{
  "schema_version": 1,
  "convention": "T_RTK_lidar maps raw LiDAR points into the RTK baseline frame (X = rawHeading baseline, Y left, Z up; heading_offset_deg = 0)",
  "translation_m": [
    0.414179474,
    0.210859360,
    0.004000001
  ],
  "rotation_rpy_deg_xyz": [
    0.0,
    0.0,
    90.0
  ],
  "matrix_4x4": [
    [0.0, -1.0, 0.0, 0.414179474],
    [1.0, 0.0, 0.0, 0.210859360],
    [0.0, 0.0, 1.0, 0.004000001],
    [0.0, 0.0, 0.0, 1.0]
  ],
  "use": "Final AX=XB solver initialization only; never use for LiDAR pair registration",
  "yaw_note": "≈90 deg yaw is expected when LiDAR X is vehicle-forward and the dual-antenna baseline is left-right",
  "z_note": "CAD/mechanical z only; final z is constrained by measured GGA/ANT1 phase-center height above ground"
}