新增独立RTK与IMU外参标定流程及质量验证

2026-08-21 10:04:41 +08:00
parent 1233f8aafd
commit c2da6dd192
38 changed files with 3937 additions and 17 deletions
@@ -0,0 +1,24 @@
+{
+  "session_count": 1,
+  "sessions": [
+    {
+      "session_id": "priority_175910_180530",
+      "batch_id": "0808",
+      "imu_samples": 37998,
+      "rtk_samples": 5786,
+      "fixed_position_ratio": 1.0,
+      "fixed_attitude_ratio": 0.8567231247839613,
+      "common_time_span_s": [
+        17410.2121738,
+        17790.0458228
+      ],
+      "origin_geodetic": [
+        30.4654151935,
+        114.090796384,
+        29.5317
+      ],
+      "imu_source": "37998 normalized samples",
+      "rtk_source": "D:\\data\\calibration_usable_20260808\\sessions_v2_device_affine\\priority_175910_180530\\rtk.csv"
+    }
+  ]
+}
@@ -0,0 +1,76 @@
+{
+  "R_RTK_IMU": [
+    [
+      0.9974493913373024,
+      -0.07135460605626225,
+      0.0017977528752911507
+    ],
+    [
+      0.0713431523484532,
+      0.997435050761847,
+      0.005785682733905998
+    ],
+    [
+      -0.0022059768426676615,
+      -0.00564266836413856,
+      0.9999816468115312
+    ]
+  ],
+  "rpy_deg": [
+    -0.32330358477785043,
+    0.1263932653005637,
+    4.0911470587568495
+  ],
+  "gyro_bias_by_session_rad_s": {
+    "priority_175910_180530": [
+      -0.00010509442179307857,
+      -0.0001426783269500731,
+      3.086292346981605e-05
+    ]
+  },
+  "time_offset": {
+    "offset_s": -0.0949999999999998,
+    "peak_correlation": 0.1329249352233157,
+    "second_best_correlation": 0.13247995527618098,
+    "evaluated_samples": 2316,
+    "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": 2.8406184024910064,
+    "north_cw__pitch_opposite": 2.8942770966870084,
+    "heading_opposite__pitch_nose_up": 3.8836333647028383,
+    "heading_opposite__pitch_opposite": 8.244842702849073
+  },
+  "pair_count": 91,
+  "residual_rms_deg": 2.8406184024910064,
+  "residual_median_deg": 1.624215282655001,
+  "residual_p95_deg": 6.087913500787023,
+  "rotation_std_deg": [
+    1.6029337786454214,
+    1.0761604678920118,
+    6.305203755276785
+  ],
+  "information_singular_values": [
+    2941.184567996004,
+    1268.1548949190246,
+    82.52753961323997
+  ],
+  "per_session_rms_deg": {
+    "priority_175910_180530": 2.8406184024910064
+  },
+  "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=0.0537 deg",
+    "time-offset correlation was ambiguous; held residual offset at zero",
+    "rotation failed one or more strict acceptance gates"
+  ]
+}
@@ -0,0 +1,28 @@
+{
+  "status": "diagnostic_not_accepted",
+  "transform_convention": "T_RTK_IMU maps IMU coordinates into the RTK sensor frame",
+  "R_RTK_IMU": [
+    [
+      0.9974493913373024,
+      -0.07135460605626225,
+      0.0017977528752911507
+    ],
+    [
+      0.0713431523484532,
+      0.997435050761847,
+      0.005785682733905998
+    ],
+    [
+      -0.0022059768426676615,
+      -0.00564266836413856,
+      0.9999816468115312
+    ]
+  ],
+  "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"
+}