Navigation-State Estimator
The navigation-state estimator is scored against both the Corrected Ground-Truth Smoother and the maintainer ground truth characterized under Source of Truth.
It is the causal consumer the smoother product exists to score. The smoother uses both flanks of every gap and full-run statistics; the causal estimator may not — it consumes only causally-available measurements, with no run identity or dataset-specific oracle knowledge, under the same type-1/type-2 firewall. Scoring against the smoother product needs the smoother’s covariance hand-off: the exported raw formal per-pose marginals plus the standalone per-regime position-covariance calibration, applied at scoring time. Relative-motion scoring additionally needs the smoother to emit the joint band-diagonal cross-covariance, which is forward work.