feat(gps): split Doppler paths for ESKF and PPS

2026-07-26 01:59:08 +03:00
parent 49b8609bb4
commit 23650be635
35 changed files with 3884 additions and 82 deletions
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+# GPS code measurement model sonuçları
+
+Monte Carlo seed sayısı: `12`. İlk 5 saniye metriklere alınmadı.
+
+## Yöntem karşılaştırması
+
+| Senaryo | Yöntem | 3D RMS (m) | Mevcuda göre | P95 (m) | Valid (%) | >25 m false-valid (%) |
+|---|---|---:|---:|---:|---:|---:|
+| clean_open_sky | Mevcut C/N0 | 10.05 | +0.0% | 17.35 | 100.0 | 0.31 |
+| clean_open_sky | Naif DLL ekle | 10.02 | +0.3% | 17.25 | 100.0 | 0.31 |
+| clean_open_sky | DLL excess | 10.05 | +0.0% | 17.32 | 100.0 | 0.33 |
+| clean_open_sky | DLL excess+mean | 10.05 | +0.0% | 17.32 | 100.0 | 0.33 |
+| clean_open_sky | Oracle variance | 10.05 | +0.0% | 17.35 | 100.0 | 0.31 |
+| weak_signal | Mevcut C/N0 | 32.73 | +0.0% | 56.44 | 100.0 | 56.31 |
+| weak_signal | Naif DLL ekle | 32.31 | +1.3% | 55.46 | 100.0 | 56.18 |
+| weak_signal | DLL excess | 32.65 | +0.3% | 56.12 | 100.0 | 56.22 |
+| weak_signal | DLL excess+mean | 32.65 | +0.3% | 56.12 | 100.0 | 56.22 |
+| weak_signal | Oracle variance | 32.73 | +0.0% | 56.44 | 100.0 | 56.31 |
+| one_channel_hidden_jitter | Mevcut C/N0 | 12.27 | +0.0% | 19.94 | 100.0 | 1.07 |
+| one_channel_hidden_jitter | Naif DLL ekle | 10.49 | +14.5% | 17.75 | 100.0 | 0.33 |
+| one_channel_hidden_jitter | DLL excess | 10.47 | +14.7% | 17.68 | 100.0 | 0.33 |
+| one_channel_hidden_jitter | DLL excess+mean | 10.47 | +14.7% | 17.68 | 100.0 | 0.33 |
+| one_channel_hidden_jitter | Oracle variance | 10.46 | +14.7% | 17.74 | 100.0 | 0.33 |
+| common_hidden_jitter | Mevcut C/N0 | 33.79 | +0.0% | 59.76 | 94.8 | 52.40 |
+| common_hidden_jitter | Naif DLL ekle | 27.61 | +18.3% | 47.56 | 100.0 | 43.93 |
+| common_hidden_jitter | DLL excess | 27.69 | +18.1% | 47.83 | 100.0 | 43.89 |
+| common_hidden_jitter | DLL excess+mean | 27.69 | +18.1% | 47.83 | 100.0 | 43.89 |
+| common_hidden_jitter | Oracle variance | 27.74 | +17.9% | 47.83 | 100.0 | 43.87 |
+| noise_burst_recovery | Mevcut C/N0 | 12.96 | +0.0% | 22.13 | 98.9 | 2.58 |
+| noise_burst_recovery | Naif DLL ekle | 10.52 | +18.8% | 18.03 | 100.0 | 0.53 |
+| noise_burst_recovery | DLL excess | 10.49 | +19.0% | 18.00 | 100.0 | 0.49 |
+| noise_burst_recovery | DLL excess+mean | 10.49 | +19.0% | 18.00 | 100.0 | 0.49 |
+| noise_burst_recovery | Oracle variance | 10.47 | +19.2% | 17.90 | 100.0 | 0.49 |
+| dll_transient_stress | Mevcut C/N0 | 10.15 | +0.0% | 17.43 | 100.0 | 0.36 |
+| dll_transient_stress | Naif DLL ekle | 10.12 | +0.3% | 17.33 | 100.0 | 0.38 |
+| dll_transient_stress | DLL excess | 10.14 | +0.0% | 17.38 | 100.0 | 0.38 |
+| dll_transient_stress | DLL excess+mean | 10.12 | +0.2% | 17.37 | 100.0 | 0.33 |
+| dll_transient_stress | Oracle variance | 10.15 | +0.0% | 17.43 | 100.0 | 0.36 |
+| stable_multipath_bias | Mevcut C/N0 | 12.55 | +0.0% | 21.00 | 100.0 | 1.67 |
+| stable_multipath_bias | Naif DLL ekle | 12.39 | +1.3% | 20.87 | 100.0 | 1.47 |
+| stable_multipath_bias | DLL excess | 12.54 | +0.1% | 21.02 | 100.0 | 1.64 |
+| stable_multipath_bias | DLL excess+mean | 12.54 | +0.1% | 21.02 | 100.0 | 1.64 |
+| stable_multipath_bias | Oracle variance | 12.55 | +0.0% | 21.00 | 100.0 | 1.67 |
+| mixed_multipath | Mevcut C/N0 | 14.43 | +0.0% | 25.38 | 100.0 | 5.64 |
+| mixed_multipath | Naif DLL ekle | 11.26 | +22.0% | 19.60 | 100.0 | 0.73 |
+| mixed_multipath | DLL excess | 11.07 | +23.3% | 19.23 | 100.0 | 0.73 |
+| mixed_multipath | DLL excess+mean | 11.07 | +23.3% | 19.23 | 100.0 | 0.73 |
+| mixed_multipath | Oracle variance | 11.06 | +23.4% | 19.20 | 100.0 | 0.73 |
+| poor_geometry_hidden_jitter | Mevcut C/N0 | 293.82 | +0.0% | 574.96 | 100.0 | 94.31 |
+| poor_geometry_hidden_jitter | Naif DLL ekle | 206.13 | +29.8% | 405.15 | 100.0 | 92.42 |
+| poor_geometry_hidden_jitter | DLL excess | 196.87 | +33.0% | 390.64 | 100.0 | 91.40 |
+| poor_geometry_hidden_jitter | DLL excess+mean | 196.87 | +33.0% | 390.64 | 100.0 | 91.40 |
+| poor_geometry_hidden_jitter | Oracle variance | 196.20 | +33.2% | 386.58 | 100.0 | 91.27 |
+| cn0_step_recovery | Mevcut C/N0 | 22.59 | +0.0% | 47.95 | 100.0 | 21.62 |
+| cn0_step_recovery | Naif DLL ekle | 22.27 | +1.4% | 47.59 | 100.0 | 21.42 |
+| cn0_step_recovery | DLL excess | 22.59 | -0.0% | 47.91 | 100.0 | 21.49 |
+| cn0_step_recovery | DLL excess+mean | 22.59 | -0.0% | 47.91 | 100.0 | 21.49 |
+| cn0_step_recovery | Oracle variance | 22.59 | +0.0% | 47.95 | 100.0 | 21.62 |
+
+## Modelden çıkan karar özeti
+
+- C/N0 ile uyumlu nominal DLL jitter'da `dll_excess`, mevcut çözümü değiştirmemelidir.
+- Bütün measurement sigmaları aynı sabitle çarpılırsa WLS konum noktası değişmez; yalnız covariance/integrity değişir. Fakat ortak DLL jitter çarpanı, C/N0/elevation bileşimi kanaldan kanala farklı olduğu için toplam sigmaları eşit oranda büyütmez.
+- Kanal-bağımlı ve C/N0'da görünmeyen excess jitter varsa dinamik sigma o kanalı down-weight ederek konumu iyileştirebilir.
+- Stable multipath bias düşük DLL variance bırakabildiği için variance-only yöntem çözüm değildir.
+- 50 Hz'de DLL ratio alpha=0.10 yaklaşık 0.19 s zaman sabiti ve 0.57 s yüzde-95 geçiş verir.
+- Aşağıdaki yüzdeler seçilen sentetik hata büyüklüklerine koşulludur; kart için kazanç tahmini değildir.
+
+## Bozulma penceresi odaklı 3D RMS
+
+| Senaryo/pencere | Mevcut (m) | DLL excess (m) | DLL excess+mean (m) | Oracle variance (m) |
+|---|---:|---:|---:|---:|
+| noise_burst_recovery [22,45) s | 17.83 | 11.36 | 11.36 | 11.30 |
+| dll_transient_stress [25,34) s | 10.83 | 10.82 | 10.65 | 10.83 |
+| cn0_step_recovery [5,30) s | 36.48 | 36.48 | 36.48 | 36.48 |
+
+## Code smoothing ve carrier CFO
+
+| Carrier-rate koşulu | Ham RMSE (m) | Kör IIR RMSE (m) | Raw Doppler RMSE (m) | FW-IIR Doppler RMSE (m) | Kör IIR peak (m) | Raw Doppler peak (m) | FW-IIR Doppler peak (m) |
+|---|---:|---:|---:|---:|---:|---:|---:|
+| cfo_compensated | 3.99 | 248.61 | 0.94 | 16.42 | 414.08 | 2.05 | 84.13 |
+| cfo_residual_0p5_mps | 3.99 | 248.61 | 1.30 | 16.41 | 414.08 | 2.57 | 83.23 |
+| cfo_residual_3_mps | 3.99 | 248.61 | 5.48 | 17.06 | 414.08 | 7.07 | 78.73 |
+
+## Yorum sınırları
+
+- `current_cn0`, firmware'deki URA/elevation/C/N0 sigma modelidir.
+- `naive_add_dll`, aynı thermal jitter'ı iki kere saymanın negatif kontrolüdür.
+- `dll_excess`, yalnız ölçülen DLL variance'ın C/N0 beklentisini aşan kısmını code variance'a ekler.
+- `dll_excess_guard`, variance'a ek olarak sürekli discriminator mean stress'ini kullanır.
+- `oracle_variance`, sentetik gerçek jitter çarpanını bilir; yalnız variance kaynakları için erişilebilir üst sınırdır, bias'ı bilmez.
+- Stable multipath DLL'nin yeni denge noktasında düşük residual variance bırakabilir. Bu nedenle variance-only yönteminin onu çözmesi beklenmez.
+- Discriminator gürültü ölçeği kart correlator kayıtları gelene kadar kalibrasyon varsayımıdır; oran tabanlı yöntem mutlak ölçeğe göre daha az hassastır.
+- Sonuçlar bitstream veya firmware değişikliği değildir; karar öncesi executable tasarım keşfidir.
@@ -0,0 +1,65 @@
+# Doppler WLS -> ESKF model sonuçları
+
+Monte Carlo seed sayısı: `20`; ilk 5 saniye RMS metriklerinden çıkarıldı.
+50 Hz tracking, önceki `alpha=0.05` Doppler IIR, 5 Hz dört-state velocity WLS, fusion adapter'ın `2/2/3 m/s` ENU sigma tabanları, TDK profiliyle 100 Hz IMU propagation ve 3-DOF `%99.9` NIS kapısı modellenmiştir.
+
+## Sonuç tablosu
+
+| Senaryo | Yol | ESKF RMS (m/s) | Dynamic RMS | WLS RMS | Accept (%) | 95% cov. (%) | Exclude (%) |
+|---|---|---:|---:|---:|---:|---:|---:|
+| steady_cruise | Önceki sabit IIR | 0.182 | - | 0.068 | 100.0 | 100.0 | 0.0 |
+| steady_cruise | Ham Doppler + ESKF | 0.190 | - | 0.416 | 100.0 | 100.0 | 0.0 |
+| steady_cruise | Adaptif IIR + ESKF | 0.182 | - | 0.068 | 100.0 | 100.0 | 0.0 |
+| steady_cruise | Ham + robust WLS + ESKF | 0.190 | - | 0.416 | 100.0 | 100.0 | 0.0 |
+| airliner_maneuver | Önceki sabit IIR | 0.416 | 0.438 | 0.440 | 100.0 | 99.7 | 0.0 |
+| airliner_maneuver | Ham Doppler + ESKF | 0.190 | 0.179 | 0.416 | 100.0 | 100.0 | 0.0 |
+| airliner_maneuver | Adaptif IIR + ESKF | 0.194 | 0.189 | 0.135 | 100.0 | 100.0 | 0.0 |
+| airliner_maneuver | Ham + robust WLS + ESKF | 0.190 | 0.179 | 0.416 | 100.0 | 100.0 | 0.0 |
+| aggressive_maneuver | Önceki sabit IIR | 0.942 | 0.919 | 1.178 | 100.0 | 55.9 | 0.0 |
+| aggressive_maneuver | Ham Doppler + ESKF | 0.190 | 0.186 | 0.416 | 100.0 | 100.0 | 0.0 |
+| aggressive_maneuver | Adaptif IIR + ESKF | 0.200 | 0.197 | 0.171 | 100.0 | 100.0 | 0.0 |
+| aggressive_maneuver | Ham + robust WLS + ESKF | 0.190 | 0.186 | 0.416 | 100.0 | 100.0 | 0.0 |
+| low_cn0_airliner | Önceki sabit IIR | 0.419 | 0.443 | 0.485 | 100.0 | 99.7 | 0.0 |
+| low_cn0_airliner | Ham Doppler + ESKF | 0.251 | 0.242 | 1.317 | 100.0 | 100.0 | 0.0 |
+| low_cn0_airliner | Adaptif IIR + ESKF | 0.206 | 0.203 | 0.338 | 100.0 | 100.0 | 0.0 |
+| low_cn0_airliner | Ham + robust WLS + ESKF | 0.251 | 0.242 | 1.317 | 100.0 | 100.0 | 0.0 |
+| single_satellite_outliers | Önceki sabit IIR | 0.495 | 0.478 | 1.146 | 100.0 | 97.7 | 0.0 |
+| single_satellite_outliers | Ham Doppler + ESKF | 0.257 | 0.229 | 1.451 | 100.0 | 100.0 | 0.0 |
+| single_satellite_outliers | Adaptif IIR + ESKF | 0.356 | 0.312 | 1.154 | 100.0 | 100.0 | 0.0 |
+| single_satellite_outliers | Ham + robust WLS + ESKF | 0.191 | 0.179 | 0.418 | 100.0 | 100.0 | 2.9 |
+| clock_drift_steps | Önceki sabit IIR | 0.416 | 0.438 | 0.440 | 100.0 | 99.7 | 0.0 |
+| clock_drift_steps | Ham Doppler + ESKF | 0.190 | 0.179 | 0.416 | 100.0 | 100.0 | 0.0 |
+| clock_drift_steps | Adaptif IIR + ESKF | 0.194 | 0.189 | 0.135 | 100.0 | 100.0 | 0.0 |
+| clock_drift_steps | Ham + robust WLS + ESKF | 0.190 | 0.179 | 0.416 | 100.0 | 100.0 | 0.0 |
+| gps_gap_recovery | Önceki sabit IIR | 0.397 | 0.413 | 0.431 | 100.0 | 99.9 | 0.0 |
+| gps_gap_recovery | Ham Doppler + ESKF | 0.208 | 0.192 | 0.417 | 100.0 | 100.0 | 0.0 |
+| gps_gap_recovery | Adaptif IIR + ESKF | 0.208 | 0.197 | 0.129 | 100.0 | 100.0 | 0.0 |
+| gps_gap_recovery | Ham + robust WLS + ESKF | 0.208 | 0.192 | 0.417 | 100.0 | 100.0 | 0.0 |
+| mixed_flight_faults | Önceki sabit IIR | 0.940 | 0.913 | 1.515 | 100.0 | 60.4 | 0.0 |
+| mixed_flight_faults | Ham Doppler + ESKF | 0.224 | 0.209 | 1.498 | 100.0 | 100.0 | 0.0 |
+| mixed_flight_faults | Adaptif IIR + ESKF | 0.295 | 0.275 | 0.838 | 100.0 | 99.9 | 0.0 |
+| mixed_flight_faults | Ham + robust WLS + ESKF | 0.221 | 0.206 | 1.013 | 100.0 | 100.0 | 1.9 |
+
+## Bulgular
+
+- Sabit hızda pre-IIR ESKF RMS'i `0.182` m/s, ham yol `0.190` m/s. Yani pre-IIR sakin durumda daha düzgün çıktı veriyor; ESKF ham gürültüyü zaten `0.416` m/s WLS RMS'ten bu seviyeye indiriyor.
+- Airliner manevrasında sabit IIR `0.416` m/s ve `%0.0` NIS ret oranı verirken ham yol `0.190` m/s ve `%0.0` ret verdi. Konservatif adapter tabanları rejection'ı sınırlasa bile covariance'ın temsil etmediği IIR gecikmesi fused velocity'de dinamik hata bırakır.
+- Düşük C/N0 manevrasında sabit/ham/adaptif RMS sırasıyla `0.419`, `0.251`, `0.206` m/s oldu. Adaptif yol bu sentetik koşulda gürültü/gecikme uzlaşmasını sağladı; gerçek eşikler kart verisi ister.
+- Tek uydu burst'ünde raw WLS RMS `1.451` m/s, robust leave-one-out ile `0.418` m/s. ESKF son RMS farkı daha küçük; çünkü mevcut residual covariance inflation aggregate hatayı zaten zayıflatıyor. Robust kapı yine de hatalı kanalı bütün epoch'u reddetmeden ayırır.
+- Common clock-drift step raw velocity RMS'ini bozmadı; clock-drift state RMS'i `0.269` m/s. Dördüncü WLS bilinmeyeni ortak frekans hatasını üç hız bileşeninden ayırıyor.
+
+## Mimari kararı
+
+- ESKF açıkken uygulanan ana yol: 20 ms ham Doppler snapshot -> kanal validity/outlier kontrolü -> 5 Hz robust velocity WLS + gerçek covariance -> adapter tabanları -> ESKF. Sabit `alpha=0.05` temporal IIR yalnız PPS drift-predictor yolunda kalır.
+- ESKF yalnız 3D aggregate velocity gördüğü için tek uydu hatasını sonradan teşhis edemez. Per-satellite robust gate/FDE WLS öncesinde kalmalıdır.
+- Standalone GPS speed, PPS aiding veya ESKF kapalı build için ayrı, yavaş filtrelenmiş Doppler çıktısı tutulabilir. Aynı filtered değeri hem code aiding hem ESKF velocity için kullanmak uygun değildir.
+- Adaptif IIR mümkündür; modelde C/N0 sakin-state alpha'sını, düşük geçiren IMU navigation acceleration ise dynamic alpha'yı seçer. Ancak ESKF'li ana yol için ham ölçüm daha sade ve gecikmesizdir.
+
+## Model sınırları
+
+- Sonuçlar sentetik hata büyüklüklerine koşulludur; kartta yüzde kazanç iddiası değildir.
+- Uydu geometrisi sabit sekiz-kanal local LOS modelidir. Satellite velocity/clock düzeltmelerinin doğru yapıldığı varsayılmıştır.
+- ESKF, bu soruya etki eden `[velocity, accel-bias]` alt sistemine indirgenmiştir; attitude, lever-arm ve tam position cross-covariance modellenmemiştir.
+- Tam firmware'deki position update'in velocity/accel-bias cross-covariance üzerinden sağlayabileceği kısmi recovery bu azaltılmış modelde yoktur. Bu nedenle uzun NIS-ret zincirinin mutlak büyüklüğü değil, pre-IIR'in gecikme ve ret mekanizması karar girdisidir.
+- Carrier loop gürültüsü C/N0 sigma yasasıyla üretilmiştir. Gerçek correlation, oscillator phase noise ve cycle slip dağılımları kart loguyla kalibre edilmelidir.
+- Robust WLS'nin `3.5 sigma`, en az altı uydu ve bütün tek-kanal leave-one-out seçimi C implementasyonuyla aynıdır. RTL değişmez; raw/filtered ayrımı firmware'dedir.
@@ -0,0 +1,33 @@
+scenario,path,seeds,fused_rms_mps,fused_rms_seed_std_mps,fused_p95_mps,quiet_rms_mps,dynamic_rms_mps,wls_rms_mps,wls_p95_mps,clock_drift_rms_mps,velocity_accept_percent,nis_reject_percent,fused_95_coverage_percent,excluded_epoch_percent,mean_covariance_scale,mean_alpha
+steady_cruise,fixed_iir_wls_eskf,20,0.1821998934975134,0.040897665127266884,0.27466022199861373,0.1821998934975134,nan,0.0681533332956358,0.11645920599554568,0.04445747832784426,100.0,0.0,100.0,0.0,1.0000030764799477,0.05000000000000001
+steady_cruise,raw_wls_eskf,20,0.19046432375253602,0.040009781644375395,0.28906917942032884,0.19046432375253602,nan,0.4164164729808367,0.720889200812689,0.268944777665747,100.0,0.0,100.0,0.0,1.2633800541343088,1.0
+steady_cruise,adaptive_iir_wls_eskf,20,0.1821998934975134,0.040897665127266884,0.27466022199861373,0.1821998934975134,nan,0.0681533332956358,0.11645920599554568,0.04445747832784426,100.0,0.0,100.0,0.0,1.0000030764799477,0.05000000000000001
+steady_cruise,raw_robust_wls_eskf,20,0.19046432375253602,0.040009781644375395,0.28906917942032884,0.19046432375253602,nan,0.4164164729808367,0.720889200812689,0.268944777665747,100.0,0.0,100.0,0.0,1.2633800541343088,1.0
+airliner_maneuver,fixed_iir_wls_eskf,20,0.41605194656716626,0.04357555329949249,0.7083141902703941,0.4019739347287984,0.4380205569605863,0.440222331186762,0.9391237648850084,0.04445747832784397,100.0,0.0,99.71411764705883,0.0,1.0000030764799477,0.05000000000000001
+airliner_maneuver,raw_wls_eskf,20,0.19046432375253933,0.04000978164437598,0.28906917942032373,0.196483054968526,0.1789145728432288,0.4164164729808368,0.720889200812707,0.2689447776657465,100.0,0.0,100.0,0.0,1.2633800541343085,1.0
+airliner_maneuver,adaptive_iir_wls_eskf,20,0.19421091770965,0.04161706926344872,0.2913238026993562,0.19649429208827177,0.18911500227901482,0.1349904626304289,0.2634780317604405,0.06996150326971154,100.0,0.0,100.0,0.0,1.0000030764799477,0.11647550111358576
+airliner_maneuver,raw_robust_wls_eskf,20,0.19046432375253933,0.04000978164437598,0.28906917942032373,0.196483054968526,0.1789145728432288,0.4164164729808368,0.720889200812707,0.2689447776657465,100.0,0.0,100.0,0.0,1.2633800541343085,1.0
+aggressive_maneuver,fixed_iir_wls_eskf,20,0.9420862291590975,0.03697606175587584,1.7661046896298587,0.9551353937753919,0.918769792345089,1.1782538620062029,2.634559496211176,0.04445747832784312,100.0,0.0,55.891176470588235,0.0,1.0000030764799477,0.05000000000000001
+aggressive_maneuver,raw_wls_eskf,20,0.19046432375254996,0.04000978164436178,0.2890691794203225,0.1928303776618579,0.18561935253806933,0.41641647298083734,0.7208892008127159,0.2689447776657467,100.0,0.0,100.0,0.0,1.2633800541343083,1.0
+aggressive_maneuver,adaptive_iir_wls_eskf,20,0.20034438129208682,0.04215736847319882,0.3027038479248761,0.2017392380134829,0.19713256311771804,0.17059135831478262,0.3555978539018994,0.08938088837068828,100.0,0.0,100.0,0.0,1.0001185178364316,0.17603563474387524
+aggressive_maneuver,raw_robust_wls_eskf,20,0.19046432375254996,0.04000978164436178,0.2890691794203225,0.1928303776618579,0.18561935253806933,0.41641647298083734,0.7208892008127159,0.2689447776657467,100.0,0.0,100.0,0.0,1.2633800541343083,1.0
+low_cn0_airliner,fixed_iir_wls_eskf,20,0.4194988293998554,0.04110688289349549,0.7094271250760412,0.4045729059455276,0.4427791039662977,0.4845544319763686,0.9431345662991619,0.14058689054355467,100.0,0.0,99.74176470588235,0.0,1.0000281042403611,0.05000000000000001
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+low_cn0_airliner,adaptive_iir_wls_eskf,20,0.20588009483954214,0.040099541607423995,0.3090368268997948,0.2069944088941925,0.20293127741446826,0.337603473203961,0.684354700050294,0.21325106769335284,100.0,0.0,100.0,0.0,1.0000902389090656,0.1040055679287305
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@@ -0,0 +1,51 @@
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