feat(gsdc2023): opt-in DGNSS base correction for FGO-only rows#99
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feat(gsdc2023): opt-in DGNSS base correction for FGO-only rows#99rsasaki0109 wants to merge 1 commit into
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Adds a BridgeConfig flag base_correction_fgo_only_rows (default False) and CLI --base-correction-fgo-only-rows. When set, the DGNSS base correction is also applied to FGO-only rows — rows whose WLS weight was masked out while the FGO weight (weights_fgo) was kept — so the FGO objective sees corrected pseudoranges on those rows too. The legacy behaviour (correct only WLS-active rows) is preserved by default. apply_base_correction_to_pseudorange gains weights_fgo / include_fgo_only parameters; the flag is threaded through build_trip_arrays, the post-observation stages and the submission CLI. Motivation: a 26-trip A/B (off vs on) on the pixel=FGO preset improves the FGO standalone score from 1.6386 m to 1.5177 m (-12.1 cm aggregate, 12 wins / 5 regressions / 9 wash). The wins are bias-dominated rows recovered by the DGNSS correction (mtv-pe1 -131 cm, lax-t -81 cm, mtv-e -42 cm, lax-o -23 cm); the main regression is sjc-q (+39 cm), an NLOS-heavy trip whose rows are then kept at full weight in FGO. High variance, hence opt-in and default off.
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What
Adds an opt-in flag
base_correction_fgo_only_rows(BridgeConfig, defaultFalse) and CLI--base-correction-fgo-only-rows. When enabled, the DGNSS base correction is also applied to FGO-only rows — rows whose WLS weight was masked out while the FGO weight (weights_fgo) was kept — so the FGO objective sees corrected pseudoranges on those rows too.The legacy behaviour (correct only WLS-active rows,
weights > 0) is preserved by default; nothing changes unless the flag is set.Why
Surfaced during the DGNSS / multi-constellation work: the shared pseudorange feeds both the WLS gate (
weights) and the FGO objective (weights_fgo). Rows that the WLS pseudorange-residual mask zeros out can still feed FGO. Those rows were never base-corrected, so their common-mode error (iono/tropo/sat-clock/orbit) leaked into the FGO solution.26-trip A/B (pixel=FGO preset, off vs on)
Biggest wins are bias-dominated rows recovered by the correction: mtv-pe1 (2023-05-09) -131 cm, lax-t -81 cm, mtv-e -42 cm, routen -27 cm, lax-o -23 cm, mtv-h -18 cm. The main regression is sjc-q +39 cm — an NLOS-heavy trip whose rows are then kept at full weight in FGO.
The result is net-positive but high variance, so the flag is opt-in and default off.
Changes
gsdc2023_bridge_config.py: new field + bool validation.gsdc2023_trip_stages.py:apply_base_correction_to_pseudorangegainsweights_fgo/include_fgo_only; flag threaded through the post-observation stages.gsdc2023_raw_bridge.py:build_trip_arrays+ both callers thread the flag.build_gsdc2023_bridge_submission.py: CLI flag + reproducibility metadata.Tests
tests/test_gsdc2023_bridge_config.py+tests/test_gsdc2023_trip_stages.pygreen (91 passed, +3 new). Full-k gsdc2023suite shows only pre-existing failures unrelated to this change (gnss_log_reader / pixel5_candidate_queue, identical onmain).Production proxy (40-trip phone-aware, selected score)
Built the full 40-trip train set on the production phone-aware config (pixel → FGO direct adoption, non-pixel → taroz_sn gated), flag off vs on, measuring the selected (submission) score:
base_correction_count = 0The non-pixel half is provably inert: base correction is only enabled by the taroz pixel preset (gated non-pixel trips run
apply_base_correction=False), so the flag is structurally a pixel-only lever and touches none of the 14 gated trips. The regressions (e.g. sjc-q +39 cm) are confined to the known pixel set and are net-absorbed. Net-positive and submission-safe on the real selected metric.