{
  "_meta": {
    "project": "HMAA-UAV Authority-Governed Drone Platform",
    "author": "Burak Oktenli",
    "version": "1.0",
    "date": "2026-03-20",
    "description": "Complete simulation configuration parameters for reproducing the governance pipeline evaluation. All values correspond to those specified in the paper."
  },
  "simulator": {
    "type": "browser-based JavaScript",
    "loop_rate_hz": 100,
    "timestep_ms": 10,
    "timing_method": "requestAnimationFrame with delta-time correction",
    "timing_measurement": "simulated-clock (not hardware latency)",
    "physics_model": "simplified quadrotor dynamics",
    "wind_model": "Dryden turbulence (light-to-moderate)"
  },
  "sata": {
    "frame_of_discernment": ["Trusted", "Compromised"],
    "per_component_weights": {
      "w_int": 0.25,
      "w_cross": 0.35,
      "w_temp": 0.20,
      "w_phys": 0.20
    },
    "per_sensor_ds_weights": {
      "GPS": 0.18,
      "LiDAR": 0.16,
      "Camera": 0.14,
      "IMU": 0.14,
      "Barometer": 0.10,
      "OpticalFlow": 0.10,
      "RadarAltimeter": 0.10,
      "UWB": 0.08
    },
    "trust_dynamics": {
      "tau_decay_seconds": 0.5,
      "tau_recovery_seconds": 5.0,
      "cross_sensor_disagreement_threshold_meters": 2.0,
      "cross_sensor_disagreement_penalty_multiplier": 0.3,
      "single_sensor_veto_drop": 0.3
    }
  },
  "hmaa": {
    "authority_levels": {
      "A3": {
        "label": "Full Autonomy",
        "t_fused_range": [0.80, 1.00],
        "down_threshold": 0.75,
        "up_threshold": null,
        "up_stabilization_seconds": null,
        "envelope": {
          "max_speed_ms": null,
          "max_altitude_m": null,
          "maneuver": "full"
        }
      },
      "A2": {
        "label": "Restricted",
        "t_fused_range": [0.55, 0.79],
        "down_threshold": 0.50,
        "up_threshold": 0.80,
        "up_stabilization_seconds": 5,
        "envelope": {
          "max_speed_ms": 5.0,
          "max_altitude_m": 30.0,
          "maneuver": "conservative"
        }
      },
      "A1": {
        "label": "Minimal",
        "t_fused_range": [0.30, 0.54],
        "down_threshold": 0.25,
        "up_threshold": 0.55,
        "up_stabilization_seconds": 10,
        "envelope": {
          "max_speed_ms": 0.5,
          "max_altitude_m": null,
          "maneuver": "hover-hold or slow reposition"
        }
      },
      "A0": {
        "label": "Revoked",
        "t_fused_range": [0.00, 0.29],
        "down_threshold": null,
        "up_threshold": 0.30,
        "up_stabilization_seconds": 15,
        "envelope": {
          "max_speed_ms": 0,
          "max_altitude_m": 0,
          "maneuver": "all autonomous commands disabled"
        }
      }
    }
  },
  "cara": {
    "recovery_behaviors": {
      "safe_land": {
        "condition": "A0 + altitude > 5m + ground clear",
        "descent_rate_ms": 0.5
      },
      "return_safe": {
        "condition": "A0 + trusted nav available + home waypoint set"
      },
      "hover_hold": {
        "condition": "A1 + stable position fix"
      },
      "crawl_mode": {
        "condition": "A1 + partial sensor trust",
        "max_speed_ms": 0.5
      },
      "degraded_teleop": {
        "condition": "A1/A0 + communication available"
      }
    }
  },
  "sensor_noise_models": {
    "GPS": {
      "noise_type": "Gaussian position + bias drift",
      "sigma_m": 1.5,
      "drift_rate_ms": 0.3,
      "fault_injection": "offset injection (configurable magnitude)"
    },
    "LiDAR": {
      "noise_type": "Gaussian range + dropout",
      "sigma_m": 0.05,
      "dropout_rate_pct": 2,
      "fault_injection": "range bias + increased dropout"
    },
    "Camera": {
      "noise_type": "confidence scalar + occlusion",
      "sigma": 0.05,
      "occlusion": "binary",
      "fault_injection": "confidence reduction to configured level"
    },
    "IMU": {
      "noise_type": "Gaussian accel + gyro bias",
      "accel_sigma_ms2": 0.1,
      "gyro_sigma_rads": 0.01,
      "fault_injection": "bias injection + noise increase"
    },
    "Barometer": {
      "noise_type": "Gaussian altitude",
      "sigma_m": 0.5,
      "fault_injection": "offset injection"
    },
    "OpticalFlow": {
      "noise_type": "Gaussian velocity",
      "sigma_ms": 0.1,
      "fault_injection": "scale error injection"
    },
    "RadarAltimeter": {
      "noise_type": "Gaussian altitude",
      "sigma_m": 0.1,
      "fault_injection": "signal loss (binary)"
    },
    "UWB": {
      "noise_type": "Gaussian range + NLOS",
      "sigma_m": 0.3,
      "nlos_probability_pct": 5,
      "fault_injection": "range bias + NLOS increase"
    }
  },
  "experiment_config": {
    "runs_per_scenario": 50,
    "total_runs": 250,
    "randomization": {
      "initial_altitude_range_m": [10, 25],
      "wind_speed_range_ms": [0, 5],
      "wind_direction": "random uniform [0, 360]",
      "sensor_noise_seeds": "randomized per run"
    },
    "scenarios": {
      "E1_GPS_spoofing": {
        "injection": "GPS offset injection",
        "variants": ["single transient", "sustained"]
      },
      "E2_camera_occlusion": {
        "injection": "camera confidence reduction to 50%"
      },
      "E3_RF_communication_loss": {
        "injection": "telemetry link severed (simulated)"
      },
      "E4_IMU_disagreement": {
        "injection": "IMU bias drift conflicting with GPS and optical flow"
      },
      "E5_compound_failure": {
        "injection": "simultaneous vision degradation + GPS weakness + RF loss"
      }
    }
  },
  "sensitivity_analysis": {
    "perturbation_range_pct": 20,
    "num_perturbation_sets": 20,
    "renormalization": true,
    "scenarios_tested": ["E1", "E5"]
  }
}