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# Copyright (C) 2015-2023 Swift Navigation Inc.
# Contact: https://support.swiftnav.com
#
# This source is subject to the license found in the file 'LICENSE' which must
# be distributed together with this source. All other rights reserved.
#
# THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
# EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
# WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
#
# Geodetic navigation messages reporting GPS time, position, velocity, and
# baseline position solutions. For position solutions, these messages define
# several different position solutions: single-point (SPP), RTK, and pseudo-
# absolute position solutions. The SPP is the standalone, absolute GPS position
# solution using only a single receiver. The RTK solution is the differential GPS
# solution, which can use either a fixed/integer or floating carrier phase
# ambiguity. The pseudo-absolute position solution uses a user-provided, well-
# surveyed base station position (if available) and the RTK solution in tandem.
# When the inertial navigation mode indicates that the IMU is used, all messages
# are reported in the vehicle body frame as defined by device settings. By
# default, the vehicle body frame is configured to be coincident with the antenna
# phase center. When there is no inertial navigation, the solution will be
# reported at the phase center of the antenna. There is no inertial navigation
# capability on Piksi Multi or Duro. The tow field, when valid, is most often the
# Time of Measurement. When this is the case, the 5th bit of flags is set to the
# default value of 0. When this is not the case, the tow may be a time of arrival
# or a local system timestamp, irrespective of the time reference (GPS Week or
# else), but not a Time of Measurement.
#
# Automatically generated from spec/yaml/swiftnav/sbp/navigation.yaml with generate.py.
# Do not modify by hand!
meta:
id: navigation
endian: le
imports: [ ]
types:
msg_gps_time:
doc: |
This message reports the GPS time, representing the time since the GPS
epoch began on midnight January 6, 1980 UTC. GPS time counts the weeks
and seconds of the week. The weeks begin at the Saturday/Sunday
transition. GPS week 0 began at the beginning of the GPS time scale.
Within each week number, the GPS time of the week is between between 0
and 604800 seconds (=60*60*24*7). Note that GPS time does not accumulate
leap seconds, and as of now, has a small offset from UTC. In a message
stream, this message precedes a set of other navigation messages
referenced to the same time (but lacking the ns field) and indicates a
more precise time of these messages.
The values in this message are from GNSS measurements fused with
inertial measurements. To get values from GNSS measurements only use
MSG_GPS_TIME_GNSS.
seq:
- id: wn
doc: |
GPS week number
type: u2
- id: tow
doc: |
GPS time of week rounded to the nearest millisecond
type: u4
- id: ns_residual
doc: |
Nanosecond residual of millisecond-rounded TOW (ranges from -500000
to 500000)
type: s4
- id: flags
doc: |
Status flags (reserved)
type: u1
msg_gps_time_gnss:
doc: |
This message reports the GPS time, representing the time since the GPS
epoch began on midnight January 6, 1980 UTC. GPS time counts the weeks
and seconds of the week. The weeks begin at the Saturday/Sunday
transition. GPS week 0 began at the beginning of the GPS time scale.
Within each week number, the GPS time of the week is between between 0
and 604800 seconds (=60*60*24*7). Note that GPS time does not accumulate
leap seconds, and as of now, has a small offset from UTC. In a message
stream, this message precedes a set of other navigation messages
referenced to the same time (but lacking the ns field) and indicates a
more precise time of these messages.
The values in this message are from GNSS measurements only. To get
values fused with inertial measurements use MSG_GPS_TIME.
seq:
- id: wn
doc: |
GPS week number
type: u2
- id: tow
doc: |
GPS time of week rounded to the nearest millisecond
type: u4
- id: ns_residual
doc: |
Nanosecond residual of millisecond-rounded TOW (ranges from -500000
to 500000)
type: s4
- id: flags
doc: |
Status flags (reserved)
type: u1
msg_utc_time:
doc: |
This message reports the Universal Coordinated Time (UTC). Note the
flags which indicate the source of the UTC offset value and source of
the time fix.
The values in this message are from GNSS measurements fused with
inertial measurements. To get values from GNSS measurements only use
MSG_UTC_TIME_GNSS.
seq:
- id: flags
doc: |
Indicates source and time validity
type: u1
- id: tow
doc: |
GPS time of week rounded to the nearest millisecond
type: u4
- id: year
doc: |
Year
type: u2
- id: month
doc: |
Month (range 1 .. 12)
type: u1
- id: day
doc: |
days in the month (range 1-31)
type: u1
- id: hours
doc: |
hours of day (range 0-23)
type: u1
- id: minutes
doc: |
minutes of hour (range 0-59)
type: u1
- id: seconds
doc: |
seconds of minute (range 0-60) rounded down
type: u1
- id: ns
doc: |
nanoseconds of second (range 0-999999999)
type: u4
msg_utc_time_gnss:
doc: |
This message reports the Universal Coordinated Time (UTC). Note the
flags which indicate the source of the UTC offset value and source of
the time fix.
The values in this message are from GNSS measurements only. To get
values fused with inertial measurements use MSG_UTC_TIME.
seq:
- id: flags
doc: |
Indicates source and time validity
type: u1
- id: tow
doc: |
GPS time of week rounded to the nearest millisecond
type: u4
- id: year
doc: |
Year
type: u2
- id: month
doc: |
Month (range 1 .. 12)
type: u1
- id: day
doc: |
days in the month (range 1-31)
type: u1
- id: hours
doc: |
hours of day (range 0-23)
type: u1
- id: minutes
doc: |
minutes of hour (range 0-59)
type: u1
- id: seconds
doc: |
seconds of minute (range 0-60) rounded down
type: u1
- id: ns
doc: |
nanoseconds of second (range 0-999999999)
type: u4
msg_dops:
doc: |
This dilution of precision (DOP) message describes the effect of
navigation satellite geometry on positional measurement precision. The
flags field indicated whether the DOP reported corresponds to
differential or SPP solution.
The values in this message are from GNSS measurements only.
seq:
- id: tow
doc: |
GPS Time of Week
type: u4
- id: gdop
doc: |
Geometric Dilution of Precision
type: u2
- id: pdop
doc: |
Position Dilution of Precision
type: u2
- id: tdop
doc: |
Time Dilution of Precision
type: u2
- id: hdop
doc: |
Horizontal Dilution of Precision
type: u2
- id: vdop
doc: |
Vertical Dilution of Precision
type: u2
- id: flags
doc: |
Indicates the position solution with which the DOPS message
corresponds
type: u1
msg_pos_ecef:
doc: |
The position solution message reports absolute Earth Centered Earth
Fixed (ECEF) coordinates and the status (single point vs pseudo-absolute
RTK) of the position solution. If the rover receiver knows the surveyed
position of the base station and has an RTK solution, this reports a
pseudo-absolute position solution using the base station position and
the rover's RTK baseline vector. The full GPS time is given by the
preceding MSG_GPS_TIME with the matching time-of-week (tow).
The values in this message are from GNSS measurements fused with
inertial measurements. To get values from GNSS measurements only use
MSG_POS_ECEF_GNSS.
seq:
- id: tow
doc: |
GPS Time of Week
type: u4
- id: x
doc: |
ECEF X coordinate
type: f8
- id: y
doc: |
ECEF Y coordinate
type: f8
- id: z
doc: |
ECEF Z coordinate
type: f8
- id: accuracy
doc: |
Position estimated standard deviation
type: u2
- id: n_sats
doc: |
Number of satellites used in solution
type: u1
- id: flags
doc: |
Status flags
type: u1
msg_pos_ecef_cov:
doc: |
The position solution message reports absolute Earth Centered Earth
Fixed (ECEF) coordinates and the status (single point vs pseudo-absolute
RTK) of the position solution. The message also reports the upper
triangular portion of the 3x3 covariance matrix. If the receiver knows
the surveyed position of the base station and has an RTK solution, this
reports a pseudo-absolute position solution using the base station
position and the rover's RTK baseline vector. The full GPS time is given
by the preceding MSG_GPS_TIME with the matching time-of-week (tow).
The values in this message are from GNSS measurements fused with
inertial measurements. To get values from GNSS measurements only use
MSG_POS_ECEF_COV_GNSS.
seq:
- id: tow
doc: |
GPS Time of Week
type: u4
- id: x
doc: |
ECEF X coordinate
type: f8
- id: y
doc: |
ECEF Y coordinate
type: f8
- id: z
doc: |
ECEF Z coordinate
type: f8
- id: cov_x_x
doc: |
Estimated variance of x
type: f4
- id: cov_x_y
doc: |
Estimated covariance of x and y
type: f4
- id: cov_x_z
doc: |
Estimated covariance of x and z
type: f4
- id: cov_y_y
doc: |
Estimated variance of y
type: f4
- id: cov_y_z
doc: |
Estimated covariance of y and z
type: f4
- id: cov_z_z
doc: |
Estimated variance of z
type: f4
- id: n_sats
doc: |
Number of satellites used in solution
type: u1
- id: flags
doc: |
Status flags
type: u1
msg_pos_llh:
doc: |
This position solution message reports the absolute geodetic coordinates
and the status (single point vs pseudo-absolute RTK) of the position
solution. If the rover receiver knows the surveyed position of the base
station and has an RTK solution, this reports a pseudo-absolute position
solution using the base station position and the rover's RTK baseline
vector. The full GPS time is given by the preceding MSG_GPS_TIME with
the matching time-of-week (tow).
The values in this message are from GNSS measurements fused with
inertial measurements. To get values from GNSS measurements only use
MSG_POS_LLH_GNSS.
seq:
- id: tow
doc: |
GPS Time of Week
type: u4
- id: lat
doc: |
Latitude
type: f8
- id: lon
doc: |
Longitude
type: f8
- id: height
doc: |
Height above WGS84 ellipsoid
type: f8
- id: h_accuracy
doc: |
Horizontal position estimated standard deviation
type: u2
- id: v_accuracy
doc: |
Vertical position estimated standard deviation
type: u2
- id: n_sats
doc: |
Number of satellites used in solution.
type: u1
- id: flags
doc: |
Status flags
type: u1
msg_pos_llh_cov:
doc: |
This position solution message reports the absolute geodetic coordinates
and the status (single point vs pseudo-absolute RTK) of the position
solution as well as the upper triangle of the 3x3 covariance matrix.
The position information and Fix Mode flags follow the MSG_POS_LLH
message. Since the covariance matrix is computed in the local-level
North, East, Down frame, the covariance terms follow that convention.
Thus, covariances are reported against the "downward" measurement and
care should be taken with the sign convention.
The values in this message are from GNSS measurements fused with
inertial measurements. To get values from GNSS measurements only use
MSG_POS_LLH_COV_GNSS.
seq:
- id: tow
doc: |
GPS Time of Week
type: u4
- id: lat
doc: |
Latitude
type: f8
- id: lon
doc: |
Longitude
type: f8
- id: height
doc: |
Height above WGS84 ellipsoid
type: f8
- id: cov_n_n
doc: |
Estimated variance of northing
type: f4
- id: cov_n_e
doc: |
Covariance of northing and easting
type: f4
- id: cov_n_d
doc: |
Covariance of northing and downward measurement
type: f4
- id: cov_e_e
doc: |
Estimated variance of easting
type: f4
- id: cov_e_d
doc: |
Covariance of easting and downward measurement
type: f4
- id: cov_d_d
doc: |
Estimated variance of downward measurement
type: f4
- id: n_sats
doc: |
Number of satellites used in solution.
type: u1
- id: flags
doc: |
Status flags
type: u1
estimated_horizontal_error_ellipse:
seq:
- id: semi_major
doc: |
The semi major axis of the estimated horizontal error ellipse at the
user-configured confidence level; zero implies invalid.
type: f4
- id: semi_minor
doc: |
The semi minor axis of the estimated horizontal error ellipse at the
user-configured confidence level; zero implies invalid.
type: f4
- id: orientation
doc: |
The orientation of the semi major axis of the estimated horizontal
error ellipse with respect to North.
type: f4
msg_pos_llh_acc:
doc: |
This position solution message reports the absolute geodetic coordinates
and the status (single point vs pseudo-absolute RTK) of the position
solution as well as the estimated horizontal, vertical, cross-track and
along-track errors. The position information and Fix Mode flags follow
the MSG_POS_LLH message. Since the covariance matrix is computed in the
local-level North, East, Down frame, the estimated error terms follow
that convention.
The estimated errors are reported at a user-configurable confidence
level. The user-configured percentile is encoded in the percentile
field.
The values in this message are from GNSS measurements fused with
inertial measurements.
seq:
- id: tow
doc: |
GPS Time of Week
type: u4
- id: lat
doc: |
Latitude
type: f8
- id: lon
doc: |
Longitude
type: f8
- id: height
doc: |
Height above WGS84 ellipsoid
type: f8
- id: orthometric_height
doc: |
Height above the geoid (i.e. height above mean sea level). See
confidence_and_geoid for geoid model used.
type: f8
- id: h_accuracy
doc: |
Estimated horizontal error at the user-configured confidence level;
zero implies invalid.
type: f4
- id: v_accuracy
doc: |
Estimated vertical error at the user-configured confidence level;
zero implies invalid.
type: f4
- id: ct_accuracy
doc: |
Estimated cross-track error at the user-configured confidence level;
zero implies invalid.
type: f4
- id: at_accuracy
doc: |
Estimated along-track error at the user-configured confidence level;
zero implies invalid.
type: f4
- id: h_ellipse
doc: |
The estimated horizontal error ellipse at the user-configured
confidence level.
type: estimated_horizontal_error_ellipse
- id: confidence_and_geoid
doc: |
The lower bits describe the configured confidence level for the
estimated position error. The middle bits describe the geoid model
used to calculate the orthometric height.
type: u1
- id: n_sats
doc: |
Number of satellites used in solution.
type: u1
- id: flags
doc: |
Status flags
type: u1
msg_baseline_ecef:
doc: |
This message reports the baseline solution in Earth Centered Earth Fixed
(ECEF) coordinates. This baseline is the relative vector distance from
the base station to the rover receiver. The full GPS time is given by
the preceding MSG_GPS_TIME with the matching time-of-week (tow).
The values in this message are from GNSS measurements only.
seq:
- id: tow
doc: |
GPS Time of Week
type: u4
- id: x
doc: |
Baseline ECEF X coordinate
type: s4
- id: y
doc: |
Baseline ECEF Y coordinate
type: s4
- id: z
doc: |
Baseline ECEF Z coordinate
type: s4
- id: accuracy
doc: |
Position estimated standard deviation
type: u2
- id: n_sats
doc: |
Number of satellites used in solution
type: u1
- id: flags
doc: |
Status flags
type: u1
msg_baseline_ned:
doc: |
This message reports the baseline solution in North East Down (NED)
coordinates. This baseline is the relative vector distance from the base
station to the rover receiver, and NED coordinate system is defined at
the local WGS84 tangent plane centered at the base station position.
The full GPS time is given by the preceding MSG_GPS_TIME with the
matching time-of-week (tow).
The values in this message are from GNSS measurements only.
seq:
- id: tow
doc: |
GPS Time of Week
type: u4
- id: n
doc: |
Baseline North coordinate
type: s4
- id: e
doc: |
Baseline East coordinate
type: s4
- id: d
doc: |
Baseline Down coordinate
type: s4
- id: h_accuracy
doc: |
Horizontal position estimated standard deviation
type: u2
- id: v_accuracy
doc: |
Vertical position estimated standard deviation
type: u2
- id: n_sats
doc: |
Number of satellites used in solution
type: u1
- id: flags
doc: |
Status flags
type: u1
msg_vel_ecef:
doc: |
This message reports the velocity in Earth Centered Earth Fixed (ECEF)
coordinates. The full GPS time is given by the preceding MSG_GPS_TIME
with the matching time-of-week (tow).
The values in this message are from GNSS measurements fused with
inertial measurements. To get values from GNSS measurements only use
MSG_VEL_ECEF_GNSS.
seq:
- id: tow
doc: |
GPS Time of Week
type: u4
- id: x
doc: |
Velocity ECEF X coordinate
type: s4
- id: y
doc: |
Velocity ECEF Y coordinate
type: s4
- id: z
doc: |
Velocity ECEF Z coordinate
type: s4
- id: accuracy
doc: |
Velocity estimated standard deviation
type: u2
- id: n_sats
doc: |
Number of satellites used in solution
type: u1
- id: flags
doc: |
Status flags
type: u1
msg_vel_ecef_cov:
doc: |
This message reports the velocity in Earth Centered Earth Fixed (ECEF)
coordinates. The full GPS time is given by the preceding MSG_GPS_TIME
with the matching time-of-week (tow).
The values in this message are from GNSS measurements fused with
inertial measurements. To get values from GNSS measurements only use
MSG_VEL_ECEF_COV_GNSS.
seq:
- id: tow
doc: |
GPS Time of Week
type: u4
- id: x
doc: |
Velocity ECEF X coordinate
type: s4
- id: y
doc: |
Velocity ECEF Y coordinate
type: s4
- id: z
doc: |
Velocity ECEF Z coordinate
type: s4
- id: cov_x_x
doc: |
Estimated variance of x
type: f4
- id: cov_x_y
doc: |
Estimated covariance of x and y
type: f4
- id: cov_x_z
doc: |
Estimated covariance of x and z
type: f4
- id: cov_y_y
doc: |
Estimated variance of y
type: f4
- id: cov_y_z
doc: |
Estimated covariance of y and z
type: f4
- id: cov_z_z
doc: |
Estimated variance of z
type: f4
- id: n_sats
doc: |
Number of satellites used in solution
type: u1
- id: flags
doc: |
Status flags
type: u1
msg_vel_ned:
doc: |
This message reports the velocity in local North East Down (NED)
coordinates. The NED coordinate system is defined as the local WGS84
tangent plane centered at the current position. The full GPS time is
given by the preceding MSG_GPS_TIME with the matching time-of-week
(tow).
The values in this message are from GNSS measurements fused with
inertial measurements. To get values from GNSS measurements only use
MSG_VEL_NED_GNSS.
seq:
- id: tow
doc: |
GPS Time of Week
type: u4
- id: n
doc: |
Velocity North coordinate
type: s4
- id: e
doc: |
Velocity East coordinate
type: s4
- id: d
doc: |
Velocity Down coordinate
type: s4
- id: h_accuracy
doc: |
Horizontal velocity estimated standard deviation
type: u2
- id: v_accuracy
doc: |
Vertical velocity estimated standard deviation
type: u2
- id: n_sats
doc: |
Number of satellites used in solution
type: u1
- id: flags
doc: |
Status flags
type: u1
msg_vel_ned_cov:
doc: |
This message reports the velocity in local North East Down (NED)
coordinates. The NED coordinate system is defined as the local WGS84
tangent plane centered at the current position. The full GPS time is
given by the preceding MSG_GPS_TIME with the matching time-of-week
(tow). This message is similar to the MSG_VEL_NED, but it includes the
upper triangular portion of the 3x3 covariance matrix.
The values in this message are from GNSS measurements fused with
inertial measurements. To get values from GNSS measurements only use
MSG_VEL_NED_COV_GNSS.
seq:
- id: tow
doc: |
GPS Time of Week
type: u4
- id: n
doc: |
Velocity North coordinate
type: s4
- id: e
doc: |
Velocity East coordinate
type: s4
- id: d
doc: |
Velocity Down coordinate
type: s4
- id: cov_n_n
doc: |
Estimated variance of northward measurement
type: f4
- id: cov_n_e
doc: |
Covariance of northward and eastward measurement
type: f4
- id: cov_n_d
doc: |
Covariance of northward and downward measurement
type: f4
- id: cov_e_e
doc: |
Estimated variance of eastward measurement
type: f4
- id: cov_e_d
doc: |
Covariance of eastward and downward measurement
type: f4
- id: cov_d_d
doc: |
Estimated variance of downward measurement
type: f4
- id: n_sats
doc: |
Number of satellites used in solution
type: u1
- id: flags
doc: |
Status flags
type: u1
msg_pos_ecef_gnss:
doc: |
The position solution message reports absolute Earth Centered Earth
Fixed (ECEF) coordinates and the status (single point vs pseudo-absolute
RTK) of the position solution. If the rover receiver knows the surveyed
position of the base station and has an RTK solution, this reports a
pseudo-absolute position solution using the base station position and
the rover's RTK baseline vector. The full GPS time is given by the
preceding MSG_GPS_TIME_GNSS with the matching time-of-week (tow).
The values in this message are from GNSS measurements only. To get
values fused with inertial measurements use MSG_POS_ECEF.
seq:
- id: tow
doc: |
GPS Time of Week
type: u4
- id: x
doc: |
ECEF X coordinate
type: f8
- id: y
doc: |
ECEF Y coordinate
type: f8
- id: z
doc: |
ECEF Z coordinate
type: f8
- id: accuracy
doc: |
Position estimated standard deviation
type: u2
- id: n_sats
doc: |
Number of satellites used in solution
type: u1
- id: flags
doc: |
Status flags
type: u1
msg_pos_ecef_cov_gnss:
doc: |
The position solution message reports absolute Earth Centered Earth
Fixed (ECEF) coordinates and the status (single point vs pseudo-absolute
RTK) of the position solution. The message also reports the upper
triangular portion of the 3x3 covariance matrix. If the receiver knows
the surveyed position of the base station and has an RTK solution, this
reports a pseudo-absolute position solution using the base station
position and the rover's RTK baseline vector. The full GPS time is given
by the preceding MSG_GPS_TIME_GNSS with the matching time-of-week (tow).
The values in this message are from GNSS measurements only. To get
values fused with inertial measurements use MSG_POS_ECEF_COV.
seq:
- id: tow
doc: |
GPS Time of Week
type: u4
- id: x
doc: |
ECEF X coordinate
type: f8
- id: y
doc: |
ECEF Y coordinate
type: f8
- id: z
doc: |
ECEF Z coordinate
type: f8
- id: cov_x_x
doc: |
Estimated variance of x
type: f4
- id: cov_x_y
doc: |
Estimated covariance of x and y
type: f4
- id: cov_x_z
doc: |
Estimated covariance of x and z
type: f4
- id: cov_y_y
doc: |
Estimated variance of y
type: f4
- id: cov_y_z
doc: |
Estimated covariance of y and z
type: f4
- id: cov_z_z
doc: |
Estimated variance of z
type: f4
- id: n_sats
doc: |
Number of satellites used in solution
type: u1
- id: flags
doc: |
Status flags
type: u1
msg_pos_llh_gnss:
doc: |
This position solution message reports the absolute geodetic coordinates
and the status (single point vs pseudo-absolute RTK) of the position
solution. If the rover receiver knows the surveyed position of the base
station and has an RTK solution, this reports a pseudo-absolute position
solution using the base station position and the rover's RTK baseline
vector. The full GPS time is given by the preceding MSG_GPS_TIME_GNSS
with the matching time-of-week (tow).
The values in this message are from GNSS measurements only. To get
values fused with inertial measurements use MSG_POS_LLH.
seq:
- id: tow
doc: |
GPS Time of Week
type: u4
- id: lat
doc: |
Latitude
type: f8
- id: lon
doc: |
Longitude
type: f8
- id: height
doc: |
Height above WGS84 ellipsoid
type: f8
- id: h_accuracy
doc: |
Horizontal position estimated standard deviation
type: u2
- id: v_accuracy
doc: |
Vertical position estimated standard deviation
type: u2
- id: n_sats
doc: |
Number of satellites used in solution.
type: u1
- id: flags
doc: |
Status flags
type: u1
msg_pos_llh_cov_gnss:
doc: |
This position solution message reports the absolute geodetic coordinates
and the status (single point vs pseudo-absolute RTK) of the position
solution as well as the upper triangle of the 3x3 covariance matrix.
The position information and Fix Mode flags should follow the