b10bc2e9ab
- mat/localization/range_constraint.rs (forward-looking; no UWB hw yet):
- RangeConstraint domain model (anchor_id/pos/measured_range/uncertainty/
signal_quality); predicted_range/residual/mahalanobis/is_consistent
- RangeConstraintFusion::refine() — Newton-normalized weighted least-squares
that constrains a CSI/CIR prior toward range spheres, Mahalanobis-gates
inconsistent (NLOS/multipath) ranges; returns RefineResult with rejected
anchors + RMS residual
- associate() disambiguates which track a range belongs to (re-ID hook)
- 4 tests (converges to truth, absurd range gated, consistency math, track
association); workspace 0 errors
Co-Authored-By: claude-flow <ruv@ruv.net>
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| .cargo | ||
| .claude-flow | ||
| crates | ||
| data | ||
| docs | ||
| examples | ||
| patches/ruvector-crv | ||
| Cargo.lock | ||
| Cargo.toml | ||
| rust-toolchain.toml | ||
| ruvector.db | ||