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2.2 KiB
2.2 KiB
SensorGnssRelative (UORB message)
GNSS relative positioning information in NED frame. The NED frame is defined as the local topological system at the reference station.
# GNSS relative positioning information in NED frame. The NED frame is defined as the local topological system at the reference station.
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # time since system start (microseconds)
uint32 device_id # unique device ID for the sensor that does not change between power cycles
uint64 time_utc_usec # Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0
uint16 reference_station_id # Reference Station ID
float32[3] position # GPS NED relative position vector (m)
float32[3] position_accuracy # Accuracy of relative position (m)
float32 heading # Heading of the relative position vector (radians)
float32 heading_accuracy # Accuracy of heading of the relative position vector (radians)
float32 position_length # Length of the position vector (m)
float32 accuracy_length # Accuracy of the position length (m)
bool gnss_fix_ok # GNSS valid fix (i.e within DOP & accuracy masks)
bool differential_solution # differential corrections were applied
bool relative_position_valid
bool carrier_solution_floating # carrier phase range solution with floating ambiguities
bool carrier_solution_fixed # carrier phase range solution with fixed ambiguities
bool moving_base_mode # if the receiver is operating in moving base mode
bool reference_position_miss # extrapolated reference position was used to compute moving base solution this epoch
bool reference_observations_miss # extrapolated reference observations were used to compute moving base solution this epoch
bool heading_valid
bool relative_position_normalized # the components of the relative position vector (including the high-precision parts) are normalized