20 lines
1.1 KiB
Plaintext
20 lines
1.1 KiB
Plaintext
Fixed-stationary vs motion-capable ESKF
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Common replay duration: 299.500 s
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GPS: 987 samples, mean rate 3.297 Hz
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IMU: 600 windows, mean rate 2.003 Hz, underlying samples 145684
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Timing: separate stationary captures replayed from t=0 (not hardware-synchronized)
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GPS update dimensions: 2-D horizontal (current level-2 firmware log has no height)
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ENU reference: lat=40.7784420947, lon=29.4357159383
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GPS max consecutive horizontal step: 29.842 m
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Raw GPS centered horizontal RMS/P95/max: 8.581 / 15.145 / 23.773 m
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Fixed model centered horizontal RMS/P95/max: 1.108 / 1.680 / 5.536 m
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Adaptive model centered horizontal RMS/P95/max: 1.108 / 1.680 / 5.536 m
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Fixed GPS accepted/rejected: 983/4
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Adaptive GPS accepted/rejected: 983/4
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IMU stationary detector true: 600/600 (100.00%)
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ZUPT updates fixed/adaptive: 600/598
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Final speed fixed/adaptive: 0.001128 / 0.001128 m/s
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Adaptive model uses a 3-window stationary decision; it does not assume zero velocity while motion is detected.
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No surveyed truth is available: scatter measures precision, not absolute position accuracy.
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