Velodyne Acoustics user manual Digital Sensor Recorder DSR, HDL-32E Sample Data Packets

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iS A F E T Y N O T I C E S

1 I N T R O D U C T I O N

2 P R I N C I P L E S O F O P E R A T I O N

3S E T U P

5U S A G E

7External GPS Time Synchronization

9Packet Format and Status Byte for GPS Time Stamping

9Time Stamping Accuracy Rates

9Laser Timing

10Laser Firing Sequence

11T R O U B L E S H O O T I N G

11S E R V I C E A N D M A I N T E N A N C E

12S P E C I F I C A T I O N S

13A P P E N D I X A :

Digital Sensor Recorder (DSR)

16 A P P E N D I X B :

22 A P P E N D I X C :

23 A P P E N D I X D :

24 A P P E N D I X E :

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Contents HDL-32E E R ’ S M a N U a L a N DCoordinate Calculation Algorithm Sample Code Digital Sensor Recorder DSRHDL-32E Sample Data Packets Calibration and OrientationPage Introduction PrinciPLes of oPeration Principles of OperationMount Base SetuPCase Contents Operate Connect Power and ComputerWiring WeatherIP Address UsaGeHDL-32 MAC ID and IP address format Mac ID UsaGe GPS Receiver Option 2 Customer’s GPS Receiver External GPS Time SynchronizationGPS Receiver Option 1 Velodyne Supplied GPS Receiver Images below show the GPS receiver included with the HDL-32E Laser Timing Packet Format and Status Byte for GPS Time StampingTime Stamping Accuracy Rules Vertical angle Laser Firing SequenceFiring order SerVice and Maintenance TrouBLesHootinGProblem Resolution SPecifications Calibrate InstallAPPendix a diGitaL sensor recorder dsr Live PlaybackAPPendix a Playback of Recorded filesShift ZoomAxis Rotation RotationalAPPendix B HdL-32e saMPLe data PacKets Data Packet FormatAPPendix B Positioning Packet Figure B2Figure B3 Time Stamp Nmea SentenceEthernet Packet Example APPendix c coordinate caLcuLation aLGoritHM saMPLe code Laser Spot Size APPendix d caLiBration and orientationCalibration and Orientation Distance CalibrationAPPendix e etHernet transit tiMinG taBLe Velodyne LiDAR, Inc