# sensor_gnss_relative (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 position # GPS NED relative position vector (m) float32 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 float32 accuracy_length 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