Velodyne Acoustics HDL-32E user manual Introduction

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introduction

HDL-32E User’s Manual

Congratulations on your purchase of a Velodyne HDL- 32E High Definition LiDAR Sensor. This sensor provides state-of-the-art 3D imaging.

This manual describes how to set up and operate the HDL-32E, covers installation and wiring, addresses output packet construction and interpretation, along with GPS installation notes.

This manual is undergoing constant revision and improvement – check www.velodynelidar.com for updates.

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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