LSLIDAR C32 - Horizontal Angle; Horizontal Angle Calculation of Single Echo Mode

36
2
0°
18
4°
3
8°
19
12°
4
-15°
20
-11°
5
-7°
21
-3°
6
1°
22
5°
7
9°
23
13°
8
-14°
24
-10°
9
-6°
25
-2°
10
2°
26
6°
11
10°
27
14°
12
-13°
28
-9°
13
-5°
29
-1°
14
3°
30
7°
15
11°
31
15°
By querying the above table, the vertical angle of the 32-channel data can be
obtained. Please note that the sequence of laser emitting is corresponding to
the channel number (from channel 0 to channel 31).
7.2 Horizontal Angle
The horizontal angle value of the data packet is a relative value. Because the
transmitter of the C32 lidar is composed of multiple columns, the calculation of
the absolute horizontal angle of each point requires interpolation.
7.2.1 Horizontal Angle Calculation of Single Echo Mode
In a single-echo data packet, each data block has only one horizontal angle value,
which represents the horizontal angle value corresponding to channel 0 of the
earliest transmission measurement of this data block. The angles corresponding
to the other 31 channels need to be interpolated. Because the lidar rotates at a
constant speed, the light-emitting time interval of each channel of the data block
is the same, so after interpolating the two adjacent angle values (Azimuth N and
Azimuth (N+1)), and with the light-emitting time of each channel, the horizontal
angle value corresponding to the remaining 31 laser shots of the block can be
calculated.
The data block structure of the C32 single echo packet is as follows: