8.2.4 Laser Measurements Per Second
A laser firing results in a single data point, which is a measurement of distance to target and its reflectivity.
128 laser firings/firing group * 3 firing groups/packet = 384 laser firings/packet
8.2.4.1 Single Return Mode (Strongest, Last)
384 laser firings/packet * 6253.9 packets/second = 2401497.6 laser measurements per second
8.2.4.2 Dual Return Mode
[NOT YET KNOWN] laser measurements per second
8.3 Rotation Speed (RPM)
The sensor’s motor can be set to rotate between 300 RPM and 1200 RPM, inclusive, in increments of 60 RPM (e.g. 300,
360, 420, 480, … 1140, 1200).
Note: If the RPM setting is not evenly divisible by 60, neither motor speed control nor phase lock functions will
function properly.
The user can set this parameter using the sensor’s Web Interface or curl commands. See
Configuration Screen on
page 68
or
Sensor Control with curl on page 75
for more on setting rotation speed.
Note: In VeloView, one rotation can be referred to as a single “frame” of data, beginning and ending at approximately 0°
azimuth. The number of frames per second of data generated depends entirely on the RPM setting, e.g. 600 RPM / 60
s/min = 10 frames per second.
Choice of RPM is up to the user and depends on the application. For example, an autonomous vehicle may wish to
increase rotation speed so it could more quickly identify frame-to-frame variations in the environment, such as a child run-
ning across a street. Conversely, a cart-based mapping solution might use a lower RPM to increase the detail in each
frame.
8.3.1 Horizontal Angular (Azimuth) Resolution
Because the firing timing of the sensor is fixed at 53.3 μs per firing sequence, the speed of rotation changes the angular res-
olution of the sensor.
An example calculation for 600 RPM is given in
Equation 8-1 below
.
Equation 8-1 Azimuth Resolution at 600 RPM
By changing the RPM in the equation above you can calculate the azimuthal resolution for any rotation speed.
50 VLS-128 User Manual
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