{"artifact_id":"L1-428","layer":"L1","title":"Extended Kalman Filter (EKF)","domain":"Control Theory","sub_domain":"Nonlinear estimation","physics_fingerprint":{"L_DAG":3.0,"title":"Extended Kalman Filter (EKF)","domain":"Control Theory","carrier":"N/A","primitives":["S.ekf.jacobian_linearization","D.time.explicit","O.innov.consistency_check"],"sub_domain":"Nonlinear estimation","noise_model":"gaussian","problem_class":"nonlinear_inverse","solution_space":"nonlinear_state_estimate","difficulty_delta":3,"integration_axis":"discrete_time","sensing_mechanism":"linearized_nonlinear_estimation"},"observable_profile":{"metric":"RMSE_state_estimation","regime":"Existence of the recovered nonlinear_state_estimate is guaranteed within the declared Omega bounds. Uniqueness holds on the measurement-supported subspace; out-of-support modes are controlled by declared priors. Stability is conditionally stable (kappa_eff ~= 100); strong_nonlinearity dominates the stability cliff; the remaining mismatch parameters contribute higher-order bias terms. Gaussian sets the irreducible data-fidelity floor.","secondary":"filter_consistency_NEES"},"size_tiers":{"center_spec":{"omega":{"N_steps":200,"Q_R_ratio":1.0,"n_state_dim":6,"nonlinearity_degree":0.5},"input_format":"measurement_only","problem_class":"nonlinear_inverse","forward_operator":"linearized_nonlinear_estimation","epsilon_fn_center":"0.08 RMSE_state_estimation"},"omega_bounds":{"N_steps":[20,5000],"Q_R_ratio":[0.01,100],"n_state_dim":[2,20],"nonlinearity_degree":[0.1,3.0]},"epsilon_bounds":{"RMSE_state_estimation":[0.01,0.5]},"allowed_problem_classes":["nonlinear_inverse"],"allowed_omega_dimensions":["n_state_dim","nonlinearity_degree","Q_R_ratio","N_steps"],"allowed_forward_operators":["linearized_nonlinear_estimation"]},"hardness_fn":{"type":"epsilon_fn","delta":3,"kappa":2000,"metric":"RMSE_state_estimation"},"initiator_dataset":[{"name":"primary","weight":1.0,"ipfs_cid":null,"license_hash":null}],"status":"testnet","staked_pwm":0.0,"chain_hash":"0xc51b690c1f98e27dfc3162de4531fb67d8322b788a352e92951a47d10a1b8c75","chain_tx_hash":"0xb17130492a353b9b7fcd21bedeaee0aea2e1ee1db791159919a62f10fbb64d8b","chain_block":41555240}