266 lines
7.1 KiB
JSON
266 lines
7.1 KiB
JSON
{
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"schema_version": 1,
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"success": true,
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"convention": "T_RTK_lidar maps raw LiDAR points into the RTK navigation frame",
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"equation": "A_RTK_ij X = X B_LiDAR_ij",
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"frames": {
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"RTK": {
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"origin": "GGA positioning reference point; confirm ANT1/reference antenna in receiver configuration",
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"x_axis": "horizontal projection of the rawHeading baseline direction reported by the receiver",
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"y_axis": "left",
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"z_axis": "up",
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"yaw_enu_deg": "90 - rawHeadingDeg"
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},
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"LiDAR": "raw LiDAR sensor frame"
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},
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"backend": "consensus",
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"measured_lidar_extrinsic_used_as_initial": false,
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"body_heading_offset_used": false,
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"body_antenna_lever_xy_used": false,
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"translation_m": [
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],
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"rotation_rpy_deg_xyz": [
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-0.8171674587248069,
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-22.104163317857477
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],
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"quaternion_xyzw": [
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],
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"matrix_4x4": [
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]
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],
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"quality": {
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"stations": 34,
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"pairs": 25,
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"residuals": {
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"pairs": 25,
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"translation_m": {
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"rms": 0.10020667268070801,
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"median": 0.06249704966098745,
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"p90": 0.1210855900297508,
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"p95": 0.12306740757559503,
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"rotation_deg": {
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"per_pair": [
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{
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"pair_index": 1,
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"rotation_deg": 0.3949090486960162
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{
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"pair_index": 2,
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"rotation_deg": 0.2966790038612149
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{
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"pair_index": 3,
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{
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{
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{
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{
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"pair_index": 9,
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{
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{
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"pair_index": 11,
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{
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{
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{
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{
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{
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{
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"pair_index": 17,
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{
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"pair_index": 18,
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"rotation_deg": 0.48777111889991587
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{
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"pair_index": 19,
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"translation_m": 0.10122861599246656,
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"rotation_deg": 0.9367994244405716
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{
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"pair_index": 20,
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"translation_m": 0.023164324685695653,
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"rotation_deg": 0.2827650802657415
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},
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{
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"pair_index": 21,
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"translation_m": 0.06461070522327692,
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"rotation_deg": 1.1522606437088527
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},
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{
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"pair_index": 22,
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"translation_m": 0.35253378022021187,
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"rotation_deg": 0.7805430662091233
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},
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{
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"pair_index": 23,
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"translation_m": 0.11095170748867093,
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"rotation_deg": 0.8561868088481429
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},
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{
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"pair_index": 24,
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"translation_m": 0.12163042992227363,
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"rotation_deg": 0.17586872890763125
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}
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]
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},
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"weighted_jacobian_condition_number": 7.739413195936781,
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"linearized_one_sigma": {
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"translation_m": [
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],
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"rotation_deg": [
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],
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"warning": "conditional local estimate; bootstrap is the primary stability check"
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},
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"bootstrap": {
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"runs": 200,
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"order": [
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"x_m",
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"y_m",
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"z_m",
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"roll_deg",
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"pitch_deg",
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"yaw_deg"
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],
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"std": [
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0.10272261218646783,
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],
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"p025": [
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1.6309949623104336,
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0.07875765037498306,
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1.1135179371917805,
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-22.3851229846878
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],
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"p975": [
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1.6456999445482652,
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0.09114084095723367,
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1.4821798187931374,
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-21.82296828752347
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]
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}
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},
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"z_constraint": {
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"observable_from_planar_AX_XB": false,
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"method": "LiDAR ground planes plus externally supplied RTK reference-point height above ground",
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"rtk_reference_height_above_ground_m": 0.8535,
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"warning": "z is conditional on the supplied RTK antenna height; it is not independently identified by planar Ackermann motion"
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},
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"important_limit": "AX residual and bootstrap quantify internal consistency, not independent centimetre-grade absolute certification"
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} |