Hesai QT128C2X, User Manual

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① = ③ + ④
③ Rotor reference angle during the current round of firing
In the Azimuth field of Block 2.
④ Horizontal angle offset of the current firing channel
The designed offset for Channel 5 is 8.833°, according to Appendix I (Channel Distribution Table).
The accurate horizontal angle offset is recorded in this lidar's unit's angle correction file, see Section 1.3 (Channel Distribution).
② = ⑤ * ⑥
⑤ Firing time offset of the current firing channel
Look up the table in Appendix II (Absolute Time of Point Cloud Data).
⑥ Spin rate of the motor
See Section 4.1 (Web Control – Home).
■ Analyze the distance of a data point
Actual distance in real world millimeters = distance measurement * Distance Unit
· Distance measurement: Distance field of Channel 5 in Block 2
· Dis Unit field in the Header: 4 mm