Velocity-consistency candidate v3: full normal and scenario tables¶
Control (develop default, recorded from c2eb06f7, bit-identical to candidate
none of the candidate tree) -> candidate velocity_consistency_v2. Fused
metrics are antenna-frame errors against the offline reference; availability is
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/P95 m | RTK vel RMSE/P95 m/s | fused / heading avail % | first fresh/heading s |
|---|---|---|---|---|---|---|---|
| Tokyo 1 | 71.7 -> 17.3 / 155.2 -> 33.9 | 7.05 -> 1.04 / 14.62 -> 1.30 | 105.1 -> 2.4 / 171.1 -> 3.9 | 32.2 -> 27.4 / 61.7 -> 55.2 | 2.10 -> 1.40 / 3.29 -> 2.80 | 99.92/99.36 -> 99.92/99.36 | 2.0/15.2 -> 2.0/15.2 |
| Tokyo 2 | 74.2 -> 6.7 / 179.5 -> 14.5 | 6.85 -> 0.34 / 14.14 -> 0.79 | 100.3 -> 1.7 / 170.0 -> 2.8 | 19.5 -> 12.5 / 29.7 -> 21.1 | 2.26 -> 0.92 / 3.71 -> 2.11 | 99.89/98.72 -> 99.89/98.72 | 2.0/23.4 -> 2.0/23.4 |
| Tokyo 3 | 41.9 -> 3.1 / 115.0 -> 7.3 | 3.22 -> 0.25 / 8.22 -> 0.50 | 63.5 -> 1.7 / 144.4 -> 2.8 | 18.6 -> 15.2 / 31.9 -> 29.9 | 2.10 -> 0.82 / 1.76 -> 1.78 | 99.93/98.77 -> 99.93/98.77 | 2.0/37.6 -> 2.0/37.6 |
| Nagoya 1 | 49.3 -> 24.5 / 118.1 -> 54.5 | 4.61 -> 1.24 / 9.84 -> 1.73 | 88.2 -> 41.7 / 168.7 -> 129.5 | 25.7 -> 30.2 / 29.0 -> 34.5 | 2.51 -> 1.39 / 4.26 -> 2.72 | 99.82/96.50 -> 99.82/96.46 | 2.0/52.0 -> 2.0/52.0 |
| Nagoya 2 | 81.0 -> 35.4 / 168.0 -> 83.9 | 3.73 -> 0.58 / 9.96 -> 1.13 | 18.5 -> 3.1 / 39.8 -> 6.2 | 37.7 -> 37.1 / 81.8 -> 83.9 | 2.30 -> 1.48 / 5.09 -> 3.04 | 99.89/97.79 -> 99.89/97.78 | 2.0/41.8 -> 2.0/42.0 |
| Nagoya 3 | 58.9 -> 25.2 / 128.1 -> 58.8 | 5.54 -> 0.64 / 11.72 -> 1.08 | 105.0 -> 3.1 / 170.9 -> 6.4 | 43.7 -> 45.0 / 101.1 -> 109.2 | 2.47 -> 1.56 / 5.13 -> 3.45 | 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/P95 m | RTK vel RMSE/P95 m/s | fused / heading avail % | first fresh/heading s |
|---|---|---|---|---|---|---|---|
| Tokyo 1 | 55.1 -> 17.4 / 130.9 -> 33.9 | 6.11 -> 1.05 / 11.78 -> 1.31 | 104.9 -> 2.4 / 171.2 -> 3.9 | 29.7 -> 27.4 / 58.9 -> 55.4 | 2.64 -> 1.39 / 3.89 -> 2.79 | 99.92/99.36 -> 99.92/99.36 | 2.0/15.2 -> 2.0/15.2 |
| Tokyo 2 | 72.5 -> 6.7 / 187.3 -> 14.5 | 4.82 -> 0.34 / 11.98 -> 0.79 | 28.5 -> 1.7 / 68.1 -> 2.8 | 19.4 -> 12.5 / 26.4 -> 21.1 | 2.42 -> 0.90 / 4.99 -> 2.07 | 99.89/98.72 -> 99.89/98.72 | 2.0/23.4 -> 2.0/23.4 |
| Tokyo 3 | 27.2 -> 8.3 / 31.9 -> 16.2 | 1.95 -> 0.27 / 1.40 -> 0.58 | 12.7 -> 1.7 / 40.6 -> 3.0 | 16.8 -> 25.9 / 30.9 -> 41.7 | 1.07 -> 0.84 / 1.55 -> 1.92 | 99.93/98.77 -> 99.93/98.77 | 2.0/37.6 -> 2.0/37.6 |
| Nagoya 1 | 53.2 -> 25.0 / 131.9 -> 54.5 | 4.87 -> 1.28 / 10.91 -> 1.91 | 88.7 -> 40.1 / 168.8 -> 124.2 | 26.0 -> 30.3 / 29.3 -> 34.9 | 2.76 -> 1.39 / 4.39 -> 2.72 | 99.82/96.50 -> 99.82/96.46 | 2.0/52.0 -> 2.0/52.0 |
| Nagoya 2 | 55.2 -> 35.4 / 133.2 -> 83.9 | 4.30 -> 0.58 / 9.76 -> 1.15 | 90.8 -> 4.2 / 167.5 -> 6.1 | 37.2 -> 37.2 / 85.7 -> 84.0 | 4.24 -> 1.49 / 13.91 -> 3.05 | 99.89/97.79 -> 99.89/97.78 | 2.0/41.8 -> 2.0/42.0 |
| Nagoya 3 | 75.2 -> 25.0 / 171.7 -> 58.8 | 5.75 -> 0.64 / 10.27 -> 1.08 | 103.2 -> 3.2 / 171.3 -> 6.3 | 45.8 -> 45.2 / 103.7 -> 109.4 | 2.47 -> 1.55 / 6.22 -> 3.47 | 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: - Tokyo 1: 0.0 / 0.0 / 0.0 -> 0.0 / 0.0 / 0.0 - Tokyo 2: 0.0 / 0.0 / 0.0 -> 0.2 / 0.0 / 0.0 - Tokyo 3: 0.0 / 0.0 / 0.0 -> 0.0 / 0.0 / 0.0 - Nagoya 1: 0.0 / 0.0 / 0.0 -> 26.0 / 0.0 / 0.0 - Nagoya 2: 0.0 / 0.0 / 0.0 -> 0.2 / 0.0 / 0.0 - Nagoya 3: 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/P95 m | RTK vel RMSE/P95 m/s | fused / heading avail % | first fresh/heading s |
|---|---|---|---|---|---|---|---|
| Tokyo 1 | 63.4 -> 17.4 / 148.0 -> 34.2 | 5.83 -> 1.05 / 11.39 -> 1.31 | 104.9 -> 2.5 / 171.3 -> 3.9 | 31.2 -> 27.4 / 63.3 -> 55.2 | 2.36 -> 1.40 / 3.72 -> 2.81 | 99.67/98.39 -> 99.67/98.39 | 2.0/15.2 -> 2.0/15.2 |
| Tokyo 2 | 52.2 -> 6.6 / 111.5 -> 14.4 | 6.07 -> 0.36 / 12.06 -> 0.75 | 102.7 -> 2.8 / 170.6 -> 3.0 | 14.0 -> 12.5 / 23.6 -> 21.1 | 1.66 -> 1.01 / 2.21 -> 2.39 | 99.57/97.89 -> 99.57/97.89 | 2.0/23.4 -> 2.0/23.4 |
| Tokyo 3 | 59.3 -> 3.2 / 90.2 -> 8.0 | 6.60 -> 0.27 / 12.34 -> 0.54 | 104.6 -> 2.5 / 171.2 -> 3.3 | 17.3 -> 15.2 / 31.0 -> 29.8 | 1.53 -> 0.94 / 1.74 -> 2.14 | 99.75/98.57 -> 99.75/98.57 | 2.0/37.6 -> 2.0/37.6 |
| Nagoya 1 | 55.8 -> 24.5 / 130.6 -> 54.5 | 4.91 -> 1.22 / 11.22 -> 1.61 | 83.0 -> 14.6 / 167.4 -> 11.6 | 27.6 -> 30.2 / 30.8 -> 34.5 | 2.57 -> 1.40 / 4.34 -> 2.76 | 99.43/96.09 -> 99.43/96.05 | 2.0/52.0 -> 2.0/52.0 |
| Nagoya 2 | 64.2 -> 35.4 / 146.2 -> 83.9 | 4.41 -> 0.58 / 9.38 -> 1.14 | 104.1 -> 2.6 / 170.7 -> 5.6 | 38.3 -> 37.1 / 85.0 -> 83.9 | 4.34 -> 1.49 / 14.59 -> 3.04 | 99.59/97.46 -> 99.59/97.45 | 2.0/41.8 -> 2.0/42.0 |
| Nagoya 3 | 88.6 -> 25.5 / 192.6 -> 58.8 | 7.26 -> 0.69 / 14.31 -> 1.19 | 106.7 -> 3.0 / 170.3 -> 5.9 | 43.8 -> 45.0 / 100.7 -> 109.2 | 2.04 -> 1.59 / 3.82 -> 3.59 | 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: - Tokyo 1: 2.0 / 2.0 / 19.4 -> 2.0 / 2.0 / 19.4 - Tokyo 2: 2.0 / 2.0 / 11.4 -> 2.0 / 2.0 / 11.4 - Tokyo 3: 2.0 / 2.0 / 2.4 -> 2.0 / 2.0 / 2.4 - Nagoya 1: 2.0 / 2.0 / 2.4 -> 2.0 / 2.0 / 2.4 - Nagoya 2: 2.0 / 2.0 / 2.4 -> 2.0 / 2.0 / 2.4 - Nagoya 3: 2.0 / 2.0 / 2.4 -> 2.0 / 2.0 / 2.4