gps-denied-onboard/docs/03_tests/53_test_sharp_turn_scenarios_spec.md

GPS-Analyzed Scenario Test: Sharp Turn Recovery

Summary

Test using GPS-analyzed sharp turn datasets with frame gaps to simulate tracking loss.

Dataset Characteristics

Dataset A: Single Frame Gap

• Images: AD000042, AD000044, AD000045, AD000046
• Gap: Skip AD000043 (simulates tracking loss)
• Purpose: Test L2 recovery

Dataset B: Sequential with Jump

• Images: AD000032-AD000035
• Jump: AD000032→033 (220.6m)
• Purpose: Validate sharp turn handling

Dataset C: 5-Frame Gap

• Images: AD000003, AD000009
• Gap: Skip AD000004-008
• Purpose: Test larger discontinuity

Test Steps

1. Process each dataset separately
2. Verify L2 global relocalization succeeds
3. Check L1 failure detection
4. Validate recovery accuracy

Expected Results

Dataset A: L2 recovery successful, error < 50m
Dataset B: Sharp turn handled, accuracy maintained
Dataset C: Large gap recovered, relocated < 200m
AC-4 Status: PASS (all datasets)

Pass/Fail

Passes: AC-4 met, all recovery scenarios successful Fails: L2 fails to relocalize, errors > 200m