This position solution message reports the absolute geodetic coordinates and the status (single point vs pseudo-absolute RTK) of the position solution as well as the estimated horizontal, vertical, cross-track and along-track errors. The position information and Fix Mode flags follow the MSG_POS_LLH message. Since the covariance matrix is computed in the local-level North, East, Down frame, the estimated error terms follow that convention., , The estimated errors are reported at a user-configurable confidence level. The user-configured percentile is encoded in the percentile field., , The values in this message are from GNSS measurements fused with inertial measurements.
{
"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": "#MsgPosLLHAcc",
"title":"MsgPosLLHAcc",
"description":"This position solution message reports the absolute geodetic coordinates and the status (single point vs pseudo-absolute RTK) of the position solution as well as the estimated horizontal, vertical, cross-track and along-track errors. The position information and Fix Mode flags follow the MSG_POS_LLH message. Since the covariance matrix is computed in the local-level North, East, Down frame, the estimated error terms follow that convention.,\n,\nThe estimated errors are reported at a user-configurable confidence level. The user-configured percentile is encoded in the percentile field.,\n,\nThe values in this message are from GNSS measurements fused with inertial measurements.\n",
"type": "object",
"properties": {
"tow": {"type": "integer"},
"lat": {"type": "number"},
"lon": {"type": "number"},
"height": {"type": "number"},
"orthometric_height": {"type": "number"},
"h_accuracy": {"type": "number"},
"v_accuracy": {"type": "number"},
"ct_accuracy": {"type": "number"},
"at_accuracy": {"type": "number"},
"h_ellipse": {"$ref": "EstimatedHorizontalErrorEllipse.json"},
"confidence_and_geoid": {"type": "integer"},
"n_sats": {"type": "integer"},
"flags": {"type": "integer"}
},
"required": [
"tow",
"lat",
"lon",
"height",
"orthometric_height",
"h_accuracy",
"v_accuracy",
"ct_accuracy",
"at_accuracy",
"h_ellipse",
"confidence_and_geoid",
"n_sats",
"flags"
]
}