41-EFT.WP.Comms.Navigation v1.0 | 附录 B 数据卡 / 管线卡 / 误差预算卡

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附录 B 数据卡 / 管线卡 / 误差预算卡

I. 适用范围与锚点

• 本附录提供数据卡（Dataset Card）、**管线卡（Pipeline Card）与误差预算卡（Error Budget Card）**的发布版模板与最小示例，覆盖 GNSS/UWB/5G/Wi-Fi/Acoustic 与 IMU/里程计/视觉 的多传感融合。
• 全部字段、公式与符号统一英文书写；跨卷引用采用“卷名 + 版本号 + 锚点（P/S/M/I）”。
• 强制与本卷第2–12章联动：W_coh、两种 T_arr 口径、y = h(x) 与 H = ∂h/∂x、J = ∂y/∂θ、F = J^T Σ_y^{-1} J、接口 I12-*。

II. 总则与版本字段（强制）

• 元数据：schema_version、contract_version、unit_system:"SI"、references:[...]。
• 到达时强制字段：convention ∈ {pulled_const, integrand}、delta_form、gamma(ell)、d_ell。
• 所有数值需通过 check_dim；不得混用 T_temp/T_fil 与 n/n_eff；禁止在同一数据集中混用两种 T_arr 口径。

III. 数据卡（Dataset Card）模板

schema_version: "B.1.0"

contract_version: "1.0"

unit_system: "SI"

case_id: "<gnss|uwb|5g|wifi|acoustic|multisensor>"

scene_tag: "<indoor|urban|highway|forest|factory|campus|UAV_outdoor>"

anchors:

- {id: "A1", p_S: [x,y,z], array: "<ULA|URA|omni>", cal: "<file|hash>"}

arrival_time:

convention: "pulled_const" # or "integrand"

delta_form: "c_ref^-1 * ∫ n_eff dℓ" # or "∫ (n_eff/c_ref) dℓ"

gamma: "piecewise: free|fixture|substrate|device|environment"

d_ell: "m"

measurement:

y_channels: ["TOA","TDOA","AOA","FOA","RSS","CP","IMU","WHEEL","VO"]

S21: "<complex spectrum or trace>" # 如需相位解缠/群延迟

unwrap: {method: "phase_unwrap_v2", params: {...}}

deembed: {scheme: "OSLT|TRL", refs: ["blank","substrate-only"]}

aoa: {array: "<ULA|URA|MIMO>", pc: "<phase_center>", cal_hash: "<hash>"}

foa: {carrier: "<Hz>", estimator: "phase_diff|ridge"}

rss: {P0_dBm: "<ref>", eta: "<prior>", rho0: "<m>"}

cp: {lambda: "c_ref/f_c", dd_mode: "single|double", ambiguity: "int|float"}

clock_sync:

cov_clock: {bb:"<s^2>", bd:"<s^2/s>", dd:"<s^2/s^2>"}

sources: {gnss: "<CV|PPP-RTK|diff>", ptp: "<IEEE1588|802.1AS>", twr: {rounds: n}}

covariance:

Σ_y: "<block-diagonal or sparse>" # 含通道分块与再加权后的版本

robust:

nlos_flag: "<bool|score>"

mixture: {pi_los: "<0..1>", mu_nlos: "<per-channel>", Sigma_nlos: "<blocks>"}

priors:

P0: "<state prior>", Qc: "<process PSD>", sync_cov: "<bb,bd,dd>"

interfaces:

arrival_time:

deembed: "I12-AT-deembed_path"

unwrap: "I12-AT-unwrap_and_delay"

compute: "I12-AT-compute_arrival_time"

observation:

build: "I12-OBS-build_observation"

jac: "I12-OBS-build_jacobian"

cov: "I12-OBS-update_covariance"

fusion:

ekf: "I12-FUSE-ekf_step"

ukf: "I12-FUSE-ukf_step"

fg: "I12-FUSE-build_graph"

reproducibility:

scripts: "<path>"

env: "<container|conda spec>"

anchors: ["S30-*","S40-*","S60-*","S80-*","S100-*","I12-*"]

IV. 专用数据卡子模板（按场景选用）
A. UWB（室内 TDOA/TWR）

case_id: "uwb"

measurement:

y_channels: ["TDOA","TWR","AOA"]

cir: {fs: "<Hz>", taps: n}

tdoa: {pairs: [["A1","A0"],["A2","A0"]]}

robust:

features: {tau_rms: "<s>", peak_ratio: "<dB>"}

B. 5G（AOA/OTDOA/PRS）

case_id: "5g"

measurement:

y_channels: ["AOA","TOA","TDOA","FOA"]

aoa: {array: "URA", pc: "<x,y,z>", cal_hash: "<hash>"}

clock_sync:

sources: {ptp: "802.1AS", gnss: "CV"}

C. GNSS（多频 CP）

case_id: "gnss"

measurement:

y_channels: ["TOA","FOA","CP"]

cp: {lambda: "c_ref/f_c", dd_mode: "double", ambiguity: "int"}

clock_sync:

sources: {gnss: "PPP-RTK"}

D. Acoustic（水声/空腔）

case_id: "acoustic"

carrier: {f_c: "<Hz>", lambda: "c_med/f_c"}

acoustic: {c_med: "<m/s>", alpha: "<Np/m>"}

measurement:

y_channels: ["TOA","AOA","FOA"]

V. 管线卡（Pipeline Card）模板

schema_version: "B.1.0"

unit_system: "SI"

pipeline:

dag:

- id: "ingest"

api: "I13-1" # load_case_card

in: ["dataset_card.yaml"]

out: ["raw"]

- id: "deembed"

api: "I12-AT-deembed_path"

in: ["raw","standards"]

out: ["cal_bundle"]

- id: "unwrap"

api: "I12-AT-unwrap_and_delay"

in: ["raw"]

out: ["phi(ω)","τ_g","seg_uncertainty"]

- id: "arrival"

api: "I12-AT-compute_arrival_time"

in: ["phi(ω)","τ_g","contracts"]

out: ["T_arr(ω)","meta"]

- id: "obs_build"

api: "I12-OBS-build_observation"

in: ["raw","cal_bundle","T_arr(ω)"]

out: ["y","meta"]

- id: "cov_update"

api: "I12-OBS-update_covariance"

in: ["y","flags","models"]

out: ["Σ_y","robust_weights"]

- id: "J_build"

api: "I12-MAT-build"

in: ["config","cal_bundle","contracts"]

out: ["J","B","Σ_y","meta"]

- id: "fusion"

api: "I12-FUSE-ekf_step" # 或 ukf_step / build_graph+optimize_graph

in: ["x̂0","P0","u","y","H","Σ_y","Q"]

out: ["x̂","P","stats"]

- id: "consistency"

api: "I12-FUSE-assess_consistency"

in: ["tracks","P","S"]

out: ["NEES","NIS","pass@coverage"]

- id: "design"

api: "I12-MAT-optimize_experiment"

in: ["design_space","budget","criterion"]

out: ["x_design*","F*","covθ*"]

runtime:

seeds: {global: 2025}

resources: {cpu_time: "hh:mm", gpu_mem: "GB", max_walltime: "hh:mm"}

logging:

level: "INFO"

artifacts: ["repro_bundle.tgz"]

contracts:

unit_system: "SI"

references: ["Ch.3","Ch.4","Ch.6","Ch.8","Ch.9","Ch.10","Ch.12"]

VI. 误差预算卡（Error Budget Card）模板

schema_version: "B.1.0"

unit_system: "SI"

error_budget:

channels:

- name: "TOA"

unit: "s"

contributors:

- {name: "phase_unwrap", type: "random|systematic", u: "<s>", note: "segmented jumps"}

- {name: "deembed", type: "systematic", u: "<s>"}

- {name: "clock_bias", type: "random", u: "<s>"}

- {name: "asymmetry", type: "systematic", u: "<s>"}

combine_rule: "quadrature"

- name: "AOA"

unit: "rad"

contributors:

- {name: "array_cal", type: "systematic", u: "<rad>"}

- {name: "beamwidth", type: "random", u: "<rad>"}

- name: "FOA"

unit: "Hz"

contributors:

- {name: "CFO", type: "random", u: "<Hz>"}

- {name: "window", type: "random", u: "<Hz>"}

- name: "RSS"

unit: "dBm"

contributors:

- {name: "shadowing", type: "random", u: "<dB>"}

- {name: "cal", type: "systematic", u: "<dB>"}

- name: "CP"

unit: "rad"

contributors:

- {name: "cycle_slip", type: "discrete", u: "<rad>"}

- {name: "iono_tropo", type: "systematic", u: "<rad>"}

covariance:

Σ_y: "<block-diagonal or sparse>" # 与鲁棒再加权后版本一致

derived_params:

- name: "position_PEB"

unit: "m"

relation: "from Fisher or posterior"

u_formula: "PEB ≈ sqrt(tr((J^T Σ_y^-1 J)^-1)[xyz])"

- name: "clock_sigma"

unit: "s"

relation: "from sync block"

u_formula: "σ_b = sqrt(cov_clock[bb])"

coverage:

k: 2.0 # expanded uncertainty

metrics: ["NEES","NIS","pass@coverage"]

reports:

tables: ["channel_budget.csv","param_ci.csv"]

plots: ["sankey_budget.png","dop_heatmap.png","ci_forest.png"]

VII. 字段校验与质量门

• 结构校验：schema_version/contract_version/unit_system/references 必填；YAML/JSON 可解析且键不重复。
• 到达时强制：凡出现 T_arr/TOA/TDOA/FOA/CP，数据卡同时包含 convention/delta_form/gamma(ell)/d_ell。
• 量纲校核：对 observables 与派生量执行 check_dim；单位列缺失判拒。
• 协方差一致性：Σ_y 块结构与 y_channels 对齐；鲁棒再加权与膨胀同步更新。
• 一致性门：NEES/NIS 与 pass@coverage 接近标称；超限触发回退策略（线性化/噪声/权重）。
• 复现门：生成 repro_bundle = {scripts, params, env, anchors}，保留去嵌/同步/再加权的决策轨迹与哈希。

VIII. 最小示例（发布可用）
A. 5G AOA+OTDOA（节选）

schema_version: "B.1.0"

unit_system: "SI"

case_id: "5g"

scene_tag: "urban"

arrival_time:

convention: "integrand"

delta_form: "∫ (n_eff/c_ref) dℓ"

gamma: "piecewise: free|fixture|device|environment"

d_ell: "m"

measurement:

y_channels: ["AOA","TOA","TDOA"]

aoa: {array: "URA", pc: [0,0,0.03], cal_hash: "abcd1234"}

covariance:

Σ_y: "blocks/5g_sigma.json"

interfaces:

observation: {build: "I12-OBS-build_observation", jac: "I12-OBS-build_jacobian"}

B. UWB TDOA/TWR（节选）

schema_version: "B.1.0"

unit_system: "SI"

case_id: "uwb"

scene_tag: "indoor"

arrival_time:

convention: "pulled_const"

delta_form: "c_ref^-1 * ∫ n_eff dℓ"

gamma: "piecewise: free|fixture|substrate|device"

d_ell: "m"

measurement:

y_channels: ["TDOA","TWR"]

cir: {fs: 1.0e9, taps: 1024}

robust:

mixture: {pi_los: 0.8}

covariance:

Σ_y: "blocks/uwb_sigma.json"

interfaces:

fusion: {ekf: "I12-FUSE-ekf_step"}

IX. 接口绑定清单（本附录引用）

• 到达时/传播：I12-AT-deembed_path，I12-AT-unwrap_and_delay，I12-AT-compute_arrival_time，I12-AT-estimate_doppler。
• 观测/融合：I12-OBS-build_observation，I12-OBS-build_jacobian，I12-OBS-update_covariance，I12-FUSE-*。
• 计量/设计：I12-MAT-build，I12-MAT-fisher，I12-MAT-optimize_experiment。
• 仿真/基准：I12-SIM-make_synthetic，I12-SIM-benchmarks。

X. 交付物与存档

• 交付物：dataset_card.yaml、pipeline_card.yaml、error_budget.yaml、repro_bundle.tgz、报告表与图（CSV/PNG）。
• 存档策略：记录 request_id、时间戳、环境指纹与引用锚点清单；支持审计模式下的确定性重放。