Merge remote-tracking branch 'origin/dev' into dev-attempt-01

.cursor/commands/1.research/1.1_research_assesment_acceptance_criteria.md

@@ -1,14 +1,14 @@
 ## The problem description
- `@docs/00_problem/problem_description.md`.
+ `@_docs/00_problem/problem_description.md`.
 
 ## Data samples
-  Located here: `@docs/00_problem/input_data`. They are for reference only, yet it is examples from the real data.
+  Located here: `@_docs/00_problem/input_data`. They are for reference only, yet it is examples from the real data.
 
 ## Restrictions for the input data
-   `@docs/00_problem/restrictions.md.md`.
+   `@_docs/00_problem/restrictions.md.md`.
 
 ## Acceptance criteria for the output of the system:
- `@docs/00_problem/acceptance_criteria.md`.  
+ `@_docs/00_problem/acceptance_criteria.md`.  
 
 ## Role
   You are a professional software architect

.cursor/commands/1.research/1.2_research_problem.md

@@ -1,14 +1,14 @@
 ## The problem description
- `@docs/00_problem/problem_description.md`.
+ `@_docs/00_problem/problem_description.md`.
 
 ## Data samples
-  Located here: `@docs/00_problem/input_data`. They are for reference only, yet it is examples from the real data.
+  Located here: `@_docs/00_problem/input_data`. They are for reference only, yet it is examples from the real data.
 
 ## Restrictions for the input data
-   `@docs/00_problem/restrictions.md.md`.
+   `@_docs/00_problem/restrictions.md.md`.
 
 ## Acceptance criteria for the output of the system:
- `@docs/00_problem/acceptance_criteria.md`.  
+ `@_docs/00_problem/acceptance_criteria.md`.  
 
 ## Role
   You are a professional software architect

.cursor/commands/1.research/1.3_solution_draft_assessment.md

@@ -1,17 +1,17 @@
 ## The problem description
- `@docs/00_problem/problem_description.md`.
+ `@_docs/00_problem/problem_description.md`.
 
 ## Data samples
-  Located here: `@docs/00_problem/input_data`. They are for reference only, yet it is examples from the real data.
+  Located here: `@_docs/00_problem/input_data`. They are for reference only, yet it is examples from the real data.
 
 ## Restrictions for the input data
-   `@docs/00_problem/restrictions.md.md`.
+   `@_docs/00_problem/restrictions.md.md`.
 
 ## Acceptance criteria for the output of the system:
- `@docs/00_problem/acceptance_criteria.md`.  
+ `@_docs/00_problem/acceptance_criteria.md`.  
 
 ## Existing solution draft:
- `@docs/01_solution/solution_draft.md`
+ `@_docs/01_solution/solution_draft.md`
   
 ## Role
   You are a professional software architect

.cursor/commands/2.planning/2.10_gen_components.md

@@ -1,19 +1,19 @@
 # decompose
 
 ## The problem description
- `@docs/00_problem/problem_description.md`.
+ `@_docs/00_problem/problem_description.md`.
 
 ## Data samples
-  Located here: `@docs/00_problem/input_data`. They are for reference only, yet it is examples from the real data.
+  Located here: `@_docs/00_problem/input_data`. They are for reference only, yet it is examples from the real data.
 
 ## Restrictions for the input data
-   `@docs/00_problem/restrictions.md`.
+   `@_docs/00_problem/restrictions.md`.
 
 ## Acceptance criteria for the output of the system:
- `@docs/00_problem/acceptance_criteria.md`.  
+ `@_docs/00_problem/acceptance_criteria.md`.  
 
 ## Existing solution:
- `@docs/01_solution/solution_draft.md`
+ `@_docs/01_solution/solution_draft.md`
 
 ## Role
   You are a professional software architect
@@ -27,7 +27,7 @@
  - When you've got full understanding of how exactly each component will interact with each other, create components
 
 ## Output
- - Store description of each component to the file `docs/02_components/[##]_[component_name]/[##]._component_[component_name].md` with the next structure:
+ - Store description of each component to the file `_docs/02_components/[##]_[component_name]/[##]._component_[component_name].md` with the next structure:
    - Component Name
    - Detailed description
    - API methods, for each method:
@@ -40,7 +40,7 @@
      - Test cases for the method
    - Integration tests for the component if needed.
    - Non-functional tests for the component if needed.
- - Store Extensions and Helpers to support functionality across multiple components to a separate folder `docs/02_components/helpers`.
+ - Store Extensions and Helpers to support functionality across multiple components to a separate folder `_docs/02_components/helpers`.
  - Generate draw.io components diagram shows relations between components. 
 
 ## Notes

.cursor/commands/2.planning/2.15_components_assesment.md

@@ -4,7 +4,7 @@
     - @00_problem
 
 ## Solution and decomposition
-    - @docs/01_solution/solution.md 
+    - @_docs/01_solution/solution.md 
     - @02_components 
 
 ## Role

.cursor/commands/2.planning/2.20_gen_epics.md

@@ -1,19 +1,19 @@
 # generate Jira Epics
 
 ## The problem description
- `@docs/00_problem/problem_description.md`.
+ `@_docs/00_problem/problem_description.md`.
 
 ## Data samples
-  Located here: `@docs/00_problem/input_data`. They are for reference only, yet it is examples from the real data.
+  Located here: `@_docs/00_problem/input_data`. They are for reference only, yet it is examples from the real data.
 
 ## Restrictions for the input data
-   `@docs/00_problem/restrictions.md`.
+   `@_docs/00_problem/restrictions.md`.
 
 ## Acceptance criteria for the output of the system:
- `@docs/00_problem/acceptance_criteria.md`.  
+ `@_docs/00_problem/acceptance_criteria.md`.  
 
 ## Existing solution:
- `@docs/01_solution/solution.md`
+ `@_docs/01_solution/solution.md`
 
 ## Role
   You are a world class product manager

.cursor/commands/2.planning/2.30_gen_tests.md

@@ -1,19 +1,19 @@
 # generate Tests
 
 ## The problem description
- `@docs/00_problem/problem_description.md`.
+ `@_docs/00_problem/problem_description.md`.
 
 ## Data samples
-  Located here: `@docs/00_problem/input_data`. They are for reference only, yet it is examples from the real data.
+  Located here: `@_docs/00_problem/input_data`. They are for reference only, yet it is examples from the real data.
 
 ## Restrictions for the input data
-   `@docs/00_problem/restrictions.md`.
+   `@_docs/00_problem/restrictions.md`.
 
 ## Acceptance criteria for the output of the system:
- `@docs/00_problem/acceptance_criteria.md`.  
+ `@_docs/00_problem/acceptance_criteria.md`.  
 
 ## Existing solution:
- `@docs/01_solution/solution_draft.md`
+ `@_docs/01_solution/solution_draft.md`
 
 ## Role
   You are a professional Quality Assurance Engineer
@@ -23,7 +23,7 @@
  - Cover all the the criteria with tests specs
 
 ## Output
- Store all tests specs to the files `docs/03_tests/[##]_[test_name]_spec.md`
+ Store all tests specs to the files `_docs/03_tests/[##]_[test_name]_spec.md`
  Types and structures of tests:
 
  - Integration tests

.cursor/commands/2.planning/2.40_gen_features.md

@@ -4,10 +4,10 @@
  --component component_spec.md
 
 ## Existing solution:
- `@docs/01_solution/solution.md`
+ `@_docs/01_solution/solution.md`
 
 ## Acceptance criteria for the output of the system:
- `@docs/00_problem/acceptance_criteria.md`.  
+ `@_docs/00_problem/acceptance_criteria.md`.  
 
 ## Role
   You are a professional software architect

.cursor/commands/3.implementation/3.05_implement_initial_structure.md

@@ -1,34 +1,35 @@
 # Create initial structure
 
 ## The problem description
- `@docs/00_problem/problem_description.md`.
+ `@_docs/00_problem/problem_description.md`.
 
 ## Data samples
-  Located here: `@docs/00_problem/input_data`. They are for reference only, yet it is an example of the real data.
+  Located here: `@_docs/00_problem/input_data`. They are for reference only, yet it is an example of the real data.
 
 ## Restrictions for the input data
-   `@docs/00_problem/restrictions.md`.
+   `@_docs/00_problem/restrictions.md`.
 
 ## Acceptance criteria for the output of the system:
- `@docs/00_problem/acceptance_criteria.md`.  
+ `@_docs/00_problem/acceptance_criteria.md`.  
 
 ## Existing solution spec:
- `@docs/01_solution/solution.md`
+ `@_docs/01_solution/solution.md`
  
 ## Components with Features specs
- `@docs/02_components`
+ `@_docs/02_components`
   
 ## Role
-  You are a professional software architect and developer
+  You are a professional software architect
 
 ## Task
- - Read carefully all the component specs and features in the components folder: `@docs/02_components`
+ - Read carefully all the component specs and features in the components folder: `@_docs/02_components`
  - Investgate in internet what are the best way and tools to implement components and its features
- - Create initial structure:
+ - Make a plan for the creating initial structure:
    - DTOs
    - component's interfaces
    - empty implementations
    - helpers - empty implementations or interfaces
+ - add README.md, describe the project by @_docs/01_solution/solution.md 
 
 ## Notes
  - Follow SOLID principles

.cursor/commands/3.implementation/3.10_implement_component.md

@@ -4,28 +4,29 @@
  component_folder
 
 ## The problem description
- `@docs/00_problem/problem_description.md`.
+ `@_docs/00_problem/problem_description.md`.
 
 ## Data samples
-  Located here: `@docs/00_problem/input_data`. They are for reference only, yet it is an example of the real data.
+  Located here: `@_docs/00_problem/input_data`. They are for reference only, yet it is an example of the real data.
 
 ## Restrictions for the input data
-   `@docs/00_problem/restrictions.md`.
+   `@_docs/00_problem/restrictions.md`.
 
 ## Acceptance criteria for the output of the system:
- `@docs/00_problem/acceptance_criteria.md`.  
+ `@_docs/00_problem/acceptance_criteria.md`.  
 
 ## Existing solution:
- `@docs/01_solution/solution.md`
+ `@_docs/01_solution/solution.md`
 
 ## Role
   You are a professional software architect and developer
 
 ## Task
- - Read carefully component spec in the component_folder: `@docs/02_components/[##]_[component_name]/[##]._component_[component_name]`
- - Read carefully all the component features in the component_folder: `@docs/02_components/[##]_[component_name]/[##].[##]_feature_[feature_name]`
+ - Read carefully component spec in the component_folder: `@_docs/02_components/[##]_[component_name]/[##]._component_[component_name]`
+ - Read carefully all the component features in the component_folder: `@_docs/02_components/[##]_[component_name]/[##].[##]_feature_[feature_name]`
  - Investgate in internet what are the best way and tools to implement component and its features
  - During the investigation is is possible that found solutions required architecturally reorganization of the features. It is ok, propose that and if user agrees, include reorganization in the build feature plan. Also it is possible that interface could be changed or even removed or added new one. It is ok.
+ - Analyze the existing codebase and get full context for the component's implementation
  - Make sure feature is connected and communicated properly with other features and existing code
  - If component has dependency on another one, create temporary mock for the dependency
  - Create unit tests from the Test cases description, run it and make sure the result is a success

.env.example

@@ -0,0 +1,21 @@
+# Database Configuration
+DATABASE_HOST=localhost
+DATABASE_PORT=5432
+DATABASE_NAME=gps_denied
+DATABASE_USER=postgres
+DATABASE_PASSWORD=
+
+# API Configuration
+API_HOST=0.0.0.0
+API_PORT=8000
+API_DEBUG=false
+
+# Model Paths
+SUPERPOINT_MODEL_PATH=models/superpoint.engine
+LIGHTGLUE_MODEL_PATH=models/lightglue.engine
+DINOV2_MODEL_PATH=models/dinov2.engine
+LITESAM_MODEL_PATH=models/litesam.engine
+
+# Satellite Data
+SATELLITE_CACHE_DIR=satellite_cache
+GOOGLE_MAPS_API_KEY=

.gitignore

@@ -1,2 +1,47 @@
 .DS_Store
 .idea
+
+__pycache__/
+*.py[cod]
+*$py.class
+*.so
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+
+.env
+.venv
+env/
+venv/
+ENV/
+
+*.swp
+*.swo
+*~
+
+*.log
+*.sqlite
+*.db
+
+satellite_cache/
+image_storage/
+models/*.engine
+models/*.onnx
+
+.coverage
+htmlcov/
+.pytest_cache/
+.mypy_cache/

README.md

@@ -0,0 +1,169 @@
+# Azaion GPS Denied Desktop
+
+**A Resilient, GNSS-Denied Geo-Localization System for Wing-Type UAVs**
+
+GPS-denied UAV localization system using visual odometry and satellite imagery matching for fixed-wing UAVs operating over Eastern/Southern Ukraine.
+
+## Overview
+
+Azaion GPS-Denied addresses the challenge of autonomous navigation in GNSS-denied environments where traditional GPS is unavailable or unreliable. The system is designed for high-speed, fixed-wing UAVs operating without IMU data over visually homogeneous agricultural terrain.
+
+### Key Features
+
+- **Tri-Layer Localization**: Sequential tracking, global re-localization, and metric refinement
+- **Sharp Turn Recovery**: Handles 0% image overlap during banking maneuvers
+- **350m Outlier Tolerance**: Robust to large positional errors from airframe tilt
+- **Real-time Processing**: <5 seconds per frame on RTX 2060/3070
+- **Human-in-the-Loop**: Fallback to user input when automation fails
+
+### Accuracy Targets
+
+| Metric | Target |
+|--------|--------|
+| Photos within 50m error | 80% |
+| Photos within 20m error | 60% |
+| Processing time per frame | <5 seconds |
+| Image registration rate | >95% |
+
+## Architecture
+
+### Processing Layers
+
+| Layer | Purpose | Algorithm | Latency |
+|-------|---------|-----------|---------|
+| L1: Sequential Tracking | Frame-to-frame pose | SuperPoint + LightGlue | ~50-100ms |
+| L2: Global Re-Localization | Recovery after track loss | DINOv2 + VLAD (AnyLoc) | ~200ms |
+| L3: Metric Refinement | Precise GPS anchoring | LiteSAM | ~300-500ms |
+
+### Core Components
+
+- **Factor Graph Optimizer** (GTSAM): Fuses relative and absolute measurements
+- **Atlas Multi-Map**: Route chunks as first-class entities for handling disconnected segments
+- **Satellite Data Manager**: Google Maps tile caching with Web Mercator projection
+
+## Tech Stack
+
+- **Python**: 3.10+ (GTSAM compatibility)
+- **Web Framework**: FastAPI (async)
+- **Database**: PostgreSQL + SQLAlchemy ORM
+- **ML Runtime**: TensorRT (primary), ONNX Runtime (fallback)
+- **Graph Optimization**: GTSAM
+- **Similarity Search**: Faiss
+
+## Development Setup
+
+### Prerequisites
+
+- Python 3.10+
+- PostgreSQL 14+
+- NVIDIA GPU with CUDA support (RTX 2060/3070 recommended)
+- [uv](https://docs.astral.sh/uv/) package manager
+
+### Installation
+
+1. **Clone the repository**
+   ```bash
+   git clone <repository-url>
+   cd gps-denied
+   ```
+
+2. **Install uv** (if not already installed)
+   ```bash
+   curl -LsSf https://astral.sh/uv/install.sh | sh
+   ```
+
+3. **Create virtual environment and install dependencies**
+   ```bash
+   uv venv
+   source .venv/bin/activate  # On Windows: .venv\Scripts\activate
+   uv pip install -e ".[dev]"
+   ```
+
+4. **Install ML dependencies** (optional, requires CUDA)
+   ```bash
+   uv pip install -e ".[ml]"
+   ```
+
+5. **Set up PostgreSQL database**
+   ```bash
+   createdb gps_denied
+   ```
+
+6. **Configure environment**
+   ```bash
+   cp .env.example .env
+   # Edit .env with your database credentials
+   ```
+
+### Running the Service
+
+```bash
+uvicorn main:app --reload --host 0.0.0.0 --port 8000
+```
+
+### API Documentation
+
+Once running, access the interactive API docs at:
+- Swagger UI: http://localhost:8000/docs
+- ReDoc: http://localhost:8000/redoc
+
+### Running Tests
+
+```bash
+pytest
+```
+
+With coverage:
+```bash
+pytest --cov=. --cov-report=html
+```
+
+## API Endpoints
+
+| Method | Endpoint | Description |
+|--------|----------|-------------|
+| POST | `/api/v1/flights` | Create new flight |
+| GET | `/api/v1/flights/{id}` | Get flight details |
+| GET | `/api/v1/flights/{id}/status` | Get processing status |
+| POST | `/api/v1/flights/{id}/batches` | Upload image batch |
+| POST | `/api/v1/flights/{id}/user-fix` | Submit user GPS anchor |
+| GET | `/api/v1/stream/{id}` | SSE stream for real-time results |
+
+## Project Structure
+
+```
+gps-denied/
+├── main.py                 # FastAPI application entry point
+├── pyproject.toml          # Project dependencies
+├── api/                    # REST API routes
+│   ├── routes/
+│   │   ├── flights.py      # Flight management endpoints
+│   │   ├── images.py       # Image upload endpoints
+│   │   └── stream.py       # SSE streaming
+│   └── dependencies.py     # Dependency injection
+├── components/             # Core processing components
+│   ├── flight_api/         # API layer component
+│   ├── flight_processing_engine/
+│   ├── sequential_visual_odometry/
+│   ├── global_place_recognition/
+│   ├── metric_refinement/
+│   ├── factor_graph_optimizer/
+│   ├── satellite_data_manager/
+│   └── ...
+├── models/                 # Pydantic DTOs
+│   ├── core/               # GPS, Camera, Pose models
+│   ├── flight/             # Flight, Waypoint models
+│   ├── processing/         # VO, Matching results
+│   ├── chunks/             # Route chunk models
+│   └── ...
+├── helpers/                # Utility functions
+├── db/                     # Database layer
+│   ├── models.py           # SQLAlchemy models
+│   └── connection.py       # Async database connection
+└── _docs/                   # Documentation
+```
+
+## License
+
+Proprietary - All rights reserved
+