{"id":10552,"date":"2025-07-02T18:45:07","date_gmt":"2025-07-02T10:45:07","guid":{"rendered":"https:\/\/yanjingang.com\/blog\/?p=10552"},"modified":"2025-09-08T15:36:18","modified_gmt":"2025-09-08T07:36:18","slug":"%e6%bf%80%e5%85%89%e9%9b%b7%e8%be%be-%e9%95%ad%e7%a5%9els-c16","status":"publish","type":"post","link":"https:\/\/yanjingang.com\/blog\/?p=10552","title":{"rendered":"\u6fc0\u5149\u96f7\u8fbe\u2014\u956d\u795eLS C16"},"content":{"rendered":"<h1><span id=\"lwptoc\">\u4e00\u3001\u6982\u8ff0<\/span><\/h1>\n<h4><span id=\"1\">1. \u7b80\u4ecb<\/span><\/h4>\n<p>C16\u7cfb\u5217\u6fc0\u5149\u96f7\u8fbe\u662f\u956d\u795e\u667a\u80fd\u63a8\u51fa\u7684\u4e00\u6b3e\u9ad8\u6027\u80fd\u3001\u5c0f\u578b\u5316\u768416\u7ebf\u6df7\u5408\u56fa\u6001\u6fc0\u5149\u96f7\u8fbe\u3002\u8fd9\u6b3e\u96f7\u8fbe\u4e3b\u8981\u7528\u4e8e\u5b9e\u73b0\u4e09\u7ef4\u7a7a\u95f4\u7684\u7cbe\u786e\u611f\u77e5\uff0c\u5e7f\u6cdb\u5e94\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u3001\u673a\u5668\u4eba\u5bfc\u822a\u3001\u65e0\u4eba\u673a\u907f\u969c\u4ee5\u53ca\u667a\u80fd\u5b89\u9632\u7b49\u9886\u57df\u3002<\/p>\n<p>C16\u7ebf\u6fc0\u5149\u96f7\u8fbe\u7684\u6838\u5fc3\u7279\u6027\u5728\u4e8e\u5176\u6df7\u5408\u56fa\u6001\u8bbe\u8ba1\u3002\u8fd9\u610f\u5473\u7740\u5b83\u7ed3\u5408\u4e86\u65cb\u8f6c\u673a\u68b0\u90e8\u4ef6\u4e0e\u56fa\u6001\u7535\u5b50\u626b\u63cf\u6280\u672f\uff0c\u786e\u4fdd\u4e86\u9ad8\u7a33\u5b9a\u6027\u548c\u53ef\u9760\u6027\u300216\u6761\u72ec\u7acb\u7684\u6fc0\u5149\u675f\u63d0\u4f9b3D\u7a7a\u95f4\u7684\u70b9\u4e91\u6570\u636e\uff0c\u80fd\u4ee5\u9ad8\u901f\u5ea6\u548c\u9ad8\u7cbe\u5ea6\u6355\u6349\u73af\u5883\u4fe1\u606f\uff0c\u5f62\u6210\u7cbe\u7ec6\u7684\u4e09\u7ef4\u5730\u56fe\u3002\u540c\u65f6\uff0c\u8be5\u96f7\u8fbe\u5177\u5907\u826f\u597d\u7684\u6297\u5e72\u6270\u80fd\u529b\uff0c\u53ef\u5728\u590d\u6742\u73af\u5883\u4e2d\u7a33\u5b9a\u5de5\u4f5c\u3002<\/p>\n<p>\u53e6\u5916\u9700\u8981\u7279\u522b\u6ce8\u610f\u7684\u662f\uff1a<strong>C16\u7684\u5750\u6807\u7cfb\/\u70b9\u4e91\u683c\u5f0f\u4e0eVelodyne\u96f7\u8fbe\u5b8c\u5168\u4e00\u81f4<\/strong>\uff0c\u8fd9\u80fd\u8282\u7701\u76f8\u5173\u7684\u5750\u6807\/\u683c\u5f0f\u8f6c\u6362\u5de5\u4f5c\u3002<\/p>\n<p><a href=\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/lsc16-link.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-10554\" src=\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/lsc16-link.png\" alt=\"\" width=\"696\" height=\"574\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/lsc16-link.png 696w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/lsc16-link-300x247.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/lsc16-link-624x515.png 624w\" sizes=\"(max-width: 696px) 100vw, 696px\" \/><\/a><\/p>\n<h4><span id=\"4\">2. \u6280\u672f\u53c2\u6570<\/span><\/h4>\n<p>C16\u6700\u8fdc\u626b\u63cf\u8ddd\u79bb200\u7c73\u3002<\/p>\n<p><a href=\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/lsc16-params.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-10553\" src=\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/lsc16-params-1024x982.png\" alt=\"\" width=\"625\" height=\"599\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/lsc16-params-1024x982.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/lsc16-params-300x288.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/lsc16-params-768x737.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/lsc16-params-624x599.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/lsc16-params.png 1332w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>*\u6ce8\uff1a\u5176\u4ed6\u53c2\u6570\u8be6\u89c1<\/p>\n<ul>\n<li><a href=\"https:\/\/wenku.csdn.net\/doc\/2k7xdrnrdp\" target=\"_blank\" rel=\"noopener\">C16\u7cfb\u5217\u5c0f\u578b16\u7ebf\u6df7\u5408\u56fa\u6001\u6fc0\u5149\u96f7\u8fbe\u4f7f\u7528\u8bf4\u660e\u4e66V1.3.pdf<\/a><\/li>\n<li><a href=\"https:\/\/download.csdn.net\/download\/weixin_42593505\/18476086?utm_medium=distribute.pc_relevant_download.none-task-download-2~default~LANDING_RERANK~Rate-1-18476086-download-13706925.257%5Ev16%5Epc_dl_relevant_base&amp;depth_1-utm_source=distribute.pc_relevant_download.none-task-download-2~default~LANDING_RERANK~Rate-1-18476086-download-13706925.257%5Ev16%5Epc_dl_relevant_base&amp;spm=1003.2020.3001.6616.1\" target=\"_blank\" rel=\"noopener\">\u956d\u795e\u667a\u80fdC16\u7cfb\u5217\u5c0f\u578b\u5316\u673a\u68b0\u5f0f16\u7ebf\u6fc0\u5149\u96f7\u8fbe(\u666e\u901a)\u4f7f\u7528\u8bf4\u660e\u4e66V3.3_\u5ba2\u6237\u724820200826.pdf<\/a><\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h1><span id=\"lwptoc1\">\u4e8c\u3001\u51c6\u5907\u5de5\u4f5c<\/span><\/h1>\n<h4><span id=\"1_SDKROS\">1. \u96f7\u8fbeSDK\u4e0eROS\u5305<\/span><\/h4>\n<h6><span id=\"11_ROS1\">1.1 ROS1<\/span><\/h6>\n<pre class=\"pure-highlightjs\"><code class=\"\"># depend\r\nsudo apt-get install ros-$ROS_DISTRO-pcl-ros ros-$ROS_DISTRO-pcl-conversions  ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-message-generation  libpcap-dev libyaml-cpp-dev libeigen3-dev libboost${BOOST_VERSION}-dev\r\n\r\n# source\r\nmkdir -p ~\/lslidar_ws\/src &amp;&amp; cd ~\/lslidar_ws\/src\r\ngit clone -b C16_V5.0 git@github.com:Lslidar\/Lslidar_ROS1_driver.git\r\n\r\n# build\r\ncd ~\/lslidar_ws\r\ncatkin_make\r\nsource ~\/lslidar_ws\/devel\/setup.bash<\/code><\/pre>\n<h6><span id=\"11_ROS1\">1.2 ROS2<\/span><\/h6>\n<p>\u8be6\u89c1\uff1ahttps:\/\/github.com\/Lslidar\/Lslidar_ROS2_driver\/tree\/C16_V4.0\/lslidar_driver\/src<\/p>\n<h4><span id=\"21\">2. \u96f7\u8fbe\u8fde\u7ebf<\/span><\/h4>\n<p><a href=\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/lsc16-link-pc.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-10559\" src=\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/lsc16-link-pc-1024x351.png\" alt=\"\" width=\"625\" height=\"214\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/lsc16-link-pc-1024x351.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/lsc16-link-pc-300x103.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/lsc16-link-pc-768x264.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/lsc16-link-pc-1536x527.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/lsc16-link-pc-624x214.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/lsc16-link-pc.png 1760w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h4><span id=\"31\">3. \u7f51\u7edc\u914d\u7f6e<\/span><\/h4>\n<p>\u6fc0\u5149\u96f7\u8fbe\u7f51\u7ebf\u8fde\u63a5\u7535\u8111\u5e76\u63a5\u5165\u7535\u6e90\uff0c\u8fdb\u5165ubuntu\u7cfb\u7edf\u8bbe\u7f6esettings\uff0c\u914d\u7f6e\u6709\u7ebf\u7f51\u7edc\u53c2\u6570\uff0c\u83b7\u53d6\u65b9\u5f0f\u6539\u4e3a\u624b\u52a8\u3002 \u5730\u5740\uff1a192.168.1.102 \u63a9\u7801\uff1a255.255.255.0 \u7f51\u5173\uff1a192.168.1.1 DNS\uff1a223.5.5.5<\/p>\n<p><a href=\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/ls16-net.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-10557\" src=\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/ls16-net-1024x748.png\" alt=\"\" width=\"625\" height=\"457\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/ls16-net-1024x748.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/ls16-net-300x219.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/ls16-net-768x561.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/ls16-net-624x456.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/ls16-net.png 1276w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a> <a href=\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/ls-ping.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-10558\" src=\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/ls-ping-1024x320.png\" alt=\"\" width=\"625\" height=\"195\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/ls-ping-1024x320.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/ls-ping-300x94.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/ls-ping-768x240.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/ls-ping-624x195.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/ls-ping.png 1388w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h1><span id=\"lwptoc2\">\u4e09\u3001\u96f7\u8fbe\u8c03\u8bd5<\/span><\/h1>\n<h4><span id=\"1_ros\">1. \u4fee\u6539ros\u914d\u7f6e<\/span><\/h4>\n<pre class=\"pure-highlightjs\"><code class=\"\">vim src\/lslidar_driver\/launch\/lslidar_cx.launch\r\n    &lt;arg name=\"device_ip\" default=\"192.168.1.200\"\/&gt;\r\n    &lt;param name=\"frame_id\" value=\"laser_link\"\/&gt;\r\n    &lt;param name=\"pointcloud_topic\" value=\"\/lslidar\/points_raw\"\/&gt;<\/code><\/pre>\n<h4><span id=\"22\">2. \u70b9\u4e91\u6d4b\u8bd5<\/span><\/h4>\n<pre class=\"pure-highlightjs\"><code class=\"\">source ~\/lslidar_ws\/devel\/setup.bash\r\nroslaunch lslidar_driver lslidar_cx.launch<\/code><\/pre>\n<p>rviz\u4fee\u6539Fixed Frame\u4e3alaser_link\uff0c\u6dfb\u52a0PointCloud2\uff0c\u9009\u62e9topic\u8bdd\u9898\/lslidar\/points_raw\u67e5\u770b\u70b9\u4e91<\/p>\n<p><a href=\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/ls-pointcloud2.jpg\"><img loading=\"lazy\" class=\"alignnone wp-image-10561 size-full\" src=\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/ls-pointcloud2.jpg\" alt=\"\" width=\"1352\" height=\"954\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/ls-pointcloud2.jpg 1352w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/ls-pointcloud2-300x212.jpg 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/ls-pointcloud2-1024x723.jpg 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/ls-pointcloud2-768x542.jpg 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/ls-pointcloud2-624x440.jpg 624w\" sizes=\"(max-width: 1352px) 100vw, 1352px\" \/><\/a><\/p>\n<h4>3. \u4fee\u6539\u626b\u63cf\u8ddd\u79bb\/\u6c34\u5e73\u548c\u5782\u76f4\u89d2\u5ea6<\/h4>\n<p>\u8c03\u6574ls16 lidar\u626b\u63cf\u8ddd\u79bb\u4e3a200\u7c73\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"hljs cs\"><span class=\"hljs-meta\"># \u70b9\u4e91\u6700\u8fd1\u548c\u6700\u8fdc\u8ddd\u79bb\uff1a<\/span>\r\nvim robot\/lslidar_ros\/lslidar_cx_driver\/launch\/lslidar_c16.launch\r\n    &lt;\uff01--param name=<span class=\"hljs-string\">\"min_range\"<\/span> <span class=\"hljs-keyword\">value<\/span>=<span class=\"hljs-string\">\"0.15\"<\/span>\/&gt;\r\n    &lt;param name=<span class=\"hljs-string\">\"max_range\"<\/span> <span class=\"hljs-keyword\">value<\/span>=<span class=\"hljs-string\">\"150.0\"<\/span>\/--&gt;\r\n    &lt;param name=<span class=\"hljs-string\">\"min_range\"<\/span> <span class=\"hljs-keyword\">value<\/span>=<span class=\"hljs-string\">\"<\/span><span class=\"hljs-string\">0.01<\/span><span class=\"hljs-string\">\"<\/span>\/&gt;\r\n    &lt;param name=<span class=\"hljs-string\">\"max_range\"<\/span> <span class=\"hljs-keyword\">value<\/span>=<span class=\"hljs-string\">\"<\/span><span class=\"hljs-string\">200.0<\/span><span class=\"hljs-string\">\"<\/span>\/&gt;\r\n\r\n<span class=\"hljs-meta\"># \u4fee\u6539\u540e\u542f\u52a8lidar\u548crviz\uff0c\u786e\u4fdd\u6fc0\u5149\u96f7\u8fbe\u5e95\u5ea7\u6216\u8005\u7ebf\u675f\u4e0d\u4f1a\u88ab\u626b\u5230\uff08\u4f1a\u89e6\u53d1\u969c\u788d\u7269\u5bfc\u81f4\u65e0\u6cd5\u884c\u8d70\uff09<\/span>\r\nroslaunch lslidar_cx_driver lslidar_c16.launch\r\nrviz\r\n<\/code><\/pre>\n<p>\u8c03\u6574ls16 lidar\u7684\u70b9\u4e91\u5c4f\u853d\u6c34\u5e73\u89d2\u5ea6\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"hljs xml\"># \u70b9\u4e91\u5c4f\u853d\u89d2\u5ea6\u533a\u95f4\uff08\u503c\u4e3a\u5ea6\u6570*100\uff1b\u6b63\u524d\u65b9\u4e3a0\/360\u5ea6\uff0c\u6b63\u540e\u65b9\u4e3a180\u5ea6\uff0c\u5411\u53f3\u540e\u65b9\u987a\u65f6\u9488\u65cb\u8f6c\u5ea6\u6570\u9010\u6e10\u589e\u52a0\uff09\uff1a\r\nvim robot\/lslidar_ros\/lslidar_cx_driver\/launch\/lslidar_c16.launch\r\n    <span class=\"hljs-comment\">&lt;!-- &lt;param name=\"angle_disable_min\" value=\"12000\"\/&gt;\r\n    &lt;param name=\"angle_disable_max\" value=\"24000\"\/&gt; --&gt;<\/span>\r\n    <span class=\"hljs-tag\">&lt;<span class=\"hljs-name\">param<\/span> <span class=\"hljs-attr\">name<\/span>=<span class=\"hljs-string\">\"angle_disable_min\"<\/span> <span class=\"hljs-attr\">value<\/span>=<span class=\"hljs-string\">\"<\/span><\/span><span class=\"hljs-tag\"><span class=\"hljs-string\">0<\/span><\/span><span class=\"hljs-tag\"><span class=\"hljs-string\">\"<\/span>\/&gt;<\/span>\r\n    <span class=\"hljs-tag\">&lt;<span class=\"hljs-name\">param<\/span> <span class=\"hljs-attr\">name<\/span>=<span class=\"hljs-string\">\"angle_disable_max\"<\/span> <span class=\"hljs-attr\">value<\/span>=<span class=\"hljs-string\">\"<\/span><\/span><span class=\"hljs-tag\"><span class=\"hljs-string\">0<\/span><\/span><span class=\"hljs-tag\"><span class=\"hljs-string\">\"<\/span>\/&gt;<\/span>\r\n# 0,0\u610f\u601d\u662f\u4e0d\u5c4f\u853d\uff0c360\u5ea6\u7684\u70b9\u4e91\u90fd\u8981\u3002\u5982\u679c\u586b\u51990,18000\uff0c\u8868\u793a\u5c4f\u853d\u6240\u6709\u53f3\u534a\u4fa7\u7684\u70b9\u4e91\uff0c\u5927\u5bb6\u6839\u636e\u5b9e\u9645\u60c5\u51b5\u4fee\u6539\u5373\u53ef\u3002\r\n\r\n# \u542f\u52a8lidar\u548crviz\uff0c\u68c0\u67e5\u5c4f\u853d\u89d2\u5ea6\u662f\u5426\u751f\u6548\uff1a\r\nroslaunch lslidar_cx_driver lslidar_c16.launch\r\nrviz<\/code><\/pre>\n<p>\u8c03\u6574\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u626b\u63cf\u5782\u76f4\u89d2\u5ea6\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"hljs dts\"><span class=\"hljs-meta\"># \u70b9\u4e91\u626b\u63cf\u6700\u4f4e\u548c\u6700\u9ad8\u89d2\u5ea6\uff1a<\/span>\r\nvim robot\/pointcloud_to_laserscan<span class=\"hljs-meta-keyword\">\/launch\/<\/span>pointcloud_scan.launch\r\n<span class=\"hljs-symbol\">    min_height:<\/span> <span class=\"hljs-number\">-0.1<\/span>\r\n<span class=\"hljs-symbol\">    max_height:<\/span> <span class=\"hljs-number\">2.0<\/span><\/code><\/pre>\n<h1><span id=\"PTP\">\u56db\u3001\u65f6\u949f\u540c\u6b65<\/span><\/h1>\n<p>\u956d\u795e\u652f\u6301\u7684\u65f6\u95f4\u540c\u6b65\u5171\u67093\u79cd\uff1aGPS\u540c\u6b65\u3001NTP\u540c\u6b65\u3001\u5916PPS\u540c\u6b65\u3002<\/p>\n<h4>1. \u4f7f\u7528\u7cfb\u7edf\u65f6\u95f4<\/h4>\n<p>\u5c06time_synchronization\u8bbe\u7f6e\u4e3afalse\uff0c\u5219\u5728\u9a71\u52a8\u7684lslidar_c32_driver.cpp\u4e2d\u7684poll()\u4e0b\u6bcf\u6b21\u6253\u4e0aROS\u81ea\u5df1\u7684\u65f6\u95f4\u6233\u3002<\/p>\n<h4>2. NTP\u540c\u6b65<\/h4>\n<h6>2.1 ntp\u5b89\u88c5\u548c\u914d\u7f6e\uff1a<\/h6>\n<pre class=\"pure-highlightjs\"><code class=\"\"># ntp\r\nsudo apt install ntp\r\nsudo apt install ntpstat\r\n\r\nvim \/etc\/ntp.conf\r\n    driftfile \/var\/lib\/ntp\/drift\t\t\t# \u8fd9\u4e2a\u662f\u5c06ntp\u53c2\u6570\u4e34\u65f6\u5b58\u50a8\u7684\u8def\u5f84\uff0c\u4fdd\u7559\u5f53\u524d\u72b6\u6001\uff0c\u4e0b\u6b21\u542f\u52a8\u65f6\u53ef\u4ee5\u8f7d\u5165\uff1b\u5b9e\u6d4b\u6ca1\u4ec0\u4e48\u592a\u5927\u7684\u5f71\u54cd\uff1b\r\n\r\n    # \u5f00\u653e\u672c\u673a\u7684\u4efb\u4f55\u8bbf\u95ee\r\n    restrict 127.0.0.1\t\t\t\t\t\t\t# restrict\u5173\u952e\u8bcd\u662f\u5141\u8bb8\u76f8\u5e94\u7684ip\u8bbf\u95ee\uff0c127.0.0.1\u662f\u672c\u673a\u7684\r\n    restrict -6 ::1\r\n    # \u5f00\u653e\u5176\u4ed6ip\u7684\u8bbf\u95ee\r\n    restrict 192.168.1.200\t\t\t\t\t# \u5141\u8bb8192.168.1.200\u8fd9\u4e2aip\u8bbf\u95ee\u672c\u673a\u7684ntp\uff0c\u76f4\u63a5\u8bbe\u7f6e\u4e3a\u96f7\u8fbe\u7684\u5bf9\u5e94ip\r\n    restrict 192.168.1.0 mask 255.255.255.0\t\t# \u76f4\u63a5\u5141\u8bb8192.168.1.0-255\u8fd9\u4e2a\u533a\u95f4\u7684ip\u8bbf\u95ee\r\n\r\n    # \u8bbe\u7f6eNTP\u540c\u6b65\u65f6\u91c7\u7528\u7684\u670d\u52a1\u5668\uff0c\u6309\u7167\u987a\u5e8f\u4f9d\u6b21\u8bbf\u95ee\r\n    # server IP \u6216 server \u7f51\u5740\uff0c\u4e24\u79cd\u5199\u6cd5\u5747\u53ef\uff0c\u4f8b\u5982\r\n    server 114.118.7.161\t\t\t\t\t\t# \u91c7\u7528\u4e2d\u56fd\u56fd\u5bb6\u6388\u65f6\u4e2d\u5fc3\u7684NTP\r\n    server 203.107.6.88\t\t\t\t\t\t\t# \u91c7\u7528\u963f\u91cc\u7684NTP\r\n    server ntp.aliyun.com\t\t\t\t\t\t# \u91c7\u7528\u963f\u91cc\u7684NTP\r\n    # \u4e0a\u8ff0\u6307\u4ee4\u6700\u540e\u53ef\u80fd\u5b58\u5728 `nomodify` `notrap` `noquery`\u7b49\u8bcd\uff0c\u8868\u793a\u7981\u6b62\u4fee\u6539xxx\uff0c\u8fde\u63a5\u901f\u5ea6\u6b21\u6570\u7b49\u9650\u5236\uff0c\u4e0d\u52a0\u4e5f\u4e0d\u5f71\u54cd\u4f7f\u7528\r\n    server 127.127.1.0\t\t\t\t\t\t\t# \u91c7\u7528\u672c\u5730\u65f6\u95f4\u4f5c\u4e3a\u65f6\u95f4\u670d\u52a1\uff1b\u4e0a\u8ff0\u5931\u6548\uff08\u4f8b\u5982\u6ca1\u6709\u8054\u7f51\u65f6\uff09\u5c06\u4f7f\u7528\u5230\u8fd9\u4e2a\u3002\u4e5f\u53ef\u4ee5\u628a\u5176\u4ed6\u7684\u90fd\u53d6\u6d88\uff0c\u53ea\u4fdd\u7559\u672c\u5730\uff0c\u5728\u5c40\u57df\u7f51\u5185NTP\uff0c\u6b64\u65f6\u8bef\u5dee\u6781\u5c0f\uff1b\r\n    fudge 127.127.1.0 stratum 10\t\t\t# \u5c06\u672c\u5730server\u7684\u5c42\u7ea7\u8bbe\u7f6e\u4e3a10\uff0c\u8fd9\u662f\u4e00\u4e2a\u9ed8\u8ba4\u7684\u6570\u503c\uff0c\u4e00\u822c\u5efa\u8bae\u5c40\u57df\u7f51\u8bbe\u7f6e\u4e3a10\u4ee5\u4e0a\u3002\u56fd\u5bb6\u6388\u65f6\u4e2d\u5fc3\u7684\u5c42\u7ea7\u662f1\uff0c\u963f\u91cc\u7684\u5c42\u7ea7\u662f2\u3002\r\n\r\n    # \u5176\u4ed6\u7684\u53c2\u6570\u6682\u65f6\u4e0d\u7528\u8c03\u6574\r\n\r\n\r\n# restart\r\nservice ntp restart<\/code><\/pre>\n<h6>2.2 PC\u65f6\u949f\u540c\u6b65<\/h6>\n<p>\u5927\u6982\u51e0\u5341\u79d2\u540e\uff0c\u901a\u8fc7<code>ntpstat<\/code>\u6307\u4ee4\u53ef\u4ee5\u67e5\u770bNTP\u540c\u6b65\u7684\u60c5\u51b5\uff0c\u5982\u679c\u521a\u91cd\u542f\uff0c\u6b64\u65f6\u4f1a\u663e\u793a not synchronized\uff0c\u7a0d\u7b49\u7247\u523b\u5373\u53ef\u3002<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">ntpstat\r\n#or\r\nservice ntp status\t\t\t# \u67e5\u770bNTP\u670d\u52a1\u7684\u72b6\u6001\uff0c\u5982\u679c\u51fa\u73b0 active(running)\u5219\u8ba4\u4e3a\u670d\u52a1\u662f\u542f\u52a8\u6b63\u5e38\u7684\r\n# or\r\nntpq -p\t\t\t\t\t# \u67e5\u770bNTP\u5404\u4e2a\u8282\u70b9\u7684\u540c\u6b65\u72b6\u6001\u3002<\/code><\/pre>\n<h6>2.3 \u956d\u795e\u96f7\u8fbe\u7684NTP\u540c\u6b65<\/h6>\n<p>\u4f7f\u7528win\u7248\u5de5\u5177\u8f6f\u4ef6\uff0c\u8bbe\u7f6e\u96f7\u8fbe\u7684ntp ip\u3002<\/p>\n<p><a href=\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/ls-net.jpg\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-10562\" src=\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/ls-net-1024x571.jpg\" alt=\"\" width=\"625\" height=\"349\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/ls-net-1024x571.jpg 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/ls-net-300x167.jpg 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/ls-net-768x428.jpg 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/ls-net-1536x856.jpg 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/ls-net-624x348.jpg 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/09\/ls-net.jpg 1912w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>\u914d\u7f6e\u5b8c\u6bd5\u540e\uff0c\u91cd\u542flidar\uff0c\u5373\u53ef\u5b9e\u73b0ntp\u65f6\u949f\u540c\u6b65\u3002<\/p>\n<p>&nbsp;<\/p>\n<p>\u53c2\u8003\uff1a<\/p>\n<p><a href=\"https:\/\/blog.csdn.net\/yz2630570484\/article\/details\/111873432\" target=\"_blank\" rel=\"noopener\">\u956d\u795ec16\u6fc0\u5149\u96f7\u8fbe\u4f7f\u7528\u53ca\u9002\u914dAutoware<\/a><\/p>\n<p><a href=\"https:\/\/blog.csdn.net\/tfb760\/article\/details\/127903499\" target=\"_blank\" rel=\"noopener\">\u956d\u795e\u6fc0\u5149\u96f7\u8fbe\u4e0ePC\u673a\u7684NTP\u540c\u6b65<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4e00\u3001\u6982\u8ff0 1. \u7b80\u4ecb C16\u7cfb\u5217\u6fc0\u5149\u96f7\u8fbe\u662f\u956d\u795e\u667a\u80fd\u63a8\u51fa\u7684\u4e00\u6b3e\u9ad8\u6027\u80fd\u3001\u5c0f\u578b\u5316\u768416\u7ebf\u6df7\u5408\u56fa\u6001\u6fc0\u5149\u96f7\u8fbe\u3002\u8fd9\u6b3e\u96f7\u8fbe\u4e3b [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[1346],"tags":[1455,1347,1456,1454],"_links":{"self":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/10552"}],"collection":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=10552"}],"version-history":[{"count":3,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/10552\/revisions"}],"predecessor-version":[{"id":10662,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/10552\/revisions\/10662"}],"wp:attachment":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=10552"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=10552"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=10552"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}