Velodyne LIDAR HDL-32E Manual do Utilizador descarregar pdf (Página 19)

Zero Angle Calibration (Version 2.0)

•  Zero Horizontal Angle Calibration

–  The HDL32E provides two holes on the bottom side for precision mounting

using dowel pins. In order to reproduce unit to unit reproducibility the zero

angle (for the rotational axis) is calibrated with respect to the dowel pins.

–  Previously the the zero angle accuracy was limited by manufacturing and

assembly tolerances of several rotational assemblies, while with Version

2.0 the zero angle is calibrated to the dowel pin holes after the assembly

providing much better unit to unit repeatability.

–  The target is centered to the mounting holes for dowel pins which are

permanently fixed to the floor

–  Several scans of laser 15 (horizontal) across the target are used to

determine the center position from the edge locations

–  The accuracy of the calibrated zero angle is about 0.05 degrees

–  The unit to unit repeatability has additionally been increased with Version

2.0 by not coating the bottom side of the HDL32E sensor, thereby

avoiding inaccuracies for mounting introduced by non-uniform coatings.

Dowel Pin hole Dowel Pin slot

Silver coating has been

removed from bottom side

with version 2.0

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Velodyne LIDAR HDL-32E Manual do Utilizador Página 19