Hesai Pandar128 - II.3 Laser Firing Time of each Channel

70
II.3 Laser Firing Time of Each Channel
Assume that the start time of Block i is T(i), i ∈ {1, 2}.
The laser firing time of Channel j in Block i is
t(i, j) = Ti + Δt(j)
, j ∈ {1, 2, …, 128}.
◼ Analysis
The time difference Δt(j) depends on three factors.
1) horizontal resolution
Whether the LiDAR is operating in High Resolution mode or Standard mode (defined in Section 4.4 High Resolution)
2) azimuth angle of theblock
Obtained from the Azimuth field of Block i
3) distance of the datapoint
Obtained from the Distance field of Channel j in Block i
◼ Calculation
To determine the Δt(j) of Channel j
1) Check whether the LiDAR is operating in High Resolution mode or Standard mode
2) Analyze the k value of the azimuth angle
Under High Resolution mode, represent the azimuth angle of Block i as
α(i) = 0.4° * N + 0.1° * k
▪
N is a positive integer, and k ∈ {0, 1, 2, 3}
▪ For example, 46.2° = 0.4 * 115 + 0.1 * 2. Therefore N = 115, k = 2