FA-12074 / Sensor fusion consistency / Member archive

Innovation gate ignores uncertainty in the predicted state · case 04

Plausible measurements are rejected when prediction uncertainty grows.

Member previewVariant 4 · 3 implementations · 6 checks per implementation

Case contract

Scalar independent-noise innovation gate: accept residual squared <= threshold*(p+r). p and r positive integer variances; threshold positive integer squared-Mahalanobis limit.

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
prediction uncertainty matters	`false`	`true`	Failed

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