Velodyne Acoustics HDL-32E user manual Positioning Packet, Figure B2

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aPPendix B

HDL-32E User’s Manual

Positioning Packet

Using outputs from onboard gryrometers and 2‐axis accelerometers, orientations shown below in Figure B2, the positioning ethernet Packet provides motion data (rotational and acceleration) for the stationary base of the HDL‐32E unit. See the User Datagram Protocol (UDP) Positioning Ethernet Packet Format: HDL‐32E, Figure B3, for interpretation of data output.

I0 degrees

Figure B2.

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Contents E R ’ S M a N U a L a N D HDL-32EHDL-32E Sample Data Packets Digital Sensor Recorder DSRCoordinate Calculation Algorithm Sample Code Calibration and OrientationPage Introduction Principles of Operation PrinciPLes of oPerationSetuP Case ContentsMount Base Wiring Connect Power and ComputerOperate WeatherUsaGe 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 APPendix a diGitaL sensor recorder dsr InstallCalibrate Live PlaybackPlayback of Recorded files APPendix aAxis Rotation ZoomShift RotationalData 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 Calibration and Orientation APPendix d caLiBration and orientationLaser Spot Size Distance CalibrationAPPendix e etHernet transit tiMinG taBLe Velodyne LiDAR, Inc