Platform pose solution: position, velocity, attitude (MessageType::POSE, version 1.1). More...

#include <point_one/fusion_engine/messages/solution.h>

Inheritance diagram for point_one::fusion_engine::messages::PoseMessage:

Public Attributes
float	aggregate_protection_level_m = NAN
	The estimated aggregate 3D protection level (in meters). More...

Timestamp	gps_time
	The GPS time of the message, if available, referenced to 1980/1/6. More...

float	horizontal_protection_level_m = NAN
	The estimated 2D horizontal protection level (in meters). More...

double	lla_deg [3] = {NAN, NAN, NAN}
	The geodetic latitude, longitude, and altitude (in degrees/meters), expressed using the WGS-84 reference ellipsoid. More...

Timestamp	p1_time
	The time of the message, in P1 time (beginning at power-on). More...

float	position_std_enu_m [3] = {NAN, NAN, NAN}
	The position standard deviation (in meters), resolved with respect to the local ENU tangent plane: east, north, up. More...

SolutionType	solution_type
	The type of this position solution. More...

int16_t	undulation_cm = INVALID_UNDULATION
	The geoid undulation at at the current location (i.e., the difference between the WGS-84 ellipsoid and the geoid). More...

double	velocity_body_mps [3] = {NAN, NAN, NAN}
	The platform velocity (in meters/second), resolved in the body frame. More...

float	velocity_std_body_mps [3] = {NAN, NAN, NAN}
	The velocity standard deviation (in meters/second), resolved in the body frame. More...

float	vertical_protection_level_m = NAN
	The estimated vertical protection level (in meters). More...

double	ypr_deg [3] = {NAN, NAN, NAN}
	The platform attitude (in degrees), if known, described as intrinsic Euler-321 angles (yaw, pitch, roll) with respect to the local ENU tangent plane. More...

float	ypr_std_deg [3] = {NAN, NAN, NAN}
	The attitude standard deviation (in degrees): yaw, pitch, roll. More...

Static Public Attributes
static constexpr int16_t	INVALID_UNDULATION = INT16_MIN

static constexpr MessageType	MESSAGE_TYPE = MessageType::POSE

static constexpr uint8_t	MESSAGE_VERSION = 1

Detailed Description

Platform pose solution: position, velocity, attitude (MessageType::POSE, version 1.1).

Note: All data is timestamped using the Point One Time, which is a monotonic timestamp referenced to the start of the device. Corresponding messages (GNSSInfoMessage, GNSSSatelliteMessage, etc.) may be associated using their p1_time values.

Definition at line 39 of file solution.h.

Member Data Documentation

◆ aggregate_protection_level_m

float point_one::fusion_engine::messages::PoseMessage::aggregate_protection_level_m = NAN

The estimated aggregate 3D protection level (in meters).

Definition at line 149 of file solution.h.

◆ gps_time

Timestamp point_one::fusion_engine::messages::PoseMessage::gps_time

The GPS time of the message, if available, referenced to 1980/1/6.

Definition at line 48 of file solution.h.

◆ horizontal_protection_level_m

float point_one::fusion_engine::messages::PoseMessage::horizontal_protection_level_m = NAN

The estimated 2D horizontal protection level (in meters).

Definition at line 151 of file solution.h.

◆ INVALID_UNDULATION

constexpr int16_t point_one::fusion_engine::messages::PoseMessage::INVALID_UNDULATION = INT16_MIN

staticconstexpr

Definition at line 42 of file solution.h.

◆ lla_deg

double point_one::fusion_engine::messages::PoseMessage::lla_deg[3] = {NAN, NAN, NAN}

The geodetic latitude, longitude, and altitude (in degrees/meters), expressed using the WGS-84 reference ellipsoid.

Datum/Epoch Considerations

When comparing two positions, it is very important to make sure they are compared using the same geodetic datum, defined at the same time (epoch). Failing to do so can cause very large unexpected differences since the ground moves in various directions over time due to motion of tectonic plates.

For example, the coordinates for a point on the ground in San Francisco expressed in the ITRF14 datum may differ by multiple meters from the coordinates for the same point expressed the NAD83 datum. Similarly, the coordinates for that location expressed in the ITRF14 2017.0 epoch (January 1, 2017) may differ by 12 cm or more when expressed using the ITRF14 2021.0 epoch (January 1, 2021).

The datum and epoch to which the position reported in this message is aligned depends on the current solution_type.

SolutionType::AutonomousGPS / SolutionType::DGPS / SolutionType::PPP - Standalone solutions (i.e., no differential corrections) are aligned to the WGS-84 datum as broadcast live by GPS (aligns closely with the ITRF08/14 datums).
SolutionType::RTKFloat / SolutionType::RTKFixed - When differential corrections are applied, the reference datum and epoch are defined by the corrections provider. Point One's Polaris Corrections Service produces corrections using the ITRF14 datum. See https://pointonenav.com/polaris for more details.
SolutionType::Integrate - When the INS is dead reckoning in the absence of GNSS, vision, or other measurements anchored in absolute world coordinates, the position solution is defined in the same datum/epoch specified by the previous solution type (e.g., WGS-84 if previously standalone GNSS, i.e., SolutionType::AutonomousGPS).

Definition at line 109 of file solution.h.

◆ MESSAGE_TYPE

constexpr MessageType point_one::fusion_engine::messages::PoseMessage::MESSAGE_TYPE = MessageType::POSE

staticconstexpr

Definition at line 40 of file solution.h.

◆ MESSAGE_VERSION

constexpr uint8_t point_one::fusion_engine::messages::PoseMessage::MESSAGE_VERSION = 1

staticconstexpr

Definition at line 41 of file solution.h.

◆ p1_time

Timestamp point_one::fusion_engine::messages::PoseMessage::p1_time

The time of the message, in P1 time (beginning at power-on).

Definition at line 45 of file solution.h.

◆ position_std_enu_m

float point_one::fusion_engine::messages::PoseMessage::position_std_enu_m[3] = {NAN, NAN, NAN}

The position standard deviation (in meters), resolved with respect to the local ENU tangent plane: east, north, up.

Definition at line 115 of file solution.h.

◆ solution_type

SolutionType point_one::fusion_engine::messages::PoseMessage::solution_type

The type of this position solution.

Definition at line 51 of file solution.h.

◆ undulation_cm

int16_t point_one::fusion_engine::messages::PoseMessage::undulation_cm = INVALID_UNDULATION

The geoid undulation at at the current location (i.e., the difference between the WGS-84 ellipsoid and the geoid).

Height above the ellipsoid can be converted to a corresponding height above the geoid (orthometric height or height above mean sea level (MSL)) as follows:

$h_{orthometric} = h_{ellipsoid} - undulation$

Stored in units of 0.01 meters: undulation_m = undulation_cm * 0.01. Set to -32768 if invalid.

Added in PoseMessage version 1.1.

Definition at line 72 of file solution.h.

◆ velocity_body_mps

double point_one::fusion_engine::messages::PoseMessage::velocity_body_mps[3] = {NAN, NAN, NAN}

The platform velocity (in meters/second), resolved in the body frame.

Set to NAN if attitude is not available for the body frame transformation.

Definition at line 140 of file solution.h.

◆ velocity_std_body_mps

float point_one::fusion_engine::messages::PoseMessage::velocity_std_body_mps[3] = {NAN, NAN, NAN}

The velocity standard deviation (in meters/second), resolved in the body frame.

Definition at line 146 of file solution.h.

◆ vertical_protection_level_m

float point_one::fusion_engine::messages::PoseMessage::vertical_protection_level_m = NAN

The estimated vertical protection level (in meters).

Definition at line 153 of file solution.h.

◆ ypr_deg

double point_one::fusion_engine::messages::PoseMessage::ypr_deg[3] = {NAN, NAN, NAN}

The platform attitude (in degrees), if known, described as intrinsic Euler-321 angles (yaw, pitch, roll) with respect to the local ENU tangent plane.

Set to NAN if attitude is not available.

Note: The platform body axes are defined as +x forward, +y left, and +z up. A positive yaw is a left turn, positive pitch points the nose of the vehicle down, and positive roll is a roll toward the right. Yaw is measured from east in a counter-clockwise direction. For example, north is +90 degrees (i.e., heading = 90.0 - ypr_deg[0]).

Definition at line 129 of file solution.h.

◆ ypr_std_deg

float point_one::fusion_engine::messages::PoseMessage::ypr_std_deg[3] = {NAN, NAN, NAN}

The attitude standard deviation (in degrees): yaw, pitch, roll.

Definition at line 134 of file solution.h.

The documentation for this struct was generated from the following file:

src/point_one/fusion_engine/messages/solution.h

Public Attributes

Static Public Attributes

Detailed Description

Member Data Documentation

◆ aggregate_protection_level_m

◆ gps_time

◆ horizontal_protection_level_m

◆ INVALID_UNDULATION

◆ lla_deg

Datum/Epoch Considerations

◆ MESSAGE_TYPE

◆ MESSAGE_VERSION

◆ p1_time

◆ position_std_enu_m

◆ solution_type

◆ undulation_cm

◆ velocity_body_mps

◆ velocity_std_body_mps

◆ vertical_protection_level_m

◆ ypr_deg

◆ ypr_std_deg