Velodyne Acoustics HDL-32E user manual APPendix B HdL-32e saMPLe data PacKets, Data Packet Format

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aPPendix B: HdL-32e saMPLe data PacKets

HDL-32E User’s Manual

Data Packet Format

The HDL-32E outputs two UDP Ethernet packets — a data packet containing laser firing data located on Port 2368 and a positioning packet which contains GPS and positioning data located on Port 8308. The packet at Port 2368 contains a header, a data payload of firing data and status data. Data packets are assembled with the collection of all firing data for twelve laser firing sequences. The laser distance and instensity data is collected in the same staggered order (0, 16, 1, 17 . . . 14, 30, 15, 31) as the laser is firing. The data packet is then combined with status and header data in a UDP packet transmitted over Ethernet. The data packet is transmitted starting with the last byte acquired in a last in, first out (LIFO) data order.

The status data always contains a GPS 4 byte timestamp representing milliseconds from the top of the hour. In addition, the status data contains two reserved bytes not used at this time.

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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 oPerationCase Contents SetuPMount Base Weather Connect Power and ComputerWiring OperateHDL-32 MAC ID and IP address format Mac ID UsaGeIP Address UsaGe GPS Receiver Option 1 Velodyne Supplied GPS Receiver External GPS Time SynchronizationGPS Receiver Option 2 Customer’s GPS Receiver Images below show the GPS receiver included with the HDL-32E Time Stamping Accuracy Rules Packet Format and Status Byte for GPS Time StampingLaser Timing Firing order Laser Firing SequenceVertical angle Problem Resolution TrouBLesHootinGSerVice 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