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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/system-flows.md
+30 -31
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@@ -4,19 +4,19 @@
| # | Flow Name | Trigger | Primary Components | Criticality |
|---|-----------|---------|--------------------|-------------|
| F1 | Pre-flight cache preparation | Operator sync before mission | Satellite Service, cache/tile lifecycle, satellite retrieval | High |
| F1 | Pre-flight cache preparation | Operator sync before mission | Satellite Service, Tile Manager | High |
| F2 | Normal frame processing | Navigation frame + FC telemetry | Camera ingest, BASALT VIO adapter, safety/anchor wrapper, MAVLink, FDR | High |
| F3 | Satellite relocalization | Cold start, VO failure, sharp turn, covariance growth, stale anchor | Satellite retrieval, anchor verification, safety/anchor wrapper | High |
| F3 | Satellite relocalization | Cold start, VO failure, sharp turn, covariance growth, stale anchor | Satellite Service, anchor verification, safety/anchor wrapper | High |
| F4 | Visual blackout / spoofing degraded mode | Image-quality failure and GPS health failure | Camera ingest, MAVLink telemetry, safety/anchor wrapper, QGC, FDR | Critical |
| F5 | Generated tile lifecycle | High-confidence pose + usable frame | Camera ingest, safety/anchor wrapper, cache/tile lifecycle, FDR | Medium |
| F6 | Post-flight sync and audit | Landing / operator offload | Cache/tile lifecycle, Satellite Service, FDR | Medium |
| F5 | Generated tile lifecycle | High-confidence pose + usable frame | Camera ingest, safety/anchor wrapper, Tile Manager, FDR | Medium |
| F6 | Post-flight sync and audit | Landing / operator offload | Tile Manager, Satellite Service, FDR | Medium |
| F7 | Validation replay | Test harness invocation | Validation harness, system runtime, public datasets, SITL | High |
## Flow Dependencies
| Flow | Depends On | Shares Data With |
|------|------------|------------------|
| F1 | Satellite Service cache export | F2, F3, F5 |
| F1 | Satellite Service cache export and Tile Manager validation | F2, F3, F5 |
| F2 | F1 for cache availability; FC telemetry | F3, F4, F5, FDR |
| F3 | F1 cache/index; F2 state estimate | F2, F5 |
| F4 | F2 telemetry and quality signals | F2, QGC/FDR |
@@ -30,7 +30,7 @@
### Description
Before flight, the Satellite Service provides an offline cache for the operational area, including COG tiles, manifests, sidecars, VPR chunks, descriptors, and FAISS index files.
Before flight, the Satellite Service imports an offline cache package for the operational area, including COG tiles, manifests, sidecars, VPR chunks, descriptors, and FAISS index files. No Satellite Service or satellite-provider calls are allowed during flight.
### Preconditions
@@ -44,23 +44,22 @@ Before flight, the Satellite Service provides an offline cache for the operation
sequenceDiagram
participant Operator
participant SatelliteService
participant CacheLifecycle
participant SatelliteRetrieval
participant TileManager
Operator->>SatelliteService: Request mission cache
SatelliteService-->>CacheLifecycle: COG tiles + manifests + sidecars
CacheLifecycle->>CacheLifecycle: Verify signatures, hashes, freshness, resolution
CacheLifecycle->>SatelliteRetrieval: Load VPR chunks + FAISS index
CacheLifecycle-->>Operator: Cache validation report
SatelliteService-->>TileManager: COG tiles + manifests + sidecars
TileManager->>TileManager: Verify signatures, hashes, freshness, resolution
TileManager-->>SatelliteService: Local cache/index ready
TileManager-->>Operator: Cache validation report
```
### Data Flow
| Step | From | To | Data | Format |
|------|------|----|------|--------|
| 1 | Satellite Service | Cache lifecycle | Tiles and metadata | COG + PostgreSQL/PostGIS manifest + signed JSON sidecars |
| 2 | Cache lifecycle | Satellite retrieval | Descriptor/index files | FAISS index + descriptor sidecars |
| 3 | Cache lifecycle | Operator/FDR | Validation report | Markdown/CSV/log |
| 1 | Satellite Service | Tile Manager | Tiles and metadata | COG + PostgreSQL/PostGIS manifest + signed JSON sidecars |
| 2 | Tile Manager | Satellite Service | Descriptor/index readiness | FAISS index + descriptor sidecars |
| 3 | Tile Manager | Operator/FDR | Validation report | Markdown/CSV/log |
### Error Scenarios
@@ -74,7 +73,7 @@ sequenceDiagram
| Metric | Target | Notes |
|--------|--------|-------|
| Runtime network calls | 0 | No in-flight provider calls |
| Runtime network calls | 0 | No in-flight Satellite Service or provider calls |
| Cache load | Within cold-start budget contribution | Exact threshold set during implementation |
---
@@ -157,14 +156,14 @@ When the state becomes uncertain or disconnected, the system retrieves satellite
```mermaid
sequenceDiagram
participant SafetyWrapper
participant SatelliteRetrieval
participant SatelliteService
participant AnchorVerification
participant CacheLifecycle
participant TileManager
participant FDR
SafetyWrapper->>SatelliteRetrieval: Relocalization request
SatelliteRetrieval->>CacheLifecycle: Read candidate chunk metadata
SatelliteRetrieval-->>AnchorVerification: Top-K candidates
SafetyWrapper->>SatelliteService: Relocalization request
SatelliteService->>TileManager: Read candidate chunk metadata
SatelliteService-->>AnchorVerification: Top-K candidates
AnchorVerification->>AnchorVerification: ALIKED/DISK+LightGlue + RANSAC
AnchorVerification-->>SafetyWrapper: Accepted/rejected anchor
SafetyWrapper->>SafetyWrapper: Mahalanobis + freshness + provenance gates
@@ -175,8 +174,8 @@ sequenceDiagram
| Step | From | To | Data | Format |
|------|------|----|------|--------|
| 1 | Safety wrapper | Satellite retrieval | Query frame and prior/covariance | Relocalization DTO |
| 2 | Satellite retrieval | Anchor verification | Top-K chunks | Candidate list |
| 1 | Safety wrapper | Satellite Service | Query frame and prior/covariance | Relocalization DTO |
| 2 | Satellite Service | Anchor verification | Top-K chunks from local cache/index | Candidate list |
| 3 | Anchor verification | Safety wrapper | MRE, inliers, homography, provenance | AnchorDecision DTO |
### Error Scenarios
@@ -184,7 +183,7 @@ sequenceDiagram
| Error | Where | Detection | Recovery |
|-------|-------|-----------|----------|
| No good candidate | Retrieval/verification | Low score or failed RANSAC | Continue degraded and request GCS hint after threshold |
| Stale candidate | Cache lifecycle | Capture date gate | Reject/down-confidence |
| Stale candidate | Tile Manager | Capture date gate | Reject/down-confidence |
| Implausible anchor | Safety wrapper | Mahalanobis/impossible velocity gate | Reject and log |
### Performance Expectations
@@ -259,17 +258,17 @@ When pose confidence is strong enough, the system orthorectifies navigation imag
| Step | From | To | Data | Format |
|------|------|----|------|--------|
| 1 | Safety wrapper | Cache lifecycle | Pose/covariance + frame metadata | TileGenerationRequest |
| 2 | Cache lifecycle | Local storage | Generated COG + sidecar | COG + signed JSON |
| 3 | Cache lifecycle | FDR | Tile write event | FDR event |
| 1 | Safety wrapper | Tile Manager | Pose/covariance + frame metadata | TileGenerationRequest |
| 2 | Tile Manager | Local storage | Orthorectified generated COG + sidecar | COG + signed JSON |
| 3 | Tile Manager | FDR | Tile write event | FDR event |
### Error Scenarios
| Error | Where | Detection | Recovery |
|-------|-------|-----------|----------|
| Parent covariance too high | Safety wrapper | Sigma gate | Do not write tile |
| Duplicate sector | Cache lifecycle | Spatial deduplication | Keep latest/highest-quality tile |
| Sidecar write failure | Cache lifecycle | I/O error | Log and do not mark tile eligible |
| Duplicate sector | Tile Manager | Spatial deduplication | Keep latest/highest-quality tile |
| Sidecar write failure | Tile Manager | I/O error | Log and do not mark tile eligible |
---
@@ -277,13 +276,13 @@ When pose confidence is strong enough, the system orthorectifies navigation imag
### Description
After landing, generated tiles and FDR evidence are exported for Satellite Service ingest and incident analysis.
After landing, generated tiles and FDR evidence are exported through Satellite Service sync for ingest and incident analysis.
### Data Flow
| Step | From | To | Data | Format |
|------|------|----|------|--------|
| 1 | Cache lifecycle | Satellite Service | Generated tile package | COG + sidecar + manifest delta |
| 1 | Tile Manager | Satellite Service | Generated tile package | COG + sidecar + manifest delta |
| 2 | FDR | Operator/audit tools | Mission replay evidence | Segmented logs + optional Parquet export |
### Error Scenarios