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完善Phase-A会话级联合优化并修正雷达相位中心高度先验

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lichun.qu
2026-08-19 09:41:39 +08:00
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@@ -28,8 +28,14 @@ python -m pytest -q
| `test_preintegration_bias_jacobian_matches_finite_difference` | 随机陀螺序列 | 旋转预积分 `J_bg` | 与有限差分一致（松阈值） |
| `test_imu_preintegration_recovers_constant_accel_translation` | 常值加速度 | 完整预积分 Δv/Δp | 接近解析值 |
| `test_imu_preintegration_bias_jacobian_finite_difference` | 随机 IMU | `J_bg`/`J_ba` 一阶修正 | 与重积分接近 |
| `test_synthetic_pipeline_rotation_and_time_offset` | 端到端合成会话 | `rotation_only` 全流程 | `rotation_only_accepted`；δt 准；手眼 RMS < 5° |
| `test_synthetic_pipeline_full_se3_smoke` | 同上 | `full_se3` 不崩溃 | 状态为 accepted / rejected / rotation_only 之一 |
| `test_synthetic_pipeline_rejects_noisy_icp_but_keeps_time_audit` | synthetic end-to-end | strict rotation quality gate + time audit | noisy ICP is blocked; delta-t remains accurate |
| `test_synthetic_pipeline_full_se3_smoke` | synthetic end-to-end | full-SE(3) smoke test | returns an explicit accepted/rejected/blocked status |
| `test_planar_yaw_is_not_full_rotation_or_translation_observable` | pure-yaw motion pairs | degeneracy detection | full rotation/translation observability is rejected |
| `test_multi_axis_motion_is_rotation_and_translation_observable` | multi-axis motion pairs | positive observability case | rotation and translation pass |
| `test_translation_prior_is_reported_but_not_accepted_when_unobservable` | planar motion + CAD prior | prior semantics | prior is reported but not accepted as calibration |
| `test_handeye_rejects_a_small_fraction_of_gross_rotation_outliers` | motion pairs with a gross outlier | residual-distribution gate | solve is rejected |
| `test_motion_pairs_reject_low_fitness` | low-fitness registration | fitness gate | no motion pair is emitted |
| `test_motion_pairs_reject_imu_and_lidar_discontinuities` | timestamp gaps | continuity gates | cross-gap pairs are rejected |
合成数据由 `tools/generate_synthetic_session.py` 生成（墙面点云 + 已知外参 yaw 与 δt）。