Velodyne Acoustics HDL-32E user manual Velodyne LiDAR, Inc

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Velodyne LiDAR, Inc.

345 Digital Drive

Morgan Hill, CA 95037

408.465.2800 voice 408.779.9227 fax 408.779.9208 service fax

www.velodynelidar.com

Service E mail: lidarservice@velodyne.com

Sales E mail: lidar@velodyne.com

All Velodyne products are made in the U.S.A.

Specifications subject to change without notice

Other trademarks or registered trademarks are property of their respective owner.

63-9113 Rev A APR2011

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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 OperationCase Contents SetuPMount Base Connect Power and Computer WiringOperate WeatherHDL-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 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