新增独立RTK与IMU外参标定流程及质量验证
This commit is contained in:
lichun.qu
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@@ -0,0 +1,130 @@
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"notes": [
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"transform convention: p_RTK = R_RTK_IMU p_IMU",
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"GNHPR convention score gap=0.1063 deg",
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"LOO is conditional: per-session gyro biases are held at their all-session estimates",
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"time-offset correlation was ambiguous; held residual offset at zero",
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"rotation failed one or more strict acceptance gates"
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@@ -0,0 +1,65 @@
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{
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@@ -0,0 +1,161 @@
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],
|
||||
"motion_sms_154023_154359": [
|
||||
-0.01917068926914634,
|
||||
0.04878246850510192,
|
||||
0.011986246228615108
|
||||
]
|
||||
},
|
||||
"knot_count_by_session": {
|
||||
"priority_174005_174515": 62,
|
||||
"priority_174905_175450": 69,
|
||||
"priority_175910_180530": 76,
|
||||
"slope_190548_190730": 21,
|
||||
"circle_193412_193642": 30,
|
||||
"loop_194223_195003": 92,
|
||||
"accel_195608_195958": 46,
|
||||
"motion_sms_154023_154359": 20
|
||||
},
|
||||
"loo_delta_m": {
|
||||
"priority_174005_174515": [
|
||||
-0.08631101169626099,
|
||||
-0.16878866579372004,
|
||||
-0.1969063529933237
|
||||
],
|
||||
"priority_174905_175450": [
|
||||
0.052982832020427084,
|
||||
0.23694572858391594,
|
||||
0.5921699991558107
|
||||
],
|
||||
"priority_175910_180530": [
|
||||
-0.03728037456994515,
|
||||
-0.0587695607071852,
|
||||
0.36745157813128415
|
||||
],
|
||||
"slope_190548_190730": [
|
||||
0.06820599394639204,
|
||||
0.13646009238200618,
|
||||
0.8245922313333871
|
||||
],
|
||||
"circle_193412_193642": [
|
||||
-0.06745036261863124,
|
||||
-0.18645839932341524,
|
||||
-0.8300513550738842
|
||||
],
|
||||
"loop_194223_195003": [
|
||||
0.12045919921905746,
|
||||
0.06572884705689208,
|
||||
-1.774476169745249
|
||||
],
|
||||
"accel_195608_195958": [
|
||||
0.019243586803303625,
|
||||
-0.002985337002138544,
|
||||
0.3653882998138158
|
||||
],
|
||||
"motion_sms_154023_154359": [
|
||||
-0.0383153365081248,
|
||||
0.027686850248512473,
|
||||
0.507160468738487
|
||||
]
|
||||
},
|
||||
"ok": false,
|
||||
"notes": [
|
||||
"lever l is vector IMU-origin -> RTK-origin expressed in IMU",
|
||||
"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"
|
||||
]
|
||||
}
|
||||
Reference in New Issue
Block a user