Apollo
10.0
自动驾驶开放平台
gnss.proto
浏览该文件的文档.
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syntax
=
"proto2"
;
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package
apollo.drivers.gnss;
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import
"
modules/common_msgs/basic_msgs/geometry.proto
";
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import
"
modules/common_msgs/basic_msgs/header.proto
";
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// Solution from a Global Navigation Satellite System (GNSS) receiver without
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// fused with any IMU.
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message
Gnss
{
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optional
apollo
.
common
.
Header
header = 1;
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// The time of position measurement, seconds since the GPS epoch (Jan 6,
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// 1980).
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optional
double
measurement_time = 2;
// In seconds.
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// When velocity is computed from differentiating successive position
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// computations, a non-zero latency is incurred. The velocity refers to the
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// time measurement_time - velocity_latency.
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// When velocity is computed using instantaneous Doppler frequency, there is
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// no latency. We should have velocity_latency = 0.
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optional
float
velocity_latency = 3 [
default
= 0.0];
// In seconds.
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// Position of the GNSS antenna phase center.
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optional
apollo
.
common
.
PointLLH
position = 4;
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// East/north/up in meters.
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optional
apollo
.
common
.
Point3D
position_std_dev = 5;
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// East/north/up in meters per second.
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optional
apollo
.
common
.
Point3D
linear_velocity = 6;
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// East/north/up in meters per second.
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optional
apollo
.
common
.
Point3D
linear_velocity_std_dev = 7;
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optional int32 num_sats = 8;
// Number of satellites in position solution.
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// GNSS solution type.
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enum
Type
{
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// It is recommended not using the GNSS solution if solution type is INVALID
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// or PROPAGATED.
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INVALID = 0;
// Invalid solution due to insufficient observations,
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// integrity warning, etc.
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PROPAGATED = 1;
// Propagated by a Kalman filter without new observations.
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// It is recommended using the following types of solution.
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SINGLE
= 2;
// Standard GNSS solution without any corrections.
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PSRDIFF
= 3;
// Pseudorange differential solution, including WAAS/SBAS
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// solution.
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PPP
= 4;
// Precise Point Positioning (PPP) solution.
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RTK_FLOAT = 5;
// Real Time Kinematic (RTK) float solution.
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RTK_INTEGER = 6;
// RTK integer solution.
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}
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optional
Type
type = 9;
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optional uint32 solution_status = 10;
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optional uint32 position_type = 11;
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}
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// gnss raw data
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message
RawData
{
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optional
apollo
.
common
.
Header
header = 1;
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optional bytes data = 2;
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}
geometry.proto
syntax
syntax
Definition
gnss.proto:1
header.proto
apollo::common
apollo::common
apollo::drivers::gnss::PPP
@ PPP
Definition
gnss_best_pose.proto:59
apollo::drivers::gnss::SINGLE
@ SINGLE
Definition
gnss_best_pose.proto:36
apollo::drivers::gnss::PSRDIFF
@ PSRDIFF
Definition
gnss_best_pose.proto:37
apollo
class register implement
Definition
arena_queue.h:37
apollo::common::Header
Definition
header.proto:7
apollo::common::Point3D
Definition
geometry.proto:41
apollo::common::PointLLH
Definition
geometry.proto:23
apollo::drivers::gnss::Gnss
Definition
gnss.proto:10
apollo::drivers::gnss::Gnss::Type
Type
Definition
gnss.proto:37
apollo::drivers::gnss::RawData
Definition
gnss.proto:58
modules
common_msgs
sensor_msgs
gnss.proto