修正基线系标定默认：机械初值、地面ROI与航向偏移可配，并补充G90窗导出与契约测试

Co-authored-by: Cursor <cursoragent@cursor.com>

run/run_full_pipeline.ps1

@@ -9,8 +9,11 @@
     [string]$Timezone = "+08:00",
     [ValidateSet("device_gnss", "host")][string]$TimeBasis = "device_gnss",
     [int]$ExpectedStations = 34,
+    [int]$MinStations = 20,
     [int]$MinPairs = 20,
-    [int]$Bootstrap = 200
+    [int]$Bootstrap = 200,
+    [double]$GroundZMin = -1.4,
+    [double]$GroundZMax = -0.4
 )
 
 $ErrorActionPreference = "Stop"
@@ -28,7 +31,9 @@ if ($LASTEXITCODE -ne 0) { throw "Raw-data export failed" }
     -CombinedRoot (Join-Path $ExportRoot "combined") `
     -WorkRoot $PreparedRoot -OutputRoot $CalibrationRoot `
     -RtkReferenceHeightAboveGroundM $RtkReferenceHeightAboveGroundM `
-    -ExpectedStations $ExpectedStations -MinPairs $MinPairs -Bootstrap $Bootstrap
+    -MinStations $MinStations `
+    -ExpectedStations $ExpectedStations -MinPairs $MinPairs -Bootstrap $Bootstrap `
+    -GroundZMin $GroundZMin -GroundZMax $GroundZMax
 if ($LASTEXITCODE -ne 0) { throw "RTK-LiDAR calibration failed" }
 
 Write-Host "Final result: $(Join-Path $CalibrationRoot 'final_T_RTK_lidar.json')"