01)
02)
03)
End time of Block 20: (t0-28.58)μs;
End time of Block 19: (t0-28.58-55.56)μs;
End time of Block N: (t0-28.58-55.56*(20-N))μs;
04)
05)
06)
End time of Block 3: (t0-28.58-55.56*17)μs;
End time of Block 2: (t0-28.58-55.56*18)μs;
End time of Block 1: (t0-28.58-55.56*19)μs;
There are 20 Blocks in every Point Cloud UDP Data Packet.
In the single return mode, each block consists of 20 laser channels ranging data. The end time of the Block means all the 20 channels laser
fi
nished the
fi
ring.
The calculation of each Block's end time is as follows:
Single Return Mode
Body 1240 bytes (20 blocks)
Table II.1 Point Could Data UDP Data-Body
Block 1
Block 2
Block 3
Block 20
Azimuth
Azimuth
Azimuth
Azimuth
Unit 1
Unit 1
Unit 1
Unit 1
Unit 2
Unit 2
Unit 2
Unit 2
Unit 20
Unit 20
Unit 20
Unit 20
······
······
······
······
······
······
······
······
······
······
The laser
fi
ring time of every laser channel can be calculated by using the absolute time in Point Cloud Data Packet.
Assuming the Point Cloud Data Packet's absolute time is t0.
2 Laser Firing Time Calculation
- 3 3 -
