gnss_best_pose.proto

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syntax = "proto2";
 
package apollo.drivers.gnss;
 
import "modules/common_msgs/basic_msgs/header.proto";
 
enum SolutionStatus {
  SOL_COMPUTED = 0;      // solution computed
  INSUFFICIENT_OBS = 1;  // insufficient observations
  NO_CONVERGENCE = 2;    // no convergence
  SINGULARITY = 3;       // singularity at parameters matrix
  COV_TRACE = 4;         // covariance trace exceeds maximum (trace > 1000 m)
  TEST_DIST = 5;   // test distance exceeded (max of 3 rejections if distance >
                   // 10 km)
  COLD_START = 6;  // not yet converged from cold start
  V_H_LIMIT = 7;   // height or velocity limits exceeded
  VARIANCE = 8;    // variance exceeds limits
  RESIDUALS = 9;   // residuals are too large
  INTEGRITY_WARNING = 13;  // large residuals make position questionable
  PENDING = 18;  // receiver computes its position and determines if the fixed
                 // position is valid
  INVALID_FIX = 19;   // the fixed position entered using the fix position
                      // command is invalid
  UNAUTHORIZED = 20;  // position type is unauthorized
  INVALID_RATE =
      22;  // selected logging rate is not supported for this solution type
}
 
enum SolutionType {
  NONE = 0;
  FIXEDPOS = 1;
  FIXEDHEIGHT = 2;
  FLOATCONV = 4;
  WIDELANE = 5;
  NARROWLANE = 6;
  DOPPLER_VELOCITY = 8;
  SINGLE = 16;
  PSRDIFF = 17;
  WAAS = 18;
  PROPOGATED = 19;
  OMNISTAR = 20;
  L1_FLOAT = 32;
  IONOFREE_FLOAT = 33;
  NARROW_FLOAT = 34;
  L1_INT = 48;
  WIDE_INT = 49;
  NARROW_INT = 50;
  RTK_DIRECT_INS =
      51;  // RTK filter is directly initialized from the INS filter.
  INS_SBAS = 52;
  INS_PSRSP = 53;
  INS_PSRDIFF = 54;
  INS_RTKFLOAT = 55;
  INS_RTKFIXED = 56;
  INS_OMNISTAR = 57;
  INS_OMNISTAR_HP = 58;
  INS_OMNISTAR_XP = 59;
  OMNISTAR_HP = 64;
  OMNISTAR_XP = 65;
  PPP_CONVERGING = 68;
  PPP = 69;
  INS_PPP_CONVERGING = 73;
  INS_PPP = 74;
}
 
enum DatumId {
  // We only use WGS-84.
  WGS84 = 61;
}
 
message GnssBestPose {
  optional apollo.common.Header header = 1;
  optional double measurement_time = 2;  // In seconds.
  optional SolutionStatus sol_status = 3;
  optional SolutionType sol_type = 4;
  optional double latitude = 5;    // in degrees
  optional double longitude = 6;   // in degrees
  optional double height_msl = 7;  // height above mean sea level in meters
  optional float undulation = 8;   // undulation = height_wgs84 - height_msl
  optional DatumId datum_id = 9;   // datum id number
  optional float latitude_std_dev = 10;   // latitude standard deviation (m)
  optional float longitude_std_dev = 11;  // longitude standard deviation (m)
  optional float height_std_dev = 12;     // height standard deviation (m)
  optional bytes base_station_id = 13;    // base station id
  optional float differential_age = 14;   // differential position age (sec)
  optional float solution_age = 15;       // solution age (sec)
  optional uint32 num_sats_tracked = 16;  // number of satellites tracked
  // number of satellites used in solution
  optional uint32 num_sats_in_solution = 17;
  // number of L1/E1/B1 satellites used in solution
  optional uint32 num_sats_l1 = 18;
  // number of multi-frequency satellites used in solution
  optional uint32 num_sats_multi = 19;
  optional uint32 reserved = 20;  // reserved
  // extended solution status - OEMV and greater only
  optional uint32 extended_solution_status = 21;
  optional uint32 galileo_beidou_used_mask = 22;
  optional uint32 gps_glonass_used_mask = 23;
}