fix: combined pilot+data decode for quadrature signals (GPS L5, Galileo E5a) by giove-a · Pull Request #201 · JuliaGNSS/Tracking.jl

giove-a · 2026-07-14T06:26:29Z

Summary

In a combined tracking group the loops lock the driver (signals[1], the pilot) onto the real axis. A QPSK data component sitting on the orthogonal carrier (GPS L5, Galileo E5a) therefore lands on the imaginary axis, so its real(prompt) bit decision collapses to noise and the navigation message never syncs.

This PR de-rotates each component's bit-buffer prompt onto the driver's phase frame before the secondary/bit-sync search and coherent symbol accumulation:

prompt *= cis(get_carrier_phase_offset(driver) - get_carrier_phase_offset(signal))

Driver, co-phased pairs (E1B/E1C), and data-only sats → cis(0) === 1 + 0im, a bit-identical no-op. Pre-fix behaviour is preserved exactly.
Quadrature component (GPS L5 I/Q, Galileo E5a I/Q) → rotates ±90° back onto the real axis; the residual sign is resolved downstream by the nav decoder's preamble.

Changes

src/conventional_pll_and_dll.jl — add _carrier_phase_derotation, thread the driver's carrier phase through the driver and passenger signal paths, and apply the de-rotation to the bit-buffer prompt in the shared per-signal advance.
Project.toml — bump GNSSSignals compat floor to 3.6 (introduces get_carrier_phase_offset).
test/carrier_phase.jl (+ test/runtests.jl) — new tests.

Tests

test/carrier_phase.jl covers:

GPS L5 and Galileo E5a quadrature pairs rotate imaginary-axis data back onto the real axis with magnitude preserved.
No-op cases: driver-against-itself, co-phased CBOC pair (E1C/E1B), and single-signal data-only sats (L5I, L1CA) — verified bit-for-bit.
Symmetry: the de-rotation is relative to whichever signal drives the loop (signals[1]), not hard-coded to "the pilot" — reversing the driver/passenger roles stays correct.

Notes

Requires GNSSSignals 3.6.

🤖 Generated with Claude Code

codecov · 2026-07-14T06:36:24Z

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 97.63%. Comparing base (ce2e56e) to head (6f589e2).
⚠️ Report is 1 commits behind head on master.

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #201      +/-   ##
==========================================
- Coverage   97.87%   97.63%   -0.25%     
==========================================
  Files          32       32              
  Lines        3296     3299       +3     
==========================================
- Hits         3226     3221       -5     
- Misses         70       78       +8

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github-actions · 2026-07-14T06:45:58Z

Benchmark Results (minimum time) — macos-14

Reporting the minimum over all samples (robust to shared-runner contention), not the median.

Alternative backends vs Float32 (`track!`, PR head)

Legend — backends: F32 Float32 (default) · I16 Int16 · 1b OneBit · 2b TwoBit (2-bit measurement + 2-bit carrier). Time columns are the minimum track! time; ×B = F32 / B (so >1 ⇒ backend B is faster than Float32), ✅ ≥ 5 % faster, ⚠️ ≥ 5 % slower. 1b/2b are BPSK-only, so their cells are blank for CBOC (Galileo E1B) scenarios.

Scenario	F32	I16	1b	2b	×I16	×1b	×2b
4-antenna @ 5 MHz	11.5 μs	5.88 μs	4.01 μs	8.44 μs	1.95 ✅	2.86 ✅	1.36 ✅
GPS L1CA, 8 sats @ 40 MHz	367.0 μs	117.0 μs	59.9 μs	113.0 μs	3.14 ✅	6.13 ✅	3.24 ✅
GPS L1CA, 8 sats @ 5 MHz	52.7 μs	20.4 μs	15.0 μs	23.9 μs	2.58 ✅	3.5 ✅	2.2 ✅
Galileo E1B, 4 sats @ 25 MHz	141.0 μs	58.3 μs			2.42 ✅
dynamic taps @ 5 MHz (kernel)	6.68 μs	2.31 μs	1.49 μs	2.56 μs	2.9 ✅	4.48 ✅	2.61 ✅
multi-signal N=3 @ 5 MHz	10.4 μs	4.91 μs	3.64 μs	5.98 μs	2.12 ✅	2.87 ✅	1.74 ✅

Time benchmarks (base vs PR head)

Ratio = ce2e56e… / 6f589e2…: >1 means the PR is faster. ✅ ≥ 5 % faster, ⚠️ ≥ 5 % slower. A blank cell means the benchmark exists on only one revision (🆕 = new on the PR, 🗑 = removed).

	`ce2e56e`…	`6f589e2`…	`ce2e56e`… / `6f589e2`…
downconvert and correlate/CPU/Float32	2.66 μs	2.48 μs	1.07 ✅
downconvert and correlate/CPU/Float32 4ant	5.06 μs	4.86 μs	1.04
downconvert and correlate/CPU/Float64	2.9 μs	2.68 μs	1.08 ✅
downconvert and correlate/CPU/Int16	2.63 μs	2.62 μs	1.01
downconvert and correlate/CPU/Int16 4ant	5.18 μs	4.81 μs	1.08 ✅
downconvert and correlate/CPU/Int32	2.73 μs	2.54 μs	1.08 ✅
fused kernel/1-ant dynamic taps	2.74 μs	2.65 μs	1.03
fused kernel/1-ant static taps	2.06 μs	2.06 μs	1.0
fused kernel/4-ant dynamic taps	7.84 μs	7.77 μs	1.01
fused kernel/4-ant static taps	4.6 μs	4.43 μs	1.04
fused tuple kernel/1-ant N=2	3.51 μs	3.51 μs	1.0
fused tuple kernel/1-ant N=3	3.53 μs	3.52 μs	1.0
fused tuple kernel/2-ant N=2	6.52 μs	6.31 μs	1.03
fused tuple kernel/2-ant N=3	5.63 μs	5.61 μs	1.0
fused tuple kernel/4-ant N=2	12.0 μs	11.5 μs	1.04
fused tuple kernel/4-ant N=3	10.8 μs	10.4 μs	1.04
track/1. Float32/2K – track	2.78 μs	2.63 μs	1.05 ✅
track/1. Float32/2K – track!	2.93 μs	2.73 μs	1.07 ✅
track/2. L1 8sat/5K – track	53.2 μs	49.2 μs	1.08 ✅
track/2. L1 8sat/5K – track!	52.9 μs	49.0 μs	1.08 ✅
track/2. L1 8sat/5K – track! Int16	20.4 μs	20.5 μs	0.998
track/2. L1 8sat/5K – track! OneBit	14.9 μs	15.0 μs	0.994
track/2. L1 8sat/5K – track!-threaded	49.7 μs	49.5 μs	1.01
track/2. L1 8sat/5K – track-threaded	49.9 μs	49.8 μs	1.0
track/3. E1B 4sat/25K – track	136.0 μs	136.0 μs	1.0
track/3. E1B 4sat/25K – track!	135.0 μs	135.0 μs	1.0
track/3. E1B 4sat/25K – track! Int16	58.6 μs	58.0 μs	1.01
track/3. E1B 4sat/25K – track!-threaded	135.0 μs	135.0 μs	0.999
track/3. E1B 4sat/25K – track-threaded	136.0 μs	136.0 μs	1.0
track/4. 8L1+8E1B/25K – track	490.0 μs	489.0 μs	1.0
track/4. 8L1+8E1B/25K – track!	489.0 μs	488.0 μs	1.0
track/4. 8L1+8E1B/25K – track!-threaded	506.0 μs	488.0 μs	1.04
track/4. 8L1+8E1B/25K – track-threaded	490.0 μs	489.0 μs	1.0
track/5. multi-signal N=1/5K – track	6.9 μs	6.37 μs	1.08 ✅
track/5. multi-signal N=1/5K – track!	6.38 μs	6.39 μs	0.999
track/6. multi-signal N=2/5K – track	10.4 μs	10.3 μs	1.01
track/6. multi-signal N=2/5K – track!	10.5 μs	10.4 μs	1.01
track/7. multi-signal N=3/5K – track	12.4 μs	11.6 μs	1.07 ✅
track/7. multi-signal N=3/5K – track!	12.0 μs	11.5 μs	1.04
track/8. L1CA presync 2 blk – track!	12.4 μs	12.3 μs	1.0
track/8. L1CA presync 20 blk – track!	120.0 μs	120.0 μs	1.0
track/8. L1CA synced 2 blk – track!	12.2 μs	12.2 μs	1.0
track/8. L1CA synced 20 blk – track!	119.0 μs	118.0 μs	1.0
time_to_load	141.0 μs	171.0 μs	0.828 ⚠️

Memory benchmarks (base vs PR head)

Ratio = ce2e56e… / 6f589e2… (bytes allocated): >1 means the PR allocates less. ✅ ≥ 5 % less, ⚠️ ≥ 5 % more. ∞/0 mark a benchmark that drops to / picks up allocations, — means both revisions allocate nothing. A blank cell means the benchmark exists on only one revision (🆕 = new on the PR, 🗑 = removed).

	`ce2e56e`…	`6f589e2`…	`ce2e56e`… / `6f589e2`…
downconvert and correlate/CPU/Float32	2 allocs: 576 B	2 allocs: 576 B	1.0
downconvert and correlate/CPU/Float32 4ant	2 allocs: 848 B	2 allocs: 848 B	1.0
downconvert and correlate/CPU/Float64	2 allocs: 576 B	2 allocs: 576 B	1.0
downconvert and correlate/CPU/Int16	2 allocs: 576 B	2 allocs: 576 B	1.0
downconvert and correlate/CPU/Int16 4ant	2 allocs: 848 B	2 allocs: 848 B	1.0
downconvert and correlate/CPU/Int32	2 allocs: 576 B	2 allocs: 576 B	1.0
fused kernel/1-ant dynamic taps	0 allocs: 0 B	0 allocs: 0 B	—
fused kernel/1-ant static taps	0 allocs: 0 B	0 allocs: 0 B	—
fused kernel/4-ant dynamic taps	0 allocs: 0 B	0 allocs: 0 B	—
fused kernel/4-ant static taps	0 allocs: 0 B	0 allocs: 0 B	—
fused tuple kernel/1-ant N=2	0 allocs: 0 B	0 allocs: 0 B	—
fused tuple kernel/1-ant N=3	0 allocs: 0 B	0 allocs: 0 B	—
fused tuple kernel/2-ant N=2	0 allocs: 0 B	0 allocs: 0 B	—
fused tuple kernel/2-ant N=3	0 allocs: 0 B	0 allocs: 0 B	—
fused tuple kernel/4-ant N=2	0 allocs: 0 B	0 allocs: 0 B	—
fused tuple kernel/4-ant N=3	0 allocs: 0 B	0 allocs: 0 B	—
track/1. Float32/2K – track	9 allocs: 944 B	9 allocs: 944 B	1.0
track/1. Float32/2K – track!	0 allocs: 0 B	0 allocs: 0 B	—
track/2. L1 8sat/5K – track	10 allocs: 4656 B	10 allocs: 4656 B	1.0
track/2. L1 8sat/5K – track!	0 allocs: 0 B	0 allocs: 0 B	—
track/2. L1 8sat/5K – track! Int16	13 allocs: 1056 B	13 allocs: 1056 B	1.0
track/2. L1 8sat/5K – track! OneBit	45 allocs: 2736 B	45 allocs: 2736 B	1.0
track/2. L1 8sat/5K – track!-threaded	0 allocs: 0 B	0 allocs: 0 B	—
track/2. L1 8sat/5K – track-threaded	10 allocs: 4656 B	10 allocs: 4656 B	1.0
track/3. E1B 4sat/25K – track	10 allocs: 3056 B	10 allocs: 3056 B	1.0
track/3. E1B 4sat/25K – track!	0 allocs: 0 B	0 allocs: 0 B	—
track/3. E1B 4sat/25K – track! Int16	5 allocs: 416 B	5 allocs: 416 B	1.0
track/3. E1B 4sat/25K – track!-threaded	0 allocs: 0 B	0 allocs: 0 B	—
track/3. E1B 4sat/25K – track-threaded	10 allocs: 3056 B	10 allocs: 3056 B	1.0
track/4. 8L1+8E1B/25K – track	26 allocs: 10464 B	26 allocs: 10464 B	1.0
track/4. 8L1+8E1B/25K – track!	0 allocs: 0 B	0 allocs: 0 B	—
track/4. 8L1+8E1B/25K – track!-threaded	0 allocs: 0 B	0 allocs: 0 B	—
track/4. 8L1+8E1B/25K – track-threaded	26 allocs: 10464 B	26 allocs: 10464 B	1.0
track/5. multi-signal N=1/5K – track	9 allocs: 944 B	9 allocs: 944 B	1.0
track/5. multi-signal N=1/5K – track!	0 allocs: 0 B	0 allocs: 0 B	—
track/6. multi-signal N=2/5K – track	9 allocs: 1408 B	9 allocs: 1408 B	1.0
track/6. multi-signal N=2/5K – track!	0 allocs: 0 B	0 allocs: 0 B	—
track/7. multi-signal N=3/5K – track	9 allocs: 1760 B	9 allocs: 1760 B	1.0
track/7. multi-signal N=3/5K – track!	0 allocs: 0 B	0 allocs: 0 B	—
track/8. L1CA presync 2 blk – track!	7 allocs: 320 B	7 allocs: 320 B	1.0
track/8. L1CA presync 20 blk – track!	7 allocs: 320 B	7 allocs: 320 B	1.0
track/8. L1CA synced 2 blk – track!	7 allocs: 320 B	7 allocs: 320 B	1.0
track/8. L1CA synced 20 blk – track!	7 allocs: 320 B	7 allocs: 320 B	1.0
time_to_load	196 allocs: 13984 B	196 allocs: 13984 B	1.0

github-actions · 2026-07-14T06:48:13Z

Benchmark Results (minimum time) — ubuntu-latest

Reporting the minimum over all samples (robust to shared-runner contention), not the median.

Alternative backends vs Float32 (`track!`, PR head)

Legend — backends: F32 Float32 (default) · I16 Int16 · 1b OneBit · 2b TwoBit (2-bit measurement + 2-bit carrier). Time columns are the minimum track! time; ×B = F32 / B (so >1 ⇒ backend B is faster than Float32), ✅ ≥ 5 % faster, ⚠️ ≥ 5 % slower. 1b/2b are BPSK-only, so their cells are blank for CBOC (Galileo E1B) scenarios.

Scenario	F32	I16	1b	2b	×I16	×1b	×2b
4-antenna @ 5 MHz	12.2 μs	6.16 μs	5.22 μs	9.73 μs	1.98 ✅	2.34 ✅	1.26 ✅
GPS L1CA, 8 sats @ 40 MHz	331.0 μs	130.0 μs	71.3 μs	120.0 μs	2.54 ✅	4.64 ✅	2.77 ✅
GPS L1CA, 8 sats @ 5 MHz	49.3 μs	28.2 μs	20.9 μs	27.9 μs	1.75 ✅	2.36 ✅	1.77 ✅
Galileo E1B, 4 sats @ 25 MHz	122.0 μs	54.7 μs			2.23 ✅
dynamic taps @ 5 MHz (kernel)	5.79 μs	3.43 μs	2.03 μs	2.82 μs	1.69 ✅	2.85 ✅	2.05 ✅
multi-signal N=3 @ 5 MHz	9.54 μs	5.87 μs	5.06 μs	7.13 μs	1.62 ✅	1.88 ✅	1.34 ✅

Time benchmarks (base vs PR head)

Ratio = ce2e56e… / 6f589e2…: >1 means the PR is faster. ✅ ≥ 5 % faster, ⚠️ ≥ 5 % slower. A blank cell means the benchmark exists on only one revision (🆕 = new on the PR, 🗑 = removed).

	`ce2e56e`…	`6f589e2`…	`ce2e56e`… / `6f589e2`…
downconvert and correlate/CPU/Float32	2.38 μs	2.35 μs	1.01
downconvert and correlate/CPU/Float32 4ant	4.71 μs	4.75 μs	0.991
downconvert and correlate/CPU/Float64	2.77 μs	2.76 μs	1.01
downconvert and correlate/CPU/Int16	2.43 μs	2.43 μs	1.0
downconvert and correlate/CPU/Int16 4ant	5.18 μs	5.21 μs	0.995
downconvert and correlate/CPU/Int32	2.42 μs	2.42 μs	0.998
fused kernel/1-ant dynamic taps	2.17 μs	2.2 μs	0.984
fused kernel/1-ant static taps	1.88 μs	1.88 μs	0.999
fused kernel/4-ant dynamic taps	5.42 μs	5.3 μs	1.02
fused kernel/4-ant static taps	4.18 μs	4.16 μs	1.0
fused tuple kernel/1-ant N=2	2.35 μs	2.41 μs	0.973
fused tuple kernel/1-ant N=3	2.81 μs	2.81 μs	1.0
fused tuple kernel/2-ant N=2	3.6 μs	3.6 μs	1.0
fused tuple kernel/2-ant N=3	4.67 μs	4.54 μs	1.03
fused tuple kernel/4-ant N=2	6.03 μs	6.07 μs	0.994
fused tuple kernel/4-ant N=3	9.77 μs	9.85 μs	0.992
track/1. Float32/2K – track	2.58 μs	2.68 μs	0.965
track/1. Float32/2K – track!	2.69 μs	2.6 μs	1.04
track/2. L1 8sat/5K – track	47.9 μs	47.8 μs	1.0
track/2. L1 8sat/5K – track!	47.6 μs	47.1 μs	1.01
track/2. L1 8sat/5K – track! Int16	28.5 μs	27.7 μs	1.03
track/2. L1 8sat/5K – track! OneBit	20.3 μs	20.0 μs	1.02
track/2. L1 8sat/5K – track!-threaded	47.7 μs	47.4 μs	1.0
track/2. L1 8sat/5K – track-threaded	48.1 μs	48.1 μs	0.999
track/3. E1B 4sat/25K – track	119.0 μs	119.0 μs	1.0
track/3. E1B 4sat/25K – track!	118.0 μs	118.0 μs	1.0
track/3. E1B 4sat/25K – track! Int16	54.6 μs	54.7 μs	0.998
track/3. E1B 4sat/25K – track!-threaded	118.0 μs	118.0 μs	0.998
track/3. E1B 4sat/25K – track-threaded	119.0 μs	119.0 μs	1.0
track/4. 8L1+8E1B/25K – track	436.0 μs	437.0 μs	0.998
track/4. 8L1+8E1B/25K – track!	433.0 μs	433.0 μs	1.0
track/4. 8L1+8E1B/25K – track!-threaded	434.0 μs	434.0 μs	0.999
track/4. 8L1+8E1B/25K – track-threaded	436.0 μs	436.0 μs	1.0
track/5. multi-signal N=1/5K – track	6.16 μs	6.14 μs	1.0
track/5. multi-signal N=1/5K – track!	6.19 μs	6.14 μs	1.01
track/6. multi-signal N=2/5K – track	8.4 μs	8.41 μs	0.999
track/6. multi-signal N=2/5K – track!	8.6 μs	8.53 μs	1.01
track/7. multi-signal N=3/5K – track	10.8 μs	10.7 μs	1.01
track/7. multi-signal N=3/5K – track!	10.9 μs	10.9 μs	1.0
track/8. L1CA presync 2 blk – track!	11.6 μs	11.7 μs	0.996
track/8. L1CA presync 20 blk – track!	114.0 μs	112.0 μs	1.01
track/8. L1CA synced 2 blk – track!	11.5 μs	11.6 μs	0.996
track/8. L1CA synced 20 blk – track!	112.0 μs	111.0 μs	1.02
time_to_load	102.0 μs	113.0 μs	0.905 ⚠️

Memory benchmarks (base vs PR head)

Ratio = ce2e56e… / 6f589e2… (bytes allocated): >1 means the PR allocates less. ✅ ≥ 5 % less, ⚠️ ≥ 5 % more. ∞/0 mark a benchmark that drops to / picks up allocations, — means both revisions allocate nothing. A blank cell means the benchmark exists on only one revision (🆕 = new on the PR, 🗑 = removed).

	`ce2e56e`…	`6f589e2`…	`ce2e56e`… / `6f589e2`…
downconvert and correlate/CPU/Float32	2 allocs: 576 B	2 allocs: 576 B	1.0
downconvert and correlate/CPU/Float32 4ant	2 allocs: 848 B	2 allocs: 848 B	1.0
downconvert and correlate/CPU/Float64	2 allocs: 576 B	2 allocs: 576 B	1.0
downconvert and correlate/CPU/Int16	2 allocs: 576 B	2 allocs: 576 B	1.0
downconvert and correlate/CPU/Int16 4ant	2 allocs: 848 B	2 allocs: 848 B	1.0
downconvert and correlate/CPU/Int32	2 allocs: 576 B	2 allocs: 576 B	1.0
fused kernel/1-ant dynamic taps	0 allocs: 0 B	0 allocs: 0 B	—
fused kernel/1-ant static taps	0 allocs: 0 B	0 allocs: 0 B	—
fused kernel/4-ant dynamic taps	0 allocs: 0 B	0 allocs: 0 B	—
fused kernel/4-ant static taps	0 allocs: 0 B	0 allocs: 0 B	—
fused tuple kernel/1-ant N=2	0 allocs: 0 B	0 allocs: 0 B	—
fused tuple kernel/1-ant N=3	0 allocs: 0 B	0 allocs: 0 B	—
fused tuple kernel/2-ant N=2	0 allocs: 0 B	0 allocs: 0 B	—
fused tuple kernel/2-ant N=3	0 allocs: 0 B	0 allocs: 0 B	—
fused tuple kernel/4-ant N=2	0 allocs: 0 B	0 allocs: 0 B	—
fused tuple kernel/4-ant N=3	0 allocs: 0 B	0 allocs: 0 B	—
track/1. Float32/2K – track	9 allocs: 944 B	9 allocs: 944 B	1.0
track/1. Float32/2K – track!	0 allocs: 0 B	0 allocs: 0 B	—
track/2. L1 8sat/5K – track	10 allocs: 4536 B	10 allocs: 4536 B	1.0
track/2. L1 8sat/5K – track!	0 allocs: 0 B	0 allocs: 0 B	—
track/2. L1 8sat/5K – track! Int16	13 allocs: 1056 B	13 allocs: 1056 B	1.0
track/2. L1 8sat/5K – track! OneBit	45 allocs: 2736 B	45 allocs: 2736 B	1.0
track/2. L1 8sat/5K – track!-threaded	0 allocs: 0 B	0 allocs: 0 B	—
track/2. L1 8sat/5K – track-threaded	10 allocs: 4536 B	10 allocs: 4536 B	1.0
track/3. E1B 4sat/25K – track	10 allocs: 2808 B	10 allocs: 2808 B	1.0
track/3. E1B 4sat/25K – track!	0 allocs: 0 B	0 allocs: 0 B	—
track/3. E1B 4sat/25K – track! Int16	5 allocs: 416 B	5 allocs: 416 B	1.0
track/3. E1B 4sat/25K – track!-threaded	0 allocs: 0 B	0 allocs: 0 B	—
track/3. E1B 4sat/25K – track-threaded	10 allocs: 2808 B	10 allocs: 2808 B	1.0
track/4. 8L1+8E1B/25K – track	26 allocs: 10352 B	26 allocs: 10352 B	1.0
track/4. 8L1+8E1B/25K – track!	0 allocs: 0 B	0 allocs: 0 B	—
track/4. 8L1+8E1B/25K – track!-threaded	0 allocs: 0 B	0 allocs: 0 B	—
track/4. 8L1+8E1B/25K – track-threaded	26 allocs: 10352 B	26 allocs: 10352 B	1.0
track/5. multi-signal N=1/5K – track	9 allocs: 944 B	9 allocs: 944 B	1.0
track/5. multi-signal N=1/5K – track!	0 allocs: 0 B	0 allocs: 0 B	—
track/6. multi-signal N=2/5K – track	9 allocs: 1408 B	9 allocs: 1408 B	1.0
track/6. multi-signal N=2/5K – track!	0 allocs: 0 B	0 allocs: 0 B	—
track/7. multi-signal N=3/5K – track	9 allocs: 1760 B	9 allocs: 1760 B	1.0
track/7. multi-signal N=3/5K – track!	0 allocs: 0 B	0 allocs: 0 B	—
track/8. L1CA presync 2 blk – track!	7 allocs: 320 B	7 allocs: 320 B	1.0
track/8. L1CA presync 20 blk – track!	7 allocs: 320 B	7 allocs: 320 B	1.0
track/8. L1CA synced 2 blk – track!	7 allocs: 320 B	7 allocs: 320 B	1.0
track/8. L1CA synced 20 blk – track!	7 allocs: 320 B	7 allocs: 320 B	1.0
time_to_load	145 allocs: 11216 B	145 allocs: 11216 B	1.0

…eo E5a) In a combined group the loops lock the driver (signals[1], the pilot) onto the real axis, so a QPSK data component on the orthogonal carrier (GPS L5, Galileo E5a) lands on the imaginary axis and its real(prompt) bit decision collapses to noise — the nav message never syncs. De-rotate each component's bit-buffer prompt onto the driver's frame before the sync search and symbol accumulation: prompt *= cis(get_carrier_phase_offset(driver) - get_carrier_phase_offset(signal)) A no-op (cis(0)) for the driver, co-phased pairs (E1B/E1C) and data-only sats; a quadrature component rotates ±90° onto the real axis, sign resolved downstream by the decoder. Requires GNSSSignals 3.6 (introduces get_carrier_phase_offset); compat floor pinned. Adds test/carrier_phase.jl. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

giove-a force-pushed the sc/quadrature-decode branch from c325777 to c35eec6 Compare July 14, 2026 06:30

siebc requested a review from zsoerenm July 14, 2026 06:35

giove-a force-pushed the sc/quadrature-decode branch from c35eec6 to 6f589e2 Compare July 15, 2026 07:35

siebc merged commit 32f7178 into master Jul 15, 2026
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siebc deleted the sc/quadrature-decode branch July 15, 2026 07:53

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fix: combined pilot+data decode for quadrature signals (GPS L5, Galileo E5a)#201

fix: combined pilot+data decode for quadrature signals (GPS L5, Galileo E5a)#201
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Benchmark Results (minimum time) — macos-14

Alternative backends vs Float32 (track!, PR head)

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Benchmark Results (minimum time) — ubuntu-latest

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Alternative backends vs Float32 (`track!`, PR head)

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Alternative backends vs Float32 (`track!`, PR head)