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New Crowdin translations - ko (#26487)
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pageClass: is-wide-page
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# SensorGps (UORB message)
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GPS position in WGS84 coordinates.
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the field 'timestamp' is for the position & velocity (microseconds)
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GPS position in WGS84 coordinates. the field 'timestamp' is for the position & velocity (microseconds).
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGps.msg)
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**TOPICS:** sensor_gps vehicle_gps_position
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## Fields
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| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
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| ----------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| timestamp_sample | `uint64` | | | |
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| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
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| latitude_deg | `float64` | | | Latitude in degrees, allows centimeter level RTK precision |
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| longitude_deg | `float64` | | | Longitude in degrees, allows centimeter level RTK precision |
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| altitude_msl_m | `float64` | | | Altitude above MSL, meters |
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| altitude_ellipsoid_m | `float64` | | | Altitude above Ellipsoid, meters |
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| s_variance_m_s | `float32` | | | GPS speed accuracy estimate, (metres/sec) |
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| c_variance_rad | `float32` | | | GPS course accuracy estimate, (radians) |
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| fix_type | `uint8` | | | Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. |
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| eph | `float32` | | | GPS horizontal position accuracy (metres) |
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| epv | `float32` | | | GPS vertical position accuracy (metres) |
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| hdop | `float32` | | | Horizontal dilution of precision |
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| vdop | `float32` | | | Vertical dilution of precision |
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| noise_per_ms | `int32` | | | GPS noise per millisecond |
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| automatic_gain_control | `uint16` | | | Automatic gain control monitor |
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| jamming_state | `uint8` | | | indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected |
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| jamming_indicator | `int32` | | | indicates jamming is occurring |
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| spoofing_state | `uint8` | | | indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected |
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| authentication_state | `uint8` | | | GPS signal authentication state |
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| vel_m_s | `float32` | | | GPS ground speed, (metres/sec) |
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| vel_n_m_s | `float32` | | | GPS North velocity, (metres/sec) |
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| vel_e_m_s | `float32` | | | GPS East velocity, (metres/sec) |
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| vel_d_m_s | `float32` | | | GPS Down velocity, (metres/sec) |
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| cog_rad | `float32` | | | Course over ground (NOT heading, but direction of movement), -PI..PI, (radians) |
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| vel_ned_valid | `bool` | | | True if NED velocity is valid |
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| timestamp_time_relative | `int32` | | | timestamp + timestamp_time_relative = Time of the UTC timestamp since system start, (microseconds) |
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| time_utc_usec | `uint64` | | | Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 |
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| satellites_used | `uint8` | | | Number of satellites used |
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| system_error | `uint32` | | | General errors with the connected GPS receiver |
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| heading | `float32` | | | heading angle of XYZ body frame rel to NED. Set to NaN if not available and updated (used for dual antenna GPS), (rad, [-PI, PI]) |
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| heading_offset | `float32` | | | heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI]) |
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| heading_accuracy | `float32` | | | heading accuracy (rad, [0, 2PI]) |
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| rtcm_injection_rate | `float32` | | | RTCM message injection rate Hz |
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| selected_rtcm_instance | `uint8` | | | uorb instance that is being used for RTCM corrections |
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| rtcm_crc_failed | `bool` | | | RTCM message CRC failure detected |
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| rtcm_msg_used | `uint8` | | | Indicates if the RTCM message was used successfully by the receiver |
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## Constants
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| 명칭 | 형식 | Value | 설명 |
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| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | ---------------------------------------------------------- |
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| <a href="#FIX_TYPE_NONE"></a> FIX_TYPE_NONE | `uint8` | 1 | Value 0 is also valid to represent no fix. |
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| <a href="#FIX_TYPE_2D"></a> FIX_TYPE_2D | `uint8` | 2 | |
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| <a href="#FIX_TYPE_3D"></a> FIX_TYPE_3D | `uint8` | 3 | |
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| <a href="#FIX_TYPE_RTCM_CODE_DIFFERENTIAL"></a> FIX_TYPE_RTCM_CODE_DIFFERENTIAL | `uint8` | 4 | |
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| <a href="#FIX_TYPE_RTK_FLOAT"></a> FIX_TYPE_RTK_FLOAT | `uint8` | 5 | |
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| <a href="#FIX_TYPE_RTK_FIXED"></a> FIX_TYPE_RTK_FIXED | `uint8` | 6 | |
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| <a href="#FIX_TYPE_EXTRAPOLATED"></a> FIX_TYPE_EXTRAPOLATED | `uint8` | 8 | |
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| <a href="#JAMMING_STATE_UNKNOWN"></a> JAMMING_STATE_UNKNOWN | `uint8` | 0 | default |
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| <a href="#JAMMING_STATE_OK"></a> JAMMING_STATE_OK | `uint8` | 1 | |
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| <a href="#JAMMING_STATE_MITIGATED"></a> JAMMING_STATE_MITIGATED | `uint8` | 2 | |
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| <a href="#JAMMING_STATE_DETECTED"></a> JAMMING_STATE_DETECTED | `uint8` | 3 | |
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| <a href="#SPOOFING_STATE_UNKNOWN"></a> SPOOFING_STATE_UNKNOWN | `uint8` | 0 | default |
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| <a href="#SPOOFING_STATE_OK"></a> SPOOFING_STATE_OK | `uint8` | 1 | |
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| <a href="#SPOOFING_STATE_MITIGATED"></a> SPOOFING_STATE_MITIGATED | `uint8` | 2 | |
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| <a href="#SPOOFING_STATE_DETECTED"></a> SPOOFING_STATE_DETECTED | `uint8` | 3 | |
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| <a href="#AUTHENTICATION_STATE_UNKNOWN"></a> AUTHENTICATION_STATE_UNKNOWN | `uint8` | 0 | default |
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| <a href="#AUTHENTICATION_STATE_INITIALIZING"></a> AUTHENTICATION_STATE_INITIALIZING | `uint8` | 1 | |
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| <a href="#AUTHENTICATION_STATE_ERROR"></a> AUTHENTICATION_STATE_ERROR | `uint8` | 2 | |
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| <a href="#AUTHENTICATION_STATE_OK"></a> AUTHENTICATION_STATE_OK | `uint8` | 3 | |
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| <a href="#AUTHENTICATION_STATE_DISABLED"></a> AUTHENTICATION_STATE_DISABLED | `uint8` | 4 | |
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| <a href="#SYSTEM_ERROR_OK"></a> SYSTEM_ERROR_OK | `uint32` | 0 | default |
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| <a href="#SYSTEM_ERROR_INCOMING_CORRECTIONS"></a> SYSTEM_ERROR_INCOMING_CORRECTIONS | `uint32` | 1 | |
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| <a href="#SYSTEM_ERROR_CONFIGURATION"></a> SYSTEM_ERROR_CONFIGURATION | `uint32` | 2 | |
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| <a href="#SYSTEM_ERROR_SOFTWARE"></a> SYSTEM_ERROR_SOFTWARE | `uint32` | 4 | |
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| <a href="#SYSTEM_ERROR_ANTENNA"></a> SYSTEM_ERROR_ANTENNA | `uint32` | 8 | |
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| <a href="#SYSTEM_ERROR_EVENT_CONGESTION"></a> SYSTEM_ERROR_EVENT_CONGESTION | `uint32` | 16 | |
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| <a href="#SYSTEM_ERROR_CPU_OVERLOAD"></a> SYSTEM_ERROR_CPU_OVERLOAD | `uint32` | 32 | |
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| <a href="#SYSTEM_ERROR_OUTPUT_CONGESTION"></a> SYSTEM_ERROR_OUTPUT_CONGESTION | `uint32` | 64 | |
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| <a href="#RTCM_MSG_USED_UNKNOWN"></a> RTCM_MSG_USED_UNKNOWN | `uint8` | 0 | |
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| <a href="#RTCM_MSG_USED_NOT_USED"></a> RTCM_MSG_USED_NOT_USED | `uint8` | 1 | |
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| <a href="#RTCM_MSG_USED_USED"></a> RTCM_MSG_USED_USED | `uint8` | 2 | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGps.msg)
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:::details
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Click here to see original file
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```c
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# GPS position in WGS84 coordinates.
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@@ -96,5 +184,6 @@ uint8 RTCM_MSG_USED_USED = 2
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uint8 rtcm_msg_used # Indicates if the RTCM message was used successfully by the receiver
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# TOPICS sensor_gps vehicle_gps_position
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```
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:::
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