7.3.2. FP_A-LLH
This message contains time, geographic coordinates and the position covariance of the
output frame in East-North-up (ENU). The coordinates are transformed from ECEF using
the WGS-84 parameters. It is output at the configured rate.
Example message (wrapped on multiple lines for readability):
1 $FP , LLH ,1 ,22 31 ,22 7563. 250000 ,47.39 23574 70 ,8. 44812 1451 ,473.585 7 ,0.0 4533 ,
2 0 .033 63 ,0 .028 84 ,0 .004 17 ,0 .000 86 , - 0.00 136*6 2\ r \n
Message fields:
# Field Format Unit Example Description
1 msg_type String - LLH
Message type, always LLH for
this message
2 msg_version Numeric - 1
Message version, always 1 for
this version of the LLH message
3 gps_week Numeric - 2231
GPS week number, range
0–9999
4 gps_tow Float (.6) s 227563.250000
GPS time of week, range
0.000–604799.999999
5 latitude Float (.9) deg 47.392357470
Latitude, range -90.000000000
–90.000000000, > 0 for North,
< 0 for South
6 longitude Float (.9) deg 8.448121451
Longitude, range -180.000000000
–180.000000000, > 0 for East,
< 0 for West
7 height Float (.4) m 473.5857
Ellipsoidal height,
range -1000.0000-50000.0000
8 pos_cov_ee Float (5) m2 0.04533
Position covariance in ENU, ele-
ment EE
9 pos_cov_nn Float (5) m2 0.03363
Position covariance in ENU, ele-
ment NN
10 pos_cov_uu Float (5) m2 0.02884
Position covariance in ENU, ele-
ment UU
11 pos_cov_en Float (5) m2 0.00417
Position covariance in ENU, ele-
ment EN
12 pos_cov_nu Float (5) m2 0.00086
Position covariance in ENU, ele-
ment NU
13 pos_cov_eu Float (5) m2 -0.00136
Position covariance in ENU, ele-
ment EU
Table 7.7.: FP_A-LLH message fields
Vision-RTK 2 | Fixposition Positioning Sensor 57
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