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3.2.3

GPS Data Analysis

Figure 3.4 GPS Data Packet - UDP Data (Example)

Date

Field

Data (ASCII Code)

Characters

Meaning

Year

0x30 0x32

'0', '2'

Month

0x34 0x30

'4', '0'

Day

0x37 0x30

'7', '0'

Time

Field

Data (ASCII Code)

Characters

Meaning

Second

0x38 0x35

'8', '5'

Minute

0x37 0x30

'7', '0'

Hour

0x34 0x30

'4', '0'

μs Time

4 bytes, in units of μs, using the same clock source as the GPS Timestamp in Point Cloud Data Packets

Reset to 0 at the rising edge of each PPS signal

Summary of Contents for Pandar128

Page 1: ...www hesaitech com Pandar128 128 Channel Mechanical LiDAR User Manual HESAI Wechat...

Page 2: ...Data Packet 23 3 2 GPS Data Packet 33 4 Web Control 39 4 1 Home 40 4 2 Settings 41 4 3 Azimuth FOV 45 4 4 High Resolution 47 4 5 Operation Statistics 48 4 6 Monitor 49 4 7 Upgrade 50 5 PandarView 51 5...

Page 3: ...tampered with and must not be changed in any way There are no user serviceable parts inside the product For repairs and maintenance inquiries please contact an authorized Hesai Technology service prov...

Page 4: ...osure with bare hands If the enclosure is already stained please refer to the cleaning method in the Sensor Maintenance chapter of user manuals Eye Safety Although the product meets Class 1 eye safety...

Page 5: ...ome components in the product can emit electromagnetic fields which may interfere with medical devices such as cochlear implants heart pacemakers and defibrillators Consult your physician and medical...

Page 6: ...inciple Distance Measurement Time of Flight ToF 1 A laser diode emits a beam of ultrashort laser pulses onto the target object 2 The laser pulses are diffusely reflected after hitting the target objec...

Page 7: ...s illustrated in Figure 1 3 Z axis is the axis of rotation By default the LiDAR rotates clockwise in the top view To select counterclockwise rotation see Section 4 2 Web Control Settings The origin is...

Page 8: ...ion Figure 1 5 Channel Vertical Distribution Figure 1 6 Laser Firing Position Unit mm Each channel has an intrinsic angle offset both horizontally and vertically The offsets are recorded in this LiDAR...

Page 9: ...P IP Ethernet 1000Base TX or 1000Base T1 Resolution Vertical 0 125 6 to 2 Data Outputs Distance Azimuth Angle Intensity 0 5 2 to 14 6 to 24 Valid Data Points Single Return 3 456 000 points sec max 1 1...

Page 10: ...8 2 Setup 2 1 Mechanical Installation Figure 2 1 Front View Unit mm...

Page 11: ...9 Figure 2 2 Bottom View Unit mm...

Page 12: ...10 Quick Installation Figure 2 3 Quick Installation...

Page 13: ...11 Stable Installation Figure 2 4 Stable Installation...

Page 14: ...12 2 2 Interfaces Lemo part number EEG 2T 316 CLN female socket on the LiDAR Looking from the bottom of the LiDAR Figure 2 5 Lemo Connector Female Socket...

Page 15: ...to 1 V 13 Ethernet BI_DD 1 to 1 V 6 Ethernet BI_DB 1 to 1 V 14 Ethernet BI_DD 1 to 1 V 7 Ethernet BI_DA 1 to 1 V 15 Index 0 to 3 3 V 8 Ethernet BI_DA 1 to 1 V 16 Encoder 0 to 3 3 V Automotive 1000Base...

Page 16: ...l either using the cable s GPS wire or via the connection box s GPS port make sure the LiDAR is powered off If the LiDAR has to stay powered on make sure to ground yourself in advance avoid touching t...

Page 17: ...cables or the shells or by twisting the connectors in any way Doing so can loosen the connectors shells or even damage the contacts In case a connector s shell is accidentally pulled off stop using t...

Page 18: ...may connect the LiDAR directly or using the connection box The connection box has a power port a GPS port and a standard Ethernet port Lemo part number FSG 2T 316 CLAC80Z male plug on the connection...

Page 19: ...t BI_DB 1 to 1 V Green White 14 Ethernet BI_DD 1 to 1 V Brown White 7 Ethernet BI_DA 1 to 1 V Orange 15 Index 0 to 3 3 V Gray 8 Ethernet BI_DA 1 to 1 V Orange White 16 Encoder 0 to 3 3 V Gray White Au...

Page 20: ...06V S B Voltage standard RS232 Baud rate 9600 bps The GPS port pin numbers are 1 to 6 from left to right defined as follows Pin Direction Pin Description Requirements 1 Input PPS pulse per second sign...

Page 21: ...300 Voltage 0 V to 3 3 V Signal type pulse Max current output level 12 mA Pin Description for the trigger port Pin Direction Pin Description 1 Input GND to ground the external trigger signal 2 Output...

Page 22: ...20 2 3 2 Connection Figure 2 10 Connection Box Connection NOTE Refer to Appendix III PTP Protocol when PTP is used...

Page 23: ...ace enp0s20f0u2 with the local Ethernet port name Open the Network Sharing Center click on Ethernet In the Ethernet Status box click on Properties Double click on Internet Protocol Version 4 TCP IPv4...

Page 24: ...s are unsigned and in little endian format Figure 3 1 Data Structure LiDAR Data Point Cloud Data Packet 935 bytes Ethernet Header 42 bytes UDP Data 893 bytes Pre Header 6 bytes Header 6 bytes Body 776...

Page 25: ...C 12 Destination broadcast 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF Source xx xx xx xx xx xx Ethernet Data Packet Type 2 0x08 0x00 Internet Protocol 20 Shown in the figure below UDP Port Number 4 UDP source port...

Page 26: ...ion 0xEE 1 SOP start of packet 0xFF 1 SOP start of packet Protocol Version Major 1 To distinguish between product models 0x01 for Pandar128 Protocol Version Minor 1 For each product model to indicate...

Page 27: ...l Return mode i e Last Return in 0x39 or 0x3B mode or First Return in 0x3C mode Dis Unit 1 0x04 4 mm Return Num 1 Number of returns that each channel generates 0x01 one return 0x02 two returns Flags 1...

Page 28: ...ity Reflectivity in percentage 0 to 255 Pandar128 supports three single return modes and three dual return modes see the Return Mode field in the Tail of Point Cloud UDP Data In a dual return mode the...

Page 29: ...queue starting from 1 Fault Code 2 Fault code sent by this data packet Reserved 8 CRC 2 4 CRC 32 checksum of Functional Safety from the Lidar State field to the Fault Code field Lidar State field LiD...

Page 30: ...Performance i e High Resolution 1 Shutdown 2 Standard 3 Energy Saving measurement range reduced Return Mode 1 0x33 First Return 0x37 Strongest Return 0x38 Last Return 0x39 Dual Return Last Strongest...

Page 31: ...Conversion factor of angular velocity as an unsigned integer Currently 14000 0x36b0 Unit of angular velocity 0 01 mdps 14000 140 mdps millidegree per second IMU Timestamp 4 Timestamp of the IMU data...

Page 32: ...40 mdps see the IMU Angular Velocity Unit field E g When IMU_X_Axis_Angular_Velocity_2_bytes 5 X axis angular velocity 5 140 mdps 700 mdps IMU Y Axis Angular Velocity 2 Angular velocity of the Y axis...

Page 33: ...2 Horizontal angle current reference angle of the rotor horizontal angle offset firing time offset Current reference angle of the rotor is the Azimuth field of Block 2 Horizontal angle offset 1 093 f...

Page 34: ...32 Continued Draw the data point in a polar or rectangular coordinate system Obtain the real time point cloud data by analyzing and drawing every data point in each frame...

Page 35: ...anwhile the LiDAR will extract the actual date and time from NMEA messages GPRMC or GPGGA and stamp them into both Point Cloud Data Packets and GPS Data Packets Point Cloud Data Packets 6 byte Date Ti...

Page 36: ...roadcast 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF Source xx xx xx xx xx xx Ethernet Data Packet Type 2 0x08 0x00 Internet Protocol 20 Shown in the figure below UDP Port Number 4 UDP source port 0x2710 represents...

Page 37: ...4 NMEA sentence that contains date and time ASCII code valid till 2 bytes after the asterisk The LiDAR can receive either GPRMC or GPGGA see Section 4 2 Web Control Settings Reserved 404 404 bytes of...

Page 38: ...hex 0 for GPS being unlocked 09 UTC Date Date information Typically in ddmmyy day month year format The LiDAR s GPS data interface is compatible with a variety of GPRMC formats as long as 01 is the h...

Page 39: ...lid 1 GPS fix SPS 2 DGPS fix 3 PPS fix 6 estimated dead reckoning The LiDAR s GPS data interface is compatible with a variety of GPGGA formats as long as 01 is the hour minute and second information F...

Page 40: ...0x32 0 2 20 Month 0x34 0x30 4 0 04 Day 0x37 0x30 7 0 07 Time Field Data ASCII Code Characters Meaning Second 0x38 0x35 8 5 58 Minute 0x37 0x30 7 0 07 Hour 0x34 0x30 4 0 04 s Time 4 bytes in units of...

Page 41: ...vice info and upgrading To access web control 1 Connect the LiDAR to your PC using an Ethernet cable 2 Set the IP address according to Section 2 4 Get Ready to Use 3 Enter this URL into your web brows...

Page 42: ...d Tracking Slave is trying to sync with the selected PTP Master but the absolute offset is over 1 s Locked Absolute offset between Slave and Master is 1 s Frozen Holdover LiDAR has lost connection to...

Page 43: ...ection 4 3 1 2 Control IP VLAN Tagging can be used when the receiving host also supports VLAN function Check the VLAN checkbox and input a VLAN ID 1 4094 Set the VLAN ID of the receiving host to be th...

Page 44: ...ers fire every 55 56 us Noise Filtering Noise points mitigation in rain and fog Interstitial Points Filtering Interstitial point when a beam partially hits on a front target s edge and further hits on...

Page 45: ...onstant shifting only between High Performance and Shutdown Standby Mode Motor not running and lasers not firing Definition of operational states Operational States Horizontal Resolution Laser Power H...

Page 46: ...urce Profile 1588v2 default 802 1AS IEEE timing and synchronization standard PTP Network Transport UDP IP default or L2 1588v2 users can select UDP IP or L2 802 1AS only supports L2 network PTP Domain...

Page 47: ...select one of the two modes for all channels or multi section FOV 4 3 1 For all channels A continuous angle range specified by a Start Angle and an End Angle will be applied to all channels The LiDAR...

Page 48: ...its specified range 4 3 3 Note Click Save to apply your settings The angles in degrees are accurate to the first decimal place If the Start Angle is larger than the End Angle then the actual azimuth F...

Page 49: ...all channels High Resolution 10 Hz 0 1 for the 64 high res channels Channel 26 to Channel 89 0 2 for the other channels NOTE Channel counts from 1 to 128 20 Hz 0 2 for the 64 high res channels Channe...

Page 50: ...48 4 5 Operation Statistics The LiDAR s operation time in aggregate and in different temperature ranges are listed as well as the internal temperature and humidity...

Page 51: ...49 4 6 Monitor The LiDAR s input current voltage and power consumption are displayed...

Page 52: ...e is complete the LiDAR will automatically reboot and the past versions will be logged in the Upgrade Log A software reboot is triggered by clicking the Restart button on the top right corner Afterwar...

Page 53: ...m Installation Files Installation Steps Windows PandarViewX64_Release_V1 7 22 msi Before upgrading PandarView to a newer version please uninstall the current version Double click and install PandarVie...

Page 54: ...se Check Live Data Click on and select your LiDAR model to begin receiving data over Ethernet Record Point Cloud Data Click on to pop up the Choose Output File window Specify the file directory and cl...

Page 55: ...V see Section 1 3 Channel Distribution We recommend importing the calibration file of this LiDAR unit into PandarView File Import Correction File in order to display the point cloud most accurately If...

Page 56: ...e paused jump to the next frame While playing forward May click again to adjust the forward speed 2x 3x 1 2x 1 4x and 1x Jump to the end of the file Save a single frame to CSV While playing this Recor...

Page 57: ...t of view The bottom left coordinate axes show the current point of view 3D Projection and Distance Measurement PandarView supports perspective projection default and orthographic projection The dista...

Page 58: ...See the definition of blocks in Section 3 1 2 Point Cloud UDP Data UDP Port Enter the UDP port number and click Set to apply it Distance Reference Circles Click on to show hide the 12 distance refere...

Page 59: ...cts Channel Selection Click on to open the Channel Selection box Check Uncheck the boxes on the left to show hide each channel By default the point cloud data from all channels are shown Check Uncheck...

Page 60: ...e data of the highlighted points as shown below Some of the data fields are defined below Field Description points The XYZ coordinates of each point azimuth Rotor s current reference angle azimuth_cal...

Page 61: ...olor legend at the lower right corner The default color scheme is intensity based Users can choose from other colors schemes based on azimuth azimuth_calib distance elevation laser_id or timestamp Cli...

Page 62: ...60 6 Communication Protocol To receive Hesai LiDAR s TCP and HTTP API Protocols please contact Hesai technical support...

Page 63: ...irt fingerprints and oil can negatively affect point cloud data quality Please perform the following steps to remove the stains NOTE To avoid damaging the optical coating DO NOT apply pressure when wi...

Page 64: ...lation and keep away from fire Solvent temperature 20 to 25 4 When the stains have loosened dip a piece of lint free wipe into the solvent made in Step 3 and gently wipe the enclosure back and forth a...

Page 65: ...atisfy the requirements in Section 1 4 Specifications and 2 3 Connection Box web control can be accessed see cannot open web control on the next page Power on again to check if the symptom persists Mo...

Page 66: ...t with the PC s Users may use WireShark to check the LiDAR s IP that broadcasts data packets Afterwards restart PC or connect the LiDAR to another PC power on again to check if the symptom persists Ab...

Page 67: ...n Statistics page of web control Afterwards check for packet loss If no packet is missing while the point cloud flashes please update PandarView to the latest version see the Download page of Hesai s...

Page 68: ...e 128 channels fire laser pulses that measure the far field 2 85 m Additionally the NF enabled channels also fire laser pulses that measure only the near field 0 3 2 85 m at a time other than these ch...

Page 69: ...m 10 06 3 273 11 702 0 3 m 100 m YES 120 m 100 m 6 07 1 094 11 239 2 85 m 100 m 120 m 100 m 6 08 3 278 10 771 2 85 m 100 m 140 m 100 m 3 09 1 095 10 305 0 3 m 100 m YES 140 m 100 m 3 10 3 283 9 830 2...

Page 70: ...37 YES 27 7 72 1 885 2 85 m 200 m 140 m 200 m 37 YES 28 5 535 1 761 2 85 m 200 m 140 m 200 m 37 YES 29 3 325 1 637 2 85 m 200 m 140 m 200 m 37 YES 30 3 33 1 511 2 85 m 200 m 140 m 200 m 37 YES 31 1 10...

Page 71: ...m 10 YES 47 1 110 0 632 0 3 m 200 m YES 200 m YES 200 m 10 YES 48 5 555 0 760 2 85 m 200 m 200 m YES 200 m 10 YES 49 7 750 0 887 2 85 m 200 m 200 m YES 200 m 10 YES 50 1 119 1 012 2 85 m 200 m 200 m...

Page 72: ...3 044 2 85 m 200 m 140 m 200 m 37 YES 67 7 780 3 172 2 85 m 200 m 140 m 200 m 37 YES 68 5 578 3 299 0 3 m 200 m YES 140 m 200 m 37 YES 69 3 351 3 425 2 85 m 200 m 140 m 200 m 37 YES 70 3 358 3 552 2 8...

Page 73: ...86 3 369 5 589 2 85 m 200 m 140 m 200 m 37 YES 87 1 118 5 718 2 85 m 200 m 140 m 200 m 37 YES 88 5 599 5 843 2 85 m 200 m 140 m 200 m 37 YES 89 7 811 5 968 2 85 m 200 m 140 m 200 m 37 YES 90 1 129 6...

Page 74: ...6 2 85 m 100 m 50 m 100 m 120 107 1 135 14 66 2 85 m 100 m 50 m 100 m 120 108 3 410 15 154 0 3 m 100 m YES 50 m 100 m 120 109 1 137 15 645 2 85 m 100 m 50 m 100 m 120 110 3 416 16 135 2 85 m 100 m 50...

Page 75: ...z Offset Vertical Min Max 121 1 145 21 379 2 85 m 100 m 25 m 100 m 1600 122 3 436 21 848 2 85 m 100 m 25 m 100 m 1600 123 1 146 22 304 0 3 m 100 m YES 25 m 100 m 1600 124 3 440 22 768 2 85 m 100 m 25...

Page 76: ...from one round of firing are stored in the two blocks of one packet The absolute time of a Point Cloud Data Packet is the time when the LiDAR sends a command to trigger a round of firing that will be...

Page 77: ...ck depends on the horizontal resolution whether the LiDAR is operating in High Resolution mode or Standard mode defined in Section 4 4 High Resolution Block Start Time s in High Resolution Mode Start...

Page 78: ...erformance standard energy saving shutdown 2 Check the Azimuth Flag field in the Tail of the Point Cloud Data Packet obtain azimuth flag of Block m Range in High Performance mode 0 1 2 3 Range in Stan...

Page 79: ...26 0 0 2431 2431 30559 31804 30209 30209 7 6441 6441 0 0 6091 6091 0 0 6441 6441 6091 6091 8 0 0 4786 4786 0 0 4086 4086 32564 32564 31864 31864 9 0 0 6441 7206 0 0 6091 6091 34219 34984 33869 33869 1...

Page 80: ...016 12666 12666 12316 12316 12666 12666 12666 12666 29 14951 14951 15301 15301 14951 14951 14601 14601 43079 43079 42379 42379 30 19521 19521 19871 19871 19521 19521 19171 19171 19521 19521 19521 1952...

Page 81: ...10031 38509 55184 37809 37809 48 10381 10381 10731 10731 10381 10381 10031 10031 38509 38509 37809 37809 49 21806 21806 22156 22156 21806 21806 21456 21456 21806 21806 21806 21806 50 8096 8096 8446 8...

Page 82: ...19171 19521 19521 19521 19521 68 10381 10381 10731 10731 10381 10381 10031 11426 38509 38509 37809 39204 69 24091 24091 24441 24441 24091 24091 23741 23741 52219 52219 51519 51519 70 10381 10381 1073...

Page 83: ...06 21806 21806 86 8096 8096 8446 8446 8096 8096 7746 7746 36224 36224 35524 35524 87 12666 12666 13016 13016 12666 12666 12316 12316 12666 12666 12666 12666 88 21806 21806 22156 22156 21806 21806 2145...

Page 84: ...2781 0 0 2431 2431 30559 30559 30209 30209 107 0 0 776 776 0 0 776 776 28554 28554 28554 28554 108 0 0 4786 4786 0 0 4086 5331 32564 32564 31864 33109 109 6441 6441 0 0 6091 6091 0 0 6441 6441 6091 6...

Page 85: ...hannel 121 4436 4436 0 0 4436 4436 0 0 4436 4436 4436 4436 122 6441 6441 0 0 6091 6091 0 0 6441 6441 6091 6091 123 0 0 6441 6441 0 0 6091 6856 34219 34219 33869 34634 124 0 0 2781 2781 0 0 2431 2431 3...

Page 86: ...PTP Protocol The Precision Time Protocol PTP is used to synchronize clocks across a computer network It can achieve sub microsecond clock accuracy LiDAR Connection When Using PTP Figure III 1 Connecti...

Page 87: ...DAR does not output GPS Data Packets The timestamps and Date Time fields in Point Cloud Data Packets strictly follow the PTP master device Certain PTP master devices may have a specified offset from t...

Page 88: ...oud Data Packets linearly represents target reflectivity from 0 to 255 Alternatively users may choose the Nonlinear Mapping mode see Section 4 2 Web Control Settings The nonlinear relationship is deta...

Page 89: ...3 0 87 43 3 07 63 6 5 4 0 04 24 0 95 44 3 21 64 6 7 5 0 05 25 1 05 45 3 36 65 6 9 6 0 08 26 1 15 46 3 5 66 7 1 7 0 11 27 1 25 47 3 64 67 7 3 8 0 13 28 1 35 48 3 79 68 7 5 9 0 15 29 1 45 49 3 93 69 7 7...

Page 90: ...24 5 144 32 75 85 11 62 105 17 5 125 24 83 145 33 25 86 11 87 106 17 83 126 25 25 146 33 75 87 12 12 107 18 17 127 25 75 147 34 25 88 12 37 108 18 5 128 26 17 148 34 75 89 12 62 109 18 83 129 26 5 149...

Page 91: ...5 224 79 25 165 43 25 185 54 25 205 66 25 225 79 75 166 43 75 186 54 75 206 66 75 226 80 5 167 44 25 187 55 25 207 67 5 227 81 25 168 44 75 188 55 75 208 68 25 228 81 75 169 45 25 189 56 5 209 68 75 2...

Page 92: ...near Reflectivity Mapping Continued Reflectivity Index 0 255 Reflectivity 240 90 5 241 91 5 242 92 5 243 93 25 244 93 75 245 94 5 246 95 5 247 96 25 248 96 75 249 97 5 250 98 5 251 99 5 252 132 253 19...

Page 93: ...ty or fitness for any particular purpose Further Hesai Technology reserves the right to revise this publication and to make changes from time to time in the contents hereof without obligation to notif...

Page 94: ...Technology Co Ltd Phone 86 400 805 1233 Website www hesaitech com Address Building L2 Hongqiao World Centre Shanghai China Business Email info hesaitech com Service Email service hesaitech com HESAI W...

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