Velodyne VLP-32C, Руководство пользователя, Страница: 12 / 136

List of Figures
Figure 2-1 Example 3D Sensing System
18
Figure 3-1 Class 1 Laser 21
Figure 4-1 Sensor Network Settings 23
Figure 4-2 Interface Box (power and data connections) 24
Figure 4-3 Sample Web Interface Main Configuration Screen 25
Figure 4-4 VeloView Open Sensor Stream
27
Figure 4-5 VeloView Select Sensor Calibration 27
Figure 4-6 VeloView Sensor Stream Display 28
Figure 5-1 Mounting Details
29
Figure 6-1 A Single Return 33
Figure 6-2 Dual Return with Last and Strongest Returns 34
Figure 6-3 Dual Return with Second Strongest Return 35
Figure 6-4 Dual Return with Far Retro-Reflector 36
Figure 6-5 Forestry Application Multiple Returns
37
Figure 6-6 Phase Locking Example 38
Figure 7-1 Interface Box 40
Figure 7-2 Synchronizing PPS with NMEA GPRMC Message
41
Figure 7-3 PPS Signal Closely Followed by NMEA GPRMC Message 42
Figure 7-4 PPS Signal Followed 600 ms later by NMEA GPRMC Message 42
Figure 7-5 RS-232 Example Transmission 43
Figure 7-6 Garmin 18x LVC Configuration 44
Figure 7-7 Garmin GPRMC Message
45
Figure 7-8 DB9 Pin-outs (DTE) and USB-to-Serial Adapter 46
Figure 7-9 Signal Directly from UART (incorrect polarity) 46
Figure 7-10 Inverted Signal from UART (correct polarity)
47
Figure 8-1 Firing Sequence Timing 50
Figure 8-2 Point Density Example 52
Figure 9-1 VLP-32C Sensor Coordinate System 54
Figure 9-2 VLP-32 Single Return Mode Data Structure 57
Figure 9-3 VLP-32 Dual Return Mode Data Structure
58
Figure 9-4 Wireshark Position Packet Trace 61
Figure 9-5 Firing Sequence Timing 62
Figure 9-6 Example Data Point Timing Calculation
64
Figure 9-7 Single Return Mode Timing Offsets (in µs) 65
12 VLP-32C User Manual