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 51’s firing time: (t6-(1.304*00 + 1.968*00 + 3.62)) μs;
Laser ID 61’s firing time: (t6-(1.304*00 + 1.968*00 + 3.62)) μs;
Laser ID 45’s firing time: (t6-(1.304*01 + 1.968*00 + 3.62)) μs;
Laser ID 60’s firing time: (t6-(1.304*01 + 1.968*00 + 3.62)) μs;
Laser ID 39’s firing time: (t6-(1.304*02 + 1.968*00 + 3.62)) μs;
Laser ID 57’s firing time: (t6-(1.304*02 + 1.968*00 + 3.62)) μs;
Laser ID 09’s firing time: (t6-(1.304*03 + 1.968*00 + 3.62)) μs;
Laser ID 55’s firing time: (t6-(1.304*03 + 1.968*00 + 3.62)) μs;
Laser ID 49’s firing time: (t6-(1.304*04 + 1.968*00 + 3.62)) μs;
Laser ID 63’s firing time: (t6-(1.304*04 + 1.968*00 + 3.62)) μs;
11)
12)
13)
14)
15)
16)
17)
18)
19)
20)
Laser ID 43’s firing time: (t6-(1.304*05 + 1.968*00 + 3.62)) μs;
Laser ID 59’s firing time: (t6-(1.304*05 + 1.968*00 + 3.62)) μs;
Laser ID 07’s firing time: (t6-(1.304*06 + 1.968*00 + 3.62)) μs;
Laser ID 56’s firing time: (t6-(1.304*06 + 1.968*00 + 3.62)) μs;
Laser ID 53’s firing time: (t6-(1.304*07 + 1.968*00 + 3.62)) μs;
Laser ID 64’s firing time: (t6-(1.304*07 + 1.968*00 + 3.62)) μs;
Laser ID 47’s firing time: (t6-(1.304*08 + 1.968*00 + 3.62)) μs;
Laser ID 62’s firing time: (t6-(1.304*08 + 1.968*00 + 3.62)) μs;
Laser ID 41’s firing time: (t6-(1.304*09 + 1.968*00 + 3.62)) μs;
Laser ID 58’s firing time: (t6-(1.304*09 + 1.968*00 + 3.62)) μs;
End time of Block6: (t0-42.58) μs;
End time of Block5: (t0-42.58) μs;
End time of Block4: (t0-42.58-55.56*1) μs;
01)
02)
03)
End time of Block3: (t0-42.58-55.56*1 ) μs;
End time of Block2: (t0-42.58-55.56*2) μs;
End time of Block1: (t0-42.58-55.56*2) μs;
04)
05)
06)
There are 6 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 64 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
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