{
  "lever_IMU_to_RTK_in_IMU_m": [
    -0.7032597491310882,
    -0.5505808768918061,
    21.07590765040047
  ],
  "t_RTK_IMU_m": [
    0.7710937276592442,
    0.5693018309069646,
    -21.07303743539233
  ],
  "T_RTK_IMU": [
    [
      0.9996841792313951,
      0.02499811511405725,
      -0.002576050309343804,
      0.7710937276592442
    ],
    [
      -0.025002617750669198,
      0.9996858874629868,
      -0.0017307550243271697,
      0.5693018309069646
    ],
    [
      0.002531975526313299,
      0.0017946164171362589,
      0.9999951842143289,
      -21.07303743539233
    ],
    [
      0.0,
      0.0,
      0.0,
      1.0
    ]
  ],
  "translation_std_m": [
    0.367657527272358,
    0.36764001580136974,
    2.960858932902556
  ],
  "lever_information_singular_values": [
    7.467287688797444,
    7.419771560016465,
    0.11404687553142893
  ],
  "lever_precision_rank": 3,
  "position_residual_rms_xyz_m": [
    0.0026057774092802665,
    0.0026172203224947795,
    0.0008707288139887198
  ],
  "velocity_residual_rms_xyz_m_s": [
    1.0344084464154262,
    1.0018456371907998,
    0.08189262443294992
  ],
  "accel_bias_by_session_m_s2": {
    "priority_174005_174515": [
      -0.0033446448235936025,
      0.04850567116751809,
      0.014864908749227664
    ],
    "priority_174905_175450": [
      0.051484854191344014,
      0.009750775340658668,
      0.016837766756117954
    ],
    "priority_175910_180530": [
      -0.0012098409852818557,
      0.04428237322299069,
      0.015044444493724668
    ],
    "slope_190548_190730": [
      0.007720083607057322,
      -0.07045791547639069,
      0.011096872492579776
    ],
    "circle_193412_193642": [
      0.010695150095323893,
      0.07124837152622766,
      0.012181970165526993
    ],
    "loop_194223_195003": [
      0.017798177348527063,
      0.026531175431114495,
      0.013517325106459492
    ],
    "accel_195608_195958": [
      0.010843370014374661,
      0.0021847264023688797,
      0.012720554759472001
    ],
    "motion_sms_154023_154359": [
      -0.01917068926914634,
      0.04878246850510192,
      0.011986246228615108
    ]
  },
  "knot_count_by_session": {
    "priority_174005_174515": 62,
    "priority_174905_175450": 69,
    "priority_175910_180530": 76,
    "slope_190548_190730": 21,
    "circle_193412_193642": 30,
    "loop_194223_195003": 92,
    "accel_195608_195958": 46,
    "motion_sms_154023_154359": 20
  },
  "loo_delta_m": {
    "priority_174005_174515": [
      -0.08631101169626099,
      -0.16878866579372004,
      -0.1969063529933237
    ],
    "priority_174905_175450": [
      0.052982832020427084,
      0.23694572858391594,
      0.5921699991558107
    ],
    "priority_175910_180530": [
      -0.03728037456994515,
      -0.0587695607071852,
      0.36745157813128415
    ],
    "slope_190548_190730": [
      0.06820599394639204,
      0.13646009238200618,
      0.8245922313333871
    ],
    "circle_193412_193642": [
      -0.06745036261863124,
      -0.18645839932341524,
      -0.8300513550738842
    ],
    "loop_194223_195003": [
      0.12045919921905746,
      0.06572884705689208,
      -1.774476169745249
    ],
    "accel_195608_195958": [
      0.019243586803303625,
      -0.002985337002138544,
      0.3653882998138158
    ],
    "motion_sms_154023_154359": [
      -0.0383153365081248,
      0.027686850248512473,
      0.507160468738487
    ]
  },
  "ok": false,
  "notes": [
    "lever l is vector IMU-origin -> RTK-origin expressed in IMU",
    "transform translation uses t_RTK_IMU = -R_RTK_IMU @ l",
    "RTK position is never differentiated; position and velocity preintegration factors are solved jointly",
    "upstream rotation is not accepted, so translation is diagnostic only",
    "translation failed one or more strict acceptance gates"
  ]
}