feat(gsdc2023): opt-in DGNSS base correction for FGO-only rows

experiments/build_gsdc2023_bridge_submission.py

@@ -299,6 +299,7 @@ def build_config(args: argparse.Namespace) -> BridgeConfig:
         hatch_smoothing_n=int(getattr(args, "hatch_smoothing_n", 100)),
         use_rtklib_tropo=bool(getattr(args, "use_rtklib_tropo", False)),
         apply_base_correction=bool(getattr(args, "base_correction", False)),
+        base_correction_fgo_only_rows=bool(getattr(args, "base_correction_fgo_only_rows", False)),
         position_source=args.position_source,
         chunk_epochs=args.chunk_epochs,
         gated_baseline_threshold=args.gated_threshold,
@@ -521,6 +522,7 @@ def run_bridge_submission(args: argparse.Namespace) -> tuple[pd.DataFrame, dict[
                 "max_epochs": args.max_epochs,
                 "dual_frequency": bool(args.dual_frequency),
                 "base_correction": bool(config.apply_base_correction),
+                "base_correction_fgo_only_rows": bool(config.base_correction_fgo_only_rows),
                 "ct_rbpf_fgo": bool(config.ct_rbpf_fgo_enabled),
                 "taroz_marupaku": taroz_marupaku,
                 "taroz_phone_aware": taroz_phone_aware,
@@ -589,6 +591,12 @@ def main(argv: list[str] | None = None) -> int:
         default=False,
         help="Mirror the post-fill pseudorange residual mask into the FGO weights (weights_fgo), so residual-rejected PR rows are dropped from the FGO objective too.",
     )
+    parser.add_argument(
+        "--base-correction-fgo-only-rows",
+        action=argparse.BooleanOptionalAction,
+        default=False,
+        help="Also apply the DGNSS base correction to FGO-only rows (weights==0 but weights_fgo>0) — rows whose WLS weight was masked while the FGO weight was kept. Off by default keeps the legacy WLS-active-only behaviour.",
+    )
     parser.add_argument("--stop-attitude-sigma-rad", type=float, default=0.0)
     parser.add_argument(
         "--taroz-fgo",

experiments/gsdc2023_bridge_config.py

@@ -332,6 +332,11 @@ class BridgeConfig:
     apply_relative_height: bool = False
     apply_position_offset: bool = False
     apply_base_correction: bool = False
+    # When True, the DGNSS base correction is also applied to FGO-only rows
+    # (weights==0 but weights_fgo>0): FGO-only constellations and rows whose WLS
+    # weight was masked out while the FGO weight was kept.  Off by default keeps
+    # the legacy WLS-active-only behaviour.
+    base_correction_fgo_only_rows: bool = False
     graph_relative_height: bool = False
     relative_height_sigma_m: float = 0.5
     relative_height_huber_k: float = 0.0
@@ -385,6 +390,8 @@ def __post_init__(self) -> None:
             raise ValueError("fgo_lm_damping must be >= 0")
         if not isinstance(self.fgo_extra_constellations, bool):
             raise ValueError("fgo_extra_constellations must be a bool")
+        if not isinstance(self.base_correction_fgo_only_rows, bool):
+            raise ValueError("base_correction_fgo_only_rows must be a bool")
         for name in (
             "stop_velocity_huber_k",
             "stop_position_huber_k",

experiments/gsdc2023_raw_bridge.py

@@ -673,6 +673,7 @@ def build_trip_arrays(
     tdcp_cycle_jump_mask_cycles: float = 0.0,
     tdcp_doppler_endpoint_mask: bool = True,
     apply_base_correction: bool = False,
+    base_correction_fgo_only_rows: bool = False,
     data_root: Path | None = None,
     trip: str | None = None,
     apply_observation_mask: bool = False,
@@ -801,6 +802,7 @@ def build_trip_arrays(
             fgo_extra_constellations=fgo_extra_constellations,
             factor_dt_max_s=factor_dt_max_s,
             apply_base_correction=apply_base_correction,
+            base_correction_fgo_only_rows=base_correction_fgo_only_rows,
             data_root=data_root,
             trip=trip,
             doppler_residual_mask_mps=doppler_residual_mask_mps,
@@ -3374,6 +3376,7 @@ def _build_taroz_fgo_candidate_batch(
         tdcp_cycle_jump_mask_cycles=config.tdcp_cycle_jump_mask_cycles,
         tdcp_doppler_endpoint_mask=config.tdcp_doppler_endpoint_mask,
         apply_base_correction=config.apply_base_correction,
+        base_correction_fgo_only_rows=bool(getattr(config, "base_correction_fgo_only_rows", False)),
         data_root=data_root,
         trip=trip,
         apply_observation_mask=config.apply_observation_mask,
@@ -4060,6 +4063,7 @@ def validate_raw_gsdc2023_trip(
         tdcp_cycle_jump_mask_cycles=cfg.tdcp_cycle_jump_mask_cycles,
         tdcp_doppler_endpoint_mask=cfg.tdcp_doppler_endpoint_mask,
         apply_base_correction=cfg.apply_base_correction,
+        base_correction_fgo_only_rows=bool(getattr(cfg, "base_correction_fgo_only_rows", False)),
         data_root=data_root,
         trip=trip,
         apply_observation_mask=cfg.apply_observation_mask,

experiments/gsdc2023_trip_stages.py

@@ -298,6 +298,7 @@ class PostObservationStageConfig:
     default_pr_l1_threshold_m: float
     default_pr_l5_threshold_m: float
     fgo_extra_constellations: bool = False
+    base_correction_fgo_only_rows: bool = False
     tdcp_cycle_jump_mask_cycles: float = 0.0
     tdcp_doppler_endpoint_mask: bool = True
     tdcp_ddl_sign_fixed: bool = False
@@ -492,6 +493,8 @@ def apply_base_correction_to_pseudorange(
     signal_type: str,
     pseudorange: np.ndarray,
     weights: np.ndarray,
+    weights_fgo: np.ndarray | None = None,
+    include_fgo_only: bool = False,
     correction_matrix_fn: BaseCorrectionMatrixFn,
 ) -> int:
     if data_root is None or trip is None:
@@ -503,7 +506,16 @@ def apply_base_correction_to_pseudorange(
         slot_keys,
         signal_type,
     )
-    valid_base_correction = np.isfinite(base_correction) & (weights > 0.0)
+    # The shared pseudorange feeds both WLS (weights) and FGO (weights_fgo).
+    # By default only WLS-active rows are corrected (legacy behaviour).  When
+    # ``include_fgo_only`` is set, rows that are FGO-only (weights==0 but
+    # weights_fgo>0 — FGO-only constellations, or rows whose WLS weight was
+    # masked while the FGO weight was kept) also receive the DGNSS correction
+    # so the FGO objective sees corrected pseudoranges.
+    active = weights > 0.0
+    if include_fgo_only and weights_fgo is not None:
+        active = active | (weights_fgo > 0.0)
+    valid_base_correction = np.isfinite(base_correction) & active
     pseudorange[valid_base_correction] -= base_correction[valid_base_correction]
     return int(np.count_nonzero(valid_base_correction))
 
@@ -1649,6 +1661,7 @@ def build_observation_mask_base_correction_stage(
     *,
     apply_observation_mask: bool,
     apply_base_correction: bool,
+    base_correction_fgo_only_rows: bool = False,
     data_root: Path | None,
     trip: str | None,
     times_ms: np.ndarray,
@@ -1837,6 +1850,8 @@ def build_observation_mask_base_correction_stage(
             signal_type=signal_type,
             pseudorange=pseudorange,
             weights=weights,
+            weights_fgo=weights_fgo,
+            include_fgo_only=base_correction_fgo_only_rows,
             correction_matrix_fn=correction_matrix_fn,
         )
 
@@ -1901,6 +1916,7 @@ def build_post_observation_stages(
     clock_drift_context_mps: np.ndarray | None,
     build_trip_arrays_fn: BuildTripArraysFn,
     apply_base_correction: bool,
+    base_correction_fgo_only_rows: bool = False,
     data_root: Path | None,
     trip: str | None,
     n_clock: int,
@@ -2028,6 +2044,7 @@ def build_post_observation_stages(
     mask_base_stage = build_observation_mask_base_correction_stage(
         apply_observation_mask=apply_observation_mask,
         apply_base_correction=apply_base_correction,
+        base_correction_fgo_only_rows=base_correction_fgo_only_rows,
         data_root=data_root,
         trip=trip,
         times_ms=times_ms,
@@ -2191,6 +2208,7 @@ def build_configured_post_observation_stages(
         clock_drift_context_mps=observation_products.clock_drift_context_mps,
         build_trip_arrays_fn=dependencies.build_trip_arrays_fn,
         apply_base_correction=config.apply_base_correction,
+        base_correction_fgo_only_rows=config.base_correction_fgo_only_rows,
         data_root=config.data_root,
         trip=config.trip,
         n_clock=observation_products.n_clock,

tests/test_gsdc2023_bridge_config.py

@@ -41,6 +41,7 @@ def test_bridge_config_defaults_match_public_factor_dt() -> None:
     assert cfg.taroz_imu_factor_mask_csv is None
     assert cfg.taroz_stop_mask_from_seed_velocity is False
     assert cfg.fgo_extra_constellations is False
+    assert cfg.base_correction_fgo_only_rows is False
 
 
 def test_bridge_config_rejects_invalid_position_source() -> None:
@@ -53,6 +54,11 @@ def test_bridge_config_rejects_non_bool_fgo_extra_constellations() -> None:
         BridgeConfig(fgo_extra_constellations=1)  # type: ignore[arg-type]
 
 
+def test_bridge_config_rejects_non_bool_base_correction_fgo_only_rows() -> None:
+    with pytest.raises(ValueError, match="base_correction_fgo_only_rows must be a bool"):
+        BridgeConfig(base_correction_fgo_only_rows=1)  # type: ignore[arg-type]
+
+
 def test_taroz_presets_enable_base_correction_and_unscaled_tdcp_weights() -> None:
     fgo = apply_taroz_fgo_preset(BridgeConfig())
     gnss_only = apply_taroz_gnss_only_preset(BridgeConfig())

tests/test_gsdc2023_trip_stages.py

@@ -449,6 +449,60 @@ def correction_matrix_fn(
     assert calls == [(tmp_path, "train/course/phone", ("G01", "G02"), "GPS_L1_CA")]
 
 
+def test_apply_base_correction_to_pseudorange_skips_fgo_only_rows_by_default(tmp_path: Path) -> None:
+    # Row [0, 1] is FGO-only: WLS weight masked (0) but FGO weight kept (>0).
+    pseudorange = np.array([[10.0, 20.0]], dtype=np.float64)
+    weights = np.array([[1.0, 0.0]], dtype=np.float64)
+    weights_fgo = np.array([[1.0, 5.0]], dtype=np.float64)
+    correction = np.array([[1.5, 2.0]], dtype=np.float64)
+
+    def correction_matrix_fn(*_args: object) -> np.ndarray:
+        return correction
+
+    count = apply_base_correction_to_pseudorange(
+        data_root=tmp_path,
+        trip="train/course/phone",
+        times_ms=np.array([1000.0], dtype=np.float64),
+        slot_keys=["G01", "G02"],
+        signal_type="GPS_L1_CA",
+        pseudorange=pseudorange,
+        weights=weights,
+        weights_fgo=weights_fgo,
+        correction_matrix_fn=correction_matrix_fn,
+    )
+
+    # Legacy default: only the WLS-active row [0, 0] is corrected.
+    assert count == 1
+    np.testing.assert_allclose(pseudorange, [[8.5, 20.0]])
+
+
+def test_apply_base_correction_to_pseudorange_corrects_fgo_only_rows_when_enabled(tmp_path: Path) -> None:
+    pseudorange = np.array([[10.0, 20.0]], dtype=np.float64)
+    weights = np.array([[1.0, 0.0]], dtype=np.float64)
+    weights_fgo = np.array([[1.0, 5.0]], dtype=np.float64)
+    correction = np.array([[1.5, 2.0]], dtype=np.float64)
+
+    def correction_matrix_fn(*_args: object) -> np.ndarray:
+        return correction
+
+    count = apply_base_correction_to_pseudorange(
+        data_root=tmp_path,
+        trip="train/course/phone",
+        times_ms=np.array([1000.0], dtype=np.float64),
+        slot_keys=["G01", "G02"],
+        signal_type="GPS_L1_CA",
+        pseudorange=pseudorange,
+        weights=weights,
+        weights_fgo=weights_fgo,
+        include_fgo_only=True,
+        correction_matrix_fn=correction_matrix_fn,
+    )
+
+    # The FGO-only row [0, 1] now also receives the DGNSS correction.
+    assert count == 2
+    np.testing.assert_allclose(pseudorange, [[8.5, 18.0]])
+
+
 def test_apply_base_correction_to_pseudorange_requires_trip_context() -> None:
     with pytest.raises(RuntimeError, match="data_root and trip"):
         apply_base_correction_to_pseudorange(