Laser Receiver
Laser Emitter
Shell
Z
X
Y
90°
270°
180°
0°
1.1.2 Structure Description
Pandar20A and Pandar20B share the same structure except for the logo. Here we use Pandar20A as an example. 20 pairs of laser
emitters and receivers are attached to a rotating motor inside the LiDAR housing that perform horizontal scans in 360 degrees.
Figure 1.2 Partial Cross-Sectional Diagram
Figure 1.3 LiDAR Coordinate System and Rotation Direction
NOTE
1) Figure 1.3 shows the coordinate system and the z axis is along the rotation center of the LiDAR. The origin of the coordinate system is
shown as a red dot in Figure 1.5 (side view of the LiDAR). All the LiDAR measurement data are relative to the origin after geometry
transformation according to LiDAR’s optical and mechanical design.
2) Because of the intrinsic angle offset of each laser channel, the zero degree is de
fi
ned as the azimuth angle in the corresponding block in
UDP packet when channel 9 (Pandar20A) or channel 6 (Pandar20B) passes y axis de
fi
ned in Figure 1.3.
- 0 2 -
