epochs": 49,
"maximum_false_run_ms": 98.0,
"maximum_continuous_raw_lock_epochs": 527,
"maximum_continuous_raw_lock_s": 1.054,
"carrier_metric_percentiles": {
"1": 0.924754620433948,
"5": 0.9885487615596471,
"50": 0.9988920935338705,
"95": 0.999988889095012,
"99": 0.9999995126772309
},
"code_metric_percentiles": {
"1": 0.08551747376691506,
"5": 8.93110718797863,
"50": 14.284296796423222,
"95": 20.964203945365327,
"99": 25.01283950305672
},
"boc_main_peak_fraction_percentiles": {
"1": 0.8459457202588582,
"5": 0.8743060376964639,
"50": 0.8893911166731225,
"95": 0.8991623523366161,
"99": 0.9030265243663507
},
"boc_side_peak_metric_percentiles": {
"1": 0.05558653630324674,
"5": 0.05810940234394848,
"50": 0.06563094730036426,
"95": 0.08861816884470392,
"99": 0.15873840916919643
},
"boc_main_peak_coherence_percentiles": {
"1": 0.5697390611615102,
"5": 0.8854239302839105,
"50": 0.968031049010735,
"95": 0.9797568799767267,
"99": 0.9829484849900356
},
"legacy_code_metric_failure_behavior": {
"epochs": 419,
"dll_error_rms_chips": 0.08595496042669856,
"dll_error_p99_abs_chips": 0.12241806445109668,
"code_phase_residual_rms_chips": 14.36062232244801,
"code_phase_residual_p99_abs_chips": 18.53252004246325,
"prompt_power_median": 108501744.67290671,
"early_power_median": 1382974759.31233,
"late_power_median": 466361919.31117284,
"very_early_power_median": 307844457.5642177,
"very_late_power_median": 19056312.68379797,
"boc_main_peak_fraction_min": 0.8248937085423966,
"boc_side_peak_metric_max": 0.20376990864112443,
"boc_main_peak_coherence_min": 0.34017817990919674
},
"legacy_code_metric_pass_behavior": {
"epochs": 15420,
"dll_error_rms_chips": 0.055454377972535635,
"dll_error_p99_abs_chips": 0.15667600596267559,
"code_phase_residual_rms_chips": 10.71701633330231,
"code_phase_residual_p99_abs_chips": 18.663546673635288,
"prompt_power_median": 1562883727.251472,
"early_power_median": 103811805.97523968,
"late_power_median": 104290812.8808927,
"very_early_power_median": 103614117.47072616,
"very_late_power_median": 103958458.73893663,
"boc_main_peak_fraction_min": 0.8309234034145184,
"boc_side_peak_metric_max": 0.19490409504935216,
"boc_main_peak_coherence_min": 0.36173522031393907
},
"post_pull_in": {
"pll_error_rms_rad": 0.08022448736431988,
"pll_error_p99_abs_rad": 0.2319123841425817,
"dll_error_rms_chips": 0.056473751245269044,
"dll_error_p99_abs_chips": 0.155824404099305,
"carrier_frequency_min_hz": 1024809.2483042779,
"carrier_frequency_max_hz": 1024835.6971803386,
"carrier_frequency_last_minus_first_hz": -11.414587492239662,
"code_frequency_min_hz": 1023000.5244676823,
"code_frequency_max_hz": 1023001.8449177502,
"code_frequency_last_minus_first_hz": 0.11072196869645268,
"cn0_median_db_hz": 46.870552785374464,
"cn0_min_db_hz": 30.52229207847659
}
}
}
@@ -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
}
@@ -0,0 +1,15 @@
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{"crc_valid": true, "decoded_bits": [0, 0, 0, 0, 0, 0, 0, 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, 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, 1, 1, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 0, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "decoder_metric": -37331828.054784365, "end_sample_timestamp": 127188515, "error_flags": 0, "fec_valid": true, "page_sequence": 14, "polarity_inverted": true, "prn": 1, "raw_symbols": [0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 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, 1, 1, 1, 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, 0, 0, 1, 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, 1, 0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 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, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 1, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 1, 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, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 0, 1, 1, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1], "receive_sample_timestamp": 119004515, "sync_valid": true, "word_bits": [0, 0, 0, 0, 0, 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, 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, 1, 1, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 0, 0, 1], "word_type": 0}
@@ -0,0 +1,6 @@
{"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": 4.390254616737366e-06, "cus_raw": 2357, "delta_n_rad_s": 3.2858511546039716e-09, "delta_n_raw": 9200, "iod_nav": 29, "omega_dot_rad_s": -5.809527704433501e-09, "omega_dot_raw": -16266, "sisa_index": 107}, "prn": 1, "raw_bits": [0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1, 0, 1, 1, 0, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 1, 0, 1, 1], "receive_sample_timestamp": 20796515, "word_type": 3}
{"crc_valid": true, "health_valid": true, "iod_nav": null, "payload": {"ai0_raw": 0, "ai0_sfu": 0.0, "ai1_raw": 0, "ai1_sfu_per_degree": 0.0, "ai2_raw": 0, "ai2_sfu_per_degree2": 0.0, "bgd_e1_e5a_raw": 2, "bgd_e1_e5a_s": 4.656612873077393e-10, "bgd_e1_e5b_raw": 2, "bgd_e1_e5b_s": 4.656612873077393e-10, "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": 1, "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, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 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": 28980515, "word_type": 5}
{"crc_valid": true, "health_valid": true, "iod_nav": 29, "payload": {"argument_of_perigee_rad": -1.4927534274463103, "argument_of_perigee_raw": -1020394408, "inclination_rad": 0.9780546728858021, "inclination_rate_rad_s": 9.928985010651132e-11, "inclination_rate_raw": 278, "inclination_raw": 668564212, "iod_nav": 29, "omega0_rad": 0.1817990533460104, "omega0_raw": 124271520}, "prn": 1, "raw_bits": [0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 0, 1, 1, 1, 1, 0, 1, 0, 1, 1, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 1, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 1, 0, 0, 0], "receive_sample_timestamp": 53532515, "word_type": 2}
{"crc_valid": true, "health_valid": true, "iod_nav": 29, "payload": {"cic_rad": 1.4901161193847656e-08, "cic_raw": 8, "cis_rad": -5.774199962615967e-08, "cis_raw": -31, "clock_bias_raw": -19455572, "clock_bias_s": -0.001132463337853551, "clock_drift_rate_raw": 0, "clock_drift_rate_s_per_s2": 0.0, "clock_drift_raw": -561, "clock_drift_s_per_s": -7.972289495228324e-12, "iod_nav": 29, "svid": 1, "toc_raw": 9250, "toc_s": 555000.0}, "prn": 1, "raw_bits": [0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 0, 1, 1, 1, 0, 0, 1, 0, 0, 0, 0, 1, 1, 0, 1, 0, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0], "receive_sample_timestamp": 61716515, "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": 1, "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": 69900515, "word_type": 6}
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{"crc_valid": true, "decoded_bits": [0, 0, 0, 0, 0, 0, 0, 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, 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, 1, 1, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 0, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "decoder_metric": -37462941.02204284, "end_sample_timestamp": 127200707, "error_flags": 0, "fec_valid": true, "page_sequence": 14, "polarity_inverted": false, "prn": 4, "raw_symbols": [0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 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, 1, 1, 1, 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, 0, 0, 1, 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, 1, 0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 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, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 1, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 1, 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, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 0, 1, 1, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1], "receive_sample_timestamp": 119016707, "sync_valid": true, "word_bits": [0, 0, 0, 0, 0, 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, 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, 1, 1, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 0, 0, 1], "word_type": 0}
@@ -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, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 1, 0, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 0, 0, 1, 0, 0, 1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 1, 0, 1, 0, 1, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0], "receive_sample_timestamp": 12624707, "word_type": 1}
{"crc_valid": true, "health_valid": true, "iod_nav": 30, "payload": {"crc_m": 161.75, "crc_raw": 5176, "crs_m": -73.28125, "crs_raw": -2345, "cuc_rad": -3.553926944732666e-06, "cuc_raw": -1908, "cus_rad": 7.985159754753113e-06, "cus_raw": 4287, "delta_n_rad_s": 3.3912126861918165e-09, "delta_n_raw": 9495, "iod_nav": 30, "omega_dot_rad_s": -5.7763120351532645e-09, "omega_dot_raw": -16173, "sisa_index": 107}, "prn": 4, "raw_bits": [0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 0, 1, 0, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 0, 1, 1, 0, 1, 1, 0, 1, 0, 1, 1, 1, 0, 1, 1, 0, 1, 0, 1, 1], "receive_sample_timestamp": 20808707, "word_type": 3}
{"crc_valid": true, "health_valid": true, "iod_nav": null, "payload": {"ai0_raw": 0, "ai0_sfu": 0.0, "ai1_raw": 0, "ai1_sfu_per_degree": 0.0, "ai2_raw": 0, "ai2_sfu_per_degree2": 0.0, "bgd_e1_e5a_raw": -13, "bgd_e1_e5a_s": -3.026798367500305e-09, "bgd_e1_e5b_raw": -15, "bgd_e1_e5b_s": -3.4924596548080444e-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": 4, "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, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 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": 28992707, "word_type": 5}
{"crc_valid": true, "health_valid": true, "iod_nav": 30, "payload": {"argument_of_perigee_rad": -1.2995103390103033, "argument_of_perigee_raw": -888300143, "inclination_rad": 0.9546608529078708, "inclination_rate_rad_s": -2.3250968496165061e-10, "inclination_rate_raw": -651, "inclination_raw": 652573009, "iod_nav": 30, "omega0_rad": -1.916469336297527, "omega0_raw": -1310031890}, "prn": 4, "raw_bits": [0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 1, 0, 1, 1, 0, 0, 0, 1, 1, 1, 1, 0, 1, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 1, 1, 0, 0, 1, 0, 1, 0, 1, 1, 1, 1, 0, 0, 1, 0, 1, 0, 1, 0, 0, 0, 1, 1, 1, 0, 0, 1, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 1, 1, 0, 0, 1, 1, 1, 0, 1, 1, 0, 0, 1, 0, 0, 0, 1, 1, 1, 1, 1, 0, 1, 0, 1, 1, 1, 0, 1, 0, 1, 0, 0], "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}
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{"crc_valid": true, "decoded_bits": [0, 0, 0, 0, 0, 0, 0, 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, 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, 1, 1, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 0, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "decoder_metric": -37445392.97311185, "end_sample_timestamp": 127168718, "error_flags": 0, "fec_valid": true, "page_sequence": 14, "polarity_inverted": true, "prn": 19, "raw_symbols": [0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 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, 1, 1, 1, 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, 0, 0, 1, 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, 1, 0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 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, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 1, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 1, 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, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 0, 1, 1, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1], "receive_sample_timestamp": 118984718, "sync_valid": true, "word_bits": [0, 0, 0, 0, 0, 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, 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, 1, 1, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 0, 0, 1], "word_type": 0}
@@ -0,0 +1,6 @@
{"crc_valid": true, "health_valid": true, "iod_nav": 29, "payload": {"eccentricity": 0.0003091230755671859, "eccentricity_raw": 2655347, "iod_nav": 29, "mean_anomaly_rad": -2.3572179169593204, "mean_anomaly_raw": -1611312315, "sqrt_a": 5440.615934371948, "sqrt_a_raw": 2852449647, "toe_raw": 9250, "toe_s": 555000.0}, "prn": 19, "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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 0, 1, 1, 0, 1, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 0, 0, 1, 1, 1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 0, 1, 1, 0, 1, 0, 1, 1, 0, 1, 1, 1, 1, 0, 0], "receive_sample_timestamp": 12592718, "word_type": 1}
{"crc_valid": true, "health_valid": true, "iod_nav": 29, "payload": {"crc_m": 166.625, "crc_raw": 5332, "crs_m": -77.1875, "crs_raw": -2470, "cuc_rad": -3.518536686897278e-06, "cuc_raw": -1889, "cus_rad": 7.985159754753113e-06, "cus_raw": 4287, "delta_n_rad_s": 3.2276344439300102e-09, "delta_n_raw": 9037, "iod_nav": 29, "omega_dot_rad_s": -5.699880280035303e-09, "omega_dot_raw": -15959, "sisa_index": 107}, "prn": 19, "raw_bits": [0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 1, 0, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 1, 0, 1, 1], "receive_sample_timestamp": 20776718, "word_type": 3}
{"crc_valid": true, "health_valid": true, "iod_nav": null, "payload": {"ai0_raw": 0, "ai0_sfu": 0.0, "ai1_raw": 0, "ai1_sfu_per_degree": 0.0, "ai2_raw": 0, "ai2_sfu_per_degree2": 0.0, "bgd_e1_e5a_raw": -15, "bgd_e1_e5a_s": -3.4924596548080444e-09, "bgd_e1_e5b_raw": -17, "bgd_e1_e5b_s": -3.958120942115784e-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": 19, "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, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 0, 1, 1, 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": 28960718, "word_type": 5}
{"crc_valid": true, "health_valid": true, "iod_nav": 29, "payload": {"argument_of_perigee_rad": -1.486853610495253, "argument_of_perigee_raw": -1016361498, "inclination_rad": 0.9603429613162078, "inclination_rate_rad_s": -1.753644474902772e-10, "inclination_rate_raw": -491, "inclination_raw": 656457101, "iod_nav": 29, "omega0_rad": -1.9160215912014322, "omega0_raw": -1309725827}, "prn": 19, "raw_bits": [0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 0, 1, 1, 0, 0, 0, 1, 1, 1, 1, 0, 1, 1, 1, 1, 0, 0, 1, 0, 1, 0, 1, 1, 0, 1, 1, 1, 1, 1, 0, 1, 0, 0, 1, 0, 0, 1, 1, 1, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 1, 1, 1, 1, 0, 1, 1, 0, 0, 0, 1, 1, 0, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 0, 1, 1, 1, 1, 0, 0, 1, 1, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 1, 0, 1, 0, 0], "receive_sample_timestamp": 53512718, "word_type": 2}
{"crc_valid": true, "health_valid": true, "iod_nav": 29, "payload": {"cic_rad": -5.587935447692871e-09, "cic_raw": -3, "cis_rad": 4.0978193283081055e-08, "cis_raw": 22, "clock_bias_raw": 5258000, "clock_bias_s": 0.00030605588108301163, "clock_drift_rate_raw": 0, "clock_drift_rate_s_per_s2": 0.0, "clock_drift_raw": 672, "clock_drift_s_per_s": 9.549694368615746e-12, "iod_nav": 29, "svid": 19, "toc_raw": 9250, "toc_s": 555000.0}, "prn": 19, "raw_bits": [0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "receive_sample_timestamp": 61696718, "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": 19, "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": 69880718, "word_type": 6}
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{
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{"crc_valid": true, "decoded_bits": [0, 0, 0, 0, 0, 0, 0, 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, 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, 1, 1, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 0, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "decoder_metric": -37544146.925401546, "end_sample_timestamp": 127174780, "error_flags": 0, "fec_valid": true, "page_sequence": 14, "polarity_inverted": false, "prn": 21, "raw_symbols": [0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 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, 1, 1, 1, 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, 0, 0, 1, 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, 1, 0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 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, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 1, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 1, 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, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 0, 1, 1, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1], "receive_sample_timestamp": 118990780, "sync_valid": true, "word_bits": [0, 0, 0, 0, 0, 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, 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, 1, 1, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 0, 0, 1], "word_type": 0}
@@ -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": 12598780, "word_type": 1}
{"crc_valid": true, "health_valid": true, "iod_nav": 29, "payload": {"crc_m": 248.09375, "crc_raw": 7939, "crs_m": 94.3125, "crs_raw": 3018, "cuc_rad": 4.423782229423523e-06, "cuc_raw": 2375, "cus_rad": 4.608184099197388e-06, "cus_raw": 2474, "delta_n_rad_s": 3.2879941010091484e-09, "delta_n_raw": 9206, "iod_nav": 29, "omega_dot_rad_s": -5.86703009963907e-09, "omega_dot_raw": -16427, "sisa_index": 107}, "prn": 21, "raw_bits": [0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 1, 0, 1, 0, 0, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 1, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 0, 1, 1, 1, 1, 0, 0, 1, 0, 1, 0, 0, 1, 1, 0, 1, 0, 1, 1], "receive_sample_timestamp": 20782780, "word_type": 3}
{"crc_valid": true, "health_valid": true, "iod_nav": null, "payload": {"ai0_raw": 0, "ai0_sfu": 0.0, "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, "argument_of_perigee_raw": -1683591646, "inclination_rad": 0.9776274861774753, "inclination_rate_rad_s": 1.392915163364727e-10, "inclination_rate_raw": 390, "inclination_raw": 668272202, "iod_nav": 29, "omega0_rad": 0.1789455277652162, "omega0_raw": 122320949}, "prn": 21, "raw_bits": [0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 0, 0, 1, 0, 1, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0, 1, 1, 0, 0, 1, 0, 0, 1, 0, 1, 0, 1, 0, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0], "receive_sample_timestamp": 53518780, "word_type": 2}
{"crc_valid": true, "health_valid": true, "iod_nav": 29, "payload": {"cic_rad": 1.3224780559539795e-07, "cic_raw": 71, "cis_rad": 2.7939677238464355e-08, "cis_raw": 15, "clock_bias_raw": -11536773, "clock_bias_s": -0.0006715285708196461, "clock_drift_rate_raw": 0, "clock_drift_rate_s_per_s2": 0.0, "clock_drift_raw": -147, "clock_drift_s_per_s": -2.0889956431346945e-12, "iod_nav": 29, "svid": 21, "toc_raw": 9250, "toc_s": 555000.0}, "prn": 21, "raw_bits": [0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0], "receive_sample_timestamp": 61702780, "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": 21, "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": 69886780, "word_type": 6}
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{"crc_valid": true, "decoded_bits": [0, 0, 0, 0, 0, 0, 0, 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, 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, 1, 1, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 0, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "decoder_metric": -37485285.829763494, "end_sample_timestamp": 127218270, "error_flags": 0, "fec_valid": true, "page_sequence": 14, "polarity_inverted": true, "prn": 27, "raw_symbols": [0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 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, 1, 1, 1, 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, 0, 0, 1, 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, 1, 0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 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, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 1, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 1, 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, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 0, 1, 1, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1], "receive_sample_timestamp": 119034270, "sync_valid": true, "word_bits": [0, 0, 0, 0, 0, 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, 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, 1, 1, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 0, 0, 1], "word_type": 0}
@@ -0,0 +1,6 @@
{"crc_valid": true, "health_valid": true, "iod_nav": 29, "payload": {"eccentricity": 0.00015918409917503595, "eccentricity_raw": 1367381, "iod_nav": 29, "mean_anomaly_rad": 2.8707087693201396, "mean_anomaly_raw": 1962316831, "sqrt_a": 5440.6105098724365, "sqrt_a_raw": 2852446803, "toe_raw": 9250, "toe_s": 555000.0}, "prn": 27, "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, 1, 1, 0, 1, 0, 0, 1, 1, 1, 1, 0, 1, 1, 0, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 0, 1, 0, 0, 1, 1, 0, 0], "receive_sample_timestamp": 12642270, "word_type": 1}
{"crc_valid": true, "health_valid": true, "iod_nav": 29, "payload": {"crc_m": 251.0, "crc_raw": 8032, "crs_m": 97.59375, "crs_raw": 3123, "cuc_rad": 4.628673195838928e-06, "cuc_raw": 2485, "cus_rad": 4.498288035392761e-06, "cus_raw": 2415, "delta_n_rad_s": 3.316566719744835e-09, "delta_n_raw": 9286, "iod_nav": 29, "omega_dot_rad_s": -5.8148850704464415e-09, "omega_dot_raw": -16281, "sisa_index": 107}, "prn": 27, "raw_bits": [0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1, 1, 0, 0, 1, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0, 1, 0, 0, 0, 0, 1, 0, 0, 1, 0, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0, 1, 1], "receive_sample_timestamp": 20826270, "word_type": 3}
{"crc_valid": true, "health_valid": true, "iod_nav": null, "payload": {"ai0_raw": 0, "ai0_sfu": 0.0, "ai1_raw": 0, "ai1_sfu_per_degree": 0.0, "ai2_raw": 0, "ai2_sfu_per_degree2": 0.0, "bgd_e1_e5a_raw": 9, "bgd_e1_e5a_s": 2.0954757928848267e-09, "bgd_e1_e5b_raw": 10, "bgd_e1_e5b_s": 2.3283064365386963e-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": 27, "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, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 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": 29010270, "word_type": 5}
{"crc_valid": true, "health_valid": true, "iod_nav": 29, "payload": {"argument_of_perigee_rad": -1.0541993804356522, "argument_of_perigee_raw": -720614090, "inclination_rad": 0.9775995078692093, "inclination_rate_rad_s": 2.282237921512976e-10, "inclination_rate_raw": 639, "inclination_raw": 668253077, "iod_nav": 29, "omega0_rad": 0.17894288427224694, "omega0_raw": 122319142}, "prn": 27, "raw_bits": [0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 0, 0, 1, 0, 1, 0, 0, 1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 0, 0, 1, 1, 0, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 0, 1, 0, 1, 0, 0, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 1, 0, 1, 0, 1, 1, 1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 0, 0], "receive_sample_timestamp": 53562270, "word_type": 2}
{"crc_valid": true, "health_valid": true, "iod_nav": 29, "payload": {"cic_rad": -5.029141902923584e-08, "cic_raw": -27, "cis_rad": 1.2293457984924316e-07, "cis_raw": 66, "clock_bias_raw": -988889, "clock_bias_s": -5.756091559305787e-05, "clock_drift_rate_raw": 0, "clock_drift_rate_s_per_s2": 0.0, "clock_drift_raw": -581, "clock_drift_s_per_s": -8.256506589532364e-12, "iod_nav": 29, "svid": 27, "toc_raw": 9250, "toc_s": 555000.0}, "prn": 27, "raw_bits": [0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 1, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0], "receive_sample_timestamp": 61746270, "word_type": 4}
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{"crc_valid": true, "decoded_bits": [0, 0, 0, 0, 0, 0, 0, 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, 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, 1, 1, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 0, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "decoder_metric": -37497615.82310637, "end_sample_timestamp": 127188515, "error_flags": 0, "fec_valid": true, "page_sequence": 14, "polarity_inverted": false, "prn": 1, "raw_symbols": [0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 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, 1, 1, 1, 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, 0, 0, 1, 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, 1, 0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 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, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 1, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 1, 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, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 0, 1, 1, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1], "receive_sample_timestamp": 119004515, "sync_valid": true, "word_bits": [0, 0, 0, 0, 0, 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, 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, 1, 1, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 0, 0, 1], "word_type": 0}
@@ -0,0 +1,6 @@
{"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": 4.390254616737366e-06, "cus_raw": 2357, "delta_n_rad_s": 3.2858511546039716e-09, "delta_n_raw": 9200, "iod_nav": 29, "omega_dot_rad_s": -5.809527704433501e-09, "omega_dot_raw": -16266, "sisa_index": 107}, "prn": 1, "raw_bits": [0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1, 0, 1, 1, 0, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 1, 0, 1, 1], "receive_sample_timestamp": 20796515, "word_type": 3}
{"crc_valid": true, "health_valid": true, "iod_nav": null, "payload": {"ai0_raw": 0, "ai0_sfu": 0.0, "ai1_raw": 0, "ai1_sfu_per_degree": 0.0, "ai2_raw": 0, "ai2_sfu_per_degree2": 0.0, "bgd_e1_e5a_raw": 2, "bgd_e1_e5a_s": 4.656612873077393e-10, "bgd_e1_e5b_raw": 2, "bgd_e1_e5b_s": 4.656612873077393e-10, "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": 1, "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, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 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": 28980515, "word_type": 5}
{"crc_valid": true, "health_valid": true, "iod_nav": 29, "payload": {"argument_of_perigee_rad": -1.4927534274463103, "argument_of_perigee_raw": -1020394408, "inclination_rad": 0.9780546728858021, "inclination_rate_rad_s": 9.928985010651132e-11, "inclination_rate_raw": 278, "inclination_raw": 668564212, "iod_nav": 29, "omega0_rad": 0.1817990533460104, "omega0_raw": 124271520}, "prn": 1, "raw_bits": [0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 0, 1, 1, 1, 1, 0, 1, 0, 1, 1, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 1, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 1, 0, 0, 0], "receive_sample_timestamp": 53532515, "word_type": 2}
{"crc_valid": true, "health_valid": true, "iod_nav": 29, "payload": {"cic_rad": 1.4901161193847656e-08, "cic_raw": 8, "cis_rad": -5.774199962615967e-08, "cis_raw": -31, "clock_bias_raw": -19455572, "clock_bias_s": -0.001132463337853551, "clock_drift_rate_raw": 0, "clock_drift_rate_s_per_s2": 0.0, "clock_drift_raw": -561, "clock_drift_s_per_s": -7.972289495228324e-12, "iod_nav": 29, "svid": 1, "toc_raw": 9250, "toc_s": 555000.0}, "prn": 1, "raw_bits": [0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 0, 1, 1, 1, 0, 0, 1, 0, 0, 0, 0, 1, 1, 0, 1, 0, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0], "receive_sample_timestamp": 61716515, "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": 1, "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": 69900515, "word_type": 6}
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{"crc_valid": true, "decoded_bits": [0, 0, 0, 0, 0, 0, 0, 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, 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, 1, 1, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 0, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "decoder_metric": -37621354.178205535, "end_sample_timestamp": 127200707, "error_flags": 0, "fec_valid": true, "page_sequence": 14, "polarity_inverted": false, "prn": 4, "raw_symbols": [0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 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, 1, 1, 1, 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, 0, 0, 1, 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, 1, 0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 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, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 1, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 1, 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, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 0, 1, 1, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1], "receive_sample_timestamp": 119016707, "sync_valid": true, "word_bits": [0, 0, 0, 0, 0, 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, 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, 1, 1, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 0, 0, 1], "word_type": 0}
@@ -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, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 1, 0, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 0, 0, 1, 0, 0, 1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 1, 0, 1, 0, 1, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0], "receive_sample_timestamp": 12624707, "word_type": 1}
{"crc_valid": true, "health_valid": true, "iod_nav": 30, "payload": {"crc_m": 161.75, "crc_raw": 5176, "crs_m": -73.28125, "crs_raw": -2345, "cuc_rad": -3.553926944732666e-06, "cuc_raw": -1908, "cus_rad": 7.985159754753113e-06, "cus_raw": 4287, "delta_n_rad_s": 3.3912126861918165e-09, "delta_n_raw": 9495, "iod_nav": 30, "omega_dot_rad_s": -5.7763120351532645e-09, "omega_dot_raw": -16173, "sisa_index": 107}, "prn": 4, "raw_bits": [0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 0, 1, 0, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 0, 1, 1, 0, 1, 1, 0, 1, 0, 1, 1, 1, 0, 1, 1, 0, 1, 0, 1, 1], "receive_sample_timestamp": 20808707, "word_type": 3}
{"crc_valid": true, "health_valid": true, "iod_nav": null, "payload": {"ai0_raw": 0, "ai0_sfu": 0.0, "ai1_raw": 0, "ai1_sfu_per_degree": 0.0, "ai2_raw": 0, "ai2_sfu_per_degree2": 0.0, "bgd_e1_e5a_raw": -13, "bgd_e1_e5a_s": -3.026798367500305e-09, "bgd_e1_e5b_raw": -15, "bgd_e1_e5b_s": -3.4924596548080444e-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": 4, "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, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 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": 28992707, "word_type": 5}
{"crc_valid": true, "health_valid": true, "iod_nav": 30, "payload": {"argument_of_perigee_rad": -1.2995103390103033, "argument_of_perigee_raw": -888300143, "inclination_rad": 0.9546608529078708, "inclination_rate_rad_s": -2.3250968496165061e-10, "inclination_rate_raw": -651, "inclination_raw": 652573009, "iod_nav": 30, "omega0_rad": -1.916469336297527, "omega0_raw": -1310031890}, "prn": 4, "raw_bits": [0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 1, 0, 1, 1, 0, 0, 0, 1, 1, 1, 1, 0, 1, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 1, 1, 0, 0, 1, 0, 1, 0, 1, 1, 1, 1, 0, 0, 1, 0, 1, 0, 1, 0, 0, 0, 1, 1, 1, 0, 0, 1, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 1, 1, 0, 0, 1, 1, 1, 0, 1, 1, 0, 0, 1, 0, 0, 0, 1, 1, 1, 1, 1, 0, 1, 0, 1, 1, 1, 0, 1, 0, 1, 0, 0], "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}

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