Hesai Pandar128E3X, Руководство пользователя

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Appendix I Channel Distribution
Channel
#
Angular Position Instrument Range
Near Field
Enabled?
Max. Range
@10% Reflectivity
Far Field
Enhanced?
Min. Reflectivity @ Max.
Instrument Range
High-
Res?
Horiz. Offset Vertical Min Max
① ② ③ ④ ⑤ ⑥ ⑦ ⑧ ⑨ ⑩
① Channel # counts from 1, from the top to bottom
②③ Design values of each channel's horizontal (azimuth) angle offset and vertical (elevation) angle.
· The accurate values are recorded in this LiDAR's unit's calibration file
· Refer to Section 3.1.3 (Point Cloud Data Analysis) for the data parsing scheme
④⑤ Actual measurement range, confined by the allocated Time of Flight (ToF) for each channel
⑥ The 32 channels with ④ = 0.3 m are NF-enabled channels
· All channels fire laser pulses that measure the far field (>2.85 m)
· Additionally, the NF-enabled channels also fire laser pulses that measure only the near field (0.3~2.85 m), at a time other than
these channels' far field firings
· The horizontal resolution of NF measurement is always 0.4° at 10 Hz and 0.8° at 20 Hz
⑦ Probability of Detection (PoD) = 70%
The values in brackets only indicate detection capability, while the actual measurement range is cut off to ⑤.
Channels 98 to 128 have enhanced near- and mid-field detection, since these channels typically point to the ground in the far field.
⑧ Channels 34 to 65 are FF-enhanced channels, able to detect 200 m@10% (see data in ⑦)
⑨ Probability of Detection (PoD) = 70%
⑩ Channels 26 to 89 are high-res channels, characterized by
· 0.125° vertical resolution
· enhanced horizontal resolution in High Resolution Mode, see Section 4.4 (Web Control - High Resolution)
· ⑤ = 200 m