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docs/en/msg_docs/VehicleGlobalPosition.md
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---
pageClass: is-wide-page
---
# VehicleGlobalPosition (UORB message)
Fused global position in WGS84.
This struct contains global position estimation. It is not the raw GPS
measurement (@see vehicle_gps_position). This topic is usually published by the position
estimator, which will take more sources of information into account than just GPS,
e.g. control inputs of the vehicle in a Kalman-filter implementation.
Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleGlobalPosition.msg)
**TOPICS:** vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position estimator_global_position aux_global_position
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------------------- | --------- | ------------ | ---------- | ----------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| lat | `float64` | | | Latitude, (degrees) |
| lon | `float64` | | | Longitude, (degrees) |
| alt | `float32` | | | Altitude AMSL, (meters) |
| alt_ellipsoid | `float32` | | | Altitude above ellipsoid, (meters) |
| lat_lon_valid | `bool` | | |
| alt_valid | `bool` | | |
| delta_alt | `float32` | | | Reset delta for altitude |
| delta_terrain | `float32` | | | Reset delta for terrain |
| lat_lon_reset_counter | `uint8` | | | Counter for reset events on horizontal position coordinates |
| alt_reset_counter | `uint8` | | | Counter for reset events on altitude |
| terrain_reset_counter | `uint8` | | | Counter for reset events on terrain |
| eph | `float32` | | | Standard deviation of horizontal position error, (metres) |
| epv | `float32` | | | Standard deviation of vertical position error, (metres) |
| terrain_alt | `float32` | | | Terrain altitude WGS84, (metres) |
| terrain_alt_valid | `bool` | | | Terrain altitude estimate is valid |
| dead_reckoning | `bool` | | | True if this position is estimated through dead-reckoning |
## Constants
| Name | Type | Value | Description |
| ----------------------------------------------- | -------- | ----- | ----------- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleGlobalPosition.msg)
::: details Click here to see original file
```c
# Fused global position in WGS84.
@@ -46,5 +81,6 @@ bool dead_reckoning # True if this position is estimated through dead-reckoning
# TOPICS vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position
# TOPICS estimator_global_position
# TOPICS aux_global_position
```
:::