E R ’ S M a N U a L a N D | Velodyne Acoustics HDL-32E instruction

U S E R ’ S M A N U A L A N D

P R O G R A M M I N G G U I D E

HDL-32E

High Definition LiDAR™ Sensor

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Velodyne Acoustics HDL-32E user manual E R ’ S M a N U a L a N D

Contents

E R ’ S M a N U a L a N D HDL-32E HDL-32E Sample Data Packets Digital Sensor Recorder DSRCoordinate Calculation Algorithm Sample Code Calibration and OrientationPage Introduction Principles of Operation PrinciPLes of oPeration Case Contents SetuPMount Base Wiring Connect Power and ComputerOperate Weather HDL-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 APPendix a diGitaL sensor recorder dsr InstallCalibrate Live Playback Playback of Recorded files APPendix a Axis Rotation ZoomShift Rotational Data Packet Format APPendix B HdL-32e saMPLe data PacKets APPendix B Figure B2 Positioning Packet Figure B3 Nmea Sentence Time Stamp Ethernet Packet Example APPendix c coordinate caLcuLation aLGoritHM saMPLe code Calibration and Orientation APPendix d caLiBration and orientationLaser Spot Size Distance Calibration APPendix e etHernet transit tiMinG taBLe Velodyne LiDAR, Inc