重构RTK-IMU标定链路并完成机械先验工程验证

2026-08-25 09:56:25 +08:00
parent c2da6dd192
commit d14ae74117
56 changed files with 118382 additions and 159 deletions
@@ -46,6 +46,9 @@ CSV_FIELDS = [
    "pitch_deg",
    "roll_deg",
    "heading_quality",
+    "heading_satellites",
+    "heading_age_s",
+    "heading_station_id",
    "heading_valid",
    "gga_utc",
    "hpr_utc",
@@ -170,6 +173,9 @@ def merged_row(
        "pitch_deg": hpr_fields.get("pitch_deg"),
        "roll_deg": hpr_fields.get("roll_deg"),
        "heading_quality": hpr_fields.get("heading_quality"),
+        "heading_satellites": hpr_fields.get("heading_satellites"),
+        "heading_age_s": hpr_fields.get("heading_age_s"),
+        "heading_station_id": hpr_fields.get("heading_station_id"),
        "heading_valid": hpr_fields.get("heading_valid"),
        "gga_utc": fields.get("position_time_utc"),
        "hpr_utc": hpr_fields.get("position_time_utc"),