VehicleGlobalPosition (UORB message)

Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation.

TOPICS: vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position estimator_global_position

Fields

명칭	형식	Unit [Frame]	Range/Enum	설명
timestamp	uint64			time since system start (microseconds)
timestamp_sample	uint64			the timestamp of the raw data (microseconds)
lat	float64			Latitude, (degrees)
lon	float64			Longitude, (degrees)
alt	float32			Altitude AMSL, (meters)
alt_ellipsoid	float32			Altitude above ellipsoid, (meters)
lat_lon_valid	bool
alt_valid	bool
delta_alt	float32			Reset delta for altitude
delta_terrain	float32			Reset delta for terrain
lat_lon_reset_counter	uint8			Counter for reset events on horizontal position coordinates
alt_reset_counter	uint8			Counter for reset events on altitude
terrain_reset_counter	uint8			Counter for reset events on terrain
eph	float32			Standard deviation of horizontal position error, (metres)
epv	float32			Standard deviation of vertical position error, (metres)
terrain_alt	float32			Terrain altitude WGS84, (metres)
terrain_alt_valid	bool			Terrain altitude estimate is valid
dead_reckoning	bool			True if this position is estimated through dead-reckoning

Constants

명칭	형식	Value	설명
MESSAGE_VERSION	uint32	0

Source Message

Source file (GitHub)

Details

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# Fused global position in WGS84.
# This struct contains global position estimation. It is not the raw GPS
# measurement (@see vehicle_gps_position). This topic is usually published by the position
# estimator, which will take more sources of information into account than just GPS,
# e.g. control inputs of the vehicle in a Kalman-filter implementation.
#

uint32 MESSAGE_VERSION = 0

uint64 timestamp		# time since system start (microseconds)
uint64 timestamp_sample         # the timestamp of the raw data (microseconds)

float64 lat			# Latitude, (degrees)
float64 lon			# Longitude, (degrees)
float32 alt			# Altitude AMSL, (meters)
float32 alt_ellipsoid		# Altitude above ellipsoid, (meters)

bool lat_lon_valid
bool alt_valid

float32 delta_alt 	# Reset delta for altitude
float32 delta_terrain   # Reset delta for terrain
uint8 lat_lon_reset_counter	# Counter for reset events on horizontal position coordinates
uint8 alt_reset_counter 	# Counter for reset events on altitude
uint8 terrain_reset_counter     # Counter for reset events on terrain

float32 eph			# Standard deviation of horizontal position error, (metres)
float32 epv			# Standard deviation of vertical position error, (metres)

float32 terrain_alt		# Terrain altitude WGS84, (metres)
bool terrain_alt_valid		# Terrain altitude estimate is valid

bool dead_reckoning		# True if this position is estimated through dead-reckoning

# TOPICS vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position
# TOPICS estimator_global_position