fix(gps): adapt Doppler bandwidth from board validation

soc/software/gps_measurement_python/test_doppler_eskf_model.py

@@ -2,6 +2,7 @@
 
 from __future__ import annotations
 
+from dataclasses import replace
 import unittest
 
 import numpy as np
@@ -42,6 +43,19 @@ def _wls_rms(trace) -> float:
     return float(np.sqrt(np.mean(np.sum(np.square(error), axis=1))))
 
 
+def _board_raw_noise_scenario(name: str):
+    """Match the 9.17 m/s raw-WLS RMS measured on Genesys2."""
+    scenario = _scenario(name)
+    nominal_noise = scenario.noise_multiplier
+    return replace(
+        scenario,
+        name=f"{scenario.name}_genesys2_noise",
+        noise_multiplier=lambda time_s, satellite: (
+            22.0 * nominal_noise(time_s, satellite)
+        ),
+    )
+
+
 class DopplerWlsTest(unittest.TestCase):
     def test_four_state_wls_separates_velocity_and_clock_drift(self) -> None:
         velocity = np.asarray([145.0, -32.0, 7.5])
@@ -85,6 +99,56 @@ class AdaptiveAlphaTest(unittest.TestCase):
 
 
 class DopplerEskfIntegrationTest(unittest.TestCase):
+    def test_board_raw_noise_requires_adaptive_prefilter(self) -> None:
+        steady = run_doppler_eskf_scenario(
+            _board_raw_noise_scenario("steady_cruise"),
+            seed=7,
+            paths=(
+                DopplerPath.FIXED_IIR,
+                DopplerPath.ADAPTIVE_IIR,
+                DopplerPath.RAW,
+            ),
+        )
+        airliner = run_doppler_eskf_scenario(
+            _board_raw_noise_scenario("airliner_maneuver"),
+            seed=3,
+            paths=(
+                DopplerPath.FIXED_IIR,
+                DopplerPath.ADAPTIVE_IIR,
+                DopplerPath.RAW,
+            ),
+        )
+        aggressive = run_doppler_eskf_scenario(
+            _board_raw_noise_scenario("aggressive_maneuver"),
+            seed=7,
+            paths=(
+                DopplerPath.FIXED_IIR,
+                DopplerPath.ADAPTIVE_IIR,
+                DopplerPath.RAW,
+            ),
+        )
+        steady_fixed = _fused_rms(steady[DopplerPath.FIXED_IIR])
+        steady_adaptive = _fused_rms(steady[DopplerPath.ADAPTIVE_IIR])
+        steady_raw = _fused_rms(steady[DopplerPath.RAW])
+        airliner_fixed = _fused_rms(airliner[DopplerPath.FIXED_IIR])
+        airliner_adaptive = _fused_rms(airliner[DopplerPath.ADAPTIVE_IIR])
+        airliner_raw = _fused_rms(airliner[DopplerPath.RAW])
+        aggressive_fixed = _fused_rms(aggressive[DopplerPath.FIXED_IIR])
+        aggressive_adaptive = _fused_rms(
+            aggressive[DopplerPath.ADAPTIVE_IIR]
+        )
+        aggressive_raw = _fused_rms(aggressive[DopplerPath.RAW])
+
+        # Direct 20 ms snapshots are too noisy at the level actually observed
+        # on the board. Adaptive bandwidth retains the quiet-state result and
+        # beats both direct raw and the 0.39 s fixed-IIR lag in manoeuvres.
+        self.assertLess(steady_adaptive, 1.05 * steady_fixed)
+        self.assertLess(steady_adaptive, 0.50 * steady_raw)
+        self.assertLess(airliner_adaptive, airliner_fixed)
+        self.assertLess(airliner_adaptive, 0.50 * airliner_raw)
+        self.assertLess(aggressive_adaptive, 0.65 * aggressive_fixed)
+        self.assertLess(aggressive_adaptive, 0.50 * aggressive_raw)
+
     def test_eskf_filters_raw_doppler_without_pre_iir(self) -> None:
         traces = run_doppler_eskf_scenario(
             _scenario("steady_cruise"),