416 lines
11 KiB
JSON
416 lines
11 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": "horizontal projection of the rawHeading baseline direction reported by the receiver",
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"y_axis": "left",
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"z_axis": "up",
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"yaw_enu_deg": "90 - rawHeadingDeg"
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},
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"LiDAR": "raw LiDAR sensor frame"
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},
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"backend": "small_gicp",
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"measured_lidar_extrinsic_used_as_initial": false,
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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": 100,
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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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"std": [
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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": 0.8535,
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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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} |