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重构RTK-IMU标定链路并完成机械先验工程验证

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lichun.qu
2026-08-25 09:56:25 +08:00
parent c2da6dd192
commit d14ae74117
56 changed files with 118382 additions and 159 deletions
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imu_lidar/rtk_io.py
+26 -3
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@@ -22,23 +22,43 @@ class RtkSeries:
roll_deg: np.ndarray
fix_quality: np.ndarray
heading_quality: np.ndarray
heading_satellites: np.ndarray
heading_age_s: np.ndarray
hdop: np.ndarray
checksum_valid: np.ndarray
origin_geodetic: tuple[float, float, float]
source: Path
@property
def attitude_valid(self) -> np.ndarray:
"""Strict fixed dual-antenna solutions suitable for calibration."""
return (
np.isfinite(self.heading_deg)
& np.isfinite(self.pitch_deg)
& np.isfinite(self.roll_deg)
& np.isin(self.heading_quality, (4.0, 5.0))
& (self.heading_quality == 4.0)
& self.checksum_valid
)
@property
def attitude_float(self) -> np.ndarray:
"""Float solutions retained for diagnostics but never calibration."""
return (
np.isfinite(self.heading_deg)
& np.isfinite(self.pitch_deg)
& np.isfinite(self.roll_deg)
& (self.heading_quality == 5.0)
& self.checksum_valid
)
@property
def position_valid(self) -> np.ndarray:
return np.all(np.isfinite(self.position_enu_m), axis=1) & np.isin(
self.fix_quality, (4.0, 5.0)
return (
np.all(np.isfinite(self.position_enu_m), axis=1)
& (self.fix_quality == 4.0)
& self.checksum_valid
)
@@ -88,7 +108,10 @@ def load_rtk_csv(path: Path | str) -> RtkSeries:
roll_deg=_column(data, "roll_deg")[order],
fix_quality=_column(data, "fix_quality", default=0.0)[order],
heading_quality=_column(data, "heading_quality", default=0.0)[order],
heading_satellites=_column(data, "heading_satellites")[order],
heading_age_s=_column(data, "heading_age_s")[order],
hdop=_column(data, "hdop")[order],
checksum_valid=_column(data, "checksum_valid", default=1.0)[order] == 1.0,
origin_geodetic=origin,
source=source,
)