新增独立RTK与IMU外参标定流程及质量验证

tests/test_device_time_alignment.py

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+from __future__ import annotations
+
+from datetime import datetime, timezone
+
+import numpy as np
+
+from tools.export_g90_rtk_to_sessions import nmea_utc_to_unix_s
+from tools.time_alignment import fit_affine_clock
+
+
+def test_fit_affine_clock_large_epoch_and_receive_spike() -> None:
+    device = np.linspace(10_000.0, 10_300.0, 601)
+    host = 1_786_000_000.0 + 1.00002 * (device - device[0])
+    host[250] += 0.25
+
+    model = fit_affine_clock(device, host)
+
+    assert abs(model.scale - 1.00002) < 1e-7
+    assert abs(model.map(device[400]) - host[400]) < 1e-4
+    assert model.inlier_count < model.sample_count
+    assert abs(model.inverse(model.map(device[123])) - device[123]) < 1e-7
+
+
+def test_nmea_utc_uses_measurement_time_not_receive_time() -> None:
+    receive = datetime(2026, 8, 14, 11, 34, 12, tzinfo=timezone.utc).timestamp()
+    measurement = nmea_utc_to_unix_s("113408.85", receive)
+
+    assert abs((receive - measurement) - 3.15) < 1e-6
+
+
+def test_nmea_utc_resolves_midnight_rollover() -> None:
+    receive = datetime(2026, 8, 15, 0, 0, 1, tzinfo=timezone.utc).timestamp()
+    measurement = nmea_utc_to_unix_s("235959.50", receive)
+
+    assert abs((receive - measurement) - 1.5) < 1e-6