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

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>

.planning/phases/01-eskf-core/01-01-SUMMARY.md

@@ -0,0 +1,42 @@
+---
+plan: 01-01
+phase: 01-eskf-core
+status: complete
+started: 2026-04-01T20:36:07Z
+completed: 2026-04-01T20:45:00Z
+---
+
+## Summary
+
+Implemented the 15-state Error-State Kalman Filter (ESKF) from scratch using NumPy only. Covers ESKF-01 through ESKF-05.
+
+## Key Files Created
+
+- `src/gps_denied/schemas/eskf.py` (68 lines) — ConfidenceTier, IMUMeasurement, ESKFConfig, ESKFState schemas
+- `src/gps_denied/core/eskf.py` (359 lines) — ESKF class with predict(), update_vo(), update_satellite(), get_confidence(), initialize_from_gps()
+
+## Commits
+
+- `57c7a6b` feat(eskf): add ESKF schema contracts (ESKF-01, ESKF-04, ESKF-05)
+- `9d5337a` feat(eskf): implement 15-state ESKF core algorithm (ESKF-01..05)
+
+## Tasks Completed
+
+| Task | Status | Notes |
+|------|--------|-------|
+| Task 1: ESKF schema contracts | ✓ | All 4 classes importable |
+| Task 2: ESKF core algorithm | ✓ | All acceptance criteria passed |
+
+## Deviations
+
+None — implemented as specified in plan.
+
+## Self-Check: PASSED
+
+- [x] ESKF class importable
+- [x] predict() propagates state and grows covariance
+- [x] update_vo() reduces position uncertainty via Kalman gain
+- [x] update_satellite() corrects absolute position
+- [x] get_confidence() returns correct tier
+- [x] initialize_from_gps() uses CoordinateTransformer
+- [x] All math NumPy only, no external filter library

.planning/phases/01-eskf-core/01-02-SUMMARY.md

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+---
+plan: 01-02
+phase: 01-eskf-core
+status: complete
+completed: 2026-04-01T20:50:00Z
+---
+
+## Summary
+
+Replaced all FAKE Math stubs in CoordinateTransformer with real camera projection mathematics. Implements the complete pixel-to-GPS chain via K^-1 unprojection, camera-to-body rotation, quaternion body-to-ENU transformation, and ray-ground intersection (ESKF-06).
+
+## Key File Modified
+
+- `src/gps_denied/core/coordinates.py` (176 lines added) — Real K matrix math, helper functions, pixel_to_gps, gps_to_pixel, cv2.perspectiveTransform
+
+## Commits
+
+- `dccadd4` feat(coordinates): implement real pixel-to-GPS projection chain (ESKF-06)
+
+## New Helpers
+
+- `_build_intrinsic_matrix()` — K matrix from focal_length, sensor size, resolution
+- `_cam_to_body_rotation()` — Rx(180deg) for nadir-pointing camera
+- `_quat_to_rotation_matrix()` — Quaternion to 3x3 rotation matrix
+
+## Deviations
+
+None — all acceptance criteria passed.
+
+## Self-Check: PASSED
+
+- [x] K^-1 unprojection replaces 0.1m/pixel fake scaling
+- [x] Ray-ground intersection at altitude
+- [x] gps_to_pixel is exact inverse
+- [x] transform_points uses cv2.perspectiveTransform
+- [x] All FAKE Math stubs removed
+- [x] Image center pixel projects to UAV nadir
+- [x] Backward-compatible defaults (ADTI 20L V1)