Subframe (Single Echo Mode)
The subframe is the effective data area of the data packet, which contains a total
of 1197 bytes, including 171 points, that is, 171*7=1197 bytes. Take the first
measure point as an example:
Byte 1 represents the line number, whose value range from 0 to 127, a total of
128 lines. The 128 lines respectively corresponds to the lowermost ray to the
uppermost ray in the entire vertical field of view. For example, line No. 0
represents a vertical angle of -18°, line No. 1 represents a vertical angle of -
17.75°, and the angle difference between adjacent lines is 0.25° or 0.125°.
Byte 2 and Byte 3 represent the horizontal angle, whose data are stored in Big-
Endian mode. The unit is 0.01 degrees. For example, 0x11AD=4525, that is
45.25°.
Byte 4, Byte 5, and Byte 6 represent the distance value. Their data are stored in
Big-Endian mode. The two high bytes are the integer part, whose unit is “cm”;
and the last byte is the decimal part, whose unit is 1/256 cm. To analyze the
distance value, for example: the distance value in the obtained data packet is
represented by the hexadecimal number 0x02, 0x18, 0x32, and the first two
bytes are composed of 16-bit unsigned data, that is: 0x0218, which is converted
to decimal distance value: 536 cm. The last byte is the decimal part, 0x32 equals
50 in decimal, that is, 50*1/256cm=0.1953125cm. Then the two parts add up
to 536. 1953125cm.
Byte 7 represents echo strength, and the value range is 0-255. (Echo strength
can reflect the energy reflection characteristics of the measured object in the
actual measurement environment. Therefore, the echo strength can be used to
distinguish objects with different reflection characteristics.)
Subframe (Dual Echo Mode)
The subframe is the effective data area of the data packet, which contains a total
of 1199 bytes, including 109 points, that is, 109*11=1199 bytes. Take the first
measure point as an example:
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