Figure 9-4 Wireshark Position Packet Trace
Legend:
light blue: Ethernet+IP+UDP packet header (42 bytes)
orange: Timestamp (4 bytes)
red: PPS status (1 byte)
green: NMEA GPRMC sentence (length varies)
9.4 Discreet Point Timing Calculation
For the purpose of geo-referencing LiDAR data, it is helpful to calculate the exact moment of a particular laser firing in
order to more closely associate it with time stamped data from an INS. By using the firing timing information given in
Figure
9-5 on the facing page
you are able to compute the exact firing time for each data point.
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