Velodyne Acoustics HDL-32E user manual PrinciPLes of oPeration, Principles of Operation

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PrinciPLes of oPeration

Principles of Operation

HDL-32E User’s Manual

The HDL-32E creates 360° 3D images by using 32 laser/detector pairs whose housing rapidly spins to scan the surrounding environment. This design allows for the lasers to each fire thousands of times per second, providing a rich, 3D point cloud.

Digital signal processing and waveform analysis provide high accuracy, extended distance sensing and intensity data.

The HDL-32E uses a direct drive motor system, employing no belts or chains in the drive train, to improve reliability and reduce maintenance.

The unit provides:

•A 360° horizontal field of view (FOV)

•A 41.3° vertical FOV

•Usable returns up to 100 meters

360°

Spinning

LiDAR

Sensor

41.3°

Valid Data Range

5 cm to 100 m

Figure 1. Overview of the LiDAR HDL- 32E 3D Imaging System.

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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 oPerationMount Base SetuPCase Contents Wiring Connect Power and ComputerOperate 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 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