重构RTK-IMU标定链路并完成机械先验工程验证

artifacts/rtk_imu_calibration_v3/README.md

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+# RTK-IMU V3 正式结果集
+
+本目录只提交复现工程结论所需的审核结果。运行过程中的调试输出、状态快照、逐窗口 checkpoint 和旧版结果保留在本机，由仓库根目录 `.gitignore` 排除。
+
+## 当前结论
+
+- 固定旋转来源：`R2G_gravity_level_prior`。
+- 工程候选杆臂：`l_I = p_ANT1^I = [-0.4518015159, -0.2644749820, 0.7314656115] m`。
+- `data_only_translation_accepted=false`。
+- `engineering_translation_accepted=false`，原因是独立传播验证仍受公共加速度偏差影响。
+- `independent_extrinsic_sensitive_validation_passed=true`；当前结果可描述为机械杆臂经动态数据一致性验证的工程候选，不得描述为 data-only 平移标定结果。
+
+## 文件说明
+
+- `engineering_release_decision.json`：最终状态、变换和放行判定。
+- `mechanical_prior_engineering_47_window.json`：相同 47 个非重叠窗口上的 free/fixed/prior 对比。
+- `node_graph_free_information_selected_mechanical.json`：冻结的无先验 free-solve 基线。
+- `lever_information_window_selection*.json`：窗口选择及实际边缘信息复核。
+- `mechanical_prior_engineering_heldout.json`：未参与标定窗口的 held-out 验证。
+- `heldout_independent_innovation.json`、`heldout_nonconverged_retry.json`：独立创新与失败窗口重试结果。
+- `mechanical_prior_rotation_sensitivity.json`：固定候选杆臂的旋转扰动敏感性结果。
+- `propagation_bias_root_cause_audit.json`：独立传播公共加速度误差根因审计。
+
+结果 JSON 是审核快照；需要重新生成时应通过 `tools/` 中相应入口运行，且不得提交运行产生的 checkpoint 或 `.npz` 状态文件。

artifacts/rtk_imu_calibration_v3/engineering_release_decision.json

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+{
+  "scope": "final mechanical-prior RTK-IMU engineering release decision",
+  "no_refit_performed": true,
+  "data_only_full_free_called": false,
+  "bootstrap_called": false,
+  "loo_called": false,
+  "covariance_retuned": false,
+  "new_window_selection_called": false,
+  "parser_R0_modified": false,
+  "data_only_translation_accepted": false,
+  "translation_refined_by_data": false,
+  "mechanical_prior_consistent_with_calibration": true,
+  "heldout_physical_validation_passed": true,
+  "heldout_physical_gate_checks": {
+    "all_267_converged_after_retry": true,
+    "BEST_position_vector_p95_le_0p20_m": true,
+    "Doppler_vector_p95_le_0p50_m_s": true,
+    "HPR_normalized_p95_le_4": true,
+    "preintegration_normalized_p95_le_3": true
+  },
+  "heldout_statistical_scale_passed": false,
+  "heldout_postfit_chi_square_per_dof": 0.12733913101711092,
+  "heldout_covariance_underdispersion_warning": true,
+  "independent_heldout_innovation_passed": false,
+  "common_constant_acceleration_error_detected": true,
+  "independent_propagation_validation_passed": false,
+  "independent_extrinsic_sensitive_validation_passed": true,
+  "rotation_sensitivity_passed": true,
+  "engineering_translation_acceptance_formula": "mechanical_prior_consistent_with_calibration AND heldout_physical_validation_passed AND independent_heldout_innovation_passed AND rotation_sensitivity_passed",
+  "engineering_translation_accepted": false,
+  "result_nature": "mechanically anchored + dynamically validated",
+  "summary": "Translation is mechanically anchored and dynamically validated. The current dataset does not independently observe translation accurately enough for data-only calibration, and does not provide meaningful refinement beyond the mechanical prior.",
+  "forbidden_descriptions": [
+    "data-only calibrated translation",
+    "dynamically refined mechanical lever"
+  ],
+  "candidate_l_I_engineering_m": [
+    -0.45180151590212486,
+    -0.26447498198536895,
+    0.7314656114613277
+  ],
+  "candidate_T_RTK_IMU": [
+    [
+      0.9999999761265028,
+      -0.00021395911860711003,
+      -4.436766104011944e-05,
+      0.45177737170031523
+    ],
+    [
+      0.00021360059847267874,
+      0.9999685415936667,
+      -0.007929072948303898,
+      0.27036301129056084
+    ],
+    [
+      4.606276276360097e-05,
+      0.007929063282050246,
+      0.9999685634227163,
+      -0.7293247665913783
+    ],
+    [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "candidate_T_IMU_RTK": [
+    [
+      0.9999999761265029,
+      0.00021360059847267876,
+      4.606276276360098e-05,
+      -0.45180151590212486
+    ],
+    [
+      -0.00021395911860711008,
+      0.9999685415936669,
+      0.007929063282050248,
+      -0.264474981985369
+    ],
+    [
+      -4.436766104011945e-05,
+      -0.0079290729483039,
+      0.9999685634227164,
+      0.7314656114613278
+    ],
+    [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "candidate_transform_inverse_error_norm": 1.3597553244868544e-16,
+  "l_I_engineering_m": null,
+  "T_RTK_IMU": null,
+  "T_IMU_RTK": null,
+  "transform_convention": {
+    "equation": "p_RTK = R_RTK_IMU * p_IMU + t_RTK_IMU",
+    "translation": "t_RTK_IMU = -R_RTK_IMU * l_I",
+    "RTK_origin": "ANT1 phase center"
+  },
+  "rotation_source": "R2G_gravity_level_prior",
+  "translation_conditional_on_rotation": true,
+  "evidence": {
+    "calibration_path": "artifacts\\rtk_imu_calibration_v3\\mechanical_prior_engineering_47_window.json",
+    "heldout_postfit_path": "artifacts\\rtk_imu_calibration_v3\\mechanical_prior_engineering_heldout.json",
+    "innovation_path": "artifacts\\rtk_imu_calibration_v3\\heldout_independent_innovation.json",
+    "sensitivity_path": "artifacts\\rtk_imu_calibration_v3\\mechanical_prior_rotation_sensitivity.json",
+    "convergence_retry_path": "artifacts\\rtk_imu_calibration_v3\\heldout_nonconverged_retry.json",
+    "propagation_root_cause_path": "artifacts\\rtk_imu_calibration_v3\\propagation_bias_root_cause_audit.json",
+    "posterior_prior_variance_ratio": [
+      0.9841028247436912,
+      0.9831529061304226,
+      0.9921155953185713
+    ],
+    "heldout_convergence_after_retry": 1.0,
+    "rotation_sensitivity_summary": {
+      "max_abs_delta_l_xyz_m": [
+        0.0024980444199615426,
+        0.0006588674774769543,
+        0.0007172660986609625
+      ],
+      "max_delta_l_norm_m": 0.0025582764807350012,
+      "max_transform_translation_delta_norm_m": 0.00686033304738171
+    }
+  }
+}