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Closed-form Heikkinen method for ECEF conversion (centimetre accuracy, no iteration). ZYX aerospace-convention Euler → quaternion. Both needed by upcoming VPAIRAdapter rewrite; reusable for other datasets shipping ECEF or Euler poses (e.g. some MARS-LVIG releases). Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>