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.

2026-06-21 10:21:13 +00:00 · 2026-05-01 16:24:46 +03:00
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+# Traceability Matrix
+
+## Acceptance Criteria Coverage
+
+| AC ID | Acceptance Criterion Summary | Test IDs | Coverage |
+|-------|------------------------------|----------|----------|
+| AC-1.1 | >=80% frame centers within 50 m | FT-P-01, FT-P-04 | Covered |
+| AC-1.2 | >=50% frame centers within 20 m | FT-P-01, FT-P-04 | Covered |
+| AC-1.3 | Drift and anchor age reporting | FT-P-02, FT-P-03, NFT-RES-02 | Covered |
+| AC-1.4 | Quantitative confidence and source label | FT-P-02, FT-N-01, FT-P-03 | Covered |
+| AC-2.1a | VO registration >95% on normal segments | FT-P-03, NFT-PERF-02 | Covered |
+| AC-2.1b | Satellite-anchor registration measured separately | FT-P-04 | Covered |
+| AC-2.2 | MRE <1 px VO and <2.5 px satellite anchor | FT-P-03, FT-P-04 | Covered |
+| AC-3.1 | Handles up to 350 m outliers | FT-N-01, NFT-RES-02 | Covered |
+| AC-3.2 | Sharp turn relocalization | FT-P-04, NFT-RES-02, NFT-PERF-03 | Covered |
+| AC-3.3 | >=3 disconnected segments via retrieval/relocalization | NFT-RES-02, FT-P-04 | Covered |
+| AC-3.4 | Relocalization request after loss threshold | NFT-RES-02 | Covered |
+| AC-3.5 | Total visual blackout/occlusion + GPS spoofing degraded mode | FT-N-02, NFT-RES-01, NFT-SEC-03 | Covered |
+| AC-4.1 | End-to-end latency <400 ms p95 | NFT-PERF-01, NFT-PERF-02, NFT-PERF-03 | Covered |
+| AC-4.2 | Memory below 8 GB shared | NFT-RES-LIM-01, NFT-RES-LIM-05 | Covered |
+| AC-4.3 | MAVLink `GPS_INPUT` output for ArduPilot | FT-N-02, NFT-SEC-03 | Covered |
+| AC-4.4 | Frame-by-frame streaming | FT-P-02, NFT-PERF-01 | Covered |
+| AC-4.5 | Previous estimate corrections | FT-P-02 | Covered |
+| AC-5.1 | Initialize from last trusted FC state | NFT-RES-03, NFT-PERF-04 | Covered |
+| AC-5.2 | >3 s no-estimate fallback behavior | FT-N-02, NFT-RES-01 | Covered |
+| AC-5.3 | Re-initialize after companion reboot | NFT-RES-03 | Covered |
+| AC-6.1 | QGC status at 1-2 Hz | FT-N-02, NFT-SEC-03 | Covered |
+| AC-6.2 | Ground station command ingress | FT-P-04, NFT-RES-02 | Covered |
+| AC-6.3 | WGS84 output | FT-P-01, FT-P-02 | Covered |
+| AC-7.1 | Object localization accuracy consistent with frame center in level flight | FT-P-01 | Covered at system boundary; detailed AI-camera tests deferred to component specs |
+| AC-7.2 | Object coordinates from UAV position, gimbal angle, zoom, altitude | FT-P-01 | Covered at system boundary; detailed AI-camera tests deferred to component specs |
+| AC-8.1 | Cache imagery 0.5 m/px minimum, 0.3 m/px ideal | FT-P-04, NFT-SEC-04 | Covered |
+| AC-8.2 | Tile freshness thresholds | FT-N-03, NFT-RES-04, NFT-SEC-01 | Covered |
+| AC-8.3 | Preloaded/preprocessed offline cache | NFT-SEC-04, NFT-RES-LIM-03 | Covered |
+| AC-8.4 | Mid-flight tile generation and write-back | NFT-SEC-02, NFT-RES-LIM-04 | Covered |
+| AC-8.5 | No raw frame retention | NFT-RES-LIM-04 | Covered |
+| AC-8.6 | VPR retrieval chunks, multi-scale, dynamic K | FT-P-04, NFT-PERF-03 | Covered |
+| AC-NEW-1 | Cold start first fix <30 s | NFT-PERF-04, NFT-RES-LIM-05, NFT-RES-03 | Covered |
+| AC-NEW-2 | Spoofing promotion <3 s | FT-N-02, NFT-SEC-03 | Covered |
+| AC-NEW-3 | FDR <=64 GB and payload retention | NFT-RES-LIM-04 | Covered |
+| AC-NEW-4 | False-position safety budget | FT-N-01, NFT-SEC-01 | Covered |
+| AC-NEW-5 | Thermal envelope and no throttle | NFT-RES-LIM-02 | Covered |
+| AC-NEW-6 | Imagery freshness enforcement | FT-N-03, NFT-RES-04 | Covered |
+| AC-NEW-7 | Cache-poisoning safety budget | FT-N-03, NFT-SEC-02 | Covered |
+| AC-NEW-8 | Pre-VIO total occlusion gate, IMU-only blackout propagation, and spoofing degraded-mode budget | FT-N-02, NFT-RES-01 | Covered |
+
+## Restrictions Coverage
+
+| Restriction ID | Restriction Summary | Test IDs | Coverage |
+|----------------|---------------------|----------|----------|
+| R-UAV-01 | Fixed-wing UAV mission profile and 8-hour operations | NFT-RES-LIM-02, NFT-RES-LIM-04 | Covered |
+| R-CAM-01 | Fixed downward navigation camera | FT-P-01, FT-P-03 | Covered |
+| R-CAM-02 | ADTi 20MP 20L V1 and calibration assumptions | FT-P-01, NFT-PERF-01 | Covered |
+| R-SAT-01 | Offline-only Satellite Service cache, no in-flight provider fetch | NFT-SEC-04 | Covered |
+| R-SAT-02 | Cache resolution/freshness/metadata conventions | FT-N-03, NFT-RES-LIM-03 | Covered |
+| R-HW-01 | Jetson Orin Nano Super 8 GB / 25 W | NFT-RES-LIM-01, NFT-RES-LIM-02 | Covered |
+| R-SENSOR-01 | FC IMU available; sample data lacks synchronized IMU | FT-P-03, NFT-PERF-02 | Covered through public/representative dataset plan |
+| R-MAV-01 | MAVLink, ArduPilot only, GPS_INPUT via pymavlink | FT-N-02, NFT-SEC-03 | Covered |
+| R-GCS-01 | QGroundControl supported GCS | FT-N-02, NFT-SEC-03 | Covered |
+| R-SAFETY-01 | False-position, cold-start, spoofing, and failsafe constraints | FT-N-01, FT-N-02, NFT-PERF-04, NFT-RES-01 | Covered |
+
+## Coverage Summary
+
+| Category | Total Items | Covered | Not Covered | Coverage % |
+|----------|-------------|---------|-------------|------------|
+| Acceptance Criteria | 39 | 39 | 0 | 100% |
+| Restrictions | 10 | 10 | 0 | 100% |
+| **Total** | 49 | 49 | 0 | 100% |
+
+## Uncovered Items Analysis
+
+| Item | Reason Not Covered | Risk | Mitigation |
+|------|--------------------|------|------------|
+| None | All current AC and restriction groups have black-box coverage | N/A | Continue to Phase 3 validation gate |
+
+## Data Coverage Caveats
+
+- Current project data fully supports still-image frame-center checks for 60 mapped images.
+- Current project data does not contain synchronized IMU or ground-truth trajectory for BASALT VIO validation.
+- Phase 3 must validate public dataset acquisition before FT-P-03, FT-P-04, and NFT-PERF-02 can remain in the executable test plan.