重构RTK-IMU标定链路并完成机械先验工程验证

imu_lidar/rtk_imu_replay.py

@@ -16,6 +16,15 @@ from .rtk_imu_translation import TranslationCalibrationResult, solve_rtk_imu_tra
 from .rtk_io import load_rtk_csv
 
 
+DEFAULT_RTK_FRAME_DEFINITION = (
+    "right-handed vehicle-fixed frame: +X ANT1(main,left)->ANT2(secondary,right), "
+    "+Y vehicle forward/IMU +Y, +Z vehicle up/IMU +Z"
+)
+DEFAULT_RTK_REFERENCE_POINT = (
+    "GGA ANT1/main-antenna phase center, 1.916499878 m above ground"
+)
+
+
 @dataclass(frozen=True)
 class InventoryEntry:
     session_id: str
@@ -82,6 +91,7 @@ def dataset_audit(sessions: list[RotationSession]) -> dict[str, Any]:
         rtk = session.rtk
         valid_position = rtk.position_valid
         valid_attitude = rtk.attitude_valid & valid_position
+        float_attitude = rtk.attitude_float & valid_position
         rows.append(
             {
                 "session_id": session.session_id,
@@ -90,6 +100,8 @@ def dataset_audit(sessions: list[RotationSession]) -> dict[str, Any]:
                 "rtk_samples": int(rtk.t_s.size),
                 "fixed_position_ratio": float(np.mean(valid_position)),
                 "fixed_attitude_ratio": float(np.mean(valid_attitude)),
+                "float_attitude_ratio": float(np.mean(float_attitude)),
+                "checksum_valid_ratio": float(np.mean(rtk.checksum_valid)),
                 "common_time_span_s": [
                     float(max(session.imu.t_s[0], rtk.t_s[0])),
                     float(min(session.imu.t_s[-1], rtk.t_s[-1])),
@@ -109,8 +121,8 @@ def run_calibration(
     rotation_only: bool = False,
     compute_loo: bool = True,
     knot_step_s: float = 2.0,
-    rtk_frame_definition: str = '',
-    rtk_reference_point: str = '',
+    rtk_frame_definition: str = DEFAULT_RTK_FRAME_DEFINITION,
+    rtk_reference_point: str = DEFAULT_RTK_REFERENCE_POINT,
 ) -> tuple[RotationCalibrationResult, TranslationCalibrationResult | None]:
     """Run calibration and publish human-readable JSON artifacts."""
 
@@ -118,7 +130,7 @@ def run_calibration(
     output.mkdir(parents=True, exist_ok=True)
     rotation = solve_rtk_imu_rotation(sessions, compute_loo=compute_loo)
     translation = None
-    if not rotation_only:
+    if not rotation_only and rotation.ok:
         translation = solve_rtk_imu_translation(
             sessions,
             rotation,
@@ -144,9 +156,9 @@ def run_calibration(
     )
     blockers = []
     if not rotation.ok:
-        blockers.append('rotation quality gates failed')
+        blockers.append('full RTK-to-IMU rotation is not observable from the lateral dual-antenna baseline')
     if translation is None or not translation.ok:
-        blockers.append('translation quality gates failed or were not run')
+        blockers.append('translation is frozen until a full rotation is observable and accepted')
     if not rtk_frame_definition.strip():
         blockers.append('RTK frame_definition is empty')
     if not rtk_reference_point.strip():