SensorGnssRelative (Повідомлення UORB)
Інформація про відносне позиціонування GNSS в рамці NED. NED кадр визначається як локальна топологічна система на задній станції.
TOPICS: sensor_gnssrelative
Fields
| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
|---|---|---|---|---|
| timestamp | uint64 | time since system start (microseconds) | ||
| timestamp_sample | uint64 | time since system start (microseconds) | ||
| device_id | uint32 | unique device ID for the sensor that does not change between power cycles | ||
| time_utc_usec | uint64 | 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 | ||
| reference_station_id | uint16 | Reference Station ID | ||
| положення | float32[3] | GPS NED relative position vector (m) | ||
| position_accuracy | float32[3] | Accuracy of relative position (m) | ||
| heading | float32 | Heading of the relative position vector (radians) | ||
| heading_accuracy | float32 | Accuracy of heading of the relative position vector (radians) | ||
| position_length | float32 | Length of the position vector (m) | ||
| accuracy_length | float32 | Accuracy of the position length (m) | ||
| gnss_fix_ok | bool | GNSS valid fix (i.e within DOP & accuracy masks) | ||
| differential_solution | bool | differential corrections were applied | ||
| relative_position_valid | bool | |||
| carrier_solution_floating | bool | carrier phase range solution with floating ambiguities | ||
| carrier_solution_fixed | bool | carrier phase range solution with fixed ambiguities | ||
| moving_base_mode | bool | if the receiver is operating in moving base mode | ||
| reference_position_miss | bool | extrapolated reference position was used to compute moving base solution this epoch | ||
| reference_observations_miss | bool | extrapolated reference observations were used to compute moving base solution this epoch | ||
| heading_valid | bool | |||
| relative_position_normalized | bool | the components of the relative position vector (including the high-precision parts) are normalized |
Source Message
Details
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c
# 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