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 +1,119 @@
+{
+  "R_RTK_IMU": [
+    [
+      -0.999754381938718,
+      0.021803011844914608,
+      0.003975483470215314
+    ],
+    [
+      0.021793866945340735,
+      0.9997597719617833,
+      -0.0023293197487744975
+    ],
+    [
+      -0.0040253146336934244,
+      -0.002242106467980424,
+      -0.9999893848440022
+    ]
+  ],
+  "rpy_deg": [
+    -179.8715356137635,
+    0.23063416255936714,
+    178.75119441523574
+  ],
+  "gyro_bias_by_session_rad_s": {
+    "priority_174005_174515": [
+      -0.00018079953472427648,
+      -9.3706764772758e-05,
+      -1.6471539455612585e-05
+    ],
+    "priority_174905_175450": [
+      -0.0001527801061740737,
+      -0.0001164065722445753,
+      -5.5002757975692905e-05
+    ],
+    "priority_175910_180530": [
+      0.00010732176614734042,
+      -9.217694744503191e-05,
+      0.00037171055222583177
+    ],
+    "slope_190548_190730": [
+      -0.0001400513048024026,
+      -9.490085614046164e-05,
+      -7.313488292136488e-05
+    ],
+    "circle_193412_193642": [
+      -5.9488404294769446e-05,
+      -0.00029434501957892675,
+      0.000102661594942897
+    ],
+    "loop_194223_195003": [
+      -0.0002980828626939094,
+      9.137138703447405e-05,
+      4.430930647242609e-05
+    ],
+    "accel_195608_195958": [
+      5.9388956272647935e-05,
+      9.900621296014341e-06,
+      8.065768586636302e-05
+    ],
+    "motion_sms_154023_154359": [
+      0.0016442968972331072,
+      0.00012387305081956675,
+      8.435528364463815e-08
+    ]
+  },
+  "time_offset": {
+    "offset_s": 0.08500000000000035,
+    "peak_correlation": 0.46191352508231565,
+    "second_best_correlation": 0.460889710037625,
+    "evaluated_samples": 12384,
+    "reliable": false
+  },
+  "convention": {
+    "name": "heading_opposite__pitch_nose_up",
+    "heading_sign": 1.0,
+    "pitch_sign": -1.0,
+    "roll_sign": 1.0
+  },
+  "convention_scores_deg": {
+    "north_cw__pitch_nose_up__roll_right_down": 1.6671304616155285,
+    "north_cw__pitch_opposite": 1.7955511909491206,
+    "heading_opposite__pitch_nose_up": 1.6669796415371239,
+    "heading_opposite__pitch_opposite": 19.709790964275243
+  },
+  "pair_count": 6164,
+  "residual_rms_deg": 1.6669796415371239,
+  "residual_median_deg": 0.6097138083592458,
+  "residual_p95_deg": 2.9952512236242987,
+  "rotation_std_deg": [
+    1.0204560247927847,
+    0.06460681216547948,
+    0.11838973994567728
+  ],
+  "information_singular_values": [
+    818353.8002481281,
+    235774.70975965378,
+    3151.7390576048515
+  ],
+  "per_session_rms_deg": {
+    "priority_174005_174515": 0.7068100152136895,
+    "priority_174905_175450": 1.7590065687347056,
+    "priority_175910_180530": 3.0674316757114104,
+    "slope_190548_190730": 2.07580304513421,
+    "circle_193412_193642": 0.6574485751543728,
+    "loop_194223_195003": 0.6594363752510715,
+    "accel_195608_195958": 0.7631418065216562,
+    "motion_sms_154023_154359": 3.709386878989403
+  },
+  "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=0.0002 deg",
+    "time-offset correlation was ambiguous; held residual offset at zero",
+    "empirical best GNHPR convention differs from protocol expectation; manual verification required",
+    "rotation failed one or more strict acceptance gates"
+  ]
+}