onur/gps
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
onur
2026-07-26 01:59:08 +03:00
parent 49b8609bb4
commit 23650be635
35 changed files with 3884 additions and 82 deletions
Download Patch File Download Diff File Expand all files Collapse all files
soc/software/gps_measurement_python/output/scenario_summary.csv
+51
View File
@@ -0,0 +1,51 @@
scenario,method,epochs,horizontal_rms_m,position_3d_rms_m,position_3d_p95_m,valid_percent,valid_3d_rms_m,horizontal_2sigma_coverage_percent,false_valid_over_25m_percent,fde_percent,mean_measurement_sigma_m
clean_open_sky,current_cn0,4500,5.778805688412197,10.054230284262685,17.35250490247279,100.0,10.054230284262685,99.97777777777777,0.3111111111111111,0.0,8.840973580918838
clean_open_sky,naive_add_dll,4500,5.768593681325036,10.022431815549082,17.253420427433362,100.0,10.022431815549082,100.0,0.3111111111111111,0.0,10.452052333958017
clean_open_sky,dll_excess,4500,5.7784464702133524,10.05299246387535,17.320782018324902,100.0,10.05299246387535,99.97777777777777,0.33333333333333337,0.0,8.908174172560404
clean_open_sky,dll_excess_guard,4500,5.7784464702133524,10.05299246387535,17.320782018324902,100.0,10.05299246387535,99.97777777777777,0.33333333333333337,0.0,8.908174172560404
clean_open_sky,oracle_variance,4500,5.778805688412197,10.054230284262685,17.35250490247279,100.0,10.054230284262685,99.97777777777777,0.3111111111111111,0.0,8.840973580918838
weak_signal,current_cn0,4500,19.020289863331797,32.73415409569256,56.44388754013162,100.0,32.73415409569256,98.8,56.31111111111111,0.6222222222222222,20.84621216112656
weak_signal,naive_add_dll,4500,18.802930957724488,32.313115706990146,55.45511304556428,100.0,32.313115706990146,100.0,56.177777777777784,0.0,28.674069502747358
weak_signal,dll_excess,4500,18.986226727568837,32.6486650471064,56.115244341908046,100.0,32.6486650471064,98.91111111111111,56.222222222222214,0.5111111111111112,21.20058629982459
weak_signal,dll_excess_guard,4500,18.986226727568837,32.6486650471064,56.115244341908046,100.0,32.6486650471064,98.91111111111111,56.222222222222214,0.5111111111111112,21.20058629982459
weak_signal,oracle_variance,4500,19.020289863331797,32.73415409569256,56.44388754013162,100.0,32.73415409569256,98.8,56.31111111111111,0.6222222222222222,20.84621216112656
one_channel_hidden_jitter,current_cn0,4500,8.804153682379612,12.268224803643907,19.936371518380813,100.0,12.268224803643907,96.46666666666667,1.0666666666666667,9.666666666666666,8.840973580918838
one_channel_hidden_jitter,naive_add_dll,4500,6.529225405554112,10.487953223937716,17.74604536639535,100.0,10.487953223937716,99.97777777777777,0.33333333333333337,0.0,11.805515833602682
one_channel_hidden_jitter,dll_excess,4500,6.455903980559815,10.46584556632944,17.675128387138177,100.0,10.46584556632944,99.97777777777777,0.33333333333333337,0.044444444444444446,10.358668146326426
one_channel_hidden_jitter,dll_excess_guard,4500,6.455903980559815,10.46584556632944,17.675128387138177,100.0,10.46584556632944,99.97777777777777,0.33333333333333337,0.044444444444444446,10.358668146326426
one_channel_hidden_jitter,oracle_variance,4500,6.4491935598492525,10.463101509886709,17.736218582311878,100.0,10.463101509886709,99.97777777777777,0.33333333333333337,0.06666666666666667,10.315229331071063
common_hidden_jitter,current_cn0,4500,19.733300930595462,33.79270185129192,59.76307034516212,94.75555555555556,33.15386252421736,56.39999999999999,52.400000000000006,46.577777777777776,8.840973580918838
common_hidden_jitter,naive_add_dll,4500,16.033969673897577,27.61407554068951,47.55915451805768,100.0,27.61407554068951,99.46666666666667,43.93333333333334,0.26666666666666666,18.882004393424943
common_hidden_jitter,dll_excess,4500,16.085615037536463,27.688964211504615,47.828684727805175,100.0,27.688964211504615,98.97777777777777,43.888888888888886,0.4444444444444444,18.04555007574287
common_hidden_jitter,dll_excess_guard,4500,16.085615037536463,27.688964211504615,47.828684727805175,100.0,27.688964211504615,98.97777777777777,43.888888888888886,0.4444444444444444,18.04555007574287
common_hidden_jitter,oracle_variance,4500,16.106964558267112,27.740128015702773,47.83188793884836,100.0,27.740128015702773,98.88888888888889,43.86666666666667,0.4888888888888889,18.035214487051437
noise_burst_recovery,current_cn0,4500,9.325915933961204,12.96069950118485,22.132869786417263,98.93333333333332,12.552632065384056,94.71111111111111,2.577777777777778,12.11111111111111,8.840973580918838
noise_burst_recovery,naive_add_dll,4500,6.470839383968352,10.523606281690133,18.031622500344657,100.0,10.523606281690133,100.0,0.5333333333333333,0.06666666666666667,11.60221083527078
noise_burst_recovery,dll_excess,4500,6.397124977878571,10.493909835494788,17.99630946143617,100.0,10.493909835494788,99.97777777777777,0.4888888888888889,0.13333333333333333,10.131003114059961
noise_burst_recovery,dll_excess_guard,4500,6.397124977878571,10.493909835494788,17.99630946143617,100.0,10.493909835494788,99.97777777777777,0.4888888888888889,0.13333333333333333,10.131003114059961
noise_burst_recovery,oracle_variance,4500,6.367173301653832,10.473649717876942,17.90212603773505,100.0,10.473649717876942,99.97777777777777,0.4888888888888889,0.044444444444444446,10.187907003764948
dll_transient_stress,current_cn0,4500,5.803776392869777,10.145785618162538,17.425227799952054,100.0,10.145785618162538,99.97777777777777,0.35555555555555557,0.0,8.840973580918838
dll_transient_stress,naive_add_dll,4500,5.793995520088368,10.118871049708806,17.333372587049784,100.0,10.118871049708806,100.0,0.37777777777777777,0.0,10.45205253980181
dll_transient_stress,dll_excess,4500,5.8034283726190745,10.144627133073621,17.380953993070463,100.0,10.144627133073621,99.97777777777777,0.37777777777777777,0.0,8.908174353046816
dll_transient_stress,dll_excess_guard,4500,5.79072382051268,10.123295335548953,17.368844982312577,100.0,10.123295335548953,99.97777777777777,0.33333333333333337,0.0,8.947656011912292
dll_transient_stress,oracle_variance,4500,5.803776392869777,10.145785618162538,17.425227799952054,100.0,10.145785618162538,99.97777777777777,0.35555555555555557,0.0,8.840973580918838
stable_multipath_bias,current_cn0,4500,7.12694286036133,12.545413964352555,20.99675149186582,100.0,12.545413964352555,99.8888888888889,1.6666666666666667,0.022222222222222223,8.840973580918838
stable_multipath_bias,naive_add_dll,4500,7.072680893174009,12.386663925234807,20.866871605887997,100.0,12.386663925234807,99.97777777777777,1.4666666666666666,0.0,10.452052333958017
stable_multipath_bias,dll_excess,4500,7.125500558670432,12.536689588412326,21.02122766562977,100.0,12.536689588412326,99.91111111111111,1.6444444444444446,0.022222222222222223,8.908174172560404
stable_multipath_bias,dll_excess_guard,4500,7.125500558670432,12.536689588412326,21.02122766562977,100.0,12.536689588412326,99.91111111111111,1.6444444444444446,0.022222222222222223,8.908174172560404
stable_multipath_bias,oracle_variance,4500,7.12694286036133,12.545413964352555,20.99675149186582,100.0,12.545413964352555,99.8888888888889,1.6666666666666667,0.022222222222222223,8.840973580918838
mixed_multipath,current_cn0,4500,8.529840854093363,14.426936007413373,25.381172069686816,100.0,14.426936007413373,97.11111111111111,5.644444444444444,5.0,8.840973580918838
mixed_multipath,naive_add_dll,4500,6.586489015624914,11.258484405711224,19.599950438767102,100.0,11.258484405711224,100.0,0.7333333333333333,0.044444444444444446,11.636563744509052
mixed_multipath,dll_excess,4500,6.45479117311332,11.067801578489938,19.233225446062768,100.0,11.067801578489938,100.0,0.7333333333333333,0.08888888888888889,10.202310406784667
mixed_multipath,dll_excess_guard,4500,6.45479117311332,11.067801578489938,19.233225446062768,100.0,11.067801578489938,100.0,0.7333333333333333,0.08888888888888889,10.202310406784667
mixed_multipath,oracle_variance,4500,6.448333589783235,11.058021985103961,19.19754215965981,100.0,11.058021985103961,99.95555555555555,0.7333333333333333,0.08888888888888889,10.144307488606447
poor_geometry_hidden_jitter,current_cn0,4500,79.38795978543642,293.8222926191477,574.9617330272,100.0,293.8222926191477,79.0,94.31111111111112,1.1555555555555554,10.734703317378012
poor_geometry_hidden_jitter,naive_add_dll,4500,57.59864532145799,206.13456070122297,405.1527013193,100.0,206.13456070122297,99.66666666666667,92.42222222222222,0.022222222222222223,14.604104871190987
poor_geometry_hidden_jitter,dll_excess,4500,55.3927819274298,196.86935630824075,390.63687676393124,100.0,196.86935630824075,99.24444444444444,91.4,0.022222222222222223,12.779670971493758
poor_geometry_hidden_jitter,dll_excess_guard,4500,55.3927819274298,196.86935630824075,390.63687676393124,100.0,196.86935630824075,99.24444444444444,91.4,0.022222222222222223,12.779670971493758
poor_geometry_hidden_jitter,oracle_variance,4500,55.24662489772763,196.2046647890204,386.5771391089706,100.0,196.2046647890204,99.28888888888889,91.26666666666667,0.022222222222222223,12.721163297137666
cn0_step_recovery,current_cn0,4500,12.974359636882712,22.585010269106,47.95054105970103,100.0,22.585010269106,99.42222222222222,21.622222222222224,0.2222222222222222,13.475047639913695
cn0_step_recovery,naive_add_dll,4500,12.797089787478507,22.265941453345402,47.59129168788298,100.0,22.265941453345402,100.0,21.422222222222224,0.0,17.44366868773946
cn0_step_recovery,dll_excess,4500,12.96657717120691,22.586113735655264,47.91159461508304,100.0,22.586113735655264,99.46666666666667,21.488888888888887,0.2,13.653801199442478
cn0_step_recovery,dll_excess_guard,4500,12.96657717120691,22.586113735655264,47.91159461508304,100.0,22.586113735655264,99.46666666666667,21.488888888888887,0.2,13.653801199442478
cn0_step_recovery,oracle_variance,4500,12.974359636882712,22.585010269106,47.95054105970103,100.0,22.585010269106,99.42222222222222,21.622222222222224,0.2222222222222222,13.475047639913695
1 scenario method epochs horizontal_rms_m position_3d_rms_m position_3d_p95_m valid_percent valid_3d_rms_m horizontal_2sigma_coverage_percent false_valid_over_25m_percent fde_percent mean_measurement_sigma_m
2 clean_open_sky current_cn0 4500 5.778805688412197 10.054230284262685 17.35250490247279 100.0 10.054230284262685 99.97777777777777 0.3111111111111111 0.0 8.840973580918838
3 clean_open_sky naive_add_dll 4500 5.768593681325036 10.022431815549082 17.253420427433362 100.0 10.022431815549082 100.0 0.3111111111111111 0.0 10.452052333958017
4 clean_open_sky dll_excess 4500 5.7784464702133524 10.05299246387535 17.320782018324902 100.0 10.05299246387535 99.97777777777777 0.33333333333333337 0.0 8.908174172560404
5 clean_open_sky dll_excess_guard 4500 5.7784464702133524 10.05299246387535 17.320782018324902 100.0 10.05299246387535 99.97777777777777 0.33333333333333337 0.0 8.908174172560404
6 clean_open_sky oracle_variance 4500 5.778805688412197 10.054230284262685 17.35250490247279 100.0 10.054230284262685 99.97777777777777 0.3111111111111111 0.0 8.840973580918838
7 weak_signal current_cn0 4500 19.020289863331797 32.73415409569256 56.44388754013162 100.0 32.73415409569256 98.8 56.31111111111111 0.6222222222222222 20.84621216112656
8 weak_signal naive_add_dll 4500 18.802930957724488 32.313115706990146 55.45511304556428 100.0 32.313115706990146 100.0 56.177777777777784 0.0 28.674069502747358
9 weak_signal dll_excess 4500 18.986226727568837 32.6486650471064 56.115244341908046 100.0 32.6486650471064 98.91111111111111 56.222222222222214 0.5111111111111112 21.20058629982459
10 weak_signal dll_excess_guard 4500 18.986226727568837 32.6486650471064 56.115244341908046 100.0 32.6486650471064 98.91111111111111 56.222222222222214 0.5111111111111112 21.20058629982459
11 weak_signal oracle_variance 4500 19.020289863331797 32.73415409569256 56.44388754013162 100.0 32.73415409569256 98.8 56.31111111111111 0.6222222222222222 20.84621216112656
12 one_channel_hidden_jitter current_cn0 4500 8.804153682379612 12.268224803643907 19.936371518380813 100.0 12.268224803643907 96.46666666666667 1.0666666666666667 9.666666666666666 8.840973580918838
13 one_channel_hidden_jitter naive_add_dll 4500 6.529225405554112 10.487953223937716 17.74604536639535 100.0 10.487953223937716 99.97777777777777 0.33333333333333337 0.0 11.805515833602682
14 one_channel_hidden_jitter dll_excess 4500 6.455903980559815 10.46584556632944 17.675128387138177 100.0 10.46584556632944 99.97777777777777 0.33333333333333337 0.044444444444444446 10.358668146326426
15 one_channel_hidden_jitter dll_excess_guard 4500 6.455903980559815 10.46584556632944 17.675128387138177 100.0 10.46584556632944 99.97777777777777 0.33333333333333337 0.044444444444444446 10.358668146326426
16 one_channel_hidden_jitter oracle_variance 4500 6.4491935598492525 10.463101509886709 17.736218582311878 100.0 10.463101509886709 99.97777777777777 0.33333333333333337 0.06666666666666667 10.315229331071063
17 common_hidden_jitter current_cn0 4500 19.733300930595462 33.79270185129192 59.76307034516212 94.75555555555556 33.15386252421736 56.39999999999999 52.400000000000006 46.577777777777776 8.840973580918838
18 common_hidden_jitter naive_add_dll 4500 16.033969673897577 27.61407554068951 47.55915451805768 100.0 27.61407554068951 99.46666666666667 43.93333333333334 0.26666666666666666 18.882004393424943
19 common_hidden_jitter dll_excess 4500 16.085615037536463 27.688964211504615 47.828684727805175 100.0 27.688964211504615 98.97777777777777 43.888888888888886 0.4444444444444444 18.04555007574287
20 common_hidden_jitter dll_excess_guard 4500 16.085615037536463 27.688964211504615 47.828684727805175 100.0 27.688964211504615 98.97777777777777 43.888888888888886 0.4444444444444444 18.04555007574287
21 common_hidden_jitter oracle_variance 4500 16.106964558267112 27.740128015702773 47.83188793884836 100.0 27.740128015702773 98.88888888888889 43.86666666666667 0.4888888888888889 18.035214487051437
22 noise_burst_recovery current_cn0 4500 9.325915933961204 12.96069950118485 22.132869786417263 98.93333333333332 12.552632065384056 94.71111111111111 2.577777777777778 12.11111111111111 8.840973580918838
23 noise_burst_recovery naive_add_dll 4500 6.470839383968352 10.523606281690133 18.031622500344657 100.0 10.523606281690133 100.0 0.5333333333333333 0.06666666666666667 11.60221083527078
24 noise_burst_recovery dll_excess 4500 6.397124977878571 10.493909835494788 17.99630946143617 100.0 10.493909835494788 99.97777777777777 0.4888888888888889 0.13333333333333333 10.131003114059961
25 noise_burst_recovery dll_excess_guard 4500 6.397124977878571 10.493909835494788 17.99630946143617 100.0 10.493909835494788 99.97777777777777 0.4888888888888889 0.13333333333333333 10.131003114059961
26 noise_burst_recovery oracle_variance 4500 6.367173301653832 10.473649717876942 17.90212603773505 100.0 10.473649717876942 99.97777777777777 0.4888888888888889 0.044444444444444446 10.187907003764948
27 dll_transient_stress current_cn0 4500 5.803776392869777 10.145785618162538 17.425227799952054 100.0 10.145785618162538 99.97777777777777 0.35555555555555557 0.0 8.840973580918838
28 dll_transient_stress naive_add_dll 4500 5.793995520088368 10.118871049708806 17.333372587049784 100.0 10.118871049708806 100.0 0.37777777777777777 0.0 10.45205253980181
29 dll_transient_stress dll_excess 4500 5.8034283726190745 10.144627133073621 17.380953993070463 100.0 10.144627133073621 99.97777777777777 0.37777777777777777 0.0 8.908174353046816
30 dll_transient_stress dll_excess_guard 4500 5.79072382051268 10.123295335548953 17.368844982312577 100.0 10.123295335548953 99.97777777777777 0.33333333333333337 0.0 8.947656011912292
31 dll_transient_stress oracle_variance 4500 5.803776392869777 10.145785618162538 17.425227799952054 100.0 10.145785618162538 99.97777777777777 0.35555555555555557 0.0 8.840973580918838
32 stable_multipath_bias current_cn0 4500 7.12694286036133 12.545413964352555 20.99675149186582 100.0 12.545413964352555 99.8888888888889 1.6666666666666667 0.022222222222222223 8.840973580918838
33 stable_multipath_bias naive_add_dll 4500 7.072680893174009 12.386663925234807 20.866871605887997 100.0 12.386663925234807 99.97777777777777 1.4666666666666666 0.0 10.452052333958017
34 stable_multipath_bias dll_excess 4500 7.125500558670432 12.536689588412326 21.02122766562977 100.0 12.536689588412326 99.91111111111111 1.6444444444444446 0.022222222222222223 8.908174172560404
35 stable_multipath_bias dll_excess_guard 4500 7.125500558670432 12.536689588412326 21.02122766562977 100.0 12.536689588412326 99.91111111111111 1.6444444444444446 0.022222222222222223 8.908174172560404
36 stable_multipath_bias oracle_variance 4500 7.12694286036133 12.545413964352555 20.99675149186582 100.0 12.545413964352555 99.8888888888889 1.6666666666666667 0.022222222222222223 8.840973580918838
37 mixed_multipath current_cn0 4500 8.529840854093363 14.426936007413373 25.381172069686816 100.0 14.426936007413373 97.11111111111111 5.644444444444444 5.0 8.840973580918838
38 mixed_multipath naive_add_dll 4500 6.586489015624914 11.258484405711224 19.599950438767102 100.0 11.258484405711224 100.0 0.7333333333333333 0.044444444444444446 11.636563744509052
39 mixed_multipath dll_excess 4500 6.45479117311332 11.067801578489938 19.233225446062768 100.0 11.067801578489938 100.0 0.7333333333333333 0.08888888888888889 10.202310406784667
40 mixed_multipath dll_excess_guard 4500 6.45479117311332 11.067801578489938 19.233225446062768 100.0 11.067801578489938 100.0 0.7333333333333333 0.08888888888888889 10.202310406784667
41 mixed_multipath oracle_variance 4500 6.448333589783235 11.058021985103961 19.19754215965981 100.0 11.058021985103961 99.95555555555555 0.7333333333333333 0.08888888888888889 10.144307488606447
42 poor_geometry_hidden_jitter current_cn0 4500 79.38795978543642 293.8222926191477 574.9617330272 100.0 293.8222926191477 79.0 94.31111111111112 1.1555555555555554 10.734703317378012
43 poor_geometry_hidden_jitter naive_add_dll 4500 57.59864532145799 206.13456070122297 405.1527013193 100.0 206.13456070122297 99.66666666666667 92.42222222222222 0.022222222222222223 14.604104871190987
44 poor_geometry_hidden_jitter dll_excess 4500 55.3927819274298 196.86935630824075 390.63687676393124 100.0 196.86935630824075 99.24444444444444 91.4 0.022222222222222223 12.779670971493758
45 poor_geometry_hidden_jitter dll_excess_guard 4500 55.3927819274298 196.86935630824075 390.63687676393124 100.0 196.86935630824075 99.24444444444444 91.4 0.022222222222222223 12.779670971493758
46 poor_geometry_hidden_jitter oracle_variance 4500 55.24662489772763 196.2046647890204 386.5771391089706 100.0 196.2046647890204 99.28888888888889 91.26666666666667 0.022222222222222223 12.721163297137666
47 cn0_step_recovery current_cn0 4500 12.974359636882712 22.585010269106 47.95054105970103 100.0 22.585010269106 99.42222222222222 21.622222222222224 0.2222222222222222 13.475047639913695
48 cn0_step_recovery naive_add_dll 4500 12.797089787478507 22.265941453345402 47.59129168788298 100.0 22.265941453345402 100.0 21.422222222222224 0.0 17.44366868773946
49 cn0_step_recovery dll_excess 4500 12.96657717120691 22.586113735655264 47.91159461508304 100.0 22.586113735655264 99.46666666666667 21.488888888888887 0.2 13.653801199442478
50 cn0_step_recovery dll_excess_guard 4500 12.96657717120691 22.586113735655264 47.91159461508304 100.0 22.586113735655264 99.46666666666667 21.488888888888887 0.2 13.653801199442478
51 cn0_step_recovery oracle_variance 4500 12.974359636882712 22.585010269106 47.95054105970103 100.0 22.585010269106 99.42222222222222 21.622222222222224 0.2222222222222222 13.475047639913695