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

Traceability Matrix

Acceptance Criteria Coverage

AC ID	Acceptance Criterion	Test IDs	Coverage
AC-01	80% of frames within 50m of real GPS	FT-P-01, FT-P-03	Covered
AC-02	60% of frames within 20m of real GPS	FT-P-02	Covered
AC-03	Cumulative VO drift between satellite anchors < 100m	FT-P-04	Covered
AC-04	Confidence score per position estimate (high/low)	FT-P-07, FT-P-08, FT-N-06	Covered
AC-05	Image registration rate > 95%	FT-P-06	Covered
AC-06	System handles 350m outlier between consecutive photos	FT-N-02	Covered
AC-07	System handles sharp turns with <5% overlap, <200m drift, <70° angle via satellite re-localization	FT-N-01, NFT-RES-02	Covered
AC-08	System handles disconnected route segments (core feature)	FT-N-01, NFT-RES-02, NFT-RES-03	Covered
AC-09	3 consecutive failures → re-localization request to ground station	FT-N-05, FT-N-07	Covered
AC-10	< 400ms end-to-end per frame	NFT-PERF-01	Covered
AC-11	Memory < 8GB shared	NFT-RES-LIM-01, NFT-RES-LIM-04	Covered
AC-12	GPS_INPUT via MAVLink (MAVSDK) to flight controller	FT-P-05, FT-P-09	Covered
AC-13	Frame-by-frame streaming, no batch/delay	FT-P-09, NFT-PERF-02	Covered
AC-14	System initializes from last known GPS position	FT-P-12	Covered
AC-15	Complete failure for N seconds → FC falls back to IMU, system logs	NFT-RES-03, FT-N-06	Covered
AC-16	Mid-flight reboot → re-initialize from FC's IMU-extrapolated position	NFT-RES-01	Covered
AC-17	Position + confidence streamed to ground station via telemetry	FT-P-13, FT-P-14	Covered
AC-18	Ground station can send commands (re-localization hint)	FT-N-07	Covered
AC-19	Output coordinates in WGS84	FT-P-05, FT-P-11	Covered
AC-20	Other onboard AI can request object GPS coordinates	FT-P-10	Covered
AC-21	Object coordinates via trigonometric calculation (gimbal, zoom, altitude)	FT-P-10, FT-P-11	Covered
AC-22	Object accuracy consistent with frame-center accuracy	FT-P-10	Covered
AC-23	Satellite imagery ≥ 0.5 m/pixel	NFT-RES-LIM-03	Covered (tile storage validation uses zoom 18 = 0.6m/px)
AC-24	Satellite imagery pre-loaded before flight	NFT-RES-LIM-03	Covered
AC-25	MRE < 1.0 pixels	—	NOT COVERED — requires cuVSLAM internal reprojection metric; not observable via black-box interfaces. Covered at component test level (Step 5).
AC-26	Satellite imagery < 2 years old	—	NOT COVERED — operational procurement constraint; not runtime-testable. Validated during offline tile preparation.

Restrictions Coverage

Restriction ID	Restriction	Test IDs	Coverage
RESTRICT-01	Fixed-wing UAV only	FT-P-01 through FT-P-06 (test data from fixed-wing flight)	Covered
RESTRICT-02	Camera pointing downwards, not autostabilized	FT-P-10, FT-P-11 (coordinate transforms account for non-stabilized mount)	Covered
RESTRICT-03	Eastern/southern Ukraine operational area	FT-P-01 (test coordinates at 48.25-48.28°N, 37.34-37.39°E)	Covered
RESTRICT-04	Altitude ≤ 1km, terrain height negligible	FT-P-01, FT-P-10 (test data at 400m altitude, flat terrain assumed)	Covered
RESTRICT-05	Mostly sunny weather	—	NOT COVERED — environmental condition; cannot be tested in Docker. Mitigated by feature-based matching robustness.
RESTRICT-06	Sharp turns (no common points possible, exceptional)	FT-N-01, FT-N-02, NFT-RES-02	Covered
RESTRICT-07	Up to 3000 photos per flight	NFT-RES-LIM-04	Covered
RESTRICT-08	Two cameras: navigation (fixed nadir) + AI (configurable)	FT-P-10 (object localization uses AI camera angles)	Covered
RESTRICT-09	Navigation camera: FullHD to 6252x4168, known parameters	FT-P-01 (test data at 6252x4168)	Covered
RESTRICT-10	Jetson Orin Nano Super: 67 TOPS, 8GB, 25W TDP	NFT-RES-LIM-01, NFT-RES-LIM-02, NFT-PERF-01	Covered
RESTRICT-11	Thermal throttling at sustained GPU load	NFT-RES-LIM-02	Covered
RESTRICT-12	IMU data via flight controller (MAVLink)	FT-P-05, FT-P-12 (SITL provides IMU via MAVLink)	Covered
RESTRICT-13	GPS_INPUT message to flight controller	FT-P-05, FT-P-09	Covered
RESTRICT-14	Telemetry link bandwidth-limited	FT-P-13 (1Hz telemetry rate is bandwidth-appropriate)	Covered
RESTRICT-15	Google Maps satellite (potentially outdated)	NFT-RES-04 (tile server failure resilience)	Covered
RESTRICT-16	Onboard storage limited for satellite tiles	NFT-RES-LIM-03	Covered

Coverage Summary

Category	Total Items	Covered	Not Covered	Coverage %
Acceptance Criteria	26	24	2	92%
Restrictions	16	15	1	94%
Total	42	39	3	93%

Uncovered Items Analysis

Item	Reason Not Covered	Risk	Mitigation
AC-25 (MRE < 1.0 pixels)	cuVSLAM reprojection error is an internal metric not exposed via public API or MAVLink; cannot be observed at black-box level	LOW — MRE is a proxy for VO quality; position accuracy tests (FT-P-01/02) validate the end result	Covered at component test level (Step 5) with cuVSLAM-specific unit tests
AC-26 (Satellite imagery < 2 years old)	Operational procurement constraint validated during offline tile preparation, not at runtime	LOW — outdated imagery degrades matching but is caught by satellite matching accuracy tests	Validated during pre-flight tile download workflow; documented in operational procedures
RESTRICT-05 (Sunny weather)	Environmental condition that cannot be reproduced in Docker or controlled test environment	LOW — system uses feature-based matching (LiteSAM/XFeat) robust to lighting variation; not a software test	Validated during real-world flight tests; feature-based matching provides robustness