RoboSense RS-Bpearl, Руководство пользователя

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RS-Bpearl User Manual
Appendix A Point Time Calculate
A.1 RS-Bpearl Calculation of time stamp in single mode
In each MSOP packet, there are 12 blocks, each block has one sequence for the whole 32
laser firings, so in a MSOP packet, there are 12 groups for the whole 32 laser firings. At
every firing moment, there are two laser firing together, all 32 lasers are fired and
recharged every 55.52 µs. The cycle time between firing is 1.28 µs. 32 firings cost time 32
x 1.28 µs = 40.96 µs. Besides, the charge/recharge time and wait time after emission must
be calculated. Therefore, this time interval = 2 * charge time + 2 * recharge time + wait
time = 2 * 4.00 us + 2 * 1.20 us + 4.16 us = 14.56 us.
Table A - 1: Time Offset for each Channel in single Return Mode.
In the firing sequence, Bpearl is first charged once, then the lasers fire one by one from
channel 1 to channel 8 and from channel 17 to channel 24 respectively. After that, Laser
emitters are charged once again, then lasers fire from Channel 9 to channel 16 and from
channel 25 to channel32 respectively.
Set the channel number data_index is 1~32, sequence_index is 1~12. Because the time
stamp is the time of the first data point in the packet, you need to calculate a time offset for
each data point and then add this offset to the time stamp.