LSLIDAR CH128X1 - External Synchronization

32
point cloud can be matched with the pitch, roll, yaw, latitude, longitude and
height of the GPS/inertial measurement system.
The default serial configuration baud rate of the GPS data output received by
the Lidar is 9600, 8N1. The PPS high pulse width is required to be more than
1ms.
The standard format of GPRMC information is as follows:
$GPRMC, <1>, <2>, <3>, <4>, <5>, <6>, <7>, <8>, <9>, <10>, <11>, <12> *hh
Table 6.1 The Standard Format of GPRMC Information
S/N
Name
Description/Format
1
UTC Time
hhmmss (hour/minute/second)
2
Positioning
State
A=Effective Positioning，V=Invalid Positioning
3
Latitude
ddmm.mmmm (degree/minute)
4
Latitude
Hemisphere
N (Northern Hemisphere) or S (Southern Hemisphere)
5
Longitude
dddmm.mmmm (degree/minute)
6
Longitude
Hemisphere
E (East Longitude) or W (West Longitude)
7
Ground
Speed
000.0~999.9 knot
8
Ground
Direction
000.0~359.9 degree, take true north as the reference datum
9
UTC Date
ddmmyy (day/month/year)
10
Magnetic
Declination
000.0~180.0 degree
11
Direction of
Magnetic
Declination
E (East) or W (West)
12
Mode
Indication
Only NMEA0183 version 3.00 outputs，
A= autonomic positioning, D= difference, E=estimation, N=invalid
data
6.2 External Synchronization
In external synchronization, the Lidar receives the PPS signal input by other
external devices and times it in microseconds, and the timing value is output as
the time stamp of the data packet. At this time, there is no UTC time reference.
If UTC time is required, it must be written in the configuration package,
otherwise the UTC time output information of the device package is invalid.
The PPS level of the external synchronization signal is 3.3~5V, and the Lidar
receives the rising edge trigger, and the PPS high pulse width is required to be