Vertical Angles And Precision Point Timing Calculation; Channel Number And Vertical Angle; Exact Point Timing Calculation - RoboSense LiDAR RS-Ruby Plus User Manual

6 Vertical Angles and Precision Point Timing Calculation

6.1 Channel Number and Vertical Angle

RS-Ruby Plus has a vertical field of view from -25°~+15°. The 128 laser heads are also called 128
channels. The laser channels and their designated vertical angles are as shown below.

6.2 Exact Point Timing Calculation

The time required to complete one round of firing and recharging of 128 lasers is 55.56us. In each
MSOP Packet, there are 3 data blocks, and each data block stores measurements of 1 firing
sequences of 128 lasers. It takes 55.56us to complete one round of firing and recharging of the
128 lasers. Laser Channel_ID is 1~128, the timestamp of each MSOP Packet is the time of the
laser spot of the 1st channel. To calculate the time of each laser point, the time offset of each
laser point needs to be added to the timestamp.
Table 6 MSOP Packet Time Offset of Exact Laser Point Timing in Single Return Mode
Channel_ID
1
2
3
4
5
6
7
Figure 6-1 RS-Ruby_Plus Vertical Angles
Vertical Angle HorizontAngle
-11.78 5.94
-10.37 2.39
-9.27 -1.15
-8.38 -4.69
-16.07 4.70
-25.10 1.17
-19.64 -2.38
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RS-Ruby Plus User Manual
MSOP Packet
BLOCK1 BLOCK2 BLOCK3
0 55.56 111.112
0 55.56 111.112
0 55.56 111.112
0 55.56 111.112
1.217 56.773 112.329
1.217 56.773 112.329
1.217 56.773 112.329