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A multipath signature on GNSS innovations (ADR-0022) - #78
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Co-Authored-By: Claude Sonnet 5.5 <[email protected]>
…esh runs Co-Authored-By: Claude Sonnet 5.5 <[email protected]>
…0022 Co-Authored-By: Claude Sonnet 5.5 <[email protected]>
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| "| Multipath m | Runs | Sensitive rule calls | Specific rule calls | Median NIS " | ||
| "| Median lag-1 autocorrelation |", |
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| "| Control runs | Runs | Sensitive rule calls | Specific rule calls " | ||
| "| 95% upper bound on the specific rule's rate |", |
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What
navkit.fdir.multipath: a signature (NIS and lag-1 autocorrelation of a window of GNSS innovations) with a sensitive and a specific rule. A function; it is not wired into the filter and changes no FDIR behaviour.navkit sweep multipath,docs/multipath.md, committed CSVs for the floor and fresh runs, and tests that check each statement against them.Method
The thresholds and the shipping criteria (recall at least 95% for multipath of 3 m and above, at most 2% false calls on everything else) were committed before the fresh runs (
0d1b689,21c35d2history). The fresh runs use new seeds and a mixed set of faults.Result
Limits
Injected white noise on simulated GNSS, 20 s windows, two datasets. Real multipath is correlated and may exceed the autocorrelation limit; not tested. The 6 in the specific rule came from the classification study's training runs, so only the fresh runs are a clean test.
Full suite, lint, types, links, strict docs build, SRS trace and metrics pass locally. Coverage 94.18%.
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