diff --git a/src/rs_driver/driver/decoder/basic_attr.hpp b/src/rs_driver/driver/decoder/basic_attr.hpp
index 5bc1118..a6d824b 100644
--- a/src/rs_driver/driver/decoder/basic_attr.hpp
+++ b/src/rs_driver/driver/decoder/basic_attr.hpp
@@ -142,6 +142,31 @@ inline void createTimeUTCWithUs(uint64_t us, RSTimestampUTC* tsUtc)
   }
 }
 
+inline std::pair<uint64_t, uint32_t> parseTimeUTCWithNs(const RSTimestampUTC* tsUtc)
+{
+  // sec
+  uint64_t sec = 0;
+  for (int i = 0; i < 6; i++)
+  {
+    sec <<= 8;
+    sec += tsUtc->sec[i];
+  }
+
+  // ns
+  uint32_t ns = 0;
+  for (int i = 0; i < 4; i++)
+  {
+    ns <<= 8;
+    ns += tsUtc->ss[i];
+  }
+
+#ifdef ENABLE_STAMP_WITH_LOCAL
+  sec -= getTimezone();
+#endif
+
+  return std::make_pair(sec, ns);
+}
+
 inline uint64_t parseTimeYMD(const RSTimestampYMD* tsYmd)
 {
   std::tm stm;
diff --git a/src/rs_driver/driver/decoder/decoder_RS128.hpp b/src/rs_driver/driver/decoder/decoder_RS128.hpp
index 32569ef..90fa891 100644
--- a/src/rs_driver/driver/decoder/decoder_RS128.hpp
+++ b/src/rs_driver/driver/decoder/decoder_RS128.hpp
@@ -216,7 +216,8 @@ inline bool DecoderRS128<T_PointCloud>::internDecodeMsopPkt(const uint8_t* packe
   double pkt_ts = 0;
   if (this->param_.use_lidar_clock)
   {
-    pkt_ts = parseTimeUTCWithUs(&pkt.header.timestamp) * 1e-6;
+    std::pair<uint64_t, uint32_t> secAndNs = parseTimeUTCWithNs(&pkt.header.timestamp);
+    pkt_ts = secAndNs.first + secAndNs.second * 1e-9;
   }
   else
   {