RS-LiDAR-16 User Manual
Appendix A ▪ Point Time Calculate
In a MSOP packet, there are 12 blocks, each block has two sequence for the whole 16 laser firings, so
in a MSOP packet, there are 24 groups for the whole 16 laser firings. All sixteen lasers are fired and
recharged every 55.5µs. The cycle time between firing is 2.8µs. There are 16 firings (16 x 2.8µs = 44.8
µs) followed by a short period of 10.7µs. Therefore, the timing cycle to fire and recharge all 16 lasers is
given by ((16 x 2.8µs) + (1 x 10.7µs)) = 55.5µs.
Set the channel number data_index is 1-16, firing sequences is 1-24. Because the time stamp is the
time of the first data point in the packet, you need to calculate a time offset for each data point and then
add this offset to the time stamp.
Time offset is:
Time_offset = 55.5 μs * (sequence_index -1) + 2.8 μs * (data_index-1)
To calculate the exact point time, add the TimeOffset to the timestamp:
Exact_point_time = Timestamp + Time_offset
Table A - 1: Time Offset for Each Channel in MSOP Packet.
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