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docs: record PR #9 results — ESKF ATE 0.20 m baseline on EuRoC MH_01

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Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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Yuzviak
2026-04-18 15:05:13 +03:00
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src/gps_denied/testing/README.md
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@@ -109,7 +109,7 @@ Markers (`e2e`, `e2e_slow`, `needs_dataset`) are registered in `pyproject.toml`.
| Adapter | Platform | Raw IMU | GT | Real-run status |
|---|---|---|---|---|
| `SyntheticAdapter` | — | yes (zero motion) | exact | smoke test only, always runs |
| `EuRoCAdapter` | indoor MAV | 200 Hz ADIS16448 | Vicon | ran on first 100 frames — vo_success 99/100 (ORB), ESKF not yet init'd in harness (no start_gps), ATE xfail documented |
| `EuRoCAdapter` | indoor MAV | 200 Hz ADIS16448 | Vicon | 100 frames: vo=99/100, eskf=100/100, **ESKF ATE 0.20 m PASS** (scale=5 mm/frame); GPS ATE xfail (no satellite tiles for indoor) |
| `VPAIRAdapter` | fixed-wing light aircraft | no (pose-only) | GNSS/INS ~1 m | ran once — ATE ~1770 km, xfail documented; VO alone diverges without anchoring |
| `MARSLVIGAdapter` | rotary (DJI M300 RTK) | yes | RTK | pending (requires pre-extracted ROS bag) |