feat(urbannav): Deep-Urban-1, the aided run on real urban GNSS (#131)

CONSTRAINTS.md

@@ -4,9 +4,9 @@ Invariants this project holds itself to. Every entry is either currently true
 or is a stated blocker; nothing here is aspirational. Ratchets are measured,
 not estimated, and the command to re-measure each one is given.
 
-Last measured: more than <!-- metric:tests_collected_floor -->2400<!-- /metric --> tests collected, all of which pass except the deliberate
-xfails and the skips that `pytest -rs` lists, and <!-- metric:coverage_percent -->94.3<!-- /metric -->%
-line coverage (<!-- metric:coverage_lines_hit -->10033<!-- /metric -->/<!-- metric:coverage_lines_total -->10638<!-- /metric --> executable lines) on **CPython <!-- metric:coverage_python -->3.13<!-- /metric -->**, measured
+Last measured: more than <!-- metric:tests_collected_floor -->2500<!-- /metric --> tests collected, all of which pass except the deliberate
+xfails and the skips that `pytest -rs` lists, and <!-- metric:coverage_percent -->94.4<!-- /metric -->%
+line coverage (<!-- metric:coverage_lines_hit -->15023<!-- /metric -->/<!-- metric:coverage_lines_total -->15912<!-- /metric --> executable lines) on **CPython <!-- metric:coverage_python -->3.13<!-- /metric -->**, measured
 with `python scripts/coverage_report.py`. The figures come from `docs/data/metrics.json`, which `scripts/metrics.py` checks in CI. Coverage is quoted from that script alone:
 it is the project's dependency-free tracer (S1 forbids adding `pytest-cov`), and
 a number taken from a different tool is not comparable with the module figures
@@ -91,9 +91,9 @@ the floors themselves are enforced by `scripts/coverage_report.py --ratchet`.
 
 | Ratchet | Floor | Current (CPython 3.13) | Re-measure with |
 |---|---:|---:|---|
-| Tests collected | 405 | more than <!-- metric:tests_collected_floor -->2400<!-- /metric --> | `pytest`, `scripts/metrics.py --check` |
+| Tests collected | 405 | more than <!-- metric:tests_collected_floor -->2500<!-- /metric --> | `pytest`, `scripts/metrics.py --check` |
 | Tests passing | 300 | all collected, except the deliberate xfails and the listed skips | `pytest -rs` |
-| Line coverage | 75% | <!-- metric:coverage_percent -->94.3<!-- /metric -->% | `scripts/coverage_report.py`, `scripts/metrics.py --check-coverage` |
+| Line coverage | 75% | <!-- metric:coverage_percent -->94.4<!-- /metric -->% | `scripts/coverage_report.py`, `scripts/metrics.py --check-coverage` |
 | `io/trajectory.py` coverage | 85% | 95.0% | as above |
 | `analysis/findings.py` coverage | 80% | 99.7% | as above |
 | `config.py` coverage | 80% | 98.4% | as above |

CONTRIBUTING.md

@@ -52,7 +52,7 @@ mypy src --ignore-missing-imports
 `ruff format src tests scripts` applies formatting; the `--check` form is the
 gate.
 
-The suite collects more than <!-- metric:tests_collected_floor -->2400<!-- /metric --> tests and all of them pass on a fresh clone, except the deliberate
+The suite collects more than <!-- metric:tests_collected_floor -->2500<!-- /metric --> tests and all of them pass on a fresh clone, except the deliberate
 xfails and the skips. `pytest -rs` lists the skips: two need TUM VI reference data that is not
 vendored (see below), and the doc-table check runs once `python scripts/run_benchmark.py` has
 written `results/benchmark.json`. The count and the other numbers the docs quote are in

ROADMAP.md

@@ -5,7 +5,7 @@ Status markers: `[x]` done, `[~]` in progress, `[ ]` not started, `[!]`
 blocked. Checked items record what was measured when the item closed. They are not kept current: the
 current values are in the README tables, `docs/results.md` and `CONSTRAINTS.md` (B1).
 
-Measured baseline: more than <!-- metric:tests_collected_floor -->2400<!-- /metric --> tests collected and <!-- metric:coverage_percent -->94.3<!-- /metric -->% line coverage on CPython
+Measured baseline: more than <!-- metric:tests_collected_floor -->2500<!-- /metric --> tests collected and <!-- metric:coverage_percent -->94.4<!-- /metric -->% line coverage on CPython
 <!-- metric:coverage_python -->3.13<!-- /metric --> (`docs/data/metrics.json`, from `scripts/metrics.py` and `scripts/coverage_report.py`). Every
 number below re-measures against that, not against a remembered value.
 

docs/adr/0026-urbannav-as-a-real-gnss-dataset.md

@@ -64,8 +64,9 @@ and is labelled as not blind. Both variants agree on the outage. One sequence, o
 
 ## What this does not settle
 
-- The run is one sequence, one receiver and five start perturbations, not five independent tests. Deep-Urban-1, the
-  planned unseen check, has not been fetched or run.
+- The run is one sequence, one receiver and five start perturbations, not five independent tests. Deep-Urban-1 has
+  since been run as an aided run, and its section of the page says what that does and does not show (see the dated
+  section below).
 - The reference inside the outage is an inertial estimate of unknown error.
 - The start attitude needs the rotation between the NovAtel and Xsens units, which is not in the files.
 - The F9P height is biased differently on the two sides of the outage, so a run would use the horizontal axes or declare
@@ -124,3 +125,24 @@ not an outage sequence. The run for it is the aided run over the whole sequence:
 no oracle diagnostics (they act only inside an outage and are reported as not applicable), and quantities that do not
 need an outage: the normalised errors, the pooled 2-sigma coverage per axis, the gate's rejection rate and the fixes'
 own errors against the reference. Outages imposed on this sequence would be a separate experiment, with its own record.
+
+## Added 2026-10-24: the Deep-Urban-1 aided run
+
+This section is dated context. It does not change the Decision section above.
+
+Option A of the section above (the text reference only, no INSPVAX reader) was used, as the maintainer chose. The
+receiver file reports a valid fix at every epoch, so the outage rule finds no outage, and the rule was not changed.
+The run is the aided run over the whole sequence, with the declared and per-fix variants, five seeds that perturb
+only the start state, and the oracle diagnostics not applicable. The rows are in `docs/data/urbannav_run.csv`, the
+data rows in `docs/data/urbannav_data.csv`, and the new `docs/data/urbannav_fix_errors.csv` holds the time behaviour
+of the receiver's fix errors for both sequences. Tunnel-1 rows in the first two files are byte-identical to before.
+
+What the run found, in words, with every number on [the UrbanNav page](../urbannav.md): the gate rejects none of the
+offered fixes although some are far from the reference; the filter is overconfident against the reference in
+position and attitude, and the excess is present in every third of the run; the receiver's fix errors are correlated
+over tens of seconds on this sequence, which the filter does not model. The last point is an interpretation. The
+filter was not run with a correlated-error model, and the reference is a post-processed estimate whose own error is
+not known, so some of the correlated difference could be in the reference.
+
+What it does not settle: it is one sequence, one receiver and one recording, and the seeds are not independent tests.
+It says nothing about the filter through an outage on this sequence. Imposed outages would be a separate experiment.

docs/data/metrics.json

@@ -1,10 +1,10 @@
 {
   "adr_count": 37,
-  "coverage_lines_hit": 10033,
-  "coverage_lines_total": 10638,
-  "coverage_percent": 94.31,
+  "coverage_lines_hit": 15023,
+  "coverage_lines_total": 15912,
+  "coverage_percent": 94.41,
   "coverage_python": "3.13",
   "outage_visual_window_coverage_percent": 5.0,
   "outage_visual_window_nees": 2783.35,
-  "tests_collected_floor": 2400
+  "tests_collected_floor": 2500
 }

docs/data/urbannav_data.csv

@@ -23,3 +23,18 @@ tunnel1,fix_error_first_valid_after_outage,52.76,m
 tunnel1,fix_error_max_first_valid_after_outage,52.76,m
 tunnel1,fix_vertical_bias_before_outage,-7.63,m
 tunnel1,fix_vertical_bias_after_outage,1.164,m
+deepurban1,imu_samples,614782,count
+deepurban1,imu_span,1537,s
+deepurban1,imu_rate_median,400.5,Hz
+deepurban1,imu_longest_gap,9.376,ms
+deepurban1,reference_epochs,1539,count
+deepurban1,reference_spacing_median,1,s
+deepurban1,reference_quality_codes,5,count
+deepurban1,clock_offset,0.01,s
+deepurban1,clock_offset_grid_step,0.01,s
+deepurban1,gnss_epochs,1539,count
+deepurban1,gnss_denied_epochs,0,count
+deepurban1,gnss_outages,0,count
+deepurban1,fix_horizontal_error_median,2.361,m
+deepurban1,fix_horizontal_error_p95,7.497,m
+deepurban1,fix_horizontal_error_max,13.8,m

docs/data/urbannav_fix_errors.csv

@@ -0,0 +1,51 @@
+sequence,quantity,value,unit
+tunnel1,fix_error_fixes,250,count
+tunnel1,fix_error_lag_tolerance,0.5,s
+tunnel1,fix_error_offset_east,-1.234,m
+tunnel1,fix_error_offset_north,1.95,m
+tunnel1,fix_error_rms_about_offset,10.87,m
+tunnel1,fix_error_pairs_lag1s,248,count
+tunnel1,fix_error_corr_east_lag1s,0.9405,
+tunnel1,fix_error_corr_north_lag1s,0.9908,
+tunnel1,fix_error_corr_pooled_lag1s,0.9704,
+tunnel1,fix_error_pairs_lag10s,230,count
+tunnel1,fix_error_corr_east_lag10s,0.07743,
+tunnel1,fix_error_corr_north_lag10s,0.3562,
+tunnel1,fix_error_corr_pooled_lag10s,0.2331,
+tunnel1,fix_error_pairs_lag30s,190,count
+tunnel1,fix_error_corr_east_lag30s,-0.05684,
+tunnel1,fix_error_corr_north_lag30s,0.03377,
+tunnel1,fix_error_corr_pooled_lag30s,-0.00567,
+tunnel1,fix_error_pairs_lag60s,130,count
+tunnel1,fix_error_corr_east_lag60s,-0.07971,
+tunnel1,fix_error_corr_north_lag60s,-0.1313,
+tunnel1,fix_error_corr_pooled_lag60s,-0.1038,
+tunnel1,fix_error_ess_east,66.8,count
+tunnel1,fix_error_ess_east_truncated,0,flag
+tunnel1,fix_error_ess_north,18.33,count
+tunnel1,fix_error_ess_north_truncated,0,flag
+deepurban1,fix_error_fixes,1539,count
+deepurban1,fix_error_lag_tolerance,0.5,s
+deepurban1,fix_error_offset_east,0.9633,m
+deepurban1,fix_error_offset_north,-1.233,m
+deepurban1,fix_error_rms_about_offset,3.508,m
+deepurban1,fix_error_pairs_lag1s,1538,count
+deepurban1,fix_error_corr_east_lag1s,0.9983,
+deepurban1,fix_error_corr_north_lag1s,0.9985,
+deepurban1,fix_error_corr_pooled_lag1s,0.9984,
+deepurban1,fix_error_pairs_lag10s,1529,count
+deepurban1,fix_error_corr_east_lag10s,0.9455,
+deepurban1,fix_error_corr_north_lag10s,0.95,
+deepurban1,fix_error_corr_pooled_lag10s,0.9477,
+deepurban1,fix_error_pairs_lag30s,1509,count
+deepurban1,fix_error_corr_east_lag30s,0.7442,
+deepurban1,fix_error_corr_north_lag30s,0.777,
+deepurban1,fix_error_corr_pooled_lag30s,0.7599,
+deepurban1,fix_error_pairs_lag60s,1479,count
+deepurban1,fix_error_corr_east_lag60s,0.4217,
+deepurban1,fix_error_corr_north_lag60s,0.5265,
+deepurban1,fix_error_corr_pooled_lag60s,0.4719,
+deepurban1,fix_error_ess_east,16.46,count
+deepurban1,fix_error_ess_east_truncated,0,flag
+deepurban1,fix_error_ess_north,17.87,count
+deepurban1,fix_error_ess_north_truncated,0,flag