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■ Start Time of Each Block
Assuming that the absolute time of a Point Cloud Data Packet is t0, the start time of each block (i.e., the time when the first firing starts) can be
calculated.
Single Return Mode
Block
Start Time (μs)
Block 8
t0 + 5.632
Block N
t0 + 5.632 - 50 * (8 - N)
Block 3
t0 + 5.632 - 50 * 5
Block 2
t0 + 5.632 - 50 * 6
Block 1
t0 + 5.632 - 50 * 7
Dual Return Mode
Block
Start Time (μs)
Block 8 & Block 7
t0 +5.632
Block 6 & Block 5
t0 + 5.632 - 50 * 1
Block 4 & Block 3
t0 + 5.632 - 50 * 2
Block 2 & Block 1
t0 + 5.632 - 50 * 3
■ Firing Time Offset of Each Channel
Assume that the start time of Block m is T(m), m ∈ {1, 2, ..., 8}, then the laser firing time of Channel n in Block m is
t(m, n) = T(m) + Δt(n), n ∈ {1, 2, …, 16}.
In each round of firing, the firing sequence is from Channel 1 to Channel 16. The firing time offset in units of μs:
Δt(n) = 3.024 * (n-1) + 0.368
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 ...
