{
  "schema_version": 1,
  "success": true,
  "convention": "T_RTK_lidar maps raw LiDAR points into the RTK navigation frame",
  "equation": "A_RTK_ij X = X B_LiDAR_ij",
  "frames": {
    "RTK": {
      "origin": "GGA positioning reference point; confirm ANT1/reference antenna in receiver configuration",
      "x_axis": "horizontal projection of the rawHeading baseline direction reported by the receiver",
      "y_axis": "left",
      "z_axis": "up",
      "yaw_enu_deg": "90 - rawHeadingDeg"
    },
    "LiDAR": "raw LiDAR sensor frame"
  },
  "backend": "consensus",
  "measured_lidar_extrinsic_used_as_initial": false,
  "body_heading_offset_used": false,
  "body_antenna_lever_xy_used": false,
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  "rotation_rpy_deg_xyz": [
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  "quaternion_xyzw": [
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  "matrix_4x4": [
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  "quality": {
    "stations": 34,
    "pairs": 25,
    "residuals": {
      "pairs": 25,
      "translation_m": {
        "rms": 0.10020667268070801,
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        "p90": 0.1210855900297508,
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      "rotation_deg": {
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        "p90": 1.8215127226094046,
        "p95": 1.973738680622839,
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      "per_pair": [
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          "pair_index": 0,
          "translation_m": 0.04167906865173614,
          "rotation_deg": 0.7044680397451787
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        {
          "pair_index": 1,
          "translation_m": 0.05434432733915097,
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        {
          "pair_index": 2,
          "translation_m": 0.10468985225969502,
          "rotation_deg": 0.2966790038612149
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          "rotation_deg": 0.5538785486937366
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          "rotation_deg": 0.339735283375759
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        {
          "pair_index": 11,
          "translation_m": 0.03457457850935045,
          "rotation_deg": 0.5158041285368985
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        {
          "pair_index": 12,
          "translation_m": 0.06294442058649205,
          "rotation_deg": 0.6210132605220049
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        {
          "pair_index": 13,
          "translation_m": 0.04800822576662163,
          "rotation_deg": 1.7431212194819241
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        {
          "pair_index": 14,
          "translation_m": 0.06249704966098745,
          "rotation_deg": 0.8651715760380532
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        {
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          "translation_m": 0.12026833019096655,
          "rotation_deg": 4.325671952515919
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        {
          "pair_index": 16,
          "translation_m": 0.04916024916487916,
          "rotation_deg": 0.9331159567430728
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        {
          "pair_index": 17,
          "translation_m": 0.02802786916783814,
          "rotation_deg": 0.8755591753060336
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        {
          "pair_index": 18,
          "translation_m": 0.054001671602238746,
          "rotation_deg": 0.48777111889991587
        },
        {
          "pair_index": 19,
          "translation_m": 0.10122861599246656,
          "rotation_deg": 0.9367994244405716
        },
        {
          "pair_index": 20,
          "translation_m": 0.023164324685695653,
          "rotation_deg": 0.2827650802657415
        },
        {
          "pair_index": 21,
          "translation_m": 0.06461070522327692,
          "rotation_deg": 1.1522606437088527
        },
        {
          "pair_index": 22,
          "translation_m": 0.35253378022021187,
          "rotation_deg": 0.7805430662091233
        },
        {
          "pair_index": 23,
          "translation_m": 0.11095170748867093,
          "rotation_deg": 0.8561868088481429
        },
        {
          "pair_index": 24,
          "translation_m": 0.12163042992227363,
          "rotation_deg": 0.17586872890763125
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      ]
    },
    "weighted_jacobian_condition_number": 7.739413195936781,
    "linearized_one_sigma": {
      "translation_m": [
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      ],
      "rotation_deg": [
        0.08042474849565617,
        0.07825800357808266,
        0.1694976028248396
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      "warning": "conditional local estimate; bootstrap is the primary stability check"
    },
    "bootstrap": {
      "runs": 200,
      "order": [
        "x_m",
        "y_m",
        "z_m",
        "roll_deg",
        "pitch_deg",
        "yaw_deg"
      ],
      "std": [
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      "p025": [
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        0.07875765037498306,
        -0.9881676010783537,
        1.1135179371917805,
        -22.3851229846878
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      "p975": [
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        -0.22784916633142768,
        0.09114084095723367,
        -0.5808877804701225,
        1.4821798187931374,
        -21.82296828752347
      ]
    }
  },
  "z_constraint": {
    "observable_from_planar_AX_XB": false,
    "method": "LiDAR ground planes plus externally supplied RTK reference-point height above ground",
    "rtk_reference_height_above_ground_m": 0.8535,
    "warning": "z is conditional on the supplied RTK antenna height; it is not independently identified by planar Ackermann motion"
  },
  "important_limit": "AX residual and bootstrap quantify internal consistency, not independent centimetre-grade absolute certification"
}