Hesai Pandar128E3X, User Manual

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Field Bytes Description
IMU Z Axis Acceleration 2 Acceleration of the Z-axis
IMU X Axis Angular
Velocity 2 Angular velocity of the X-axis, measured by the IMU as a signed integer
Measurement range: ±4000 dps
Unit of angular velocity: currently 140 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
IMU Z Axis Angular
Velocity 2 Angular velocity of the Z-axis
CRC 3 4 CRC-32 checksum of the Tail
■ Cyber Security (Optional)
Cyber Security: 32 bytes
Field Bytes Description
Signature 32 Point cloud signature
Calculated using Point Cloud UDP Data (from Header to Tail, appended with UDP Sequence)
Algorithm: HMAC-SHA256
NOTE This field is added after specifying a Shared Secret Key and starting a session, see Section 4.1.4
(Web Control - Cybersecurity Config - Point Cloud Signature).