RoboSense Ruby Plus User Manual page 16

Figure 5 GPS Time Synchronization Timing Diagram
Note:
To ensure accurate time synchronization, it is recommended to set the PPS pulse width
between 20 to 200 ms. The completion time of GPRMC is recommended to be within 500
ms after the rising edge of PPS.
2.5.5.2 GPS Time Synchronization Usage
The GPS_REC interface of Ruby Plus LiDAR adopts the RS232 electrical level
protocol. Refer to Table 3 for the pin definition.
Table 3
Communication
RS232 Receives serial data
with RS232 electrical level
RS232
standard output from the GPS
module
The external GPS module needs to set the output serial port baud rate to 9600 bps, 8
data bits, no parity bit, and 1 stop bit. Ruby Plus only reads GPRMC-formatted data
sent by the GPS module. The standard format is as follows:
$ GPRMC,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,<12> * hh
<1> UTC time
<2> Positioning status: A = valid positioning, V = invalid positioning
<3> Latitude
Product Time Synchronization Pin Definitions
Receiving Pin Definition
GPS REC GPS PULSE
Receives positive synchronization pulse
signal output from the GPS module, with a
voltage requirement of 3.0 ~ 15.0 V
Ruby Plus User Guide
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