重构RTK-IMU标定链路并完成机械先验工程验证

tests/test_rtk_imu_multisource.py

@@ -0,0 +1,46 @@
+from __future__ import annotations
+
+import numpy as np
+
+from imu_lidar.contracts import ImuSeries
+from imu_lidar.rtk_imu_multisource import R1bResult, UnifiedSession, solve_r2g
+
+
+def _level_session(session_id: str) -> UnifiedSession:
+    t = np.arange(0.0, 25.0, 0.01)
+    return UnifiedSession(
+        session_id=session_id,
+        batch_id="test",
+        imu=ImuSeries(
+            t_s=t,
+            gyro_rad_s=np.zeros((t.size, 3)),
+            acc_m_s2=np.tile([0.0, 0.0, 9.80665], (t.size, 1)),
+        ),
+        imu_rpy_deg=np.zeros((t.size, 3)),
+        imu_quaternion_wxyz=np.tile([1.0, 0.0, 0.0, 0.0], (t.size, 1)),
+        imu_host_receive_utc_s=t,
+        rtk_by_type={},
+    )
+
+
+def test_r2g_baseline_plus_level_gravity_completes_identity() -> None:
+    r1b = R1bResult(
+        baseline_axis_imu=np.array([1.0, 0.0, 0.0]),
+        tilt_yz_deg=np.zeros(2),
+        pair_count=100,
+        residual_rms_deg=0.1,
+        residual_p95_deg=0.2,
+        covariance_deg2=np.eye(2) * 0.01,
+        std_deg=np.ones(2) * 0.1,
+        information_singular_values=np.ones(2),
+        per_session_rms_deg={},
+        gyro_bias_by_session_rad_s={},
+        ok=True,
+        notes=(),
+    )
+    sessions = [_level_session("a"), _level_session("b")]
+    result = solve_r2g(sessions, r1b, level_static_session_ids={"a", "b"})
+    assert result.R_RTK_IMU is not None
+    assert np.allclose(result.R_RTK_IMU, np.eye(3), atol=1e-12)
+    assert result.sample_count == 6
+    assert result.session_count == 2