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[AZ-219] [AZ-228] Generalize VIO component layout

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Keep VIO package and native bridge paths backend-neutral so BASALT remains an implementation choice rather than a component boundary.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
2026-05-03 12:20:41 +03:00
parent 79997e39ac
commit 72a9df6b57
34 changed files with 123 additions and 114 deletions
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_docs/02_document/architecture.md
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@@ -7,7 +7,7 @@ Build a Jetson-hosted onboard localization pipeline for fixed-wing GPS-denied fl
### Components / Responsibilities
- Camera ingest/calibration: load frames, apply intrinsics/extrinsics, validate image quality.
- BASALT VIO adapter: produce relative camera+IMU motion from synchronized nav frames and FC IMU.
- VIO adapter: produce relative camera+IMU motion from synchronized nav frames and FC IMU.
- Safety/anchor wrapper: own covariance calibration, source labels, degraded modes, anchor fusion, and `GPS_INPUT`.
- Satellite Service: sync mission cache packages before flight, upload generated-tile packages after flight, and serve local VPR candidate retrieval from the offline cache.
- Anchor verification: run local matching/RANSAC and reject unsafe anchors.
@@ -97,7 +97,7 @@ Build a Jetson-hosted onboard localization pipeline for fixed-wing GPS-denied fl
|--------|-------------|--------------------|
| FrameRecord | Navigation-camera frame metadata, total-occlusion status, and processing status | Camera ingest/calibration |
| TelemetrySample | FC IMU, attitude, airspeed, altitude, GPS health | MAVLink/GCS integration |
| VioState | BASALT-relative pose/velocity/bias output and quality metadata | BASALT VIO adapter |
| VioState | Backend-relative pose/velocity/bias output and quality metadata | VIO adapter |
| PositionEstimate | WGS84 estimate, covariance, source label, fix type, anchor age | Safety/anchor wrapper |
| VprChunk | Retrieval unit over cache imagery and descriptors | Satellite Service |
| AnchorCandidate | Retrieved tile/chunk with local-match and RANSAC evidence | Anchor verification |
@@ -117,9 +117,9 @@ Build a Jetson-hosted onboard localization pipeline for fixed-wing GPS-denied fl
| From | To | Protocol | Pattern | Notes |
|------|----|----------|---------|-------|
| Camera ingest/calibration | BASALT VIO adapter | In-process queue or shared frame bus | Streaming | Timestamp discipline is critical |
| MAVLink telemetry | BASALT VIO adapter | In-process telemetry buffer | Streaming | IMU/attitude/altitude sync |
| BASALT VIO adapter | Safety/anchor wrapper | Typed state messages | Streaming | Wrapper calibrates confidence |
| Camera ingest/calibration | VIO adapter | In-process queue or shared frame bus | Streaming | Timestamp discipline is critical |
| MAVLink telemetry | VIO adapter | In-process telemetry buffer | Streaming | IMU/attitude/altitude sync |
| VIO adapter | Safety/anchor wrapper | Typed state messages | Streaming | Wrapper calibrates confidence |
| Safety/anchor wrapper | Satellite Service | Command | Triggered local request | Uses only preloaded cache/index data during flight |
| Satellite Service | Anchor verification | Candidate list | Request-response | Dynamic top-K |
| Anchor verification | Safety/anchor wrapper | Anchor decision | Request-response | Includes MRE/inliers/provenance |