SICK LMS4000

The measured value in the middle of this sequence is output as the distance value,
along with its remission value and the original angle correction value.
The median values are determined and output as moving values (median angular incre‐
ment 2 from the unfiltered distances values 1, 2, and 3; median angular increment 3
from the unfiltered distances values 2, 3, and 4, etc.).
A median cannot be determined as the measured value for the first and last angular
increments in a scan. The distance value 0 (= invalid) is always output.
Table 5: Example: Median in angular position 2, 3, and 4
Angle (distance values in mm)
Scan 1 2 3 4 5 …
Unfiltered measured values
1 850 852 851 849 850 …
2 849 851 850 853 852 …
3 850 849 853 851 850 …
… … … … … … …
Filtered measured values
1 0 851 851 850 … …
2 0 850 851 852 … …
3 0 850 851 851 … …
… … … … … … …
When using the median filter, the measured values are output with a time delay of one
scan.
3.5.8.4 Mean filter
The mean filter smooths the distance values. It does this by calculating the arithmetic
mean from several scans at the same angular position. The number of scans can be
configured.
Table 6: Example: Mean filter over 5 scans
Angle position (distance values in mm)
Scan 1 2 3 4 5 6 7 8 9 …
1 0 0 1100 1100 1150 1150 1380 1380 0 …
2 0 0 1200 1200 1190 950 1500 1500 0 …
3 0 0 1150 1450 1200 1200 1450 1450 0 …
4 0 0 1280 1280 1180 1180 1430 1430 0 …
5 0 0 1170 1170 1220 1220 1470 1150 0 …
1st output value 0 0 1180 1240 1188 1140 1446 1382 0 …
6 0 0 0 1100 1150 1150 1380 1380 0 …
7 0 0 1200 1200 1190 0 1500 1500 0 …
8 0 730 1150 0 1200 1200 1450 1450 0 …
9 0 0 0 1280 1180 1180 1430 1430 0 …
10 0 0 1170 1170 1220 1220 1470 0 0 …
2nd output value 0 730 1173 1187 1188 1187 1446 1440 0 …
… … … … … … … … … … …
Individual outliers (shown in bold in the table) influence the mean value.
PRODUCT DESCRIPTION
3
8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000
23
Subject to change without notice