改为车头向前整链：主从装反机械初值、双天线 pitch/roll 姿态与默认 HeadingOffsetDeg=-90

Co-authored-by: Cursor <cursoragent@cursor.com>

run/rtk_lidar_mechanical_initial.json

@@ -1,23 +1,41 @@
 {
-  "schema_version": 1,
-  "convention": "T_RTK_lidar maps raw LiDAR points into the RTK baseline frame (X = rawHeading baseline, Y left, Z up; heading_offset_deg = 0)",
-  "translation_m": [
-    0.414179474,
+  "schema_version": 3,
+  "convention": "T_RTK_lidar maps raw LiDAR points into the vehicle-forward RTK body frame (X forward, Y left, Z up) after HeadingOffsetDeg=-90",
+  "frame_mode": "vehicle_forward_heading_offset",
+  "heading_offset_deg": -90.0,
+  "baseline_points": "vehicle_right",
+  "baseline_points_note": "Field-confirmed: master/slave assignment reversed vs G90 diagram, antennas left-right symmetric about rear-axle centerline. Master/GGA on vehicle left, slave on right; rawHeading points vehicle right.",
+  "vehicle_flu_lever_master_to_lidar_m": [
     0.210859360,
-    0.004000001
+    -0.414179474,
+    0.078500001
+  ],
+  "vehicle_flu_note": "Vehicle FLU: LiDAR origin relative to master/GGA = ahead, right, above. CAD drawing X was opposite vehicle-forward; longitudinal sign is +X in true FLU (solver also converges to +X).",
+  "antenna_symmetry_note": "Master/slave are mirrors about the rear-axle centerline; swap flips baseline 180° and the vehicle-Y sign of the master→LiDAR lever",
+  "translation_m": [
+    0.210859360,
+    -0.414179474,
+    0.078500001
   ],
   "rotation_rpy_deg_xyz": [
     0.0,
     0.0,
-    90.0
+    0.0
   ],
   "matrix_4x4": [
-    [0.0, -1.0, 0.0, 0.414179474],
     [1.0, 0.0, 0.0, 0.210859360],
-    [0.0, 0.0, 1.0, 0.004000001],
+    [0.0, 1.0, 0.0, -0.414179474],
+    [0.0, 0.0, 1.0, 0.078500001],
     [0.0, 0.0, 0.0, 1.0]
   ],
   "use": "Final AX=XB solver initialization only; never use for LiDAR pair registration",
-  "yaw_note": "≈90 deg yaw is expected when LiDAR X is vehicle-forward and the dual-antenna baseline is left-right",
-  "z_note": "CAD/mechanical z only; final z is constrained by measured GGA/ANT1 phase-center height above ground"
+  "yaw_note": "In vehicle-forward delivery, LiDAR +X ≈ vehicle forward ⇒ mechanical yaw ≈ 0",
+  "z_note": "78.500001 mm = H_L - H_R with H_L=1994.999879 mm, H_R=1916.499878 mm",
+  "attitude_composition": "R_W_body = Rz(yaw_raw) Ry(-pitch) Rx(roll) Rz(-heading_offset); pitch/roll stay in baseline frame",
+  "baseline_frame_equivalent": {
+    "heading_offset_deg": 0.0,
+    "translation_m": [0.414179474, 0.210859360, 0.078500001],
+    "rotation_rpy_deg_xyz": [0.0, 0.0, 90.0],
+    "note": "Same physical install expressed in rawHeading baseline frame"
+  }
 }