131 lines
3.7 KiB
JSON
131 lines
3.7 KiB
JSON
{
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"R_RTK_IMU": [
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[
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0.9996841792313951,
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0.02499811511405725,
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-0.002576050309343804
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],
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[
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-0.025002617750669198,
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0.9996858874629868,
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-0.0017307550243271697
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],
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[
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0.002531975526313299,
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0.0017946164171362589,
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0.9999951842143289
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]
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],
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"rpy_deg": [
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0.1028243313393031,
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-0.1450716664951083,
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-1.43269836393699
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],
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"gyro_bias_by_session_rad_s": {
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"priority_174005_174515": [
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-8.90944066727157e-05,
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7.078609864979291e-05,
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0.0001460390779870233
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],
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"priority_174905_175450": [
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-4.327374730750894e-05,
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-0.0001097548390022348,
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3.000549725593387e-05
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],
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"priority_175910_180530": [
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-7.036551812132934e-05,
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-0.0008054961048184173,
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1.3026193503057623e-05
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],
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"slope_190548_190730": [
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6.035222904568755e-05,
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-8.913884157613711e-06,
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0.00015470949872434692
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],
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"circle_193412_193642": [
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-3.696799268832588e-05,
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-0.00019200076224600124,
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-5.9567987995056394e-05
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],
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"loop_194223_195003": [
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-0.0001979655352189002,
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-0.00015937450336643818,
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-4.343089303706036e-05
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],
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"accel_195608_195958": [
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-7.841839817698704e-05,
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-2.604932294598783e-06,
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5.8586555655011475e-05
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],
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"motion_sms_154023_154359": [
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0.00011745666467620586,
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0.00021434926285955486,
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-4.5147354343760625e-05
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]
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},
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"time_offset": {
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"offset_s": 0.04000000000000031,
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"peak_correlation": 0.5788788671828708,
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"second_best_correlation": 0.5773967219219845,
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"evaluated_samples": 12394,
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"reliable": false
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},
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"applied_time_offset_s": 0.0,
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"convention": {
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"name": "north_cw__pitch_nose_up__roll_right_down",
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"heading_sign": -1.0,
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"pitch_sign": -1.0,
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"roll_sign": 1.0
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},
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"convention_scores_deg": {
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"north_cw__pitch_nose_up__roll_right_down": 1.631322241364994,
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"north_cw__pitch_opposite": 1.737582794831228,
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"heading_opposite__pitch_nose_up": 7.263259116648845,
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"heading_opposite__pitch_opposite": 17.716319437929055
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},
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"pair_count": 731,
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"residual_rms_deg": 1.6276839301413086,
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"residual_median_deg": 0.5695938849052221,
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"residual_p95_deg": 3.0903953005641345,
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"rotation_std_deg": [
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0.2340126126406699,
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0.20048574131667432,
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2.314692068045375
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],
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"information_singular_values": [
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82178.77940373585,
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60441.86300479194,
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612.6358640387364
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],
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"per_session_rms_deg": {
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"priority_174005_174515": 0.6134232617562615,
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"priority_174905_175450": 2.2485932625979106,
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"priority_175910_180530": 3.095861798757508,
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"slope_190548_190730": 2.388478834012087,
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"circle_193412_193642": 0.5629885032374518,
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"loop_194223_195003": 0.6250976606325254,
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"accel_195608_195958": 0.975856888271022,
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"motion_sms_154023_154359": 1.3698317592842066
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},
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"loo_delta_deg": {
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"priority_174005_174515": 0.7895996403426686,
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"priority_174905_175450": 0.9224102138653388,
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"priority_175910_180530": 5.144190932547379,
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"slope_190548_190730": 0.24769087330915346,
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"circle_193412_193642": 1.2637729378484346,
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"loop_194223_195003": 0.4844375238260164,
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"accel_195608_195958": 1.0976412402728102,
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"motion_sms_154023_154359": 0.6896079810115167
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},
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"ok": false,
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"notes": [
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"transform convention: p_RTK = R_RTK_IMU p_IMU",
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"residual time convention: t_IMU = t_RTK + +0.000000 s",
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"GNHPR convention score gap=0.1063 deg",
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"GNHPR alternatives use zero-bias prescreen scores; only the winner is jointly refined",
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"LOO is conditional: per-session gyro biases are held at their all-session estimates",
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"time-offset correlation was ambiguous; held residual offset at zero",
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"rotation failed one or more strict acceptance gates"
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]
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}
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