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
@@ -0,0 +1,62 @@
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{
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"session_count": 3,
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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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],
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"origin_geodetic": [
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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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],
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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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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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}
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@@ -0,0 +1,89 @@
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{
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"R_RTK_IMU": [
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[
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0.9996193516550798,
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0.0040780705652228135
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],
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[
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0.0006931686589101494,
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-0.004060667909321538,
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0.9999915152106744
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]
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],
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"rpy_deg": [
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-1.5635621825359411
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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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-9.355487703345326e-05,
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"priority_174905_175450": [
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"priority_175910_180530": [
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-4.9469524877665416e-05,
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-0.0005605818923478396,
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4.72341323992995e-06
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]
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},
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"time_offset": {
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"offset_s": 0.07500000000000034,
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"peak_correlation": 0.2075894836191556,
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"second_best_correlation": 0.2075830757517665,
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"evaluated_samples": 6286,
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"reliable": false
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},
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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": 2.124836124403544,
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"north_cw__pitch_opposite": 2.246244073697405,
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"heading_opposite__pitch_nose_up": 14.081722937345578,
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"heading_opposite__pitch_opposite": 14.187723789068325
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},
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"pair_count": 347,
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"residual_rms_deg": 2.121956852743709,
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"residual_median_deg": 0.6620410270629032,
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"residual_p95_deg": 4.932454679529714,
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"rotation_std_deg": [
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0.43991569563643235,
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3.604673882923754
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],
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"information_singular_values": [
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252.6038959367189
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],
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"per_session_rms_deg": {
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"priority_174005_174515": 0.6074812737155098,
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"priority_174905_175450": 2.2498284381524494,
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"priority_175910_180530": 3.09642157433063
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},
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"loo_delta_deg": {},
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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=0.1214 deg",
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"GNHPR alternatives use zero-bias prescreen scores; only the winner is jointly refined",
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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 +1,57 @@
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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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"R_RTK_IMU": [
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[
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],
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[
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[
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-0.004060667909321538,
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]
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],
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"t_RTK_IMU_m": [
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1.017036626166409,
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0.7992624136748191,
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-22.250154010194304
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],
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"T_RTK_IMU": [
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[
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],
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]
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],
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"rotation_ok": false,
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"translation_ok": false,
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"rotation_result": "rotation_result.json",
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"translation_result": "translation_result.json",
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"dataset_audit": "dataset_audit.json"
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}
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@@ -0,0 +1,90 @@
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{
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"lever_IMU_to_RTK_in_IMU_m": [
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-0.979425993211181,
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-0.9170620761729408,
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],
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"t_RTK_IMU_m": [
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1.017036626166409,
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0.7992624136748191,
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-22.250154010194304
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],
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"T_RTK_IMU": [
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[
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-0.0005821057674967719,
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],
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[
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],
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[
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"translation_std_m": [
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],
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"lever_information_singular_values": [
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],
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"lever_precision_rank": 3,
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"position_residual_rms_xyz_m": [
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0.0023101392989052683,
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0.002794889168410421,
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0.0005246719035281052
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],
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"velocity_residual_rms_xyz_m_s": [
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1.1059333756244145,
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1.368704336610928,
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],
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"accel_bias_by_session_m_s2": {
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"priority_174005_174515": [
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],
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"priority_174905_175450": [
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],
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"priority_175910_180530": [
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]
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},
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"knot_count_by_session": {
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"priority_174005_174515": 62,
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"priority_174905_175450": 69,
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"priority_175910_180530": 76
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},
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"loo_delta_m": {},
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"ok": false,
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"notes": [
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"lever l is vector IMU-origin -> RTK-origin expressed in IMU",
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"transform translation uses t_RTK_IMU = -R_RTK_IMU @ l",
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"RTK position is never differentiated; position and velocity preintegration factors are solved jointly",
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"upstream rotation is not accepted, so translation is diagnostic only",
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"translation failed one or more strict acceptance gates"
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]
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}
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