Note: When encapsulating the configuration package, the entire package data
must be written completely.
6. Time Synchronization
There are two ways to synchronize the lidar and external equipment: GPS
synchronization and external PPS synchronization. If there is no external
synchronization input, the lidar internally generates timing information. The
absolute accurate time of the point cloud data is obtained by adding the 6-byte
UTC (accurate to seconds) of the data packet and the 4-byte timestamp
(accurate to nanoseconds).
6.1 GPS Synchronization
When GPS synchronization is employed, the lidar will start timing in
microseconds after receiving the PPS second pulse, and the time value will be
output as the timestamp of the data packet. The lidar extracts UTC information
from the $GPRMC of the GPS as the UTC time (accurate to the second) output
of the device package.
There are two types of C32 lidar GPS_REC interface level protocols, namely TTL
level standard and RS232 level standard; the GPS_REC interface specification
on the power box is SH1.0-6P female socket. The two protocols differ in two
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