120 lines
3.2 KiB
JSON
120 lines
3.2 KiB
JSON
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{
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"R_RTK_IMU": [
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[
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-0.999754381938718,
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0.021803011844914608,
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0.003975483470215314
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],
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[
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0.021793866945340735,
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0.9997597719617833,
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-0.0023293197487744975
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],
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[
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-0.0040253146336934244,
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-0.002242106467980424,
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-0.9999893848440022
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]
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],
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"rpy_deg": [
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-179.8715356137635,
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0.23063416255936714,
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178.75119441523574
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],
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"gyro_bias_by_session_rad_s": {
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"priority_174005_174515": [
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-0.00018079953472427648,
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-9.3706764772758e-05,
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-1.6471539455612585e-05
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],
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"priority_174905_175450": [
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-0.0001527801061740737,
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-0.0001164065722445753,
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-5.5002757975692905e-05
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],
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"priority_175910_180530": [
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0.00010732176614734042,
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-9.217694744503191e-05,
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0.00037171055222583177
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],
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"slope_190548_190730": [
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-0.0001400513048024026,
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-9.490085614046164e-05,
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-7.313488292136488e-05
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],
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"circle_193412_193642": [
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-5.9488404294769446e-05,
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-0.00029434501957892675,
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0.000102661594942897
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],
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"loop_194223_195003": [
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-0.0002980828626939094,
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9.137138703447405e-05,
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4.430930647242609e-05
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],
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"accel_195608_195958": [
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5.9388956272647935e-05,
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9.900621296014341e-06,
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8.065768586636302e-05
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],
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"motion_sms_154023_154359": [
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0.0016442968972331072,
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0.00012387305081956675,
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8.435528364463815e-08
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]
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},
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"time_offset": {
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"offset_s": 0.08500000000000035,
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"peak_correlation": 0.46191352508231565,
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"second_best_correlation": 0.460889710037625,
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"evaluated_samples": 12384,
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"reliable": false
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},
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"convention": {
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"name": "heading_opposite__pitch_nose_up",
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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": 1.6671304616155285,
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"north_cw__pitch_opposite": 1.7955511909491206,
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"heading_opposite__pitch_nose_up": 1.6669796415371239,
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"heading_opposite__pitch_opposite": 19.709790964275243
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},
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"pair_count": 6164,
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"residual_rms_deg": 1.6669796415371239,
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"residual_median_deg": 0.6097138083592458,
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"residual_p95_deg": 2.9952512236242987,
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"rotation_std_deg": [
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1.0204560247927847,
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0.06460681216547948,
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0.11838973994567728
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],
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"information_singular_values": [
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818353.8002481281,
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235774.70975965378,
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3151.7390576048515
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],
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"per_session_rms_deg": {
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"priority_174005_174515": 0.7068100152136895,
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"priority_174905_175450": 1.7590065687347056,
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"priority_175910_180530": 3.0674316757114104,
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"slope_190548_190730": 2.07580304513421,
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"circle_193412_193642": 0.6574485751543728,
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"loop_194223_195003": 0.6594363752510715,
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"accel_195608_195958": 0.7631418065216562,
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"motion_sms_154023_154359": 3.709386878989403
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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=0.0002 deg",
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"time-offset correlation was ambiguous; held residual offset at zero",
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"empirical best GNHPR convention differs from protocol expectation; manual verification required",
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"rotation failed one or more strict acceptance gates"
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]
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}
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