RoboSense Ruby Plus User Manual page 33

说明
数据块序号 Data Block 1
标志位
回波序号
水平旋转角 Azimuth 1
通道 1
通道 2
...
通道 127
通道 128
Note:
In Dual Return Mode, the first column of 128 channel data stores the last return,
and the second column stores the strongest return.
1) Channel Data Definition
The channel data, Channel data, is represented by 3 bytes. The high two bytes
represent the distance information, and the low byte represents the reflectivity
information, as shown in Table 15.
2 bytes Distance
Distance1 [15:8] Distance2 [7:0] Reflectivity(Reflectivity information)
Note:
Distance is represented by 2 bytes with a resolution of 0.5 cm.
Red Box: Header ID;
Yellow Box: Data Block Flag;
Blue Box: Azimuth value of Channel data 1;
Green Box: Distance value of Channel data 1.
32
Table 14 Data Block Packet Definition
数据块(1200 bytes)
Data Block 2
0xfe 0xfe
Ret_id Ret_id
Azimuth 2
Channel data 1 Channel data 1
Channel data 2 Channel data 2
... ...
Channel data 127 Channel data 127 Channel data 127
Channel data 128 Channel data 128 Channel data 128
Table 15 Channel Data Representation
Channel data（3 bytes）
Figure 15 MSOP Packet Illustration
Ruby Plus User Guide
Data Block 3
0xfe
Ret_id
Azimuth 12
Channel data 1
Channel data 2
...
1 byte Reflectivity