28
is 9600, 8N1. The PPS high pulse width is required to be more than 40 ns.
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
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 timestamp
of the data packet. At this time, there is no UTC reference. If UTC is required, it must
be written in the configuration package, otherwise the UTC output information of the
device package is invalid.
The PPS level of the external synchronization signal is 3.3 V ~5 V, and the Lidar
receives the rising edge trigger, and the PPS high pulse width is required to be more
than 40 ns.
