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docs: SSH-based bulk sync and peer queries, spatial extension

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Replace object-store replication with rsync over persistent multiplexed
SSH (ed25519, pinned known_hosts, forced commands as the only remote
API); demote GraphQL to the ground integration standard. Add DuckDB
spatial extension for separation audits, perimeter predicates and
trajectory analysis in the local planar frame.
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eSlider
2026-07-08 13:21:47 +01:00
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@@ -109,6 +109,33 @@ FROM read_parquet('…/sensor=imu/**/*.parquet')
GROUP BY second ORDER BY second;
```
## Spatial queries: DuckDB spatial extension
Positions and detections are inherently spatial, and the [DuckDB spatial extension](https://github.com/duckdb/duckdb-spatial) makes them queryable as geometry without leaving the engine (`INSTALL spatial; LOAD spatial;`). Its current lack of spherical-coordinate support is irrelevant here: the swarm operates in a **local planar mission frame in meters**, which is exactly the geometry model the extension handles best.
```sql
LOAD spatial;
-- Minimum separation between two drones over a flight (replay safety audit)
SELECT min(ST_Distance(ST_Point(a.pos_x, a.pos_y), ST_Point(b.pos_x, b.pos_y))) AS min_sep_m
FROM read_parquet('…/dataset=state/flight=…/drone=dr-01/**/*.parquet') a
JOIN read_parquet('…/dataset=state/flight=…/drone=dr-02/**/*.parquet') b
ON a.ts_ns // 200000000 = b.ts_ns // 200000000; -- align to 200 ms buckets
-- Detections inside the mission perimeter polygon
SELECT cls, count(*)
FROM read_parquet('…/dataset=detections/flight=…/**/*.parquet')
WHERE ST_Within(ST_Point(obj_x, obj_y), ST_GeomFromText('POLYGON((…))'))
GROUP BY cls;
-- Trajectory as a geometry (export for replay overlays)
SELECT drone, ST_MakeLine(list(ST_Point(pos_x, pos_y) ORDER BY ts_ns)) AS path
FROM read_parquet('…/dataset=state/flight=…/**/*.parquet')
GROUP BY drone;
```
On the ground this powers replay overlays, coverage analysis (did ubiquitous sensing actually cover the area?), and separation audits; on board it is available for cheap geo-predicates (e.g. "detections within R meters of me") with no extra service.
## Schema management
- Every dataset schema is versioned in-repo (`schemas/` — SemVer, one file per dataset version) and referenced by the fleet release manifest ([11](11-cicd-delivery.md)).