Data Sheet

Page 9
Photoreceptor
Cell 1 Data
Photoreceptor
Cell 1 Data
Photoreceptor
Cell 1 Data
Photoreceptor
Cell 1 Data
Photoreceptor
Cell 1 Data
Photoreceptor
Cell 2-18
Data
Photoreceptor
Cell 2-18
Data
Photoreceptor
Cell 2-18
Data
Photoreceptor
Cell 2-18
Data
Photoreceptor
Cell 2-18
Data
Photoreceptor
Cell 19 Data
Photoreceptor
Cell 19 Data
Photoreceptor
Cell 19 Data
Photoreceptor
Cell 19 Data
Photoreceptor
Cell 19 Data
Notes: each horizontal deflection angle corresponds to a column of photoreceptors. In the table, the photoreceptor cells N of different data
blocks are different photoreceptor cells.
Each data package contains:
 A 42 bytes data header
 12 data blocks, each is 64 bytes long
 A 4 bytes time stamp
 A 2 bytes factory information
Every data block contain photoreceptor array’s one column (from top to bottom) data. It consists of following data:
 A 2 bytes heading code, which’s value is 0xFFEE
 A 2 bytes horizontal deflection angle
 20 photoreceptor cells’ data
Every photoreceptor cell’s data consists of following data:
 A 2 bytes distance information
 A 1 byte intensity information
Thus, every data package’s size is 42+64*12+4+2=816 bytes.
5.2. Calculation of Deflection Angle
Every CE30 contains 320*20 photoreceptor cells. Every photoreceptor cell has a measurement direction, and this direction
describe the attitude angle based on CE30’s local coordinate system. For convenience, we define:
 Vertical deflection angle: the angle between the measurement direction and CE30’s horizontal reference surface
 Horizontal deflection angle: the angle between the measurement direction and CE30’s vertical reference surface
The photoreceptor cells that located in the same column have the same horizontal deflection angle. The vertical deflection
angle can be obtained through formula or table. Vertical deflection angle, horizontal deflection angle and the distance
measured by photoreceptor cell together describe a space point based on CE30’s local coordinate system.