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feat(phases 2-7): implement full GPS-denied navigation pipeline

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Phase 2 — Visual Odometry:
  - ORBVisualOdometry (dev/CI), CuVSLAMVisualOdometry (Jetson)
  - TRTInferenceEngine (TensorRT FP16, conditional import)
  - create_vo_backend() factory

Phase 3 — Satellite Matching + GPR:
  - SatelliteDataManager: local z/x/y tiles, ESKF ±3σ tile selection
  - GSD normalization (SAT-03), RANSAC inlier-ratio confidence (SAT-04)
  - GlobalPlaceRecognition: Faiss index + numpy fallback

Phase 4 — MAVLink I/O:
  - MAVLinkBridge: GPS_INPUT 15+ fields, IMU callback, 1Hz telemetry
  - 3-consecutive-failure reloc request
  - MockMAVConnection for CI

Phase 5 — Pipeline Wiring:
  - ESKF wired into process_frame: VO update → satellite update
  - CoordinateTransformer + SatelliteDataManager via DI
  - MAVLink state push per frame (PIPE-07)
  - Real pixel_to_gps via ray-ground projection (PIPE-06)
  - GTSAM ISAM2 update when available (PIPE-03)

Phase 6 — Docker + CI:
  - Multi-stage Dockerfile (python:3.11-slim)
  - docker-compose.yml (dev), docker-compose.sitl.yml (ArduPilot SITL)
  - GitHub Actions: ci.yml (lint+pytest+docker smoke), sitl.yml (nightly)
  - tests/test_sitl_integration.py (8 tests, skip without SITL)

Phase 7 — Accuracy Validation:
  - AccuracyBenchmark + SyntheticTrajectory
  - AC-PERF-1: 80% within 50m ✅
  - AC-PERF-2: 60% within 20m ✅
  - AC-PERF-3: p95 latency < 400ms ✅
  - AC-PERF-4: VO drift 1km < 100m ✅ (actual ~11m)
  - scripts/benchmark_accuracy.py CLI

Tests: 195 passed / 8 skipped

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
Yuzviak
2026-04-02 17:00:41 +03:00
parent a15bef5c01
commit 094895b21b
40 changed files with 4572 additions and 497 deletions
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.planning/ROADMAP.md
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@@ -28,9 +28,9 @@ The scaffold exists (~2800 lines): FastAPI service, all component ABCs, Pydantic
5. Full coordinate chain (pixel → camera ray → body → NED → WGS84) produces correct GPS coordinates for a known geometry test case; all FAKE Math stubs replaced
**Plans**: 3 plans
Plans:
- [ ] 01-01-PLAN.md — ESKF core algorithm (schemas, 15-state filter, IMU prediction, VO/satellite updates, confidence tiers)
- [ ] 01-02-PLAN.md — Coordinate chain fix (replace fake math with real K matrix projection, ray-ground intersection)
- [ ] 01-03-PLAN.md — Unit tests for ESKF and coordinate chain (18+ ESKF tests, 10+ coordinate tests)
- [x] 01-01-PLAN.md — ESKF core algorithm (schemas, 15-state filter, IMU prediction, VO/satellite updates, confidence tiers)
- [x] 01-02-PLAN.md — Coordinate chain fix (replace fake math with real K matrix projection, ray-ground intersection)
- [x] 01-03-PLAN.md — Unit tests for ESKF and coordinate chain (18+ ESKF tests, 10+ coordinate tests)
### Phase 2: Visual Odometry
**Goal**: VO produces metric relative poses via cuVSLAM on Jetson and via OpenCV ORB on dev/CI, both satisfying the same interface — no more scale-ambiguous unit vectors