Joint rotation constraints retain every physical control
All 24 cases pass. The new constraints retain every one of the 1,536 sealed physical probes and every original coordinate. Exact arithmetic checks 198,144 inequalities and 119,808 coordinate bounds. The completed physical generators were not rerun; the new checks finished in 43.2 seconds.
The construction relates columns through their inner products, allowing for the stored mounting matrix's small numerical defect. It introduces 27 arithmetic product coordinates while retaining all 51 original coordinates and 27 physical parameters. No new sensor freedom, native integration or observed fit is added.
These are necessary constraints with explicit numerical allowances. The relaxed products do not prove that every surviving matrix is a physically realizable proper rotation. Passing these controls also does not establish narrower future position ranges or aircraft-error coverage.
The complete saved-prediction comparison will test usefulness under the unchanged target. The preceding four-of-six-group result remains preserved.