Velocity-consistency candidate v2: full normal and scenario tables¶
Control (develop c2eb06f7) -> candidate velocity_consistency_v1. Fused metrics are antenna-frame errors against the offline reference; availability columns are fused / heading percent; recovery 0.0 means no loss within the first epoch after the event and null is censored. See results.
NORMAL (control -> candidate)¶
| Run | Fused pos RMSE/P95 m | Fused vel RMSE/P95 m/s | Rot RMSE/P95 deg | RTK pos RMSE m | RTK vel RMSE m/s | fused avail / heading avail | first fresh/heading s |
|---|---|---|---|---|---|---|---|
| Tokyo 1 | 71.7 -> 25.9 / 155.2 -> 48.1 | 7.05 -> 1.20 / 14.62 -> 1.26 | 105.1 -> 2.9 / 171.1 -> 6.0 | 32.2 -> 27.4 | 2.10 -> 1.40 | 99.92/99.36 -> 99.92/99.36 | 2.0/15.2 -> 2.0/15.2 |
| Tokyo 2 | 74.2 -> 13.8 / 179.5 -> 27.0 | 6.85 -> 0.38 / 14.14 -> 0.78 | 100.3 -> 1.4 / 170.0 -> 2.6 | 19.5 -> 12.5 | 2.26 -> 0.92 | 99.89/98.72 -> 99.89/98.72 | 2.0/23.4 -> 2.0/23.4 |
| Tokyo 3 | 41.9 -> 14.3 / 115.0 -> 26.2 | 3.22 -> 0.28 / 8.22 -> 0.58 | 63.5 -> 1.7 / 144.4 -> 3.0 | 18.6 -> 15.2 | 2.10 -> 0.82 | 99.93/98.77 -> 99.93/98.77 | 2.0/37.6 -> 2.0/37.6 |
| Nagoya 1 | 49.3 -> 119.0 / 118.1 -> 178.3 | 4.61 -> 1.30 / 9.84 -> 1.61 | 88.2 -> 35.4 / 168.7 -> 103.0 | 25.7 -> 30.2 | 2.51 -> 1.39 | 99.82/96.50 -> 99.82/96.46 | 2.0/52.0 -> 2.0/52.0 |
| Nagoya 2 | 81.0 -> 18.7 / 168.0 -> 33.8 | 3.73 -> 0.57 / 9.96 -> 1.08 | 18.5 -> 3.1 / 39.8 -> 5.5 | 37.7 -> 37.1 | 2.30 -> 1.48 | 99.89/97.79 -> 99.89/97.78 | 2.0/41.8 -> 2.0/42.0 |
| Nagoya 3 | 58.9 -> 31.8 / 128.1 -> 66.9 | 5.54 -> 0.58 / 11.72 -> 0.94 | 105.0 -> 2.5 / 170.9 -> 4.5 | 43.7 -> 45.0 | 2.47 -> 1.56 | 99.81/96.54 -> 99.81/96.56 | 2.0/36.0 -> 2.0/35.8 |
GNSS OUTAGE 60-70 s (control -> candidate)¶
| Run | Fused pos RMSE/P95 m | Fused vel RMSE/P95 m/s | Rot RMSE/P95 deg | RTK pos RMSE m | RTK vel RMSE m/s | fused avail / heading avail | first fresh/heading s |
|---|---|---|---|---|---|---|---|
| Tokyo 1 | 55.1 -> 25.6 / 130.9 -> 48.1 | 6.11 -> 1.20 / 11.78 -> 1.25 | 104.9 -> 2.9 / 171.2 -> 6.0 | 29.7 -> 27.4 | 2.64 -> 1.39 | 99.92/99.36 -> 99.92/99.36 | 2.0/15.2 -> 2.0/15.2 |
| Tokyo 2 | 72.5 -> 14.4 / 187.3 -> 27.0 | 4.82 -> 0.39 / 11.98 -> 0.79 | 28.5 -> 1.4 / 68.1 -> 2.6 | 19.4 -> 12.5 | 2.42 -> 0.90 | 99.89/98.72 -> 99.89/98.72 | 2.0/23.4 -> 2.0/23.4 |
| Tokyo 3 | 27.2 -> 14.3 / 31.9 -> 26.2 | 1.95 -> 0.28 / 1.40 -> 0.58 | 12.7 -> 1.7 / 40.6 -> 3.0 | 16.8 -> 25.9 | 1.07 -> 0.84 | 99.93/98.77 -> 99.93/98.77 | 2.0/37.6 -> 2.0/37.6 |
| Nagoya 1 | 53.2 -> 119.3 / 131.9 -> 178.3 | 4.87 -> 1.28 / 10.91 -> 1.82 | 88.7 -> 40.1 / 168.8 -> 123.8 | 26.0 -> 30.3 | 2.76 -> 1.39 | 99.82/96.50 -> 99.82/96.46 | 2.0/52.0 -> 2.0/52.0 |
| Nagoya 2 | 55.2 -> 19.4 / 133.2 -> 33.7 | 4.30 -> 0.58 / 9.76 -> 1.08 | 90.8 -> 4.2 / 167.5 -> 5.5 | 37.2 -> 37.2 | 4.24 -> 1.49 | 99.89/97.79 -> 99.89/97.78 | 2.0/41.8 -> 2.0/42.0 |
| Nagoya 3 | 75.2 -> 31.8 / 171.7 -> 66.9 | 5.75 -> 0.58 / 10.27 -> 0.94 | 103.2 -> 2.7 / 171.3 -> 4.5 | 45.8 -> 45.1 | 2.47 -> 1.56 | 99.81/96.54 -> 99.81/96.56 | 2.0/36.0 -> 2.0/35.8 |
| Recovery s (GNSS update / fresh attitude / heading), control -> candidate: | |||||||
| - tokyo1: 0.0 / 0.0 / 0.0 -> 0.0 / 0.0 / 0.0 | |||||||
| - tokyo2: 0.0 / 0.0 / 0.0 -> 0.2 / 0.0 / 0.0 | |||||||
| - tokyo3: 0.0 / 0.0 / 0.0 -> 0.0 / 0.0 / 0.0 | |||||||
| - nagoya1: 0.0 / 0.0 / 0.0 -> 142.8 / 0.0 / 0.0 | |||||||
| - nagoya2: 0.0 / 0.0 / 0.0 -> 0.2 / 0.0 / 0.0 | |||||||
| - nagoya3: 0.0 / 0.0 / 0.0 -> 0.0 / 0.0 / 0.0 |
IMU GAP 60-64 s (control -> candidate)¶
| Run | Fused pos RMSE/P95 m | Fused vel RMSE/P95 m/s | Rot RMSE/P95 deg | RTK pos RMSE m | RTK vel RMSE m/s | fused avail / heading avail | first fresh/heading s |
|---|---|---|---|---|---|---|---|
| Tokyo 1 | 63.4 -> 26.3 / 148.0 -> 48.1 | 5.83 -> 1.20 / 11.39 -> 1.25 | 104.9 -> 2.9 / 171.3 -> 6.1 | 31.2 -> 27.4 | 2.36 -> 1.40 | 99.67/98.39 -> 99.67/98.39 | 2.0/15.2 -> 2.0/15.2 |
| Tokyo 2 | 52.2 -> 13.9 / 111.5 -> 27.0 | 6.07 -> 0.39 / 12.06 -> 0.78 | 102.7 -> 2.7 / 170.6 -> 2.9 | 14.0 -> 12.5 | 1.66 -> 1.01 | 99.57/97.89 -> 99.57/97.89 | 2.0/23.4 -> 2.0/23.4 |
| Tokyo 3 | 59.3 -> 14.3 / 90.2 -> 26.2 | 6.60 -> 0.28 / 12.34 -> 0.59 | 104.6 -> 2.5 / 171.2 -> 3.1 | 17.3 -> 15.2 | 1.53 -> 0.94 | 99.75/98.57 -> 99.75/98.57 | 2.0/37.6 -> 2.0/37.6 |
| Nagoya 1 | 55.8 -> 119.1 / 130.6 -> 178.3 | 4.91 -> 1.21 / 11.22 -> 1.43 | 83.0 -> 14.7 / 167.4 -> 11.2 | 27.6 -> 30.2 | 2.57 -> 1.40 | 99.43/96.09 -> 99.43/96.05 | 2.0/52.0 -> 2.0/52.0 |
| Nagoya 2 | 64.2 -> 18.8 / 146.2 -> 33.8 | 4.41 -> 0.58 / 9.38 -> 1.08 | 104.1 -> 2.7 / 170.7 -> 5.1 | 38.3 -> 37.1 | 4.34 -> 1.49 | 99.59/97.46 -> 99.59/97.45 | 2.0/41.8 -> 2.0/42.0 |
| Nagoya 3 | 88.6 -> 36.0 / 192.6 -> 66.9 | 7.26 -> 0.63 / 14.31 -> 1.05 | 106.7 -> 2.7 / 170.3 -> 5.1 | 43.8 -> 45.0 | 2.04 -> 1.59 | 99.25/95.94 -> 99.25/95.96 | 2.0/36.0 -> 2.0/35.8 |
| Recovery s (GNSS update / fresh attitude / heading), control -> candidate: | |||||||
| - tokyo1: 2.0 / 2.0 / 19.4 -> 2.0 / 2.0 / 19.4 | |||||||
| - tokyo2: 2.0 / 2.0 / 11.4 -> 2.0 / 2.0 / 11.4 | |||||||
| - tokyo3: 2.0 / 2.0 / 2.4 -> 2.0 / 2.0 / 2.4 | |||||||
| - nagoya1: 2.0 / 2.0 / 2.4 -> 2.0 / 2.0 / 2.4 | |||||||
| - nagoya2: 2.0 / 2.0 / 2.4 -> 2.0 / 2.0 / 2.4 | |||||||
| - nagoya3: 2.0 / 2.0 / 2.4 -> 2.0 / 2.0 / 2.4 |