User's Manual

11
◼ Body
Body: 772 bytes (2 blocks)
Block 1
Block 2
Azimuth 1
Azimuth 2
Channel 1
Channel 1
Channel 2
Channel 2
…
…
Channel 128
Channel 128
Under the Dual Return mode, the ranging data from each firing is stored in the two blocks of one packet:
▪ Block 1 is the last return, and Block 2 is the strongest return
▪
If the last and strongest returns coincide, the second strongest return will be placed in Block 2
▪
The Azimuth of Block1 and Block 2 is the same
Block size = Size of Azimuth + 128 * Size of Channel XX = 386 bytes
Each Block in the Body: 386 bytes
Field
Bytes
Description
Azimuth
2
Current reference angle of the rotor
Azimuth[15:0]: lower byte Azimuth_L[7:0], upper byte Azimuth_H[15:8].
Azimuth Angle (in degrees) = [Azimuth_H, Azimuth_L] / 100 = Azimuth / 100
Channel XX
3
2-byte Distance
Distance[15:0]: lower byte Distance_L[7:0], upper byte Distance_H[15:8]
Distance Value = [Distance_H, Distance_L] * 4 mm = Distance * 4 mm
Maximum Distance Value = (2 ^ 16 – 1) * 4 mm = 262.14 m
1-byte Reflectivity
Reflectivity, in percentage (0 to 255 )