---
title: "Set a reference target at the current robot location"
method: POST
path: "/v1/vehicles/{vehicleId}/reference-targets/current-location"
tags: ["Vehicle Autonomy"]
---

# Set a reference target at the current robot location

`POST /v1/vehicles/{vehicleId}/reference-targets/current-location`

## Request

- Base URL: `https://api.polymathrobotics.dev`
- URL: `https://api.polymathrobotics.dev/v1/vehicles/{vehicleId}/reference-targets/current-location`
- Auth: HTTP bearer

Creates a `previous_location` reference target from the robot's current GPS pose for subsequent relative navigation.

## Path parameters

- `vehicleId` string, required

## Response `200`

Generated current-location reference target and upstream service response.

- ReferenceTargetSetResponse
  - `status` string, required
  - `message` string, required
  - `data` ReferenceTargetSetData, required
    - `sent` ReferenceTargetsModel, required: Base for request bodies: unknown fields are rejected instead of silently dropped.
      - `reference_targets` ReferenceTarget[], required
        - `target_id` string: Unique name or ID of the reference target
        - `timestamp_utc` string: Timestamp in UTC ISO format. Should be provided in ISO 8601 format: 'YYYY-MM-DDTHH:MM:SSZ'. If not provided, it will default to the current UTC time.
        - `pose` GeoPoint, required: Base for request bodies: unknown fields are rejected instead of silently dropped.
          - `lat` number, required: Latitude
          - `lon` number, required: Longitude
          - `altitude` number: Altitude (meters)
          - `yaw` number: Yaw (radians). Robot body frame: x forward, y left, z up; positive yaw is counter-clockwise.
        - `time_validity` number: Time validity in seconds. -1 means forever.
        - `recorded_speed_m_s` number: Recorded speed of the object in m/s. `None` indicates no measurement available.
    - `received` unknown

## Other responses

- `500`: Internal server error

## Changes

- **2026-09-09** `7bb062ddb622`: 1 info
  - endpoint added

[Operation history](https://skmtc.dev/polymathrobotics/apis/polymath-api/changes/v1/vehicles/:vehicleId/reference-targets/current-location/post.md)

---

[API](https://skmtc.dev/polymathrobotics/apis/polymath-api.md) - [All operations](https://skmtc.dev/polymathrobotics/apis/polymath-api/llms.txt) - [OpenAPI document](https://skmtc.dev/polymathrobotics/apis/polymath-api/revisions/3b5ff2f21338?raw)