{
  "scope": "final mechanical-prior RTK-IMU engineering release decision",
  "no_refit_performed": true,
  "data_only_full_free_called": false,
  "bootstrap_called": false,
  "loo_called": false,
  "covariance_retuned": false,
  "new_window_selection_called": false,
  "parser_R0_modified": false,
  "data_only_translation_accepted": false,
  "translation_refined_by_data": false,
  "mechanical_prior_consistent_with_calibration": true,
  "heldout_physical_validation_passed": true,
  "heldout_physical_gate_checks": {
    "all_267_converged_after_retry": true,
    "BEST_position_vector_p95_le_0p20_m": true,
    "Doppler_vector_p95_le_0p50_m_s": true,
    "HPR_normalized_p95_le_4": true,
    "preintegration_normalized_p95_le_3": true
  },
  "heldout_statistical_scale_passed": false,
  "heldout_postfit_chi_square_per_dof": 0.12733913101711092,
  "heldout_covariance_underdispersion_warning": true,
  "independent_heldout_innovation_passed": false,
  "common_constant_acceleration_error_detected": true,
  "independent_propagation_validation_passed": false,
  "independent_extrinsic_sensitive_validation_passed": true,
  "rotation_sensitivity_passed": true,
  "engineering_translation_acceptance_formula": "mechanical_prior_consistent_with_calibration AND heldout_physical_validation_passed AND independent_heldout_innovation_passed AND rotation_sensitivity_passed",
  "engineering_translation_accepted": false,
  "result_nature": "mechanically anchored + dynamically validated",
  "summary": "Translation is mechanically anchored and dynamically validated. The current dataset does not independently observe translation accurately enough for data-only calibration, and does not provide meaningful refinement beyond the mechanical prior.",
  "forbidden_descriptions": [
    "data-only calibrated translation",
    "dynamically refined mechanical lever"
  ],
  "candidate_l_I_engineering_m": [
    -0.45180151590212486,
    -0.26447498198536895,
    0.7314656114613277
  ],
  "candidate_T_RTK_IMU": [
    [
      0.9999999761265028,
      -0.00021395911860711003,
      -4.436766104011944e-05,
      0.45177737170031523
    ],
    [
      0.00021360059847267874,
      0.9999685415936667,
      -0.007929072948303898,
      0.27036301129056084
    ],
    [
      4.606276276360097e-05,
      0.007929063282050246,
      0.9999685634227163,
      -0.7293247665913783
    ],
    [
      0.0,
      0.0,
      0.0,
      1.0
    ]
  ],
  "candidate_T_IMU_RTK": [
    [
      0.9999999761265029,
      0.00021360059847267876,
      4.606276276360098e-05,
      -0.45180151590212486
    ],
    [
      -0.00021395911860711008,
      0.9999685415936669,
      0.007929063282050248,
      -0.264474981985369
    ],
    [
      -4.436766104011945e-05,
      -0.0079290729483039,
      0.9999685634227164,
      0.7314656114613278
    ],
    [
      0.0,
      0.0,
      0.0,
      1.0
    ]
  ],
  "candidate_transform_inverse_error_norm": 1.3597553244868544e-16,
  "l_I_engineering_m": null,
  "T_RTK_IMU": null,
  "T_IMU_RTK": null,
  "transform_convention": {
    "equation": "p_RTK = R_RTK_IMU * p_IMU + t_RTK_IMU",
    "translation": "t_RTK_IMU = -R_RTK_IMU * l_I",
    "RTK_origin": "ANT1 phase center"
  },
  "rotation_source": "R2G_gravity_level_prior",
  "translation_conditional_on_rotation": true,
  "evidence": {
    "calibration_path": "artifacts\\rtk_imu_calibration_v3\\mechanical_prior_engineering_47_window.json",
    "heldout_postfit_path": "artifacts\\rtk_imu_calibration_v3\\mechanical_prior_engineering_heldout.json",
    "innovation_path": "artifacts\\rtk_imu_calibration_v3\\heldout_independent_innovation.json",
    "sensitivity_path": "artifacts\\rtk_imu_calibration_v3\\mechanical_prior_rotation_sensitivity.json",
    "convergence_retry_path": "artifacts\\rtk_imu_calibration_v3\\heldout_nonconverged_retry.json",
    "propagation_root_cause_path": "artifacts\\rtk_imu_calibration_v3\\propagation_bias_root_cause_audit.json",
    "posterior_prior_variance_ratio": [
      0.9841028247436912,
      0.9831529061304226,
      0.9921155953185713
    ],
    "heldout_convergence_after_retry": 1.0,
    "rotation_sensitivity_summary": {
      "max_abs_delta_l_xyz_m": [
        0.0024980444199615426,
        0.0006588674774769543,
        0.0007172660986609625
      ],
      "max_delta_l_norm_m": 0.0025582764807350012,
      "max_transform_translation_delta_norm_m": 0.00686033304738171
    }
  }
}
