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Sensor Data Ingestion Interface (SDII) Data Specification

Sensor Data Ingestion Interface Data Specification

Position​Estimate

Message Summary

message PositionEstimate

The position estimate data type combines information related to the position of a vehicle and its derived attributes. A position estimate contains at least the coordinates of the estimated position and optionally additional attributes.

Include: sdii.v3.3.1.proto

Properties

Field Type Label Description
time​Stamp​UTC_​ms int64 required

Timestamp of the message

position​Type Position​Type​Enum required

The type of the position of this message.

interpolated​Point bool optional

The interpolated point flag is used to flag points in the path that were created artificially by interpolating “real” measurements.

longitude​_​deg double required

Longitude is part of an absolute position. Longitude is used for different position types, such as raw GPS position, fused position based on absolute and inertial measurements (dead reckoning), and map matched position. Reference system is WGS84.

Unit: Degrees [°] | Range: -180..180° | Resolution: 0.00001°

latitude​_​deg double required

Latitude is part of an absolute position. Longitude is used for different position types, such as raw GPS position, fused position based on absolute and inertial measurements (dead reckoning), and map matched position. Reference system is WGS84.

Unit: Degrees [°] | Range: -90..90° | Resolution: 0.00001°

horizontal​Accuracy​_​m double required

The calculated standard deviation for the horizontal position (longitude and latitude combined).

Unit: Meter [m] | Range: 0..10000m | Resolution: 0.01m

altitude​_​m double optional

Altitude is the distances of the position of the WGS84 reference ellipsoid and not based on a mean sea level. The altitude is expected to be the altitude at street level, not the altitude of the position of the GPS antenna. Alternatively a different altitude can be provided, e.g. altitude at the roof of the vehicle but then an altitude offset compared to the street level needs to be provided in the vehicle meta data.

Unit: Meter [m] | Range: -1000..9000m | Resolution: 0.01m

heading​_​deg double optional

The heading of the vehicle. Clockwise measured from North (0 deg), East (90 deg).

Unit: Degree [°] | Range: 0..360° | Resolution:

speed​_​mps double optional

The speed of the vehicle. Speed for raw GPS position has no sign. Other positions are required to be signed where positive means forward and negative means backwards.

Unit: Meter per second [m/s] | Range: -150..150m/s | Resolution: 0.1 m/s

altitude​Accuracy​_​m double optional

The calculated standard deviation for the altitude

Unit: Meter | Range: 0..10000m | Resolution: 0.01m

heading​Accuracy​_​deg double optional

The calculated standard deviation for the heading.

Unit: Degree [°] | Range: 0..360° | Resolution:

speed​Accuracy​_​mps double optional

The calculated standard deviation for the vehicle speed. Unit: Meter per second [m/s] | Range: 0..150m/s | Resolution: 0.1m/s

speed​Detection​Type Speed​Detection​Enum optional

The type of speed detection technology used.

heading​Detection​Type Heading​Detection​Enum optional

The type of heading detection technology used.

vehicle​Referenced​Orientation​Vector​_​rad Vector​3D optional

Information of the vehicles orientation from the reference horizontal north position as yaw/roll/pitch-rotation value.

Example: A vector of {lateral=-PI/6,longitudinal=PI/4, vertical=PI} corresponds to a rotation of 90° to the right (EAST), a roll of 45° along the longitudinal axis (leaning left) and a pitch of -30° along the lateral axis (pointing upwards).

Unit: Radians | Range: 0..2*PI for each dimensions | Resolution: 0.01 rad

current​Lane​Estimate int32 optional

The currnet lane number as estimation according to the vehicle internal sensors If no Lane Count Direction is given, then the default counting direction is starting with lane 0 at the most inner lane (left on right hand traffic and right on left hand traffic.

Unit: # | Range: 0..20 | Resolution: 1

map​Matched​Link​ID int64 optional

The linkID on the map that is installed in the vehicle to which the position matched to.

map​Matched​Link​IDConfidence​_​percent int32 optional

The confidence value determining the quality and the belief in the correctness of the provided map matched linkID.

Unit: Percent(%) | Range: 0..100% | Resolution: 1

map​Matched​Link​IDOffset​_​m double optional

The offset on the map matched link where the position lies.

Unit: Meter | Range: -100..100m | Resolution: 0.01m

lane​Count​Direction Lane​Count​Direction​Enum optional

The direction the lane was counted in.

current​Lane​Estimate​Confidence​_​percent int32 optional

The Confidence Value determining the quality and the belief in the correctness of the current lane estimation.

Unit: Percent | Range: 0..100% | * Resolution: 1

first​Point​After​Fix​Loss bool optional

The indicator indicates that the position estimate is the first after a signal loss. The path between the preceeding and current point may not be interpolated linearly. This can occure e.g. between tunnel entry and tunnel exit, or in other occasions when no position estimate can be done.

extension​Container Extension​Container repeated

Contains the description and byte value of an dynamic extension content, that is undefined in this Specification.