azaion/gps-denied-onboard

mirror of https://github.com/azaion/gps-denied-onboard.git synced 2026-06-21 21:41:12 +00:00

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Oleksandr Bezdieniezhnykh 5bf2dbd85f Update autodev state documentation to reflect progress in the Decompose phase, changing the current step from 5 to 6. Revise sub-step details to indicate a shift to phase 2, focusing on module layout for the Satellite Service and Tile Manager, and awaiting confirmation before product task decomposition. Additionally, enhance problem documentation to clarify the original still-image sample limitations and introduce the Derkachi representative fixture for improved data validation. Update references to the Tile Manager and Satellite Service throughout the documentation for consistency.

2026-05-03 12:41:52 +03:00

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Geo Geometry Helper

Purpose

Shared geospatial and camera-geometry utilities used by camera ingest, safety wrapper, Tile Manager, anchor verification, and validation.

Responsibilities

WGS84 to local tangent plane conversions.
Haversine/ground-distance calculations.
Ground sampling distance calculations.
Camera footprint projection from intrinsics, extrinsics, altitude, and attitude.
Homography and covariance unit conversions for reporting.

Non-Responsibilities

No image matching.
No state estimation.
No MAVLink emission.
No cache policy decisions.

Consumers

Component	Usage
Camera ingest/calibration	Footprint and calibration sanity checks
Safety/anchor wrapper	Distance/covariance/unit conversion
Anchor verification	Pixel-to-ground error reporting
Tile Manager	Tile footprint metadata
Validation harness	Error thresholds and reports