Velodyne Acoustics HDL-32E user manual APPendix B

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aPPendix B

HDL-32E User’s Manual

User Datagram Protocol (UDP) Ethernet Data Packet Format: HDL-32E (Port 2368)

Start identifier OxEEFF

2 mm increments (0 = no return within 100 m)

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Figure B1.

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Contents HDL-32E E R ’ S M a N U a L a N DDigital Sensor Recorder DSR HDL-32E Sample Data PacketsCoordinate Calculation Algorithm Sample Code Calibration and OrientationPage Introduction PrinciPLes of oPeration Principles of OperationMount Base SetuPCase Contents Connect Power and Computer WiringOperate 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 Install APPendix a diGitaL sensor recorder dsrCalibrate Live PlaybackAPPendix a Playback of Recorded filesZoom Axis RotationShift 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 APPendix d caLiBration and orientation Calibration and OrientationLaser Spot Size Distance CalibrationAPPendix e etHernet transit tiMinG taBLe Velodyne LiDAR, Inc