LeiShen Intelligent System LiDAR C128 Series, Operation Instruction Manual, Page: 50 / 89

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measured distance value, the angle value, and the time stamp, with a length of 1248 bytes.
For the radar, the data format structure of a complete MSOP Packet includes a frame header, a subframe, and a frame tail. Each packet has a
total of 1248bytes: 42byte UDP packet overhead, 1200byte subframe data packet interval (12 data blocks in total), and 4bytes of Timestamp,
2byte frame tail Factory.
1.1 Data structure of the data packet
The 128-line Lidar contains information on one transmission sequence of 32 lasers in one data block, and one packet contains data of 12
transmission sequences. Each data block returns only one azimuth. See the following figure: