Velodyne DIGITAL DRIVE - REV H Manual de usuario descargar pdf (Pagina 15)

Appendix B - Angular Resolution

www.velodyne.com

HDL-64E User’s Manual

Lower Block

RPM RPS Points Per Points Per Revolution Angular Resolution

Revolution Per Laser (degrees)

300 5 50000 1562.5 0.2304

600 10 25000 781.25 0.4608

900 15 16667 521 0.6912

Upper Block

RPM RPS Points Per Points Per Revolution Angular Resolution Post-Lower-Block

Revolution Per Laser (degrees) Angular Resolution

(degrees)**

300 5 200000 6250 0.0576 0.1152

600 10 100000 3125 0.1152 0.2304

900 15 66667 2083 0.1728 0.3456

Notes:

The HDL-64E generates 1 million points per second

• The lower block reports 250,000 points

• The upper block reports 750,000 points

There are three upper block packets then one lower block packet reported, then the pattern repeats.

** The first upper block measurement after the lower block measurement reports has half the

angular resolution.

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