NavRELPOSNED9
This is a ROS message definition.
Source
# NAV-RELPOSNED (0x01 0x3C)
# Relative Positioning Information in NED frame
#
# The NED frame is defined as the local topological system at the reference
# station. The relative position vector components in this message, along with
# their associated accuracies, are given in that local topological system
# This message contains the relative position vector from the Reference Station
# to the Rover, including accuracy figures, in the local topological system
# defined at the reference station
#
# Supported on:
# - u-blox 9 from protocol version 27.11 (only with High Precision GNSS products)
#
uint8 CLASS_ID = 1
uint8 MESSAGE_ID = 60
uint8 version # Message version (0x00 for this version)
uint8 reserved1 # Reserved
uint16 ref_station_id # Reference Station ID. Must be in the range
# 0..4095
uint32 i_tow # GPS time of week of the navigation epoch
# [ms]
int32 rel_pos_n # North component of relative position vector
# [cm]
int32 rel_pos_e # East component of relative position vector
# [cm]
int32 rel_pos_d # Down component of relative position vector
# [cm]
int32 rel_pos_length # Length of the relative position vector
# [cm]
int32 rel_pos_heading # Heading of the relative position vector
# [1e-5 deg]
uint8[4] reserved2 # Reserved
int8 rel_pos_hpn # High-precision North component of relative
# position vector. [0.1 mm]
# Must be in the range -99 to +99.
# The full North component of the relative
# position vector, in units of cm, is given by
# relPosN + (relPosHPN * 1e-2)
int8 rel_pos_hpe # High-precision East component of relative
# position vector. [0.1 mm]
# Must be in the range -99 to +99.
# The full East component of the relative
# position vector, in units of cm, is given by
# relPosE + (relPosHPE * 1e-2)
int8 rel_pos_hpd # High-precision Down component of relative
# position vector. [0.1 mm]
# Must be in the range -99 to +99.
# The full Down component of the relative
# position vector, in units of cm, is given by
# relPosD + (relPosHPD * 1e-2)
int8 rel_pos_hp_length # High-precision component of the length of
# the relative position vector.
# Must be in the range -99 to +99.
# The full length of the relative position
# vector, in units of cm, is given by
# relPosLength + (relPosHPLength * 1e-2)
uint32 acc_n # Accuracy of relative position North
# component [0.1 mm]
uint32 acc_e # Accuracy of relative position East component
# [0.1 mm]
uint32 acc_d # Accuracy of relative position Down component
# [0.1 mm]
uint32 acc_length # Accuracy of length of the relative position
# vector [0.1 mm]
uint32 acc_heading # Accuracy of heading of the relative position
# vector [1e-5 deg]
uint8[4] reserved3 # Reserved
uint32 flags
uint32 FLAGS_GNSS_FIX_OK = 1 # A valid fix (i.e within DOP & accuracy
# masks)
uint32 FLAGS_DIFF_SOLN = 2 # Set if differential corrections were applied
uint32 FLAGS_REL_POS_VALID = 4 # Set if relative position components and
# accuracies are valid
uint32 FLAGS_CARR_SOLN_MASK = 24 # Carrier phase range solution status:
uint32 FLAGS_CARR_SOLN_NONE = 0 # No carrier phase range solution
uint32 FLAGS_CARR_SOLN_FLOAT = 8 # Float solution. No fixed integer carrier
# phase measurements have been used to
# calculate the solution
uint32 FLAGS_CARR_SOLN_FIXED = 16 # Fixed solution. One or more fixed
# integer carrier phase range measurements
# have been used to calculate the solution
uint32 FLAGS_IS_MOVING = 32 # if the receiver is operating in moving
# baseline mode (not supported in protocol
# versions less than 20.3)
uint32 FLAGS_REF_POS_MISS = 64 # Set if extrapolated reference position was
# used to compute moving baseline solution
# this epoch (not supported in protocol
# versions less than 20.3)
uint32 FLAGS_REF_OBS_MISS = 128 # Set if extrapolated reference observations
# were used to compute moving baseline
# solution this epoch (not supported in
# protocol versions less than 20.3)
uint32 FLAGS_REL_POS_HEAD_VALID = 256 # Set if extrapolated reference observations
# were used to compute moving baseline
# solution this epoch (not supported in
# protocol versions less than 20.3)
uint32 FLAGS_REL_POS_NORM = 512 # Set if extrapolated reference observations
# were used to compute moving baseline
# solution this epoch (not supported in
# protocol versions less than 20.3)