# Quantum gravity-map-matching navigation benchmark (GPS-denied alt-PNT).
#
# Targets ESA NAVISP "Quantum Wayfarer" / QT-CCI gravity-map-matching vocabulary: a
# vehicle with an inertial unit and a cold-atom-interferometer gravimeter navigates with
# no GNSS by matching the gravity-anomaly signature it flies through against a stored
# reference field. This spec is consumed by
# `kshana::gravimeter::run_gravity_map_benchmark` (and its unit test); the reference field
# is a low-degree spherical-harmonic anomaly plus synthetic mascons — Kshana does not
# bundle the full EGM2008 coefficient set (see docs/CAPABILITY.md). Wiring this into the
# global scenario-engine `kind=` dispatcher with an SVG drift chart is a documented
# follow-on.

# Maximum spherical-harmonic degree/order of the reference field.
nmax = 3

# Track flown GPS-denied: an oblique leg so the scalar gravimeter sequence is observable
# in both north and east (a single anomaly measurement only constrains a level set).
start_lat_deg = 12.0
start_lon_deg = 24.0
step_lat_deg = 0.18
step_lon_deg = 0.13
waypoints = 12

# True constant INS position drift accumulated over the outage (≈ 80 km at ~13° lat).
drift_lat_deg = 0.55
drift_lon_deg = -0.45

# Cold-atom gravimeter: 1e-7 m/s²/√Hz ASD (≈10 µGal/√Hz), 100 s averaging ⇒ σ ≈ 1e-3 mGal.
gravimeter_asd = 1.0e-7
averaging_time_s = 100.0

# Map/representation error (mGal): reference-field inaccuracy + grid quantisation, combined
# with the sensor white noise into the effective matching σ. Dominates a quantum gravimeter.
map_sigma_mgal = 2.0

# Offset search grid (degrees): ±1.0° at 0.05° resolution around the no-drift prior.
search_half_deg = 1.0
search_step_deg = 0.05

# Low-degree anomalous, fully-normalised coefficients (the regional trend).
[[coeffs]]
n = 2
m = 0
cbar = 4.0e-6
sbar = 0.0

[[coeffs]]
n = 3
m = 1
cbar = 2.0e-6
sbar = 1.0e-6

# Localized Gaussian anomalies (mascons) the track crosses — the stand-in for the
# high-degree EGM features that make gravity-map matching observable.
[[mascons]]
lat_deg = 13.0
lon_deg = 25.0
amp_mgal = 32.0
sigma_deg = 0.45

[[mascons]]
lat_deg = 12.6
lon_deg = 24.6
amp_mgal = -26.0
sigma_deg = 0.35
