{
  "copyright": [
    "Copyright (C) 2019-2021 Swift Navigation Inc.",
    "Contact: https://support.swiftnav.com",
    "",
    "This source is subject to the license found in the file 'LICENSE' which must",
    "be distributed together with this source. All other rights reserved.",
    "",
    "THIS CODE AND INFORMATION IS PROVIDED 'AS IS' WITHOUT WARRANTY OF ANY KIND,",
    "EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED",
    "WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE."
  ],
  "$schema": "http://json-schema.org/draft-06/schema#",
  "$id": "#MsgVelCog",
  "title":"MsgVelCog",
  "description":"This message reports the receiver course over ground (COG) and speed over ground (SOG) based on the horizontal (N-E) components of the NED velocity vector. It also includes the vertical velocity coordinate. A flag is provided to indicate whether the COG value has been frozen. When the flag is set to true, the COG field is set to its last valid value until the system exceeds a minimum velocity threshold. No other fields are affected by this flag. The NED coordinate system is defined as the local WGS84 tangent plane centered at the current position. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). Note: course over ground represents the receiver's direction of travel, but not necessarily the device heading.,\n,\nThe values in this message are from GNSS measurements fused with inertial measurements.\n",
  "type": "object",
  "properties": {
    "tow": {"type": "integer"},
    "cog": {"type": "integer"},
    "sog": {"type": "integer"},
    "v_up": {"type": "integer"},
    "cog_accuracy": {"type": "integer"},
    "sog_accuracy": {"type": "integer"},
    "v_up_accuracy": {"type": "integer"},
    "flags": {"type": "integer"}
  },
  "required": [
    "tow",
    "cog",
    "sog",
    "v_up",
    "cog_accuracy",
    "sog_accuracy",
    "v_up_accuracy",
    "flags"
  ]
}