Velodyne Acoustics HDL-32E user manual SPecifications

Page 15

 

sPecifications

 

HDL-32E User’s Manual

 

 

 

 

 

Laser:

 

• Class 1 - eye safe

 

 

 

• 905 nm wavelength

 

 

 

• Time of flight distance measurement with intensity

 

 

 

• Measurement range 100 m (5 cm to 100 m)

 

 

 

 

 

 

 

• 32 laser/detector pairs

 

Sensor:

 

• +10.67 to -30.67 degrees field of view (vertical)

 

 

 

• 360 degree field of view (horizontal)

 

 

 

• 10 Hz frame rate

 

 

 

• Operating temperature -10° C to +60° C

 

 

 

• Storage temperature - 40 to 105 C

 

 

 

• Accuracy: <2 cm (one sigma at 25 m)

 

 

 

• Angular resolution (vertical) 1.33 degrees

 

 

 

 

 

 

 

• Power: 12V @ 2 Amps

 

Mechanical:

 

• Operating voltage: 9-32 VDC

 

 

 

• Weight: <2 kg

 

 

 

• Shock: 500 m/sec2 amplitude, 11 msec duration

 

 

 

• Vibration: 5 Hz to 2000 Hz, 3 Grms

 

 

 

• Environmental Protection: IP67

 

 

 

 

 

 

 

• Approximately 700,000 points/second

 

 

 

• 100 Mbps Ethernet connection

 

Output:

 

• UDP packets

 

 

 

- distance

 

 

 

- intensity

 

 

 

- rotation angle

 

 

 

• Orientation - internal MEMS accelerometers and gyros

 

 

 

for six-axis motion correction - external correction

 

 

 

 

 

Dimensions:

 

• Unit: 5.68” x 3.36”

 

(Height//Diameter)

 

[149.86mm x 85.3mm]

 

 

 

 

 

Shipping Weight:

 

• 14.35 lbs [ 6.5 Kg]

 

(approx.)

 

 

 

 

 

 

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Contents E R ’ S M a N U a L a N D HDL-32ECalibration and Orientation Digital Sensor Recorder DSRHDL-32E Sample Data Packets Coordinate Calculation Algorithm Sample CodePage Introduction Principles of Operation PrinciPLes of oPerationSetuP Case ContentsMount Base Weather Connect Power and ComputerWiring OperateUsaGe HDL-32 MAC ID and IP address format Mac IDIP Address UsaGe External GPS Time Synchronization GPS Receiver Option 1 Velodyne Supplied GPS ReceiverGPS Receiver Option 2 Customer’s GPS Receiver Images below show the GPS receiver included with the HDL-32E Packet Format and Status Byte for GPS Time Stamping Time Stamping Accuracy RulesLaser Timing Laser Firing Sequence Firing orderVertical angle TrouBLesHootinG Problem ResolutionSerVice and Maintenance SPecifications Live Playback InstallAPPendix a diGitaL sensor recorder dsr CalibratePlayback of Recorded files APPendix aRotational ZoomAxis Rotation ShiftData Packet Format APPendix B HdL-32e saMPLe data PacKetsAPPendix B Figure B2 Positioning PacketFigure B3 Nmea Sentence Time StampEthernet Packet Example APPendix c coordinate caLcuLation aLGoritHM saMPLe code Distance Calibration APPendix d caLiBration and orientationCalibration and Orientation Laser Spot SizeAPPendix e etHernet transit tiMinG taBLe Velodyne LiDAR, Inc