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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_smoke/dataset_audit.json
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{
"session_count": 8,
"sessions": [
{
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"batch_id": "0808",
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"common_time_span_s": [
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],
"origin_geodetic": [
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114.092169888,
29.4695
],
"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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"rtk_samples": 5786,
"fixed_position_ratio": 1.0,
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"common_time_span_s": [
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],
"origin_geodetic": [
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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",
"imu_samples": 10199,
"rtk_samples": 1578,
"fixed_position_ratio": 1.0,
"fixed_attitude_ratio": 0.8757921419518377,
"common_time_span_s": [
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],
"origin_geodetic": [
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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",
"imu_samples": 45801,
"rtk_samples": 6741,
"fixed_position_ratio": 0.9998516540572615,
"fixed_attitude_ratio": 0.8377095386441181,
"common_time_span_s": [
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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",
"batch_id": "0815",
"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_smoke/rotation_result.json
+119
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{
"R_RTK_IMU": [
[
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0.021803011844914608,
0.003975483470215314
],
[
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[
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],
"rpy_deg": [
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],
"gyro_bias_by_session_rad_s": {
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],
"priority_174905_175450": [
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],
"priority_175910_180530": [
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],
"slope_190548_190730": [
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-7.313488292136488e-05
],
"circle_193412_193642": [
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],
"loop_194223_195003": [
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4.430930647242609e-05
],
"accel_195608_195958": [
5.9388956272647935e-05,
9.900621296014341e-06,
8.065768586636302e-05
],
"motion_sms_154023_154359": [
0.0016442968972331072,
0.00012387305081956675,
8.435528364463815e-08
]
},
"time_offset": {
"offset_s": 0.08500000000000035,
"peak_correlation": 0.46191352508231565,
"second_best_correlation": 0.460889710037625,
"evaluated_samples": 12384,
"reliable": false
},
"convention": {
"name": "heading_opposite__pitch_nose_up",
"heading_sign": 1.0,
"pitch_sign": -1.0,
"roll_sign": 1.0
},
"convention_scores_deg": {
"north_cw__pitch_nose_up__roll_right_down": 1.6671304616155285,
"north_cw__pitch_opposite": 1.7955511909491206,
"heading_opposite__pitch_nose_up": 1.6669796415371239,
"heading_opposite__pitch_opposite": 19.709790964275243
},
"pair_count": 6164,
"residual_rms_deg": 1.6669796415371239,
"residual_median_deg": 0.6097138083592458,
"residual_p95_deg": 2.9952512236242987,
"rotation_std_deg": [
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],
"information_singular_values": [
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],
"per_session_rms_deg": {
"priority_174005_174515": 0.7068100152136895,
"priority_174905_175450": 1.7590065687347056,
"priority_175910_180530": 3.0674316757114104,
"slope_190548_190730": 2.07580304513421,
"circle_193412_193642": 0.6574485751543728,
"loop_194223_195003": 0.6594363752510715,
"accel_195608_195958": 0.7631418065216562,
"motion_sms_154023_154359": 3.709386878989403
},
"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=0.0002 deg",
"time-offset correlation was ambiguous; held residual offset at zero",
"empirical best GNHPR convention differs from protocol expectation; manual verification required",
"rotation failed one or more strict acceptance gates"
]
}
artifacts/rtk_imu_calibration_v1/rotation_smoke/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": [
[
-0.999754381938718,
0.021803011844914608,
0.003975483470215314
],
[
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-0.0023293197487744975
],
[
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-0.002242106467980424,
-0.9999893848440022
]
],
"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"
}