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Epic #6

open

EPIC — Frame accuracy & mesh solve reliability

Epic #6: EPIC — Frame accuracy & mesh solve reliability

Added by knight8241 about 1 month ago. Updated about 1 month ago.

Status:
New
Assignee:
-
Target version:
v1.0.0
% Done:

0%

Description

EPIC — Frame accuracy & mesh solve reliability

Roadmap: done-ledger A + P0.5 convergence (#61/#69/#70)

Self-solved, survey-free anchor constellation that converges to one shared LOCKED frame and stays trustworthy under bias/NLOS. The core positioning-solve thrust.

Children: 22 (User Story 13 / Bug 4 / Task 5). Child issues are linked to this epic as parent.

Subtasks 13 (13 open — 0 closed)

User Story #23: Implement fix A: bootstrap fallback for missing-edge constellationsNew08/07/2026

Actions
User Story #24: Implement inter-anchor link-health engine hookNew08/07/2026

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User Story #26: Antenna-delay calibration (solve per-device delays, apply to inter-anchor ranges)New08/07/2026

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User Story #48: MofeEngineHost.antennaDelays StateFlow bridge (data exists)New08/07/2026

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User Story #49: InterAnchorLinkReport type + engine generation + host bridgeNew08/07/2026

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User Story #51: Issue B: frame-lock with motion override + diagnosticsNew08/07/2026

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User Story #59: Detect degenerate anchor GEOMETRY at calibration/placement + surface in diagnostic panelNew08/07/2026

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User Story #60: Refine slab-leveling tilt with root IMU gravity (bridge gauge↔world)New08/07/2026

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User Story #73: Adopt ONE authoritative constellation mesh-wide (survey-free) — the convergence fixNew08/07/2026

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User Story #75: Engine: flag lopsided inter-anchor links via graph residual (detect-and-flag)New08/07/2026

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User Story #79: Robust over-determined leader solve (survey-free) — accuracy + resilience for general layoutsNew08/07/2026

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User Story #80: Mesh-convergence acceptance gate + general-layout criteria (survey-free)New08/07/2026

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User Story #83: CoA I · Heterogeneous layered mesh (UWB + acoustic + IMU) for sub-cm relativeNew08/07/2026

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