Figure 6-5 Forestry Application Multiple Returns
Note: In dual return mode, the data rate of the sensor doubles.
6.3 Phase Locking Multiple Sensors
When using multiple Velodyne LiDAR sensors in proximity to one another, users may observe interference between them
due to one sensor picking up a reflection intended for another. To minimize this interference, the sensor provides a phase-
locking feature that enables the user to control where the laser firings overlap.
The Phase Lock feature can be used to synchronize the relative rotational position of multiple sensors based on the PPS
signal and relative sensor orientation. To operate correctly, the PPS signal must be present and locked. Phase locking
works by offsetting the firing position based on the rising edge of the PPS signal.
Note: For phase lock to work correctly, the sensor’s RPM setting must be set to a multiple of 60 RPM between 300 RPM
and 1200 RPM (inclusive).
Chapter 6 • Key Features
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