User Guide

54A0049_7.0_EN / Leddar Pixell – User Guide 47 | 127
7. Electronic Integration
7.1. Synchronizing the Sensors
Integrators can synchronize the clock for all the different sensors in the system to increase the perception’s
accuracy.
Two functionalities have been implemented: PPS and PTP.
7.1.1. GPS Pulse-per-Second Signal Input
GPSs used in autonomous navigation systems will provide a clock signal that can be employed to
synchronize various systems together. The sensor must accept a “Pulse PPS” signal input and use it as a
time reference.
The “Pulse PPS” signal allows each timestamp data to be synchronized with the GPS clock used in the
navigation system.
LeddarTech’s integration guidelines require a “Pulse PPS” synchronization signal free of data between pulses.
7.1.2. PTP Precision Time Protocol Signal Input
The Precision Time Protocol (PTP) is a protocol used to synchronize clocks throughout a computer network.
The PTP is employed to synchronize networks that require precise timing but lack access to satellite
navigation signals (GPS pulse-per-second signal).
LeddarTech’s integration guidelines are based on the IEE 1588-2008 standard.
7.1.3. External Trigger
The External trigger option allows you to change the PPS input function to trigger input. The PPS input pins
will be used to trigger the sensor acquisition. The physical trigger signal dictates the start of the acquisition
and can be set to “Rising edge” or “Falling edge,” as shown in Fig. 35 below.
Fig. 35: Acquisition Settings, Acquisition window