RoboSense LiDAR RS-Bpearl, Руководство пользователя

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RS-Bpearl User manual
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5.2.2. Data Blocks
As shown in the table below, the Data Blocks in the MSOP packet store the data measured by the
sensor, and has a total of 1200 bytes. There are a total of 12 data blocks in one MSOP Packet.
Each data block has 100 bytes and represents a complete measurement.
Table 5-3 Data Block Definition
Data Block
（
1200bytes
）
Data Block 1 Data Block 2 Data Block n Data Block 12
0XFFEE 0XFFEE 0XFFEE 0XFFEE
Azimuth 1 Azimuth 2 Azimuth n Azimuth 12
Channel data 1 Channel data 1 Channel data 1 Channel data 1
Channel data 2 Channel data 2 Channel data 2 Channel data 2
... ... ... ... ... ... ... ...
Channel data 31 Channel data 31 Channel data 31 Channel data 31
Channel data 32 Channel data 32 Channel data 32 Channel data 32
Note: In the dual return mode, for each data block, the odd-numbered data blocks reports the last return data,
and the even-numbered data blocks reports the strongest return data.