FixPosition Vision-RTK 2 - Page 61

# Field Format Unit Example Description
13 vel_y Float (.4) m/s -0.0526
Velocity in output frame,
Y component
14 vel_z Float (.4) m/s -0.3252
Velocity in output frame,
Z component
15 rot_x Float (.5) rad/s 0.02245
Bias corrected angular
velocity in output frame,
X component
16 rot_y Float (.5) rad/s 0.00275
Bias corrected angular
velocity in output frame,
Y component
17 rot_z Float (.5) rad/s 0.10369
Bias corrected angular
velocity in output frame,
Z component
18 acc_x Float (.4) m/s2 -1.0385
Bias corrected
acceleration in output
frame, X component
19 acc_y Float (.4) m/s2 -1.3707
Bias corrected
acceleration in output
frame, Y component
20 acc_z Float (.4) m/s2 9.8249
Bias corrected
acceleration in output
frame, Z component
21 fusion_status Numeric - 4 Fustion status, see below
22 imu_bias_status Numeric - 1 IMU bias status, see below
23 gnss1_fix Numeric - 8
Fix status of GNSS1 receiver,
see below
24 gnss2_fix Numeric - 8
Fix status of GNSS2 receiver,
see below
25 wheelspeed_status Numeric - 1 Wheelspeed status, see below
26 pos_cov_xx Float (5) m2 0.01761 Position covariance, element XX
27 pos_cov_yy Float (5) m2 0.02274 Position covariance, element YY
28 pos_cov_zz Float (5) m2 0.01713 Position covariance, element ZZ
29 pos_cov_xy Float (5) m2 -0.00818 Position covariance, element XY
30 pos_cov_yz Float (5) m2 0.00235 Position covariance, element YZ
31 pos_cov_xz Float (5) m2 0.00129 Position covariance, element XZ
32 orientation_cov_xx Float (5) rad2 0.00013 Velocity covariance, element XX
33 orientation_cov_yy Float (5) rad2 0.00015 Velocity covariance, element YY
34 orientation_cov_zz Float (5) rad2 0.00014 Velocity covariance, element ZZ
35 orientation_cov_xy Float (5) rad2 -0.00001 Velocity covariance, element XY
36 orientation_cov_yz Float (5) rad2 0.00001 Velocity covariance, element YZ
37 orientation_cov_xz Float (5) rad2 0.00002 Velocity covariance, element XZ
38 vel_cov_xx Float (5) m2/s2 0.03482 Velocity covariance, element XX
39 vel_cov_yy Float (5) m2/s2 0.06244 Velocity covariance, element YY
40 vel_cov_zz Float (5) m2/s2 0.05480 Velocity covariance, element ZZ
41 vel_cov_xy Float (5) m2/s2 0.00096 Velocity covariance, element XY
42 vel_cov_yz Float (5) m2/s2 0.00509 Velocity covariance, element YZ
43 vel_cov_xz Float (5) m2/s2 0.00054 Velocity covariance, element XZ
44 sw_version String -
fp_release_
vr2_2.54.0_160
Software version
Table 7.2.: FP_A-ODOMETRY message fields
Vision-RTK 2 | Fixposition Positioning Sensor 55