gps-denied-onboard/_docs/02_document/diagrams/flows/flow_satellite_relocalization.md

Flow: Satellite Relocalization

flowchart TD
    start([Relocalization trigger]) --> request[03 Build retrieval request]
    request --> retrieve[04 DINOv2-VLAD + FAISS top-K]
    retrieve --> candidates{Candidates found?}
    candidates -->|No| degraded[03 Continue degraded/dead reckoned]
    candidates -->|Yes| verify[05 ALIKED/DISK + LightGlue + RANSAC]
    verify --> geometry{Geometry passes?}
    geometry -->|No| degraded
    geometry -->|Yes| gates[03 Freshness/provenance/Mahalanobis gates]
    gates --> accepted{Anchor accepted?}
    accepted -->|No| degraded
    accepted -->|Yes| update[03 Apply absolute correction]
    update --> emit[07 Emit anchored GPS_INPUT]
    degraded --> emitDegraded[07 Emit degraded GPS_INPUT/status]
    emit --> record[08 Record anchor decision]
    emitDegraded --> record
    record --> endNode([Relocalization result])