7 Vertical Angles and Exact Point Time Calculation
7.1 Channel Number and Vertical Angle
RS-Helios-16P has a vertical field of view from -15°to +15° with uniform vertical resolution of 2°.
The 16 laser heads are also called 16 channels. The laser channels and their designated vertical
angles are as shown below.
Figure 15 RS-Helios-16P Vertical Angles
7.2 Exact Point Time Calculation
In each MSOP Packet, there are 12 data blocks, and each data block stores measurements of 2
firing sequences of 16 lasers, therefore, each MSOP Packet records 24 firing sequences of 16 lasers.
It takes 55.56us to complete one round of firing and recharging of the 16 lasers. The exact point
timing of different lasers in single return mode and dual return mode can be calculated according
to the time offsets listed in the tables below:
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