VtePosition (UORB message)

Vision Target Estimator position state, exposing the full per-axis Kalman filter state with covariances for logging and tuning.

Published by: vision_target_estimator (VTEPosition). Subscribed by: logger only. The position-related fields consumed elsewhere (precision landing, EKF2 aiding) are exposed on landing_target_pose.

vel_target and acc_target are only populated when the firmware is built with CONFIG_VTEST_MOVING=y; otherwise they stay at zero.

TOPICS: vte_position

Fields

参数名	类型	Unit [Frame]	Range/Enum	描述
timestamp	uint64	us		Time since system start
rel_pos_valid	bool			Relative position estimate valid
rel_vel_valid	bool			Relative velocity estimate valid
rel_pos	float32[3]	m [NED]		Target position relative to vehicle
vel_uav	float32[3]	m/s [NED]		Vehicle velocity
vel_target	float32[3]	m/s [NED]		Target velocity
bias	float32[3]	m [NED]		GNSS bias between vehicle and target receivers
acc_target	float32[3]	m/s^2 [NED]		Target acceleration
cov_rel_pos	float32[3]	m^2 [NED]		Variance of rel_pos
cov_vel_uav	float32[3]	(m/s)^2 [NED]		Variance of vel_uav
cov_bias	float32[3]	m^2 [NED]		Variance of bias
cov_vel_target	float32[3]	(m/s)^2 [NED]		Variance of vel_target
cov_acc_target	float32[3]	(m/s^2)^2 [NED]		Variance of acc_target

Source Message

Source file (GitHub)

Details

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# Vision Target Estimator position state, exposing the full per-axis Kalman filter state with covariances for logging and tuning.
#
# Published by: vision_target_estimator (VTEPosition).
# Subscribed by: logger only. The position-related fields consumed elsewhere (precision landing, EKF2 aiding) are exposed on landing_target_pose.
#
# vel_target and acc_target are only populated when the firmware is built with CONFIG_VTEST_MOVING=y; otherwise they stay at zero.

uint64 timestamp # [us] Time since system start

bool rel_pos_valid # [-] Relative position estimate valid
bool rel_vel_valid # [-] Relative velocity estimate valid

float32[3] rel_pos # [m] [@frame NED] Target position relative to vehicle
float32[3] vel_uav # [m/s] [@frame NED] Vehicle velocity
float32[3] vel_target # [m/s] [@frame NED] Target velocity
float32[3] bias # [m] [@frame NED] GNSS bias between vehicle and target receivers
float32[3] acc_target # [m/s^2] [@frame NED] Target acceleration

float32[3] cov_rel_pos # [m^2] [@frame NED] Variance of rel_pos
float32[3] cov_vel_uav # [(m/s)^2] [@frame NED] Variance of vel_uav
float32[3] cov_bias # [m^2] [@frame NED] Variance of bias
float32[3] cov_vel_target # [(m/s)^2] [@frame NED] Variance of vel_target
float32[3] cov_acc_target # [(m/s^2)^2] [@frame NED] Variance of acc_target