Manual

Leddar™One Sensing Module 21

Figure 11: Measurement Stabilization Example

The red line represents the true target distance, the blue curve corresponds

to the target distance measured by the sensor without stabilization, while the

green curve is the stabilized measurements. One could notice that the

measurement precision (standard deviation) is dramatically improved by the

stabilization algorithm.

NOTE: The smoothing algorithm is recommended for applications that need

highly precise measurements of slowly moving objects. For

application that tracks quickly moving objects, it is advised to

decrease the value of the stabilization parameter or to disable the

stabilization algorithm.

3.4. Measurement Rate

The sensor acquires a base input waveform at a rate of 72131 Hz (44MHz/610).

Multiple acquisitions are used to perform accumulations and oversampling, and

generate a final waveform that is then processed to detect the presence of

objects and measure their position.

The final measurement rate is therefore:

Measurement rate = base rate/accumulations/oversampling

For example, with 256 accumulations and an oversampling value of 8:

Measurement rate = 72131 / 256 / 8 = 35.22 Hz

Table 5 presents the measurement rate for typical values of accumulations and

oversampling.

Table 5: Measurement Rate

Accumulation

Oversampling

Measurement rate (Hz)

4096

2.20

2048

4.40

1024

8.81

512

17.61

256

35.22