User's Manual
Table Of Contents
- 1 Introduction
- 2 Setup
- 3 Data Structure
- 4 Web Control
- 5 PandarView
- 6 Communication Protocol
- 7 Sensor Maintenance
- 8 Troubleshooting
- Appendix I Channel Distribution
- Appendix II Absolute Time and Laser Firing Time
- Appendix III PTP Protocol
- Appendix IV Phoenix Contact
- Appendix V Nonlinear Reflectivity Mapping
- Appendix VI Certification Info
- Appendix VII Support and Contact
19
3.2.2 UDP Data
Table 3.6 GPS Data Packet – UDP Data
GPS UDP data: 512 bytes
GPS time data
18 bytes
Header
2 bytes
0xFFEE, 0xFF first
Date
6 bytes
Year, month, and day (2 bytes each, lower byte first) in ASCII
Time
6 bytes
Second, minute, and hour (2 bytes each, lower byte first) in ASCII
μs Time
4 bytes
In units of μs (lower byte first)
GPRMC/GPGGA data
84 bytes
ASCII code, valid till 2 bytes after ‘*’
NMEA sentence that contains the UTC time information
Users can select either GPRMC or GPGGA in the Settings page of web control, as shown in Section 4.2
reserved
404 bytes
404 bytes of 0xDF
GPS positioning status
1 byte
ASCII code, obtained from $GPRMC or $GPGGA
When $GPRMC is selected:
When $GPGGA is selected:
A (hex = 41) for Valid Position
V (hex = 56) for Invalid Position
NUL (hex = 0) for GPS being unlocked
0 = invalid
1 = GPS fix (SPS)
2 = DGPS fix
3 = PPS fix
6 = estimated (dead reckoning)
flag of PPS lock
1 byte
1 – locked 0 – unlocked
reserved
4 bytes
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