Hesai XT32M2X, User Manual

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Doc Version: X01-en-220410
Contents
About This Manual ..................................................................................... 1
Safety Notice .............................................................................................. 3
1 Introduction ......................................................................................... 10
1.1 Operating Principle ...................................................................... 10
1.2 Lidar Structure ............................................................................. 11
1.3 Channel Distribution .................................................................... 12
1.4 Specifications ............................................................................... 13
2 Setup .................................................................................................... 17
2.1 Mechanical Installation ................................................................ 17
2.2 Interfaces ...................................................................................... 22
2.3 Connection Box (Optional) .......................................................... 26
2.4 Get Ready to Use .......................................................................... 30
3 Data Structure ...................................................................................... 31
3.1 Point Cloud Data Packet .............................................................. 32
3.2 GPS Data Packet ........................................................................... 39
4 Web Control ......................................................................................... 45
4.1 Home ............................................................................................. 46
4.2 Settings ......................................................................................... 48
4.3 Azimuth FOV ................................................................................. 56
4.4 Operation Statistics ...................................................................... 59
4.5 Upgrade ........................................................................................ 60
5 Communication Protocol .................................................................... 61
6 Sensor Maintenance ............................................................................ 62
7 Troubleshooting .................................................................................. 64
Appendix I Channel Distribution ............................................................. 68
Appendix II Absolute Time of Point Cloud Data ....................................... 69
Appendix III Power Supply Requirements ............................................... 76
Appendix IV Nonlinear Reflectivity Mapping ........................................... 78
Appendix V Legal Notice .......................................................................... 83