Hesai XT32M2X User Manual

1.2. Lidar structure
The basic structure is shown in Figure 1. Partial cross-sectional diagram.
Multiple pairs of laser emitters and receivers are attached to a motor that rotates horizontally.
Figure 1. Partial cross-sectional diagram Figure 2. Coordinate system (isometric view) Figure 3. Lidar azimuthal position (top view)
•
The lidar's coordinate system is illustrated in Figure 2. Coordinate system (isometric view). Z-axis is the axis of rotation.
•
Lidar azimuthal position is defined in Figure 3. Lidar azimuthal position (top view). Y-axis corresponds to 0°.
•
Each laser channel has an intrinsic azimuth offset. All channels are selected to define the lidar's azimuthal position. For example, when all
channels pass the 90° position:
◦ the lidar is at the 90° position;
◦
the Azimuth field in the corresponding data block in the Point Cloud Data Packet will be 90°.
-11-

Hesai XT32M2X Specifications

General

Brand	Hesai
Model	XT32M2X
Category	Radar
Language	English