gps-denied-onboard/.planning/phases/01-eskf-core/01-02-SUMMARY.md at 1ed7729fc2568897cea8ecde565e087389f17c8c

mirror of https://github.com/azaion/gps-denied-onboard.git synced 2026-04-23 11:26:36 +00:00

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T

Yuzviak 094895b21b feat(phases 2-7): implement full GPS-denied navigation pipeline

Phase 2 — Visual Odometry:
  - ORBVisualOdometry (dev/CI), CuVSLAMVisualOdometry (Jetson)
  - TRTInferenceEngine (TensorRT FP16, conditional import)
  - create_vo_backend() factory

Phase 3 — Satellite Matching + GPR:
  - SatelliteDataManager: local z/x/y tiles, ESKF ±3σ tile selection
  - GSD normalization (SAT-03), RANSAC inlier-ratio confidence (SAT-04)
  - GlobalPlaceRecognition: Faiss index + numpy fallback

Phase 4 — MAVLink I/O:
  - MAVLinkBridge: GPS_INPUT 15+ fields, IMU callback, 1Hz telemetry
  - 3-consecutive-failure reloc request
  - MockMAVConnection for CI

Phase 5 — Pipeline Wiring:
  - ESKF wired into process_frame: VO update → satellite update
  - CoordinateTransformer + SatelliteDataManager via DI
  - MAVLink state push per frame (PIPE-07)
  - Real pixel_to_gps via ray-ground projection (PIPE-06)
  - GTSAM ISAM2 update when available (PIPE-03)

Phase 6 — Docker + CI:
  - Multi-stage Dockerfile (python:3.11-slim)
  - docker-compose.yml (dev), docker-compose.sitl.yml (ArduPilot SITL)
  - GitHub Actions: ci.yml (lint+pytest+docker smoke), sitl.yml (nightly)
  - tests/test_sitl_integration.py (8 tests, skip without SITL)

Phase 7 — Accuracy Validation:
  - AccuracyBenchmark + SyntheticTrajectory
  - AC-PERF-1: 80% within 50m ✅
  - AC-PERF-2: 60% within 20m ✅
  - AC-PERF-3: p95 latency < 400ms ✅
  - AC-PERF-4: VO drift 1km < 100m ✅ (actual ~11m)
  - scripts/benchmark_accuracy.py CLI

Tests: 195 passed / 8 skipped

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-04-02 17:00:41 +03:00

1.3 KiB

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plan, phase, status, completed

plan	phase	status	completed
01-02	01-eskf-core	complete	2026-04-01T20:50:00Z

Summary

Replaced all FAKE Math stubs in CoordinateTransformer with real camera projection mathematics. Implements the complete pixel-to-GPS chain via K^-1 unprojection, camera-to-body rotation, quaternion body-to-ENU transformation, and ray-ground intersection (ESKF-06).

Key File Modified

src/gps_denied/core/coordinates.py (176 lines added) — Real K matrix math, helper functions, pixel_to_gps, gps_to_pixel, cv2.perspectiveTransform

Commits

dccadd4 feat(coordinates): implement real pixel-to-GPS projection chain (ESKF-06)

New Helpers

_build_intrinsic_matrix() — K matrix from focal_length, sensor size, resolution
_cam_to_body_rotation() — Rx(180deg) for nadir-pointing camera
_quat_to_rotation_matrix() — Quaternion to 3x3 rotation matrix

Deviations

None — all acceptance criteria passed.

Self-Check: PASSED

K^-1 unprojection replaces 0.1m/pixel fake scaling
Ray-ground intersection at altitude
gps_to_pixel is exact inverse
transform_points uses cv2.perspectiveTransform
All FAKE Math stubs removed
Image center pixel projects to UAV nadir
Backward-compatible defaults (ADTI 20L V1)

1.3 KiB Raw Blame History