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# SensorGnssRelative (UORB message)

GNSS relative positioning information in NED frame. The NED frame is defined as the local topological system at the reference station.

**TOPICS:** sensor_gnss_relative

## Fields

| Name                         | Type         | Unit [Frame] | Range/Enum | Description                                                                                                                                                     |
| ---------------------------- | ------------ | ------------ | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| 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                                                                                                                                            |
| position                     | `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.

uint64 timestamp                  # time since system start (microseconds)
uint64 timestamp_sample           # time since system start (microseconds)

uint32 device_id                  # unique device ID for the sensor that does not change between power cycles

uint64 time_utc_usec              # 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

uint16 reference_station_id       # Reference Station ID

float32[3] position               # GPS NED relative position vector (m)
float32[3] position_accuracy      # Accuracy of relative position (m)

float32 heading                   # Heading of the relative position vector (radians)
float32 heading_accuracy          # Accuracy of heading of the relative position vector (radians)

float32 position_length           # Length of the position vector (m)
float32 accuracy_length           # Accuracy of the position length (m)

bool gnss_fix_ok                  # GNSS valid fix (i.e within DOP & accuracy masks)
bool differential_solution        # differential corrections were applied
bool relative_position_valid
bool carrier_solution_floating    # carrier phase range solution with floating ambiguities
bool carrier_solution_fixed       # carrier phase range solution with fixed ambiguities
bool moving_base_mode             # if the receiver is operating in moving base mode
bool reference_position_miss      # extrapolated reference position was used to compute moving base solution this epoch
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
```

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