Velodyne-acoustics LIDAR HDL-32E Uživatelský manuál stáhnout pdf (Strana 13)

Laser Firing Sequence

The laser firing order is the same as the order in the Ethernet packet. The most downward laser fires first, followed by the interleaved firings

from the lower and upper “banks” of 16 lasers, as follows:

The interleaving firing pattern is designed is to avoid and potential ghosting caused primarily by retro-reflectors.

  Laser #9 from the top of the stack, or DSR #15, is set at a 0 vertical angle. This laser can be used as a reference to calibrate pitch and

yaw of the sensor relative to the vehicle.

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DL-32E User’s Manual



iring order DSR # Vertical angle

0 -30.67

21-9.33

32-29.33

43-8.00

54-28.00

65-6.66

76-26.66

87-5.33

98-25.33

10 9 -4.00

11 10 -24.00

12 11 -2.67

13 12 -22.67

14 13 -1.33

15 14 -21.33

16 15 0.00

17 16 -20.00

18 17 1.33

19 18 -18.67

20 19 2.67

21 20 -17.33

22 21 4.00

23 22 -16.00

24 23 5.33

25 24 -14.67

26 25 6.67

27 26 -13.33

28 27 8.00

29 28 -12.00

30 29 9.33

31 30 -10.67

32 31 10.67

1 2 ... 8 9 10 11 12 13 14 15 16 17 18 ... 27 28

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Velodyne-acoustics LIDAR HDL-32E Uživatelský manuál Strana 13