gps-denied-desktop/docs/02_components/00_decomposition_plan.md

ASTRAL-Next System Component Decomposition Plan

Design Principle: Interface-Based Architecture

CRITICAL REQUIREMENT: Each component MUST implement a well-defined interface to ensure interchangeability with different implementations.

Benefits:

• Swap implementations (e.g., replace LiteSAM with TransFG, GTSAM with Ceres)
• Enable unit testing with mocks
• Support multiple backends (TensorRT vs ONNX, different databases)
• Facilitate future enhancements without breaking contracts

Interface Specification: Each component spec must define:

• Interface name (e.g., ISatelliteDataManager, IMetricRefinement)
• All public methods with strict contracts
• Input/output data structures
• Error conditions and exceptions
• Performance guarantees

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System Architecture Overview

Two separate REST APIs in same repository:

Route API (Separate Project)

• Route/waypoint/geofence CRUD
• Shared by GPS-Denied and Mission Planner
• Does NOT call satellite provider

GPS-Denied API (Main System)

• Tri-layer localization (SuperPoint+LightGlue, AnyLoc, LiteSAM)
• Calls satellite provider for tiles
• Rotation preprocessing (LiteSAM 45° limit)
• Per-frame Route API updates
• Progressive tile search (1→4→9→16→25)

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ROUTE API COMPONENTS (4 components)

R01_route_rest_api

Interface: IRouteRestAPI Endpoints: POST /routes, GET /routes/{routeId}, PUT /routes/{routeId}/waypoints, DELETE /routes/{routeId}

R02_route_data_manager

Interface: IRouteDataManager API: save_route(), load_route(), update_waypoint(), delete_waypoint(), get_route_metadata()

R03_waypoint_validator

Interface: IWaypointValidator API: validate_waypoint(), validate_geofence(), check_bounds(), validate_route_continuity()

R04_route_database_layer

Interface: IRouteDatabase API: insert_route(), update_route(), query_routes(), get_waypoints()

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GPS-DENIED API COMPONENTS (17 components)

Core REST API Layer

G01_gps_denied_rest_api Interface: IGPSDeniedRestAPI Endpoints: POST /gps-denied/flights, POST .../images/batch, POST .../user-fix, GET .../status, GET .../stream

G02_flight_manager Interface: IFlightManager API: create_flight(), get_flight_state(), link_to_route(), update_flight_status()

G03_route_api_client Interface: IRouteAPIClient API: update_route_waypoint(), get_route_info(), batch_update_waypoints()

Data Management

G04_satellite_data_manager Interface: ISatelliteDataManager API: fetch_tile(), fetch_tile_grid(), prefetch_route_corridor(), progressive_fetch(), cache_tile(), get_cached_tile(), compute_tile_coords(), expand_search_grid() Features: Progressive retrieval, tile caching, grid calculations

G05_image_input_pipeline Interface: IImageInputPipeline API: queue_batch(), process_next_batch(), validate_batch(), store_images(), get_next_image(), get_image_by_sequence() Features: FIFO queuing, validation, storage

G06_image_rotation_manager Interface: IImageRotationManager API: rotate_image_360(), try_rotation_steps(), calculate_precise_angle(), get_current_heading(), update_heading(), detect_sharp_turn(), requires_rotation_sweep() Features: 30° rotation sweeps, heading tracking

Visual Processing

G07_sequential_visual_odometry Interface: ISequentialVO API: compute_relative_pose(), extract_features(), match_features(), estimate_motion()

G08_global_place_recognition Interface: IGlobalPlaceRecognition API: retrieve_candidate_tiles(), compute_location_descriptor(), query_database(), rank_candidates()

G09_metric_refinement Interface: IMetricRefinement API: align_to_satellite(), compute_homography(), extract_gps_from_alignment(), compute_match_confidence()

State Estimation

G10_factor_graph_optimizer Interface: IFactorGraphOptimizer API: add_relative_factor(), add_absolute_factor(), add_altitude_prior(), optimize(), get_trajectory()

G11_failure_recovery_coordinator Interface: IFailureRecoveryCoordinator API: check_confidence(), detect_tracking_loss(), start_search(), expand_search_radius(), try_current_grid(), create_user_input_request(), apply_user_anchor()

G12_coordinate_transformer Interface: ICoordinateTransformer API: pixel_to_gps(), gps_to_pixel(), image_object_to_gps(), compute_gsd(), transform_points()

Results & Communication

G13_result_manager Interface: IResultManager API: update_frame_result(), publish_to_route_api(), get_flight_results(), mark_refined()

G14_sse_event_streamer Interface: ISSEEventStreamer API: create_stream(), send_frame_result(), send_search_progress(), send_user_input_request(), send_refinement()

Infrastructure

G15_model_manager Interface: IModelManager API: load_model(), get_inference_engine(), optimize_to_tensorrt(), fallback_to_onnx()

G16_configuration_manager Interface: IConfigurationManager API: load_config(), get_camera_params(), validate_config(), get_flight_config()

G17_gps_denied_database_layer Interface: IGPSDeniedDatabase API: save_flight_state(), load_flight_state(), query_processing_history()

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HELPER COMPONENTS (8 components)

H01_camera_model - ICameraModel H02_gsd_calculator - IGSDCalculator H03_robust_kernels - IRobustKernels H04_faiss_index_manager - IFaissIndexManager H05_performance_monitor - IPerformanceMonitor H06_web_mercator_utils - IWebMercatorUtils H07_image_rotation_utils - IImageRotationUtils H08_batch_validator - IBatchValidator

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Comprehensive Component Interaction Matrix

System Initialization

Source	Target	Method	Purpose
G02	G15	load_model() × 4	Load SuperPoint, LightGlue, DINOv2, LiteSAM
G02	G16	load_config()	Load system configuration
G04	G08	Satellite tiles	G08 generates descriptors for Faiss
G08	H04	build_index()	Build satellite descriptor index
G08	G15	get_inference_engine("DINOv2")	Get model for descriptor generation

Flight Creation

Source	Target	Method	Purpose
Client	G01	POST /gps-denied/flights	Create flight
G01	G02	create_flight()	Initialize flight state
G02	G16	get_flight_config()	Get camera params, altitude
G02	G03	get_route_info()	Fetch route metadata
G03	Route API	GET /routes/{routeId}	HTTP call
G02	G04	prefetch_route_corridor()	Prefetch tiles
G04	Satellite Provider	GET /api/satellite/tiles/batch	HTTP batch download
G04	H06	compute_tile_bounds()	Tile coordinate calculations
G02	G17	save_flight_state()	Persist flight metadata
Client	G01	GET .../stream	Open SSE connection
G01	G14	create_stream()	Establish SSE channel

Image Upload

Source	Target	Method	Purpose
Client	G01	POST .../images/batch	Upload 10-50 images
G01	G05	queue_batch()	Queue for processing
G05	H08	validate_batch()	Validate sequence, format
G05	G17	store_images()	Persist images

Per-Frame Processing (First Frame / Sharp Turn)

Source	Target	Method	Purpose
G05	G06	get_next_image()	Get image for processing
G06	G06	requires_rotation_sweep()	Check if sweep needed
G06	H07	rotate_image() × 12	Rotate in 30° steps
G06	G09	align_to_satellite() × 12	Try LiteSAM each rotation
G09	G04	get_cached_tile()	Get expected tile
G09	G15	get_inference_engine("LiteSAM")	Get model
G06	H07	calculate_rotation_from_points()	Precise angle from homography
G06	Internal	update_heading()	Store UAV heading

Per-Frame Processing (Sequential VO)

Source	Target	Method	Purpose
G05	G07	get_next_image()	Provide image
G07	G15	get_inference_engine("SuperPoint")	Get feature extractor
G07	G15	get_inference_engine("LightGlue")	Get matcher
G07	H05	start_timer(), end_timer()	Monitor timing
G07	G10	add_relative_factor()	Add pose measurement

Tracking Good (Drift Correction)

Source	Target	Method	Purpose
G07	G11	check_confidence()	Check tracking quality
G11	G09	align_to_satellite()	Align to 1 tile
G09	G04	get_tile_grid(1)	Get single tile
G09	G10	add_absolute_factor()	Add GPS measurement

Tracking Lost (Progressive Search)

Source	Target	Method	Purpose
G07	G11	check_confidence() → FAIL	Low confidence
G11	G06	requires_rotation_sweep()	Trigger rotation sweep
G11	G08	retrieve_candidate_tiles()	Coarse localization
G08	G15	get_inference_engine("DINOv2")	Get model
G08	H04	search()	Query Faiss index
G08	G04	get_tile_by_gps() × 5	Get candidate tiles
G11	G04	expand_search_grid(4)	Get 2×2 grid
G11	G09	align_to_satellite()	Try LiteSAM on 4 tiles
G11 (fail)	G04	expand_search_grid(9)	Expand to 3×3
G11 (fail)	G04	expand_search_grid(16)	Expand to 4×4
G11 (fail)	G04	expand_search_grid(25)	Expand to 5×5
G11 (fail)	G14	send_user_input_request()	Request human help
G11	G02	update_flight_status("BLOCKED")	Block processing

Optimization & Results

Source	Target	Method	Purpose
G10	H03	huber_loss(), cauchy_loss()	Apply robust kernels
G10	Internal	optimize()	Run iSAM2 optimization
G10	G12	get_trajectory()	Get optimized poses
G12	H01	project(), unproject()	Camera operations
G12	H02	compute_gsd()	GSD calculations
G12	H06	tile_to_latlon()	Coordinate transforms
G12	G13	Frame GPS + object coords	Provide results
G13	G03	update_route_waypoint()	Per-frame Route API update
G03	Route API	PUT /routes/.../waypoints/...	HTTP call
G13	G14	send_frame_result()	Publish to client
G14	Client	SSE frame_processed	Real-time delivery
G13	G17	save_flight_state()	Persist state

User Input Recovery

Source	Target	Method	Purpose
G14	Client	SSE user_input_needed	Notify client
Client	G01	POST .../user-fix	Provide anchor
G01	G11	apply_user_anchor()	Apply fix
G11	G10	add_absolute_factor() (high confidence)	Hard constraint
G10	Internal	optimize()	Re-optimize
G11	G02	update_flight_status("PROCESSING")	Resume

Asynchronous Refinement

Source	Target	Method	Purpose
G10	Internal (background)	optimize()	Back-propagate anchors
G10	G13	get_trajectory()	Get refined poses
G13	G03	batch_update_waypoints()	Batch update Route API
G13	G14	send_refinement() × N	Send updates
G14	Client	SSE frame_refined × N	Incremental updates

Cross-Cutting Concerns

Source	Target	Method	Purpose
G16	ALL	get_*_config()	Provide configuration
H05	G07, G08, G09, G10, G11	start_timer(), end_timer()	Performance monitoring

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Interaction Coverage Verification

✅ Initialization: G02→G15, G16, G17; G04→G08→H04 ✅ Flight creation: Client→G01→G02→G03,G04,G16,G17,G14 ✅ Image upload: Client→G01→G05→H08,G17 ✅ Rotation sweep: G06→H07,G09 (12 iterations) ✅ Sequential VO: G07→G15,G10,H05 ✅ Drift correction: G11→G09→G04(1),G10 ✅ Tracking loss: G11→G06,G08,G04(progressive),G09,G14,G02 ✅ Global PR: G08→G15,H04,G04 ✅ Optimization: G10→H03,G12 ✅ Coordinate transform: G12→H01,H02,H06 ✅ Results: G12→G13→G03,G14,G17 ✅ User input: Client→G01→G11→G10,G02 ✅ Refinement: G10→G13→G03,G14 ✅ Configuration: G16→ALL ✅ Performance: H05→processing components

All major component interactions are covered.

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Deliverables

Component Count: 29 total

• Route API: 4 (R01-R04)
• GPS-Denied API: 17 (G01-G17)
• Helpers: 8 (H01-H08)

For each component, create docs/02_components/[project]_[##]_[component_name]/[component_name]_spec.md:

1. Interface Definition (interface name, methods, contracts)
2. Component Description (responsibilities, scope)
3. API Methods (inputs, outputs, errors, which components call it, test cases)
4. Integration Tests
5. Non-Functional Requirements (performance, accuracy targets)
6. Dependencies (which components it calls)
7. Data Models

Generate draw.io diagram showing:

• Two API projects (Route API, GPS-Denied API)
• All 29 components
• Route API ↔ GPS-Denied API communication
• GPS-Denied → Satellite Provider calls
• Rotation preprocessing flow
• Progressive search expansion (1→4→9→16→25)
• Per-frame Route API update flow
• Helper component usage

To-dos

• Create 4 Route API specs with interfaces (REST, data manager, validator, DB)
• Create GPS-Denied core API specs with interfaces (REST, flight manager, Route client)
• Create data management specs with interfaces (satellite, image pipeline, rotation)
• Create visual processing specs with interfaces (VO, place recognition, LiteSAM)
• Create coordination specs with interfaces (factor graph, failure recovery, transformer)
• Create results/infrastructure specs with interfaces (result manager, SSE, models, config, DB)
• Create 8 helper specs with interfaces
• Generate draw.io with all components, interactions, flows