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在Livox hirzon设备中使用GPS+PPS方式进行时间同步时间戳异常

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Author: maiwl | Time: 2021-6-10 17:29:32 | HORIZON|
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Posted on 2021-6-10 17:29:32| All floors |Read mode
Last edited by maiwl In 2021-6-10 17:31 Editor

问题如下:
Rmc: $GNRMC,115611.00,A,2309.6336714,N,11322.8560422,E,0.013,319.4,090621,0.0,E,D*2A           一:接收GPS发过来的RMC时间
    time: 21/6/9 11:3371000000                                                                                                               二:打印RMC时间21/6/9 11:3371000000
    lidar: data_type:2 ts_type:3 timeStamp: 21-6-9 11:3356419917                                                         三:将当前时刻的点云时间戳打印出来   点云输出时间 21-6-9 11:3356419917    (两者相差了将近15s)
    [2021-06-09 19:56:11.070] [console] [info]  Send Command: Set 1 Id 10 Seq 208  [command_channel.cpp] [Send] [247]
    lidar: data_type:2 ts_type:3 timeStamp: 21-6-9 11:3356420316
    lidar: data_type:2 ts_type:3 timeStamp: 21-6-9 11:3356420715
    lidar: data_type:2 ts_type:3 timeStamp: 21-6-9 11:3356421114
    lidar: data_type:2 ts_type:3 timeStamp: 21-6-9 11:3356421515
    lidar: data_type:2 ts_type:3 timeStamp: 21-6-9 11:3356421913
    lidar: data_type:6 ts_type:3 timeStamp: 21-6-9 11:3356421623
    [2021-06-09 19:56:11.072] [console] [info]  Recieve Ack: Set 1 Id 10 Seq 208  [command_handler.cpp] [OnCommand] [118]
    OnLidarSetRmcSyncTimeCallback statue 0 handle 0 response 0.


疑问:为什么UTC的时间没有更新到输出的点云上,并且时差很大,希望能得到你的回复,谢谢!

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Posted on 5 Day Ago| All floors
你好,技术工程师已通过Livox 售后邮箱与您取得联系,由于有一些细节需要确认,请耐心等待回复。
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