新增独立RTK与IMU外参标定流程及质量验证

artifacts/rtk_imu_calibration_v1/batch_0815_rotation/dataset_audit.json

@@ -0,0 +1,81 @@
+{
+  "session_count": 4,
+  "sessions": [
+    {
+      "session_id": "slope_190548_190730",
+      "batch_id": "0815",
+      "imu_samples": 10199,
+      "rtk_samples": 1578,
+      "fixed_position_ratio": 1.0,
+      "fixed_attitude_ratio": 0.8757921419518377,
+      "common_time_span_s": [
+        36466.328875,
+        36568.2301441
+      ],
+      "origin_geodetic": [
+        30.4652183602,
+        114.090839984,
+        29.9891
+      ],
+      "imu_source": "10199 normalized samples",
+      "rtk_source": "D:\\data\\0815\\sessions_v2_device_affine\\slope_190548_190730\\rtk.csv"
+    },
+    {
+      "session_id": "circle_193412_193642",
+      "batch_id": "0815",
+      "imu_samples": 14989,
+      "rtk_samples": 2162,
+      "fixed_position_ratio": 1.0,
+      "fixed_attitude_ratio": 0.8288621646623496,
+      "common_time_span_s": [
+        38170.3385255,
+        38317.8571971
+      ],
+      "origin_geodetic": [
+        30.4654799242,
+        114.092155912,
+        29.4779
+      ],
+      "imu_source": "14989 normalized samples",
+      "rtk_source": "D:\\data\\0815\\sessions_v2_device_affine\\circle_193412_193642\\rtk.csv"
+    },
+    {
+      "session_id": "loop_194223_195003",
+      "batch_id": "0815",
+      "imu_samples": 45801,
+      "rtk_samples": 6741,
+      "fixed_position_ratio": 0.9998516540572615,
+      "fixed_attitude_ratio": 0.8377095386441181,
+      "common_time_span_s": [
+        38661.2831251,
+        39121.1709553
+      ],
+      "origin_geodetic": [
+        30.4654856957,
+        114.092151015,
+        29.4651
+      ],
+      "imu_source": "45801 normalized samples",
+      "rtk_source": "D:\\data\\0815\\sessions_v2_device_affine\\loop_194223_195003\\rtk.csv"
+    },
+    {
+      "session_id": "accel_195608_195958",
+      "batch_id": "0815",
+      "imu_samples": 23002,
+      "rtk_samples": 3456,
+      "fixed_position_ratio": 1.0,
+      "fixed_attitude_ratio": 0.8457754629629629,
+      "common_time_span_s": [
+        39486.3574509,
+        39716.3199405
+      ],
+      "origin_geodetic": [
+        30.465443014,
+        114.092179168,
+        29.5309
+      ],
+      "imu_source": "23002 normalized samples",
+      "rtk_source": "D:\\data\\0815\\sessions_v2_device_affine\\accel_195608_195958\\rtk.csv"
+    }
+  ]
+}

artifacts/rtk_imu_calibration_v1/batch_0815_rotation/rotation_result.json

@@ -0,0 +1,96 @@
+{
+  "R_RTK_IMU": [
+    [
+      0.9999453769836999,
+      0.010155336209751328,
+      -0.002472285459453144
+    ],
+    [
+      -0.010163396322394882,
+      0.9999430054296535,
+      -0.003269750373547743
+    ],
+    [
+      0.002438939138240274,
+      0.003294698586865735,
+      0.9999915982332558
+    ]
+  ],
+  "rpy_deg": [
+    0.18877322677308359,
+    -0.13974105765052158,
+    -0.5823314723802753
+  ],
+  "gyro_bias_by_session_rad_s": {
+    "slope_190548_190730": [
+      5.517563410757097e-05,
+      -1.0668622945796592e-05,
+      0.00015474647141927933
+    ],
+    "circle_193412_193642": [
+      -4.092656265416791e-05,
+      -0.00017676217236757262,
+      -5.914138553067106e-05
+    ],
+    "loop_194223_195003": [
+      -0.000196149370561509,
+      -0.0001486662046316796,
+      -3.6375768145656054e-05
+    ],
+    "accel_195608_195958": [
+      -7.483644204529091e-05,
+      -4.17320520562614e-06,
+      5.861303135056825e-05
+    ]
+  },
+  "time_offset": {
+    "offset_s": 0.04000000000000031,
+    "peak_correlation": 0.7578237026149359,
+    "second_best_correlation": 0.757682618781891,
+    "evaluated_samples": 5443,
+    "reliable": false
+  },
+  "convention": {
+    "name": "north_cw__pitch_nose_up__roll_right_down",
+    "heading_sign": -1.0,
+    "pitch_sign": -1.0,
+    "roll_sign": 1.0
+  },
+  "convention_scores_deg": {
+    "north_cw__pitch_nose_up__roll_right_down": 0.9457675569035681,
+    "north_cw__pitch_opposite": 1.064327146928918,
+    "heading_opposite__pitch_nose_up": 5.753424726280977,
+    "heading_opposite__pitch_opposite": 13.362267974377751
+  },
+  "pair_count": 351,
+  "residual_rms_deg": 0.9428350359826574,
+  "residual_median_deg": 0.4993317818354644,
+  "residual_p95_deg": 1.5023594730593923,
+  "rotation_std_deg": [
+    0.191917244945292,
+    0.16245924204992213,
+    2.5710977852526464
+  ],
+  "information_singular_values": [
+    125441.66767899474,
+    90572.5161990362,
+    496.5407001788204
+  ],
+  "per_session_rms_deg": {
+    "slope_190548_190730": 2.386329048920402,
+    "circle_193412_193642": 0.560395991888806,
+    "loop_194223_195003": 0.6239401903763562,
+    "accel_195608_195958": 0.9797575195873669
+  },
+  "loo_delta_deg": {},
+  "ok": false,
+  "notes": [
+    "transform convention: p_RTK = R_RTK_IMU p_IMU",
+    "residual time convention: t_IMU = t_RTK + +0.000000 s",
+    "GNHPR convention score gap=0.1186 deg",
+    "GNHPR alternatives use zero-bias prescreen scores; only the winner is jointly refined",
+    "LOO is conditional: per-session gyro biases are held at their all-session estimates",
+    "time-offset correlation was ambiguous; held residual offset at zero",
+    "rotation failed one or more strict acceptance gates"
+  ]
+}

artifacts/rtk_imu_calibration_v1/batch_0815_rotation/summary.json

@@ -0,0 +1,28 @@
+{
+  "status": "diagnostic_not_accepted",
+  "transform_convention": "T_RTK_IMU maps IMU coordinates into the RTK sensor frame",
+  "R_RTK_IMU": [
+    [
+      0.9999453769836999,
+      0.010155336209751328,
+      -0.002472285459453144
+    ],
+    [
+      -0.010163396322394882,
+      0.9999430054296535,
+      -0.003269750373547743
+    ],
+    [
+      0.002438939138240274,
+      0.003294698586865735,
+      0.9999915982332558
+    ]
+  ],
+  "t_RTK_IMU_m": null,
+  "T_RTK_IMU": null,
+  "rotation_ok": false,
+  "translation_ok": null,
+  "rotation_result": "rotation_result.json",
+  "translation_result": null,
+  "dataset_audit": "dataset_audit.json"
+}