{
  "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",
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      "z_axis": "up",
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    "LiDAR": "raw LiDAR sensor frame"
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  "backend": "open3d_gicp",
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  "body_heading_offset_used": false,
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    "pairs": 41,
    "residuals": {
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        {
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        {
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          "translation_m": 0.10414608850682983,
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          "rotation_deg": 0.16247416554150054
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    },
    "weighted_jacobian_condition_number": 7.006062559882809,
    "linearized_one_sigma": {
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      "rotation_deg": [
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      "warning": "conditional local estimate; bootstrap is the primary stability check"
    },
    "bootstrap": {
      "runs": 100,
      "order": [
        "x_m",
        "y_m",
        "z_m",
        "roll_deg",
        "pitch_deg",
        "yaw_deg"
      ],
      "std": [
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  },
  "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"
}