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>
|
||
|---|---|---|
| .. | ||
| depth.rs | ||
| fusion.rs | ||
| mod.rs | ||
| range_constraint.rs | ||
| triangulation.rs | ||