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HDL-64E S3
Velodyne HDL-64E S3 User Manual
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HD
L-64E
S3
High De
fi
niti
on
LiDA
R S
ensor
P
ag
e
7
Velodyne
LiD
AR
, In
c.
©
201
9
63
-
HD
L64
ES3
R
EV
K
360
°
Spinning
Lidar
Sensor
26.8
°
Valid Data Range
0.9 m to 120 m
(3’
to
394
’
)
Uncalibrated Point
Cloud Dat
a Packets
Calibrated Point
Cloud Data as 3D
image
Digital S
ensor
Recorder and
Viewer Softw
are
XML Las
er
Calibra
tion File
Figure
2: L
iD
A
R
Sy
st
e
m
Ov
er
v
iew
6
8
Table of Contents
Default Chapter
2
Table of Contents
2
Safety Notices
4
In the Box
5
Caution
4
Introduction
5
Principles of Operation
6
Installation
8
Mounting
8
Wiring
8
Power
8
Lockout Circuit
8
Ethernet
8
Serial Interface RS-232
8
View Image
9
1 Use the Included Point-Cloud Viewer
9
2 Develop Your Own Application-Specific Point-Cloud Viewer
9
Change Run-Time Parameters
12
Sample Batch File (.Bat)
12
Sample Sercmd.txt File
12
Available Serial Commands HDL-64E S3
13
Control the Spin Rate
14
Change Spin Rate in Flash Memory
14
Change Spin Rate in RAM Only
14
Limit Horizontal FOV Data Collected
14
Define Sensor Memory IP Source and Destination Addresses
15
Dual Returns
15
Laser Output Power Level Management and Reporting
17
Noise Level Adjustment
17
External GPS Time Synchronization
18
Packet Format and Status Byte for GPS Time Stamping
19
Timestamp Accuracy Rules and Accuracy
19
Upload Calibration Data
18
Laser Firing Sequence and Timing
20
Firmware Updates
21
Appendix A: Mechanical Drawings
22
Appendix B: Connector Pin Outs
25
Ethernet Connector
25
Power, Serial & GPS Connector
25
Appendix C: Digital Sensor Recorder (DSR)
26
Calibrate DSR
26
Install DSR
26
Live Playback
26
Playback Recorded Files
27
Record Data
27
DSR Key Controls
28
Appendix D: MATLAB Sample Code
29
Calibration and Sensor Parameter Data
30
Appendix E: Data Packet Format
31
Data Packet Overview
31
Status Type Rotation
32
Status Value Example for Status Types of H, M, S, D, N, Y, G, T and V
32
GPS Status Values
33
GPS Timestamp Conversion Example
33
Status Type Calibration and Unit Parameters
33
Warning Status Bits
38
CRC Checksum Algorithm
39
Last Six Bytes Examples
39
Appendix F: Dual Two Point Calibration Methodology & Code Samples
43
Coordinate Calculation Algorithm Sample Code
43
Calibration Window
45
Intensity Compensation Vs Distance
45
Intensity Value Corrected by Distance
46
Appendix G: Ethernet Timing Tables
47
Sensor Ethernet Transmit Timing Tables
47
How to Use the Timing Tables
47
Laser and Detector Arrangement
49
Laser as Seen on the Wall
49
Lasers as Seen from the Back of the Unit
49
Appendix I: Angular Resolution
50
Appendix J: Troubleshoot
51
Appendix K: Service and Maintenance
52
Appendix L: Specifications
53
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Velodyne HDL-64E S3 Specifications
General
Brand
Velodyne
Model
HDL-64E S3
Category
Accessories
Language
English
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