新增独立RTK与IMU外参标定流程及质量验证
This commit is contained in:
lichun.qu
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# RTK–IMU 标定产物说明
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- `all_sessions/`：8 会话、5 s 平移节点、带 conditional rotation LOO 和 translation LOO 的当前完整基线。
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- `rotation_hpr_time/`：改用 GNHPR 自带测量时刻后的全量 rotation-only 对照。
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- `rotation_smoke/`：较早的 GGA 最近邻姿态时刻对照，不作为当前结果。
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- `batch_0808_full_smoke/`：0808 三会话完整诊断。
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- `batch_0815_rotation/`：0815 四会话 rotation-only 诊断。
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- `single_smoke/`：早期单会话性能/数值冒烟，不作为当前结果。
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每个正式运行目录包含：
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- `dataset_audit.json`：样本数、固定解比例、共同时间范围和 ENU 原点。
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- `rotation_result.json`：旋转、RPY、时间审计、GNHPR 候选、偏置、残差、协方差、逐会话指标和 LOO。
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- `translation_result.json`：杆臂、平移、齐次矩阵、协方差/秩、位置/速度残差、偏置和 LOO。
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- `summary.json`：供程序读取的最终状态和候选矩阵。
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当前 `all_sessions/summary.json` 是 `diagnostic_not_accepted`。其中平移约 `[0.771, 0.569, -21.073] m` 明显不具机械真实性，禁止用于车辆配置。完整解释见 `docs/rtk_imu_calibration.md`。
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@@ -0,0 +1,157 @@
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{
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"session_count": 8,
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"sessions": [
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{
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"session_id": "priority_174005_174515",
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"batch_id": "0808",
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"imu_samples": 31000,
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"rtk_samples": 4780,
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"fixed_position_ratio": 1.0,
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"fixed_attitude_ratio": 0.854602510460251,
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"common_time_span_s": [
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16265.2325992,
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16575.0298107
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],
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"origin_geodetic": [
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30.465514786,
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114.092169888,
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29.4695
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],
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"imu_source": "31000 normalized samples",
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"rtk_source": "D:\\data\\calibration_usable_20260808\\sessions_v2_device_affine\\priority_174005_174515\\rtk.csv"
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},
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{
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"session_id": "priority_174905_175450",
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"batch_id": "0808",
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"imu_samples": 34499,
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"rtk_samples": 5211,
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"fixed_position_ratio": 1.0,
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"fixed_attitude_ratio": 0.8547303780464403,
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"common_time_span_s": [
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16805.1862481,
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17150.0907328
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],
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"origin_geodetic": [
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30.4653424457,
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114.092237385,
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29.5366
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],
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"imu_source": "34499 normalized samples",
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"rtk_source": "D:\\data\\calibration_usable_20260808\\sessions_v2_device_affine\\priority_174905_175450\\rtk.csv"
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},
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{
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"session_id": "priority_175910_180530",
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"batch_id": "0808",
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"imu_samples": 37998,
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"rtk_samples": 5786,
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"fixed_position_ratio": 1.0,
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"fixed_attitude_ratio": 0.8567231247839613,
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"common_time_span_s": [
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17410.2121738,
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17790.0458228
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],
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"origin_geodetic": [
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30.4654151935,
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114.090796384,
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29.5317
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],
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"imu_source": "37998 normalized samples",
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"rtk_source": "D:\\data\\calibration_usable_20260808\\sessions_v2_device_affine\\priority_175910_180530\\rtk.csv"
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},
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{
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"session_id": "slope_190548_190730",
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"batch_id": "0815",
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"imu_samples": 10199,
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"rtk_samples": 1578,
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"fixed_position_ratio": 1.0,
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"fixed_attitude_ratio": 0.8757921419518377,
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"common_time_span_s": [
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36466.328875,
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36568.2301441
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],
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"origin_geodetic": [
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30.4652183602,
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114.090839984,
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29.9891
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],
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"imu_source": "10199 normalized samples",
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"rtk_source": "D:\\data\\0815\\sessions_v2_device_affine\\slope_190548_190730\\rtk.csv"
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},
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{
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"session_id": "circle_193412_193642",
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"batch_id": "0815",
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"imu_samples": 14989,
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"rtk_samples": 2162,
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"fixed_position_ratio": 1.0,
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"fixed_attitude_ratio": 0.8288621646623496,
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"common_time_span_s": [
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],
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"origin_geodetic": [
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30.4654799242,
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114.092155912,
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29.4779
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],
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"imu_source": "14989 normalized samples",
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"rtk_source": "D:\\data\\0815\\sessions_v2_device_affine\\circle_193412_193642\\rtk.csv"
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},
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{
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"session_id": "loop_194223_195003",
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"batch_id": "0815",
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"imu_samples": 45801,
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"rtk_samples": 6741,
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"fixed_position_ratio": 0.9998516540572615,
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"fixed_attitude_ratio": 0.8377095386441181,
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"common_time_span_s": [
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39121.1709553
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],
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"origin_geodetic": [
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30.4654856957,
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114.092151015,
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29.4651
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],
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"imu_source": "45801 normalized samples",
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"rtk_source": "D:\\data\\0815\\sessions_v2_device_affine\\loop_194223_195003\\rtk.csv"
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},
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{
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"session_id": "accel_195608_195958",
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"batch_id": "0815",
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"imu_samples": 23002,
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"rtk_samples": 3456,
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"fixed_position_ratio": 1.0,
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"fixed_attitude_ratio": 0.8457754629629629,
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"common_time_span_s": [
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39486.3574509,
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39716.3199405
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],
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"origin_geodetic": [
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30.465443014,
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114.092179168,
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29.5309
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],
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"imu_source": "23002 normalized samples",
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"rtk_source": "D:\\data\\0815\\sessions_v2_device_affine\\accel_195608_195958\\rtk.csv"
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},
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{
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"session_id": "motion_sms_154023_154359",
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"batch_id": "0819",
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"imu_samples": 21556,
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"rtk_samples": 3294,
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"fixed_position_ratio": 0.49271402550091076,
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"fixed_attitude_ratio": 0.4344262295081967,
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"common_time_span_s": [
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25829.8725525,
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26027.4217529
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],
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"origin_geodetic": [
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30.4651580863,
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114.090773052,
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36.5626
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],
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"imu_source": "21556 normalized samples",
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"rtk_source": "D:\\data\\0819\\dense5\\sessions_v2_device_affine\\motion_sms_154023_154359\\rtk.csv"
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}
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]
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}
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@@ -0,0 +1,130 @@
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{
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"R_RTK_IMU": [
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[
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0.9996841792313951,
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0.02499811511405725,
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-0.002576050309343804
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],
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[
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-0.025002617750669198,
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0.9996858874629868,
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-0.0017307550243271697
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],
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[
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0.002531975526313299,
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0.0017946164171362589,
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0.9999951842143289
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]
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],
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"rpy_deg": [
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0.1028243313393031,
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-0.1450716664951083,
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-1.43269836393699
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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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-8.90944066727157e-05,
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7.078609864979291e-05,
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0.0001460390779870233
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],
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"priority_174905_175450": [
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-4.327374730750894e-05,
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-0.0001097548390022348,
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3.000549725593387e-05
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],
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"priority_175910_180530": [
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-7.036551812132934e-05,
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-0.0008054961048184173,
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1.3026193503057623e-05
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],
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"slope_190548_190730": [
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6.035222904568755e-05,
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-8.913884157613711e-06,
|
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0.00015470949872434692
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],
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"circle_193412_193642": [
|
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-3.696799268832588e-05,
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||||
-0.00019200076224600124,
|
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-5.9567987995056394e-05
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||||
],
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"loop_194223_195003": [
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-0.0001979655352189002,
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-0.00015937450336643818,
|
||||
-4.343089303706036e-05
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||||
],
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||||
"accel_195608_195958": [
|
||||
-7.841839817698704e-05,
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-2.604932294598783e-06,
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5.8586555655011475e-05
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],
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"motion_sms_154023_154359": [
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0.00011745666467620586,
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0.00021434926285955486,
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-4.5147354343760625e-05
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]
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},
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"time_offset": {
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"offset_s": 0.04000000000000031,
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"peak_correlation": 0.5788788671828708,
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"second_best_correlation": 0.5773967219219845,
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"evaluated_samples": 12394,
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"reliable": false
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},
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"applied_time_offset_s": 0.0,
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"convention": {
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"name": "north_cw__pitch_nose_up__roll_right_down",
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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": 1.631322241364994,
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"north_cw__pitch_opposite": 1.737582794831228,
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"heading_opposite__pitch_nose_up": 7.263259116648845,
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"heading_opposite__pitch_opposite": 17.716319437929055
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},
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"pair_count": 731,
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"residual_rms_deg": 1.6276839301413086,
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"residual_median_deg": 0.5695938849052221,
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"residual_p95_deg": 3.0903953005641345,
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"rotation_std_deg": [
|
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0.2340126126406699,
|
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0.20048574131667432,
|
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2.314692068045375
|
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],
|
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"information_singular_values": [
|
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82178.77940373585,
|
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60441.86300479194,
|
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612.6358640387364
|
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],
|
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"per_session_rms_deg": {
|
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"priority_174005_174515": 0.6134232617562615,
|
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"priority_174905_175450": 2.2485932625979106,
|
||||
"priority_175910_180530": 3.095861798757508,
|
||||
"slope_190548_190730": 2.388478834012087,
|
||||
"circle_193412_193642": 0.5629885032374518,
|
||||
"loop_194223_195003": 0.6250976606325254,
|
||||
"accel_195608_195958": 0.975856888271022,
|
||||
"motion_sms_154023_154359": 1.3698317592842066
|
||||
},
|
||||
"loo_delta_deg": {
|
||||
"priority_174005_174515": 0.7895996403426686,
|
||||
"priority_174905_175450": 0.9224102138653388,
|
||||
"priority_175910_180530": 5.144190932547379,
|
||||
"slope_190548_190730": 0.24769087330915346,
|
||||
"circle_193412_193642": 1.2637729378484346,
|
||||
"loop_194223_195003": 0.4844375238260164,
|
||||
"accel_195608_195958": 1.0976412402728102,
|
||||
"motion_sms_154023_154359": 0.6896079810115167
|
||||
},
|
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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=0.1063 deg",
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"GNHPR alternatives use zero-bias prescreen scores; only the winner is jointly refined",
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"LOO is conditional: per-session gyro biases are held at their all-session estimates",
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"time-offset correlation was ambiguous; held residual offset at zero",
|
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"rotation failed one or more strict acceptance gates"
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]
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}
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@@ -0,0 +1,65 @@
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{
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"status": "diagnostic_not_accepted",
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"transform_convention": "T_RTK_IMU maps IMU coordinates into the RTK sensor frame",
|
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"rtk_frame_definition": "",
|
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"rtk_reference_point": "",
|
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"interpretation_blockers": [
|
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"rotation quality gates failed",
|
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"translation quality gates failed or were not run",
|
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"RTK frame_definition is empty",
|
||||
"RTK reference_point is empty"
|
||||
],
|
||||
"R_RTK_IMU": [
|
||||
[
|
||||
0.9996841792313951,
|
||||
0.02499811511405725,
|
||||
-0.002576050309343804
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||||
],
|
||||
[
|
||||
-0.025002617750669198,
|
||||
0.9996858874629868,
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||||
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||||
],
|
||||
[
|
||||
0.002531975526313299,
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||||
0.0017946164171362589,
|
||||
0.9999951842143289
|
||||
]
|
||||
],
|
||||
"t_RTK_IMU_m": [
|
||||
0.7710937276592442,
|
||||
0.5693018309069646,
|
||||
-21.07303743539233
|
||||
],
|
||||
"T_RTK_IMU": [
|
||||
[
|
||||
0.9996841792313951,
|
||||
0.02499811511405725,
|
||||
-0.002576050309343804,
|
||||
0.7710937276592442
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||||
],
|
||||
[
|
||||
-0.025002617750669198,
|
||||
0.9996858874629868,
|
||||
-0.0017307550243271697,
|
||||
0.5693018309069646
|
||||
],
|
||||
[
|
||||
0.002531975526313299,
|
||||
0.0017946164171362589,
|
||||
0.9999951842143289,
|
||||
-21.07303743539233
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
1.0
|
||||
]
|
||||
],
|
||||
"rotation_ok": false,
|
||||
"translation_ok": false,
|
||||
"rotation_result": "rotation_result.json",
|
||||
"translation_result": "translation_result.json",
|
||||
"dataset_audit": "dataset_audit.json"
|
||||
}
|
||||
@@ -0,0 +1,161 @@
|
||||
{
|
||||
"lever_IMU_to_RTK_in_IMU_m": [
|
||||
-0.7032597491310882,
|
||||
-0.5505808768918061,
|
||||
21.07590765040047
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||||
],
|
||||
"t_RTK_IMU_m": [
|
||||
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|
||||
0.5693018309069646,
|
||||
-21.07303743539233
|
||||
],
|
||||
"T_RTK_IMU": [
|
||||
[
|
||||
0.9996841792313951,
|
||||
0.02499811511405725,
|
||||
-0.002576050309343804,
|
||||
0.7710937276592442
|
||||
],
|
||||
[
|
||||
-0.025002617750669198,
|
||||
0.9996858874629868,
|
||||
-0.0017307550243271697,
|
||||
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|
||||
],
|
||||
[
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
],
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
1.0
|
||||
]
|
||||
],
|
||||
"translation_std_m": [
|
||||
0.367657527272358,
|
||||
0.36764001580136974,
|
||||
2.960858932902556
|
||||
],
|
||||
"lever_information_singular_values": [
|
||||
7.467287688797444,
|
||||
7.419771560016465,
|
||||
0.11404687553142893
|
||||
],
|
||||
"lever_precision_rank": 3,
|
||||
"position_residual_rms_xyz_m": [
|
||||
0.0026057774092802665,
|
||||
0.0026172203224947795,
|
||||
0.0008707288139887198
|
||||
],
|
||||
"velocity_residual_rms_xyz_m_s": [
|
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
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|
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|
||||
"T_RTK_IMU": null,
|
||||
"rotation_ok": false,
|
||||
"translation_ok": null,
|
||||
"rotation_result": "rotation_result.json",
|
||||
"translation_result": null,
|
||||
"dataset_audit": "dataset_audit.json"
|
||||
}
|
||||
@@ -0,0 +1,52 @@
|
||||
# RTK–IMU 候选数据清点（2026-08-20）
|
||||
|
||||
本目录记录 0808、0815、0819 三批 LiDAR/IMU 会话所对应的 G90 RTK 原始记录与当前导出状态。此处只做数据血缘和可用性评估，尚未求解 `T_RTK_IMU`。
|
||||
|
||||
## 时间与质量约定
|
||||
|
||||
- 原始 RTK 为 Wheeltec G90 V2 `.rscap`，包含 `$GNGGA/$GPGGA` 位置和 `$GNHPR` heading/pitch/roll。
|
||||
- 切窗使用 NMEA 报文自带的测量 UTC，再通过每个会话的 IMU device→host affine clock 映射到 IMU 设备时间。
|
||||
- 主机接收时间比 NMEA 测量时间晚约 3–4 s，且有波动；不能按接收时间直接切窗。
|
||||
- 当前项目门控按 GGA `fix_quality=4` 和 HPR `heading_quality∈{4,5}` 判断固定位置/有效航向。
|
||||
- `heading_valid` 未覆盖全部 GGA 行主要因为 GGA 与 HPR 频率不同、最近邻匹配阈值为 80 ms；不代表该会话航向整体失效。
|
||||
|
||||
## 数据映射与质量
|
||||
|
||||
详细机器可读清单见 `rtk_session_inventory.csv`。
|
||||
|
||||
| 会话 | RTK结论 | 适合的标定作用 |
|
||||
| --- | --- | --- |
|
||||
| `priority_174005_174515` | 100% GGA质量4；有效航向约309 s；yaw变化约485° | 多圈 yaw 与 XY 杠杆臂 |
|
||||
| `priority_174905_175450` | 100% GGA质量4；Pitch跨度约11.4°；XY约58×22 m | 强候选：yaw、pitch、XY/Z耦合解除 |
|
||||
| `priority_175910_180530` | 100% GGA质量4；Pitch跨度约13.6°；XY约144×59 m | 最强候选：长基线、pitch、平移 |
|
||||
| `slope_190548_190730` | 100% GGA质量4；Pitch跨度约7.4°；约102 s | 坡度/Pitch补充 |
|
||||
| `circle_193412_193642` | 100% GGA质量4；yaw变化约445° | 平面旋转与XY杠杆臂 |
|
||||
| `loop_194223_195003` | 仅1个异常GGA；yaw累计变化约1203°；约460 s | 最强 yaw/多圈转弯候选 |
|
||||
| `accel_195608_195958` | 100% GGA质量4；XY约46×23 m；约230 s | 加减速、速度和水平杠杆臂 |
|
||||
| `motion_sms_154023_154359` | 全窗仅约49%为质量4；可用连续子段约100 s | 仅用15:41:28.2–15:43:08.15固定解/有效航向段 |
|
||||
|
||||
## 导出状态
|
||||
|
||||
- 0808 当前 `sessions_v2_device_affine` 原先没有 RTK CSV，本次已从原始 G90 `.rscap` 按 NMEA 测量 UTC补导三个会话，未覆盖旧文件。
|
||||
- 0815 `sessions_v2_device_affine` 与 dense5 slope 已经采用同一测量时间导出规则，无需重导。
|
||||
- 0819 `sessions_v2_device_affine` 与 dense5 motion 已经采用同一规则；需要在求解器中按质量与时间连续段过滤，而不是重新解释为全窗固定解。
|
||||
- 0808 旧 `sessions_v1_host_aligned_00` RTK CSV 不含 `t_measurement_utc_s` 字段，只保留作历史对照；新求解应使用 `sessions_v2_device_affine`。
|
||||
|
||||
## 已发现的 LiDAR–RTK 资料边界
|
||||
|
||||
`D:\data\calibration_usable_20260808\rtk_lidar_station_report*` 保存的是静止站点候选：27个站点、29个候选段，并非包含 `T_RTK_lidar`、协方差和留一验证的正式手眼结果。本轮在 0808 数据目录的 JSON/YAML/Markdown/CSV/日志中没有找到 `T_RTK_lidar` 矩阵。若要通过链式关系得到 LiDAR–IMU，需要继续定位原手眼结果及其坐标约定：
|
||||
|
||||
```text
|
||||
T_IMU_lidar = inverse(T_RTK_IMU) @ T_RTK_lidar
|
||||
```
|
||||
|
||||
## 初步可行性判断
|
||||
|
||||
这些数据足以启动直接 RTK–IMU 标定，且比当前纯 LiDAR–IMU Phase-B 更有希望约束 XY：RTK 提供绝对位置，GNHPR 提供航向和 Pitch，多会话包含长基线、转弯、加减速与坡度。仍需注意：
|
||||
|
||||
1. GNHPR roll 的变化仅约0.006°–0.065°，不能指望它提供有效 roll 激励。
|
||||
2. 应先用 RTK heading/pitch 角速度与 IMU gyro 做残余时间偏置和坐标轴验证，再求旋转。
|
||||
3. 平移应使用 RTK绝对位置 + IMU预积分的联合状态模型，估计共享 `T_RTK_IMU`、每会话速度/bias；不应把RTK轨迹简单二次差分后直接最小二乘。
|
||||
4. `motion_sms` 必须仅使用其连续固定解子段。
|
||||
5. 跨0808/0815/0819时应使用每会话IMU bias，外参共享，并检查安装期间是否发生机械变动。
|
||||
|
||||
@@ -0,0 +1,9 @@
|
||||
session,batch,raw_rtk_rscap,current_rtk_csv,rows,fixed_gga_ratio,fixed_heading_valid_rows,valid_duration_s,xy_robust_span_x_m,xy_robust_span_y_m,altitude_robust_span_m,heading_unwrapped_span_deg,pitch_robust_span_deg,roll_robust_span_deg,notes
|
||||
priority_174005_174515,0808,D:\data\calibration_usable_20260808\rtk_rscap\wheeltec-g90_20260808-092827.574_e361e39d-c918-4673-be70-b699ca4394f7.rscap,D:\data\calibration_usable_20260808\sessions_v2_device_affine\priority_174005_174515\rtk.csv,4780,1.0000,4085,309.45,12.045,17.380,0.112,485.411,3.462,0.012,newly exported from NMEA measurement UTC
|
||||
priority_174905_175450,0808,D:\data\calibration_usable_20260808\rtk_rscap\wheeltec-g90_20260808-092827.574_e361e39d-c918-4673-be70-b699ca4394f7.rscap,D:\data\calibration_usable_20260808\sessions_v2_device_affine\priority_174905_175450\rtk.csv,5211,1.0000,4454,344.90,58.436,21.923,0.277,350.616,11.379,0.008,newly exported from NMEA measurement UTC
|
||||
priority_175910_180530,0808,D:\data\calibration_usable_20260808\rtk_rscap\wheeltec-g90_20260808-092827.574_e361e39d-c918-4673-be70-b699ca4394f7.rscap,D:\data\calibration_usable_20260808\sessions_v2_device_affine\priority_175910_180530\rtk.csv,5786,1.0000,4957,379.85,143.775,58.657,0.971,260.213,13.574,0.065,newly exported from NMEA measurement UTC
|
||||
slope_190548_190730,0815,D:\data\0815\raw_serial_capture_v2\wheeltec-g90_20260814-110519.251_e0edf32b-c82b-4a38-b5df-2c0e4cac364f.rscap,D:\data\0815\sessions_v2_device_affine\slope_190548_190730\rtk.csv,1578,1.0000,1382,101.90,11.354,18.567,0.714,155.356,7.399,0.026,root is named 0815 but raw measurement date is 2026-08-14 local
|
||||
circle_193412_193642,0815,D:\data\0815\raw_serial_capture_v2\wheeltec-g90_20260814-113355.356_b4b37794-d4d6-433e-87e9-037cad5517d1.rscap,D:\data\0815\sessions_v2_device_affine\circle_193412_193642\rtk.csv,2162,1.0000,1792,147.25,10.105,10.277,0.097,444.994,2.834,0.006,raw capture has truncated tail but target messages are checksum-valid
|
||||
loop_194223_195003,0815,D:\data\0815\raw_serial_capture_v2\wheeltec-g90_20260814-114200.914_36911c82-f8c0-451b-99e3-f5b663ec6115.rscap,D:\data\0815\sessions_v2_device_affine\loop_194223_195003\rtk.csv,6741,0.9999,5647,459.90,11.555,18.800,0.104,1202.601,2.727,0.009,one malformed/non-fixed GGA excluded
|
||||
accel_195608_195958,0815,D:\data\0815\raw_serial_capture_v2\wheeltec-g90_20260814-115547.472_8722f326-8314-4db1-9ec4-bce185c54a78.rscap,D:\data\0815\sessions_v2_device_affine\accel_195608_195958\rtk.csv,3456,1.0000,2923,229.90,45.542,22.610,0.130,188.236,3.248,0.010,measurement-time export already present
|
||||
motion_sms_154023_154359,0819,D:\data\0819\raw_serial_capture_v2\wheeltec-g90_20260819-074023.329_3d9da6eb-7ef8-4f7b-9262-9193328238b0.rscap,D:\data\0819\dense5\sessions_v2_device_affine\motion_sms_154023_154359\rtk.csv,3294,0.4924,1431,99.95,12.679,17.356,0.839,308.864,8.985,0.020,use only 15:41:28.200-15:43:08.150 fixed+valid sub-window
|
||||
|
Reference in New Issue
Block a user