Hesai PandarQT - 1.2.2 Laser Firing Time of Each Channel

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I.2.2 Laser Firing Time of Each Channel
Assuming that the start time of Block n is tn, the laser firing time can be calculated as follows, with the timing uncertainty Δt ≤ 10 μs.
Table II.1 Laser Firing Time of Each Channel (To Be Continued)
Firing Sequence
Laser ID
Firing Time (μs)
Firing Sequence
Laser ID
Firing Time (μs)
1
1
tn + 25.71 + Δt + 2.31
17
17
tn + 25.71 + Δt + 36.61
2
2
tn + 25.71 + Δt + 4.37
18
18
tn + 25.71 + Δt + 38.67
3
3
tn + 25.71 + Δt + 6.43
19
19
tn + 25.71 + Δt + 40.73
4
4
tn + 25.71 + Δt + 8.49
20
20
tn + 25.71 + Δt + 42.78
5
5
tn + 25.71 + Δt + 10.54
21
21
tn + 25.71 + Δt + 44.84
6
6
tn + 25.71 + Δt + 12.60
22
22
tn + 25.71 + Δt + 46.90
7
7
tn + 25.71 + Δt + 14.66
23
23
tn + 25.71 + Δt + 48.95
8
8
tn + 25.71 + Δt + 16.71
24
24
tn + 25.71 + Δt + 51.01
9
9
tn + 25.71 + Δt + 19.16
25
25
tn + 25.71 + Δt + 53.45
10
10
tn + 25.71 + Δt + 21.22
26
26
tn + 25.71 + Δt + 55.52
11
11
tn + 25.71 + Δt + 23.28
27
27
tn + 25.71 + Δt + 57.58
12
12
tn + 25.71 + Δt + 25.34
28
28
tn + 25.71 + Δt + 59.63
13
13
tn + 25.71 + Δt + 27.39
29
29
tn + 25.71 + Δt + 61.69
14
14
tn + 25.71 + Δt + 29.45
30
30
tn + 25.71 + Δt + 63.74
15
15
tn + 25.71 + Δt + 31.50
31
31
tn + 25.71 + Δt + 65.80
16
16
tn + 25.71 + Δt + 33.56
32
32
tn + 25.71 + Δt + 67.86