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>

docker-compose.yml

@@ -0,0 +1,39 @@
+# ---------------------------------------------------------------------------
+# GPS-Denied Onboard — Local Development Compose
+# ---------------------------------------------------------------------------
+# Usage:
+#   docker compose up --build        # start service
+#   docker compose down -v           # stop + remove volumes
+
+version: "3.9"
+
+services:
+  gps-denied:
+    build:
+      context: .
+      dockerfile: Dockerfile
+    image: gps-denied-onboard:dev
+    container_name: gps-denied-dev
+    ports:
+      - "8000:8000"
+    environment:
+      GPS_DENIED_DB_PATH: /data/flights.db
+      GPS_DENIED_TILE_DIR: /data/satellite_tiles
+      GPS_DENIED_LOG_LEVEL: DEBUG
+    volumes:
+      # Persistent data: SQLite DB + satellite tile cache
+      - gps_denied_data:/data
+      # Hot-reload: mount source for dev iteration
+      - ./src:/app/src:ro
+    restart: unless-stopped
+    healthcheck:
+      test: ["CMD", "python", "-c",
+             "import urllib.request; urllib.request.urlopen('http://localhost:8000/health')"]
+      interval: 30s
+      timeout: 5s
+      retries: 3
+      start_period: 10s
+
+volumes:
+  gps_denied_data:
+    driver: local