新增独立RTK与IMU外参标定流程及质量验证

2026-08-21 10:04:41 +08:00
parent 1233f8aafd
commit c2da6dd192
38 changed files with 3937 additions and 17 deletions
@@ -0,0 +1,65 @@
+{
+  "status": "diagnostic_not_accepted",
+  "transform_convention": "T_RTK_IMU maps IMU coordinates into the RTK sensor frame",
+  "rtk_frame_definition": "",
+  "rtk_reference_point": "",
+  "interpretation_blockers": [
+    "rotation quality gates failed",
+    "translation quality gates failed or were not run",
+    "RTK frame_definition is empty",
+    "RTK reference_point is empty"
+  ],
+  "R_RTK_IMU": [
+    [
+      0.9996841792313951,
+      0.02499811511405725,
+      -0.002576050309343804
+    ],
+    [
+      -0.025002617750669198,
+      0.9996858874629868,
+      -0.0017307550243271697
+    ],
+    [
+      0.002531975526313299,
+      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
+    ],
+    [
+      -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"
+}