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11
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1.2
Lidar Structure
Laser emitters and receivers are attached to a motor that rotates horizontally.
Figure 1.2 Partial Cross-Sectional Diagram
Figure 1.3 Coordinate System (Isometric
View)
Figure 1.4 Rotation Direction (Top View)
The lidar's coordinate system is illustrated in Figure 1.3. Z-axis is the axis of rotation.
The origin is shown as a red dot on the next page. All measurements are relative to the origin.
Lidar azimuthal position is defined in Figure 1.4. Y-axis corresponds to 0°.
Each laser channel has an intrinsic azimuth offset. All channels is selected to define the lidar's azimuthal position.
For example, when all channels pass the 90° position:
the lidar is at the 90° position;
the Azimuth field in the corresponding data block in the Point Cloud Data Packet will be 90
°
.
Summary of Contents for PandarXT-16
Page 19: ... 17 2 Setup 2 1 Mechanical Installation Figure 2 1 Front View Unit mm ...
Page 20: ... 18 Figure 2 2 Bottom View Unit mm ...
Page 21: ... 19 2 1 1 Recommended Installation Figure 2 3 Recommended Installation ...
Page 28: ... 26 2 3 2 Connection Figure 2 9 Connection Box Connection with GPS ...
Page 29: ... 27 Figure 2 10 Connection Box Connection with PTP ...
