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Parameter Tuning Guide
参数调优指南
Parameter tuning must follow scientific methodology based on reproducible experimental data, not subjective RViz observations.
Tuning Principles
- Freeze map and extrinsic calibration to ensure consistent tuning environment
- Adjust only one parameter family at a time to avoid confounding variables
- Perform replay tests on recorded Rosbags to ensure reproducibility
- Record parameter changes, expected effects, and actual effects for each tuning session
Recommended Tuning Order
- NDT standalone tuning: Adjust resolution, max_iterations, and convergence thresholds
- Gyro Odometer tuning: Verify Twist output consistency, adjust covariance
- EKF tuning: Adjust process noise and gating thresholds
- Initialization tuning: Verify initialization success rate and reliability
- Full pipeline validation: Run complete validation matrix
Tuning Log Template
| Field | Description |
|---|---|
Bag Name | Test data used |
Environment Zone | Test scenario (e.g., yard, corridor, loading zone) |
Modified Parameter | Specific parameter name |
Old → New Value | Values before and after modification |
Expected Effect | Expected improvement |
Actual Effect | Observed change |
Accept/Reject | Whether to adopt this modification |