Velodyne HDL-64E S3 - Page 7

Velodyne HDL-64E S3

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HDL-64E S3

High Definition LiDAR Sensor

Page 7

Velodyne LiDAR, Inc.

©

2019

63-HDL64ES3 REV K

360°

Spinning

Lidar

Sensor

26.8°

Valid Data Range

0.9 m to 120 m

(3’ to 394

’

)

Uncalibrated Point

Cloud Data Packets

Calibrated Point

Cloud Data as 3D

image

Digital Sensor

Recorder and

Viewer Software

XML Laser

Calibration File

Figure 2: LiDAR System Overview

Table of Contents

Default Chapter2
- Table of Contents2
Safety Notices4
- In the Box5
- Caution4
Introduction5
Principles of Operation6
Installation8
- Mounting8
- Wiring8
View Image9
1 Use the Included Point-Cloud Viewer9
2 Develop Your Own Application-Specific Point-Cloud Viewer9
Change Run-Time Parameters12
- Sample Batch File (.Bat)12
- Sample Sercmd.txt File12
- Available Serial Commands HDL-64E S313
- Control the Spin Rate14
  - Change Spin Rate in Flash Memory14
  - Change Spin Rate in RAM Only14
- Limit Horizontal FOV Data Collected14
- Define Sensor Memory IP Source and Destination Addresses15
- Dual Returns15
- Laser Output Power Level Management and Reporting17
- Noise Level Adjustment17
- External GPS Time Synchronization18
  - Packet Format and Status Byte for GPS Time Stamping19
  - Timestamp Accuracy Rules and Accuracy19
- Upload Calibration Data18
- Laser Firing Sequence and Timing20
Firmware Updates21
Appendix A: Mechanical Drawings22
Appendix B: Connector Pin Outs25
- Ethernet Connector25
- Power, Serial & GPS Connector25
Appendix C: Digital Sensor Recorder (DSR)26
- Calibrate DSR26
- Install DSR26
- Live Playback26
- Playback Recorded Files27
- Record Data27
- DSR Key Controls28
Appendix D: MATLAB Sample Code29
- Calibration and Sensor Parameter Data30
Appendix E: Data Packet Format31
- Data Packet Overview31
- Status Type Rotation32
  - Status Value Example for Status Types of H, M, S, D, N, Y, G, T and V32
- GPS Status Values33
- GPS Timestamp Conversion Example33
- Status Type Calibration and Unit Parameters33
- Warning Status Bits38
- CRC Checksum Algorithm39
- Last Six Bytes Examples39
Appendix F: Dual Two Point Calibration Methodology & Code Samples43
- Coordinate Calculation Algorithm Sample Code43
- Calibration Window45
- Intensity Compensation Vs Distance45
- Intensity Value Corrected by Distance46
Appendix G: Ethernet Timing Tables47
- Sensor Ethernet Transmit Timing Tables47
  - How to Use the Timing Tables47
Laser and Detector Arrangement49
- Laser as Seen on the Wall49
- Lasers as Seen from the Back of the Unit49
Appendix I: Angular Resolution50
Appendix J: Troubleshoot51
Appendix K: Service and Maintenance52
Appendix L: Specifications53

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