gps-denied-onboard/.planning/phases/01-eskf-core/01-03-SUMMARY.md at 759766d737d3582b21e7ff7b474a602f4eebdb12

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Yuzviak ba00065e1d docs(phase-01): add test summary for plan 01-03

35 tests pass covering ESKF-01..06 (initialization, IMU prediction,
VO/satellite updates, confidence tiers, coordinate chain).

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

2026-04-01 23:53:18 +03:00

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plan, phase, status, completed

plan	phase	status	completed
01-03	01-eskf-core	complete	2026-04-01T21:00:00Z

Summary

Created comprehensive unit test suite for ESKF algorithm and real coordinate chain projection mathematics. All 35 tests pass, covering all six ESKF requirements and full pixel-to-GPS chain validation.

Key Files Created/Modified

tests/test_eskf.py (290 lines, new) — 18 ESKF tests
tests/test_coordinates.py (420 lines modified, +200) — 17 new projection tests

Test Coverage

Category	Count	Requirement
ESKF Initialization	2	ESKF-04
IMU Prediction	4	ESKF-01
VO Update	3	ESKF-02
Satellite Update	3	ESKF-03
Confidence Tiers	4	ESKF-05
Coordinate Chain	10	ESKF-06
Integration	2	All

Commits

2e5436a feat(tests): add comprehensive ESKF + coordinate chain tests (ESKF-01..06)

Test Results

35 passed in 0.36s

Tests by Theme

ESKF Core Tests (18)

Initialization (ESKF-04): default init, init_from_gps
IMU Prediction (ESKF-01): covariance growth, gravity compensation, velocity integration, position propagation
VO Updates (ESKF-02): uncertainty reduction, position correction, innovation vector
Satellite Updates (ESKF-03): position correction, covariance tightening, noise-bounded covariance
Confidence Tiers (ESKF-05): HIGH/MEDIUM/LOW/FAILED states
State Access: ESKFState snapshot
Integration: full fusion sequence

Coordinate Chain Tests (17)

K Matrix (ESKF-06): ADTI 20L V1 focal length, custom principal point
Camera-Body Rotation: Rx(180deg) verification
Quaternion Rotation: identity and 90-degree rotations
Pixel-to-GPS Chain: center nadir projection, altitude scaling, off-center offsets
GPS-to-Pixel Inverse: roundtrip accuracy, quaternion rotation handling
Transform Points: cv2.perspectiveTransform identity, translation, empty

Deviations

None — all acceptance criteria passed.

Self-Check: PASSED

18 ESKF tests covering all requirements
17 coordinate chain tests for real projection
All tests pass with pytest (35/35)
K matrix builds correctly for ADTI 20L V1
Center pixel projects to UAV nadir
Pixel-GPS roundtrip within 1 pixel
Gravity compensation verified
Covariance growth/shrinkage validated
Confidence tier logic tested
Quaternion rotations working

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