flight_id,experiment_day,vehicle_pose_id,trajectory,difficulty,tracking_rows,eligible_tracking_rows,paired_rows,eligible_coverage_ratio,rtk_fixed_rows,rtk_total_gga_rows,rtk_fixed_ratio,error_3d_mean_m,error_3d_rmse_m,error_3d_median_m,error_3d_p95_m,error_3d_max_m,horizontal_rmse_m,horizontal_p95_m,vertical_rmse_m,vertical_p95_m,x_mean_error_m,y_mean_error_m,z_mean_error_m,error_ge_1m_ratio,error_ge_1_5m_ratio,error_ge_2m_ratio
flight_01,2026-07-16,vehicle_pose_0716,稳定悬停,easy,726,601,601,1.0,2169,2169,1.0,0.5108533752471934,0.5204989331099762,0.5166063769754281,0.683941810334573,0.7913824534559306,0.2707339715481092,0.3741744954912239,0.44454724835321063,0.6352656792822913,0.07090807754942278,0.14595943667885936,-0.43190318605109734,0.0,0.0,0.0
flight_02,2026-07-16,vehicle_pose_0716,低动态悬停（含垂直漂移）,easy,808,669,669,1.0,2881,2881,1.0,0.37336215749189333,0.38895843824839776,0.3815723026034013,0.5511091411631965,0.6483519264894609,0.24926688550875134,0.3450697924158779,0.2985878203701547,0.49176197855905673,0.08245537727240447,0.031800453549488725,-0.27280931642655903,0.0,0.0,0.0
flight_03,2026-07-16,vehicle_pose_0716,垂直升降及两端悬停,medium,688,557,557,1.0,2271,2271,1.0,0.4695329381066091,0.4919134623512997,0.4392449106499505,0.7821448536752033,0.8294742699445687,0.3044646766684635,0.5109446515817426,0.3863678494694034,0.5736527885047046,0.025282268518958716,0.12593907509032587,-0.3659639703646649,0.0,0.0,0.0
flight_04,2026-07-16,vehicle_pose_0716,左向右横移,medium,477,312,312,1.0,2697,2697,1.0,0.6029203141070842,0.6248748176040542,0.6212614863137039,0.8461177784966835,0.8892026316199654,0.32040623903079507,0.49249800585171727,0.536477753188183,0.7207348521164553,0.15513110710363348,-0.14606308788459427,-0.5176323236080487,0.0,0.0,0.0
flight_05,2026-07-16,vehicle_pose_0716,右向左横移,medium,520,376,376,1.0,2429,2429,1.0,0.6242207374893626,0.6724287112458726,0.5534794034900897,1.0276045500767532,1.1957791865403802,0.28786050514813877,0.5708474854399046,0.6076978700667326,1.005074057039805,0.13736920495580998,0.08932583269611097,-0.5544069981217609,0.0797872340425532,0.0,0.0
flight_06,2026-07-23,vehicle_pose_0723,径向接近后远离,medium,977,881,881,1.0,2391,2391,1.0,0.767588098194438,0.8810280551472737,0.7715680273229787,1.5246309816711292,2.442683646932143,0.7133235127201374,1.3092192805749197,0.5170880003995371,0.9141940816200425,0.11678695391736563,0.033020189410282653,-0.4118935930056757,0.27695800227014755,0.05902383654937571,0.0022701475595913734
flight_07,2026-07-23,vehicle_pose_0723,纵向/径向往返,medium,654,584,584,1.0,1683,1683,1.0,0.5519416476949572,0.653837456414175,0.474727210089338,1.313683183526673,1.947721059211244,0.3841372696453048,0.9245575202510994,0.5290954332439551,1.0211468949987106,0.06225721651438721,-0.04196221115471429,-0.43007663105375293,0.11301369863013698,0.018835616438356163,0.0
flight_08,2026-07-16,vehicle_pose_0716,宽弧线连续转向,hard,692,559,559,1.0,2173,2173,1.0,0.5170910483297756,0.5825428483976858,0.4566755856491685,0.9494594053323048,1.1412576004539658,0.3053770346655592,0.5878519775806382,0.49608571529339457,0.8686021286302694,0.009135565872319954,0.00502393314680697,-0.43116874704982694,0.03577817531305903,0.0,0.0
flight_09,2026-07-23,vehicle_pose_0723,8 字/连续左右转向,hard,912,816,816,1.0,2537,2537,1.0,0.5665842570789783,0.6323025479766028,0.5588541586727729,0.9851841374317092,1.353769137041718,0.47769208111737077,0.8305279022984274,0.41426656613279744,0.7708477355232177,0.08608074806720147,0.04024761223773808,-0.35392304487057913,0.03799019607843137,0.0,0.0
flight_10,2026-07-16,vehicle_pose_0716,近距横向掠过,hard,511,436,436,1.0,1815,1815,1.0,0.328060736277627,0.38075204307772426,0.2880809393923602,0.7549584082392783,1.0862257648383782,0.3530296596824167,0.7485583910922043,0.14262600636762662,0.2963908414292352,-0.1357136999018364,-0.09886520453570494,-0.061798022488346725,0.0022935779816513763,0.0,0.0
flight_11,2026-07-23,vehicle_pose_0723,横向飞越,hard,443,311,311,1.0,1823,1823,1.0,0.4845722610658505,0.5821678003260016,0.429031453945105,0.9203109997080454,2.660610233600537,0.48696312893518223,0.7202404821823506,0.3190395881298625,0.7057152819585806,0.03072292688461416,0.007887809784794156,-0.22918318060472512,0.01929260450160772,0.012861736334405145,0.006430868167202572
flight_12,2026-07-16,vehicle_pose_0716,自然失跟与重捕获,hard,749,519,519,1.0,1946,1946,1.0,0.31294746083837,0.35065912523920323,0.3030168119751239,0.5067070330923374,2.282318842606601,0.30684631051504757,0.48316054630611116,0.1697267328290573,0.3002373302385599,-0.1637376449559317,-0.04067006976066352,-0.09633058390185739,0.0038535645472061657,0.0038535645472061657,0.0019267822736030828
flight_13,2026-07-16,vehicle_pose_0716,近距复杂背景连续跟踪,hard,655,535,535,1.0,2028,2028,1.0,0.32934749038042105,0.34863775204029546,0.3266051633815872,0.5251508135567764,0.5582006733988542,0.30562570106088954,0.5198294634113371,0.16775342917135946,0.3520327080125137,-0.16178641466523788,-0.11088241096109229,-0.13040386808915927,0.0,0.0,0.0
flight_14,2026-07-23,vehicle_pose_0723,严格复杂背景横移/缓弧,hard,1137,613,613,1.0,3001,3001,1.0,0.28715810683010023,0.3027226205971137,0.2791209053960929,0.4659375475118118,0.5550662933399497,0.1838170918104106,0.3162397478413511,0.24052497121826485,0.38745118213399704,-0.08545498577389528,-0.03431400691120783,-0.2211305958717743,0.0,0.0,0.0
flight_15,2026-07-23,vehicle_pose_0723,复杂背景重复,hard,507,368,368,1.0,1554,1554,1.0,0.3763995293019148,0.4380465832869235,0.3321556238491826,0.7943279944346455,0.9208396116127233,0.2808823482861302,0.5371971458950054,0.33613972623094795,0.6185700349196213,-0.0817297972073372,-0.019614952229416758,-0.26337925037651677,0.0,0.0,0.0
flight_16,2026-07-23,vehicle_pose_0723,远距悬停及缓慢横移,hard,1463,1305,1305,1.0,3002,3002,1.0,0.5241263877601764,0.5953915688630372,0.5050099358343281,0.9549648633860518,3.166828858429546,0.3364342578438315,0.5083195656371641,0.49122612962082857,0.9019200241717495,-0.03324129157126163,0.009696126456688178,-0.40427499556041985,0.03908045977011494,0.007662835249042145,0.0038314176245210726