RoboSense LIDAR RS-Helios-5515 - Page 31

RS-Helios-1615 User Manual
25
Table 13 MSOP Packet Time Offset of Exact Laser Point Timing in Single Return Mode
Table 14 MSOP Packet Time Offset of Exact Laser Point Timing in Dual Return Mode
1 2 3 4 5 6 7 8 9 10 11 12
18 15° 0 55.56 111.11 166.67 222.22 277.78 333.33 388.89 444.44 500 555.56 611.11
2 14° 1.57 57.13 112.69 168.24 223.8 279.35 334.91 390.46 446.02 501.57 557.13 612.69
17 13° 3.15 58.7 114.26 169.82 225.37 280.93 336.48 392.04 447.59 503.15 558.7 614.26
1 12° 4.72 60.28 115.84 171.39 226.95 282.5 338.06 393.61 449.17 504.72 560.28 615.84
20 11° 6.3 61.85 117.41 172.97 228.52 284.08 339.63 395.19 450.74 506.3 561.85 617.41
4 10° 7.87 63.43 118.98 174.54 230.1 285.65 341.21 396.76 452.32 507.87 563.43 618.98
19 9° 9.45 65 120.56 176.11 231.67 287.23 342.78 398.34 453.89 509.45 565 620.56
3 8° 11.36 66.91 122.47 178.02 233.58 289.13 344.69 400.24 455.8 511.36 566.91 622.47
22 7° 13.26 68.82 124.38 179.93 235.49 291.04 346.6 402.15 457.71 513.26 568.82 624.38
6 6° 15.17 70.73 126.28 181.84 237.39 292.95 348.51 404.06 459.62 515.17 570.73 626.28
21 5° 17.08 72.64 128.19 183.75 239.3 294.86 350.41 405.97 461.52 517.08 572.64 628.19
5 4° 18.99 74.54 130.1 185.65 241.21 296.77 352.32 407.88 463.43 518.99 574.54 630.1
24 3° 20.56 76.12 131.67 187.23 242.78 298.34 353.9 409.45 465.01 520.56 576.12 631.67
8 2° 22.14 77.69 133.25 188.8 244.36 299.92 355.47 411.03 466.58 522.14 577.69 633.25
23 1° 23.71 79.27 134.82 190.38 245.93 301.49 357.05 412.6 468.16 523.71 579.27 634.82
7 0° 25.29 80.84 136.4 191.95 247.51 303.06 358.62 414.18 469.73 525.29 580.84 636.4
26 -1° 26.53 82.08 137.64 193.19 248.75 304.31 359.86 415.42 470.97 526.53 582.08 637.64
10 -2° 29.01 84.57 140.12 195.68 251.23 306.79 362.34 417.9 473.46 529.01 584.57 640.12
25 -3° 27.77 83.32 138.88 194.44 249.99 305.55 361.1 416.66 472.21 527.77 583.32 638.88
9 -4° 30.25 85.81 141.36 196.92 252.47 308.03 363.59 419.14 474.7 530.25 585.81 641.36
28 -5° 31.49 87.05 142.6 198.16 253.72 309.27 364.83 420.38 475.94 531.49 587.05 642.6
12 -6° 33.98 89.53 145.09 200.64 256.2 311.75 367.31 422.86 478.42 533.98 589.53 645.09
27 -7° 32.73 88.29 143.85 199.4 254.96 310.51 366.07 421.62 477.18 532.73 588.29 643.85
11 -8° 35.22 90.77 146.33 201.88 257.44 313 368.55 424.11 479.66 535.22 590.77 646.33
30 -9° 36.46 92.01 147.57 203.13 258.68 314.24 369.79 425.35 480.9 536.46 592.01 647.57
14 -10° 37.7 93.26 148.81 204.37 259.92 315.48 371.03 426.59 482.14 537.7 593.26 648.81
29 -11° 38.94 94.5 150.05 205.61 261.16 316.72 372.27 427.83 483.39 538.94 594.5 650.05
13 -12° 40.18 95.74 151.29 206.85 262.4 317.96 373.52 429.07 484.63 540.18 595.74 651.29
32 -13° 41.42 96.98 152.54 208.09 263.65 319.2 374.76 430.31 485.87 541.42 596.98 652.54
16 -14° 42.67 98.22 153.78 209.33 264.89 320.44 376 431.55 487.11 542.67 598.22 653.78
31 -15° 43.91 99.46 155.02 210.57 266.13 321.68 377.24 432.8 488.35 543.91 599.46 655.02
15 -16° 45.15 100.7 156.26 211.81 267.37 322.93 378.48 434.04 489.59 545.15 600.7 656.26
Data Block
Channel
ID
Vertical
Angle
1 2 3 4 5 6 7 8 9 10 11 12
18 15°
0 0 55.56 55.56 111.11 111.11 166.67 166.67 222.22 222.22 277.78 277.78
2 14°
1.57 1.57 57.13 57.13 112.69 112.69 168.24 168.24 223.8 223.8 279.35 279.35
17 13°
3.15 3.15 58.7 58.7 114.26 114.26 169.82 169.82 225.37 225.37 280.93 280.93
1 12°
4.72 4.72 60.28 60.28 115.84 115.84 171.39 171.39 226.95 226.95 282.5 282.5
20 11°
6.3 6.3 61.85 61.85 117.41 117.41 172.97 172.97 228.52 228.52 284.08 284.08
4 10°
7.87 7.87 63.43 63.43 118.98 118.98 174.54 174.54 230.1 230.1 285.65 285.65
19 9°
9.45 9.45 65 65 120.56 120.56 176.11 176.11 231.67 231.67 287.23 287.23
3 8°
11.36 11.36 66.91 66.91 122.47 122.47 178.02 178.02 233.58 233.58 289.13 289.13
22 7°
13.26 13.26 68.82 68.82 124.38 124.38 179.93 179.93 235.49 235.49 291.04 291.04
6 6°
15.17 15.17 70.73 70.73 126.28 126.28 181.84 181.84 237.39 237.39 292.95 292.95
21 5°
17.08 17.08 72.64 72.64 128.19 128.19 183.75 183.75 239.3 239.3 294.86 294.86
5 4°
18.99 18.99 74.54 74.54 130.1 130.1 185.65 185.65 241.21 241.21 296.77 296.77
24 3°
20.56 20.56 76.12 76.12 131.67 131.67 187.23 187.23 242.78 242.78 298.34 298.34
8 2°
22.14 22.14 77.69 77.69 133.25 133.25 188.8 188.8 244.36 244.36 299.92 299.92
23 1°
23.71 23.71 79.27 79.27 134.82 134.82 190.38 190.38 245.93 245.93 301.49 301.49
7 0°
25.29 25.29 80.84 80.84 136.4 136.4 191.95 191.95 247.51 247.51 303.06 303.06
26 -1°
26.53 26.53 82.08 82.08 137.64 137.64 193.19 193.19 248.75 248.75 304.31 304.31
10 -2°
27.77 27.77 83.32 83.32 138.88 138.88 194.44 194.44 249.99 249.99 305.55 305.55
25 -3°
29.01 29.01 84.57 84.57 140.12 140.12 195.68 195.68 251.23 251.23 306.79 306.79
9 -4°
30.25 30.25 85.81 85.81 141.36 141.36 196.92 196.92 252.47 252.47 308.03 308.03
28 -5°
31.49 31.49 87.05 87.05 142.6 142.6 198.16 198.16 253.72 253.72 309.27 309.27
12 -6°
32.73 32.73 88.29 88.29 143.85 143.85 199.4 199.4 254.96 254.96 310.51 310.51
27 -7°
33.98 33.98 89.53 89.53 145.09 145.09 200.64 200.64 256.2 256.2 311.75 311.75
11 -8°
35.22 35.22 90.77 90.77 146.33 146.33 201.88 201.88 257.44 257.44 313 313
30 -9°
36.46 36.46 92.01 92.01 147.57 147.57 203.13 203.13 258.68 258.68 314.24 314.24
14 -10°
37.7 37.7 93.26 93.26 148.81 148.81 204.37 204.37 259.92 259.92 315.48 315.48
29 -11°
38.94 38.94 94.5 94.5 150.05 150.05 205.61 205.61 261.16 261.16 316.72 316.72
13 -12°
40.18 40.18 95.74 95.74 151.29 151.29 206.85 206.85 262.4 262.4 317.96 317.96
32 -13°
41.42 41.42 96.98 96.98 152.54 152.54 208.09 208.09 263.65 263.65 319.2 319.2
16 -14°
42.67 42.67 98.22 98.22 153.78 153.78 209.33 209.33 264.89 264.89 320.44 320.44
31 -15°
43.91 43.91 99.46 99.46 155.02 155.02 210.57 210.57 266.13 266.13 321.68 321.68
15 -16°
45.15 45.15 100.7 100.7 156.26 156.26 211.81 211.81 267.37 267.37 322.93 322.93
Data Block
Channel ID
Vertical
Angle