Hesai XT32M2X User Manual

B.2. Absolute time of Point Cloud Data Packets
The Absolute time of Point Cloud Data Packets is t
0
= t
s
+ t
ms
, where:
•
t
s
is the whole second part (see the Date & Time field).
•
t
ms
is the microsecond part (see the Timestamp field).
The definition of the above fields is in Section 3.1.2.4 Tail.
B.3. Start time of each block
Given the Absolute time of Point Cloud Data Packets as t
0
, the start time of each block (i.e., the time when the first firing starts) can be calculated.
Single return mode
Block Start time (μs)
Block 6 t
0
+ 5.632
Block N t
0
+ 5.632 – 50 × (6 – N)
Block 1 t
0
+ 5.632 – 50 × 5
Dual return mode
Block Start time (μs)
Block 6 & 5 t
0
+ 5.632
Block 4 & 3 t
0
+ 5.632 – 50 × 1
Block 2 & 1 t
0
+ 5.632 – 50 × 2
-77-

Hesai XT32M2X Specifications

General

Brand	Hesai
Model	XT32M2X
Category	Radar
Language	English