RS-LiDAR-16 用户手册
目录
1 安全提示
.........................................................................................................................................
1
2 产品简介
.........................................................................................................................................
2
3 产品规格
.........................................................................................................................................
3
4 电气接口
.........................................................................................................................................
4
4.1 设备电源
.............................................................................................................................
4
4.2 电气安装
.............................................................................................................................
4
4.3 电气接口
.............................................................................................................................
4
5 通信协议
.........................................................................................................................................
7
5.1 主数据流输出协议(MSOP)
...........................................................................................
8
5.1.1 帧头
..........................................................................................................................
9
5.1.2 数据块区间
..............................................................................................................
9
5.1.3 帧尾
........................................................................................................................
11
5.1.4 数据包示范数据
....................................................................................................
12
5.2 设备信息输出协议(DIFOP)
........................................................................................
12
5.3 用户配置写入协议(UCWP)
........................................................................................
14
6 GPS 同步
........................................................................................................................................
16
6.1 GPS 时间同步原理
.............................................................................................................
16
6.2 GPS 使用
.............................................................................................................................
16
7 相位锁定
......................................................................................................................................
18
8 点云呈现
......................................................................................................................................
19
8.1 坐标映射
...........................................................................................................................
19
8.2 典型场景点云呈现
...........................................................................................................
19
9 垂直角度定义
..............................................................................................................................
22
10 反射率信息解读
........................................................................................................................
24
11 故障排除
....................................................................................................................................
25
附录 A 精确的点时间计算
.............................................................................................................
27
附录 B 各寄存器定义详情
..............................................................................................................
28
B.1 电机转速(MOT_SPD)
..................................................................................................
28
B.2 以太网(ETH)
...............................................................................................................
28
B.3 电机锁相相位(MOT_PHASE)
..........................................................................................
29
B.4 主板固件版本(TOP_FRM)
...............................................................................................
29
B.5 底板固件版本(BOT_FRM)
...............................................................................................
29
B.6 垂直角校准(COR_PITCH)
...........................................................................................
30
B.7 序列号(SN)
..................................................................................................................
30
B.8 上位机驱动兼容性信息(SOFTWARE_VER)
..............................................................
31
B.9 时间(UTC_TIME)
.........................................................................................................
31
B.10 运行状态(STATUS)
...................................................................................................
32
B.11 故障诊断(FALT_DIGS)
..............................................................................................
33
B.12 GPSRMC 数据包-ASCII 码数据类型
..............................................................................
35
附录 C RSView
.................................................................................................................................
36
C.1 软件功能
...........................................................................................................................
36
C.2 安装 RSView
.....................................................................................................................
36