Adaptive Maritime Estimation and PNT (AMEP-1): A Falsifiable Resilient Multisensor Navigation and Autonomy-Authority Architecture for GNSS-Degraded USV Operation

AMEP-1 Version 1.0 is a platform-neutral research architecture for resilient maritime PNT and navigation-authority supervision for uncrewed surface vessel research. It combines a verified WGS 84 vessel-centered local geometry implementation, a seven-state recursive covariance estimator, configurable innovation screening, sensor health/freshness supervision, local constraint-coverage diagnostics, experimental radar and bathymetric structural descriptors, residual spectral diagnostics, tail-error modeling, environmental route research, generalized communications supervision, and explicit operator/autonomy/safety command authority. The release is intentionally bounded by adversarial evidence. A same-sensor clean synthetic comparison does not establish AMEP accuracy superiority. Gross injected outliers support only a narrow synthetic screening claim. A correlated common-mode position-bias experiment produces severe covariance inconsistency, rejecting any certified-integrity interpretation of the current containment proxy. No recorded maritime replay, target-hardware timing campaign, HIL validation, controlled water trial, standards conformity assessment, or operational performance claim is included. The correct label is research software / SIL prototype.