User's Manual

1.1.2 Structure Description
40 pairs of laser emitters and receivers are attached to a rotating motor inside the LiDAR housing that perform horizontal scans in 360
degrees.
Laser Receiver
Laser Emitter
Shell
Figure 1.2 Partial Cross-Sectional Diagram
Z
X Y
Reference Center
Clockwise Rotation Direction
Cable
270°
90°
180°
0°
Figure 1.3 LiDAR Coordinate System and Rotation Direction
2) Because of the intrinsic angle offset of each laser channel, the zero degree is defined as the azimuth angle in the corresponding block in
UDP packet when channel 12 passes y axis defined in Figure 1.3.
NOTE
1) Figure 1.3 shows the coordinate system and the z axis is along the rotation center of the LiDAR. The origin of the coordinate system is
shown as a red dot in Figure 1.5 (side view of the LiDAR). All the LiDAR measurement data are relative to the origin after geometry
transformation according to LiDAR’s optical and mechanical design.
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