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调整雷达到RTK标定分支为独立根目录结构

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lichun.qu
2026-07-24 08:42:16 +08:00
parent d2aae6177e
commit 6d87b6ba9c
132 changed files with 214 additions and 197832 deletions
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results/reference_data4/consensus/B_consensus.consensus.json
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{
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results/reference_data4/consensus/B_consensus.npz
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results/reference_data4/consensus/extrinsic_rtk_lidar.json
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{
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"success": true,
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"equation": "A_RTK_ij X = X B_LiDAR_ij",
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"x_axis": "horizontal projection of the rawHeading baseline direction reported by the receiver",
"y_axis": "left",
"z_axis": "up",
"yaw_enu_deg": "90 - rawHeadingDeg"
},
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},
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"warning": "conditional local estimate; bootstrap is the primary stability check"
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"bootstrap": {
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"z_constraint": {
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"method": "LiDAR ground planes plus externally supplied RTK reference-point height above ground",
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"warning": "z is conditional on the supplied RTK antenna height; it is not independently identified by planar Ackermann motion"
},
"important_limit": "AX residual and bootstrap quantify internal consistency, not independent centimetre-grade absolute certification"
}