OLEI LR-16F, Руководство пользователя

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User Manual LR-16F
OMEN-16F-202012
10
The laser returned data consists of 12 data blocks. Each data block starts with a 2-byte
identifier 0xFFEE, followed by a 2-byte azimuth angle and a total of 32 data points. The laser
returned value of each channel contains a 2-byte distance value and a 1-byte calibration
reflectivity value.
Offset Length
Description
0 2 Identifier, fixed value as 0xFFEE
2 2 Angle data
4 2 Ch0 distance data
6 1 Ch0 reflectance data
7 2 Ch1 distance data
9 1 Ch1 reflectance data
10 2 Ch2 distance data
12 1 Ch2 reflectance data
... ... ...
49 2 Ch15 distance data
51 1 Ch15 reflectance data
52 2 Ch0 distance data
54 1 Ch0 reflectance data
55 2 Ch1 distance data
57 1 Ch1 reflectance data
58 2 Ch2 distance data
60 1 Ch2 reflectance data
... ... ...
97 2 Ch15 distance data
99 1 Ch15 reflectance data
Table 5 Data block structure
7.1.3. Time stamp
7.1.4. Factory mark
Offset Length Description
0 2 Factory:(2 Byte)0x00,0x10
7.2. Communication protocol-information package
7.2.1. Overview
Header Lidar Info GPS Info
42 Bytes 768 Bytes 74 Bytes
Length of data package: 884 Bytes
Offset Length Description
0 4
time stamp[31:0]
[31:20] count of seconds
[19:0] count of milliseconds