129 lines
4.3 KiB
JSON
129 lines
4.3 KiB
JSON
{
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"scope": "final mechanical-prior RTK-IMU engineering release decision",
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"no_refit_performed": true,
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"data_only_full_free_called": false,
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"bootstrap_called": false,
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"loo_called": false,
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"covariance_retuned": false,
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"new_window_selection_called": false,
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"parser_R0_modified": false,
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"data_only_translation_accepted": false,
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"translation_refined_by_data": false,
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"mechanical_prior_consistent_with_calibration": true,
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"heldout_physical_validation_passed": true,
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"heldout_physical_gate_checks": {
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"all_267_converged_after_retry": true,
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"BEST_position_vector_p95_le_0p20_m": true,
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"Doppler_vector_p95_le_0p50_m_s": true,
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"HPR_normalized_p95_le_4": true,
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"preintegration_normalized_p95_le_3": true
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},
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"heldout_statistical_scale_passed": false,
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"heldout_postfit_chi_square_per_dof": 0.12733913101711092,
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"heldout_covariance_underdispersion_warning": true,
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"independent_heldout_innovation_passed": false,
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"common_constant_acceleration_error_detected": true,
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"independent_propagation_validation_passed": false,
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"independent_extrinsic_sensitive_validation_passed": true,
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"rotation_sensitivity_passed": true,
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"engineering_translation_acceptance_formula": "mechanical_prior_consistent_with_calibration AND heldout_physical_validation_passed AND independent_heldout_innovation_passed AND rotation_sensitivity_passed",
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"engineering_translation_accepted": false,
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"result_nature": "mechanically anchored + dynamically validated",
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"summary": "Translation is mechanically anchored and dynamically validated. The current dataset does not independently observe translation accurately enough for data-only calibration, and does not provide meaningful refinement beyond the mechanical prior.",
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"forbidden_descriptions": [
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"data-only calibrated translation",
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"dynamically refined mechanical lever"
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],
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"candidate_l_I_engineering_m": [
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-0.45180151590212486,
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-0.26447498198536895,
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0.7314656114613277
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],
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"candidate_T_RTK_IMU": [
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[
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0.9999999761265028,
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-0.00021395911860711003,
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-4.436766104011944e-05,
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0.45177737170031523
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],
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[
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0.00021360059847267874,
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0.9999685415936667,
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-0.007929072948303898,
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0.27036301129056084
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],
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[
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4.606276276360097e-05,
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0.007929063282050246,
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0.9999685634227163,
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-0.7293247665913783
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],
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[
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0.0,
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0.0,
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0.0,
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1.0
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]
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],
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"candidate_T_IMU_RTK": [
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[
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0.9999999761265029,
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0.00021360059847267876,
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4.606276276360098e-05,
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-0.45180151590212486
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],
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[
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-0.00021395911860711008,
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0.9999685415936669,
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0.007929063282050248,
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-0.264474981985369
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],
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[
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-4.436766104011945e-05,
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-0.0079290729483039,
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0.9999685634227164,
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0.7314656114613278
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],
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[
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0.0,
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0.0,
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0.0,
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1.0
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]
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],
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"candidate_transform_inverse_error_norm": 1.3597553244868544e-16,
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"l_I_engineering_m": null,
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"T_RTK_IMU": null,
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"T_IMU_RTK": null,
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"transform_convention": {
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"equation": "p_RTK = R_RTK_IMU * p_IMU + t_RTK_IMU",
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"translation": "t_RTK_IMU = -R_RTK_IMU * l_I",
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"RTK_origin": "ANT1 phase center"
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},
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"rotation_source": "R2G_gravity_level_prior",
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"translation_conditional_on_rotation": true,
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"evidence": {
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"calibration_path": "artifacts\\rtk_imu_calibration_v3\\mechanical_prior_engineering_47_window.json",
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"heldout_postfit_path": "artifacts\\rtk_imu_calibration_v3\\mechanical_prior_engineering_heldout.json",
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"innovation_path": "artifacts\\rtk_imu_calibration_v3\\heldout_independent_innovation.json",
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"sensitivity_path": "artifacts\\rtk_imu_calibration_v3\\mechanical_prior_rotation_sensitivity.json",
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"convergence_retry_path": "artifacts\\rtk_imu_calibration_v3\\heldout_nonconverged_retry.json",
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"propagation_root_cause_path": "artifacts\\rtk_imu_calibration_v3\\propagation_bias_root_cause_audit.json",
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"posterior_prior_variance_ratio": [
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0.9841028247436912,
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0.9831529061304226,
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0.9921155953185713
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],
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"heldout_convergence_after_retry": 1.0,
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"rotation_sensitivity_summary": {
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"max_abs_delta_l_xyz_m": [
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0.0024980444199615426,
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0.0006588674774769543,
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0.0007172660986609625
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],
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"max_delta_l_norm_m": 0.0025582764807350012,
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"max_transform_translation_delta_norm_m": 0.00686033304738171
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}
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}
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}
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