FA-12059 / Sensor fusion consistency / Member archive

Correlated estimates lose shared uncertainty during fusion · case 04

Reported fused uncertainty is smaller than the shared sensor noise.

Member previewVariant 4 · 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	`"4"`	`"6"`	Failed

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