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

Used in: MsfStatus

• NONE = 0

  No solution

• FIXEDPOS = 1

  Position has been fixed by the FIX POSITION command or by

• FIXEDHEIGHT = 2

  position averaging

  Position has been fixed by the FIX HEIGHT, or FIX AUTO,

• FLOATCONV = 4

  command or by position averaging

  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

• INS_SBAS = 52

  from the INS filter

  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)

• INS_PPP = 74

  solution converging

  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

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

Used in: planning_internal.PlanningData, relative_map.MapMsg

• 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 actually 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

The initializaiton status of localization module

Used in: MsfStatus

• MSF_INIT = 0

• MSF_ALIGNING = 1

• MSF_ALIGNED_INIT = 2

• MSF_ALIGNED_CONVERGED = 3

• MSF_ALIGNED_CONVERGING = 4

• MSF_ALIGNED_GOOD = 5

• MSF_ALIGNED_VALID = 6

Used in: LocalizationStatus

• OK = 0

• WARNNING = 1

• ERROR = 2

• CRITICAL_ERROR = 3

• FATAL_ERROR = 4

The gnss map offset

Used in: MsfStatus

• optional MsfGnssMapOffsetStatus status = 1

• optional double offsetx = 2

• optional double offsety = 3

The status of gnss map offset

Used in: MsfGnssMapOffset

• MSF_LOCAL_GNSS_MAP_OFFSET_NORMAL = 0

• MSF_LOCAL_GNSS_MAP_OFFSET_ABNORMAL = 1

The init details

Used in: MsfStatus

• optional MsfInitPoseSource init_pose_source = 1

• optional MsfInitPoseStatus local_search_from_integpva_status = 2

• optional MsfInitPoseStatus local_search_from_file_status = 3

• optional MsfInitPoseStatus local_update_from_file_status = 4

• optional MsfInitPoseStatus user_interaction_status = 5

• optional int32 gnss_position_type = 6

• optional MsfInitPoseStatus local_from_global_lidar_status = 7

The init pose source

Used in: MsfInitDetails

• UNKNOWN_SOURCE = 0

• GNSS_HEADING = 1

• LOCAL_SEARCH_FROM_INTEGPVA = 2

• LOCAL_SEARCH_FROM_FILE = 3

• LOCAL_UPDATE_FROM_FILE = 4

• USER_INTERACTION = 5

• INSPVA_RECORD = 6

• GNSS_VELOCITY = 7

• GLOBAL_LIDAR = 8

The init pose status

Used in: MsfInitDetails

• INIT_WAITING = 0

• INIT_DOING = 1

• INIT_SUCCESSFUL = 2

• INIT_FAILED = 3

• INIT_TERMINATED = 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

• MSF_REINIT_ABNORMALLY = 25

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 GnssPositionType gnsspos_position_type = 4

• optional uint32 heading_position_type = 5

• optional MSFInitStatus msf_init_status = 6

• optional MsfRunningStatus msf_running_status = 7

• optional MsfInitDetails msf_init_details = 8

• optional LocalLidarQuality local_lidar_quality = 9

• optional MsfGnssMapOffset gnss_map_offset = 10

• optional bool lidar_alt_from_map = 11

• optional double local_lidar_score = 12

• optional bool local_reliability_status = 13

Used in: audio.AudioEvent, common.DriveEvent, 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 square 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.

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.