docs(01-eskf-core): create phase plan — 3 plans in 2 waves

.planning/ROADMAP.md

@@ -26,7 +26,11 @@ The scaffold exists (~2800 lines): FastAPI service, all component ABCs, Pydantic
   3. Satellite measurement update corrects absolute position and covariance tightens to satellite noise level
   4. Confidence tier outputs HIGH when last satellite correction is recent and covariance is small, MEDIUM on VO-only, LOW on IMU-only — verified by unit tests
   5. Full coordinate chain (pixel → camera ray → body → NED → WGS84) produces correct GPS coordinates for a known geometry test case; all FAKE Math stubs replaced
-**Plans**: TBD
+**Plans**: 3 plans
+Plans:
+- [ ] 01-01-PLAN.md — ESKF core algorithm (schemas, 15-state filter, IMU prediction, VO/satellite updates, confidence tiers)
+- [ ] 01-02-PLAN.md — Coordinate chain fix (replace fake math with real K matrix projection, ray-ground intersection)
+- [ ] 01-03-PLAN.md — Unit tests for ESKF and coordinate chain (18+ ESKF tests, 10+ coordinate tests)
 
 ### Phase 2: Visual Odometry
 **Goal**: VO produces metric relative poses via cuVSLAM on Jetson and via OpenCV ORB on dev/CI, both satisfying the same interface — no more scale-ambiguous unit vectors
@@ -101,7 +105,7 @@ The scaffold exists (~2800 lines): FastAPI service, all component ABCs, Pydantic
 
 | Phase | Plans Complete | Status | Completed |
 |-------|----------------|--------|-----------|
-| 1. ESKF Core | 0/TBD | Not started | - |
+| 1. ESKF Core | 0/3 | Planned | - |
 | 2. Visual Odometry | 0/TBD | Not started | - |
 | 3. Satellite Matching + GPR | 0/TBD | Not started | - |
 | 4. MAVLink I/O | 0/TBD | Not started | - |