fix(gps): adapt Doppler bandwidth from board validation

2026-07-26 03:15:52 +03:00
parent 23650be635
commit 156cfc8b77
24 changed files with 592 additions and 49 deletions
@@ -59,6 +59,90 @@ def noisy_observations(


 class AdaptivePpsTests(unittest.TestCase):
+    def test_board_calibrated_doppler_predictor_reduces_pps_error(self):
+        """Genesys2 WLS statistics: predictor-on must beat fallback-only."""
+        quality_metrics = QualityMetrics(
+            1.50, 2.92, 15.87, 40.3, 34.8, 0.35, 0.23, 7
+        )
+        aided_phase_rms = []
+        fallback_phase_rms = []
+        aided_edge_jitter = []
+        fallback_edge_jitter = []
+        for seed in range(8):
+            rng = random.Random(7300 + seed)
+            observations = []
+            for update in range(900):
+                time_s = 0.2 * update
+                long_omega = 2.0 * math.pi / 75.0
+                short_omega = 2.0 * math.pi / 19.0
+                varying_drift_mps = (
+                    5.0 * math.sin(long_omega * time_s)
+                    + 2.0 * math.sin(short_omega * time_s)
+                )
+                varying_bias_m = (
+                    5.0 * (1.0 - math.cos(long_omega * time_s)) / long_omega
+                    + 2.0 * (1.0 - math.cos(short_omega * time_s))
+                    / short_omega
+                )
+                # 15.87 m / c = 52.94 ns; 3.47 m/s is the measured
+                # board standard deviation of the reference bias drift.
+                noise_s = rng.gauss(0.0, 15.87 / 299_792_458.0)
+                if update % 113 == 0 and update != 0:
+                    noise_s += rng.choice((-1.0, 1.0)) * 120.0e-9
+                observations.append(
+                    Observation(
+                        time_s,
+                        noise_s,
+                        varying_drift_mps + rng.gauss(0.0, 3.47),
+                        quality_metrics,
+                        True,
+                        -291.75,
+                        1,
+                        varying_bias_m,
+                    )
+                )
+            aided = run_observations(
+                observations,
+                finish_time_s=180.0,
+                oscillator_ppm=1.592,
+            )
+            fallback = run_observations(
+                [
+                    Observation(
+                        item.time_s,
+                        item.timing_error_s,
+                        item.clock_drift_error_mps,
+                        item.quality,
+                        False,
+                        item.reference_range_rate_mps,
+                        item.reference_id,
+                        item.reference_datum_offset_m,
+                    )
+                    for item in observations
+                ],
+                finish_time_s=180.0,
+                oscillator_ppm=1.592,
+            )
+            aided_phase_rms.append(aided.phase_rms(after_s=60.0))
+            fallback_phase_rms.append(fallback.phase_rms(after_s=60.0))
+            aided_edge_jitter.append(
+                aided.one_second_edge_jitter_rms(after_s=60.0)
+            )
+            fallback_edge_jitter.append(
+                fallback.one_second_edge_jitter_rms(after_s=60.0)
+            )
+            self.assertEqual(aided.unlock_events, 0)
+
+        self.assertLess(
+            sum(aided_phase_rms) / len(aided_phase_rms),
+            0.35 * sum(fallback_phase_rms) / len(fallback_phase_rms),
+        )
+        self.assertLess(
+            sum(aided_edge_jitter) / len(aided_edge_jitter),
+            0.70 * sum(fallback_edge_jitter) / len(fallback_edge_jitter),
+        )
+        self.assertLess(max(aided_phase_rms), 30.0e-9)
+
    def test_quality_hysteresis_rejects_metric_chatter(self):
        selector = QualitySelector()
        for _ in range(7):