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 upper triangle of the 3x3 covariance matrix. The position information and Fix Mode flags should follow the MSG_POS_LLH_GNSS message. Since the covariance matrix is computed in the local-level North, East, Down frame, the covariance terms follow with that convention. Thus, covariances are reported against the "downward" measurement and care should be taken with the sign convention., , The values in this message are from GNSS measurements only. To get values fused with inertial measurements use MSG_POS_LLH_COV.
{
"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": "#MsgPosLLHCovGnss",
"title":"MsgPosLLHCovGnss",
"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 upper triangle of the 3x3 covariance matrix. The position information and Fix Mode flags should follow the MSG_POS_LLH_GNSS message. Since the covariance matrix is computed in the local-level North, East, Down frame, the covariance terms follow with that convention. Thus, covariances are reported against the \"downward\" measurement and care should be taken with the sign convention.,\n,\nThe values in this message are from GNSS measurements only. To get values fused with inertial measurements use MSG_POS_LLH_COV.\n",
"type": "object",
"properties": {
"tow": {"type": "integer"},
"lat": {"type": "number"},
"lon": {"type": "number"},
"height": {"type": "number"},
"cov_n_n": {"type": "number"},
"cov_n_e": {"type": "number"},
"cov_n_d": {"type": "number"},
"cov_e_e": {"type": "number"},
"cov_e_d": {"type": "number"},
"cov_d_d": {"type": "number"},
"n_sats": {"type": "integer"},
"flags": {"type": "integer"}
},
"required": [
"tow",
"lat",
"lon",
"height",
"cov_n_n",
"cov_n_e",
"cov_n_d",
"cov_e_e",
"cov_e_d",
"cov_d_d",
"n_sats",
"flags"
]
}