FA-12057 / Sensor fusion consistency / Member archive

Correlated estimates lose shared uncertainty during fusion · case 02

Reported fused uncertainty is smaller than the shared sensor noise.

Member previewVariant 2 · 3 implementations · 6 checks per implementation

Case contract

Given positive p,r and cross covariance c with c*c<p*r and p+r-2*c>0, return exact variance of the minimum-variance unbiased linear combination as a fraction string.

Why this case matters

Deterministic sensor-fusion model isolating one consistency contract; no hardware or production estimator is simulated.

One recorded failure

Sample boundary fixture

This sample comes from the broken implementation of a controlled reproducer.

Boundary fixture	Actual	Expected	Outcome
positive shared noise	`"2"`	`"3"`	Failed

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