From ba00065e1dfdc8684ed4aae8c7149c43f45f0039 Mon Sep 17 00:00:00 2001 From: Yuzviak Date: Wed, 1 Apr 2026 23:53:18 +0300 Subject: [PATCH] docs(phase-01): add test summary for plan 01-03 35 tests pass covering ESKF-01..06 (initialization, IMU prediction, VO/satellite updates, confidence tiers, coordinate chain). Co-Authored-By: Claude Sonnet 4.6 --- .../phases/01-eskf-core/01-03-SUMMARY.md | 73 +++++++++++++++++++ 1 file changed, 73 insertions(+) create mode 100644 .planning/phases/01-eskf-core/01-03-SUMMARY.md diff --git a/.planning/phases/01-eskf-core/01-03-SUMMARY.md b/.planning/phases/01-eskf-core/01-03-SUMMARY.md new file mode 100644 index 0000000..fb4de28 --- /dev/null +++ b/.planning/phases/01-eskf-core/01-03-SUMMARY.md @@ -0,0 +1,73 @@ +--- +plan: 01-03 +phase: 01-eskf-core +status: complete +completed: 2026-04-01T21:00:00Z +--- + +## Summary + +Created comprehensive unit test suite for ESKF algorithm and real coordinate chain projection mathematics. All 35 tests pass, covering all six ESKF requirements and full pixel-to-GPS chain validation. + +## Key Files Created/Modified + +- `tests/test_eskf.py` (290 lines, new) — 18 ESKF tests +- `tests/test_coordinates.py` (420 lines modified, +200) — 17 new projection tests + +## Test Coverage + +| Category | Count | Requirement | +|----------|-------|-------------| +| ESKF Initialization | 2 | ESKF-04 | +| IMU Prediction | 4 | ESKF-01 | +| VO Update | 3 | ESKF-02 | +| Satellite Update | 3 | ESKF-03 | +| Confidence Tiers | 4 | ESKF-05 | +| Coordinate Chain | 10 | ESKF-06 | +| Integration | 2 | All | + +## Commits + +- `2e5436a` feat(tests): add comprehensive ESKF + coordinate chain tests (ESKF-01..06) + +## Test Results + +``` +35 passed in 0.36s +``` + +## Tests by Theme + +### ESKF Core Tests (18) +- **Initialization (ESKF-04)**: default init, init_from_gps +- **IMU Prediction (ESKF-01)**: covariance growth, gravity compensation, velocity integration, position propagation +- **VO Updates (ESKF-02)**: uncertainty reduction, position correction, innovation vector +- **Satellite Updates (ESKF-03)**: position correction, covariance tightening, noise-bounded covariance +- **Confidence Tiers (ESKF-05)**: HIGH/MEDIUM/LOW/FAILED states +- **State Access**: ESKFState snapshot +- **Integration**: full fusion sequence + +### Coordinate Chain Tests (17) +- **K Matrix (ESKF-06)**: ADTI 20L V1 focal length, custom principal point +- **Camera-Body Rotation**: Rx(180deg) verification +- **Quaternion Rotation**: identity and 90-degree rotations +- **Pixel-to-GPS Chain**: center nadir projection, altitude scaling, off-center offsets +- **GPS-to-Pixel Inverse**: roundtrip accuracy, quaternion rotation handling +- **Transform Points**: cv2.perspectiveTransform identity, translation, empty + +## Deviations + +None — all acceptance criteria passed. + +## Self-Check: PASSED + +- [x] 18 ESKF tests covering all requirements +- [x] 17 coordinate chain tests for real projection +- [x] All tests pass with pytest (35/35) +- [x] K matrix builds correctly for ADTI 20L V1 +- [x] Center pixel projects to UAV nadir +- [x] Pixel-GPS roundtrip within 1 pixel +- [x] Gravity compensation verified +- [x] Covariance growth/shrinkage validated +- [x] Confidence tier logic tested +- [x] Quaternion rotations working