Velodyne-acoustics LIDAR HDL-32E Manuel d'utilisateur

HDL-32EHigh Definition LiDAR™Sensor US E R ’ S M A N U A L A N DP R O G R A M M I N G G U I D E

External GPS Time SynchronizationThe HDL- 32E can synchronize its data with precision GPS-supplied time pulses to enable users to ascertain the exact

[ 8 ]HDL-32E User’s ManualThe images below show the GPS receiver included with the HDL-32E.GPS EQUIPMENTGPS Interface Box Front & Back ViewEt

Packet Format and Status Byte for GPS Time Stamping The 6 extra bytes at the end of the HDL- 32E data packet are used to report GPS timing. For every

Laser Firing Sequence The laser firing order is the same as the order in the Ethernet packet. The most downward laser fires first, followed by the in

[ 11 ]HDL-32E User’s Manual           Use this chart to troubleshoot common problems with the HDL-32E.Problem

[ 12 ]HDL-32E User’s Manual    Laser:Sensor:Mechanical:Output:Dimensions:(Height//Diameter)Shipping Weight:(approx.)• Class 1 - eye safe

Digital Sensor Recorder (DSR)DSR is a windows-based 3 D point cloud visualization software program designed for use with the HDL- 32E. This software i

Once the input of streaming data has been confirmed through the live playback feature, click on the Record button and the program willrequest the name

DSR Key ControlsZoom:Z = Zoom inShift, Z = Zoom outZ Axis Rotation:Y = Rotate CWShift, Y = Rotate CCWX Axis Rotation:P = Rotate CWShift, P = Rotate CC

Data Packet Format The HDL-32E outputs two UDP Ethernet packets — a data packet containing laser firing data located on Port 2368 and a positioning pa

i12357999101111121316222324S A F E T Y N O T I C E SI N T R O D U C T I O NP R I N C I P L E S O F O P E R A T I O NS E T U PU S A G EExternal G

Figure B1.[ 17 ]HDL-32E User’s Manual BlankBlankStart identifier OxEEFF2 mm increments (0 = no return within 100 m)User Datagram Protocol (U

Positioning Packet Using outputs from onboard gryrometers and 2‐axis accelerometers, orientations shown below in Figure B2, the positioning ethernet P

Figure B3.[ 19 ]HDL-32E User’s Manual 

Time Stamp:“7c bd 9c 91” 2442968444(919cbd7c hex)usec = 2442.9secTime stamp from the head of the hour in usec. NMEA Sentence:“$GPRMC, 214042, A, 3708

Ethernet Packet ExampleCaptured via Wireshark.[ 21 ]HDL-32E User’s Manual 

Coordinate Calculation Algorithm Sample CodeAfter removing all the correction parameters except vertical correction,the calculation code is:firingData

Calibration and OrientationThere are six axes of variation when determining the exact location of any given laser firing for the HDL-32. The axes are

[ 24 ]HDL-32E User’s Manual          All times in microseconds. Combine the value shown from the packe

Velodyne LiDAR, Inc.345 Digital DriveMorgan Hill, CA 95037408.465.2800 voice408.779.9227 fax408.779.9208 service faxwww.velodynelidar.comService E

[ i ] !   CautionTo reduce the risk of electric shock and to avoid violating the warranty, do not open sensor body. Refer servic

Congratulations on your purchase of a Velodyne HDL- 32E High Definition LiDAR Sensor. This sensor provides state-of-the-art 3D imaging. This manual de

Principles of OperationThe HDL-32E creates 360° 3D images by using 32 laser/detector pairs whose housing rapidly spins to scan the surrounding environ

This section describes the standard set up assuming you are connecting the sensor to a standard computer or laptop and mounting thesensor on a vehicle

Connect Power and ComputerThe sensor units are commonly used in vehicle applications where standard 12 volt, 2 amp power is readily available. 1. Conn

The HDL-32E sensor needs no configuration, calibration, or other setup to begin producing usable data. Once the unit is mounted and wired,supplying i

Alternatively, the calibration data can be found in the included db.xml file found on the CD included with the HDL- 32E. The calibration data forvertC