mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 11:41:13 +00:00
Oleksandr Bezdieniezhnykh
c0bdb57957
Implements the mandatory simple-baseline StateEstimator per AC-2.1a engine-rule at C5 (IT-12 comparative study vs iSAM2). NumPy-only; no GTSAM dependency so BUILD_STATE_ESKF=ON binaries ship without GTSAM at all. - 16-state error vector (pos 3 + vel 3 + rot 3 + ba 3 + bg 3 + dt 1) over a textbook nominal-state / error-state ESKF split. - add_fc_imu: full nonlinear IMU integration + linearised F P F^T + Q covariance propagation per IMU sample. - add_vio: simplified relative-pose update (snapshot-based; baseline scope, documented). - add_pose_anchor: absolute-pose update; integrates BOTH marginals and jacobian modes (no skip — ESKF has no graph; AC-4). - AC-9 divergence test: Mahalanobis r^T S^-1 r > 100 (10 sigma) on the innovation covariance S = H P H^T + R. - AC-5 SPD: Cholesky-positive enforcement on every emitted covariance; non-SPD raises EstimatorFatalError and locks state to LOST. - AC-6 honesty: smoothed_history entries carry smoothed=False; deviation from C5 contract Invariant 7 documented in module + report. - AC-7 / AC-10 BUILD_STATE_ESKF gating: works through existing factory infra (state_factory._STATE_BUILD_FLAGS). - AC-8: SourceLabelStateMachine + FallbackWatcher auto-wired eagerly in __init__, same pattern as the iSAM2 estimator. Tests: 20 new unit tests covering AC-1..AC-10 + robustness checks. Full suite: 660 passed, 2 skipped (CI-only). The AZ-386 Jira transition to Done is deferred (Atlassian MCP returned 'Not connected'); recorded in _docs/_process_leftovers/ for replay on the next autodev invocation per the Leftovers Mechanism. Co-authored-by: Cursor <cursoragent@cursor.com>