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Revise acceptance criteria and restrictions documentation to clarify recent updates and specifications. Key changes include enhanced definitions for position accuracy, image processing quality, and operational parameters, as well as updates to camera specifications and validation requirements. This revision aims to improve clarity and ensure alignment with project goals.

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Oleksandr Bezdieniezhnykh
2026-05-01 16:24:46 +03:00
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# Acceptance Criteria Assessment
Accessed: 2026-05-01. Rerun after user-approved clarifications: 2026-05-01.
## Research Scope
- **Output class**: Technical-component selection support.
- **Novelty sensitivity**: High for VPR, embedded AI, and autopilot integration; source preference is current papers and official docs.
- **Boundary**: Fixed-wing UAV, nadir navigation camera, ArduPilot Plane, Jetson Orin Nano Super, offline Azaion Suite Satellite Service cache, eastern/southern Ukraine terrain.
## Acceptance Criteria
| Criterion | Current Values | Researched Values / Evidence | Cost / Timeline Impact | Status |
|-----------|----------------|------------------------------|------------------------|--------|
| AC-1.1 / AC-1.2 frame-center accuracy | <=50 m for >=80%, <=20 m for >=50% in normal segments | Plausible only with periodic satellite anchoring plus VO/IMU propagation. Aerial VPR papers show the mechanism is viable but sensitive to weather, scale, repetition, and tile overlap. | High validation cost. | Keep, high-risk |
| AC-1.3 drift | VO-only <100 m, IMU-fused <50 m between anchors, anchor age reported | Updated AC now requires `last_satellite_anchor_age_ms`, binned validation, and degraded covariance after a solution-defined max anchor age. | Medium. | Updated |
| AC-1.4 confidence | 95% covariance ellipse + source label | `GPS_INPUT` supports accuracy fields; source labels must be carried in telemetry/FDR because `GPS_INPUT` has no semantic label field. | Medium. | Keep |
| AC-2.1 registration | VO >95%; satellite anchoring measured separately | Split is correct: VO success is not the same as cross-domain satellite anchor success. | Medium-high. | Updated |
| AC-2.2 reprojection | <1 px VO, <2.5 px satellite anchor | Reasonable image-space gates, with coordinate error still dependent on calibration, orthorectification, and satellite georegistration. | Medium. | Keep |
| AC-3.x resilience | Outliers, sharp turns, disconnected segments, blackout | Technically feasible only through mode switching: VO failure triggers VPR/relocalization, blackout triggers IMU-only propagation with honest covariance growth. | High test cost. | Keep |
| AC-4.1 latency | <400 ms p95, <=10% frame drops, heavy VPR conditional | Aerial VPR survey reports some re-ranking paths too slow for steady-state use; solution must keep global VPR off the per-frame hot path. | High optimization cost. | Updated |
| AC-4.2 memory | <8 GB shared | Feasible if descriptors are compressed/pruned and indices are memory-mapped or loaded selectively. | Medium-high. | Keep |
| AC-4.3 MAVLink | v1 GPS_INPUT only via pymavlink | ArduPilot docs require `GPS1_TYPE=14`; MAVLink defines required lat/lon, velocity, fix, and accuracy fields. MAVSDK should remain telemetry-oriented. | Medium. | Keep |
| AC-5.2 failsafe | >3 s no estimate triggers fallback, Plane SITL verified | Copter docs are reference only. Plane-specific production parameters must be verified in SITL. | Medium. | Updated |
| AC-7 object localization | Level-flight AI-camera object GPS | Realistic under level-flight clause; maneuvering estimates must publish conservative bound. | Medium. | Keep |
| AC-8.x satellite cache | 0.3-0.5 m/px, freshness, offline descriptors, VPR chunks | Resolution is feasible through commercial/service imagery. Storage must count descriptors unless separately budgeted. | Medium-high. | Updated |
| AC-NEW-1 / 2 startup and spoofing | <30 s first fix, <3 s promotion | Feasible only with prebuilt engines, warmed indices, and verified Plane GPS-health triggers. | Medium-high. | Keep with SITL gate |
| AC-NEW-3 FDR | <=64 GB per flight, no raw frames | Feasible with segment files and rollover. | Medium. | Keep |
| AC-NEW-4 / 7 safety budgets | False-position and cache-poisoning probabilities | Appropriate safety gates, but require Monte Carlo and representative flight/replay data. | High. | Keep |
| AC-NEW-5 environment | -20 C to +50 C, 25 W for 8 h | NVIDIA confirms 25 W mode; thermal design must prevent throttling. | Medium-high. | Keep |
## Restrictions Assessment
| Restriction | Current Values | Researched Values / Evidence | Cost / Timeline Impact | Status |
|-------------|----------------|------------------------------|------------------------|--------|
| Camera source of truth | `restrictions.md` pins ADTi 20MP ~5472 x 3648 | User confirmed `restrictions.md` is authoritative. Lens/FOV remains a design parameter. | Medium during module selection. | Updated |
| Fixed nadir camera | No gimbal stabilization | Good for orthorectification; turn/tilt requires attitude compensation and failure detection. | Medium. | Keep |
| Terrain/weather | Flat steppe/agricultural, seasonal classes included | Repetitive fields and seasonal changes are VPR hazards; validation must include those classes. | High validation cost. | Updated |
| Satellite Service boundary | Offline consumer of Suite Satellite Service | Strong separation; cache manifest and ingest-voting contract are required. | Medium. | Keep |
| 10 GB cache | Includes imagery, manifests, overviews, descriptors unless split | Plausible at 0.5 m/px with compression; 0.3 m/px plus descriptors may exceed unless pruned. | Medium. | Updated |
| Jetson Orin Nano Super | 67 TOPS INT8, 8 GB, 25 W | Official specs support the restriction; thermal throttling remains a risk. | Medium-high. | Keep |
| Test data gap | Sample imagery lacks IMU/ground truth | Public datasets help prototype, but final acceptance needs synchronized representative data. | High. | Updated |
## Key Findings
1. Use a hybrid estimator: VO/IMU for frame propagation, satellite/VPR anchors for absolute correction, ESKF covariance as the safety gate.
2. Do not run heavy VPR/re-ranking every frame; invoke it on cold start, VO failure, covariance growth, sharp turns, and disconnected segments.
3. Avoid GPL libraries in production dependencies unless the project accepts GPL obligations. GPL VIO/SLAM tools should be benchmarks or references, not selected production components.
4. The cache must be designed as imagery + metadata + descriptor index, not just raster tiles.
5. ArduPilot Plane SITL and representative camera+IMU data are blocking validation dependencies, but not blockers for solution drafting.
## Sources
See `_docs/00_research/01_source_registry.md` for the detailed source list.