Bestpos

This is a ROS message definition.

Source

# This is modified version from Novatel
# For original Novatel see: http://docs.ros.org/jade/api/novatel_msgs/html/msg/BESTPOS.html
# For Tersus see section 3.1.3 BESTPOS in https://www.tersus-gnss.com/assets/upload/file/20180608173259349.pdf
# --------------------------------------------------------------------------------------

std_msgs/Header header

# message 42
mrs_modules_msgs/TersusMessageHeader tersus_msg_header

string solution_status
string position_type

float64 latitude  # (degrees)
float64 longitude # (degrees)
float64 height    # height above mean sea level (meters)

float32 undulation  # undulation - the relationship between the geoid and the ellipsoid (m) of the chosen datum
string datum_id

float32 latitude_std  # latitude standard deviation (m)
float32 longitude_std # longitude standard deviation (m)
float32 height_std    # height standard deviation (m)

string base_station_id   # base station id

float32 diff_age      # differential age in seconds
float32 solution_age  # solution age in seconds

uint8 num_satellites_tracked                          # number of satellites tracked
uint8 num_satellites_used_in_solution                 # number of satellites used in solution
uint8 num_gps_and_glonass_l1_used_in_solution         # number of satellites with l1/e1/b1 signals used in solution
uint8 num_gps_and_glonass_l1_and_l2_used_in_solution  # number of satellites with multi-frequency signals used in solution
# TODO: define the rest of the message if it is necessary