RoboSense LiDAR Helios-16P User Manual

RS-Helios-16P User Manual
21
Distance information contains 2 bytes, the unit is cm, the resolution is 0.25cm.
Figure 14 MSOP Packet
Note:
Red Box: Header ID;
Orange Box: Data Block flag;
Blue Box: Azimuth value of Channel data 1;
Green Box: Distance value of Channel data 1.
1. Calculate distance based on distance data in
the data packet:
1) Find the distance value in the data packet and
convert to a hexadecimal number: 0x01 ,0x40
2) Convert to a 16bit unsigned integer: 0x0140
3) Convert to a decimal number: 320
4) Calculate according to the distances resolution
5) Result: 320*0.25 = 8m
2. Calculate azimuth based on azimuth data in
the data packet:
1) Find the azimuth value in the data packet and
convert to a hexadecimal number: 0x88，0xdb
2) Convert to a 16bit unsigned integer: 0x88db
3) Convert to a decimal number: 35035
Divided by 100
4) Result: 350.35 degrees
6.2.2.2 Azimuth Value
The azimuth value of each data block is the azimuth value reported by the first laser of the firing
sequence of this data block. Azimuth value is recorded by angle encoder with the zero position of
the angle encoder corresponding the zero degree of the azimuth value. The azimuth resolution is
0.01 degrees. In fact, each data block contains 32 channel data, corresponding to the data of the
16 lasers in two firing sequences, each data block reports only one azimuth value, therefore, in
the single return mode, the azimuth value of each data block is the azimuth value recorded in the
first channel data of the first 16-laser firing sequence in this data block, and the azimuth of the
first laser firing in the second 16-laser firing sequence needs to be processed and obtained by

RoboSense LiDAR Helios-16P Specifications

General

Brand	RoboSense
Model	LiDAR Helios-16P
Category	Robotics
Language	English