87 lines
3.5 KiB
YAML
87 lines
3.5 KiB
YAML
schema_version: 1
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vehicle:
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vehicle_id: "outdoor_usable_20260808"
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body_frame:
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name: "base_link"
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# 车体约定：后轮轴中心在地面投影为原点附近参考；X 前 / Y 左 / Z 上
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# translation_m 的 Z 使用「离地高度」；后轮轴中心离地 294 mm
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axes: "X forward, Y left, Z up"
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unit: m
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reference_point: "rear_axle_center_xy__z_above_ground"
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rear_axle_height_above_ground_m: 0.294
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installation:
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installation_id: "20260808_priority_windows"
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installed_at: "2026-08-08"
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notes: >
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HI13R4 + H32 DLogCapture. Body +X forward: LiDAR and IMU at positive X.
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CAD sheet may draw +X rearward; numbers below are body-frame.
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Z is height above ground = CAD height at axle + 0.294 m (axle AGL).
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LiDAR CAD dZ is 1637.499879 mm relative to the axle reference. Phase-center
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AGL adds rear-axle height 294 mm and the 63.5 mm phase-center offset.
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IMU axes: HI13R4 manual §2.4 RFU (X right, Y forward, Z up).
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LiDAR Cartesian in NPZ assumed body-aligned (X forward).
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sensors:
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imu:
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model: "HI13R4"
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raw_frame:
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# HI13R4 用户手册 2.4：右-前-上 (RFU)
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axes: "X right, Y forward, Z up (RFU)"
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driver_axis_remapped: false
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mount_in_body:
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# X/Y：后轮轴中心 → IMU；Z：离地 = CAD 0.8925 + 0.294
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translation_m: [2.574126255, 0.0365, 1.1865]
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# body <- imu : p_body = R_body_imu * p_imu
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# R_body_imu = [[0,1,0],[-1,0,0],[0,0,1]] (fwd=imu_y, left=-imu_x, up=imu_z)
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rotation_matrix_body_imu: [[0.0, 1.0, 0.0], [-1.0, 0.0, 0.0], [0.0, 0.0, 1.0]]
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rotation_quaternion_xyzw: null
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source: "CAD X/Y in body (+X forward); Z = CAD axle-height + 294mm AGL + HI13R4 RFU"
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lidar:
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model: "RSLidarH32"
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points_field: points
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raw_frame:
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axes: "X forward, Y left, Z up (Cartesian metres in NPZ points)"
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driver_axis_remapped: false
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mount_in_body:
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# X/Y：后轮轴中心 → 雷达
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# Z离地 = CAD dZ 1.637499879 + 后轮轴离地 0.294 + 相位中心偏移 0.0635
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translation_m: [2.522276859, 0.000020526, 1.994999879]
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rotation_matrix_body_lidar: [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]]
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rotation_quaternion_xyzw: null
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source: "CAD X/Y in body (+X forward); Z AGL = CAD dZ 1.637499879 + axle AGL 0.294 + phase-center offset 0.0635; attitude = body"
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rtk:
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frame_definition: ""
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reference_point: ""
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existing_T_RTK_LIDAR_file: ""
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time:
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imu_timestamp_source: "hi13_device_timestamp_ms_seconds"
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lidar_timestamp_source: "h32_msop_device_timestamp_seconds"
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lidar_frame_time_definition: "t_start/t_end in frames_index.csv; pipeline uses midpoint"
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host_bridge: "MSOP HostReceiveUtcTicks + IMU receive_utc_ticks"
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# Derived prior for p_IMU = R_IMU_lidar * p_lidar + t_IMU_lidar
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# t_body = t_lidar_body - t_imu_body
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# t_IMU_lidar = R_IMU_body * t_body, R_IMU_lidar = R_IMU_body * R_body_lidar
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derived_T_IMU_lidar_prior:
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R_IMU_lidar: [[0.0, -1.0, 0.0], [1.0, 0.0, 0.0], [0.0, 0.0, 1.0]]
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t_IMU_lidar_m: [0.036479474, -0.051849396, 0.808499879]
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t_lidar_from_imu_in_body_m: [-0.051849396, -0.036479474, 0.808499879]
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notes: >
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Rotation prior ~90 deg yaw (body/lidar X-fwd vs IMU Y-fwd).
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Relative Z = 1.994999879 - 1.1865 = 0.808499879 m.
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initialization:
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translation_prior:
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enabled: true
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sigma_m: [0.05, 0.05, 0.05]
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t_IMU_lidar_m: [0.036479474, -0.051849396, 0.808499879]
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rotation_prior:
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enabled: true
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sigma_deg: 15.0
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R_IMU_lidar: [[0.0, -1.0, 0.0], [1.0, 0.0, 0.0], [0.0, 0.0, 1.0]]
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