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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 the first echo 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 the first 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.)
Byte 8, Byte 9 and Byte 10 represent the second echo 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. The
distance value analysis method is the same as the first echo.
Byte 11 represents the second 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.)
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