Add BOC-aware lock detection and E1C-aided tracking

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