User's Manual

Through the Block's end time, it is possible to calculate the laser firing time for every channel in the Block.
Take Block 6 for example, assuming Block 6's end time is t6, then:
01)
02)
03)
04)
Laser ID 2’s firing time: (t6-3.62) μs；
Laser ID 20’s firing time: (t6-3.62) μs；
Laser ID 17’s firing time: (t6-1.304*1-3.62) μs；
Laser ID 15’s firing time: (t6-1.304*3-1.968*1-3.62) μs；
05)
06)
07)
08)
Laser ID 12’s firing time: (t6-1.304*3-1.968*2-3.62) μs；
Laser ID 1’s firing time: (t6-1.304*5-1.968*3-3.62) μs；
Laser ID 19’s firing time: (t6-1.304*5-1.968*3-3.62) μs；
Laser ID 6’s firing time: (t6-1.304*7-1.968*4-3.62) μs；
End time of Block 20: (t0-28.58) μs;
End time of Block 19: (t0-28.58) μs;
End time of Block 18: (t0-28.58-55.56) μs;
End time of Block 17: (t0-28.58-55.56) μs;
End time of Block 16: (t0-28.58-55.56*2) μs;
01)
02)
03)
04)
05)
End time of Block 15: (t0-28.58-55.56*2) μs;
End time of Block 14: (t0-28.58-55.56*3) μs;
End time of Block 13: (t0-28.58-55.56*3) μs;
End time of Block 12: (t0-28.58-55.56*4) μs;
End time of Block 11: (t0-28.58-55.56*4) μs;
06)
07)
08)
09)
10)
End time of Block 10: (t0-28.58-55.56*5) μs;
End time of Block 9: (t0-28.58-55.56*5) μs;
End time of Block 8: (t0-28.58-55.56*6) μs;
End time of Block 7: (t0-28.58-55.56*6) μs;
End time of Block 6: (t0-28.58-55.56*7) μs;
11)
12)
13)
14)
15)
End time of Block 5: (t0-28.58-55.56*7) μs;
End time of Block 4: (t0-28.58-55.56*8) μs;
End time of Block 3: (t0-28.58-55.56*8) μs;
End time of Block 2: (t0-28.58-55.56*9) μs;
End time of Block 1: (t0-28.58-55.56*9) μs;
16)
17)
18)
19)
20)
There are 20 Blocks in every Point Cloud UDP Data Packet.
In the dual return mode, Block (1, 2) are corresponding to dual return ranging data for the same 20 channels laser firing, so they have
the same firing time for each laser and the same end time for the Block. Similarly, Block (3, 4) and so on have same firing and end time.
The calculation of each Block's end time is as follows:
Dual Return Mode
Pandar20A
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