Velodyne DIGITAL DRIVE - REV G Especificações descarregar pdf (Página 3)

HDL‐64ES3

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High DefinitionLiDARSensor Page3

Velodyne,Inc.

2013

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63‐HDL64ES3REV G

AppendixD:MATLABSampleCode.......................................... ...........................................29

Calibration and Sensor Parameter Data....................................................................................30

AppendixE: DataPacketFormat.........................................................................................31

Data Packet Overview...............................................................................................................31

Status Type Rotation.................................................................................................................32

Status Value Example for Status Types of H, M, S, D, N, Y, G, T and V: ...............................32

GPS Status Values ...................................................................................................................33

GPS Timestamp Conversion Example ......................................................................................33

Status Type Calibration and Unit Parameters ...........................................................................33

Warning Status Bits ..................................................................................................................38

CRC Checksum Algorithm ........................................................................................................39

Last Six Bytes Examples...........................................................................................................39

AppendixF: DualTwoPointCalibrationMethodology&CodeSamples...............................43

Coordinate Calculation Algorithm Sample Code........................................................................43

Intensity Compensation vs Distance .........................................................................................45

Calibration Window ...................................................................................................................45

Intensity Value Corrected by Distance ......................................................................................46

AppendixG:EthernetTimingTables...................................................................................47

Sensor Ethernet Transmit Timing Tables ..................................................................................47

How to Use the Timing Tables ...............................................................................................47

LaserandDetectorArrangement............................ .............................................................49

Lasers as Seen from the Back of the Unit .................................................................................49

Laser as Seen on the Wall ........................................................................................................49

AppendixI:AngularResolution...........................................................................................50

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Appendix

J:

Troubleshoot...................................................................................................51

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AppendixK:ServiceandMaintenance................................................................................52

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AppendixL:Specifications..................................................................................................53

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Velodyne DIGITAL DRIVE - REV G Especificações Página 3