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改为车头向前整链：主从装反机械初值、双天线 pitch/roll 姿态与默认 HeadingOffsetDeg=-90

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Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
lichun.qu
2026-08-11 18:07:54 +08:00
co-authored by Cursor
parent 6242fd1081
commit 5f59bcd795
13 changed files with 698 additions and 199 deletions
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tools/build_multisensor_npz.py
+8 -3
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@@ -183,7 +183,8 @@ def initialize_rtk_measurements(values: dict[str, np.ndarray]) -> None:
("differential_age_s", np.float64, np.nan),
("gnss_week", np.int32, -1), ("gnss_tow_ms", np.int64, -1),
("baseline_length_m", np.float64, np.nan), ("raw_heading_deg", np.float64, np.nan),
("pitch_deg", np.float64, np.nan), ("heading_stddev_deg", np.float64, np.nan),
("pitch_deg", np.float64, np.nan), ("roll_deg", np.float64, np.nan),
("heading_stddev_deg", np.float64, np.nan),
("pitch_stddev_deg", np.float64, np.nan), ("heading_satellites", np.int32, -1),
("solution_satellites", np.int32, -1),
):
@@ -297,11 +298,15 @@ def build_combined(
for key, dtype, default in (
("gnss_week", np.int32, -1), ("gnss_tow_ms", np.int64, -1),
("baseline_length_m", np.float64, np.nan), ("raw_heading_deg", np.float64, np.nan),
("pitch_deg", np.float64, np.nan), ("heading_stddev_deg", np.float64, np.nan),
("pitch_deg", np.float64, np.nan), ("roll_deg", np.float64, np.nan),
("heading_stddev_deg", np.float64, np.nan),
("pitch_stddev_deg", np.float64, np.nan),
("solution_satellites", np.int32, -1),
):
values[f"rtk_{key}"] = np.asarray([heading_row.get(key, default)], dtype=dtype)
value = heading_row.get(key, default)
if key == "roll_deg" and value is None:
value = 0.0
values[f"rtk_{key}"] = np.asarray([value], dtype=dtype)
values["rtk_heading_satellites"] = np.asarray([heading_row.get("satellites", -1)], dtype=np.int32)
values["rtk_heading_solution_utf8"] = utf8_array(heading_row.get("heading_solution", ""))
device_ns = gnss_utc_ns(heading_row, gps_utc_leap_seconds)