Velodyne-acoustics LIDAR HDL-32E Manual do Utilizador descarregar pdf (Página 27)

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DL-32E User’s Manual

        

  All times in microseconds. Combine the value shown from the packet timestamp (microseconds from the top of the hour), to arrive at actual laser firing time.

Rotary encoder value is read at the beginning of packet creatione at actual laser firing time.

Timestamp is recorded and written at end of packet creation.

Formula to determine timing is: -542.592 + (Packet Offset/100 * 46.08) + (Dsr # * 1.152).

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High Definition LiDAR 1
 !    3
DL-32E User’s Manual 10
GPS EQUIPMENT 11
Figure B1 20
  20
I 0 degrees 21
Figure B3 22
Ethernet Packet Example 24
Captured via Wireshark 24
* 46.08) + (Dsr # * 1.152) 27
Velodyne LiDAR, Inc 28

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