Covariances for GPS

[h-rover]

Hi everyone,

I am trying to get the GPS covariances from the INS unit for "/ins odometry topic", ECEF and LLA readings. When looked into the the gps_rtk_misc_t in data_sets.h line 2801 I read "NE, EU, UN ". Can someone explain me what does it mean? Is "NE" the covariance of "North w.r.t. E"? Also, if it s "NED" shouldn't it be "NE, ED, DN " ? Also, I believe it to be the upper diagonal of the covariance matrix. Can anybody explain this covariance term ? Plus, how to get the covariances for "/ins odometry topic" and "LLA" ?

Thanks

[h-rover]

@siddirp any help with this will be appreciated. Thanks!

[h-rover]

I am getting 0.0 while reading the accuracyCov[3] data?