Verification Plan (SVP) — ISO/IEC/IEEE 15289 — Plan | IEEE 29148 §6.6
Generated 2026-03-27 — UHT Journal / universalhex.org
| Ref | Requirement | Method | Tags |
|---|---|---|---|
| VER-METHODS-001 | Verify IFC-DEFS-001: Capture UART traffic between GNSS receiver and flight controller using logic analyser. Confirm 10Hz message rate, correct NMEA/UBX framing, and measure time from PPS edge to message arrival. Pass: all messages arrive within 50ms, no framing errors over 60-minute test. Rationale: Logic analyser verification provides bus-level evidence of protocol compliance and timing. PPS-to-message latency measurement confirms navigation filter timeliness assumptions. | Test | verification, nav-flight-control, session-217 |
| VER-METHODS-002 | Verify IFC-DEFS-002: Configure oscilloscope on SPI clock and data-ready lines. Measure sample rate, clock frequency, and interrupt-to-read latency over 10-minute flight. Pass: 400Hz rate sustained within 1 percent, interrupt latency below 100 microseconds for 99.9 percent of samples. Rationale: SPI bus timing must be verified under flight vibration conditions that can cause connector intermittency. Oscilloscope measurement provides direct evidence of data-ready interrupt latency. | Test | verification, nav-flight-control, session-217 |
| VER-METHODS-003 | Verify IFC-DEFS-003: Position UAV at known AGL heights (0.5m, 1m, 2m, 5m, 10m) using surveyed ground truth. Compare radar altimeter readings against truth. Verify 20Hz output rate. Pass: measurements within 2cm of truth at each test height, 20Hz rate sustained. Rationale: Ground truth AGL comparison at multiple heights validates the radar altimeter accuracy across its operating range. Surveyed positions eliminate measurement uncertainty in the reference. | Test | verification, nav-flight-control, session-217 |
| VER-METHODS-004 | Verify IFC-DEFS-004: Command a 0-to-80-percent throttle step on test stand with thrust cell. Measure time from DShot command transmission to 90-percent thrust achieved. Verify 400Hz command rate on oscilloscope. Pass: response time under 50ms, 400Hz rate sustained. Rationale: Test stand with thrust cell provides a controlled environment to measure command-to-thrust response, isolating propulsion dynamics from flight controller effects. | Test | verification, nav-flight-control, session-217 |
| VER-METHODS-005 | Verify IFC-DEFS-005: Inject known ground speed and AGL values from flight controller. Capture CAN frames at spray controller input. Verify 10Hz rate, correct frame IDs, and measure injection-to-receipt latency. Pass: all messages received within 20ms, correct decoding of speed and height fields. Rationale: CAN bus verification with known injected values confirms end-to-end message integrity and latency from flight controller to spray controller input. | Test | verification, nav-flight-control, session-217 |
| VER-METHODS-006 | Verify IFC-DEFS-006: Establish MAVLink connection between flight controller and ground station via datalink at range. Measure sustained throughput in both directions, verify heartbeat rate, inject RTK corrections and confirm receipt. Pass: uplink 5kbps and downlink 10kbps sustained over 30-minute flight, heartbeat at 1Hz. Rationale: Range testing verifies datalink throughput under realistic propagation conditions including path loss and interference that bench testing cannot replicate. | Test | verification, nav-flight-control, session-217 |
| VER-METHODS-007 | Verify IFC-DEFS-007: Place known obstacles at calibrated distances (5m, 10m, 15m, 25m) across the sensor FOV. Capture UART output and verify 10Hz rate, correct range bin values, and timestamp consistency. Pass: all obstacles detected at correct range bins, 10Hz sustained, timestamps monotonically increasing. Rationale: Calibrated obstacles at known distances provide ground truth for obstacle detection accuracy, range bin correctness, and FOV coverage verification. | Test | verification, nav-flight-control, session-217 |
| VER-METHODS-008 | Verify IFC-DEFS-008: Connect oscilloscope probes to trigger GPIO lines of all three cameras and the Triggering Controller output. Issue 100 trigger commands at 1Hz. Measure rising-edge-to-exposure-start latency per camera. Pass criteria: all latencies less than 100 microseconds, inter-camera skew less than 500 microseconds, 100 percent capture confirmation signals received within 50ms. Rationale: Oscilloscope probes on all trigger lines provide nanosecond-resolution measurement of inter-camera timing skew, directly verifying the 100 microsecond synchronisation requirement. | Test | verification, imaging, session-218 |
| VER-METHODS-009 | Verify IFC-DEFS-009: Place DLS under calibrated integrating sphere at known irradiance levels (200, 500, 1000 W/m2/nm). Trigger multispectral capture and read I2C irradiance values. Pass criteria: irradiance values within 5 percent of reference, timestamp alignment within 10ms of corresponding image EXIF timestamp, all 5 bands reporting. Rationale: Integrating sphere provides NIST-traceable irradiance reference for DLS calibration verification. Multiple irradiance levels test linearity across the operating range. | Test | verification, imaging, session-218 |
| VER-METHODS-010 | Verify IFC-DEFS-010: Trigger all cameras simultaneously at maximum capture rate for 30 minutes continuous. Monitor USB bus utilisation and storage write queue depth. Pass criteria: zero dropped frames across all cameras, sustained write throughput at or above 125 MB/s, no USB bus errors in host controller log. Rationale: 30-minute continuous capture at maximum rate simulates a full survey sortie. USB bus utilisation monitoring detects contention that intermittent testing misses. | Test | verification, imaging, session-218 |
| VER-METHODS-011 | Verify IFC-DEFS-011: Simulate flight controller MAVLink stream at 10Hz with known position sequence. Verify trigger controller receives all messages, computes correct trigger intervals for 75 percent overlap at 8m/s ground speed and 3cm GSD. Pass criteria: trigger interval error less than 2 percent from computed ideal, zero dropped MAVLink messages over 1000-message test. Rationale: Simulated MAVLink stream with known position sequence allows deterministic verification of trigger interval computation against expected overlap geometry. | Test | verification, imaging, session-218 |
| VER-METHODS-012 | Verify IFC-DEFS-012: Mount gimbal on vibration table simulating flight conditions (50-100Hz, 2g amplitude). Command nadir pointing via CAN at 100Hz while measuring gimbal attitude feedback. Pass criteria: pointing error within 0.5 degrees, CAN bus utilisation below 50 percent, zero CAN error frames over 10-minute test. Rationale: Vibration table simulating flight conditions verifies gimbal stabilisation under realistic disturbance spectra. CAN bus measurement confirms closed-loop pointing performance. | Test | verification, imaging, session-218 |
| VER-METHODS-013 | Verify IFC-DEFS-013: After a complete survey flight, remove SSD and ingest into Pix4Dfields and QGIS. Pass criteria: all multispectral TIFF files open with correct band metadata, RGB DNG files process in standard RAW workflow, JSON flight log parses without error, and direct georeferencing produces orthomosaic with less than 10cm absolute positional error against ground control points. Rationale: End-to-end ingest into production photogrammetry software verifies the complete data chain from capture to processing, including metadata compatibility that unit tests cannot validate. | Demonstration | verification, imaging, session-218 |
| VER-METHODS-014 | Verify SUB-REQS-001: Fly repeated survey passes over a field with 20 RTK-surveyed ground control points. Log EKF output at 50 Hz. Post-process to compute CEP95 against GCP truth. Pass: 50 Hz sustained, 10 cm CEP95 with RTK, 1.5 m CEP95 when RTK corrections deliberately withheld for 60-second intervals. | Test | verification, nav-flight-control, session-220 |
| VER-METHODS-015 | Verify SUB-REQS-002: Fly straight-line passes at spray speed in 15 kt wind with 20 kt gusts. Log attitude setpoint and measured attitude at 400 Hz from flight controller. Compute RMS tracking error over each pass. Pass: roll and pitch tracking error below 2 degrees RMS across 10 consecutive passes. | Test | verification, nav-flight-control, session-220 |
| VER-METHODS-016 | Verify SUB-REQS-005: Deploy 4 UAVs on adjacent spray passes with 5 m swath overlap geometry that brings planned tracks within 25 m. Monitor mesh network position exchange rate and inter-vehicle separation throughout. Inject simulated GPS anomaly on one vehicle to test deconfliction. Pass: 5 Hz position exchange sustained, separation never below 20 m, avoidance manoeuvre triggers at 30 m threshold. | Test | verification, nav-flight-control, session-220 |
| VER-METHODS-017 | Verify SUB-REQS-009: Inject simulated sensor faults (stuck GNSS fix, IMU noise spike, barometer drift) during hover flight. Monitor flight controller fault detection latency, filter reconfiguration time, and degraded navigation accuracy against RTK truth. Pass: all faults detected within 500 ms, navigation accuracy remains within 2 m during single-sensor exclusion, return-to-home initiated if multiple sensors fail. | Test | verification, nav-flight-control, session-220 |
| VER-METHODS-018 | Verify SUB-REQS-015: Stream synthetic image data at 125 MB/s aggregate (80+20+25 MB/s from three sources) to the NVMe SSD for 30 minutes. Monitor write queue depth, SSD temperature, and sustained throughput. Pass: zero dropped frames, sustained throughput at or above 125 MB/s, SSD temperature below thermal throttle threshold throughout. | Test | verification, imaging, session-220 |
| VER-METHODS-019 | Verify IFC-DEFS-014: Connect calibrated precision voltage source to each cell sense input. Inject known voltages from 2.5V to 4.3V in 100mV steps while simultaneously applying known currents from 0 to 150A via electronic load. BMS reported values shall match reference within specified tolerances for all 12 channels across 0-45°C chamber temperature range. Pass criteria: all channels within plus or minus 5mV voltage and plus or minus 0.5A current. | Test | verification, power-battery, session-221 |
| VER-METHODS-020 | Verify IFC-DEFS-015: Connect CAN bus analyser between BMS and flight controller. Verify message rate of 10 Hz plus or minus 1 Hz over a 60-second window. Inject BMS fault conditions and verify message latency from fault detection to CAN frame transmission does not exceed 5 ms. Verify all specified data fields (SOC, SOH, pack voltage, pack current, min cell voltage, max cell temp, fault flags) are present in the message payload. Pass criteria: 10 Hz rate, less than 5 ms latency, all fields populated. | Test | verification, power-battery, session-221 |
| VER-METHODS-021 | Verify IFC-DEFS-016: Apply rated current of 150A through contactor using programmable electronic load. Measure contact resistance via 4-wire Kelvin method at 10A, 80A, and 150A. Measure voltage drop across contactor at 150A continuous for 5 minutes. Verify contact resistance below 2 milliohms and voltage drop below 0.3V at all measurement points. Monitor contactor temperature with thermocouple. | Test | verification, power-battery, session-221 |
| VER-METHODS-022 | Verify IFC-DEFS-017: Inject common-mode noise at 100kHz, 500kHz, 1MHz, and 2MHz on the battery bus using a coupling transformer while measuring noise at the DC-DC input using a spectrum analyser. Verify at least 40dB attenuation at each frequency. Measure DC-DC input trace temperature at 15A continuous for 10 minutes. Pass criteria: 40dB CM rejection at all test frequencies, trace temperature rise below 20°C. | Test | verification, power-battery, session-221 |
| VER-METHODS-023 | Verify IFC-DEFS-018: Mount battery pack in quick-release mechanism on vibration table. Apply 6G shock in each of 3 axes (6 directions total). Verify battery remains retained and no mechanical deformation of latch pins or rail. Measure insertion time for 10 consecutive cycles; all shall complete in under 5 seconds. Verify power connector engages before data connector using oscilloscope on both circuits during insertion. Pass criteria: retention at 6G, insertion under 5s, correct engagement sequence. | Test | verification, power-battery, session-221 |
| VER-METHODS-024 | Verify IFC-DEFS-019: Charge a battery pack from 20% to 95% SOC while monitoring charge current, voltage, and cell temperatures via independent instrumentation. Verify CC phase current does not exceed 10A, CV phase voltage is 50.4V plus or minus 0.1V, and maximum cell temperature remains below 45°C throughout. Verify station reads and displays BMS SOH and cell balance data during charging. Pass criteria: charge within spec, temperature below limit, BMS data correctly read. | Test | verification, power-battery, session-221 |
| VER-METHODS-025 | Verify IFC-DEFS-020: With system armed and motors spinning at 30% throttle, disconnect the arm signal wire. Verify motors stop within 100 milliseconds. Remove power from flight controller while armed; verify motors stop within 100 milliseconds. Verify that with arm signal disconnected, applying throttle commands produces no motor response. Pass criteria: motors stop within 100ms in all failure modes, no response when disarmed. | Test | verification, power-battery, session-221 |
| Requirement | Verified By | Description |
|---|---|---|
| IFC-DEFS-020 | VER-METHODS-025 | |
| IFC-DEFS-019 | VER-METHODS-024 | |
| IFC-DEFS-018 | VER-METHODS-023 | |
| IFC-DEFS-017 | VER-METHODS-022 | |
| IFC-DEFS-016 | VER-METHODS-021 | |
| IFC-DEFS-015 | VER-METHODS-020 | |
| IFC-DEFS-014 | VER-METHODS-019 | |
| IFC-DEFS-013 | VER-METHODS-013 | |
| IFC-DEFS-012 | VER-METHODS-012 | |
| IFC-DEFS-011 | VER-METHODS-011 | |
| IFC-DEFS-010 | VER-METHODS-010 | |
| IFC-DEFS-009 | VER-METHODS-009 | |
| IFC-DEFS-008 | VER-METHODS-008 | |
| IFC-DEFS-007 | VER-METHODS-007 | |
| IFC-DEFS-006 | VER-METHODS-006 | |
| IFC-DEFS-005 | VER-METHODS-005 | |
| IFC-DEFS-004 | VER-METHODS-004 | |
| IFC-DEFS-003 | VER-METHODS-003 | |
| IFC-DEFS-002 | VER-METHODS-002 | |
| IFC-DEFS-001 | VER-METHODS-001 | |
| SUB-REQS-015 | VER-METHODS-018 | |
| SUB-REQS-009 | VER-METHODS-017 | |
| SUB-REQS-005 | VER-METHODS-016 | |
| SUB-REQS-002 | VER-METHODS-015 | |
| SUB-REQS-001 | VER-METHODS-014 |