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.

2026-06-22 20:31:12 +00:00 · 2026-05-01 16:24:46 +03:00
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+# Validation Log
+
+## Validation Scenario
+
+An 8-hour fixed-wing mission enters GPS-denied/spoofed mode after takeoff. The onboard system starts from last trusted FC state, processes 3 fps nadir frames, emits `GPS_INPUT`, handles normal flight, sharp turns, short visual blackouts, stale/changed tiles, and post-flight tile write-back.
+
+## Expected Based On Conclusions
+
+- **Normal segment**: VO/IMU propagates every processed frame; satellite anchors refresh state conditionally before covariance grows too large.
+- **Sharp turn / <5% overlap**: VO is expected to fail; relocalization uses FAISS top-K VPR chunks followed by LightGlue/RANSAC.
+- **Visual blackout + spoofing**: estimator switches to `dead_reckoned`, covariance grows monotonically, spoofed GPS is ignored, `GPS_INPUT` degrades honestly.
+- **Stale tile**: anchor is rejected or down-confidence weighted and cannot emit `satellite_anchored`.
+- **Cache write-back**: onboard generated tile is written only when parent-pose covariance passes AC-NEW-7 gates and carries metadata for Satellite Service voting.
+
+## Actual Validation Plan
+
+| Validation Target | Test Method | Pass Evidence |
+|-------------------|-------------|---------------|
+| VO/VIO propagation | EuRoC and synthetic nadir replay; then representative flight data | Drift vs anchor-age bins; AC-1.3 pass/fail. |
+| Satellite anchor | AerialVL/VPAir-style benchmark plus project sample imagery with satellite cache | AC-1.1/1.2 accuracy, AC-2.2 MRE, georeference recall. |
+| Runtime | Jetson Orin Nano Super profiling under 25 W, hot-soak included | <400 ms p95, <8 GB memory, no thermal throttle. |
+| VPR retrieval | Offline descriptor build and FAISS query benchmark | Top-K recall, query latency, index size within cache budget. |
+| MAVLink output | ArduPilot Plane SITL with `GPS1_TYPE=14` | Valid `GPS_INPUT`, fix-type/accuracy degradation, QGC status. |
+| Spoofing promotion | Plane SITL false GPS injection | Promotion <3 s and spoofed GPS rejected during blackout. |
+| FDR | 8-hour synthetic load | <=64 GB, rollover logged, no silent payload loss. |
+| Cache poisoning | Monte Carlo with over-confident wrong anchors | AC-NEW-7 probabilities below budget; metadata contract emitted. |
+| OpenVINS reference comparison | Replay the same synchronized camera+IMU segments through OpenVINS and the project-owned estimator | OpenVINS establishes a VIO baseline; production estimator must match/beat drift where applicable while preserving source labels and GPS_INPUT behavior. |
+| BASALT production VIO candidate | Replay synchronized camera+IMU segments through BASALT, OpenVINS, and Kimera-VIO | BASALT selected if drift, completion rate, latency, and wrapper-calibrated covariance meet project gates. |
+| DINOv2-VLAD fidelity | Compare PyTorch, ONNX, and TensorRT descriptor distances and FAISS rankings | Optimized engines accepted only if rank/top-K behavior stays within tolerance. |
+| ALIKED/LightGlue runtime | Jetson benchmark across K candidates and project image sizes | Candidate accepted for runtime only if relocalization trigger path fits AC-4.1 with bounded frame drops. |
+
+## Counterexamples And Risks
+
+- Large DINOv2 variants or many local-match candidates may violate the Jetson latency/memory envelope.
+- Agricultural fields can be visually repetitive; VPR confidence must not be treated as sufficient without geometric verification.
+- Public datasets do not fully match Ukrainian fixed-wing operational conditions; final evidence requires representative data.
+- GPL VIO/SLAM libraries are not production dependencies unless licensing is explicitly accepted.
+- OpenVINS may outperform the first custom estimator prototype on pure VIO drift; that would trigger estimator improvement, not automatic GPL production adoption.
+- BASALT covariance/confidence is less directly exposed than OpenVINS EKF covariance; the project wrapper must calibrate uncertainty before mapping it to `GPS_INPUT.horiz_accuracy`.
+
+## Review Checklist
+
+- [x] Draft conclusions are consistent with fact cards.
+- [x] No important dimensions missed: architecture, VO, VPR, local matching, cache, estimator, MAVLink, FDR, validation covered.
+- [x] No selected component relies only on field-adjacent fit.
+- [x] Mismatches are recorded as rejected/reference/needs-decision rather than hidden.
+- [x] Step 7.5 Component Applicability Gate applies and is saved in `06_component_fit_matrix.md`.
+
+## Conclusions Requiring Revision
+
+Round 3 applies the user decision to select BASALT as the production VIO candidate. The selected implementation is BASALT VIO plus a project-owned safety/anchor wrapper; OpenVINS remains the covariance/reference baseline, Kimera-VIO remains a backup candidate, and custom OpenCV-only VIO is no longer the primary path. Runtime gates and Plane SITL gates are implementation validation gates, not API capability blockers.