Skip to content

0x44A3 - ReportLocalPoseExt

Description

This message is used to provide the receiver the position and attitude of the platform relative to a local reference frame. All times are in Coordinated Universal Time (UTC). Note that in some applications, particularly air and undersea, position may be a mix of local coordinates for XY position and absolute coordinates for Z/altitude/depth. This only applies if the Z axis for the vehicle coordinate frame is aligned with a vertical axis, e.g. a vector orthogonal to the ground plane. In all other cases, implementations must use Zlocal reporting only. For example, a UUV launched from a USV may need to navigate using local X/Y coordinates based on its launch point (using dead reckoning from its IMU) but rely on direct readings that do not suffer from drift for its Depth and/or Altitude ASF. Note the set command uses a variable field to set only one Zposition, whereas the report enables one or more of the possible Zposition values to be returned. Submerged vehicle often need to know depth as well as altitude above the sea floor.

Structure

ReportLocalPoseExt
 ReportLocalPoseExtRec

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