Apollo 10.0
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gnss.proto
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1syntax = "proto2";
2
3package apollo.drivers.gnss;
4
7
8// Solution from a Global Navigation Satellite System (GNSS) receiver without
9// fused with any IMU.
10message Gnss {
11 optional apollo.common.Header header = 1;
12
13 // The time of position measurement, seconds since the GPS epoch (Jan 6,
14 // 1980).
15 optional double measurement_time = 2; // In seconds.
16
17 // When velocity is computed from differentiating successive position
18 // computations, a non-zero latency is incurred. The velocity refers to the
19 // time measurement_time - velocity_latency.
20 // When velocity is computed using instantaneous Doppler frequency, there is
21 // no latency. We should have velocity_latency = 0.
22 optional float velocity_latency = 3 [default = 0.0]; // In seconds.
23
24 // Position of the GNSS antenna phase center.
25 optional apollo.common.PointLLH position = 4;
26
27 // East/north/up in meters.
28 optional apollo.common.Point3D position_std_dev = 5;
29 // East/north/up in meters per second.
30 optional apollo.common.Point3D linear_velocity = 6;
31 // East/north/up in meters per second.
32 optional apollo.common.Point3D linear_velocity_std_dev = 7;
33
34 optional int32 num_sats = 8; // Number of satellites in position solution.
35
36 // GNSS solution type.
37 enum Type {
38 // It is recommended not using the GNSS solution if solution type is INVALID
39 // or PROPAGATED.
40 INVALID = 0; // Invalid solution due to insufficient observations,
41 // integrity warning, etc.
42 PROPAGATED = 1; // Propagated by a Kalman filter without new observations.
43
44 // It is recommended using the following types of solution.
45 SINGLE = 2; // Standard GNSS solution without any corrections.
46 PSRDIFF = 3; // Pseudorange differential solution, including WAAS/SBAS
47 // solution.
48 PPP = 4; // Precise Point Positioning (PPP) solution.
49 RTK_FLOAT = 5; // Real Time Kinematic (RTK) float solution.
50 RTK_INTEGER = 6; // RTK integer solution.
51 }
52 optional Type type = 9;
53 optional uint32 solution_status = 10;
54 optional uint32 position_type = 11;
55}
56
57// gnss raw data
58message RawData {
59 optional apollo.common.Header header = 1;
60 optional bytes data = 2;
61}
syntax
Definition gnss.proto:1
apollo::common
class register implement
Definition arena_queue.h:37