Hesai Pandar128 User Manual

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Appendix I Channel Distribution
◼ Horizontal Angle
Each channel’s horizontal angle = current reference angle of the rotor + horizontal angle offset
▪ The current reference angle of the rotor is the Azimuth field in the Body of Point Cloud UDP Data
▪ Horizontal angle offset: listed in TableI.1
▪ Define clockwise in the top view as positive
◼ Vertical Angle
Each channel’s vertical angle is a constant, listed in Table I.1
▪
0° represents the horizontal direction
▪ Define upward as positive
▪ The Channel # from the uppermost counts from 1
◼ Near/Far Field Measurement
▪
All the 128 channels fire laser pulses that measure the far field (>2.85 m in range)
▪ Additionally, 32 of the 128 channels (marked in bold in Table I.1) also fire laser pulses that measure only the near field (0.3~2.85 m), at a time other than
the channel’s far field firings

Hesai Pandar128 Specifications

General

Brand	Hesai
Model	Pandar128
Category	Measuring Instruments
Language	English