APPendix B | Velodyne Acoustics HDL-32E manual

aPPendix B

HDL-32E User’s Manual

User Datagram Protocol (UDP) Ethernet Data Packet Format: HDL-32E (Port 2368)

Start identifier OxEEFF

2 mm increments (0 = no return within 100 m)

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Figure B1.

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Velodyne Acoustics HDL-32E user manual APPendix B

Contents

HDL-32E E R ’ S M a N U a L a N D Digital Sensor Recorder DSR HDL-32E Sample Data PacketsCoordinate Calculation Algorithm Sample Code Calibration and OrientationPage Introduction PrinciPLes of oPeration Principles of Operation Mount Base SetuPCase Contents Connect Power and Computer WiringOperate Weather IP 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 Install APPendix a diGitaL sensor recorder dsrCalibrate Live Playback APPendix a Playback of Recorded files Zoom Axis RotationShift Rotational APPendix B HdL-32e saMPLe data PacKets Data Packet Format APPendix B Positioning Packet Figure B2 Figure B3 Time Stamp Nmea Sentence Ethernet Packet Example APPendix c coordinate caLcuLation aLGoritHM saMPLe code APPendix d caLiBration and orientation Calibration and OrientationLaser Spot Size Distance Calibration APPendix e etHernet transit tiMinG taBLe Velodyne LiDAR, Inc