User's Manual

Through the Block's end time, it is possible to calculate the laser firing time for every channel in the Block.
Take Block 6 for example, assuming Block 6's end time is t6, then:
01)
02)
03)
04)
05)
06)
07)
08)
09)
10)
Laser ID 4’s firing time: (t6-3.62) μs；
Laser ID 40’s firing time: (t6-3.62) μs；
Laser ID 36’s firing time: (t6-4.92) μs；
Laser ID 28’s firing time: (t6-6.23) μs；
Laser ID 12’s firing time: (t6-8.19) μs；
Laser ID 16’s firing time: (t6-8.19) μs；
Laser ID 32’s firing time: (t6-9.5) μs；
Laser ID 24’s firing time: (t6-11.47) μs；
Laser ID 29’s firing time: (t6-12.77) μs；
Laser ID 17’s firing time: (t6-14.74) μs；
11)
12)
13)
14)
15)
16)
17)
18)
19)
20)
Laser ID 3’s firing time: (t6-16.04) μs；
Laser ID 39’s firing time: (t6-16.04) μs；
Laser ID 35’s firing time: (t6-17.35) μs；
Laser ID 25’s firing time: (t6-18.65) μs；
Laser ID 9’s firing time: (t6-20.62) μs；
Laser ID 13’s firing time: (t6-20.62) μs；
Laser ID 31’s firing time: (t6-21.92) μs；
Laser ID 21’s firing time: (t6-23.89) μs；
Laser ID 26’s firing time: (t6-25.19) μs；
Laser ID 14’s firing time: (t6-27.16) μs；
End time of Block10: (t0-28.58) μs;
End time of Block9: (t0-28.58) μs;
End time of Block8: (t0-28.58-55.56*1) μs;
End time of Block7: (t0-28.58-55.56*1) μs;
End time of Block6: (t0-28.58-55.56*2) μs;
01)
02)
03)
04)
05)
End time of Block5: (t0-28.58-55.56*2) μs;
End time of Block4: (t0-28.58-55.56*3) μs;
End time of Block3: (t0-28.58-55.56*3) μs;
End time of Block2: (t0-28.58-55.56*4) μs;
End time of Block1: (t0-28.58-55.56*4) μs;
06)
07)
08)
09)
10)
There are 10 Blocks in every Point Cloud UDP Data Packet.
In the dual return mode, Block (1, 2) are corresponding to dual return ranging data for the same 40 channels laser firing, so they have
the same firing time for each laser and the same end time for the Block. Similarly, Block (3, 4) and so on have same firing and end time.
The calculation of each Block's end time is as follows:
Dual Return Mode
-30-