Refactor acceptance criteria, problem description, and restrictions for UAV GPS-Denied system. Enhance clarity and detail in performance metrics, image processing requirements, and operational constraints. Introduce new sections for UAV specifications, camera details, satellite imagery, and onboard hardware.

_docs/00_problem/restrictions.md

@@ -1,11 +1,37 @@
- - Photos are taken by only airplane type UAVs.
- - Photos are taken by the camera pointing downwards and fixed, but it is not autostabilized.
- - The flying range is restricted by the eastern and southern parts of Ukraine (To the left of the Dnipro River)
- - The image resolution could be from FullHD to 6252*4168. Camera parameters are known: focal length, sensor width, resolution and so on.
- - Altitude is predefined and no more than 1km. The height of the terrain can be neglected.
- - There is NO data from IMU
- - Flights are done mostly in sunny weather
- - We can use satellite providers, but we're limited right now to Google Maps, which could be outdated for some regions
- - Number of photos could be up to 3000, usually in the 500-1500 range
- - During the flight, UAVs can make sharp turns, so that the next photo may be absolutely different from the previous one (no same objects), but it is rather an exception than the rule
- - Processing is done on a stationary computer or laptop with NVidia GPU at least RTX2060, better 3070. (For the UAV solution Jetson Orin Nano would be used, but that is out of scope.)
+# UAV & Flight
+
+- Photos are taken by only airplane (fixed-wing) type UAVs
+- Photos are taken by the camera pointing downwards and fixed, but it is not autostabilized
+- The flying range is restricted by the eastern and southern parts of Ukraine (to the left of the Dnipro River)
+- Altitude is predefined and no more than 1km. The height of the terrain can be neglected
+- Flights are done mostly in sunny weather
+- During the flight, UAVs can make sharp turns, so that the next photo may be absolutely different from the previous one (no same objects), but it is rather an exception than the rule
+- Number of photos per flight could be up to 3000, usually in the 500-1500 range
+
+# Cameras
+
+- UAV has two cameras:
+  1. **Navigation camera** — fixed, pointing downwards, not autostabilized. Used by GPS-Denied system for position estimation
+  2. **AI camera** — main camera with configurable angle and zoom, used by onboard AI detection systems
+- Navigation camera resolution: FullHD to 6252*4168. Camera parameters are known: focal length, sensor width, resolution, etc.
+- Cameras are connected to the companion computer (interface TBD: USB, CSI, or GigE)
+- Terrain is assumed flat (eastern/southern Ukraine operational area); height differences are negligible
+
+# Satellite Imagery
+
+- We can use satellite providers, but we're limited right now to Google Maps, which could be outdated for some regions
+- Satellite imagery for the operational area must be pre-loaded onto the companion computer before flight
+
+# Onboard Hardware
+
+- Processing is done on a Jetson Orin Nano Super (67 TOPS, 8GB shared LPDDR5, 25W TDP)
+- The companion computer runs JetPack (Ubuntu-based) with CUDA/TensorRT available
+- Onboard storage for satellite imagery is limited (exact capacity TBD, but must be accounted for in tile preparation)
+- Sustained GPU load may cause thermal throttling; the processing pipeline must stay within thermal envelope
+
+# Sensors & Integration
+
+- There is a lot of data from IMU (via the flight controller)
+- The system communicates with the flight controller via MAVLink protocol using MAVSDK library
+- The system must output GPS coordinates to the flight controller as a replacement for the real GPS module (MAVLink GPS_INPUT message)
+- Ground station telemetry link is available but bandwidth-limited; it is not the primary output channel