Data Field - RoboSense RS-Ruby User Manual

5.1.2 Data Field

The value of measurement result is saved in the data field, in total 1164 byte. It consists of
3 data blocks, the length of each data block is 388 bytes. Each block stands for a
complete round of distance measuring for all 128 channel. The definition is shown as
follow:
Symbol Ret_id
1bytes 1bytes
Symbol: identification bit, default value: 0xfe;
Ret_id: it is used to represent which echo measurement is for this block;
Azimuth: the information of horizontal rotation angle. This angle information will be used
to calculate the 3D coordinate with all following 128 channel data in the same block. In
following section, it will be completely explained.
Channel data: the length of each channel data is 3 bytes, each block includes 128
channel data (further details could be seen in Table 6). (The relationship between the
number of channel and vertical angle can be found in chapter 8.)
5.1.2.1 Calculation of the Azimuth
In each data block the value of azimuth is measured once and this azimuth corresponds to
the first position of the first laser emission (the first channel data in this block). The rotation
angle is recorded by angle encoder. The zero position of angle encoder is the zero degree
of azimuth. The resolution of resolution angle is 0.01°.
For instance, in figure 6, the azimuth value is calculated as follow:
Get azimuth values (HEX): 0x59, 0x39
Combine to a 16bit, unsigned integer (HEX): 0x 5939
Convert the value to decimal (DEC): 22841
Division by 100 (DEC): 228.41°
Hence, the angle value in this block is 228.41°.
Note: the 0°axis of azimuth is co-axis and same positive direction with the Y axis in Figure
8.
Table 5. Data Block Definition
Data block n(388bytes)
Azimuth Channel0_data
2bytes 3byte
9
RS-Ruby Users' Manual
... Channel127_data
... 3bytes