{
  "seed": 27092026,
  "noise": "Independent Gaussian angular errors, known global heading; same seeded draws across settings.",
  "estimator": "Unweighted least squares of perpendicular distances to infinite bearing lines; not angular maximum likelihood.",
  "landmarks": "Four exact points equally spaced in bearing, all 100 m from truth at origin.",
  "limitations": [
    "Synthetic only",
    "Exact landmark map and heading",
    "No outliers or common bias",
    "P95 is an error percentile, not a confidence bound"
  ],
  "cases": [
    {
      "spread_deg": 5,
      "bearing_noise_sd_deg": 0.1,
      "range_m": 100,
      "trials": 1000,
      "failed": 0,
      "median_error_m": 1.7262313025670006,
      "p95_error_m": 5.501540071518468
    },
    {
      "spread_deg": 10,
      "bearing_noise_sd_deg": 0.1,
      "range_m": 100,
      "trials": 1000,
      "failed": 0,
      "median_error_m": 0.8738603940512215,
      "p95_error_m": 2.7339826018838025
    },
    {
      "spread_deg": 20,
      "bearing_noise_sd_deg": 0.1,
      "range_m": 100,
      "trials": 1000,
      "failed": 0,
      "median_error_m": 0.4439641959456356,
      "p95_error_m": 1.3784405614743866
    },
    {
      "spread_deg": 30,
      "bearing_noise_sd_deg": 0.1,
      "range_m": 100,
      "trials": 1000,
      "failed": 0,
      "median_error_m": 0.3045431022775361,
      "p95_error_m": 0.9244424750476502
    },
    {
      "spread_deg": 45,
      "bearing_noise_sd_deg": 0.1,
      "range_m": 100,
      "trials": 1000,
      "failed": 0,
      "median_error_m": 0.21875228123814994,
      "p95_error_m": 0.6244790237834308
    },
    {
      "spread_deg": 60,
      "bearing_noise_sd_deg": 0.1,
      "range_m": 100,
      "trials": 1000,
      "failed": 0,
      "median_error_m": 0.1834168766478465,
      "p95_error_m": 0.4837025137798758
    },
    {
      "spread_deg": 90,
      "bearing_noise_sd_deg": 0.1,
      "range_m": 100,
      "trials": 1000,
      "failed": 0,
      "median_error_m": 0.15436843953821588,
      "p95_error_m": 0.3654168346455552
    },
    {
      "spread_deg": 120,
      "bearing_noise_sd_deg": 0.1,
      "range_m": 100,
      "trials": 1000,
      "failed": 0,
      "median_error_m": 0.14632679389901745,
      "p95_error_m": 0.31245245126551674
    },
    {
      "spread_deg": 160,
      "bearing_noise_sd_deg": 0.1,
      "range_m": 100,
      "trials": 1000,
      "failed": 0,
      "median_error_m": 0.1510408215571677,
      "p95_error_m": 0.32159463004791705
    }
  ]
}