Hesai Pandar40M, Руководство пользователя

Страница: 50 / 84

- 48 -
Parameter Options Description
Sync Angle 0° to 360° Phase lock angle
· To activate this function, check the checkbox and input an azimuth.
· At every full second, the lidar will rotate to that azimuthal position.
Lidar azimuthal position is defined in Section 1.2 (Lidar Structure).
Definition of full second
· When GPS is locked: the rising edge of the GPS PPS signal
· When PTP is tracking or locked: retrieved from the PTP master clock
· When neither GPS nor PTP is locked: the rising edge of the lidar's internal 1
Hz signal
· Detailed in Appendix II (Absolute Time of Point Cloud Data)
To phase-lock multiple lidars
· Connect the lidars to the same clock source and set the same sync angle, and
these lidars will rotate to that same azimuthal position at every full second.
Trigger Method Time-Based (default)
Angle-Based
The way laser firings are triggered.
Angle-based Lasers fire every 0.2° at 10 Hz or 0.4° at 20 Hz.
Time-based Lasers fire every 55.56 us.
Noise Filtering OFF (default)
ON
To mitigate the scattered false positives (i.e. noise points) in point cloud data.