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.

_docs/02_document/glossary.md

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+# Glossary
+
+**Status**: confirmed-by-user  
+**Date**: 2026-05-01
+
+## Aerial VPR
+
+Visual place recognition over aerial/nadir imagery; used to retrieve candidate satellite/cache chunks for a UAV frame. (source: `solution.md`)
+
+## ADTi 20MP 20L V1
+
+Selected navigation-camera family. Public product pages list Sony APS-C CMOS, 5456 x 3632 max image size, 23.20 x 15.40 mm sensor, 4.25 um pixel pitch, Sony E mount, and 2 fps continuous capture; final manufacturer specification remains a verification risk. (source: `restrictions.md`, user-confirmed open-question review)
+
+## Anchor
+
+Accepted absolute visual match to a georeferenced cache tile, used to correct VO/IMU drift. (source: `acceptance_criteria.md`, `solution.md`)
+
+## ArduPilot Plane SITL
+
+Simulation environment used to verify `GPS_INPUT`, spoofing, failsafe, and MAVLink behavior with the production Plane parameter set. (source: `acceptance_criteria.md`, `tests/environment.md`)
+
+## BASALT VIO
+
+Selected production relative visual-inertial odometry candidate. It consumes calibrated navigation-camera frames and IMU data but does not own the product's safety, anchor, cache, or MAVLink semantics. (source: `solution.md`)
+
+## Cache Poisoning
+
+Failure mode where a misaligned onboard-generated tile is written back and later corrupts future satellite-cache anchors. (source: `acceptance_criteria.md`)
+
+## COG Tile
+
+Cloud Optimized GeoTIFF raster object used as the write-new unit for georeferenced service tiles and generated onboard tiles. (source: `solution.md`)
+
+## FDR
+
+Flight Data Recorder. Bounded per-flight recorder for estimates, IMU traces, emitted MAVLink, health telemetry, tile writes, and audit evidence; raw nav/AI frames are not retained. (source: `acceptance_criteria.md`, `solution.md`)
+
+## Generated Tile
+
+In-flight orthorectified tile created from navigation-camera imagery and stored locally for post-flight Satellite Service sync. (source: `acceptance_criteria.md`)
+
+## `GPS_INPUT`
+
+MAVLink message used as the ArduPilot GPS substitute in v1. It carries WGS84 coordinates, fix type, accuracy fields, and ignore flags. (source: `acceptance_criteria.md`, `solution.md`)
+
+## Kimera Backup
+
+BSD-friendly VIO backup candidate if BASALT fails project replay/runtime gates. (source: `solution.md`)
+
+## Mahalanobis Gate
+
+Statistical consistency gate used to reject anchor updates that are inconsistent with the current estimator state and covariance. (source: `solution.md`)
+
+## Nadir Camera
+
+Fixed downward-pointing navigation camera used for localization. It is not gimbal-stabilized. (source: `restrictions.md`)
+
+## OpenVINS Reference
+
+GPLv3 VIO/covariance baseline used for replay comparison and uncertainty calibration; not the default production dependency. (source: `solution.md`)
+
+## Public Replay Dataset
+
+External dataset used to cover validation gaps in the current sample data, especially synchronized nadir camera, IMU, GNSS/ground truth, and reference imagery. MUN-FRL and ALTO are first-choice candidates. (source: `tests/test-data.md`)
+
+## QGroundControl
+
+Supported ground station that receives downsampled status and failsafe messages at 1-2 Hz. (source: `restrictions.md`, `acceptance_criteria.md`)
+
+## Representative Replay Rig
+
+Final acceptance dataset or hardware setup from the target flight profile with synchronized nav camera, FC IMU/attitude/airspeed/altitude, emitted MAVLink, and ground truth. (source: `acceptance_criteria.md`, `tests/test-data.md`)
+
+## Safety/Anchor Wrapper
+
+Project-owned layer around BASALT that calibrates confidence, fuses satellite anchors, owns source labels, handles degraded modes, gates generated tiles, and emits MAVLink outputs. (source: `solution.md`)
+
+## Satellite Service
+
+External Azaion Suite component that prepares the offline satellite cache before flight and ingests generated tiles after landing. The onboard system does not call it in-flight. (source: `restrictions.md`)
+
+## Source Label
+
+Categorical label attached to every estimate: `{satellite_anchored, vo_extrapolated, dead_reckoned}`. (source: `acceptance_criteria.md`)
+
+## Tile Freshness
+
+Runtime age gate for cache tiles: active-conflict sectors require newer imagery than stable rear sectors. (source: `acceptance_criteria.md`)
+
+## Visual Blackout
+
+State where the navigation camera provides no usable localization signal because of clouds, occlusion, whiteout, or similar visual loss. (source: `acceptance_criteria.md`)
+
+## VPR Chunk
+
+Ground-footprint-sized retrieval unit, approximately 600-800 m with overlap, decoupled from the storage tile convention. (source: `acceptance_criteria.md`)