Authorities say police were justified in killing an armed Arizona rancher who helped lead a standoff at an Oregon national wildlife refuge earlier this year.

A county prosecutor on Tuesday released the results of an investigation into the death of Robert "LaVoy" Finicum. Oregon State Police opened fire during a traffic stop Jan. 26 that also led to the arrests of the occupation's leaders.

The FBI previously released video of the shooting to counter claims Finicum did nothing to provoke it.

In the aerial footage, Finicum is pulled over in his truck but then takes off and plows into a snowbank. He gets out and has his hands up at first, then appears to reach toward his jacket pocket at least twice. Officers shoot him, and he falls.

The FBI said it found a loaded handgun in the pocket.