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3

Data Structure

The LiDAR outputs Point Cloud Data Packets and GPS Data Packets using 100 Mbps Ethernet UDP/IP.

Each data packet consists of an Ethernet header and UDP data.

Figure 3.1 Data Structure

LiDAR Data

Point Cloud Data Packet: 1122 bytes

Ethernet Header: 42 bytes

UDP Data: 1080 bytes

GPS Data Packet: 554 bytes

Ethernet Header: 42 bytes

UDP Data: 512 bytes

Pre-Header: 6 bytes

Header: 6 bytes

Tail: 24 bytes

Additional Info: 4 bytes

Body: 1040 bytes

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Содержание PandarXT-32

Страница 1: ...www hesaitech com PandarXT 32 32 Channel Medium Range Mechanical LiDAR User Manual HESAI Wechat...

Страница 2: ...loud Data Packet 20 3 2 GPS Data Packet 26 4 Web Control 32 4 1 Home 33 4 2 Settings 34 4 3 Azimuth FOV 37 4 4 Operation Statistics 39 4 5 Upgrade 40 5 PandarView 41 5 1 Installation 41 5 2 Use 42 5 3...

Страница 3: ...tampered with and must not be changed in any way There are no user serviceable parts inside the product For repairs and maintenance inquiries please contact an authorized Hesai Technology service prov...

Страница 4: ...osure with bare hands If the enclosure is already stained please refer to the cleaning method in the Sensor Maintenance chapter of user manuals Eye Safety Although the product meets Class 1 eye safety...

Страница 5: ...may interfere with medical devices such as cochlear implants heart pacemakers and defibrillators Consult your physician and medical device manufacturers for specific information regarding your medical...

Страница 6: ...rinciple Distance Measurement Time of Flight ToF 1 A laser diode emits a beam of ultrashort laser pulses onto the target object 2 The laser pulses are diffusely reflected after hitting the target obje...

Страница 7: ...sometric View Figure 1 4 Rotation Direction Top View The LiDAR s coordinate system is illustrated in Figure 1 3 Z axis is the axis of rotation The origin is shown as a red dot in Figure 1 6 on the nex...

Страница 8: ...Each channel has an intrinsic vertical angle offset The offsets are recorded in this LiDAR unit s calibration file which is provided when shipping the unit In case you need to obtain the file again Se...

Страница 9: ...100 Mbps FOV Vertical 31 16 to 15 Data Outputs Distance Azimuth Angle Intensity Resolution Vertical 1 Data Points Generated Single Return 640 000 points sec Frame Rate 5 Hz 10 Hz 20 Hz Dual Return 1 2...

Страница 10: ...90 Accuracy cm Target Distance m Accuracy 50 Reflectivity Random Sample 1 Random Sample 2 Random Sample 3 1 0 0 0 1 0 2 0 3 0 4 0 5 0 0 05 0 5 1 3 5 10 20 30 50 70 90 Accuracy cm Target Distance m Ac...

Страница 11: ...ature outdoors 0 0 0 5 1 0 1 5 2 0 2 5 0 05 0 5 1 3 5 10 20 30 50 70 90 Precision cm Target Distance m Precision 50 Reflectivity Random Sample 1 Random Sample 2 Random Sample 3 0 0 0 5 1 0 1 5 2 0 2 5...

Страница 12: ...10 2 Setup 2 1 Mechanical Installation Figure 2 1 Front View Unit mm...

Страница 13: ...11 Figure 2 2 Bottom View Unit mm...

Страница 14: ...12 Recommended Installation Figure 2 3 Recommended Installation...

Страница 15: ...3 GND BROWN 0 V 8 Ethernet RX GRAY 1 V to 1 V 4 VIN WHITE 12 V 9 5 Ethernet TX YELLOW 1 V to 1 V NOTE For the GPS PPS signal pulse width is recommended to be over 1 ms and the cycle is 1 s rising edg...

Страница 16: ...ay Doing so can loosen the connectors shells or even damage the contacts In case a connector s shell is accidentally pulled off stop using the connector and contact Hesai technical support DO NOT atte...

Страница 17: ...may connect the LiDAR directly or using the connection box The connection box has a power port a GPS port and a standard Ethernet port Lemo part number FGG 0T 309 CLAC50Z male plug on the connection...

Страница 18: ...al GPS module JST SHR 06V S B Voltage standard RS232 Baud rate 9600 bps The GPS port pin numbers are 1 to 6 from left to right defined as follows Pin Direction Pin Description Requirements 1 Input PPS...

Страница 19: ...17 2 3 2 Connection Figure 2 9 Connection Box Connection NOTE Refer to Appendix III when PTP protocol is used...

Страница 20: ...ace enp0s20f0u2 with the local Ethernet port name Open the Network Sharing Center click on Ethernet In the Ethernet Status box click on Properties Double click on Internet Protocol Version 4 TCP IPv4...

Страница 21: ...packet consists of an Ethernet header and UDP data Figure 3 1 Data Structure LiDAR Data Point Cloud Data Packet 1122 bytes Ethernet Header 42 bytes UDP Data 1080 bytes GPS Data Packet 554 bytes Ethern...

Страница 22: ...ination broadcast 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF Source xx xx xx xx xx xx Ethernet Data Packet Type 2 bytes 0x08 0x00 Internet Protocol 20 bytes Shown in Figure 3 2 UDP Port Number 4 bytes UDP source p...

Страница 23: ...tes Field Bytes Description 0xEE 1 SOP start of packet 0xFF 1 SOP start of packet Protocol Version Major 1 To distinguish between product models 0x06 for the PandarXT series Protocol Version Minor 1 F...

Страница 24: ...cket 0x00 Single Return 0x01 Last Return in Dual Return mode Dis Unit 1 0x04 4 mm Return Number 1 Number of returns that each channel generates 0x01 one return 0x02 two returns UDP Seq 1 7 1 is reserv...

Страница 25: ...nd the even number block is the strongest return If the last and strongest returns coincide the second strongest return will be placed in the even number block The Azimuth changes every two blocks Blo...

Страница 26: ...0x00 and the system will automatically return to normal operation Return Mode 1 0x37 for Strongest Return mode 0x38 for Last Return mode and 0x39 for Dual Return mode Motor Speed 2 speed_2_bytes 15 0...

Страница 27: ...tal angle current reference angle of the rotor horizontal angle offset firing time offset Current reference angle of the rotor Azimuth field of Block 2 Horizontal angle offset 0 for Channel 5 accordin...

Страница 28: ...anwhile the LiDAR will extract the actual date and time from NMEA messages GPRMC or GPGGA and stamp them into both Point Cloud Data Packets and GPS Data Packets Point Cloud Data Packets 6 byte Date Ti...

Страница 29: ...roadcast 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF Source xx xx xx xx xx xx Ethernet Data Packet Type 2 0x08 0x00 Internet Protocol 20 Shown in the figure below UDP Port Number 4 UDP source port 0x2710 represents...

Страница 30: ...4 NMEA sentence that contains date and time ASCII code valid till 2 bytes after the asterisk The LiDAR can receive either GPRMC or GPGGA see Section 4 2 Web Control Settings Reserved 404 404 bytes of...

Страница 31: ...hex 0 for GPS being unlocked 09 UTC Date Date information Typically in ddmmyy day month year format The LiDAR s GPS data interface is compatible with a variety of GPRMC formats as long as 01 is the h...

Страница 32: ...lid 1 GPS fix SPS 2 DGPS fix 3 PPS fix 6 estimated dead reckoning The LiDAR s GPS data interface is compatible with a variety of GPGGA formats as long as 01 is the hour minute and second information F...

Страница 33: ...0x32 0 2 20 Month 0x34 0x30 4 0 04 Day 0x37 0x30 7 0 07 Time Field Data ASCII Code Characters Meaning Second 0x38 0x35 8 5 58 Minute 0x37 0x30 7 0 07 Hour 0x34 0x30 4 0 04 s Time 4 bytes in units of...

Страница 34: ...vice info and upgrading To access web control 1 Connect the LiDAR to your PC using an Ethernet cable 2 Set the IP address according to Section 2 4 Get Ready to Use 3 Enter this URL into your web brows...

Страница 35: ...lected Tracking Slave is trying to sync with the selected PTP Master but the absolute offset is over 1 s Locked Absolute offset between Slave and Master is 1 s Frozen Holdover LiDAR has lost connectio...

Страница 36: ...IP VLAN Tagging can be used when the receiving host also supports VLAN function Check the VLAN checkbox and input a VLAN ID 1 4094 Set the VLAN ID of the receiving host to be the same 3 Destination I...

Страница 37: ...gle Based Time Based Angle based lasers fire every 0 09 at 5 Hz 0 18 at 10 Hz or 0 36 at 20 Hz Time based lasers fire every 50 us Interstitial Points Filtering Interstitial point when a beam partially...

Страница 38: ...urce Profile 1588v2 default 802 1AS IEEE timing and synchronization standard PTP Network Transport UDP IP default or L2 1588v2 users can select UDP IP or L2 802 1AS only supports L2 network PTP Domain...

Страница 39: ...select one of the two modes for all channels or multi section FOV 4 3 1 For all channels A continuous angle range specified by a Start Angle and an End Angle will be applied to all channels The LiDAR...

Страница 40: ...its specified range 4 3 3 Note Click Save to apply your settings The angles in degrees are accurate to the first decimal place If the Start Angle is larger than the End Angle then the actual azimuth F...

Страница 41: ...39 4 4 Operation Statistics The LiDAR s operation time in aggregate and in different temperature ranges are listed...

Страница 42: ...e is complete the LiDAR will automatically reboot and the past versions will be logged in the Upgrade Log A software reboot is triggered by clicking the Restart button on the top right corner Afterwar...

Страница 43: ...m Installation Files Installation Steps Windows PandarViewX64_Release_V1 7 22 msi Before upgrading PandarView to a newer version please uninstall the current version Double click and install PandarVie...

Страница 44: ...se Check Live Data Click on and select your LiDAR model to begin receiving data over Ethernet Record Point Cloud Data Click on to pop up the Choose Output File window Specify the file directory and cl...

Страница 45: ...V see Section 1 3 Channel Distribution We recommend importing the calibration file of this LiDAR unit into PandarView File Import Correction File in order to display the point cloud most accurately If...

Страница 46: ...e paused jump to the next frame While playing forward May click again to adjust the forward speed 2x 3x 1 2x 1 4x and 1x Jump to the end of the file Save a single frame to CSV While playing this Recor...

Страница 47: ...t of view The bottom left coordinate axes show the current point of view 3D Projection and Distance Measurement PandarView supports perspective projection default and orthographic projection The dista...

Страница 48: ...See the definition of blocks in Section 3 1 2 Point Cloud UDP Data UDP Port Enter the UDP port number and click Set to apply it Distance Reference Circles Click on to show hide the 12 distance refere...

Страница 49: ...cts Channel Selection Click on to open the Channel Selection box Check Uncheck the boxes on the left to show hide each channel By default the point cloud data from all channels are shown Check Uncheck...

Страница 50: ...e data of the highlighted points as shown below Some of the data fields are defined below Field Description points The XYZ coordinates of each point azimuth Rotor s current reference angle azimuth_cal...

Страница 51: ...olor legend at the lower right corner The default color scheme is intensity based Users can choose from other colors schemes based on azimuth azimuth_calib distance elevation laser_id or timestamp Cli...

Страница 52: ...50 6 Communication Protocol To receive Hesai LiDAR s TCP and HTTP API Protocols please contact Hesai technical support...

Страница 53: ...transport Cleaning Stains on the product s enclosure such as dirt fingerprints and oil can negatively affect point cloud data quality Please perform the following steps to remove the stains NOTE To a...

Страница 54: ...ature 40 to 60 4 When the stains have loosened dip a piece of lint free wipe into the solvent made in Step 3 and gently wipe the enclosure back and forth along its curved surface 5 Should another clea...

Страница 55: ...atisfy the requirements in Section 1 4 Specifications and 2 3 Connection Box web control can be accessed see cannot open web control on the next page Power on again to check if the symptom persists Mo...

Страница 56: ...t with the PC s Users may use WireShark to check the LiDAR s IP that broadcasts data packets Afterwards restart PC or connect the LiDAR to another PC power on again to check if the symptom persists Ab...

Страница 57: ...n Statistics page of web control Afterwards check for packet loss If no packet is missing while the point cloud flashes please update PandarView to the latest version see the Download page of Hesai s...

Страница 58: ...nel Distribution To Be Continued Channel in UDP Data Horizontal Angle Offset Azimuth Vertical Angle Elevation Instrument Range in meters Range in meters with Reflectivity 01 Top 0 15 120 50 10 02 0 14...

Страница 59: ...Range in meters Range in meters with Reflectivity 17 0 1 120 80 10 18 0 2 120 80 10 19 0 3 120 80 10 20 0 4 120 80 10 21 0 5 120 80 10 22 0 6 120 80 10 23 0 7 120 80 10 24 0 8 120 80 10 25 0 9 120 50...

Страница 60: ...Channel 32 Channel 32 Channel 32 Channel 32 Single Return Mode The measurements from one round of firing are stored in one block The absolute time of a Point Cloud Data Packet is the time when the Li...

Страница 61: ...t 4 bytes of Timestamp NOTE The calculation of absolute time is different when PTP protocol is used See Appendix III PTP Protocol Start Time of Each Block Assuming that the absolute time of a Point Cl...

Страница 62: ...ring Time of Each Channel In each round of firing the firing sequence is from Channel 1 to Channel 32 Assuming that the start time of Block 6 is t6 the laser firing time of Channel i is t6 1 512 i 1 0...

Страница 63: ...PTP Protocol The Precision Time Protocol PTP is used to synchronize clocks across a computer network It can achieve sub microsecond clock accuracy LiDAR Connection When Using PTP Figure III 1 Connecti...

Страница 64: ...PTP protocol The timestamps and Date Time fields in Point Cloud Data Packets strictly follow the PTP master device Certain PTP master devices may have a specified offset from the Date Time output by...

Страница 65: ...using 26 AWG cables the estimated cable resistance is r 0 3L unit Define the source voltage as U_in V The cable voltage drop of the LiDAR operating at 10 Hz under room temperature 23 5 C can be estim...

Страница 66: ...consumption will also be higher than the typical value in Section 1 4 Specifications In the above or similar conditions we recommend providing at least 30 W of input power to the LiDAR Power Up Down...

Страница 67: ...provide reasonable protection against harmful interference in a residential installation This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordanc...

Страница 68: ...e undesired operation of the device Le pr sent appareil est conforme aux CNR d Industrie Canada applicables aux appareils radio exempts de licence L exploitation est autoris e aux deux conditions suiv...

Страница 69: ...ity or fitness for any particular purpose Further Hesai Technology reserves the right to revise this publication and to make changes from time to time in the contents hereof without obligation to noti...

Страница 70: ...Technology Co Ltd Phone 86 400 805 1233 Website www hesaitech com Address Building L2 Hongqiao World Centre Shanghai China Business Email info hesaitech com Service Email service hesaitech com HESAI W...

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