gnss_pnt_result.proto

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syntax = "proto2";
 
package apollo.localization;
 
import "modules/common_msgs/sensor_msgs/gnss_raw_observation.proto";
 
// Define a rover' direction cosine to an observed satellite under WGS-84
message SatDirCosine {
  optional uint32 sat_prn = 1;
  optional uint32 sat_sys = 2;
  optional double cosine_x = 3;
  optional double cosine_y = 4;
  optional double cosine_z = 5;
}
enum PntType {
  PNT_INVALID = 0;
  PNT_SPP = 1;
  PNT_PHASE_TD = 2;
  PNT_CODE_DIFF = 3;
  PNT_RTK_FLOAT = 4;
  PNT_RTK_FIXED = 5;
}
// Define the position result of a rover,
// and pnt stands for Positioning, Navigating and Timing
message GnssPntResult {
  optional uint32 receiver_id = 1;
  optional apollo.drivers.gnss.GnssTimeType time_type = 2 [default = GPS_TIME];
  optional uint32 gnss_week = 3;
  optional double gnss_second_s = 4;
  // Solution type
  optional PntType pnt_type = 5 [default = PNT_INVALID];
  ;
  // Position and its standard deviation in Cartesian (X/Y/Z) under ECEF-WGS84
  // coordinate
  optional double pos_x_m = 6;
  optional double pos_y_m = 7;
  optional double pos_z_m = 8;
  optional double std_pos_x_m = 9;
  optional double std_pos_y_m = 10;
  optional double std_pos_z_m = 11;
  // Velocity and its standard deviation in Cartesian (X/Y/Z) under ECEF-WGS84
  // coordinate
  optional double vel_x_m = 12;
  optional double vel_y_m = 13;
  optional double vel_z_m = 14;
  optional double std_vel_x_m = 15;
  optional double std_vel_y_m = 16;
  optional double std_vel_z_m = 17;
  // Number of satellites involved in solution
  optional uint32 sovled_sat_num = 18;
  // Group of observed satellites' directio cosine
  repeated SatDirCosine sat_dir_cosine = 19;
  // position dilution of precision
  optional double pdop = 20;
  // horizontal dilution of precision
  optional double hdop = 21;
  // vertical dilution of precision
  optional double vdop = 22;
}