LSLIDAR CH128X1 - 6. Time Synchronization; 6.1 GPS Synchronization

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Azimuth
The resolution of the horizontal angle value (0.1°, 0.2°, 0.4°) is determined
according to the motor speed (5Hz, 10Hz, 20Hz). The horizontal angle defines
the right side of the Lidar as 0°, the left side as 180°, and the vertical direction
as 90°. The range of the Lidar’s horizontal direction is 30° to 150°, as shown in
the figure below.
Figure 5.1 The Azimuth of the Lidar
Additional Information
The additional information of the single echo mode is 9 bytes in length, including
3 bytes UTC time of hour, minute and second, 4 bytes of microsecond
Timestamp and 2 bytes of Factory.
The additional information of the dual echo mode is 7 bytes in length, including
1-byte UTC time of second, 4 bytes of microsecond Timestamp and 2 bytes of
Factory.
Additional Information (single echo mode): 9 bytes
Name
Length (byte)
Function
UTC time
3
Hour, minute and second of the UTC time
Timestamp
4
Timestamp (μs)
Factory
Vendor
Information
1
0x80 represents the CH128X1 Lidar
Echo
Information
1
0x1 represents single echo Lidar
0x2 represents dual echo Lidar
Additional Information (dual echo mode): 7 bytes
Name
Length (byte)
Function
UTC time
1
Second of the UTC time