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新增独立RTK与IMU外参标定流程及质量验证

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lichun.qu
2026-08-21 10:04:41 +08:00
parent 1233f8aafd
commit c2da6dd192
38 changed files with 3937 additions and 17 deletions
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artifacts/rtk_imu_calibration_v1/README.md
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# RTK–IMU 标定产物说明
- `all_sessions/`：8 会话、5 s 平移节点、带 conditional rotation LOO 和 translation LOO 的当前完整基线。
- `rotation_hpr_time/`：改用 GNHPR 自带测量时刻后的全量 rotation-only 对照。
- `rotation_smoke/`：较早的 GGA 最近邻姿态时刻对照，不作为当前结果。
- `batch_0808_full_smoke/`：0808 三会话完整诊断。
- `batch_0815_rotation/`：0815 四会话 rotation-only 诊断。
- `single_smoke/`：早期单会话性能/数值冒烟，不作为当前结果。
每个正式运行目录包含：
- `dataset_audit.json`：样本数、固定解比例、共同时间范围和 ENU 原点。
- `rotation_result.json`：旋转、RPY、时间审计、GNHPR 候选、偏置、残差、协方差、逐会话指标和 LOO。
- `translation_result.json`：杆臂、平移、齐次矩阵、协方差/秩、位置/速度残差、偏置和 LOO。
- `summary.json`：供程序读取的最终状态和候选矩阵。
当前 `all_sessions/summary.json` 是 `diagnostic_not_accepted`。其中平移约 `[0.771, 0.569, -21.073] m` 明显不具机械真实性，禁止用于车辆配置。完整解释见 `docs/rtk_imu_calibration.md`。
artifacts/rtk_imu_calibration_v1/all_sessions/dataset_audit.json
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{
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{
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"rtk_source": "D:\\data\\0815\\sessions_v2_device_affine\\circle_193412_193642\\rtk.csv"
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"imu_source": "23002 normalized samples",
"rtk_source": "D:\\data\\0815\\sessions_v2_device_affine\\accel_195608_195958\\rtk.csv"
},
{
"session_id": "motion_sms_154023_154359",
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"imu_source": "21556 normalized samples",
"rtk_source": "D:\\data\\0819\\dense5\\sessions_v2_device_affine\\motion_sms_154023_154359\\rtk.csv"
}
]
}
artifacts/rtk_imu_calibration_v1/all_sessions/rotation_result.json
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{
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"ok": false,
"notes": [
"transform convention: p_RTK = R_RTK_IMU p_IMU",
"residual time convention: t_IMU = t_RTK + +0.000000 s",
"GNHPR convention score gap=0.1063 deg",
"GNHPR alternatives use zero-bias prescreen scores; only the winner is jointly refined",
"LOO is conditional: per-session gyro biases are held at their all-session estimates",
"time-offset correlation was ambiguous; held residual offset at zero",
"rotation failed one or more strict acceptance gates"
]
}
artifacts/rtk_imu_calibration_v1/all_sessions/summary.json
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{
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"transform_convention": "T_RTK_IMU maps IMU coordinates into the RTK sensor frame",
"rtk_frame_definition": "",
"rtk_reference_point": "",
"interpretation_blockers": [
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"translation quality gates failed or were not run",
"RTK frame_definition is empty",
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],
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"dataset_audit": "dataset_audit.json"
}
artifacts/rtk_imu_calibration_v1/all_sessions/translation_result.json
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{
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"notes": [
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"transform translation uses t_RTK_IMU = -R_RTK_IMU @ l",
"RTK position is never differentiated; position and velocity preintegration factors are solved jointly",
"upstream rotation is not accepted, so translation is diagnostic only",
"translation failed one or more strict acceptance gates"
]
}
artifacts/rtk_imu_calibration_v1/batch_0808_full_smoke/dataset_audit.json
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{
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},
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},
{
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}
]
}
artifacts/rtk_imu_calibration_v1/batch_0808_full_smoke/rotation_result.json
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{
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},
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artifacts/rtk_imu_calibration_v1/batch_0808_full_smoke/summary.json
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artifacts/rtk_imu_calibration_v1/rotation_hpr_time/dataset_audit.json
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artifacts/rtk_imu_calibration_v1/rotation_hpr_time/rotation_result.json
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artifacts/rtk_imu_calibration_v1/rotation_hpr_time/summary.json
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artifacts/rtk_imu_calibration_v1/rotation_smoke/dataset_audit.json
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artifacts/rtk_imu_calibration_v1/rotation_smoke/rotation_result.json
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artifacts/rtk_imu_calibration_v1/rotation_smoke/summary.json
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artifacts/rtk_imu_calibration_v1/single_smoke/dataset_audit.json
+24
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artifacts/rtk_imu_calibration_v1/single_smoke/rotation_result.json
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artifacts/rtk_imu_calibration_v1/single_smoke/summary.json
+28
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