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49 lines
2.2 KiB
Markdown
49 lines
2.2 KiB
Markdown
# VehicleGlobalPosition (повідомлення UORB)
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Об'єднана глобальна позиція в WGS84.
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Ця структура містить глобальну оцінку позиції. Це не сирі GPS
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вимірювання (@see vehicle_gps_position). Ця тема зазвичай публікується позиціонером, який враховує більше джерел інформації, ніж просто GPS, наприклад, керування введеннями транспортного засобу в реалізації фільтра Калмана.
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleGlobalPosition.msg)
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```c
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# Fused global position in WGS84.
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# This struct contains global position estimation. It is not the raw GPS
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# measurement (@see vehicle_gps_position). This topic is usually published by the position
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# estimator, which will take more sources of information into account than just GPS,
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# e.g. control inputs of the vehicle in a Kalman-filter implementation.
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#
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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float64 lat # Latitude, (degrees)
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float64 lon # Longitude, (degrees)
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float32 alt # Altitude AMSL, (meters)
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float32 alt_ellipsoid # Altitude above ellipsoid, (meters)
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bool lat_lon_valid
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bool alt_valid
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float32 delta_alt # Reset delta for altitude
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float32 delta_terrain # Reset delta for terrain
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uint8 lat_lon_reset_counter # Counter for reset events on horizontal position coordinates
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uint8 alt_reset_counter # Counter for reset events on altitude
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uint8 terrain_reset_counter # Counter for reset events on terrain
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float32 eph # Standard deviation of horizontal position error, (metres)
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float32 epv # Standard deviation of vertical position error, (metres)
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float32 terrain_alt # Terrain altitude WGS84, (metres)
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bool terrain_alt_valid # Terrain altitude estimate is valid
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bool dead_reckoning # True if this position is estimated through dead-reckoning
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# TOPICS vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position
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# TOPICS estimator_global_position
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# TOPICS aux_global_position
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```
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