azaion/gps-denied-onboard

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Oleksandr Bezdieniezhnykh 7e15868d39 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.

2026-05-01 16:24:46 +03:00

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Environment Strategy

Environments

Environment	Purpose	Hardware
Development replay	Fast local iteration with fixtures	Developer workstation
CI replay	Deterministic PR checks	Docker runner
Public dataset replay	Nightly/RC algorithm validation	Docker or GPU runner
Plane SITL	MAVLink/failsafe validation	Docker/local SITL
Jetson hardware validation	Production path latency, memory, GPU, camera, thermal	Jetson Orin Nano Super
Representative flight/replay	Final acceptance evidence	Target-like UAV/FC/camera setup

Configuration Classes

Config	Development	Production
Satellite cache	Small fixture	Full mission cache
PostgreSQL/PostGIS	Local test DB with fixture manifests	Local onboard DB with signed mission manifests, spatial metadata, and FDR event indexes
Descriptor index	Small FAISS index	Full operational-area index
MAVLink	SITL/replay	Physical FC link
FDR	Temporary directory	Per-flight NVMe directory with rollover
Dataset fixtures	Optional public slices	Not used at runtime

Secrets And Signing

Mission signing keys are never committed.
Test keys may be committed only if clearly labeled as non-production.
Provider credentials are not used by onboard runtime.
Any Satellite Service sync credentials are post-flight/deployment environment secrets.

Dataset Licensing

Public datasets must be tagged before use:

Dataset	Expected Use	License Constraint
MUN-FRL	Preferred public VIO/nadir replay	CC BY 4.0 per current docs
ALTO	Preferred aerial localization/VPR replay	BSD-3 repository; dataset availability must be pinned
Kagaru	Fixed-wing/farmland validation candidate	Verify terms before commercial use
EPFL fixed-wing	Fixed-wing validation candidate	Verify terms before commercial use
VPAir	VPR/localization only	Academic-use restriction likely blocks commercial acceptance
UZH FPV	VIO stress proxy only	Non-commercial license blocks commercial acceptance

Promotion Rules

A result from public datasets can de-risk implementation but cannot replace representative acceptance data.
A release candidate cannot be promoted without Jetson hardware validation and Plane SITL.
A mission cache cannot be used if manifest/signature/freshness validation fails.