RS-LiDAR-32 User Manual
Table 4: LiDAR Model Flag.
5.1.2 Data Field
Data field comprises data blocks that contain valid measurement data. Each data filed contains 12
blocks. Each block is 100-byte long and is a complete measurement data set. Each data block begins
with a 2-byte start identifier “0xffee”, then a 2-byte azimuth value (rotational angle). Each azimuth value
records 32 sets of channel data reported by the 32 laser channels. (Please see chapter 9 for the
relationship between channel sequence and vertical angel.)
5.1.2.1 Azimuth Value
The reported azimuth is associated with the first laser firing in each sequence of 32 laser firings. The
Azimuth Value is recorded by the encoder. The zero position on the encoder indicates the zero degree
of azimuth value on RS-LiDAR-32. The resolution of Azimuth is 0.01°.
For example, in Figure 9, the azimuth value is calculated through the following steps:
Get azimuth values:
0x53, 0xdd
Combine to a 16 bit, unsigned integer: 0x53dd
Convert to decimal: 21469
Divided by 100
Result: 214.69°
Hence, the firing angle is 214.69°
Note: the position of 0° on sensor is the Y axis positive direction in Figure13.
5.1.2.2 Channel Data
Due to the different firmware versions of RS-LiDAR-32, the channel data part has a different definition
for Distance, which can be differentiated according to the firmware version information output in the
DIFOP package, and can also be initially defined according to the date of manufacture (December
2018).
(1) 1cm resolution version
Channel data contains 3 bytes, with the upper 2 bytes (16 bits in total) store distance information, and
the lower 1 byte contains reflectivity data. The 15 bits from the 0th bit to the 14th bit indicates the
distance, while the 16th bit indicates the group symbol. The structure of channel data is as shown in
Table 5.
To Next Page
Loading...
