77 lines
1.9 KiB
JSON
77 lines
1.9 KiB
JSON
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{
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"R_RTK_IMU": [
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[
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0.9974493913373024,
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-0.07135460605626225,
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0.0017977528752911507
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],
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[
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0.0713431523484532,
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0.997435050761847,
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0.005785682733905998
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],
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[
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-0.0022059768426676615,
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-0.00564266836413856,
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0.9999816468115312
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]
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],
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"rpy_deg": [
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-0.32330358477785043,
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0.1263932653005637,
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4.0911470587568495
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],
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"gyro_bias_by_session_rad_s": {
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"priority_175910_180530": [
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-0.00010509442179307857,
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-0.0001426783269500731,
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3.086292346981605e-05
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]
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},
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"time_offset": {
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"offset_s": -0.0949999999999998,
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"peak_correlation": 0.1329249352233157,
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"second_best_correlation": 0.13247995527618098,
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"evaluated_samples": 2316,
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"reliable": false
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},
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"convention": {
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"name": "north_cw__pitch_nose_up__roll_right_down",
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"heading_sign": -1.0,
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"pitch_sign": -1.0,
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"roll_sign": 1.0
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},
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"convention_scores_deg": {
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"north_cw__pitch_nose_up__roll_right_down": 2.8406184024910064,
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"north_cw__pitch_opposite": 2.8942770966870084,
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"heading_opposite__pitch_nose_up": 3.8836333647028383,
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"heading_opposite__pitch_opposite": 8.244842702849073
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},
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"pair_count": 91,
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"residual_rms_deg": 2.8406184024910064,
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"residual_median_deg": 1.624215282655001,
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"residual_p95_deg": 6.087913500787023,
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"rotation_std_deg": [
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1.6029337786454214,
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1.0761604678920118,
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6.305203755276785
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],
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"information_singular_values": [
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2941.184567996004,
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1268.1548949190246,
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82.52753961323997
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],
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"per_session_rms_deg": {
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"priority_175910_180530": 2.8406184024910064
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},
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"loo_delta_deg": {},
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"ok": false,
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"notes": [
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"transform convention: p_RTK = R_RTK_IMU p_IMU",
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"residual time convention: t_IMU = t_RTK + +0.000000 s",
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"GNHPR convention score gap=0.0537 deg",
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"time-offset correlation was ambiguous; held residual offset at zero",
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"rotation failed one or more strict acceptance gates"
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]
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}
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