User's Manual

The communication protocol for data output of Pandar40 is Fast Ethernet UDP/IP. The output data includes point cloud data packet and
GPS data packet. Each data packet consists of an ethernet header and a UDP data.
Figure 3.1 LiDAR Data Structure Illustration
LiDAR Data Structure3
LiDAR Data
Point Cloud Data Packet
Ethernet Header: 42 bytes
UDP Data: 1256 bytes
Ranging Data: 1240 bytes
Additional Information: 16 bytes
GPS Data Packet
Ethernet Header: 42 bytes
UDP Data: 512 bytes
3.1 Point Cloud Data Packet Ethernet Header/ UDP Data
Each Pandar40 point cloud data packet has a 42 bytes ethernet header and 1256 bytes UDP data.
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