接入力标定 schema 3 与多点空间增益模型

保留旧格式和 cal_path，校验 SN、特征身份及坐标附件，按帧返回逐轴状态。相关测试 263 项通过，已核对存量预测并实测 180 帧录像。

src/orisys/sensors/calibration.py

@@ -119,12 +119,13 @@ def resolve_calibration(
         )
 
     if mode is CalibrationSelection.EXPLICIT:
-        path = explicit
+        path = cal_mod.select_calibration_path(cal_path=explicit)
     else:
         path = declared_default
         if path is None:
             fallback = bundle_root / "force_calibration.json"
             path = fallback if fallback.is_file() else None
+        path = cal_mod.select_calibration_path(default_path=path)
 
     if path is None:
         # Not an error: a profile may legitimately ship no calibration. Calibrated force is
@@ -197,6 +198,12 @@ def resolve_calibration(
 
     identity = _identity_of(document)
     declared_type = str(identity.get("sensor_type") or "")
+    if document.schema_version == 3 and declared_type != product_family:
+        return ResolvedCalibration(
+            selection=mode, path=path,
+            issues=(Issue(code="calibration.model-family-mismatch",
+                          message="selected model belongs to another product family", path=path),),
+        )
     if declared_type:
         applicability = "declared"
         if declared_type != product_family:
@@ -273,6 +280,8 @@ def calibration_fingerprint(document: "cal_mod.Calibration", path: Path) -> str:
     a different directory must produce the same fingerprint.
     """
     try:
+        if getattr(document, "schema_version", None) == 3:
+            return document.fingerprint
         payload = document.to_dict()
     except Exception:  # noqa: BLE001 - fall back to the raw bytes rather than fail
         payload = path.read_bytes().decode("utf-8", errors="replace")