RQM Estimate Fused State

Use this endpoint when you have two or more synchronized sensor observations with known, explicitly specified per-dimension variances (diagonal covariance), frames are already aligned, and time skew between sensors is bounded and small. It is ideal for robotics state estimation pipelines (localization, attitude, velocity) where sensors are pre-synchronized and noise is modeled as independent Gaussian per axis. Prefer alternatives when full covariance matrices are needed, when sensors are not time-aligned, or when you need to model cross-axis correlations.

• Observations with timestamps exceeding maximum_time_skew_s relative to each other are rejected or cause fusion failure
• Normalized residuals above maximum_normalized_residual cause observation rejection or error
• Fewer than 2 valid observations after filtering results in an insufficient-data error
• Mismatched values/variances array lengths cause validation errors
• sensor_id not matching the pattern ^[A-Za-z0-9._-]{1,64}$ causes a schema validation error
• Providing only 1 observation (minItems:2 not met) results in a request validation failure
• Timestamp outside [0, 86400] range causes schema rejection
• Values or variances arrays with more than 12 items are rejected