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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/rotation_hpr_time/dataset_audit.json
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{
"session_count": 8,
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{
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"common_time_span_s": [
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],
"origin_geodetic": [
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],
"imu_source": "31000 normalized samples",
"rtk_source": "D:\\data\\calibration_usable_20260808\\sessions_v2_device_affine\\priority_174005_174515\\rtk.csv"
},
{
"session_id": "priority_174905_175450",
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],
"origin_geodetic": [
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],
"imu_source": "34499 normalized samples",
"rtk_source": "D:\\data\\calibration_usable_20260808\\sessions_v2_device_affine\\priority_174905_175450\\rtk.csv"
},
{
"session_id": "priority_175910_180530",
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"imu_source": "37998 normalized samples",
"rtk_source": "D:\\data\\calibration_usable_20260808\\sessions_v2_device_affine\\priority_175910_180530\\rtk.csv"
},
{
"session_id": "slope_190548_190730",
"batch_id": "0815",
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"imu_source": "10199 normalized samples",
"rtk_source": "D:\\data\\0815\\sessions_v2_device_affine\\slope_190548_190730\\rtk.csv"
},
{
"session_id": "circle_193412_193642",
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"imu_source": "14989 normalized samples",
"rtk_source": "D:\\data\\0815\\sessions_v2_device_affine\\circle_193412_193642\\rtk.csv"
},
{
"session_id": "loop_194223_195003",
"batch_id": "0815",
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"rtk_samples": 6741,
"fixed_position_ratio": 0.9998516540572615,
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"origin_geodetic": [
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"imu_source": "45801 normalized samples",
"rtk_source": "D:\\data\\0815\\sessions_v2_device_affine\\loop_194223_195003\\rtk.csv"
},
{
"session_id": "accel_195608_195958",
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"imu_samples": 23002,
"rtk_samples": 3456,
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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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"rtk_source": "D:\\data\\0819\\dense5\\sessions_v2_device_affine\\motion_sms_154023_154359\\rtk.csv"
}
]
}
artifacts/rtk_imu_calibration_v1/rotation_hpr_time/rotation_result.json
+119
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{
"R_RTK_IMU": [
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[
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[
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"gyro_bias_by_session_rad_s": {
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"priority_175910_180530": [
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],
"slope_190548_190730": [
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],
"circle_193412_193642": [
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],
"loop_194223_195003": [
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],
"accel_195608_195958": [
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-2.604932294598783e-06,
5.8586555655011475e-05
],
"motion_sms_154023_154359": [
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]
},
"time_offset": {
"offset_s": 0.04000000000000031,
"peak_correlation": 0.5788788671828708,
"second_best_correlation": 0.5773967219219845,
"evaluated_samples": 12394,
"reliable": false
},
"convention": {
"name": "north_cw__pitch_nose_up__roll_right_down",
"heading_sign": -1.0,
"pitch_sign": -1.0,
"roll_sign": 1.0
},
"convention_scores_deg": {
"north_cw__pitch_nose_up__roll_right_down": 1.631322241364994,
"north_cw__pitch_opposite": 1.737582794831228,
"heading_opposite__pitch_nose_up": 7.263259116648845,
"heading_opposite__pitch_opposite": 17.716319437929055
},
"pair_count": 731,
"residual_rms_deg": 1.6276839301413086,
"residual_median_deg": 0.5695938849052221,
"residual_p95_deg": 3.0903953005641345,
"rotation_std_deg": [
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],
"information_singular_values": [
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],
"per_session_rms_deg": {
"priority_174005_174515": 0.6134232617562615,
"priority_174905_175450": 2.2485932625979106,
"priority_175910_180530": 3.095861798757508,
"slope_190548_190730": 2.388478834012087,
"circle_193412_193642": 0.5629885032374518,
"loop_194223_195003": 0.6250976606325254,
"accel_195608_195958": 0.975856888271022,
"motion_sms_154023_154359": 1.3698317592842066
},
"loo_delta_deg": {},
"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",
"time-offset correlation was ambiguous; held residual offset at zero",
"rotation failed one or more strict acceptance gates"
]
}
artifacts/rtk_imu_calibration_v1/rotation_hpr_time/summary.json
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{
"status": "diagnostic_not_accepted",
"transform_convention": "T_RTK_IMU maps IMU coordinates into the RTK sensor frame",
"R_RTK_IMU": [
[
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-0.002576050309343804
],
[
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],
[
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0.9999951842143289
]
],
"t_RTK_IMU_m": null,
"T_RTK_IMU": null,
"rotation_ok": false,
"translation_ok": null,
"rotation_result": "rotation_result.json",
"translation_result": null,
"dataset_audit": "dataset_audit.json"
}