Supplementary data and analysis for UAV WiFi FTM responder localisation using GNSS-referenced multilateration: One Search Agent (OSA)

Prepared from the multilateration-ftm-app working tree. Main paper flight: rosbag2_2026_03_27-14_09_11. Online estimates are Android real-time ROS outputs; offline estimates are replay ablations over logged RTT/GNSS messages. Android app source code is intentionally excluded and planned for a future open-source release.