---
title: "Set the location and details of a reference location or an object"
method: POST
path: "/v1/vehicles/{vehicleId}/reference-targets"
tags: ["Vehicle Autonomy"]
---

# Set the location and details of a reference location or an object

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

## Request

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

Sets one or more reference targets for relative navigation. Each target may include optional `time_validity` and `recorded_speed_m_s` metadata. Use `POST /relative-waypoints` to send waypoints relative to these targets.

## Path parameters

- `vehicleId` string, required

## Request body

- ReferenceTargetsModel: 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.

## Response `200`

Sent reference targets 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

- `422`: Validation Error
- `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/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)