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@@ -0,0 +1,59 @@
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+#ifndef GPS_NBTYPE_H
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+#define GPS_NBTYPE_H
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+namespace iv {
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+ struct MAP_GPS_INS
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+ {
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+ int valid = 0xff;
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+ int index = 0; //gps点序号
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+
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+ double gps_lat = 0;//纬度
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+ double gps_lng = 0;//经度
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+
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+ double gps_x = 0;
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+ double gps_y = 0;
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+ double gps_z = 0;
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+
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+ double ins_roll_angle = 0; //横滚角 一般定义载体的右、前、上三个方向构成右手系，绕向前的轴旋转就是横滚角，绕向右的轴旋转就是俯仰角，绕向上的轴旋转就是航向角
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+ double ins_pitch_angle = 0; //俯仰角
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+ double ins_heading_angle = 0; //航向角
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+
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+ int ins_status = 0; //惯导状态 4
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+ int rtk_status = 0; //rtk状态 6 -5 -3
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+ int gps_satelites_num = 0;
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+
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+ //-----加速度--------------
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+ double accel_x = 0;
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+ double accel_y = 0;
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+ double accel_z = 0;
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+
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+ //-------角速度------------
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+ double ang_rate_x = 0;
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+ double ang_rate_y = 0;
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+ double ang_rate_z = 0;
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+
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+ //-----------方向速度--------------
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+ double vel_N = 0;
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+ double vel_E = 0;
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+ double vel_D = 0;
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+
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+ int speed_mode = 0;
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+ int mode2 = 0;
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+ double speed = 3.5; //速度 若导航点则为导航预设速度 若为当前点则为当前车速
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+
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+ int roadMode;
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+ int runMode;
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+ int roadSum;
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+ int roadOri;
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+
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+ double mfLaneWidth = 3.5; // Current Lane Width
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+
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+ double mfDisToLaneLeft = 1.8; //Distance to Lane Left
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+ int mnLaneChangeMark = 0; //1 to Left 0 not change -1 to right
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+ double mfDisToRoadLeft = 1.8; //Distance to Road Left
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+ double mfRoadWidth = 3.5; // Road Width
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+
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+
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+
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+ };
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+}
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+#endif // GPS_NBTYPE_H
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