gps-denied-onboard/_docs/02_document/tests/traceability-matrix.md

Traceability Matrix

Acceptance Criteria Coverage

AC ID	Acceptance Criterion Summary	Test IDs	Coverage
AC-1.1	>=80% frame centers within 50 m	FT-P-01, FT-P-04	Covered
AC-1.2	>=50% frame centers within 20 m	FT-P-01, FT-P-04	Covered
AC-1.3	Drift and anchor age reporting	FT-P-02, FT-P-03, NFT-RES-02	Covered
AC-1.4	Quantitative confidence and source label	FT-P-02, FT-N-01, FT-P-03	Covered
AC-2.1a	VO registration >95% on normal segments	FT-P-03, NFT-PERF-02	Covered
AC-2.1b	Satellite-anchor registration measured separately	FT-P-04	Covered
AC-2.2	MRE <1 px VO and <2.5 px satellite anchor	FT-P-03, FT-P-04	Covered
AC-3.1	Handles up to 350 m outliers	FT-N-01, NFT-RES-02	Covered
AC-3.2	Sharp turn relocalization	FT-P-04, NFT-RES-02, NFT-PERF-03	Covered
AC-3.3	>=3 disconnected segments via retrieval/relocalization	NFT-RES-02, FT-P-04	Covered
AC-3.4	Relocalization request after loss threshold	NFT-RES-02	Covered
AC-3.5	Total visual blackout/occlusion + GPS spoofing degraded mode	FT-N-02, NFT-RES-01, NFT-SEC-03	Covered
AC-4.1	End-to-end latency <400 ms p95	NFT-PERF-01, NFT-PERF-02, NFT-PERF-03	Covered
AC-4.2	Memory below 8 GB shared	NFT-RES-LIM-01, NFT-RES-LIM-05	Covered
AC-4.3	MAVLink GPS_INPUT output for ArduPilot	FT-N-02, NFT-SEC-03	Covered
AC-4.4	Frame-by-frame streaming	FT-P-02, NFT-PERF-01	Covered
AC-4.5	Previous estimate corrections	FT-P-02	Covered
AC-5.1	Initialize from last trusted FC state	NFT-RES-03, NFT-PERF-04	Covered
AC-5.2	>3 s no-estimate fallback behavior	FT-N-02, NFT-RES-01	Covered
AC-5.3	Re-initialize after companion reboot	NFT-RES-03	Covered
AC-6.1	QGC status at 1-2 Hz	FT-N-02, NFT-SEC-03	Covered
AC-6.2	Ground station command ingress	FT-P-04, NFT-RES-02	Covered
AC-6.3	WGS84 output	FT-P-01, FT-P-02	Covered
AC-7.1	Object localization accuracy consistent with frame center in level flight	FT-P-01	Covered at system boundary; detailed AI-camera tests deferred to component specs
AC-7.2	Object coordinates from UAV position, gimbal angle, zoom, altitude	FT-P-01	Covered at system boundary; detailed AI-camera tests deferred to component specs
AC-8.1	Cache imagery 0.5 m/px minimum, 0.3 m/px ideal	FT-P-04, NFT-SEC-04	Covered
AC-8.2	Tile freshness thresholds	FT-N-03, NFT-RES-04, NFT-SEC-01	Covered
AC-8.3	Preloaded/preprocessed offline cache	NFT-SEC-04, NFT-RES-LIM-03	Covered
AC-8.4	Mid-flight tile generation and write-back	NFT-SEC-02, NFT-RES-LIM-04	Covered
AC-8.5	No raw frame retention	NFT-RES-LIM-04	Covered
AC-8.6	VPR retrieval chunks, multi-scale, dynamic K	FT-P-04, NFT-PERF-03	Covered
AC-NEW-1	Cold start first fix <30 s	NFT-PERF-04, NFT-RES-LIM-05, NFT-RES-03	Covered
AC-NEW-2	Spoofing promotion <3 s	FT-N-02, NFT-SEC-03	Covered
AC-NEW-3	FDR <=64 GB and payload retention	NFT-RES-LIM-04	Covered
AC-NEW-4	False-position safety budget	FT-N-01, NFT-SEC-01	Covered
AC-NEW-5	Thermal envelope and no throttle	NFT-RES-LIM-02	Covered
AC-NEW-6	Imagery freshness enforcement	FT-N-03, NFT-RES-04	Covered
AC-NEW-7	Cache-poisoning safety budget	FT-N-03, NFT-SEC-02	Covered
AC-NEW-8	Pre-VIO total occlusion gate, IMU-only blackout propagation, and spoofing degraded-mode budget	FT-N-02, NFT-RES-01	Covered

Restrictions Coverage

Restriction ID	Restriction Summary	Test IDs	Coverage
R-UAV-01	Fixed-wing UAV mission profile and 8-hour operations	NFT-RES-LIM-02, NFT-RES-LIM-04	Covered
R-CAM-01	Fixed downward navigation camera	FT-P-01, FT-P-03	Covered
R-CAM-02	ADTi 20MP 20L V1 and calibration assumptions	FT-P-01, NFT-PERF-01	Covered
R-SAT-01	Offline-only Satellite Service cache, no in-flight provider fetch	NFT-SEC-04	Covered
R-SAT-02	Cache resolution/freshness/metadata conventions	FT-N-03, NFT-RES-LIM-03	Covered
R-HW-01	Jetson Orin Nano Super 8 GB / 25 W	NFT-RES-LIM-01, NFT-RES-LIM-02	Covered
R-SENSOR-01	FC IMU available; original still-image sample lacks synchronized IMU; Derkachi fixture provides video/IMU/GPS trajectory but calibration is pending	FT-P-03, NFT-PERF-02	Covered through Derkachi representative replay plus public/calibrated dataset plan
R-MAV-01	MAVLink, ArduPilot only, GPS_INPUT via pymavlink	FT-N-02, NFT-SEC-03	Covered
R-GCS-01	QGroundControl supported GCS	FT-N-02, NFT-SEC-03	Covered
R-SAFETY-01	False-position, cold-start, spoofing, and failsafe constraints	FT-N-01, FT-N-02, NFT-PERF-04, NFT-RES-01	Covered

Coverage Summary

Category	Total Items	Covered	Not Covered	Coverage %
Acceptance Criteria	39	39	0	100%
Restrictions	10	10	0	100%
Total	49	49	0	100%

Uncovered Items Analysis

Item	Reason Not Covered	Risk	Mitigation
None	All current AC and restriction groups have black-box coverage	N/A	Continue to Phase 3 validation gate

Data Coverage Caveats

• Current project data fully supports still-image frame-center checks for 60 mapped images.
• Derkachi project data supports synchronized video/IMU/GPS trajectory replay for FT-P-03 and NFT-PERF-02.
• Derkachi project data is calibration-limited: raw camera intrinsics, lens distortion, and camera-to-body transform are still required before final absolute accuracy thresholds can be treated as production acceptance.
• Phase 3 must validate camera calibration inputs and public/calibrated dataset acquisition before FT-P-03, FT-P-04, and NFT-PERF-02 can be used for final signoff.