RTK-IMU Calibration Package
rtk_imu/ contains the independent RTK-IMU calibration pipeline: G90 observation I/O, antenna-baseline rotation, V1 replay, V3 multisource stages, engineering 6DoF, and the node-state factor graph.
Boundary
This package may import only shared imu_lidar utilities: contracts, geometry, geodesy, imu_io, imu_preintegration, and the generic rotation_handeye initializer.
It must not import LiDAR-specific modules such as lidar_io, lidar_deskew, registration, pipeline, phase_a, or joint_optimizer. The LiDAR-IMU pipeline remains in imu_lidar/.
Entrypoints
Use tools/run_rtk_imu_*.py and tools/audit_rtk_imu_*.py; these scripts import from rtk_imu.*.
For the engineering procedure, current result, acceptance boundary, and reproduction commands, see README_RTK_IMU.md.