346 lines
9.3 KiB
JSON
346 lines
9.3 KiB
JSON
{
|
|
"schema_version": 1,
|
|
"success": true,
|
|
"convention": "T_RTK_lidar maps raw LiDAR points into the RTK navigation frame",
|
|
"equation": "A_RTK_ij X = X B_LiDAR_ij",
|
|
"frames": {
|
|
"RTK": {
|
|
"origin": "GGA positioning reference point; confirm ANT1/reference antenna in receiver configuration",
|
|
"x_axis": "horizontal projection of the rawHeading baseline direction reported by the receiver",
|
|
"y_axis": "left",
|
|
"z_axis": "up",
|
|
"yaw_enu_deg": "90 - rawHeadingDeg"
|
|
},
|
|
"LiDAR": "raw LiDAR sensor frame"
|
|
},
|
|
"backend": "open3d_gicp",
|
|
"measured_lidar_extrinsic_used_as_initial": false,
|
|
"body_heading_offset_used": false,
|
|
"body_antenna_lever_xy_used": false,
|
|
"translation_m": [
|
|
1.6368478986289665,
|
|
-0.2424214446279586,
|
|
0.08408840390370595
|
|
],
|
|
"rotation_rpy_deg_xyz": [
|
|
-0.8529068506201997,
|
|
1.3285763243955087,
|
|
-22.150129507458946
|
|
],
|
|
"quaternion_xyzw": [
|
|
-0.005076802391609619,
|
|
0.012807178841486907,
|
|
-0.19199197181185435,
|
|
0.9812997936448346
|
|
],
|
|
"matrix_4x4": [
|
|
[
|
|
0.9259501178598366,
|
|
0.3766733256085306,
|
|
0.027084774511975725,
|
|
1.6368478986289665
|
|
],
|
|
[
|
|
-0.3769334036732196,
|
|
0.9262266176745453,
|
|
0.005045979240275979,
|
|
-0.2424214446279586
|
|
],
|
|
[
|
|
-0.023185953305318648,
|
|
-0.014881481316772506,
|
|
0.9996204044951974,
|
|
0.08408840390370595
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"quality": {
|
|
"stations": 34,
|
|
"pairs": 41,
|
|
"residuals": {
|
|
"pairs": 41,
|
|
"translation_m": {
|
|
"rms": 0.11160362192890017,
|
|
"median": 0.06165368731012592,
|
|
"p90": 0.12167778728549836,
|
|
"p95": 0.12315870952465978,
|
|
"max": 0.45797693508387505
|
|
},
|
|
"rotation_deg": {
|
|
"rms": 1.082945057501201,
|
|
"median": 0.744916302248719,
|
|
"p90": 1.523342607477641,
|
|
"p95": 1.864505235125524,
|
|
"max": 4.332008025818138
|
|
},
|
|
"per_pair": [
|
|
{
|
|
"pair_index": 0,
|
|
"translation_m": 0.03696060713715898,
|
|
"rotation_deg": 0.7820683861381595
|
|
},
|
|
{
|
|
"pair_index": 1,
|
|
"translation_m": 0.039028552931951836,
|
|
"rotation_deg": 0.6949685743890126
|
|
},
|
|
{
|
|
"pair_index": 2,
|
|
"translation_m": 0.01732676228513485,
|
|
"rotation_deg": 1.0438060827136844
|
|
},
|
|
{
|
|
"pair_index": 3,
|
|
"translation_m": 0.0574978038017053,
|
|
"rotation_deg": 0.394946532754576
|
|
},
|
|
{
|
|
"pair_index": 4,
|
|
"translation_m": 0.10801668349596734,
|
|
"rotation_deg": 0.29336064351197005
|
|
},
|
|
{
|
|
"pair_index": 5,
|
|
"translation_m": 0.06577881887454434,
|
|
"rotation_deg": 0.5542732613092561
|
|
},
|
|
{
|
|
"pair_index": 6,
|
|
"translation_m": 0.06363940755916121,
|
|
"rotation_deg": 0.5890545170693674
|
|
},
|
|
{
|
|
"pair_index": 7,
|
|
"translation_m": 0.0640679503495012,
|
|
"rotation_deg": 0.746120063911557
|
|
},
|
|
{
|
|
"pair_index": 8,
|
|
"translation_m": 0.021009631897429052,
|
|
"rotation_deg": 0.6663196620233134
|
|
},
|
|
{
|
|
"pair_index": 9,
|
|
"translation_m": 0.08609573827254784,
|
|
"rotation_deg": 0.3687772861174946
|
|
},
|
|
{
|
|
"pair_index": 10,
|
|
"translation_m": 0.02732304440983888,
|
|
"rotation_deg": 0.5222061823280917
|
|
},
|
|
{
|
|
"pair_index": 11,
|
|
"translation_m": 0.04489317903985948,
|
|
"rotation_deg": 0.8700136243621963
|
|
},
|
|
{
|
|
"pair_index": 12,
|
|
"translation_m": 0.07260882213085644,
|
|
"rotation_deg": 0.463182802330913
|
|
},
|
|
{
|
|
"pair_index": 13,
|
|
"translation_m": 0.08831772542234817,
|
|
"rotation_deg": 0.659009021415606
|
|
},
|
|
{
|
|
"pair_index": 14,
|
|
"translation_m": 0.053804778572191785,
|
|
"rotation_deg": 1.864505235125524
|
|
},
|
|
{
|
|
"pair_index": 15,
|
|
"translation_m": 0.12315870952465978,
|
|
"rotation_deg": 1.9856861904193648
|
|
},
|
|
{
|
|
"pair_index": 16,
|
|
"translation_m": 0.06880647181572622,
|
|
"rotation_deg": 0.27331219092746517
|
|
},
|
|
{
|
|
"pair_index": 17,
|
|
"translation_m": 0.059582300078982915,
|
|
"rotation_deg": 0.3410200031868246
|
|
},
|
|
{
|
|
"pair_index": 18,
|
|
"translation_m": 0.034895300030885576,
|
|
"rotation_deg": 0.5283410202190479
|
|
},
|
|
{
|
|
"pair_index": 19,
|
|
"translation_m": 0.002366788176226253,
|
|
"rotation_deg": 0.3852038090000981
|
|
},
|
|
{
|
|
"pair_index": 20,
|
|
"translation_m": 0.06233663305653708,
|
|
"rotation_deg": 0.6208000110952433
|
|
},
|
|
{
|
|
"pair_index": 21,
|
|
"translation_m": 0.012626372544105475,
|
|
"rotation_deg": 0.38292733656142575
|
|
},
|
|
{
|
|
"pair_index": 22,
|
|
"translation_m": 0.047494831014178666,
|
|
"rotation_deg": 1.7712490998072288
|
|
},
|
|
{
|
|
"pair_index": 23,
|
|
"translation_m": 0.06165368731012592,
|
|
"rotation_deg": 0.8670376638275039
|
|
},
|
|
{
|
|
"pair_index": 24,
|
|
"translation_m": 0.12172160687143056,
|
|
"rotation_deg": 4.332008025818138
|
|
},
|
|
{
|
|
"pair_index": 25,
|
|
"translation_m": 0.06185808030991236,
|
|
"rotation_deg": 1.523342607477641
|
|
},
|
|
{
|
|
"pair_index": 26,
|
|
"translation_m": 0.049450564075379046,
|
|
"rotation_deg": 0.9499016191505171
|
|
},
|
|
{
|
|
"pair_index": 27,
|
|
"translation_m": 0.016599648000378425,
|
|
"rotation_deg": 0.7685476074882036
|
|
},
|
|
{
|
|
"pair_index": 28,
|
|
"translation_m": 0.028501035078080036,
|
|
"rotation_deg": 0.9107236146504971
|
|
},
|
|
{
|
|
"pair_index": 29,
|
|
"translation_m": 0.05418062512497841,
|
|
"rotation_deg": 0.49604339332524483
|
|
},
|
|
{
|
|
"pair_index": 30,
|
|
"translation_m": 0.02534272431328254,
|
|
"rotation_deg": 0.2798196345939902
|
|
},
|
|
{
|
|
"pair_index": 31,
|
|
"translation_m": 0.1006162178003358,
|
|
"rotation_deg": 0.9066113005741254
|
|
},
|
|
{
|
|
"pair_index": 32,
|
|
"translation_m": 0.023348232889945957,
|
|
"rotation_deg": 0.29316028754024664
|
|
},
|
|
{
|
|
"pair_index": 33,
|
|
"translation_m": 0.06352851658442724,
|
|
"rotation_deg": 1.123276625138155
|
|
},
|
|
{
|
|
"pair_index": 34,
|
|
"translation_m": 0.06685972566531029,
|
|
"rotation_deg": 0.7607492800980359
|
|
},
|
|
{
|
|
"pair_index": 35,
|
|
"translation_m": 0.3534873096430149,
|
|
"rotation_deg": 0.744916302248719
|
|
},
|
|
{
|
|
"pair_index": 36,
|
|
"translation_m": 0.45797693508387505,
|
|
"rotation_deg": 0.7684054290628693
|
|
},
|
|
{
|
|
"pair_index": 37,
|
|
"translation_m": 0.10414608850682983,
|
|
"rotation_deg": 0.8325040370564112
|
|
},
|
|
{
|
|
"pair_index": 38,
|
|
"translation_m": 0.11058068261532474,
|
|
"rotation_deg": 0.8695456609442757
|
|
},
|
|
{
|
|
"pair_index": 39,
|
|
"translation_m": 0.03405996353456899,
|
|
"rotation_deg": 0.7913171839743647
|
|
},
|
|
{
|
|
"pair_index": 40,
|
|
"translation_m": 0.12167778728549836,
|
|
"rotation_deg": 0.16247416554150054
|
|
}
|
|
]
|
|
},
|
|
"weighted_jacobian_condition_number": 7.006062559882809,
|
|
"linearized_one_sigma": {
|
|
"translation_m": [
|
|
0.007129000573825617,
|
|
0.007213998960440989,
|
|
0.0046717381822970125
|
|
],
|
|
"rotation_deg": [
|
|
0.06695429523124989,
|
|
0.06503891988826449,
|
|
0.14115095959507304
|
|
],
|
|
"warning": "conditional local estimate; bootstrap is the primary stability check"
|
|
},
|
|
"bootstrap": {
|
|
"runs": 100,
|
|
"order": [
|
|
"x_m",
|
|
"y_m",
|
|
"z_m",
|
|
"roll_deg",
|
|
"pitch_deg",
|
|
"yaw_deg"
|
|
],
|
|
"std": [
|
|
0.002608526149658222,
|
|
0.0028276716521100863,
|
|
0.0023368456176917846,
|
|
0.0795227773764157,
|
|
0.07300189168975164,
|
|
0.10947642324382982
|
|
],
|
|
"p025": [
|
|
1.6327841703535608,
|
|
-0.24653273132861378,
|
|
0.07991981050403614,
|
|
-0.9872072161381827,
|
|
1.1864367848117605,
|
|
-22.364052444549895
|
|
],
|
|
"p975": [
|
|
1.6431149050874008,
|
|
-0.2355422823589496,
|
|
0.08894657837563841,
|
|
-0.6759368885907463,
|
|
1.4669998309298398,
|
|
-21.953029139092944
|
|
]
|
|
}
|
|
},
|
|
"z_constraint": {
|
|
"observable_from_planar_AX_XB": false,
|
|
"method": "LiDAR ground planes plus externally supplied RTK reference-point height above ground",
|
|
"rtk_reference_height_above_ground_m": 0.8535,
|
|
"warning": "z is conditional on the supplied RTK antenna height; it is not independently identified by planar Ackermann motion"
|
|
},
|
|
"important_limit": "AX residual and bootstrap quantify internal consistency, not independent centimetre-grade absolute certification"
|
|
} |