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LSLIDAR MS03 Manual

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MS03
High-Precision Long Range Mapping LiDAR
V1.0.0 2022.03
LeiShen Intelligent System Co., LTD
www.leishen-lidar.com

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  • Page 1 MS03 High-Precision Long Range Mapping LiDAR V1.0.0 2022.03 LeiShen Intelligent System Co., LTD www.leishen-lidar.com...

  • Page 2: Table Of Contents

    TABLE OF CONTENTS 1. PRODUCT PROFILE ........................1 1.1 O ............................1 VERVIEW 1.2 M ........................... 1 ECHANISM 1.3 S ..........................1 PECIFICATION 1.4 D ........................... 2 IMENSIONS 2. ELECTRICAL INTERFACE ......................3 2.1 P ..........................3 OWER UPPLY 2.2 E .........................
  • Page 3 6. TIME SYNCHRONIZATION ......................27 6.1 GPS S ....................... 27 YNCHRONIZATION 6.2 E ..................... 28 XTERNAL YNCHRONIZATION 6.3 L ......................29 IDAR NTERNAL IMING 7. ANGLE AND COORDINATE CALCULATION ................29 7.1 H ........................29 ORIZONTAL NGLE 7.2 D ......................... 29 ISTANCE ALUE 7.3 C...
  • Page 4 Safety Instruction Before using the product, please read and follow the instructions of this manual carefully, and refer to relevant national and international safety regulations. ∆Attention Please do not disassemble or modify the Lidar privately. If you need special instructions, please consult the technical support staff of LeiShen Intelligent.
  • Page 5 supply power in a humid environment may cause abnormal operation, fire, personal injury, product damage, or other property loss. Light Interference Some precise optical equipment may be interfered with by the laser emitted by this product, please pay attention when using it. Vibration Please avoid product damage caused by strong vibration.

  • Page 6: Product Profile

    1. Product Profile 1.1 Overview MS03 is a Lidar based on the ToF principle. Adopting Class I eye-safe laser, it scans at a high speed at a horizontal angle of 120° and reaches a detection range of up to 2,000 meters, a measurement accuracy of ±2 cm, and a minimum angular resolution of 0.01°.

  • Page 7: Dimensions

    There are 4 mounting holes at the back of MS03 Lidar. Four M6 mechanical screws with spring washers and flat washers are needed for locking and fixing the Lidar. Figure 1.2 is the dimension drawing of MS03 Lidar with cable interface is on its side face.

  • Page 8: Electrical Interface

    2. Electrical Interface 2.1 Power Supply The power input range of the MS03 Lidar is 9V～36VDC. If other DC power supply is adopted, the recommended output voltage of the power supply is 12VDC, 19VDC or 24VDC. Please note that DC 9V and 36V are short-term power supplies in extreme environments, which cannot be used as working voltage.

  • Page 9: Electrical Interface

    220VAC adapter nearby for the power supply (DC long-distance power supply is not recommended). 2.2 Electrical Interface The cables from the side of the MS03 Lidar base are a 4-Pin power cord and a 12-Pin ethernet cable. See the figures below. Figure 2.1 The 4-Pin Power Supply Cable...
  • Page 10 Figure 2.2 The 12-Pin Ethernet Cable The wiring definition of the 4-Pin power supply cable and the 12-Pin ethernet cable are presenting in the tables below: Table 2.1 Wiring Definition of the 4-Pin Power Supply Cable Color Definition Description Dark Orange Power+ Light Orange Power+...

  • Page 11: Get Ready

    Figure 3.1. Figure 3.1 Connecting the Lidar 3.2 Software Preparation The LeiShen MS03 Lidar can be operated under both Windows operating system and Linux operating system. Software needed is as follows: Wireshark: to capture the ARP (Address Resolution Protocol) packets.

  • Page 12: Usage Guide

    This software can only run under the Windows x64 operating system at present. The computer configuration requirements for installing the software are: CPU: Intel(R) Core (TM) i5 or higher; Graphics Card: NVIDIA GeForce GTX750 or higher achieves the best effect, otherwise the display of the point cloud may be affected. And the computer graphics card must support OpenGL 2 or higher graphics acceleration to display the point cloud normally.

  • Page 13: Lsms03 Windows Client Interface

    Note: 1) The Lidar IP (local IP) and the computer IP (destination IP) cannot be set to the same, otherwise the Lidar will not work normally. 2) In the multicast mode, no two destination ports should be set to the same port number.
  • Page 14 Figure 4.2 Initial Interface Note: To view the software version, click “Help->About” in the toolbar. Point cloud display interface supports the following operations: 1) Zoom in/out the display interface with the mouse wheel; hold the right mouse button and drag it up/down to zoom in/out. 2) Hold the left mouse button and drag it to adjust the angle of view;...
  • Page 15 Select point clouds from different angles Clear screen Show/hide coordinate Show/hide the column on the left Three-view option: set the observation angle from top, front, and left. Note: In the point cloud display area, with 20 circles and 40*40 grids, the radius of every two adjacent circles differs by 10 m.

  • Page 16: Operation Procedure

    ⚫ Setup Menu Button Description The upper part of the form shows the Lidar configuration. The parameters include local IP, destination IP, subnet mask, gateway, data port, device port, and motor speed setting (5Hz/10Hz/20Hz can be selected under combobox), whether to obtain the local time, Mac address information, and device packet Open Lidar parameter sending interval.

  • Page 17: Point Cloud Data Parsing

    Figure 4.3 Real-Time Lidar Point Cloud Display 4.1.4 Point Cloud Data Parsing If you need to parse Lidar data, please follow the steps below: Step 1. Parse the data package to obtain the relative horizontal angle, ranging information, intensity data and microsecond timestamp information of each laser; Step 2.
  • Page 18 2) At the same time, since Qt is adopted in the low-level software development, please create English paths when naming files and path folders. 3) Since the port number of the MS03 Lidar can be modified through user configuration, and the Lidar sends data to the host computer through the preset destination IP and port.
  • Page 19 Figure 4.5 Network Connections Step 3. In the TCP/IPv4 property settings, set the IP address to the Lidar's destination IP (The default destination IP of the Lidar is 192.168.1.102), and the subnet mask is set to 255.255.255.0. Figure 4.6 IP Address and Subnet Mask Setting 4) Since the LSMS03 Windows Client needs to obtain a large number of data packets...
  • Page 20 through the network in a short time, it may be considered as a malicious program by the network firewall and be prohibited. Therefore, there may be situations in which the data packet has been sent to the computer by the Wireshark software, but the client cannot display it.

  • Page 21: Ros Driver Operation Under Linux Os

    Step 3. Click the “Program Settings” button in the Manage 3D Settings interface. Step 4. Click the “Add” button on the Manage 3D Settings interface. Step 5. Click the “Browse” button in the pop-up interface. Step 6. Find the application file (.exe file) of the software according to its installation path in the pop-up browsing interface.

  • Page 22: Software Operation Example

    device, see the device name of ifconfig wired connection display for details) to view the data packets sent by the Lidar (as shown in the figure, there are 1206-byte data packets sent by the Lidar to the destination, which means that the Lidar data is sent normally).

  • Page 23: Communication Protocol

    Note 2): If timeout appears, it means that the driver has no data reception. Please check the hardware connection. Note 3): If steps 1, 2, and 3 have been completed, next time after the “Displays Window” is reopened, start directly from step 4. Step 5.

  • Page 24: Msop Protocol

    2 bytes of Factory). 5.1.1 Format The MS03 Lidar supports single echo mode which measures the most recent echo value. Each MSOP data packet contains 1212 bytes of data. Each packet of data contains 80 points, that is, 80*15=1200 bytes, and the frame tail is 12 bytes (including 6 bytes of UTC Time, 4 bytes of Timestamp and 2 bytes of Factory).
  • Page 25 （byte） Destination Ethernet II MAC Source Ethernet Packet Type Type Version, Header Length, Differentiated Services, Field, Total Length, Identification, Flags, Fragment Offset, Internet Protocol Time to Live, Protocol, Header, Checksum, Source IP Address, Destination IP Address Lidar Port (0x0941, represent 2369) UDP Port Number Computer Port (0x0940, represent 2368)
  • Page 26 composed of 16-bit unsigned data, that is: 0x0218, which is converted to decimal distance value: 536 cm. The last byte is the decimal part, 0x32 equals 50 in decimal, that is, 50*1/256 cm=0.1953125 cm. Then the two parts add up to 536. 1953125 cm. Byte 7 represents the first echo strength, and the value range is 0-255.

  • Page 27: Difop Protocol

    Information Factory Vendor 0x20 represents the MS03 Lidar Information 1) When there is a GPS device inputting PPS signal to the Lidar, the timestamp is generated according to the PPS time as the cycle time, and the range of the timestamp is 0-999999 (μs);...

  • Page 28: Ucwp Protocol

    Table 5.2 Data Format of the Device Package Ethernet Header: 42 bytes Length Name Information Offset （byte） Ethernet II Destination Source Ethernet Type Packet Type Version, Header Length, Differentiated Services, Field, Total Length, Internet Identification, Flags, Fragment Offset, Protocol Time to Live, Protocol, Header, Checksum, Source IP Address, Destination IP Address UDP Port...

  • Page 29: Configuration Parameters And Status Description

    Data, and a 2-byte Tail. Note: It is recommended to configure the Lidar through the Windows point cloud display software, and you are forbidden to package and configure the Lidar parameters by themselves. Table 5.3 Data Format of the Configuration Package Ethernet Header: 42 bytes Name Information...
  • Page 30 Motor Speed（2 bytes） Byte1 Byte2 Function Speed: 10 Hz/20 Hz/30 Hz/40 Hz/50 Hz The motor rotates anticlockwise. Five speeds can be set: when it is set to 0x0258, the speed is 600 rpm; 0x04B0, the speed is 1200 rpm; 0x0708, the speed is 1800 rpm; 0x0960, the speed is 2400 rpm;...

  • Page 31: Configuration Package Example

    Device Flow Packet Interval Device Flow Packet Interval（2 bytes） Byte0 Byte1 0: send 1 device packet every time 4 data packets are sent; Function other values: 1 packet per second； The configuration 0x0000 means to send 1 device packet every time 4 packets are sent, and other values mean 1 packet per second.

  • Page 32: Time Synchronization

    Table 5.4 Configuration Package Example Length Info Content Config （byte） 0xAA, 0x00, 0xFF, 0x11, 0x22, 0x22, Header 0xAA, 0xAA Motor Speed 1200 rpm 0x04, 0xB0 Lidar IP (IP_SRC) 192.168.1.105 0xC0, 0xA8, 0x01, 0x69 Computer IP 192.168.1.225 0xC0, 0xA8, 0x01, 0xE1 (IP_DEST) Data Port (port1) 6688...

  • Page 33: External Synchronization

    is 9600, 8N1. The PPS high pulse width is required to be more than 40 ns. The standard format of GPRMC information is as follows: $GPRMC, <1>, <2>, <3>, <4>, <5>, <6>, <7>, <8>, <9>, <10>, <11>, <12> *hh Table 6.1 The Standard Format of GPRMC Information Name Description/Format hhmmss (hour/minute/second)

  • Page 34: Lidar Internal Timing

    6.3 Lidar Internal Timing When there is no GPS and other equipment to synchronize, the Lidar uses 1 hour (360*10 μs) as the cycle. With the microsecond as the timing unit, the timing value is output as the timestamp of the data packet. At this time, there is no UTC reference. If UTC is required, it must be written in the configuration package, otherwise the UTC output information of the device package is invalid.

  • Page 35: Cartesian Coordinate Representation

    Byte 11 represents the second echo strength, and the value range is 0-255. (Echo strength can reflect the energy reflection characteristics of the measured object in the actual measurement environment. Therefore, the echo strength can be used to distinguish objects with different reflection characteristics.) Byte 12, Byte 13 and Byte 14 represent the distance value of the third echo, the most significant byte of which is stored at the smallest memory address and the least significant byte at the largest.

  • Page 36: Accurate Time Calculation

    UTC of the device package output by the Lidar. The timestamp and UTC come from the same synchronization source, such as a GPS. The laser emission interval of the MS03 Lidar is about 3.333 μs, and the measurement interval of adjacent points is 3.333 μs.
  • Page 37 Revision History Version Number Release Date Revised Content Issued/Revised By V1.0.0 2022-03-010 Initial Version LS1286...
  • Page 38 Make Safer Driving, Smarter Machine, and Better Life! Headquarters Address: Floor 4-5, Yunhua Times Building, Shajing Street, Baoan District, Shenzhen TEL: +86-0755-23242821 Sales Email: sales@lslidar.com After-Sales Mailbox: support@lslidar.com Company Website: www.leishen-lidar.com *This manual is subject to change without notice. ©2022 Shenzhen LeiShen Intelligent System Co.,...

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