package apollo.localization

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• optional common.Header header = 1

• optional Pose imu = 3

  Inertial Measurement Unit(IMU)

GNSS-based localization result check (the difference between GNSS and sins result)

Used in: MsfStatus

• MSF_GNSS_CONSISTENCY_00 = 0

  The difference is less than threshold 1

• MSF_GNSS_CONSISTENCY_01 = 1

  The difference is bigger than threshold 1 but less than threshold 2

• MSF_GNSS_CONSISTENCY_02 = 2

  The difference is bigger than threshold 2

• MSF_GNSS_CONSISTENCY_03 = 3

  others

Define the position result of a rover, and pnt stands for Positioning, Navigating and Timing

• optional uint32 receiver_id = 1

• optional drivers.gnss.GnssTimeType time_type = 2

• optional uint32 gnss_week = 3

• optional double gnss_second_s = 4

• optional PntType pnt_type = 5

  Solution type

• optional double pos_x_m = 6

  Position and its standard deviation in Cartesian (X/Y/Z) under ECEF-WGS84 coordinate

• optional double pos_y_m = 7

• optional double pos_z_m = 8

• optional double std_pos_x_m = 9

• optional double std_pos_y_m = 10

• optional double std_pos_z_m = 11

• optional double vel_x_m = 12

  Velocity and its standard deviation in Cartesian (X/Y/Z) under ECEF-WGS84 coordinate

• optional double vel_y_m = 13

• optional double vel_z_m = 14

• optional double std_vel_x_m = 15

• optional double std_vel_y_m = 16

• optional double std_vel_z_m = 17

• optional uint32 sovled_sat_num = 18

  Number of satellites involved in solution

• repeated SatDirCosine sat_dir_cosine = 19

  Group of observed satellites' directio cosine

• optional double pdop = 20

  position dilution of precision

• optional double hdop = 21

  horizontal dilution of precision

• optional double vdop = 22

  vertical dilution of precision

Used in: MsfStatus

• NONE = 0

  No solution

• FIXEDPOS = 1

  Position has been fixed by the FIX POSITION command or by position averaging

• FIXEDHEIGHT = 2

  Position has been fixed by the FIX HEIGHT, or FIX AUTO, command or by position averaging

• FLOATCONV = 4

  Solution from floating point carrier phase anbiguities

• WIDELANE = 5

  Solution from wide-lane ambiguities

• NARROWLANE = 6

  Solution from narrow-lane ambiguities

• DOPPLER_VELOCITY = 8

  Velocity computed using instantaneous Doppler

• SINGLE = 16

  Single point position

• PSRDIFF = 17

  Pseudorange differential solution

• WAAS = 18

  Solution calculated using corrections from an SBAS

• PROPOGATED = 19

  Propagated by a Kalman filter without new observations

• OMNISTAR = 20

  OmniSTAR VBS position

• L1_FLOAT = 32

  Floating L1 albiguity solution

• IONOFREE_FLOAT = 33

  Floating ionospheric free ambiguity solution

• NARROW_FLOAT = 34

  Floating narrow-lane anbiguity solution

• L1_INT = 48

  Integer L1 ambiguity solution

• WIDE_INT = 49

  Integer wide-lane ambiguity solution

• NARROW_INT = 50

  Integer narrow-lane ambiguity solution

• RTK_DIRECT_INS = 51

  RTK status where RTK filter is directly initialized from the INS filter

• INS_SBAS = 52

  INS calculated position corrected for the antenna

• INS_PSRSP = 53

  INS pseudorange single point solution - no DGPS corrections

• INS_PSRDIFF = 54

  INS pseudorange differential solution

• INS_RTKFLOAT = 55

  INS RTK float point ambiguities solution

• INS_RTKFIXED = 56

  INS RTK fixed ambiguities solution

• INS_OMNISTAR = 57

  INS OmniSTAR VBS solution

• INS_OMNISTAR_HP = 58

  INS OmniSTAR high precision solution

• INS_OMNISTAR_XP = 59

  INS OmniSTAR extra precision solution

• OMNISTAR_HP = 64

  OmniSTAR high precision

• OMNISTAR_XP = 65

  OmniSTAR extra precision

• PPP_CONVERGING = 68

  Precise Point Position(PPP) solution converging

• PPP = 69

  Precise Point Position(PPP)solution

• INS_PPP_Converging = 73

  INS NovAtel CORRECT Precise Point Position(PPP) solution converging

• INS_PPP = 74

  INS NovAtel CORRECT Precise Point Position(PPP) solution

• MSG_LOSS = 91

  Gnss position message loss

• optional common.Header header = 1

• optional Pose localization = 2

  Localization message: from GPS or localization

Used in: MsfSensorMsgStatus

• IMU_DATA_NORMAL = 0

• IMU_DATA_ABNORMAL = 1

• IMU_DATA_OTHER = 2

IMU msg status

Used in: MsfSensorMsgStatus

• IMU_DELAY_NORMAL = 0

• IMU_DELAY_1 = 1

• IMU_DELAY_2 = 2

• IMU_DELAY_3 = 3

• IMU_DELAY_ABNORMAL = 4

Used in: MsfSensorMsgStatus

• IMU_MISSING_NORMAL = 0

• IMU_MISSING_1 = 1

• IMU_MISSING_2 = 2

• IMU_MISSING_3 = 3

• IMU_MISSING_4 = 4

• IMU_MISSING_5 = 5

• IMU_MISSING_ABNORMAL = 6

• optional common.Header header = 1

• optional IntegMeasure.MeasureType measure_type = 2

• optional IntegMeasure.FrameType frame_type = 3

• optional common.Point3D position = 4

  Position measurement from GNSS or Lidar.

• optional common.Point3D velocity = 5

  Velocity measurement from GNSS or odometer.

• optional double yaw = 6

• optional int32 zone_id = 7

  Utm zone id.

• optional bool is_have_variance = 8

  Whether the measurement contains variance.

• optional bool is_gnss_double_antenna = 9

  Whether use double antenna gnss to get yaw measurement.

• repeated double measure_covar = 10

  Covariance matrix of measurement.

Used in: IntegMeasure

• ENU = 0

  Position give the longitude and latitude unit:rad.

• ECEF = 1

  Position give x y and z from earth center.

• UTM = 2

  Position give x y and z in utm frame.

• ODOMETER = 3

Used in: IntegMeasure

• GNSS_POS_ONLY = 0

  the measure data only include gnss position

• GNSS_POS_VEL = 1

  the measure data include gnss position and velocity

• GNSS_POS_XY = 2

  the measure data include gnss position

• GNSS_VEL_ONLY = 3

  the measure data only include gnss velocity

• POINT_CLOUD_POS = 4

  the measure data only include point cloud position

• ODOMETER_VEL_ONLY = 5

  the measure data only include odometer velocity

• VEHICLE_CONSTRAINT = 6

  trigger measure update using vehicle constraint

• optional common.Header header = 1

• optional common.PointLLH position = 2

• optional common.Point3D velocity = 3

  The velocity calculated by SINS.

• optional common.Point3D attitude = 4

  The attitude euler calculated by SINS.

• repeated double pva_covar = 5

  9-by-9 covariance matrix of the sins pva.

• optional bool init_and_alignment = 6

LiDAR-based localization result check (the difference between lidar and sins result)

Used in: MsfStatus

• MSF_LOCAL_LIDAR_CONSISTENCY_00 = 0

  The difference is less than threshold 1

• MSF_LOCAL_LIDAR_CONSISTENCY_01 = 1

  The difference is bigger than threshold 1 but less than threshold 2

• MSF_LOCAL_LIDAR_CONSISTENCY_02 = 2

  The difference is bigger than threshold 2

• MSF_LOCAL_LIDAR_CONSISTENCY_03 = 3

  others

Used in: MsfStatus

• MSF_LOCAL_LIDAR_VERY_GOOD = 0

• MSF_LOCAL_LIDAR_GOOD = 1

• MSF_LOCAL_LIDAR_NOT_BAD = 2

• MSF_LOCAL_LIDAR_BAD = 3

LiDAR-based loclaization module status

Used in: MsfStatus

• MSF_LOCAL_LIDAR_NORMAL = 0

  Localization result satisfy threshold

• MSF_LOCAL_LIDAR_MAP_MISSING = 1

  Can't find localization map (config.xml)

• MSF_LOCAL_LIDAR_EXTRINSICS_MISSING = 2

  Missing extrinsic parameters

• MSF_LOCAL_LIDAR_MAP_LOADING_FAILED = 3

  Fail to load localization map

• MSF_LOCAL_LIDAR_NO_OUTPUT = 4

  No output (comparing to timestamp of imu msg)

• MSF_LOCAL_LIDAR_OUT_OF_MAP = 5

  Coverage of online pointcloud and map is lower than threshold

• MSF_LOCAL_LIDAR_NOT_GOOD = 6

  Localization result do not meet threshold

• MSF_LOCAL_LIDAR_UNDEFINED_STATUS = 7

  others

• optional LocalizationConfig.LocalizationType localization_type = 1

Used in: LocalizationConfig

• RTK = 0

• MSF = 1

Used in: planning_internal.PlanningData, relative_map.MapMsg, v2x.CarStatus

• optional common.Header header = 1

• optional Pose pose = 2

• optional Uncertainty uncertainty = 3

• optional double measurement_time = 4

  The time of pose measurement, seconds since 1970-1-1 (UNIX time).

  In seconds.

• repeated common.TrajectoryPoint trajectory_point = 5

  Future trajectory acturally driven by the drivers

• optional MsfStatus msf_status = 6

  msf status

• optional MsfSensorMsgStatus sensor_status = 7

  msf quality

• optional common.Header header = 1

• optional MeasureState fusion_status = 2

• optional MeasureState gnss_status = 3

• optional MeasureState lidar_status = 4

• optional double measurement_time = 5

  The time of pose measurement, seconds since 1970-1-1 (UNIX time).

  In seconds.

• optional string state_message = 6

Used in: LocalizationStatus

• OK = 0

• WARNNING = 1

• ERROR = 2

• CRITICAL_ERROR = 3

• FATAL_ERROR = 4

The running status of localization module

Used in: MsfStatus

• MSF_SOL_LIDAR_GNSS = 0

• MSF_SOL_X_GNSS = 1

• MSF_SOL_LIDAR_X = 2

• MSF_SOL_LIDAR_XX = 3

• MSF_SOL_LIDAR_XXX = 4

• MSF_SOL_X_X = 5

• MSF_SOL_X_XX = 6

• MSF_SOL_X_XXX = 7

• MSF_SSOL_LIDAR_GNSS = 8

• MSF_SSOL_X_GNSS = 9

• MSF_SSOL_LIDAR_X = 10

• MSF_SSOL_LIDAR_XX = 11

• MSF_SSOL_LIDAR_XXX = 12

• MSF_SSOL_X_X = 13

• MSF_SSOL_X_XX = 14

• MSF_SSOL_X_XXX = 15

• MSF_NOSOL_LIDAR_GNSS = 16

• MSF_NOSOL_X_GNSS = 17

• MSF_NOSOL_LIDAR_X = 18

• MSF_NOSOL_LIDAR_XX = 19

• MSF_NOSOL_LIDAR_XXX = 20

• MSF_NOSOL_X_X = 21

• MSF_NOSOL_X_XX = 22

• MSF_NOSOL_X_XXX = 23

• MSF_RUNNING_INIT = 24

The status of sensor msg

Used in: LocalizationEstimate

• optional ImuMsgDelayStatus imu_delay_status = 1

• optional ImuMsgMissingStatus imu_missing_status = 2

• optional ImuMsgDataStatus imu_data_status = 3

The status of msf localization module

Used in: LocalizationEstimate

• optional LocalLidarConsistency local_lidar_consistency = 1

• optional GnssConsistency gnss_consistency = 2

• optional LocalLidarStatus local_lidar_status = 3

• optional LocalLidarQuality local_lidar_quality = 4

• optional GnssPositionType gnsspos_position_type = 5

• optional MsfRunningStatus msf_running_status = 6

Used in: GnssPntResult

• PNT_INVALID = 0

• PNT_SPP = 1

• PNT_PHASE_TD = 2

• PNT_CODE_DIFF = 3

• PNT_RTK_FLOAT = 4

• PNT_RTK_FIXED = 5

Used in: common.DriveEvent, common.VehicleState, CorrectedImu, Gps, LocalizationEstimate

• optional common.PointENU position = 1

  Position of the vehicle reference point (VRP) in the map reference frame. The VRP is the center of rear axle.

• optional common.Quaternion orientation = 2

  A quaternion that represents the rotation from the IMU coordinate (Right/Forward/Up) to the world coordinate (East/North/Up).

• optional common.Point3D linear_velocity = 3

  Linear velocity of the VRP in the map reference frame. East/north/up in meters per second.

• optional common.Point3D linear_acceleration = 4

  Linear acceleration of the VRP in the map reference frame. East/north/up in meters per second.

• optional common.Point3D angular_velocity = 5

  Angular velocity of the vehicle in the map reference frame. Around east/north/up axes in radians per second.

• optional double heading = 6

  Heading The heading is zero when the car is facing East and positive when facing North.

• optional common.Point3D linear_acceleration_vrf = 7

  Linear acceleration of the VRP in the vehicle reference frame. Right/forward/up in meters per square second.

• optional common.Point3D angular_velocity_vrf = 8

  Angular velocity of the VRP in the vehicle reference frame. Around right/forward/up axes in radians per second.

• optional common.Point3D euler_angles = 9

  Roll/pitch/yaw that represents a rotation with intrinsic sequence z-x-y. in world coordinate (East/North/Up) The roll, in (-pi/2, pi/2), corresponds to a rotation around the y-axis. The pitch, in [-pi, pi), corresponds to a rotation around the x-axis. The yaw, in [-pi, pi), corresponds to a rotation around the z-axis. The direction of rotation follows the right-hand rule.

Define a rover' direction cosine to an observed satellite under WGS-84

Used in: GnssPntResult

• optional uint32 sat_prn = 1

• optional uint32 sat_sys = 2

• optional double cosine_x = 3

• optional double cosine_y = 4

• optional double cosine_z = 5

Used in: LocalizationEstimate

• optional common.Point3D position_std_dev = 1

  Standard deviation of position, east/north/up in meters.

• optional common.Point3D orientation_std_dev = 2

  Standard deviation of quaternion qx/qy/qz, unitless.

• optional common.Point3D linear_velocity_std_dev = 3

  Standard deviation of linear velocity, east/north/up in meters per second.

• optional common.Point3D linear_acceleration_std_dev = 4

  Standard deviation of linear acceleration, right/forward/up in meters per square second.

• optional common.Point3D angular_velocity_std_dev = 5

  Standard deviation of angular velocity, right/forward/up in radians per second.