mirror of
https://github.com/azaion/gps-denied-onboard.git
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Yuzviak
094895b21b
Phase 2 — Visual Odometry: - ORBVisualOdometry (dev/CI), CuVSLAMVisualOdometry (Jetson) - TRTInferenceEngine (TensorRT FP16, conditional import) - create_vo_backend() factory Phase 3 — Satellite Matching + GPR: - SatelliteDataManager: local z/x/y tiles, ESKF ±3σ tile selection - GSD normalization (SAT-03), RANSAC inlier-ratio confidence (SAT-04) - GlobalPlaceRecognition: Faiss index + numpy fallback Phase 4 — MAVLink I/O: - MAVLinkBridge: GPS_INPUT 15+ fields, IMU callback, 1Hz telemetry - 3-consecutive-failure reloc request - MockMAVConnection for CI Phase 5 — Pipeline Wiring: - ESKF wired into process_frame: VO update → satellite update - CoordinateTransformer + SatelliteDataManager via DI - MAVLink state push per frame (PIPE-07) - Real pixel_to_gps via ray-ground projection (PIPE-06) - GTSAM ISAM2 update when available (PIPE-03) Phase 6 — Docker + CI: - Multi-stage Dockerfile (python:3.11-slim) - docker-compose.yml (dev), docker-compose.sitl.yml (ArduPilot SITL) - GitHub Actions: ci.yml (lint+pytest+docker smoke), sitl.yml (nightly) - tests/test_sitl_integration.py (8 tests, skip without SITL) Phase 7 — Accuracy Validation: - AccuracyBenchmark + SyntheticTrajectory - AC-PERF-1: 80% within 50m ✅ - AC-PERF-2: 60% within 20m ✅ - AC-PERF-3: p95 latency < 400ms ✅ - AC-PERF-4: VO drift 1km < 100m ✅ (actual ~11m) - scripts/benchmark_accuracy.py CLI Tests: 195 passed / 8 skipped Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
43 lines
1.3 KiB
Markdown
43 lines
1.3 KiB
Markdown
---
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plan: 01-01
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phase: 01-eskf-core
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status: complete
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started: 2026-04-01T20:36:07Z
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completed: 2026-04-01T20:45:00Z
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---
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## Summary
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Implemented the 15-state Error-State Kalman Filter (ESKF) from scratch using NumPy only. Covers ESKF-01 through ESKF-05.
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## Key Files Created
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- `src/gps_denied/schemas/eskf.py` (68 lines) — ConfidenceTier, IMUMeasurement, ESKFConfig, ESKFState schemas
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- `src/gps_denied/core/eskf.py` (359 lines) — ESKF class with predict(), update_vo(), update_satellite(), get_confidence(), initialize_from_gps()
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## Commits
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- `57c7a6b` feat(eskf): add ESKF schema contracts (ESKF-01, ESKF-04, ESKF-05)
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- `9d5337a` feat(eskf): implement 15-state ESKF core algorithm (ESKF-01..05)
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## Tasks Completed
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| Task | Status | Notes |
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|------|--------|-------|
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| Task 1: ESKF schema contracts | ✓ | All 4 classes importable |
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| Task 2: ESKF core algorithm | ✓ | All acceptance criteria passed |
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## Deviations
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None — implemented as specified in plan.
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## Self-Check: PASSED
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- [x] ESKF class importable
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- [x] predict() propagates state and grows covariance
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- [x] update_vo() reduces position uncertainty via Kalman gain
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- [x] update_satellite() corrects absolute position
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- [x] get_confidence() returns correct tier
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- [x] initialize_from_gps() uses CoordinateTransformer
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- [x] All math NumPy only, no external filter library
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