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 (as viewed from above) is defined as positive.
Horizontal angle = ① + ②
① Angular position at the start time (see Section B.3 Start time of each block) of the current 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 2.
④ Horizontal angle offset of the current firing channel
The offset of Channel 5 is 0°, 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
See Section B.4 Laser firing time of each channel.
⑥ Spin rate of the motor
See the Motor Speed field in Section 3.1.2.4 Tail. The unit should be converted to °/s.
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