{
  "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": "vehicle forward after applying the configured G90 heading offset",
      "y_axis": "left of the RTK X/baseline axis (not necessarily vehicle-left)",
      "z_axis": "up",
      "yaw_enu_deg": "90 - (rawHeadingDeg + -90)",
      "frame_mode": "vehicle_forward_heading_offset"
    },
    "LiDAR": {
      "description": "raw Helios sensor frame from points_raw polar decode",
      "x_axis": "+X at azimuth 0° (forward when aviation connector faces vehicle rear)",
      "y_axis": "+Y at azimuth +90° (left when +X is vehicle-forward)",
      "z_axis": "up",
      "origin_note": "optical/center per Helios manual; mounting height includes 63.5 mm base offset when deriving mechanical ΔZ"
    }
  },
  "backend": "consensus",
  "measured_lidar_extrinsic_used_as_initial": true,
  "solver_initial_extrinsic": "D:\\First-dev-dept\\calibration-rtk-run\\run\\rtk_lidar_mechanical_initial.json",
  "body_heading_offset_deg": -90.0,
  "body_heading_offset_used": true,
  "body_antenna_lever_xy_used": false,
  "translation_m": [
    0.21782224963960972,
    -0.41134780227275347,
    0.1065423366878719
  ],
  "rotation_rpy_deg_xyz": [
    0.06623859235262805,
    0.8096624730962496,
    -0.5513220563826681
  ],
  "quaternion_xyzw": [
    0.00061201333859398,
    0.007062715262034178,
    -0.004815137247499642,
    0.9999632782988027
  ],
  "coordinate_contract_audit": {
    "status": "no_near_180_degree_axis_conflict",
    "requires_physical_axis_confirmation": false,
    "mechanical_initial_path": "D:\\First-dev-dept\\calibration-rtk-run\\run\\rtk_lidar_mechanical_initial.json",
    "mechanical_self_consistency": {
      "baseline_points": "vehicle_right",
      "frame_mode": "vehicle_forward_heading_offset",
      "heading_offset_deg": -90.0,
      "consistent": true,
      "issues": []
    },
    "solution_vs_declared_baseline_side": {
      "baseline_points": "vehicle_right",
      "solution_yaw_deg": -0.5513220563826681,
      "expected_yaw_deg": 0.0,
      "yaw_error_deg": 0.5513220563826735,
      "xy_error_m": 0.007516661287052368,
      "z_error_m": 0.0280423356878719,
      "mixed_translation_rotation_inheritance": false,
      "near_expected_pose": true
    },
    "solution_relative_to_mechanical_initial": {
      "translation_m": 0.029032271487700816,
      "rotation_deg": 0.9820426535863694,
      "delta_matrix_4x4": [
        [
          0.9998538650128304,
          0.009638565806830942,
          0.014119017957784103,
          0.006962889639609726
        ],
        [
          -0.009621275903042714,
          0.9999528797859223,
          -0.0012919976154994906,
          0.002831671727246521
        ],
        [
          -0.014130805670674627,
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          0.9998994869856016,
          0.0280423356878719
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ]
    },
    "note": "No automatic 180-degree correction was applied. Confirm static GNHPR left/right vs vehicle heading and Helios +X vs vehicle forward before deployment."
  },
  "matrix_4x4": [
    [
      0.9998538650128304,
      0.009638565806830942,
      0.014119017957784103,
      0.21782224963960972
    ],
    [
      -0.009621275903042714,
      0.9999528797859223,
      -0.0012919976154994906,
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    ],
    [
      -0.014130805670674627,
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    ],
    [
      0.0,
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      0.0,
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    ]
  ],
  "quality": {
    "stations": 27,
    "pairs": 20,
    "residuals": {
      "pairs": 20,
      "translation_m": {
        "rms": 0.07116027693011169,
        "median": 0.048258124379040895,
        "p90": 0.10707349630410129,
        "p95": 0.12100345665884242,
        "max": 0.1859157912711514
      },
      "rotation_deg": {
        "rms": 0.9820870524210346,
        "median": 0.6015253089423158,
        "p90": 1.626986719630708,
        "p95": 1.7485896823567941,
        "max": 2.6898815510329674
      },
      "per_pair": [
        {
          "pair_index": 0,
          "translation_m": 0.10590532722733068,
          "rotation_deg": 0.5565962122599133
        },
        {
          "pair_index": 1,
          "translation_m": 0.11758701799503664,
          "rotation_deg": 0.36543717366192036
        },
        {
          "pair_index": 2,
          "translation_m": 0.07568813061789224,
          "rotation_deg": 1.6990480050580474
        },
        {
          "pair_index": 3,
          "translation_m": 0.07918615709103373,
          "rotation_deg": 0.33723851079591255
        },
        {
          "pair_index": 4,
          "translation_m": 0.04618587731787657,
          "rotation_deg": 0.21044665580544528
        },
        {
          "pair_index": 5,
          "translation_m": 0.1859157912711514,
          "rotation_deg": 2.6898815510329674
        },
        {
          "pair_index": 6,
          "translation_m": 0.015032558607699278,
          "rotation_deg": 0.2283712127949818
        },
        {
          "pair_index": 7,
          "translation_m": 0.013237326674396453,
          "rotation_deg": 1.6189799101387812
        },
        {
          "pair_index": 8,
          "translation_m": 0.07003654121179845,
          "rotation_deg": 0.6464544056247182
        },
        {
          "pair_index": 9,
          "translation_m": 0.093450766078183,
          "rotation_deg": 0.6476769159531274
        },
        {
          "pair_index": 10,
          "translation_m": 0.015054656507824072,
          "rotation_deg": 1.041955302231996
        },
        {
          "pair_index": 11,
          "translation_m": 0.02338150242985638,
          "rotation_deg": 0.9212619385214977
        },
        {
          "pair_index": 12,
          "translation_m": 0.01577916809950981,
          "rotation_deg": 0.5021648028537498
        },
        {
          "pair_index": 13,
          "translation_m": 0.05033037144020521,
          "rotation_deg": 0.31352985458971655
        },
        {
          "pair_index": 14,
          "translation_m": 0.059761151158357104,
          "rotation_deg": 0.8078349560587313
        },
        {
          "pair_index": 15,
          "translation_m": 0.04160156756834453,
          "rotation_deg": 0.32936437427192145
        },
        {
          "pair_index": 16,
          "translation_m": 0.02424387832291359,
          "rotation_deg": 0.430799739443549
        },
        {
          "pair_index": 17,
          "translation_m": 0.05938006964566194,
          "rotation_deg": 0.3855347569405268
        },
        {
          "pair_index": 18,
          "translation_m": 0.003922740066294881,
          "rotation_deg": 0.8803664894801937
        },
        {
          "pair_index": 19,
          "translation_m": 0.02258390614293418,
          "rotation_deg": 0.9489255319885953
        }
      ]
    },
    "weighted_jacobian_condition_number": 7.551077537197385,
    "linearized_one_sigma": {
      "translation_m": [
        0.01109415838733884,
        0.011043247019191056,
        0.0049617743728656676
      ],
      "rotation_deg": [
        0.08809558088476348,
        0.08691570892756702,
        0.13552099560800782
      ],
      "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": [
        0.006235825930578342,
        0.004851737742140203,
        0.0004474159829207979,
        0.07186455153709871,
        0.11762318545143821,
        0.061763211598034336
      ],
      "p025": [
        0.20955504469154063,
        -0.4174678620205485,
        0.10568919463688603,
        -0.06202286115194262,
        0.5207464314096704,
        -0.6639417037512721
      ],
      "p975": [
        0.23211472114546824,
        -0.4001091835786546,
        0.1074353326322909,
        0.23746760471402314,
        1.0462704287205609,
        -0.43455346485967655
      ]
    }
  },
  "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": 1.9165,
    "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",
  "selection": {
    "recommended": true,
    "reason": "Uses only motion pairs accepted independently by both Open3D GICP and small_gicp",
    "open3d_vs_small_gicp": {
      "translation_m": 0.00312519750472982,
      "rotation_deg": 0.11907006217018351,
      "delta_matrix_4x4": [
        [
          0.9999996872332217,
          -0.00030752729270551075,
          -0.0007286703114418758,
          0.000533303946557151
        ],
        [
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        ],
        [
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        ],
        [
          0.0,
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          0.0,
          1.0
        ]
      ]
    }
  }
}