新增独立RTK与IMU外参标定流程及质量验证

artifacts/rtk_imu_calibration_v1/all_sessions/translation_result.json

@@ -0,0 +1,161 @@
+{
+  "lever_IMU_to_RTK_in_IMU_m": [
+    -0.7032597491310882,
+    -0.5505808768918061,
+    21.07590765040047
+  ],
+  "t_RTK_IMU_m": [
+    0.7710937276592442,
+    0.5693018309069646,
+    -21.07303743539233
+  ],
+  "T_RTK_IMU": [
+    [
+      0.9996841792313951,
+      0.02499811511405725,
+      -0.002576050309343804,
+      0.7710937276592442
+    ],
+    [
+      -0.025002617750669198,
+      0.9996858874629868,
+      -0.0017307550243271697,
+      0.5693018309069646
+    ],
+    [
+      0.002531975526313299,
+      0.0017946164171362589,
+      0.9999951842143289,
+      -21.07303743539233
+    ],
+    [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "translation_std_m": [
+    0.367657527272358,
+    0.36764001580136974,
+    2.960858932902556
+  ],
+  "lever_information_singular_values": [
+    7.467287688797444,
+    7.419771560016465,
+    0.11404687553142893
+  ],
+  "lever_precision_rank": 3,
+  "position_residual_rms_xyz_m": [
+    0.0026057774092802665,
+    0.0026172203224947795,
+    0.0008707288139887198
+  ],
+  "velocity_residual_rms_xyz_m_s": [
+    1.0344084464154262,
+    1.0018456371907998,
+    0.08189262443294992
+  ],
+  "accel_bias_by_session_m_s2": {
+    "priority_174005_174515": [
+      -0.0033446448235936025,
+      0.04850567116751809,
+      0.014864908749227664
+    ],
+    "priority_174905_175450": [
+      0.051484854191344014,
+      0.009750775340658668,
+      0.016837766756117954
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+    "priority_175910_180530": [
+      -0.0012098409852818557,
+      0.04428237322299069,
+      0.015044444493724668
+    ],
+    "slope_190548_190730": [
+      0.007720083607057322,
+      -0.07045791547639069,
+      0.011096872492579776
+    ],
+    "circle_193412_193642": [
+      0.010695150095323893,
+      0.07124837152622766,
+      0.012181970165526993
+    ],
+    "loop_194223_195003": [
+      0.017798177348527063,
+      0.026531175431114495,
+      0.013517325106459492
+    ],
+    "accel_195608_195958": [
+      0.010843370014374661,
+      0.0021847264023688797,
+      0.012720554759472001
+    ],
+    "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"
+  ]
+}