阿波罗定位信息

message LocalizationEstimate {
  optional apollo.common.Header header = 1;
  optional apollo.localization.Pose pose = 2;
  optional Uncertainty uncertainty = 3;

  // The time of pose measurement, seconds since 1970-1-1 (UNIX time).
  optional double measurement_time = 4;  // In seconds.

  // Future trajectory actually driven by the drivers
  repeated apollo.common.TrajectoryPoint trajectory_point = 5;

  // msf status
  optional MsfStatus msf_status = 6;
  // msf quality
  optional MsfSensorMsgStatus sensor_status = 7;
}

modules/common/proto/header.proto:

message Header {
  // Message publishing time in seconds.
  optional double timestamp_sec = 1;

  // Module name.
  optional string module_name = 2;

  // Sequence number for each message. Each module maintains its own counter for
  // sequence_num, always starting from 1 on boot.
  optional uint32 sequence_num = 3;

  // Lidar Sensor timestamp for nano-second.
  optional uint64 lidar_timestamp = 4;

  // Camera Sensor timestamp for nano-second.
  optional uint64 camera_timestamp = 5;

  // Radar Sensor timestamp for nano-second.
  optional uint64 radar_timestamp = 6;

  // data version
  optional uint32 version = 7 [default = 1];

  optional StatusPb status = 8;

  optional string frame_id = 9;
}

modules/localization/proto/pose.proto:

message Pose {
  // Position of the vehicle reference point (VRP) in the map reference frame.
  // The VRP is the center of rear axle.
  optional apollo.common.PointENU position = 1;

  // A quaternion that represents the rotation from the IMU coordinate
  // (Right/Forward/Up) to the
  // world coordinate (East/North/Up).
  optional apollo.common.Quaternion orientation = 2;

  // Linear velocity of the VRP in the map reference frame.
  // East/north/up in meters per second.
  optional apollo.common.Point3D linear_velocity = 3;

  // Linear acceleration of the VRP in the map reference frame.
  // East/north/up in meters per square second.
  optional apollo.common.Point3D linear_acceleration = 4;

  // Angular velocity of the vehicle in the map reference frame.
  // Around east/north/up axes in radians per second.
  optional apollo.common.Point3D angular_velocity = 5;

  // Heading
  // The heading is zero when the car is facing East and positive when facing
  // North.
  optional double heading = 6;

  // Linear acceleration of the VRP in the vehicle reference frame.
  // Right/forward/up in meters per square second.
  optional apollo.common.Point3D linear_acceleration_vrf = 7;

  // Angular velocity of the VRP in the vehicle reference frame.
  // Around right/forward/up axes in radians per second.
  optional apollo.common.Point3D angular_velocity_vrf = 8;

  // 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.
  optional apollo.common.Point3D euler_angles = 9;
}

message Uncertainty {
  // Standard deviation of position, east/north/up in meters.
  optional apollo.common.Point3D position_std_dev = 1;

  // Standard deviation of quaternion qx/qy/qz, unitless.
  optional apollo.common.Point3D orientation_std_dev = 2;

  // Standard deviation of linear velocity, east/north/up in meters per second.
  optional apollo.common.Point3D linear_velocity_std_dev = 3;

  // Standard deviation of linear acceleration, right/forward/up in meters per
  // square second.
  optional apollo.common.Point3D linear_acceleration_std_dev = 4;

  // Standard deviation of angular velocity, right/forward/up in radians per
  // second.
  optional apollo.common.Point3D angular_velocity_std_dev = 5;

  // TODO: Define covariance items when needed.
}

message TrajectoryPoint {
  // path point
  optional PathPoint path_point = 1;
  // linear velocity
  optional double v = 2;  // in [m/s]
  // linear acceleration
  optional double a = 3;
  // relative time from beginning of the trajectory
  optional double relative_time = 4;
  // longitudinal jerk
  optional double da = 5;
  // The angle between vehicle front wheel and vehicle longitudinal axis
  optional double steer = 6;

  // Gaussian probability information
  optional GaussianInfo gaussian_info = 7;
}

message TrajectoryPoint {
  // path point
  optional PathPoint path_point = 1;
  // linear velocity
  optional double v = 2;  // in [m/s]
  // linear acceleration
  optional double a = 3;
  // relative time from beginning of the trajectory
  optional double relative_time = 4;
  // longitudinal jerk
  optional double da = 5;
  // The angle between vehicle front wheel and vehicle longitudinal axis
  optional double steer = 6;

  // Gaussian probability information
  optional GaussianInfo gaussian_info = 7;
}