3.1.4.2. Analyze the horizontal angle of a data point
The Y-axis of the lidar coordinate system is 0°. The clockwise direction (in the top view) is defined as positive (see Figure 3. Rotation direction
(top view)).
Horizontal angle = ① + ②
① Angular position of the current block (see Section B.3 End time of each block)
② Firing time angular offset of the current firing channel
① = ③ + ④
③ Current reference azimuth of this block
Can be read from the Azimuth field of Block 3. See Section 3.1.2.2 Body.
④ Horizontal angle offset of the current firing channel
The offset of Channel 5 is –1.042°, according to Appendix A Channel distribution data.
The accurate horizontal angle offsets are recorded in the angle correction file of this lidar (see Section 1.3 Channel distribution).
② = ⑤ × ⑥
⑤ Firing time offset of the current firing channel
The offset of Channel 5 is –17.964 μs, according to Section B.4 Laser firing time of each channel.
⑥ Spin rate of the motor
See the Motor Speed field in Section 3.1.2.3 Tail. The unit should be converted to °/s.
3.1.4.3. Analyze the distance of a data point
See the Distance field of Block 3: Channel 5 in Each block in the body.
Pandar64
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