docs: audit links, glossary T0-T4, readability pass

Extend glossary with storage floors, source of truth, and linkable anchors.
Fix broken links, pose frame drift, rsync/offload wording, and README tone.
Add docs/improvement audit records and live demo links in design journey.

docs/00-glossary.md

@@ -2,6 +2,70 @@
 
 Terms and abbreviations used throughout this proposal.
 
+**Vocabulary guide:** **architecture layers** (1–3) = on-board software stack; **storage floors** (T0–T4) = retention/latency ladder; **pipeline stages** = narrative capture → reduction → sync only ([12 — Design journey](12-design-journey.md) §4). Do not mix these three.
+
+## Project vocabulary
+
+### T0 — hot
+
+RAM / DuckDB in-process sliding window of the last minutes; what mission logic queries in flight. Retention: minutes. Maps to **hot** in the classic three-tier model.
+
+### T1 — warm
+
+Drone NVMe: full raw `telemetry` + `detections` + `state` of the current flight; never leaves the drone in flight. Retention: current flight plus quota-based headroom. Maps to **warm**. Runtime path: [`var/t1/`](../var/t1/) ([ADR-0008](adr/ADR-0008-runtime-data-paths.md)).
+
+### T2 — shared
+
+On-board MinIO bucket: derived data only (`detections`, `state`), replicated opportunistically across the swarm. Retention: current mission.
+
+### T3 — warehouse
+
+Ground on-prem object store + Parquet lakehouse: every flight of every drone, forever; replay, analytics, model training. Retention: years. Maps to **cold** / **DWH**. Runtime path: [`var/t3/`](../var/t3/) ([ADR-0008](adr/ADR-0008-runtime-data-paths.md)). After offload and integrity audit, T3 is the [source of truth](#source-of-truth) for historical flight data.
+
+### T4 — dev
+
+Engineer laptop or sim farm: slices pulled from T3, or synthetic data from the simulator. Retention: ephemeral.
+
+### Source of truth
+
+The authoritative copy of flight data after [offload](#offload) and integrity audit: the [T3](#t3--warehouse) warehouse. Each drone holds its own partial record in flight ([T1](#t1--warm)); peers exchange derived state only ([04 — Swarm sync](04-swarm-sync.md)). Replay, post-flight fusion, training, and audit read from T3 — not from any single drone's local store. See [06 — Environments](06-environments.md), [ADR-0003](adr/ADR-0003-sync-derived-state-only.md).
+
+### Architecture layer 1 — ingestion
+
+On-board services that capture sensor streams and video analytics ([02 — Architecture](02-architecture.md)): `sensor-ingest`, `video-analytics`.
+
+### Architecture layer 2 — storage and transform
+
+On-board Parquet write path, sealer, DuckDB, NVMe ([02 — Architecture](02-architecture.md)).
+
+### Architecture layer 3 — serving and sync
+
+On-board event hook, pub/sub broadcast, MinIO derived bucket, peer query API ([02 — Architecture](02-architecture.md)).
+
+### Pipeline stage
+
+Narrative inside each drone: (1) raw capture, (2) ETL/reduction, (3) bidirectional sync interface. Not the same as storage floors T0–T4 ([12 — Design journey](12-design-journey.md) §4).
+
+### Bulk sync
+
+In-flight pull of sealed `detections`/`state` Parquet partitions between peers via **rsync** delta over persistent SSH forced commands ([04 — Swarm sync](04-swarm-sync.md)).
+
+### Offload
+
+Post-flight mirror of sealed T1 partitions into T3 at the dock: **rsync** or MinIO **`mc mirror`**, then integrity audit before local prune ([03 — Data platform](03-data-platform.md)).
+
+### rclone
+
+Optional rsync-class tool when the far end is object storage and rsync is awkward; not the default in-flight mesh path ([09 — Open questions](09-open-questions.md) §12).
+
+### ADR
+
+Architecture Decision Record — a point-in-time decision for this repository ([adr/README.md](adr/README.md)).
+
+### ASR
+
+Architecture Standard Record — a standing cross-repository policy (lives in the ecosystem `inventar` repo, not here). See [adr/README.md](adr/README.md).
+
 ## Data & storage
 
 | Term | Meaning |
@@ -10,8 +74,8 @@ Terms and abbreviations used throughout this proposal.
 | **Hive partitioning** | Directory layout `key=value/…` understood by most engines; enables partition pruning (only relevant directories are read) |
 | **DuckDB** | In-process analytical SQL engine; queries Parquet globs directly, no server to operate |
 | **ZSTD** | Zstandard compression; the default codec for all Parquet files here |
-| **DWH** | Data warehouse — here: the on-prem ground store holding every flight ever flown |
-| **Hot / warm / cold tiers** | Storage floors ordered by access latency and retention: in-memory window → local NVMe → ground warehouse |
+| **DWH** | Data warehouse — here: the on-prem ground store holding every flight ever flown; same role as [source of truth](#source-of-truth) |
+| **Hot / warm / cold tiers** | Classic three-tier model: in-memory window → local NVMe → ground warehouse. Here mapped to [T0](#t0--hot), [T1](#t1--warm), and [T3](#t3--warehouse); [T2](#t2--shared) and [T4](#t4--dev) are named explicitly |
 | **Sealing** | Compacting many small streamed Parquet files into one final file per partition once a time window closes |
 | **UUIDv7** | Time-ordered UUID; sortable by creation time, used as the canonical flight identifier |
 | **DuckDB spatial** | Extension adding a GEOMETRY type and `ST_*` functions; used for separation audits, perimeter predicates, and trajectory analysis in the local planar frame |