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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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src/gps_denied/core/processor.py
+188 -35
View File
@@ -8,22 +8,24 @@ from __future__ import annotations
import asyncio
import logging
import time
from datetime import datetime, timezone
from enum import Enum
from typing import Optional
import numpy as np
from gps_denied.core.eskf import ESKF
from gps_denied.core.pipeline import ImageInputPipeline
from gps_denied.core.results import ResultManager
from gps_denied.core.sse import SSEEventStreamer
from gps_denied.db.repository import FlightRepository
from gps_denied.schemas import GPSPoint
from gps_denied.schemas import CameraParameters
from gps_denied.schemas.flight import (
BatchMetadata,
BatchResponse,
BatchUpdateResponse,
CameraParameters,
DeleteResponse,
FlightCreateRequest,
FlightDetailResponse,
@@ -78,15 +80,23 @@ class FlightProcessor:
self._flight_states: dict[str, TrackingState] = {}
self._prev_images: dict[str, np.ndarray] = {} # previous frame cache
self._flight_cameras: dict[str, CameraParameters] = {} # per-flight camera
self._altitudes: dict[str, float] = {} # per-flight altitude (m)
self._failure_counts: dict[str, int] = {} # per-flight consecutive failure counter
# Per-flight ESKF instances (PIPE-01/07)
self._eskf: dict[str, ESKF] = {}
# Lazy-initialised component references (set via `attach_components`)
self._vo = None # SequentialVisualOdometry
self._gpr = None # GlobalPlaceRecognition
self._metric = None # MetricRefinement
self._graph = None # FactorGraphOptimizer
self._recovery = None # FailureRecoveryCoordinator
self._chunk_mgr = None # RouteChunkManager
self._vo = None # ISequentialVisualOdometry
self._gpr = None # IGlobalPlaceRecognition
self._metric = None # IMetricRefinement
self._graph = None # IFactorGraphOptimizer
self._recovery = None # IFailureRecoveryCoordinator
self._chunk_mgr = None # IRouteChunkManager
self._rotation = None # ImageRotationManager
self._satellite = None # SatelliteDataManager (PIPE-02)
self._coord = None # CoordinateTransformer (PIPE-02/06)
self._mavlink = None # MAVLinkBridge (PIPE-07)
# ------ Dependency injection for core components ---------
def attach_components(
@@ -98,6 +108,9 @@ class FlightProcessor:
recovery=None,
chunk_mgr=None,
rotation=None,
satellite=None,
coord=None,
mavlink=None,
):
"""Attach pipeline components after construction (avoids circular deps)."""
self._vo = vo
@@ -107,6 +120,37 @@ class FlightProcessor:
self._recovery = recovery
self._chunk_mgr = chunk_mgr
self._rotation = rotation
self._satellite = satellite # PIPE-02: SatelliteDataManager
self._coord = coord # PIPE-02/06: CoordinateTransformer
self._mavlink = mavlink # PIPE-07: MAVLinkBridge
# ------ ESKF lifecycle helpers ----------------------------
def _init_eskf_for_flight(
self, flight_id: str, start_gps: GPSPoint, altitude: float
) -> None:
"""Create and initialize a per-flight ESKF instance."""
if flight_id in self._eskf:
return
eskf = ESKF()
if self._coord:
try:
e, n, _ = self._coord.gps_to_enu(flight_id, start_gps)
eskf.initialize(np.array([e, n, altitude]), time.time())
except Exception:
eskf.initialize(np.zeros(3), time.time())
else:
eskf.initialize(np.zeros(3), time.time())
self._eskf[flight_id] = eskf
def _eskf_to_gps(self, flight_id: str, eskf: ESKF) -> Optional[GPSPoint]:
"""Convert current ESKF ENU position to WGS84 GPS."""
if not eskf.initialized or eskf._nominal_state is None or self._coord is None:
return None
try:
pos = eskf._nominal_state["position"]
return self._coord.enu_to_gps(flight_id, (float(pos[0]), float(pos[1]), float(pos[2])))
except Exception:
return None
# =========================================================
# process_frame — central orchestration
@@ -121,21 +165,34 @@ class FlightProcessor:
Process a single UAV frame through the full pipeline.
State transitions:
NORMAL — VO succeeds → add relative factor, attempt drift correction
NORMAL — VO succeeds → ESKF VO update, attempt satellite fix
LOST — VO failed → create new chunk, enter RECOVERY
RECOVERY— try GPR + MetricRefinement → if anchored, merge & return to NORMAL
PIPE-01: VO result → eskf.update_vo → satellite match → eskf.update_satellite → MAVLink GPS_INPUT
PIPE-02: SatelliteDataManager + CoordinateTransformer wired for tile selection
PIPE-04: Consecutive failure counter wired to FailureRecoveryCoordinator
PIPE-05: ImageRotationManager initialised on first frame
PIPE-07: ESKF confidence → MAVLink fix_type via bridge.update_state
"""
result = FrameResult(frame_id)
state = self._flight_states.get(flight_id, TrackingState.NORMAL)
eskf = self._eskf.get(flight_id)
_default_cam = CameraParameters(
focal_length=4.5, sensor_width=6.17, sensor_height=4.55,
resolution_width=640, resolution_height=480,
)
# ---- PIPE-05: Initialise heading tracking on first frame ----
if self._rotation and frame_id == 0:
self._rotation.requires_rotation_sweep(flight_id) # seeds HeadingHistory
# ---- 1. Visual Odometry (frame-to-frame) ----
vo_ok = False
if self._vo and flight_id in self._prev_images:
try:
cam = self._flight_cameras.get(flight_id, CameraParameters(
focal_length=4.5, sensor_width=6.17, sensor_height=4.55,
resolution_width=640, resolution_height=480,
))
cam = self._flight_cameras.get(flight_id, _default_cam)
rel_pose = self._vo.compute_relative_pose(
self._prev_images[flight_id], image, cam
)
@@ -143,30 +200,37 @@ class FlightProcessor:
vo_ok = True
result.vo_success = True
# Add factor to graph
if self._graph:
self._graph.add_relative_factor(
flight_id, frame_id - 1, frame_id,
rel_pose, np.eye(6)
flight_id, frame_id - 1, frame_id, rel_pose, np.eye(6)
)
# PIPE-01: Feed VO relative displacement into ESKF
if eskf and eskf.initialized:
now = time.time()
dt_vo = max(0.01, now - (eskf._last_timestamp or now))
eskf.update_vo(rel_pose.translation, dt_vo)
except Exception as exc:
logger.warning("VO failed for frame %d: %s", frame_id, exc)
# Store current image for next frame
self._prev_images[flight_id] = image
# ---- PIPE-04: Consecutive failure counter ----
if not vo_ok and frame_id > 0:
self._failure_counts[flight_id] = self._failure_counts.get(flight_id, 0) + 1
else:
self._failure_counts[flight_id] = 0
# ---- 2. State Machine transitions ----
if state == TrackingState.NORMAL:
if not vo_ok and frame_id > 0:
# Transition → LOST
state = TrackingState.LOST
logger.info("Flight %s → LOST at frame %d", flight_id, frame_id)
if self._recovery:
self._recovery.handle_tracking_lost(flight_id, frame_id)
if state == TrackingState.LOST:
# Transition → RECOVERY
state = TrackingState.RECOVERY
if state == TrackingState.RECOVERY:
@@ -177,20 +241,50 @@ class FlightProcessor:
recovered = self._recovery.process_chunk_recovery(
flight_id, active_chunk.chunk_id, [image]
)
if recovered:
state = TrackingState.NORMAL
result.alignment_success = True
# PIPE-04: Reset failure count on successful recovery
self._failure_counts[flight_id] = 0
logger.info("Flight %s recovered → NORMAL at frame %d", flight_id, frame_id)
# ---- 3. Drift correction via Metric Refinement ----
if state == TrackingState.NORMAL and self._metric and self._gpr:
try:
candidates = self._gpr.retrieve_candidate_tiles(image, top_k=1)
if candidates:
best = candidates[0]
sat_img = np.zeros((256, 256, 3), dtype=np.uint8) # mock tile
align = self._metric.align_to_satellite(image, sat_img, best.bounds)
# ---- 3. Satellite position fix (PIPE-01/02) ----
if state == TrackingState.NORMAL and self._metric:
sat_tile: Optional[np.ndarray] = None
tile_bounds = None
# PIPE-02: Prefer real SatelliteDataManager tiles (ESKF ±3σ selection)
if self._satellite and eskf and eskf.initialized:
gps_est = self._eskf_to_gps(flight_id, eskf)
if gps_est:
sigma_h = float(
np.sqrt(np.trace(eskf._P[0:3, 0:3]) / 3.0)
) if eskf._P is not None else 30.0
sigma_h = max(sigma_h, 5.0)
try:
tile_result = await asyncio.get_event_loop().run_in_executor(
None,
self._satellite.fetch_tiles_for_position,
gps_est, sigma_h, 18,
)
if tile_result:
sat_tile, tile_bounds = tile_result
except Exception as exc:
logger.debug("Satellite tile fetch failed: %s", exc)
# Fallback: GPR candidate tile (mock image, real bounds)
if sat_tile is None and self._gpr:
try:
candidates = self._gpr.retrieve_candidate_tiles(image, top_k=1)
if candidates:
sat_tile = np.zeros((256, 256, 3), dtype=np.uint8)
tile_bounds = candidates[0].bounds
except Exception as exc:
logger.debug("GPR tile fallback failed: %s", exc)
if sat_tile is not None and tile_bounds is not None:
try:
align = self._metric.align_to_satellite(image, sat_tile, tile_bounds)
if align and align.matched:
result.gps = align.gps_center
result.confidence = align.confidence
@@ -199,23 +293,44 @@ class FlightProcessor:
if self._graph:
self._graph.add_absolute_factor(
flight_id, frame_id,
align.gps_center, np.eye(2),
is_user_anchor=False
align.gps_center, np.eye(6),
is_user_anchor=False,
)
except Exception as exc:
logger.warning("Drift correction failed at frame %d: %s", frame_id, exc)
# PIPE-01: ESKF satellite update — noise from RANSAC confidence
if eskf and eskf.initialized and self._coord:
try:
e, n, _ = self._coord.gps_to_enu(flight_id, align.gps_center)
alt = self._altitudes.get(flight_id, 100.0)
pos_enu = np.array([e, n, alt])
noise_m = 5.0 + 15.0 * (1.0 - float(align.confidence))
eskf.update_satellite(pos_enu, noise_m)
except Exception as exc:
logger.debug("ESKF satellite update failed: %s", exc)
except Exception as exc:
logger.warning("Metric alignment failed at frame %d: %s", frame_id, exc)
# ---- 4. Graph optimization (incremental) ----
if self._graph:
opt_result = self._graph.optimize(flight_id, iterations=5)
logger.debug("Optimization: converged=%s, error=%.4f", opt_result.converged, opt_result.final_error)
logger.debug(
"Optimization: converged=%s, error=%.4f",
opt_result.converged, opt_result.final_error,
)
# ---- PIPE-07: Push ESKF state → MAVLink GPS_INPUT ----
if self._mavlink and eskf and eskf.initialized:
try:
eskf_state = eskf.get_state()
alt = self._altitudes.get(flight_id, 100.0)
self._mavlink.update_state(eskf_state, altitude_m=alt)
except Exception as exc:
logger.debug("MAVLink state push failed: %s", exc)
# ---- 5. Publish via SSE ----
result.tracking_state = state
self._flight_states[flight_id] = state
await self._publish_frame_result(flight_id, result)
return result
async def _publish_frame_result(self, flight_id: str, result: FrameResult):
@@ -261,6 +376,14 @@ class FlightProcessor:
for w in req.rough_waypoints:
await self.repository.insert_waypoint(flight.id, lat=w.lat, lon=w.lon)
# Store per-flight altitude for ESKF/pixel projection
self._altitudes[flight.id] = req.altitude or 100.0
# PIPE-02: Set ENU origin and initialise ESKF for this flight
if self._coord:
self._coord.set_enu_origin(flight.id, req.start_gps)
self._init_eskf_for_flight(flight.id, req.start_gps, req.altitude or 100.0)
return FlightResponse(
flight_id=flight.id,
status="prefetching",
@@ -321,6 +444,9 @@ class FlightProcessor:
self._prev_images.pop(flight_id, None)
self._flight_states.pop(flight_id, None)
self._flight_cameras.pop(flight_id, None)
self._altitudes.pop(flight_id, None)
self._failure_counts.pop(flight_id, None)
self._eskf.pop(flight_id, None)
if self._graph:
self._graph.delete_flight_graph(flight_id)
@@ -409,8 +535,35 @@ class FlightProcessor:
async def convert_object_to_gps(
self, flight_id: str, frame_id: int, pixel: tuple[float, float]
) -> ObjectGPSResponse:
# PIPE-06: Use real CoordinateTransformer + ESKF pose for ray-ground projection
gps: Optional[GPSPoint] = None
eskf = self._eskf.get(flight_id)
if self._coord and eskf and eskf.initialized and eskf._nominal_state is not None:
pos = eskf._nominal_state["position"]
quat = eskf._nominal_state["quaternion"]
cam = self._flight_cameras.get(flight_id, CameraParameters(
focal_length=4.5, sensor_width=6.17, sensor_height=4.55,
resolution_width=640, resolution_height=480,
))
alt = self._altitudes.get(flight_id, 100.0)
try:
gps = self._coord.pixel_to_gps(
flight_id,
pixel,
frame_pose={"position": pos},
camera_params=cam,
altitude=float(alt),
quaternion=quat,
)
except Exception as exc:
logger.debug("pixel_to_gps failed: %s", exc)
# Fallback: return ESKF position projected to ground (no pixel shift)
if gps is None and eskf:
gps = self._eskf_to_gps(flight_id, eskf)
return ObjectGPSResponse(
gps=GPSPoint(lat=48.0, lon=37.0),
gps=gps or GPSPoint(lat=0.0, lon=0.0),
accuracy_meters=5.0,
frame_id=frame_id,
pixel=pixel,