Velodyne VLS-128 User Manual

7.4.6 Accepting NMEA Messages Via Ethernet 48
Chapter 8 • Sensor Operation
8.1 Firing Sequence 49
8.2 Throughput Calculations 49
8.2.1 Data Packet Rate 49
8.2.2 Position Packet Rate 49
8.2.3 Total Packet Rate 49
8.2.4 Laser Measurements Per Second 50
8.2.4.1 Single Return Mode (Strongest, Last) 50
8.2.4.2 Dual Return Mode 50
8.3 Rotation Speed (RPM) 50
8.3.1 Horizontal Angular (Azimuth) Resolution 50
8.3.2 Rotation Speed Fluctuation and Point Density 51
Chapter 9 • Sensor Data
9.1 Sensor Origin and Frame of Reference 52
9.2 Calculating X,Y,Z Coordinates from Collected Spherical Data 52
9.3 Packet Types and Definitions 53
9.3.1 Definitions 53
9.3.1.1 Firing Sequence 54
9.3.1.2 Laser Channel 54
9.3.1.3 Data Point 54
9.3.1.4 Azimuth 54
9.3.1.5 Data Block 54
9.3.1.6 Time Stamp 54
9.3.1.7 Factory Bytes 55
9.3.2 Data Packet Structure 56
9.3.3 Position Packet Structure 57
9.4 Discreet Point Timing Calculation 60
9.5 Precision Azimuth Calculation 62
9.6 Converting PCAP Files to Point Cloud Formats 65
6 VLS-128 User Manual
DRAFT

Velodyne VLS-128 Specifications

General

Brand	Velodyne
Model	VLS-128
Category	Accessories
Language	English