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docs/uk/msg_docs/SensorGnssRelative.md
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---
pageClass: is-wide-page
---
# SensorGnssRelative (Повідомлення UORB)
Інформація про відносне позиціонування GNSS в рамці NED. NED кадр визначається як локальна топологічна система на задній станції.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGnssRelative.msg)
**TOPICS:** sensor_gnssrelative
## Fields
| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
| ---------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_sample | `uint64` | | | time since system start (microseconds) |
| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| 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 |
| reference_station_id | `uint16` | | | Reference Station ID |
| положення | `float32[3]` | | | GPS NED relative position vector (m) |
| position_accuracy | `float32[3]` | | | Accuracy of relative position (m) |
| heading | `float32` | | | Heading of the relative position vector (radians) |
| heading_accuracy | `float32` | | | Accuracy of heading of the relative position vector (radians) |
| position_length | `float32` | | | Length of the position vector (m) |
| accuracy_length | `float32` | | | Accuracy of the position length (m) |
| gnss_fix_ok | `bool` | | | GNSS valid fix (i.e within DOP & accuracy masks) |
| differential_solution | `bool` | | | differential corrections were applied |
| relative_position_valid | `bool` | | | |
| carrier_solution_floating | `bool` | | | carrier phase range solution with floating ambiguities |
| carrier_solution_fixed | `bool` | | | carrier phase range solution with fixed ambiguities |
| moving_base_mode | `bool` | | | if the receiver is operating in moving base mode |
| reference_position_miss | `bool` | | | extrapolated reference position was used to compute moving base solution this epoch |
| reference_observations_miss | `bool` | | | extrapolated reference observations were used to compute moving base solution this epoch |
| heading_valid | `bool` | | | |
| relative_position_normalized | `bool` | | | the components of the relative position vector (including the high-precision parts) are normalized |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGnssRelative.msg)
:::details
Click here to see original file
```c
# GNSS relative positioning information in NED frame. The NED frame is defined as the local topological system at the reference station.
@@ -35,5 +72,6 @@ bool reference_position_miss # extrapolated reference position was used to
bool reference_observations_miss # extrapolated reference observations were used to compute moving base solution this epoch
bool heading_valid
bool relative_position_normalized # the components of the relative position vector (including the high-precision parts) are normalized
```
:::