Hesai PandarXT-16 - B.4. Laser firing time of each channel

Dual return mode
Block Start time (μs)
Blocks 8 & 7 t
0
+ 5.632
Blocks 6 & 5 t
0
+ 5.632 – 50 × 1
Blocks 4 & 3 t
0
+ 5.632 – 50 × 2
Blocks 2 & 1 t
0
+ 5.632 – 50 × 3
B.4. Laser firing time of each channel
Given the start time (see Section B.3 Start time of each block) of Block m is T(m), m ∈ {1, 2, …, 8}, the laser firing time of Channel n: Block m is
t(m, n) = T(m) + Δt(n), n ∈ {1, 2, …, 16}
In each round of firing, the firing time offsets Δt(n) = 3.024 × (n – 1) + 0.368
Unit: μs
-86-