Fixed-stationary vs motion-capable ESKF
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Common replay duration: 299.500 s
GPS: 987 samples, mean rate 3.297 Hz
IMU: 600 windows, mean rate 2.003 Hz, underlying samples 145684
Timing: separate stationary captures replayed from t=0 (not hardware-synchronized)
GPS update dimensions: 2-D horizontal (current level-2 firmware log has no height)
ENU reference: lat=40.7784420947, lon=29.4357159383
GPS max consecutive horizontal step: 29.842 m
Raw GPS centered horizontal RMS/P95/max: 8.581 / 15.145 / 23.773 m
Fixed model centered horizontal RMS/P95/max: 1.108 / 1.680 / 5.536 m
Adaptive model centered horizontal RMS/P95/max: 1.108 / 1.680 / 5.536 m
Fixed GPS accepted/rejected: 983/4
Adaptive GPS accepted/rejected: 983/4
IMU stationary detector true: 600/600 (100.00%)
ZUPT updates fixed/adaptive: 600/598
Final speed fixed/adaptive: 0.001128 / 0.001128 m/s
Adaptive model uses a 3-window stationary decision; it does not assume zero velocity while motion is detected.
No surveyed truth is available: scatter measures precision, not absolute position accuracy.