mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 22:06:37 +00:00
Oleksandr Bezdieniezhnykh
203 lines
6.8 KiB
Markdown
203 lines
6.8 KiB
Markdown
# ASTRAL-Next Test Specifications Summary
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## Overview
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Comprehensive test specifications for the GPS-denied navigation system following the QA testing pyramid approach.
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**Total Test Specifications**: 49
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## Test Organization
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### Integration Tests (01-16): Component Level
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Tests individual system components in isolation with their dependencies.
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**Vision Pipeline (01-04)**:
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- 01: Sequential Visual Odometry (F07 - SuperPoint + LightGlue)
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- 02: Global Place Recognition (F08 - AnyLoc/DINOv2)
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- 03: Metric Refinement (F09 - LiteSAM)
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- 04: Factor Graph Optimizer (F10 - GTSAM)
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**Data Management (05-08)**:
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- 05: Satellite Data Manager (F04)
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- 06: Coordinate Transformer (F13)
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- 07: Image Input Pipeline (F05)
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- 08: Image Rotation Manager (F06)
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**Service Infrastructure (09-12)**:
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- 09: REST API (F01 - FastAPI endpoints)
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- 10: SSE Event Streamer (F15 - real-time streaming)
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- 11a: Flight Lifecycle Manager (F02.1 - CRUD, initialization, API delegation)
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- 11b: Flight Processing Engine (F02.2 - processing loop, recovery coordination)
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- 12: Result Manager (F14)
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**Support Components (13-16)**:
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- 13: Model Manager (F16 - TensorRT)
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- 14: Failure Recovery Coordinator (F11)
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- 15: Configuration Manager (F17)
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- 16: Database Layer (F03)
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### System Integration Tests (21-25): Multi-Component Flows
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Tests integration between multiple components.
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- 21: End-to-End Normal Flight
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- 22: Satellite to Vision Pipeline (F04 → F07/F08/F09)
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- 23: Vision to Optimization Pipeline (F07/F08/F09 → F10)
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- 24: Multi-Component Error Propagation
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- 25: Real-Time Streaming Pipeline (F02 → F14 → F15)
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### Acceptance Tests (31-50): Requirements Validation
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Tests mapped to 10 acceptance criteria.
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**Accuracy (31-33)**:
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- 31: AC-1 - 80% < 50m error (baseline)
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- 32: AC-1 - 80% < 50m error (varied terrain)
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- 33: AC-2 - 60% < 20m error (high precision)
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**Robustness - Outliers (34-35)**:
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- 34: AC-3 - Single 350m outlier handling
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- 35: AC-3 - Multiple outliers handling
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**Robustness - Sharp Turns (36-38)**:
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- 36: AC-4 - Sharp turn zero overlap recovery
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- 37: AC-4 - Sharp turn minimal overlap (<5%)
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- 38: Outlier anchor detection
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**Multi-Fragment (39)**:
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- 39: AC-5 - Multi-fragment route connection (chunk architecture)
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**User Interaction (40)**:
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- 40: AC-6 - User input after 3 consecutive failures
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**Performance (41-44)**:
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- 41: AC-7 - <5s single image processing
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- 42: AC-7 - Sustained throughput performance
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- 43: AC-8 - Real-time streaming results
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- 44: AC-8 - Async refinement delivery
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**Quality Metrics (45-47)**:
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- 45: AC-9 - Registration rate >95% (baseline)
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- 46: AC-9 - Registration rate >95% (challenging conditions)
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- 47: AC-10 - Mean Reprojection Error <1.0 pixels
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**Cross-Cutting (48-50)**:
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- 48: Long flight (3000 images)
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- 49: Degraded satellite data
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- 50: Complete system acceptance validation
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**Chunk-Based Recovery (55-56)**:
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- 55: Chunk rotation recovery (rotation sweeps for chunks)
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- 56: Multi-chunk simultaneous processing (Atlas architecture)
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### GPS-Analyzed Scenario Tests (51-54): Real Data
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Tests using GPS-analyzed test datasets.
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- 51: Test_Baseline (AD000001-030) - Standard flight
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- 52: Test_Outlier_350m (AD000045-050) - Outlier scenario
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- 53: Test_Sharp_Turn - Multiple sharp turn datasets
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- 54: Test_Long_Flight (AD000001-060) - Full dataset
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## Test Data
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### GPS Analysis Results
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- Mean distance: 120.8m
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- Min distance: 24.2m
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- Max distance: 268.6m
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**Identified Sharp Turns (>200m)**:
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- AD000003 → AD000004: 202.2m
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- AD000032 → AD000033: 220.6m
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- AD000042 → AD000043: 234.2m
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- AD000044 → AD000045: 230.2m
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- AD000047 → AD000048: 268.6m (largest outlier)
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### Test Datasets
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**Test_Baseline**: AD000001-030 (30 images, normal spacing)
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**Test_Outlier_350m**: AD000045-050 (6 images, 268.6m outlier)
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**Test_Sharp_Turn_A**: AD000042, AD000044, AD000045, AD000046 (skip 043)
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**Test_Sharp_Turn_B**: AD000032-035 (220m jump)
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**Test_Sharp_Turn_C**: AD000003, AD000009 (5-frame gap)
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**Test_Long_Flight**: AD000001-060 (all 60 images, all variations)
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## Acceptance Criteria Coverage
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| AC | Requirement | Test Specs | Status |
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|----|-------------|------------|--------|
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| AC-1 | 80% < 50m error | 31, 32, 50, 51, 54 | ✓ Covered |
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| AC-2 | 60% < 20m error | 33, 50, 51, 54 | ✓ Covered |
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| AC-3 | 350m outlier robust | 34, 35, 50, 52, 54 | ✓ Covered |
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| AC-4 | Sharp turn <5% overlap | 36, 37, 50, 53, 54, 55 | ✓ Covered |
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| AC-5 | Multi-fragment connection | 39, 50, 56 | ✓ Covered |
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| AC-6 | User input after 3 failures | 40, 50 | ✓ Covered |
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| AC-7 | <5s per image | 41, 42, 50, 51, 54 | ✓ Covered |
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| AC-8 | Real-time + refinement | 43, 44, 50 | ✓ Covered |
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| AC-9 | Registration >95% | 45, 46, 50, 51, 54 | ✓ Covered |
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| AC-10 | MRE <1.0px | 47, 50 | ✓ Covered |
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## Component to Test Mapping
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| Component | ID | Integration Test |
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|-----------|-----|------------------|
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| Flight API | F01 | 09 |
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| Flight Lifecycle Manager | F02.1 | 11a |
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| Flight Processing Engine | F02.2 | 11b |
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| Flight Database | F03 | 16 |
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| Satellite Data Manager | F04 | 05 |
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| Image Input Pipeline | F05 | 07 |
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| Image Rotation Manager | F06 | 08 |
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| Sequential Visual Odometry | F07 | 01 |
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| Global Place Recognition | F08 | 02 |
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| Metric Refinement | F09 | 03 |
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| Factor Graph Optimizer | F10 | 04 |
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| Failure Recovery Coordinator | F11 | 14 |
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| Route Chunk Manager | F12 | 39, 55, 56 |
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| Coordinate Transformer | F13 | 06 |
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| Result Manager | F14 | 12 |
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| SSE Event Streamer | F15 | 10 |
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| Model Manager | F16 | 13 |
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| Configuration Manager | F17 | 15 |
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## Test Execution Strategy
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### Phase 1: Component Integration (01-16)
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- Validate each component individually
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- Verify interfaces and dependencies
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- Establish baseline performance metrics
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### Phase 2: System Integration (21-25)
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- Test multi-component interactions
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- Validate end-to-end flows
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- Verify error handling across components
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### Phase 3: Acceptance Testing (31-50)
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- Validate all acceptance criteria
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- Use GPS-analyzed real data
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- Measure against requirements
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### Phase 4: Special Scenarios (51-56)
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- Test specific GPS-identified situations
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- Validate outliers and sharp turns
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- Chunk-based recovery scenarios
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- Full system validation
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## Success Criteria Summary
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**Integration Tests**: All components pass individual tests, interfaces work correctly
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**System Tests**: Multi-component flows work, errors handled properly
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**Acceptance Tests**: All 10 ACs met with real data
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**Overall**: System meets all requirements, ready for deployment
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## Test Metrics to Track
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- **Accuracy**: Mean error, RMSE, percentiles
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- **Performance**: Processing time per image, total time
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- **Reliability**: Registration rate, success rate
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- **Quality**: MRE, confidence scores
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- **Robustness**: Outlier handling, error recovery
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## Notes
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- All test specs follow standard format (Integration vs Acceptance)
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- GPS-analyzed datasets based on actual test data coordinates
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- Specifications ready for QA team implementation
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- No code included per requirement
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- Tests cover all components and all acceptance criteria
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