38
corresponding to Channel 0 measured by the last laser emission, and the angle
values corresponding to the other 31 channels need to be calculated by
interpolation.
The data block structure of the C32 lidar’s dual-echo packet is as follows:
Figure 7.2 Dual Echo Data Block Structure
Take the Channel 31 data of Block 3 as an example:
1) From the picture above, it is clear that Channel 31 is at the end of each data
block and is the last channel to emit light.
2) The horizontal angle of the starting channel of Block 3 is N2 degrees, which
is the horizontal angle of Channel 0.
3) The horizontal angle of rotation between each channel of Block 3 is equally
spaced (N3-N2)/32 degrees;
4) According to Table 8.1, the lighting time of Channel 31 (T
0
+(T*31)) is the 31st
time of Block 3, and its angular deflection relative to the lighting time of Channel
0 (T
0
) is (N3-N2) /32*31 degrees. Therefore, the horizontal angle of Channel 31
= (N2+(N3-N2)/32*31) degrees;
5) Horizontal angle (absolute) = horizontal angle (relative) + angular deflection =
(Azimuth N + (Azimuth(N+1)-Azimuth N) / 32 * n) degrees. (“n” is the channel
number: 0, 1, 2, … 31).
6) Similarly, the calculation of the horizontal angle of each point of the dual echo
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