Velodyne VLS-128 User Manual

List of Figures
Figure 2-1 Example 3D Sensing System 18
Figure 3-1 Class 1 Laser 21
Figure 4-1 Sensor Network Settings 24
Figure 4-2 Interface Box (power and data connections) 25
Figure 4-3 Sample Web Interface Main Configuration Screen 25
Figure 4-4 VeloView Open Sensor Stream 27
Figure 6-1 A Single Return 32
Figure 6-2 Dual Return with Last and Strongest Returns 33
Figure 6-3 Dual Return with Second Strongest Return 34
Figure 6-4 Dual Return with Far Retro-Reflector 35
Figure 6-5 Forestry Application Multiple Returns 36
Figure 6-6 Phase Locking Example 37
Figure 7-1 Interface Box (sensor power and data connections) 39
Figure 7-2 Synchronizing PPS with NMEA GPRMC Message 40
Figure 7-3 PPS Signal Closely Followed by NMEA GPRMC Message 41
Figure 7-4 PPS Signal Followed 600 ms later by NMEA GPRMC Message 41
Figure 7-5 RS-232 Example Transmission 42
Figure 7-6 Garmin 18x LVC Configuration 43
Figure 7-7 Garmin GPRMC Message 44
Figure 7-8 DB9 Pin-outs (DTE) and USB-to-Serial Adapter 45
Figure 7-9 Signal Directly from UART (incorrect polarity) 45
Figure 7-10 Inverted Signal from UART (correct polarity) 46
Figure 8-1 Point Density Example 51
Figure 9-1 VLS-128 Sensor Coordinate System 53
Figure 9-2 VLS-128 Single Return Mode Data Structure 56
Figure 9-3 VLS-128 Dual Return Mode Data Structure 57
Figure 9-4 Wireshark Position Packet Trace 60
Figure 9-5 Firing Sequence Timing 61
Figure 9-6 Single Return Mode Timing Offsets (in µs) 62
Figure 9-7 Dual Return Mode Timing Offsets (in µs) 62
Figure 9-8 VLS-128 Azimuth Offsets by Elevation 63
Figure 9-9 VLS-128 Laser Pattern 64
Figure 10-1 VLS-128 Configuration Screen 68
Figure 10-2 VLS-128 System Screen 71
12 VLS-128 User Manual
DRAFT

Velodyne VLS-128 Specifications

General

Brand	Velodyne
Model	VLS-128
Category	Accessories
Language	English