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Update autodev state documentation to reflect progress in the Decompose phase, changing the current step from 5 to 6. Revise sub-step details to indicate a shift to phase 2, focusing on module layout for the Satellite Service and Tile Manager, and awaiting confirmation before product task decomposition. Additionally, enhance problem documentation to clarify the original still-image sample limitations and introduce the Derkachi representative fixture for improved data validation. Update references to the Tile Manager and Satellite Service throughout the documentation for consistency.

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Oleksandr Bezdieniezhnykh
2026-05-03 10:27:44 +03:00
parent 35547e9b65
commit 5bf2dbd85f
39 changed files with 5543 additions and 181 deletions
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_docs/02_document/FINAL_report.md
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## Executive Summary
The solution planning phase decomposed the GPS-denied onboard localization service into 9 implementation components, 2 cross-cutting foundation epics, a bootstrap epic, and a blackbox-test epic. The architecture centers on a Jetson-hosted hot path using camera ingest, BASALT VIO, and a project-owned safety/anchor wrapper, with triggered satellite retrieval and ALIKED/DISK-LightGlue anchor verification against an offline PostgreSQL/PostGIS-backed cache.
The solution planning phase decomposed the GPS-denied onboard localization service into 9 implementation components, 2 cross-cutting foundation epics, a bootstrap epic, and a blackbox-test epic. The architecture centers on a Jetson-hosted hot path using camera ingest, BASALT VIO, and a project-owned safety/anchor wrapper, with triggered Satellite Service candidate retrieval and ALIKED/DISK-LightGlue anchor verification against an offline PostgreSQL/PostGIS-backed cache.
Jira epics were created in project `AZ` from AZ-206 through AZ-218. Total estimated effort across epics is approximately 87-141 story points, with large work intentionally decomposed into child tasks of 2, 3, or 5 points where possible.
@@ -25,9 +25,9 @@ The system is a trigger-based hybrid estimator. Normal flight uses camera ingest
| 01 | Camera Ingest And Calibration | Ingest frames, validate calibration, detect total occlusion before VIO | Bootstrap, shared geometry/time, config/errors | AZ-209 |
| 02 | BASALT VIO Adapter | Wrap BASALT relative VIO and emit replaceable state DTOs | Camera, MAVLink telemetry, shared helpers | AZ-213 |
| 03 | Safety And Anchor Wrapper | Own localization state, covariance, anchors, blackout/failsafe, output semantics | Camera, MAVLink, VIO, anchor verification | AZ-216 |
| 04 | Satellite Retrieval | Retrieve VPR candidates from cache descriptors and FAISS | Camera, cache lifecycle, shared helpers | AZ-214 |
| 05 | Anchor Verification | Verify retrieved candidates with learned matching and RANSAC | Retrieval, camera, cache lifecycle | AZ-215 |
| 06 | Cache And Tile Lifecycle | Manage COGs, PostGIS manifests, sidecars, freshness, generated tiles | Bootstrap, shared helpers, config/errors | AZ-211 |
| 04 | Satellite Service | Sync Satellite Service cache/upload packages and retrieve local VPR candidates from cache descriptors and FAISS | Camera, Tile Manager, shared helpers | AZ-214 |
| 05 | Anchor Verification | Verify retrieved candidates with learned matching and RANSAC | Satellite Service, camera, Tile Manager | AZ-215 |
| 06 | Tile Manager | Manage COGs, PostGIS manifests, sidecars, freshness, and orthorectified generated tiles | Bootstrap, shared helpers, config/errors | AZ-211 |
| 07 | MAVLink And GCS Integration | Consume FC telemetry and emit v1 `GPS_INPUT`/QGC status | Bootstrap, config/errors | AZ-210 |
| 08 | FDR And Observability | Record bounded replayable evidence and status | Bootstrap, config/errors, runtime DTOs | AZ-212 |
| 09 | Validation Harness | Drive blackbox, public replay, SITL, Jetson, and release evidence tests | All runtime components | AZ-217 |
@@ -43,12 +43,12 @@ The system is a trigger-based hybrid estimator. Normal flight uses camera ingest
| Flow | Description | Key Components |
|------|-------------|----------------|
| Pre-flight cache preparation | Validate offline cache, sidecars, descriptors, and indexes | Cache lifecycle, retrieval |
| Pre-flight cache preparation | Validate offline cache, sidecars, descriptors, and indexes | Satellite Service, Tile Manager |
| Normal frame processing | Route usable frames through BASALT; route total occlusion to IMU-only degraded path | Camera, BASALT, safety, MAVLink, FDR |
| Satellite relocalization | Retrieve and verify cache candidates, then accept/reject anchors | Safety, retrieval, anchor verification, cache |
| Satellite relocalization | Retrieve and verify cache candidates, then accept/reject anchors | Safety, Satellite Service, anchor verification, Tile Manager |
| Visual blackout / spoofing | Propagate IMU-only from last trusted state and fail safe at thresholds | Camera, safety, MAVLink, QGC, FDR |
| Generated tile lifecycle | Write generated COG candidates only under covariance/quality gates | Safety, cache, FDR |
| Post-flight sync and audit | Package generated tiles and FDR evidence | Cache, FDR, Satellite Service |
| Generated tile lifecycle | Write generated COG candidates only under covariance/quality gates | Safety, Tile Manager, FDR |
| Post-flight sync and audit | Package generated tiles and FDR evidence | Tile Manager, FDR, Satellite Service |
| Validation replay | Exercise runtime through public interfaces | Validation harness, all runtime components |
See `system-flows.md` for full diagrams and details.
@@ -74,9 +74,9 @@ See `risk_mitigations.md` for the full register.
| Camera Ingest And Calibration | 3 | 1 | 1 | 2 | 7 ACs |
| BASALT VIO Adapter | 4 | 1 | 1 | 1 | 8 ACs |
| Safety And Anchor Wrapper | 7 | 1 | 1 | 3 | 15 ACs |
| Satellite Retrieval | 4 | 2 | 1 | 1 | 10 ACs |
| Satellite Service | 4 | 2 | 1 | 1 | 10 ACs |
| Anchor Verification | 2 | 1 | 2 | 1 | 9 ACs |
| Cache And Tile Lifecycle | 4 | 1 | 3 | 1 | 10 ACs |
| Tile Manager | 4 | 1 | 3 | 1 | 10 ACs |
| MAVLink And GCS Integration | 6 | 2 | 1 | 1 | 10 ACs |
| FDR And Observability | 6 | 1 | 1 | 1 | 11 ACs |
| Validation Harness | 9 | 2 | 1 | 2 | All AC groups |
@@ -93,10 +93,10 @@ See `risk_mitigations.md` for the full register.
| 3 | AZ-208: Cross-Cutting: Runtime Configuration And Errors | Shared helper | S-M / 3-5 pts | AZ-206 |
| 4 | AZ-209: Camera Ingest And Calibration | Component 01 | M / 5-8 pts | AZ-206, AZ-207, AZ-208 |
| 5 | AZ-210: MAVLink And GCS Integration | Component 07 | M / 5-8 pts | AZ-206, AZ-208 |
| 6 | AZ-211: Cache And Tile Lifecycle | Component 06 | L / 8-13 pts | AZ-206, AZ-207, AZ-208 |
| 6 | AZ-211: Tile Manager | Component 06 | L / 8-13 pts | AZ-206, AZ-207, AZ-208 |
| 7 | AZ-212: FDR And Observability | Component 08 | M-L / 5-8 pts | AZ-206, AZ-208 |
| 8 | AZ-213: BASALT VIO Adapter | Component 02 | L / 8-13 pts | AZ-209, AZ-210 |
| 9 | AZ-214: Satellite Retrieval | Component 04 | L / 8-13 pts | AZ-209, AZ-211 |
| 9 | AZ-214: Satellite Service | Component 04 | L / 8-13 pts | AZ-209, AZ-211 |
| 10 | AZ-215: Anchor Verification | Component 05 | L / 8-13 pts | AZ-214, AZ-209, AZ-211 |
| 11 | AZ-216: Safety And Anchor Wrapper | Component 03 | XL / 13-21 pts | AZ-209, AZ-210, AZ-213, AZ-215 |
| 12 | AZ-217: Validation Harness | Component 09 | L / 8-13 pts | Component epics |