Hesai Pandar128E3X, User Manual

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■ Firing Time Offset of Each Channel
Assume that the start time of Block m is T(m), m ∈ {1, 2}, then
the laser firing time of Channel n in Block m is t(m, n) = T(m) + Δt(n), n ∈ {1, 2, …, 128}.
Δt(n) is determined below:
1) Check the Operational State field in the Tail of the Point Cloud Data Packet
Operation states: high performance, standard, energy saving, shutdown
2) Check the Azimuth Flag field in the Tail of the Point Cloud Data Packet: obtain the azimuth flag of Block m
· Range in High Performance mode: 0, 1, 2, 3
· Range in Standard or Energy Saving mode: 0, 1
3) Check the Distance of Channel n in Block m, in the Body the Point Cloud Data Packet
· If Distance > 2.85 m, the data point is generated from a far-field firing
· If Distance≤2.85 m, the data point is generated from a near-field firing
4) Look up Δt(n) in the tables below