Velodyne DIGITAL DRIVE - REV G Especificaciones descargar pdf (Pagina 33)

HDL‐64ES3



High DefinitionLiDARSensor Page33

Velodyne,Inc.

2013



63‐HDL64ES3REV G

GPS Status Values

GPSStatus

Values

Hex ASCII Stringand

Definition

A=GPSreceivingbothsyncsignalandNMEAtimecommandrecord

V=GPSreceivingNMEAtimecommandrecordonly

P=GPSreceivingsyncsignalonly

0=GPSnot

connected

GPS Timestamp Conversion Example

32‐bitUnsignedInteger

GPSTimestampExample

1.Originaldatabytesou tput

921852

2.Reversedatabytes

D65318

3.ConverttoDecimal

3595704466



sec



3595.704466

sec

Status Type Calibration and Unit Parameters

The last two bytes for status type and status value in the packet rotate to output the sensor information

including, time, GPS status, temperature, firmware, calibration data, and sensor setting parameter, etc.

Status type H, M, S, D, N, Y, G, T and V output once every 16 packets (one cycle).

Calibration data and sensor setting parameters are loaded from the flash memory when the sensor is

powered on and are alternately output in the last 7 packets of the cycle. The whole set of this intrinsic

data needs 4160 packets or 260 cycles (4160 divided by 16 equals 260).

The following table shows status type H, M, S, D, N, Y, G, T and V only once in cycle 1. For table

simplicity, starting from cycle 2, the table only shows the status types of the last 7 packets in the cycles.

1 2 ... 28 29 30 31 32 33 34 35 36 37 38 ... 53 54

Sin comentarios

Velodyne DIGITAL DRIVE - REV G Especificaciones Pagina 33