User's Manual

01)
02)
03)
End time of Block10: (t0-28.58) μs;
End time of BlockN: (t0-28.58-55.56*(10-N)) μs;
End time of Block3: (t0-28.58-55.56*7) μs;
04)
05)
End time of Block2: (t0-28.58-55.56*8) μs;
End time of Block1: (t0-28.58-55.56*9) μs.
There are 10 Blocks in every Point Cloud UDP Data Packet.
In the single return mode, each block consists of 40 laser channels ranging data. The end time of the Block means all the 40 channels laser
finished the firing.
The calculation of each Block's end time is as follows:
Single Return Mode
Ranging Data 1240 bytes (10 blocks)
Table II.1 Point Could Data UDP Data-Ranging Data
Block 1 Block 2 Block 3 Block 10
0xFFEE 0xFFEE 0xFFEE 0xFFEE
Azimuth Angle 1 Azimuth Angle 2 Azimuth Angle 3 Azimuth Angle 10
Channel 1 Unit 1 Channel 1 Unit 2 Channel 1 Unit 3 Channel 1 Unit 10
Channel 2 Unit 1 Channel 2 Unit 2 Channel 2 Unit 3 Channel 2 Unit 10
Channel 40 Unit 1 Channel 40 Unit 2 Channel 40 Unit 3 Channel 40 Unit 10
······ ······ ······ ······
······
······
······
······
······
······
······
The laser firing time of every laser channel can be calculated by using the absolute time in Point Cloud Data Packet.
Assuming the Point Cloud Data Packet's absolute time is t0.
2 Laser Firing Time Calculation
-29-