Skip to content

0x4421 - ReportNavigation

Description

This message is used to provide the receiver the global position, local position, attitude, velocity, and acceleration of the platform. Reporting of these values is consistent with GlobalPoseSensor, LocalPoseSensor, VelocityStateSensor, and AccelerationStateSensor services.

Structure

ReportNavigation
 NavigationSeq
   SyncTimeRec
   ReportGlobalPoseExtRec
   ReportLocalPoseExtRec
   ReportVelocityStateExtSeq
     VelocityVar
       VelocityVehicleXYZRec
       VelocityLocalXYZRec
       VelocityNEDRec
     ReportVelocityStateExtRec
   ReportAccelerationStateExtRec

Type: Sequence

Field # Field Name Type Optional Interpretation
1 SyncTimeRec SyncTimeRec false
2 ReportGlobalPoseExtRec ReportGlobalPoseExtRec false
3 ReportLocalPoseExtRec ReportLocalPoseExtRec false
4 ReportVelocityStateExtSeq ReportVelocityStateExtSeq false
5 ReportAccelerationStateExtRec ReportAccelerationStateExtRec false

SyncTimeRec

Type: Record

Field # Field Name Type Units Optional Interpretation
1 TimeSeconds false UTC POSIX-style time in seconds since 1 January 1970. If all data is captured simultaneously, this is the capture time. Otherwise, it is the time when the disparate data is combined.
2 TimeNanoSeconds false Nanoseconds component of POSIX-style time. If all data is captured simultaneously, this is the capture time. Otherwise, it is the time when the disparate data is combined.

ReportGlobalPoseExtRec

Type: Record

Field # Field Name Type Units Optional Interpretation
1 PresenceVector uint16
2 Latitude true
3 Longitude true
4 AltitudeAGL uint32 meter true
5 AltitudeMSL uint32 meter true
6 AltitudeASF uint32 meter true
7 Depth uint32 meter true
8 XYPositionRMS uint32 meter true An RMS value indicating the validity of the position data.
9 ZPositionRMS uint32 meter true An RMS value indicating the validity of the position data.
10 Roll uint16 radian true
11 Pitch uint16 radian true
12 Heading uint16 radian true
13 Attitude_RMS uint16 radian true An RMS value indicating the validity of the orientation data.
14 Course uint16 radian true
15 TimeSeconds true
16 TimeNanoSeconds true

ReportLocalPoseExtRec

Type: Record

Field # Field Name Type Units Optional Interpretation
1 PresenceVector uint16
2 X true
3 Y true
4 AltitudeAGL uint32 meter true
5 AltitudeMSL uint32 meter true
6 AltitudeASF uint32 meter true
7 Depth uint32 meter true
8 ZLocal uint32 meter true
9 XYPositionRMS uint32 meter true An RMS value indicating the validity of the position data.
10 ZPositionRMS uint32 meter true An RMS value indicating the validity of the position data.
11 Roll uint16 radian true
12 Pitch uint16 radian true
13 Heading uint16 radian true
14 Attitude_RMS uint16 radian true An RMS value indicating the validity of the orientation data.
15 Course uint16 radian true
16 TimeSeconds true
17 TimeNanoSeconds true

ReportVelocityStateExtSeq

Type: Sequence

Field # Field Name Type Optional Interpretation
1 VelocityVar VelocityVar false
2 ReportVelocityStateExtRec ReportVelocityStateExtRec false

VelocityVar

Type: Variant

Index Type
0 VelocityVehicleXYZRec
1 VelocityLocalXYZRec
2 VelocityNEDRec

VelocityVehicleXYZRec

Type: Record

Field # Field Name Type Units Optional Interpretation
1 PresenceVector uint8
2 Velocity_X true
3 Velocity_Y true
4 Velocity_Z true

VelocityLocalXYZRec

Type: Record

Field # Field Name Type Units Optional Interpretation
1 PresenceVector uint8
2 Velocity_X true
3 Velocity_Y true
4 Velocity_Z true

VelocityNEDRec

Type: Record

Field # Field Name Type Units Optional Interpretation
1 PresenceVector uint8
2 Velocity_N true
3 Velocity_E true
4 Velocity_D true

ReportVelocityStateExtRec

Type: Record

Field # Field Name Type Units Optional Interpretation
1 PresenceVector uint16
2 Velocity_RMS uint32 meter per second true An RMS value indicating the validity of the velocity data.
3 RollRate true
4 PitchRate true
5 YawRate true
6 Rate_RMS uint16 radian per second true An RMS value indicating the validity of the rotational velocity data.
7 SpeedOverGround uint16 meter per second true Scalar speed measured relative to fixed coordinate system
8 SpeedRelativeToMedium uint16 meter per second true Scalar speed measured relative to medium, such as air or water currents
9 RotationsPerMinute uint16 rotations per minute true
10 IndicatedSpeed uint16 meter per second true
11 TimeSeconds true
12 TimeNanoSeconds true

ReportAccelerationStateExtRec

Type: Record

Field # Field Name Type Units Optional Interpretation
1 PresenceVector uint16
2 Acceleration_X true
3 Acceleration_Y true
4 Acceleration_Z true
5 Acceleration_RMS uint32 meter per second squared true An RMS value indicating the validity of the acceleration data.
6 RollAcceleration true
7 PitchAcceleration true
8 YawAcceleration true
9 RotationalAcceleration_RMS uint16 radian per second squared true An RMS value indicating the validity of the rotational acceleration data.
10 TimeSeconds true
11 TimeNanoSeconds true