Hesai Pandar128, User Manual

Page: 77 / 94

- 75 -
■ Start Time of Each Block
Assuming that the absolute time of a Point Cloud Data Packet is t0, the start time of each block (the time when the first firing starts) can be
calculated.
Single Return Mode
The start time of each block 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 (μs) in High Resolution Mode Start Time (μs) in Standard Mode
Block 1 t0 + 3.148 - 27.778 t0 + 3.148 - 27.778 * 2
Block 2 t0 + 3.148 t0 + 3.148
Dual Return Mode
The start time of each block is independent of the horizontal resolution.
Block Start Time (μs)
Block 1 & Block 2 t0 + 3.148