ins.proto

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syntax = "proto2";
 
package apollo.drivers.gnss;
 
import "modules/common_msgs/basic_msgs/geometry.proto";
import "modules/common_msgs/basic_msgs/header.proto";
 
message InsStat {
  optional apollo.common.Header header = 1;
  optional uint32 ins_status = 2;
  optional uint32 pos_type = 3;
}
 
// Solution from an inertial navigation system (INS), which usually fuses GNSS
// and IMU measurements.
message Ins {
  optional apollo.common.Header header = 1;
 
  // The time of position measurement, seconds since the GPS epoch (01/06/1980).
  optional double measurement_time = 2;  // In seconds.
 
  // INS solution type.
  enum Type {
    // Do NOT use.
    // Invalid solution due to insufficient observations, no initial GNSS, ...
    INVALID = 0;
 
    // Use with caution. The covariance matrix may be unavailable or incorrect.
    // High-variance result due to aligning, insufficient vehicle dynamics, ...
    CONVERGING = 1;
 
    // Safe to use. The INS has fully converged.
    GOOD = 2;
  }
  optional Type type = 3;
 
  // Position of the IMU.
  optional apollo.common.PointLLH position = 4;
 
  // Roll/pitch/yaw that represents a rotation of the intrinsic sequence z-y-x.
  // Note: our definition differs from what NovAtel and aviation use.
 
  // Roll/pitch/yaw in radians.
  optional apollo.common.Point3D euler_angles = 5;
  // East/north/up in meters per second.
  optional apollo.common.Point3D linear_velocity = 6;
  // Around forward/left/up axes in radians per second.
  optional apollo.common.Point3D angular_velocity = 7;
  // Forward/left/up in meters per square second.
  optional apollo.common.Point3D linear_acceleration = 8;
 
  // The size of a covariance matrix field may be
  //  3: then the elements are xx, yy, zz.
  //  9: then the elements are xx, xy, xz, yx, yy, yz, zx, zy, zz.
  // If the field size is not 3 or 9, treat the field invalid.
 
  // 3-by-3 covariance matrix, in m^2.
  repeated float position_covariance = 9 [packed = true];
 
  // 3-by-3 covariance matrix, in rad^2.
  repeated float euler_angles_covariance = 10 [packed = true];
 
  // 3-by-3 covariance matrix, in m^2/s^2.
  repeated float linear_velocity_covariance = 11 [packed = true];
 
  // 3-by-3 covariance matrix, in rad^2/s^2.
  repeated float angular_velocity_covariance = 12 [packed = true];
 
  // 3-by-3 covariance matrix, in m^2/s^4.
  repeated float linear_acceleration_covariance = 13 [packed = true];
}