{
	"description": "Estimated position and orientation information as measured by GNSS, IMU or inclination sensors",
	"type": "object",
	"$schema": "http://json-schema.org/draft-04/schema#",
	"title": "Pose Estimation",
	"required": [
		"orientation"
	],
	"properties": {
		"position": {
			"description": "Position coordinates and position accuracy values as measured by GNSS in the specified Coordinate Reference System (CRS)",
			"type": "object",
			"properties": {
				"coordinate_1": {
					"description": "Coordinate 1 as defined by axis 1 of the specified CRS (e.g., X, Latitude)",
					"type": "number"
				},
				"coordinate_2": {
					"description": "Coordinate 2 as defined by axis 2 of the specified CRS (e.g., Y, Longitude)",
					"type": "number"
				},
				"vertical_accuracy": {
					"description": "Vertical accuracy [m]",
					"type": "number",
					"minimum": 0,
					"exclusiveMinimum": true
				},
				"coordinate_3": {
					"description": "Coordinate 3 as defined by axis 3 of the specified CRS (e.g., Z, Altitude)",
					"type": "number"
				},
				"crs": {
					"type": "object",
					"description": "Global Coordinate Reference System",
					"properties": {
						"epsg": {
							"description": "EPSG code",
							"type": "integer",
							"minimum": 0
						},
						"wkt": {
							"description": "\"Well-Known Text\" string, OGC WKT dialect (see http://www.opengeospatial.org/standards/wkt-crs)",
							"type": "string"
						}
					},
					"required": [
						"epsg"
					]
				},
				"horizontal_accuracy": {
					"description": "Horizontal accuracy [m]",
					"type": "number",
					"minimum": 0,
					"exclusiveMinimum": true
				}
			},
			"required": [
				"coordinate_1",
				"coordinate_2",
				"coordinate_3",
				"horizontal_accuracy",
				"vertical_accuracy",
				"crs"
			]
		},
		"orientation": {
			"description": "Orientation values and orientation accuracies, measured with IMU or inclination sensors.",
			"type": "object",
			"properties": {
				"yaw": {
					"description": "Yaw angle about scanner Z-axis [deg]",
					"type": "number",
					"maximum": 360,
					"minimum": -360
				},
				"pitch": {
					"description": "Pitch angle about scanner Y-axis [deg]",
					"type": "number",
					"maximum": 360,
					"minimum": -360
				},
				"roll_accuracy": {
					"description": "Roll angle accuracy [deg]",
					"type": "number",
					"minimum": 0,
					"exclusiveMinimum": true
				},
				"pitch_accuracy": {
					"description": "Pitch angle accuracy [deg]",
					"type": "number",
					"minimum": 0,
					"exclusiveMinimum": true
				},
				"yaw_accuracy": {
					"description": "Yaw angle accuracy [deg]",
					"type": "number",
					"minimum": 0,
					"exclusiveMinimum": true
				},
				"roll": {
					"description": "Roll angle about scanner X-axis [deg]",
					"type": "number",
					"maximum": 360,
					"minimum": -360
				}
			},
			"required": [
				"roll",
				"pitch",
				"yaw",
				"roll_accuracy",
				"pitch_accuracy",
				"yaw_accuracy"
			]
		},
		"barometric_height_amsl": {
			"description": "Altitude determined based on the atmospheric pressure according to the standard atmosphere laws [m].",
			"type": "number"
		}
	}
}