PPS同步后点云的时间戳与UTC时间不一致 #130

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2021-06-08T11:54:56+02:00

Gitwlmai commented

2021-06-08 11:54:56 +02:00

(Migrated from github.com)

Rmc: $GNRMC,082746.00,A,2309.6344212,N,11322.8609704,E,0.006,120.4,080621,0.0,E,A*23
time: 21/6/8 8:1666000000
[2021-06-08 16:27:45.978] [console] [info] Send Command: Set 1 Id 10 Seq 1164 [command_channel.cpp] [Send] [247]
[2021-06-08 16:27:45.985] [console] [info] Recieve Ack: Set 1 Id 10 Seq 1164 [command_handler.cpp] [OnCommand] [118]
OnLidarSetRmcSyncTimeCallback statue 0 handle 0 response 0.
lidar: data_type:2 ts_type:3 timeStamp: 21-6-8 8:1661272021
version:5 slot:1 id:1 status_code:33280
imu: data_type:6 ts_type:3 timeStamp: 21-6-8 8:1661271185
lidar: data_type:2 ts_type:3 timeStamp: 21-6-8 8:1661281742
imu: data_type:6 ts_type:3 timeStamp: 21-6-8 8:1661305612
lidar: data_type:2 ts_type:3 timeStamp: 21-6-8 8:1661320143

如上所示：接收到的UTC时间是21/6/8 8:1666000000 点云输出的时间是21-6-8 8:1661272021

Rmc: $GNRMC,082746.00,A,2309.6344212,N,11322.8609704,E,0.006,120.4,080621,0.0,E,A*23 time: 21/6/8 8:1666000000 [2021-06-08 16:27:45.978] [console] [info] Send Command: Set 1 Id 10 Seq 1164 [command_channel.cpp] [Send] [247] [2021-06-08 16:27:45.985] [console] [info] Recieve Ack: Set 1 Id 10 Seq 1164 [command_handler.cpp] [OnCommand] [118] OnLidarSetRmcSyncTimeCallback statue 0 handle 0 response 0. lidar: data_type:2 ts_type:3 timeStamp: 21-6-8 8:1661272021 version:5 slot:1 id:1 status_code:33280 imu: data_type:6 ts_type:3 timeStamp: 21-6-8 8:1661271185 lidar: data_type:2 ts_type:3 timeStamp: 21-6-8 8:1661281742 imu: data_type:6 ts_type:3 timeStamp: 21-6-8 8:1661305612 lidar: data_type:2 ts_type:3 timeStamp: 21-6-8 8:1661320143 如上所示：接收到的UTC时间是21/6/8 8:1666000000 点云输出的时间是21-6-8 8:1661272021

supercrazysam commented

2023-10-31 18:40:18 +01:00

(Migrated from github.com)

Hi I am trying to setup GPS sync for livox lidar as well. I supplied PPS pulse and sent GPRMC, the lidar timestamp_type becomes 4 (PPS) and stuck there. It never gets to timestamp_type 3 (GPS) as described in the livox timesync manual.

Have you encountered this situation? May I ask how did you setup your system with livox? @Gitwlmai

Hi I am trying to setup GPS sync for livox lidar as well. I supplied PPS pulse and sent GPRMC, the lidar timestamp_type becomes 4 (PPS) and stuck there. It never gets to timestamp_type 3 (GPS) as described in the livox timesync manual. Have you encountered this situation? May I ask how did you setup your system with livox? @Gitwlmai

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Reference: mmr/Livox-SDK#130