diff --git a/.gitignore b/.gitignore index ec040b4..3a1c9ae 100644 --- a/.gitignore +++ b/.gitignore @@ -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/ diff --git a/README.md b/README.md index f04fbaf..329f8e2 100644 --- a/README.md +++ b/README.md @@ -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 diff --git a/configs/navigation_collection.yaml b/configs/navigation_collection.yaml index af25b4e..ba5bde9 100644 --- a/configs/navigation_collection.yaml +++ b/configs/navigation_collection.yaml @@ -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 diff --git a/docs/boc_aware_lock_detector.md b/docs/boc_aware_lock_detector.md new file mode 100644 index 0000000..c2e1fab --- /dev/null +++ b/docs/boc_aware_lock_detector.md @@ -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. diff --git a/docs/configuration.md b/docs/configuration.md index 1d6edd9..07af35d 100644 --- a/docs/configuration.md +++ b/docs/configuration.md @@ -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. diff --git a/docs/e1_pilot_aided_tracking.md b/docs/e1_pilot_aided_tracking.md new file mode 100644 index 0000000..c4b9ce1 --- /dev/null +++ b/docs/e1_pilot_aided_tracking.md @@ -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. diff --git a/docs/navigation_hardware_software_partition.md b/docs/navigation_hardware_software_partition.md index c836c79..8343af0 100644 --- a/docs/navigation_hardware_software_partition.md +++ b/docs/navigation_hardware_software_partition.md @@ -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 diff --git a/reports/boc_lock_detector_validation/boc_lock_detector_validation.json b/reports/boc_lock_detector_validation/boc_lock_detector_validation.json new file mode 100644 index 0000000..7b9b6b2 --- /dev/null +++ b/reports/boc_lock_detector_validation/boc_lock_detector_validation.json @@ -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", 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109, + "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" + } +} diff --git a/reports/boc_lock_detector_validation/boc_lock_detector_validation.md b/reports/boc_lock_detector_validation/boc_lock_detector_validation.md new file mode 100644 index 0000000..02724e6 --- /dev/null +++ b/reports/boc_lock_detector_validation/boc_lock_detector_validation.md @@ -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/`. diff --git a/reports/e1_tracking_mode_comparison/boc11_correlation_and_lock_metrics.png b/reports/e1_tracking_mode_comparison/boc11_correlation_and_lock_metrics.png new file mode 100644 index 0000000..7b99a43 Binary files /dev/null and b/reports/e1_tracking_mode_comparison/boc11_correlation_and_lock_metrics.png differ diff --git a/reports/e1_tracking_mode_comparison/e1_tracking_mode_comparison.json b/reports/e1_tracking_mode_comparison/e1_tracking_mode_comparison.json new file mode 100644 index 0000000..fd06d77 --- /dev/null +++ b/reports/e1_tracking_mode_comparison/e1_tracking_mode_comparison.json @@ -0,0 +1,338 @@ +{ + "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 + } +} diff --git a/reports/e1_tracking_mode_comparison/e1_tracking_mode_comparison.md b/reports/e1_tracking_mode_comparison/e1_tracking_mode_comparison.md new file mode 100644 index 0000000..b343208 --- /dev/null +++ b/reports/e1_tracking_mode_comparison/e1_tracking_mode_comparison.md @@ -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**. diff --git a/reports/e1_tracking_mode_comparison/e1_tracking_mode_comparison.png b/reports/e1_tracking_mode_comparison/e1_tracking_mode_comparison.png new file mode 100644 index 0000000..4bb21d9 Binary files /dev/null and b/reports/e1_tracking_mode_comparison/e1_tracking_mode_comparison.png differ diff --git a/reports/e1_tracking_mode_comparison/e1b_only/inav_collection_report.json b/reports/e1_tracking_mode_comparison/e1b_only/inav_collection_report.json new file mode 100644 index 0000000..64455bb --- /dev/null +++ b/reports/e1_tracking_mode_comparison/e1b_only/inav_collection_report.json @@ -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, + 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a/reports/e1_tracking_mode_comparison/e1b_only/inav_collection_report.md b/reports/e1_tracking_mode_comparison/e1b_only/inav_collection_report.md new file mode 100644 index 0000000..4e7e648 --- /dev/null +++ b/reports/e1_tracking_mode_comparison/e1b_only/inav_collection_report.md @@ -0,0 +1,11 @@ +# Galileo I/NAV collection report + +The standalone decoder consumed tracked E1B prompts only; simulator ephemeris and time truth were not inputs. + +| PRN | Tracking | Symbol sync | Page sync | CRC pages | Complete ephemeris | Clock | Time | Ready | +| --: | -------: | ----------: | --------: | --------: | -----------------: | ----: | ---: | ----: | +| 1 | PLL_TRACK | True | 31 | 15 | True | True | True | True | +| 4 | PLL_TRACK | True | 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 | diff --git a/reports/e1_tracking_mode_comparison/e1c_pilot_aided_e1b/inav_collection_report.json b/reports/e1_tracking_mode_comparison/e1c_pilot_aided_e1b/inav_collection_report.json new file mode 100644 index 0000000..618893d --- /dev/null +++ b/reports/e1_tracking_mode_comparison/e1c_pilot_aided_e1b/inav_collection_report.json @@ -0,0 +1,831 @@ +{ + "decoder_truth_inputs": [], + "tracking_architecture": "e1c_pilot_aided_e1b", + "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": "e1c_pilot_aided_e1b", + "acquisition_component": "E1C", + 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"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 +} diff --git a/reports/e1_tracking_mode_comparison/e1c_pilot_aided_e1b/inav_collection_report.md b/reports/e1_tracking_mode_comparison/e1c_pilot_aided_e1b/inav_collection_report.md new file mode 100644 index 0000000..4e7e648 --- /dev/null +++ b/reports/e1_tracking_mode_comparison/e1c_pilot_aided_e1b/inav_collection_report.md @@ -0,0 +1,11 @@ +# Galileo I/NAV collection report + +The standalone decoder consumed tracked E1B prompts only; simulator ephemeris and time truth were not inputs. + +| PRN | Tracking | Symbol sync | Page sync | CRC pages | Complete ephemeris | Clock | Time | Ready | +| --: | -------: | ----------: | --------: | --------: | -----------------: | ----: | ---: | ----: | +| 1 | PLL_TRACK | True | 31 | 15 | True | True | True | True | +| 4 | PLL_TRACK | True | 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 | diff --git a/src/galileo_rx/cli.py b/src/galileo_rx/cli.py index 07ae714..e206a4a 100644 --- a/src/galileo_rx/cli.py +++ b/src/galileo_rx/cli.py @@ -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) diff --git a/src/galileo_rx/config.py b/src/galileo_rx/config.py index 98dbfd7..f38138d 100644 --- a/src/galileo_rx/config.py +++ b/src/galileo_rx/config.py @@ -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) diff --git a/src/galileo_rx/diagnostics/boc_lock_validation.py b/src/galileo_rx/diagnostics/boc_lock_validation.py new file mode 100644 index 0000000..263c844 --- /dev/null +++ b/src/galileo_rx/diagnostics/boc_lock_validation.py @@ -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 diff --git a/src/galileo_rx/diagnostics/lock_analysis.py b/src/galileo_rx/diagnostics/lock_analysis.py new file mode 100644 index 0000000..4a5ca2c --- /dev/null +++ b/src/galileo_rx/diagnostics/lock_analysis.py @@ -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) diff --git a/src/galileo_rx/navigation/collection.py b/src/galileo_rx/navigation/collection.py index f8e55f7..26b69d8 100644 --- a/src/galileo_rx/navigation/collection.py +++ b/src/galileo_rx/navigation/collection.py @@ -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), diff --git a/src/galileo_rx/tracking/correlator.py b/src/galileo_rx/tracking/correlator.py index cb33ad2..6a2def8 100644 --- a/src/galileo_rx/tracking/correlator.py +++ b/src/galileo_rx/tracking/correlator.py @@ -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, diff --git a/src/galileo_rx/tracking/lock_detector.py b/src/galileo_rx/tracking/lock_detector.py index c82b0e8..a79cdf3 100644 --- a/src/galileo_rx/tracking/lock_detector.py +++ b/src/galileo_rx/tracking/lock_detector.py @@ -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, + ) diff --git a/src/galileo_rx/tracking/pilot_aided_e1.py b/src/galileo_rx/tracking/pilot_aided_e1.py new file mode 100644 index 0000000..b340328 --- /dev/null +++ b/src/galileo_rx/tracking/pilot_aided_e1.py @@ -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) + ] diff --git a/src/galileo_rx/tracking/tracking_channel.py b/src/galileo_rx/tracking/tracking_channel.py index d46a815..2e82849 100644 --- a/src/galileo_rx/tracking/tracking_channel.py +++ b/src/galileo_rx/tracking/tracking_channel.py @@ -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) diff --git a/src/galileo_rx/types.py b/src/galileo_rx/types.py index 1fd3d25..9b2741b 100644 --- a/src/galileo_rx/types.py +++ b/src/galileo_rx/types.py @@ -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) diff --git a/tests/integration/test_signalsim_e1c_pilot_aided_tracking.py b/tests/integration/test_signalsim_e1c_pilot_aided_tracking.py new file mode 100644 index 0000000..a1e47a3 --- /dev/null +++ b/tests/integration/test_signalsim_e1c_pilot_aided_tracking.py @@ -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 diff --git a/tests/unit/test_boc_lock_calibration.py b/tests/unit/test_boc_lock_calibration.py new file mode 100644 index 0000000..8c7af5f --- /dev/null +++ b/tests/unit/test_boc_lock_calibration.py @@ -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 diff --git a/tests/unit/test_lock_detector.py b/tests/unit/test_lock_detector.py index ebf7730..5ab1742 100644 --- a/tests/unit/test_lock_detector.py +++ b/tests/unit/test_lock_detector.py @@ -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 diff --git a/tools/analyze_signalsim_tracking_lock.py b/tools/analyze_signalsim_tracking_lock.py new file mode 100644 index 0000000..12e0781 --- /dev/null +++ b/tools/analyze_signalsim_tracking_lock.py @@ -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()) diff --git a/tools/compare_e1_tracking_modes.py b/tools/compare_e1_tracking_modes.py new file mode 100644 index 0000000..7fed102 --- /dev/null +++ b/tools/compare_e1_tracking_modes.py @@ -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()) diff --git a/tools/write_boc_lock_report.py b/tools/write_boc_lock_report.py new file mode 100644 index 0000000..a76b0a8 --- /dev/null +++ b/tools/write_boc_lock_report.py @@ -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()) diff --git a/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_01/crc_valid_pages.bin b/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_01/crc_valid_pages.bin new file mode 100644 index 0000000..ca31a44 Binary files /dev/null and b/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_01/crc_valid_pages.bin differ diff --git a/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_01/decoder_summary.json b/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_01/decoder_summary.json new file mode 100644 index 0000000..0a8356a --- /dev/null +++ b/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_01/decoder_summary.json @@ -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 + } + } +} diff --git a/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_01/ephemeris.json b/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_01/ephemeris.json new file mode 100644 index 0000000..ac734c9 --- /dev/null +++ b/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_01/ephemeris.json @@ -0,0 +1,29 @@ +{ + "prn": 1, + "iod_nav": 29, + "toe_s": 555000.0, + "toc_s": 555000.0, + "sqrt_a": 5440.600309371948, + "eccentricity": 7.992994505912066e-05, + "inclination_rad": 0.9780546728858021, + "omega0_rad": 0.1817990533460104, + "argument_of_perigee_rad": -1.4927534274463103, + "mean_anomaly_rad": 1.763453196161098, + 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and b/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_01/hard_symbols.bin differ diff --git a/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_01/parsed_words.jsonl b/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_01/parsed_words.jsonl new file mode 100644 index 0000000..3726fba --- /dev/null +++ b/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_01/parsed_words.jsonl @@ -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, 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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, 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{"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} diff --git a/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_01/prompt_epochs.npz b/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_01/prompt_epochs.npz new file mode 100644 index 0000000..75db537 Binary files /dev/null and b/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_01/prompt_epochs.npz differ diff --git a/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_01/soft_symbols.npy b/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_01/soft_symbols.npy new file mode 100644 index 0000000..7dfd2fd Binary files /dev/null and b/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_01/soft_symbols.npy differ diff --git a/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_01/synchronized_pages.jsonl b/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_01/synchronized_pages.jsonl new file mode 100644 index 0000000..f168c05 --- /dev/null +++ b/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_01/synchronized_pages.jsonl @@ -0,0 +1,31 @@ +{"end_sample_timestamp": 8520515, "hard_symbols": [0, 1, 0, 1, 1, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 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, 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b/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_04/prompt_epochs.npz differ diff --git a/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_04/soft_symbols.npy b/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_04/soft_symbols.npy new file mode 100644 index 0000000..2ab680c Binary files /dev/null and b/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_04/soft_symbols.npy differ diff --git a/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_04/synchronized_pages.jsonl b/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_04/synchronized_pages.jsonl new file mode 100644 index 0000000..92017fc --- /dev/null +++ b/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_04/synchronized_pages.jsonl @@ -0,0 +1,31 @@ +{"end_sample_timestamp": 8532707, "hard_symbols": [0, 1, 0, 1, 1, 0, 0, 0, 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, 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a/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_21/parsed_words.jsonl b/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_21/parsed_words.jsonl new file mode 100644 index 0000000..1667804 --- /dev/null +++ b/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_21/parsed_words.jsonl @@ -0,0 +1,6 @@ +{"crc_valid": true, "health_valid": true, "iod_nav": 29, "payload": {"eccentricity": 3.8767699152231216e-05, "eccentricity_raw": 333012, "iod_nav": 29, "mean_anomaly_rad": -2.7956633818013814, "mean_anomaly_raw": -1911018410, "sqrt_a": 5440.612789154053, "sqrt_a_raw": 2852447998, "toe_raw": 9250, "toe_s": 555000.0}, "prn": 21, "raw_bits": [0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 0, 1, 1, 0, 0, 0, 1, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 1, 0, 1, 0, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1, 0, 1, 0, 1, 0, 1, 0, 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a/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_21/soft_symbols.npy b/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_21/soft_symbols.npy new file mode 100644 index 0000000..5ab5b02 Binary files /dev/null and b/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_21/soft_symbols.npy differ diff --git a/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_21/synchronized_pages.jsonl b/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_21/synchronized_pages.jsonl new file mode 100644 index 0000000..0f9cdae --- /dev/null +++ b/verification/navigation/signalsim_navigation_multisat_e1b_only/prn_21/synchronized_pages.jsonl @@ -0,0 +1,31 @@ +{"end_sample_timestamp": 8506780, "hard_symbols": [0, 1, 0, 1, 1, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 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, 1, 1, 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a/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_01/parsed_words.jsonl b/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_01/parsed_words.jsonl new file mode 100644 index 0000000..3726fba --- /dev/null +++ b/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_01/parsed_words.jsonl @@ -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, 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a/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_21/hard_symbols.bin b/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_21/hard_symbols.bin new file mode 100644 index 0000000..870d249 Binary files /dev/null and b/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_21/hard_symbols.bin differ diff --git a/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_21/parsed_words.jsonl b/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_21/parsed_words.jsonl new file mode 100644 index 0000000..1667804 --- /dev/null +++ b/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_21/parsed_words.jsonl @@ -0,0 +1,6 @@ +{"crc_valid": true, "health_valid": true, "iod_nav": 29, "payload": {"eccentricity": 3.8767699152231216e-05, "eccentricity_raw": 333012, "iod_nav": 29, "mean_anomaly_rad": -2.7956633818013814, "mean_anomaly_raw": -1911018410, 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a/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_21/prompt_epochs.npz b/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_21/prompt_epochs.npz new file mode 100644 index 0000000..b3657f1 Binary files /dev/null and b/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_21/prompt_epochs.npz differ diff --git a/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_21/soft_symbols.npy b/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_21/soft_symbols.npy new file mode 100644 index 0000000..4d5ed67 Binary files /dev/null and b/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_21/soft_symbols.npy differ diff --git a/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_21/synchronized_pages.jsonl b/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_21/synchronized_pages.jsonl new 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a/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_27/hard_symbols.bin b/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_27/hard_symbols.bin new file mode 100644 index 0000000..0066260 Binary files /dev/null and b/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_27/hard_symbols.bin differ diff --git a/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_27/parsed_words.jsonl b/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_27/parsed_words.jsonl new file mode 100644 index 0000000..361eca2 --- /dev/null +++ b/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_27/parsed_words.jsonl @@ -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, 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a/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_27/prompt_epochs.npz b/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_27/prompt_epochs.npz new file mode 100644 index 0000000..eae8234 Binary files /dev/null and b/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_27/prompt_epochs.npz differ diff --git a/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_27/soft_symbols.npy b/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_27/soft_symbols.npy new file mode 100644 index 0000000..387dd90 Binary files /dev/null and b/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_27/soft_symbols.npy differ diff --git a/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_27/synchronized_pages.jsonl b/verification/navigation/signalsim_navigation_multisat_e1c_pilot_aided_e1b/prn_27/synchronized_pages.jsonl new 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