Velodyne DIGITAL DRIVE - REV G Dokumentacja Pobierz pdf (Strona 31)

HDL‐64ES3



High DefinitionLiDARSensor Page31

Velodyne,Inc.

2013



63‐HDL64ES3REV G

4 GPSTimestamp

1 StatusType

1 Status Value

EthernetPacket

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LidarDataPayload

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12BlocksFiringData

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(6LowerBlocks+6UpperBlocks)

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FiringData

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Lasers

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Status

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Appendix E: Data Packet Format

The sensor outputs UDP Ethernet packets. Each packet contains a header, a data payload of firing data

and status data. Data packets are assembled with the collection of all firing data for six upper block

sequences and six lower block sequences. The upper block laser distance and intensity data is collected

first followed by the lower block laser data. The data packet is then combined with status and header data

in a UDP packet transmitted over Ethernet.

The status data always contains a GPS 4 byte timestamp representing microseconds from the top of the

hour. In addition, the status data contains one type of data. The other status data rotates through a

sequence of different pieces of information. See datagrams on the following pages.

Data Packet Overview

42 EthernetHeader

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Upper=0xEEFF Lower=0xDDFF

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2 LaserBlockID

2 RotationalPosition

1200

Integer0–35999(÷ 100=degreesfrom0)



1248



1206

100

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2mmincrements(0=noreturnwithin150m)

2DistanceInformation

 96

1Intensity

Integer0–255(255=mostintensereturn)

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TimestampBytesinreverseorder(µsec)

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6

1 2 ... 26 27 28 29 30 31 32 33 34 35 36 ... 53 54

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