mirror of
https://github.com/azaion/gps-denied-onboard.git
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Oleksandr Bezdieniezhnykh
97 lines
4.5 KiB
Markdown
97 lines
4.5 KiB
Markdown
# Glossary
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**Status**: confirmed-by-user
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**Date**: 2026-05-01
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## Aerial VPR
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Visual place recognition over aerial/nadir imagery; used to retrieve candidate satellite/cache chunks for a UAV frame. (source: `solution.md`)
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## ADTi 20MP 20L V1
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Selected navigation-camera family. Public product pages list Sony APS-C CMOS, 5456 x 3632 max image size, 23.20 x 15.40 mm sensor, 4.25 um pixel pitch, Sony E mount, and 2 fps continuous capture; final manufacturer specification remains a verification risk. (source: `restrictions.md`, user-confirmed open-question review)
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## Anchor
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Accepted absolute visual match to a georeferenced cache tile, used to correct VO/IMU drift. (source: `acceptance_criteria.md`, `solution.md`)
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## ArduPilot Plane SITL
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Simulation environment used to verify `GPS_INPUT`, spoofing, failsafe, and MAVLink behavior with the production Plane parameter set. (source: `acceptance_criteria.md`, `tests/environment.md`)
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## BASALT VIO
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Selected production relative visual-inertial odometry candidate. It consumes calibrated navigation-camera frames and IMU data but does not own the product's safety, anchor, cache, or MAVLink semantics. (source: `solution.md`)
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## Cache Poisoning
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Failure mode where a misaligned onboard-generated tile is written back and later corrupts future satellite-cache anchors. (source: `acceptance_criteria.md`)
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## COG Tile
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Cloud Optimized GeoTIFF raster object used as the write-new unit for georeferenced service tiles and generated onboard tiles. (source: `solution.md`)
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## FDR
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Flight Data Recorder. Bounded per-flight recorder for estimates, IMU traces, emitted MAVLink, health telemetry, tile writes, and audit evidence; raw nav/AI frames are not retained. (source: `acceptance_criteria.md`, `solution.md`)
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## Generated Tile
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In-flight orthorectified tile created from navigation-camera imagery and stored locally for post-flight Satellite Service sync. (source: `acceptance_criteria.md`)
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## `GPS_INPUT`
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MAVLink message used as the ArduPilot GPS substitute in v1. It carries WGS84 coordinates, fix type, accuracy fields, and ignore flags. (source: `acceptance_criteria.md`, `solution.md`)
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## Kimera Backup
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BSD-friendly VIO backup candidate if BASALT fails project replay/runtime gates. (source: `solution.md`)
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## Mahalanobis Gate
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Statistical consistency gate used to reject anchor updates that are inconsistent with the current estimator state and covariance. (source: `solution.md`)
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## Nadir Camera
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Fixed downward-pointing navigation camera used for localization. It is not gimbal-stabilized. (source: `restrictions.md`)
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## OpenVINS Reference
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GPLv3 VIO/covariance baseline used for replay comparison and uncertainty calibration; not the default production dependency. (source: `solution.md`)
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## Public Replay Dataset
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External dataset used to cover validation gaps in the current sample data, especially synchronized nadir camera, IMU, GNSS/ground truth, and reference imagery. MUN-FRL and ALTO are first-choice candidates. (source: `tests/test-data.md`)
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## QGroundControl
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Supported ground station that receives downsampled status and failsafe messages at 1-2 Hz. (source: `restrictions.md`, `acceptance_criteria.md`)
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## Representative Replay Rig
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Final acceptance dataset or hardware setup from the target flight profile with synchronized nav camera, FC IMU/attitude/airspeed/altitude, emitted MAVLink, and ground truth. (source: `acceptance_criteria.md`, `tests/test-data.md`)
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## Safety/Anchor Wrapper
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Project-owned layer around BASALT that calibrates confidence, fuses satellite anchors, owns source labels, handles degraded modes, gates generated tiles, and emits MAVLink outputs. (source: `solution.md`)
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## Satellite Service
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External Azaion Suite component that prepares the offline satellite cache before flight and ingests generated tiles after landing. The onboard system does not call it in-flight. (source: `restrictions.md`)
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## Source Label
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Categorical label attached to every estimate: `{satellite_anchored, vo_extrapolated, dead_reckoned}`. (source: `acceptance_criteria.md`)
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## Tile Freshness
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Runtime age gate for cache tiles: active-conflict sectors require newer imagery than stable rear sectors. (source: `acceptance_criteria.md`)
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## Visual Blackout
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State where the navigation camera provides no usable localization signal because of clouds, occlusion, whiteout, or similar visual loss. (source: `acceptance_criteria.md`)
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## VPR Chunk
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Ground-footprint-sized retrieval unit, approximately 600-800 m with overlap, decoupled from the storage tile convention. (source: `acceptance_criteria.md`)
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