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6. TIME SYNCHRONIZATION ......................................................................................................... 27

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7. ANGLE AND COORDINATE CALCULATION .......................................................................... 29

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8. ACCURATE TIME CALCULATION ............................................................................................ 31

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Summary of Contents for MS03

Page 1: ...MS03 High Precision Long Range Mapping LiDAR V1 0 0 2022 03 LeiShen Intelligent System Co LTD www leishen lidar com...

Page 2: ...r Configuration 7 4 1 2 LSMS03 Windows Client Interface 8 4 1 3 Operation Procedure 11 4 1 4 Point Cloud Data Parsing 12 4 1 5 Note 12 4 2 ROS DRIVER OPERATION UNDER LINUX OS 16 4 2 1 Hardware Connect...

Page 3: ...28 6 3 LIDAR INTERNAL TIMING 29 7 ANGLE AND COORDINATE CALCULATION 29 7 1 HORIZONTAL ANGLE 29 7 2 DISTANCE VALUE 29 7 3 CARTESIAN COORDINATE REPRESENTATION 30 8 ACCURATE TIME CALCULATION 31 8 1 CALCUL...

Page 4: ...human eye safety standards However to maximize self protection please avoid looking directly at running products Safety Warning In any case if the product is suspected to have malfunctioned or been da...

Page 5: ...mply with relevant regulations on radiofrequency energy radiation but the radiation from this product may still cause other electronic equipment to malfunction Deflagration and Other Air Conditions Do...

Page 6: ...power inspection track detection mine detection tunnel detection forest detection bridge collision avoidance etc 1 2 Mechanism MS03 adopts the Time of Flight ToF method The Lidar starts timing t1 when...

Page 7: ...ange Accuracy 2 cm Horizontal FOV 120 Angular Resolution 0 096 10 Hz 0 192 20 Hz 0 048 10 Hz 0 096 20 Hz 0 024 10 Hz 0 048 20 Hz 0 014 10 Hz 0 028 20 Hz 0 01 10 Hz 0 02 20 Hz Data Point Generating Rat...

Page 8: ...1 3 External View of MS03 2 Electrical Interface 2 1 Power Supply The power input range of the MS03 Lidar is 9V 36VDC If other DC power supply is adopted the recommended output voltage of the power su...

Page 9: ...ed by direct vehicle power supply without adapters or interface boxes Therefore it is necessary to use high power TVS transient suppression diodes to protect the Lidar to avoid damage The line length...

Page 10: ...4 Light Blue GND Power Table 2 2 Wiring Definition of the 12 Pin Ethernet Cable S N Color Definition Description 1 White Orange 24 AWG MX1 Ethernet TX 2 Orange 24 AWG MX1 Ethernet TX 3 White Blue 24 A...

Page 11: ...responsibility for any copyright and commercial disputes caused by the use of this software To view the point cloud data generated by the Lidar you can either use the LSMS03 Windows Client or the ROS...

Page 12: ...installation file and double click it to initiate the installation Step 3 Click next to enter the installation path selection interface Step 4 Click next to enter the installation interface Step 5 Cl...

Page 13: ...hey are in the same network segment different IPs are needed to be set for example 192 168 1 x and the subnet mask is 255 255 255 0 If you need to find the Ethernet configuration information of the Li...

Page 14: ...down to zoom in out 2 Hold the left mouse button and drag it to adjust the angle of view 3 Hold the mouse wheel and drag it to pan the display interface or hold the shift key on the keyboard and the l...

Page 15: ...Open offline data Record and save data valid only when Lidar receives data in real time Skip to the beginning When paused view the previous frame When playing rewind click multiple times to select 2x...

Page 16: ...e corresponding channel data and Channel column represents the data sequence number corresponding to the channel Save the data in csv format The data includes Points_X Points_Y Points_Z Laser_id Azimu...

Page 17: ...of each line according to the laser beam distribution Step 4 According to the distance measurement value vertical angle and the calculated horizontal angle of the point cloud data the XYZ coordinate v...

Page 18: ...ugh user configuration and the Lidar sends data to the host computer through the preset destination IP and port Therefore when the local laptop or desktop computer and other devices are receiving data...

Page 19: ...set the IP address to the Lidar s destination IP The default destination IP of the Lidar is 192 168 1 102 and the subnet mask is set to 255 255 255 0 Figure 4 6 IPAddress and Subnet Mask Setting 4 Sin...

Page 20: ...Computer graphics settings When installing the LSMS03 Windows Client on a desktop or laptop with dual graphics cards the default global settings of the computer operating system is to use the global...

Page 21: ...Step 1 Connect the Lidar to the internet and power supply Step 2 Set the computer wired IP according to the destination IP of the Lidar whether the computer wired IP is set successfully can be checked...

Page 22: ...example leishen_ws can be changed to any name Step 2 Download the Lidar ROS driver The ROS driver can also be obtained directly from our website or customer service Copy the obtained driver file to th...

Page 23: ...ain data Stream Output Protocol is 1254 bytes 42 bytes Ethernet header and 1212 bytes payload and the packet length of the Device Information Output Protocol and the User Configuration Write Protocol...

Page 24: ...f data contains 80 points that is 80 15 1200 bytes and the frame tail is 12 bytes including 6 bytes of UTC Time 4 bytes of Timestamp and 2 bytes of Factory See the figure below Figure 5 1 Packet data...

Page 25: ...measure point as an example The first 4 bits of Byte 1 represents the line number The last 4 bits of Byte 1 together with Byte 2 and Byte 3 form the horizontal angle the most significant byte of whic...

Page 26: ...energy reflection characteristics of the measured object in the actual measurement environment Therefore the echo strength can be used to distinguish objects with different reflection characteristics...

Page 27: ...is 0 999999 s 2 When there is an external synchronization device inputting PPS signal the timestamp is generated according to the external synchronization PPS time as the cycle time and the range of t...

Page 28: ...Length byte Header 0 Device Package Identification Header 0 8 Data 1 Motor Speed 8 2 2 Ethernet Configuration 10 22 3 GPS Time 36 6 4 Lidar Rotation Stationary 46 2 5 High temperature pause mark 48 1...

Page 29: ...4 Lidar Port 0x0941 represent 2369 34 2 5 Computer Port 0x0940 represent 2368 36 2 UDP Length Sum Check 6 Length 0x04BE represent 1214 bytes 38 2 7 Sum Check 40 2 Payload 1206 bytes Name S N Informati...

Page 30: ...Byte7 Byte8 Function IP_SRC IP_DEST S N Byte9 Byte10 Byte11 Byte12 Byte13 Byte14 Byte15 Byte16 Function MAC_ADDR Read Only Data Port Port1 S N Byte17 Byte18 Byte19 Byte20 Byte21 Byte22 Function Device...

Page 31: ...The high temperature pause sign will remain at 0x01 during these 60 seconds or the suspended state After the high temperature pause the temperature of the lidar will decrease When the system detects...

Page 32: ...ternal PPS synchronization If there is no external synchronization input the Lidar internally generates timing information The absolute accurate time of the point cloud data is obtained by adding the...

Page 33: ...reference datum 9 UTC Date ddmmyy day month year 10 Magnetic Declination 000 0 180 0 degree 11 Direction of Magnetic Declination E East or W West 12 Mode Indication Only NMEA0183 version 3 00 outputs...

Page 34: ...in the obtained data packet is represented by the hexadecimal number 0x02 0x18 0x32 and the first two bytes are composed of 16 bit unsigned data that is 0x0218 which is converted to decimal distance v...

Page 35: ...alue 536 cm The last byte is the decimal part 0x32 equals 50 in decimal that is 50 1 256 cm 0 1953125 cm Then the two parts add up to 536 1953125 cm Byte 15 represents the third echo strength and the...

Page 36: ...of the last channel in the data packet packet end time and its duration is less than 1 second Therefore to calculate the absolute end time of the data packet it is necessary to obtain the 4 byte micro...

Page 37: ...32 Revision History Version Number Release Date Revised Content Issued Revised By V1 0 0 2022 03 010 Initial Version LS1286...

Page 38: ...es Building Shajing Street Baoan District Shenzhen TEL 86 0755 23242821 Sales Email sales lslidar com After Sales Mailbox support lslidar com Company Website www leishen lidar com This manual is subje...

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