hjkim
be9e83d2f4
UM982 RTK GNSS driver workspace used by the triple-camera scan GUI for recording /ublox_driver/receiver_pvt alongside LiDAR/camera bags. Ported from FAST-LIVO2-RTK-ROS2's um982_driver spec, adapted for this UM982 receiver instead of the original repo's GNSS module.
23 lines
1.1 KiB
Plaintext
23 lines
1.1 KiB
Plaintext
# This message contains information of UBX-NAV-PVT message.
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# reference: [1]. UBX-18010854-R08, page 132
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GnssTimeMsg time # GNSS time of the navigation epoch
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# GNSS fix type (0=no fix, 1=dead reckoning only, 2=2D-fix, 3=3D-fix,
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# 4=GNSS+dead reckoning combined, 5=time only fix)
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uint8 fix_type
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bool valid_fix # if fix valid (1=valid fix)
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bool diff_soln # if differential correction were applied (1=applied)
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uint8 carr_soln # carrier phase range solution status (0=no carrier phase, 1=float, 2=fix)
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uint8 num_sv # number of satellites used in the solution
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float64 latitude # latitude [degree]
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float64 longitude # longitude [degree]
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float64 altitude # height above ellipsoid [m]
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float64 height_msl # height above mean sea level [m]
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float64 h_acc # horizontal accuracy estimate [m]
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float64 v_acc # vertical accuracy estimate [m]
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float64 p_dop # Position DOP
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float64 vel_n # NED north velocity [m/s]
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float64 vel_e # NED east velocity [m/s]
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float64 vel_d # NED down velocity [m/s]
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float64 vel_acc # speed accuracy estimate [m/s]
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