OLEI LR-16F, Руководство пользователя

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User Manual LR-16F
OMEN-16F-202012
13
8. Numerical calculation
8.1. Coordinate conversion
The information in the LR-16F data package is the azimuth value and distance value
established in the polar coordinate system. It’s more convenient to construct three-
dimensional scene through the point cloud data by converting polar coordinate value to
Cartesian coordinate system.
The above values corresponding to each channel is shown in the following table:
Channel
number
Vertical
angle ω
Horizontal angle α
Horizontal
offset A
Vertical offset
B
CH0 -15° α 21mm 5.06mm
CH1 1° α+1*0.00108*H 21mm -9.15mm
CH2 -13° α+2*0.00108*H 21mm 5.06mm
CH3 3° α+3*0.00108*H 21mm -9.15mm
CH4 -11° α+4*0.00108*H 21mm 5.06mm
CH5 5° α+5*0.00108*H 21mm -9.15mm
CH6 -9° α+6*0.00108*H 21mm 5.06mm
CH7 7° α+7*0.00108*H 21mm -9.15mm
CH8 -7° α+8*0.00108*H -21mm 9.15mm
CH9 9° α+9*0.00108*H -21mm -5.06mm
CH10 -5° α+10*0.00108*H -21mm 9.15mm
CH11 11° α+11*0.00108*H -21mm -5.06mm
CH12 -3° α+12*0.00108*H -21mm 9.15mm
CH13 13° α+13*0.00108*H -21mm -5.06mm
CH14 -1° α+14*0.00108*H -21mm 9.15mm
CH15 15° α+15*0.00108*H -21mm -5.06mm
Table 8 Coordinate conversion
Note: Under normal accuracy, the horizontal angle α only needs to increase the parameters in
the table above.
The calculation formula for space coordinates is
B R Z
A R Y
A R X
 
 
 
) sin( *
) ( sin * ) cos( * ) cos( *
) cos( * ) sin( * ) ( cos *

  
  
Definitions
 The measured distance output by each channel of the radar is set as R. Note that the unit
of the radar input is 2mm, please convert to 1mm first
 Rotating speed of radar is set as H (usually 10Hz)
 The vertical angle of each channel of the radar is set as ω
 The horizontal angle output by the radar is set as α