完善Phase-A会话级联合优化并修正雷达相位中心高度先验

config/vehicle_hi13_h32_20260808.yaml

@@ -18,7 +18,8 @@ installation:
     HI13R4 + H32 DLogCapture. Body +X forward: LiDAR and IMU at positive X.
     CAD sheet may draw +X rearward; numbers below are body-frame.
     Z is height above ground = CAD height at axle + 0.294 m (axle AGL).
-    LiDAR phase-center AGL is the measured 1.9165 m (not CAD dZ+63.5).
+    LiDAR CAD dZ is 1637.499879 mm relative to the axle reference. Phase-center
+    AGL adds rear-axle height 294 mm and the 63.5 mm phase-center offset.
     IMU axes: HI13R4 manual §2.4 RFU (X right, Y forward, Z up).
     LiDAR Cartesian in NPZ assumed body-aligned (X forward).
 
@@ -45,11 +46,12 @@ sensors:
       axes: "X forward, Y left, Z up (Cartesian metres in NPZ points)"
       driver_axis_remapped: false
     mount_in_body:
-      # X/Y：后轮轴中心 → 雷达；Z：相位中心真实离地 1.9165 m
-      translation_m: [2.522276859, 0.000020526, 1.9165]
+      # X/Y：后轮轴中心 → 雷达
+      # Z离地 = CAD dZ 1.637499879 + 后轮轴离地 0.294 + 相位中心偏移 0.0635
+      translation_m: [2.522276859, 0.000020526, 1.994999879]
       rotation_matrix_body_lidar: [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]]
       rotation_quaternion_xyzw: null
-      source: "CAD X/Y in body (+X forward); Z = measured phase-center AGL 1.9165 m; attitude = body"
+      source: "CAD X/Y in body (+X forward); Z AGL = CAD dZ 1.637499879 + axle AGL 0.294 + phase-center offset 0.0635; attitude = body"
 
   rtk:
     frame_definition: ""
@@ -67,17 +69,17 @@ time:
 # t_IMU_lidar = R_IMU_body * t_body,  R_IMU_lidar = R_IMU_body * R_body_lidar
 derived_T_IMU_lidar_prior:
   R_IMU_lidar: [[0.0, -1.0, 0.0], [1.0, 0.0, 0.0], [0.0, 0.0, 1.0]]
-  t_IMU_lidar_m: [0.036479474, -0.051849396, 0.730]
-  t_lidar_from_imu_in_body_m: [-0.051849396, -0.036479474, 0.730]
+  t_IMU_lidar_m: [0.036479474, -0.051849396, 0.808499879]
+  t_lidar_from_imu_in_body_m: [-0.051849396, -0.036479474, 0.808499879]
   notes: >
     Rotation prior ~90 deg yaw (body/lidar X-fwd vs IMU Y-fwd).
-    Relative Z = 1.9165 - 1.1865 = 0.730 m (was 0.8085 m with old CAD+63.5mm Z).
+    Relative Z = 1.994999879 - 1.1865 = 0.808499879 m.
 
 initialization:
   translation_prior:
     enabled: true
     sigma_m: [0.05, 0.05, 0.05]
-    t_IMU_lidar_m: [0.036479474, -0.051849396, 0.730]
+    t_IMU_lidar_m: [0.036479474, -0.051849396, 0.808499879]
   rotation_prior:
     enabled: true
     sigma_deg: 15.0