This message reports the orientation as a unit quaternion together with the upper triangle of the symmetric 3x3 attitude covariance matrix and a GPS time-of-week time-tag. The reference frame of the quaternion and the parameterization of the covariance matrix are both encoded in the flags field, allowing additional frames or parameterizations to be added later without introducing a new message. By default the quaternion describes the orientation of the vehicle body frame with respect to a local-level NED frame (matching MSG_ORIENT_QUAT) and the covariance is expressed as small-angle rotation errors about the axes of that NED frame; in this default case the cov_x_x, cov_y_y, cov_z_z diagonal entries correspond to the variance of the rotation error about North, East, and Down respectively. The components of the quaternion sum to a unit vector assuming that the LSB of each component has a value of 2^-31.
{
"copyright": [
"Copyright (C) 2019-2021 Swift Navigation Inc.",
"Contact: https://support.swiftnav.com",
"",
"This source is subject to the license found in the file 'LICENSE' which must",
"be distributed together with this source. All other rights reserved.",
"",
"THIS CODE AND INFORMATION IS PROVIDED 'AS IS' WITHOUT WARRANTY OF ANY KIND,",
"EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED",
"WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE."
],
"$schema": "http://json-schema.org/draft-06/schema#",
"$id": "#MsgOrientQuatCov",
"title":"MsgOrientQuatCov",
"description":"This message reports the orientation as a unit quaternion together with the upper triangle of the symmetric 3x3 attitude covariance matrix and a GPS time-of-week time-tag. The reference frame of the quaternion and the parameterization of the covariance matrix are both encoded in the flags field, allowing additional frames or parameterizations to be added later without introducing a new message. By default the quaternion describes the orientation of the vehicle body frame with respect to a local-level NED frame (matching MSG_ORIENT_QUAT) and the covariance is expressed as small-angle rotation errors about the axes of that NED frame; in this default case the cov_x_x, cov_y_y, cov_z_z diagonal entries correspond to the variance of the rotation error about North, East, and Down respectively. The components of the quaternion sum to a unit vector assuming that the LSB of each component has a value of 2^-31.\n",
"type": "object",
"properties": {
"tow": {"type": "integer"},
"w": {"type": "integer"},
"x": {"type": "integer"},
"y": {"type": "integer"},
"z": {"type": "integer"},
"cov_x_x": {"type": "number"},
"cov_x_y": {"type": "number"},
"cov_x_z": {"type": "number"},
"cov_y_y": {"type": "number"},
"cov_y_z": {"type": "number"},
"cov_z_z": {"type": "number"},
"flags": {"type": "integer"}
},
"required": [
"tow",
"w",
"x",
"y",
"z",
"cov_x_x",
"cov_x_y",
"cov_x_z",
"cov_y_y",
"cov_y_z",
"cov_z_z",
"flags"
]
}