337 lines
9.5 KiB
JSON
337 lines
9.5 KiB
JSON
{
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"schema_version": 1,
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"success": true,
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"convention": "T_RTK_lidar maps raw LiDAR points into the RTK navigation frame",
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"equation": "A_RTK_ij X = X B_LiDAR_ij",
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"frames": {
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"RTK": {
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"origin": "GGA positioning reference point; confirm ANT1/reference antenna in receiver configuration",
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"x_axis": "vehicle forward after applying the configured G90 heading offset",
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"y_axis": "left of the RTK X/baseline axis (not necessarily vehicle-left)",
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"z_axis": "up",
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"yaw_enu_deg": "90 - (rawHeadingDeg + -90)",
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"frame_mode": "vehicle_forward_heading_offset"
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},
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"LiDAR": {
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"description": "raw Helios sensor frame from points_raw polar decode",
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"x_axis": "+X at azimuth 0° (forward when aviation connector faces vehicle rear)",
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"y_axis": "+Y at azimuth +90° (left when +X is vehicle-forward)",
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"z_axis": "up",
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"origin_note": "optical/center per Helios manual; mounting height includes 63.5 mm base offset when deriving mechanical ΔZ"
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}
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},
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"backend": "consensus",
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"measured_lidar_extrinsic_used_as_initial": true,
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"solver_initial_extrinsic": "D:\\First-dev-dept\\calibration-rtk-run\\run\\rtk_lidar_mechanical_initial.json",
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"body_heading_offset_deg": -90.0,
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"body_heading_offset_used": true,
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"body_antenna_lever_xy_used": false,
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"translation_m": [
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],
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"rotation_rpy_deg_xyz": [
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-0.5513220563826681
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],
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"quaternion_xyzw": [
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],
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"coordinate_contract_audit": {
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"status": "no_near_180_degree_axis_conflict",
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"requires_physical_axis_confirmation": false,
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"mechanical_initial_path": "D:\\First-dev-dept\\calibration-rtk-run\\run\\rtk_lidar_mechanical_initial.json",
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"mechanical_self_consistency": {
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"baseline_points": "vehicle_right",
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"frame_mode": "vehicle_forward_heading_offset",
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"heading_offset_deg": -90.0,
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"consistent": true,
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"issues": []
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},
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"solution_vs_declared_baseline_side": {
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"baseline_points": "vehicle_right",
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"solution_yaw_deg": -0.5513220563826681,
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"expected_yaw_deg": 0.0,
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"yaw_error_deg": 0.5513220563826735,
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"xy_error_m": 0.007516661287052368,
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"z_error_m": 0.0280423356878719,
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"mixed_translation_rotation_inheritance": false,
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"near_expected_pose": true
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},
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"solution_relative_to_mechanical_initial": {
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"translation_m": 0.029032271487700816,
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"rotation_deg": 0.9820426535863694,
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"delta_matrix_4x4": [
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[
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0.9998538650128304,
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],
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[
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],
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[
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[
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]
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]
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},
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"note": "No automatic 180-degree correction was applied. Confirm static GNHPR left/right vs vehicle heading and Helios +X vs vehicle forward before deployment."
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},
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"matrix_4x4": [
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[
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]
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],
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"quality": {
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"stations": 27,
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"pairs": 20,
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"residuals": {
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"pairs": 20,
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"translation_m": {
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"rms": 0.07116027693011169,
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"median": 0.048258124379040895,
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"p90": 0.10707349630410129,
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"p95": 0.12100345665884242,
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"max": 0.1859157912711514
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},
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"rotation_deg": {
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"rms": 0.9820870524210346,
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"median": 0.6015253089423158,
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"p90": 1.626986719630708,
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"p95": 1.7485896823567941,
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"max": 2.6898815510329674
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},
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"per_pair": [
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{
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"pair_index": 0,
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"translation_m": 0.10590532722733068,
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{
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"pair_index": 1,
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{
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"pair_index": 2,
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{
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"pair_index": 3,
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{
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{
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"pair_index": 6,
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{
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"pair_index": 7,
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"translation_m": 0.013237326674396453,
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"rotation_deg": 1.6189799101387812
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{
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"pair_index": 8,
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"translation_m": 0.07003654121179845,
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"rotation_deg": 0.6464544056247182
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{
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"pair_index": 9,
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}
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]
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},
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"weighted_jacobian_condition_number": 7.551077537197385,
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"linearized_one_sigma": {
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"translation_m": [
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"rotation_deg": [
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],
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"warning": "conditional local estimate; bootstrap is the primary stability check"
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},
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"bootstrap": {
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"runs": 200,
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"order": [
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"x_m",
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"y_m",
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"z_m",
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"roll_deg",
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"pitch_deg",
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"yaw_deg"
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],
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"std": [
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],
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"p025": [
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"p975": [
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}
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},
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"z_constraint": {
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"observable_from_planar_AX_XB": false,
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"method": "LiDAR ground planes plus externally supplied RTK reference-point height above ground",
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"rtk_reference_height_above_ground_m": 1.9165,
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"warning": "z is conditional on the supplied RTK antenna height; it is not independently identified by planar Ackermann motion"
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},
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"important_limit": "AX residual and bootstrap quantify internal consistency, not independent centimetre-grade absolute certification",
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"selection": {
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"recommended": true,
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"reason": "Uses only motion pairs accepted independently by both Open3D GICP and small_gicp",
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"open3d_vs_small_gicp": {
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"translation_m": 0.00312519750472982,
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"rotation_deg": 0.11907006217018351,
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"delta_matrix_4x4": [
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}
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} |