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33
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3.1.3
Point Cloud Data Analysis
Take Channel 5 in Block 3 as an example:
■ Analyze the vertical angle of a data point
The designed vertical angle of Channel 5 is 3.00°, according to Appendix I (Channel Distribution)
Notes
·
The accurate vertical angle is recorded in this LiDAR's unit's angle correction file, see Section 1.3 (Channel Distribution).
·
0° is the horizontal direction; define upward as positive (see Figure 1.5).
·
Channel # counts from 1, top to bottom.
■ Analyze the horizontal angle of a data point
Y-axis is the 0° position; define clockwise in the top view as positive (see Figure 1.4).
Horizontal angle = ①
+
②
+
③
① Rotor reference angle during the current round of firing
In the Azimuth field of Block 3.
② Horizontal angle offset of the channel
The designed offset for Channel 5 is -1.042°, according to Appendix I (Channel Distribution Table).
The accurate horizontal angle offset is recorded in this LiDAR's unit's angle correction file, see Section 1.3 (Channel Distribution).
③ Firing time angular offset of the channel = ④ * ⑤
Summary of Contents for Pandar40M
Page 1: ...www hesaitech com HESAI Wechat Pandar40M 40 Channel Mechanical LiDAR User Manual...
Page 17: ...15 2 Setup 2 1 Mechanical Installation Figure 2 1 Front View Unit mm...
Page 18: ...16 Figure 2 2 Bottom View Unit mm...
Page 19: ...17 2 1 1 Quick Installation Figure 2 3 Quick Installation...
Page 20: ...18 2 1 2 Stable Installation Figure 2 4 Stable Installation...
Page 27: ...25 2 3 2 Connection Figure 2 10 Connection Box Connection with GPS...
Page 28: ...26 Figure 2 11 Connection Box Connection with PTP...
