Velodyne Acoustics HDL-32E user manual Ethernet Packet Example

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aPPendix B

Ethernet Packet Example

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HDL-32E User’s Manual

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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 OperationSetuP Case ContentsMount Base Connect Power and Computer WiringOperate 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 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