HpeCore.xid.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<specification xmlns="https://xid.location.studio/schema/V1.0.0/XtensibleInterfaceDefinition.xsd"
xmlns:xid="https://xid.location.studio/schema/V1.0.0/XtensibleInterfaceDefinition.xsd"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="https://xid.location.studio/schema/V1.0.0/XtensibleInterfaceDefinition.xsd https://xid.location.studio/schema/V1.0.0/XtensibleInterfaceDefinition.xsd"
identity="HpeCore.xid.xml">
<title>HPE Core Definitions</title>
<comment>This file contains the core definitions used by the HPE.</comment>
<import ref="https://xid.location.studio/Tensor/V1.0.0/Definitions.xid.xml" local="Definitions.xid.xml" />
<import ref="https://xid.location.studio/Tensor/V1.0.0/Common.xid.xml" local="Common.xid.xml" />
<namespace name="HPE">
<using namespace="Tensor"/>
<!--
*******************************************************
Standard Definitions
*******************************************************
-->
<enum name="ProcessingStatus" type="Tensor.int8" default="undefined">
<comment>Status resulting from processing the observation data.</comment>
<literal name="success" value="1"/>
<literal name="undefined" value="0"/>
<literal name="did_not_converge" value="-1"/>
<literal name="not_enough_data" value="-2" />
<literal name="computation_error" value="-3" />
<literal name="parsing_error" value="-4" />
<literal name="not_found" value="-5" />
<literal name="unknown_error" value="-6" />
</enum>
<!--
Will resurrect when Dynamics are implemented
<enum name="DynamicsProfile" type="Tensor.uint8" default="undefined">
<literal name="undefined" value="0"/>
<literal name="stationary" value="1" />
<literal name="spacecraft" value="2" />
<literal name="aircraft" value="3" />
<literal name="marinecraft" value="4" />
<literal name="landcraft" value="5" />
<literal name="bicycle" value="6" />
<literal name="pedestrian" value="7" />
<literal name="pedestrian_running" value="8" />
<literal name="pedestrian_jogging" value="9" />
<literal name="pedestrian_walking" value="10" />
</enum>
-->
<enum name="EstimateRanking" type="Tensor.int8" default="calcorder">
<literal name="undefined" value="0"/>
<literal name="accuracy" value="1" />
<literal name="veracity" value="2" />
<literal name="calcorder" value="3" />
</enum>
<enum name="ReferenceFrame" type="Tensor.int8" default="WGS84">
<literal name="undefined" value ="0"/>
<literal name="WGS84" value ="1" />
<literal name="RelativeENU" value="2"/>
<literal name="LocalXYZ" value="3" />
</enum>
<!--
*******************************************************
Observation Datatypes
*******************************************************
-->
<enum name="ObservationType" type="Tensor.int8" default="undefined">
<literal name="undefined" value="0"/>
<literal name="SHAPE" value="1"/>
<literal name="MSISDN" value="6"/>
<literal name="CELLID" value="7"/>
<literal name="GSM_TA" value="8"/>
<literal name="GSM_NMR" value="9"/>
<literal name="RTT_3G" value="10"/>
<literal name="MR_3G" value="11"/>
<literal name="LTE_TA" value="12"/>
<literal name="LTE_RSS" value="13"/>
<literal name="WIFI_RSS" value="14"/>
<literal name="WIFI_RNG" value="15"/>
<literal name="BLE_RSS" value="16"/>
<literal name="CELLULAR_GENERIC" value="17">
<comment>Observation type specifies a common cellular observation in generic units.</comment>
</literal>
<literal name="GPS_CODEPHASE_8" value="18">
<comment>Eight standard GPS Code phase measurements (81 bytes).</comment>
</literal>
<literal name="GPS_CODEPHASE_MIN6" value="19">
<comment>Eight minimum size GPS Code phase measurements (51 bytes).</comment>
</literal>
<literal name="GPS_CODEPHASE_MIN8" value="20">
<comment>Eight minimum size GPS Code phase measurements (65 bytes).</comment>
</literal>
<literal name="GNSS_PSEUDORANGE" value="21">
<comment>GNSS Pseudorange measurements.</comment>
</literal>
<literal name="WIFI_RSS_EXT" value="22"/>
<literal name="BLE_RSS_EXT" value="23"/>
</enum>
<array name="ObservationTypeArray" type="ObservationType"/>
<array name="StateVector" type="float64" size="8" >
<comment>
Defines the HPE standard state column vector, which is comprised of the following elements in cartesian coordinates:
X,Y,Z, Xdot, Ydot, Zdot, clk, clkrate.
Unless using a different coordinate reference frame, these values are typically in WGS-84 ECEF reference frame, where the
units are meters, meters per second. Clock terms (clk and clkrate) are also expressed in meters and meters per second,
to provide similar scalaing to physical units. To get to seconds and seconds per second device by the speed of light.
</comment>
</array>
<array name="CovarianceMatrix" type="Tensor.float64" size="64" >
<comment>
Defines a 8x8 Covariance matrix for the HPE standard state vector. This provides a linearized correlation
matrix for the estimated state vector. This is the high-fidelity format for providing Gaussian error information
passed between calculation processes.al units. To get to seconds and seconds per second device by the speed of light.
</comment>
</array>
<struct name="Observation" pack="true">
<comment>Bass type for all observation data</comment>
<elem name="type" type="ObservationType" multiplicity="1" rttd="true">
<comment>Identifies what type of observation this is.</comment>
</elem>
</struct>
<struct name="ObservationEpoch" type="Observation" pack="true">
<comment>Bass type for time based observation data</comment>
<elem name="epoch" type="datetime" multiplicity="1">
<comment>
Datetime the observation was attained.\n
For GPS observatios (GPS_CODEPHASE_8, GPS_CODEPHASE_MIN6, GPS_CODEPHASE_MIN8, GNSS_PSEUDORANGE),
the epoch time has to have at least millisecond resolution. Fractions of a second epoch error can cause hundreds of meters of error in position.
</comment>
</elem>
</struct>
<struct name="ObservationSet">
<comment>A set of observations for a single device covering multiple epochs.</comment>
<elem name="observations" type="Observation" multiplicity="0..*" polymorphic="true"/>
</struct>
<!-- ShapeObservation -->
<!-- Disable for now
<struct name="ShapeObservation" type="Observation" pack="true" rttkey="HPE.ObservationType.SHAPE">
<comment>Observation is comprised of a shape.</comment>
<elem name="shape" type="Shape" multiplicity="1" polymorphic="true">
<comment>
The shape can be any one of the supported shape types inheriting from the Shape base type.
</comment>
</elem>
</struct>
-->
<!--
*******************************************************
Reference Datatypes
*******************************************************
-->
<enum name="RefDataFormat" type="Tensor.int8" default="undefined">
<comment>Specifies the format of the Reference data.</comment>
<literal name="undefined" value="0"/>
<literal name="GPS_EPHEMERIS" value="1"/>
<literal name="GPS_ALMANAC" value="2"/>
<literal name="GLONASS_EPHEMERIS" value="3"/>
<literal name="GALILEO_EPHEMERIS" value="4"/>
<literal name="CELLULAR" value="5"/>
<literal name="WIFI_AP" value="6"/>
</enum>
<array name="RefDataFormatArray" type="RefDataFormat"/>
<struct name="ReferenceData" pack="true">
<comment>Bass structure for all reference data types.</comment>
<elem name="format" type="RefDataFormat" multiplicity="1" rttd="true">
<comment>Identifies the format/type of the reference data.</comment>
</elem>
</struct>
<struct name="ReferenceDataSet">
<comment>A set of reference data.</comment>
<elem name ="id" type="UUID" multiplicity="1" />
<elem name="records" type="ReferenceData" multiplicity="1..*" polymorphic="true"/>
</struct>
<!--
*******************************************************
Shape Datatypes
*******************************************************
-->
<enum name="ShapeType" type="Tensor.int8" default="undefined">
<!-- we can reduce this set -->
<literal name="undefined" value="0"/>
<literal name="Covariance" value="1"/>
<literal name="Point2D" value="20"/>
<literal name="Circle" value="21"/>
<literal name="Ellipse" value="22"/>
<literal name="Arc" value="23"/>
<literal name="ArcBand" value="24"/>
<literal name="Point3D" value="30"/>
<literal name="Spheroid" value="31"/>
<literal name="Ellipsoid" value="32"/>
<literal name="Arc3D" value="33"/>
<literal name="ArcBand3D" value="34"/>
</enum>
<array name="ShapeTypeArray" type="ShapeType"/>
<struct name="Shape" pack="true">
<comment>
Shapes are used to describe various kinds of geometry.\n
When used in an Estimate result the Shape represents the
uncertainty area (2D) or uncertainty volume (3D) at the
confidence in the Estimate.
</comment>
<elem name="type" type="ShapeType" multiplicity="1" rttd="true">
<comment>This is the one thing all shapes have in common</comment>
</elem>
</struct>
<struct name="Covariance" type="Shape" rttkey="HPE.ShapeType.Covariance">
<comment>
Shape encapsulates the HPE eight parameter state estimate, which is the highest fidelity form
to transfer state estimates between calculators and the HPE filter.
</comment>
<elem name="state" type="StateVector" multiplicity="1"/>
<elem name="covariance" type="CovarianceMatrix" multiplicity="1"/>
<elem name="referenceframe" type="ReferenceFrame" multiplicity="1" default="ReferenceFrame::WGS84"/>
</struct>
<struct name="Point2D" type="Shape" rttkey="HPE.ShapeType.Point2D">
<comment></comment>
<elem name="lat" type="float64" multiplicity="1">
<tag name="unit" value="degrees"/>
<tag name="reference" value="WGS84"/>
</elem>
<elem name="lon" type="float64" multiplicity="1">
<tag name="unit" value="degrees"/>
<tag name="reference" value="WGS84"/>
</elem>
</struct>
<struct name="Circle" type="Point2D" rttkey="HPE.ShapeType.Circle">
<comment>In an Estimate, the shape is the uncertainty area.</comment>
<elem name="radius" type="float32" multiplicity="1">
<tag name="unit" value="meters"/>
<comment>
In an estimate, radius is the horizontal uncertainty.\n
0 <= radius
</comment>
</elem>
</struct>
<struct name="Ellipse" type="Point2D" rttkey="HPE.ShapeType.Ellipse">
<comment>In an Estimate, the shape is the uncertainty area.</comment>
<elem name="major" type="float32" multiplicity="1">
<tag name="unit" value="meters"/>
<comment>major axis horizontal radius</comment>
</elem>
<elem name="minor" type="float32" multiplicity="1">
<tag name="unit" value="meters"/>
<comment>minor axis horizontal radius</comment>
</elem>
<elem name="orient" type="float32" multiplicity="1">
<tag name="unit" value="degrees"/>
<comment>
Angle between north and major axis.\n
0 <= orient < 180.
</comment>
</elem>
</struct>
<struct name="Arc" type="Point2D" rttkey="HPE.ShapeType.Arc">
<comment>In an Estimate, the shape is the uncertainty area.</comment>
<elem name="outer" type="float32" multiplicity="1">
<tag name="unit" value="meters"/>
<comment>outer horizontal radius</comment>
</elem>
<elem name="inner" type="float32" multiplicity="1">
<tag name="unit" value="meters"/>
<comment>inner horizontal radius</comment>
</elem>
<elem name="direction" type="float32" multiplicity="1">
<tag name="unit" value="degrees"/>
<comment>
Angle from north to center of arc.\n
0 <= direction < 360
</comment>
</elem>
<elem name="opening" type="float32" multiplicity="1">
<tag name="unit" value="degrees"/>
<comment>
Horizontal coverage angle of the antenna face; half on either side of direction.\n
0 < opening <= 360.
</comment>
</elem>
</struct>
<struct name="ArcBand" type="Point2D" rttkey="HPE.ShapeType.ArcBand">
<comment>In an Estimate, the shape is the uncertainty area.</comment>
<elem name="major_outer" type="float32" multiplicity="1">
<tag name="unit" value="meters"/>
<comment>major axis outer radius</comment>
</elem>
<elem name="major_inner" type="float32" multiplicity="1">
<tag name="unit" value="meters"/>
<comment>major axis inner radius</comment>
</elem>
<elem name="minor_outer" type="float32" multiplicity="1">
<tag name="unit" value="meters"/>
<comment>minor axis outer radius</comment>
</elem>
<elem name="minor_inner" type="float32" multiplicity="1">
<tag name="unit" value="meters"/>
<comment>minor axis inner radius</comment>
</elem>
<elem name="orient" type="float32" multiplicity="1">
<tag name="unit" value="degrees"/>
<comment>
Angle between north and major axis.\n
0 <= orient < 180.
</comment>
</elem>
<elem name="direction" type="float32" multiplicity="1">
<tag name="unit" value="degrees"/>
<comment>
Angle from north to center of arc.\n
0 <= direction < 360
</comment>
</elem>
<elem name="opening" type="float32" multiplicity="1">
<tag name="unit" value="degrees"/>
<comment>
Horizontal coverage angle of the antenna face; half on either side of direction.\n
0 < opening <= 360.
</comment>
</elem>
</struct>
<struct name="Point3D" type="Point2D" rttkey="HPE.ShapeType.Point3D">
<comment></comment>
<elem name="alt" type="float64" multiplicity="1">
<tag name="unit" value="meters"/>
<tag name="reference" value="WGS84"/>
</elem>
</struct>
<struct name="Spheroid" type="Point3D" rttkey="HPE.ShapeType.Spheroid">
<comment>
Spheroid is the shape of a circular "pill".\n
In an Estimate, the shape is the uncertainty area.
</comment>
<elem name="radius" type="float32" multiplicity="1">
<tag name="unit" value="meters"/>
<comment>
In an estimate, radius is the horizontal uncertainty.\n
0 <= radius
</comment>
</elem>
<elem name="vert" type="float32" multiplicity="1">
<tag name="unit" value="meters"/>
<comment>
In an estimate, vert is the vertical uncertainty.\n
0 <= vert
</comment>
</elem>
</struct>
<struct name="Ellipsoid" type="Point3D" rttkey="HPE.ShapeType.Ellipsoid">
<comment>
Ellipsoid is the shape of an oblong "pill" at an orientation.\n
In an Estimate, the shape is the uncertainty area.
</comment>
<elem name="major" type="float32" multiplicity="1">
<tag name="unit" value="meters"/>
<comment>major axis radius/distance/reach</comment>
</elem>
<elem name="minor" type="float32" multiplicity="1">
<tag name="unit" value="meters"/>
<comment>minor axis radius/distance/reach</comment>
</elem>
<elem name="orient" type="float32" multiplicity="1">
<tag name="unit" value="degrees"/>
<comment>
angle between north and major axis.\n
0 <= orient < 180.
</comment>
</elem>
<elem name="vert" type="float32" multiplicity="1">
<tag name="unit" value="meters"/>
<comment>
In an estimate, vert is the vertical uncertainty.\n
0 <= vert
</comment>
</elem>
</struct>
<struct name="Arc3D" type="Point3D" rttkey="HPE.ShapeType.Arc3D">
<comment>
In an Estimate, the shape is the uncertainty area.
</comment>
<elem name ="height" type="float32" multiplicity="1">
<tag name="unit" value="meters"/>
<comment>Height above alt(itude) area is projected from.</comment>
</elem>
<elem name="outer" type="float32" multiplicity="1">
<tag name="unit" value="meters"/>
<comment>outer radius/distance/reach</comment>
</elem>
<elem name="inner" type="float32" multiplicity="1">
<tag name="unit" value="meters"/>
<comment>inner radius/distance/reach</comment>
</elem>
<elem name="direction" type="float32" multiplicity="1">
<tag name="unit" value="degrees"/>
<comment>
Angle from north to center of arc.\n
0 <= direction < 360
</comment>
</elem>
<elem name="opening" type="float32" multiplicity="1">
<tag name="unit" value="degrees"/>
<comment>
Horizontal coverage of the antenna face; half on either side of direction.\n
0 < opening <= 360.
</comment>
</elem>
</struct>
<struct name="ArcBand3D" type="Point3D" rttkey="HPE.ShapeType.ArcBand3D">
<comment>
In an Estimate, the shape is the uncertainty area.
</comment>
<elem name ="height" type="float32" multiplicity="1">
<tag name="unit" value="meters"/>
<comment>Height above alt(itude) area is projected from.</comment>
</elem>
<elem name="direction" type="float32" multiplicity="1">
<tag name="unit" value="degrees"/>
<comment>
Angle from north to center of arc.\n
0 <= direction < 360
</comment>
</elem>
<elem name ="tilt" type="float32" multiplicity="1">
<tag name="unit" value="degrees"/>
<comment>
Vertical tilt from horizon.\n
-90.0 <= tilt <= 90.0
</comment>
</elem>
<elem name="opening" type="float32" multiplicity="1">
<tag name="unit" value="degrees"/>
<comment>
Horizontal coverage angle of the antenna face; half on either side of direction.\n
0 < opening <= 360.
</comment>
</elem>
<elem name="vopening" type="float32" multiplicity="1">
<tag name="unit" value="degrees"/>
<comment>
Vertical coverage angle of the face; half on either side of tilt.\n
0 < opening <= 360.
</comment>
</elem>
<elem name="radius" type="float32" multiplicity="1">
<tag name="unit" value="meters"/>
<comment>
radius/distance/reach.\n
0 < radius
</comment>
</elem>
</struct>
<!--
*******************************
* StateInfo Type Definition
*******************************
-->
<enum name="StateSource" type="Tensor.uint8" default="undefined">
<comment>Source enumeration defines the source of the state information.</comment>
<literal name="undefined" value="0">
<comment>Source is not defined or is unknown.</comment>
</literal>
<literal name="gnss" value="1">
<comment>Source is GNSS.</comment>
</literal>
<literal name="cellular" value="2">
<comment>Source is cellular network location.</comment>
</literal>
<literal name="wifi" value="3">
<comment>Source is WiFi location.</comment>
</literal>
<literal name="bluetooth" value="4">
<comment>Source is bluetooth or bluetooth beaconning.</comment>
</literal>
<literal name="rtls" value="5">
<comment>Source is real-time locating sytem (RTLS).</comment>
</literal>
<literal name="inertial" value="6">
<comment>Source is inertial or sensor fusion.</comment>
</literal>
<literal name="hybrid" value="7">
<comment>Source is hybrid comprised of multiple datatypes (not sensor fusion).</comment>
</literal>
<literal name="previous" value="8">
<comment>Previous state calculated by the ILP/HPE engine.</comment>
</literal>
</enum>
<struct name="StateInfo">
<comment>StateInfo provides a positional definition.</comment>
<comment>
Used in initializaton and position submission type interfaces.
</comment>
<elem name="epoch" type="datetime" multiplicity="1" />
<elem name="confidence" type="float32" multiplicity="1">
<comment>Confidence of position shape. Valid range is 0.0 to 1.0</comment>
</elem>
<elem name="shape" multiplicity="1" type="Shape" polymorphic="true" >
<comment>
Position. Polymorphic type, see specializations
from Shape for details.
</comment>
</elem>
<elem name="speed" type="float32" multiplicity="0..1">
<tag name="unit" value="meters/sec"/>
<comment>speed of device in meters/sec</comment>
</elem>
<elem name="azimuth" type="float32" multiplicity="0..1">
<tag name="unit" value="degrees"/>
<comment>Azimuth heading of the device in degrees (true North)</comment>
</elem>
<elem name="source" type="StateSource" multiplicity="0..1" default="0">
<comment>Source field defines the source of the state information. If not specified, value is undefined. Defining the source of the state information
assists the calculation processing by characterizing the nature of the position data relative to associated observations.
</comment>
</elem>
</struct>
<!--
*******************************************************
Estimate Results
*******************************************************
-->
<array name="StringIdentifier" type="int8" size="16">
<comment>String identifier defines a short fixed string identifier.</comment>
</array>
<struct name="Estimate">
<comment>
Estimate is the result provided by positioning calculators at the completion
of a calculation.
</comment>
<elem name="result" type="ProcessingStatus" multiplicity="1">
<comment>
The result of the data processing used to produce the estimate.
If not success, ignore the remainder of the estimate information.
</comment>
</elem>
<elem name="source" type="string" multiplicity="1">
<comment>Estimate source identifier. If not defined set to "".</comment>
</elem>
<elem name="obstype" type="ObservationType" multiplicity="1">
<comment>The last observation type used to create the estimate.</comment>
</elem>
<elem name="tic" type="uint32">
<comment>Tic count of the estimate. Set to zero if not known.</comment>
</elem>
<elem name="epoch" type="datetime" multiplicity="1">
<comment>Epoch defines the point in time for which the estimate applies.</comment>
</elem>
<elem name="veracity" type="float32" multiplicity="1">
<comment>
Veracity defines the validity of the measurement in the range between 0 and 1.
A high score means the estimate is deemed valid and more reliable than a lower score.
If no veracity scoring is performed, this will have a value of -1.
</comment>
</elem>
<elem name="confidence" type="float32" multiplicity="1">
<comment>The estimate confidence. Valid range is 0.0 to 1.0</comment>
</elem>
<elem name="shape" type="Shape" multiplicity="1" polymorphic="true">
<comment>
The estimate shape result. The particular shape is determined by the
preferred shapes specified in the BeginCalculation.
</comment>
</elem>
</struct>
<!-- eventually may be able to support variable sized elements
<array name="EstimateArray" type="Estimate">
<comment>
HPE Estimates are reported in an array providing the requested formats.
</comment>
</array>
-->
</namespace>
</specification>