Velodyne Acoustics LIDAR HDL-32E User's Manual
Contents
1. 42 Ethernet Header 14 Notused 2 Gyro1 See 2 Tempi Example Packet Exerpt Below 2 AcceliX 2 Accell Y Values only stored in 2 Gyro2 least significant 12 bits 2 Temp2 Refer to figure A1 for axis orientation 2 Accel2 X See below for how 2 Accel2 Y to interpret lt 2 Gyro3 2 Temp3 2 Accel X 2 Accel3 Y 160 Not used See GPS Timestamp Example Gyro Scale Factor 0 09766 deg sec E Ipae HST Cap aE Bau below Temp Scale Factor 0 1453 25 C 4 Not Used Accel Scale Factor 0 001221G 72 NMEA sentence See NMEA Sentence Example Refer to table B 220 Not used Example Packet Exerpt de Of 55 10 1b 23 09 30 GPS Timestamp Example Ox Ofde Ox Ofde 34 34 X 0 09766 3 32deg sec 32 bit unsigned integer Ox 1055 Ox 0055 85 85X 0 1453 25 C 37 C 92 18 52 D6 Ox 231b Ox 031b 795 795 X 0 001221 0 97G Ox 3009 0x00097 9 9 X 0 001221 0 01G Reverse Order D6 52 18 92 Convert to Decimal data index position 3595704466 usec not part of value or 3595 704466 sec Figure B3 19 HDL 32E User s Manual Time Stamp Tc bd 9c 91 2442968444 919cbd7c hex usec 2442 9sec Time stamp from the head of the hour in usec NMEA Sentence GPRMC 214042 A 3708 3087 N 12139 5146W 000 0 000 0 160311 014 8 E A 0C GPRMC lt 1 gt lt 2 gt lt 3 gt lt 4 gt lt 5 gt lt 6 gt lt 7 gt lt 8 gt lt 9 gt lt 10 gt lt 11 gt lt 12 gt hh lt2. AAE EAA i i 81 LT oT ST i ERIS IPAE usq seg 8 6vv S6v 9E OOTT 0001 006 008 00Z 009 DOS 00t 00 ooz oot 0 Ieup se3Aq 3954J0 1e ed Velodyne LiDAR Inc 345 Digital Drive Morgan Hill CA 95037 408 465 2800 voice 408 779 9227 fax 408 779 9208 service fax www velodynelidar com Service Email lidarservice velodyne com Sales Email lidar velodyne com All Velodyne products are made in the U S A Specifications subject to change without notice Other trademarks or registered trademarks are property of their respective owner 63 9113 Rev A APR2011
3. 0 000000 0 000000 21 330000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 20 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 1 330000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 18 670000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 2 670000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 17 330000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 4 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 16 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 5 330000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 14 670000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 ee i 6 670000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 L3 13 330000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 E 5 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 HB 12 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 EDI RE EGER EI IE EI IE I IER ET EIE trt t RARER RRR REPRE TS 3 9s 9 9 S 94 C3 9 S S 9 9 T9 8 Figure 3 Calibration values as seen in DSR File Properties 14 HDL 32E Us
4. CR gt lt LF gt lt l gt UTC time of position fix hhmmss format for GPS 18 PC LVC hhmmss s format for GPS 18 5Hz Latitude ddmm mmm format for GPS 18 PC LVC ddmm mmmmm format for GPS 18 5Hz leading zeros must be transmitted Longitude ddmm mmm format for GPS 18 PC LVC ddmm mmmmm format for GPS 18 5Hz leading zeros must be transmitted UTC date of position fix ddmmyy format Magnetic variation 000 0 to 180 0 degrees leading zeros will be transmitted Mode indicator only output if NMEA 0183 version 2 30 active A Autonomous D Differential E Estimated N Data not valid 20 HDL 32E User s Manual Ethernet Packet Example Captured via Wireshark hdl 32 04032011 ROAD pcap Wireshark File Edit View Go Capture Analyze Statistics Telephony Tools Help Saa BALTA S DF LBE aaan a Filter v Expression Clear Apply No Time Source Destination Protocol Info z wt wot wo cde eo SN eoa MEE er uM Dre 22 wer M xe per ee ge epp 73 0 037115 192 168 17 105 192 168 3 255 UDP Source port https 74 0 037610 192 168 17 105 192 168 3 255 UDP Source port https I amp Frame 73 554 bytes on wire 4432 bits 554 bytes captured 4432 bits amp Ethernet II Src velodyne 20 11 69 60 76 88 20 11 69 Dst Broadcast ff ff fl amp Internet Protocol Src 192 168 17 105 192 168 17 105 Dst 192 168 3 255 192 amp User Datagram Protocol src Port https 443 Dst Port 8308 8308 amp Data 512
5. Roll 0 0 pitch 0 0 Yaw o c Laser Properties 1D Enabled Intensity On Color Vertical Corr deg 4 Rot Far Corr deg Dist Far Corr cm Dist Corr in X cm Dist Corr in V cm 4 Vert Offset Corr cm 4 Horiz Offset Corr cm 4 Focal Distance cm Focal Slope Min Intensity 30 670000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 9 330000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 29 330000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 8 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 28 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 6 670000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 26 670000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 5 330000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 25 330000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 4 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 24 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 2 670000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 22 670000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 1 330000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000
6. bytes 0000 ff ff ff ff ff ff 60 76 88 20 11 69 08 00 45 O0 ume mes 0010 02 1c 00 01 00 00 80 11 a2 l7 C0 a8 Il 69 CO a8 v n ds 0020 03 ff Ol bb 20 74 02 08 00 00 00 OO OO 00 00 00 616187 SCieife i8 E a aC 0030 00 00 00 00 00 00 OO OO ag Of 26 10 38 23 4b 30 amp BEKO 0040 f Of 21 10 32 23 41 30 cc Of 40 10 d9 2f 59 30 1 2 A0 8 YO OOfO 93 Oe db 1a 00 00 00 00 24 47 50 52 4d 43 2c 31 GPRMC 1 0100 39 30 37 32 39 2c 41 2c 33 37 30 38 2e 33 31 38 8 90729 A 3708 318 0110 34 2c 4e 2C 31 32 31 33 339 2e 32 38 33 30 2c 57 4 N 1213 9 2839 W 0120 2c 30 30 35 2e 31 2c 30 39 37 2e 37 2c 30 33 30 005 1 0 97 7 030 0130 34 31 31 2c 30 31 34 2e 38 2c 45 2c 44 2a 30 31 411 014 8 E D Ol 0200 00 00 00 00 00 00 00 00 00 00 00 00 00 O00 00 OO 0210 00 00 00 00 00 00 00 00 QAQ 00 00 00 00 00 00 OQ 0220 0000 0000 00 00 00 00 00 00 J J 5 X Ready to load or capture 21 APPENDIX C COORDINATE CALCULATION ALGORITHM SAMPLE CODE HDL 32E User s Manual Coordinate Calculation Algorithm Sample Code After removing all the correction parameters except vertical correction the calculation code is firingData computeCoords guintl16 laserNum boost shared ptr CalibrationDB db GLpos t amp pos guintl6 idx laserNum VLS LASER PER FIRING boost shared_ptr lt CalibrationPoint gt cal db gt getCalibration laserNum if da
7. combinations that report on each laser fired Two bytes report distance to the nearest 2 cm and the remaining byte reports intensity on a scale of 0 255 There are 12 100 byte records For more on packet construction see Appendix B 4 Apply the calibration factors to the data Each of the HDL 32E s lasers is fixed with respect to vertical angle For each data point issued by the sensor vertical correction factors must be applied to determine the point s location in 3D space referred to by the return e Note The minimum return distance for the HDL 32E is approximately 5 cm Ignore returns closer than this Note There is a file on the CD called HDL Source Example that shows the calculations using the above correction factors This is the code used in DSR to determine 3D locations of HDL 32E data points 5 Plot or store the data as needed For DSR the point cloud data once determined is plotted onscreen The source to do this can be found on the CD and is entitled HDL Plotting Example DSR uses OpenGL to do its plotting You may also want to store the data If so it may be useful to timestamp the data so it can be referenced and coordinated with other sensor data later The HDL 32E has the capability to synchronize its data with GPS precision time e Note There are no user service or maintenance procedures for the Velodyne HDL 32E Velodyne does offer a preventative maintenance service for a fee For service or maintenance please
8. contact Velodyne at 1 408 465 2800 or log on to our website at www velodynelidar com 6 HDL 32E User s Manual External GPS Time Synchronization The HDL 32E can synchronize its data with precision GPS supplied time pulses to enable users to ascertain the exact firing time of each laser in any particular packet This capability requires a GPS receiver generating a sync pulse and the 6PRMC NMEA record over a dedicated RS 232 serial port The output from the GPS receiver is connected to the HDL 32E The customer can use the GPS receiver supplied with the HDL 32E or the customer can adapt their GPS receiver to provide the required sync pulse and NMEA record GPS Receiver Option 1 Velodyne Supplied GPS Receiver A GPS receiver that is pre programmed by Velodyne is provided to HDL 32E users This receiver is pre wired with a connector that plugs into the HDL 32E interface box and pre programmed to output the correct GPS record and sync pulse GPS Receiver Option 2 Customer s GPS Receiver Under this option the customer must configure their GPS device to issue a once a second synchronization pulse typically output over a dedicated wire and issue a once a second GPRMC NMEA record No other output can be accepted from the GPS device Further the sync pulse and NMEA record must be issued sequentially The sync pulse length is not critical typical lengths are between 20ms and 200ms but the GPRMC record must start between 50ms and 500ms afte
9. is being used Also use these calibration factors and equations in any program using the data generated by the unit Live Playback For live playback first secure and power up the HDL 32E sensor so that it is spinning Connect the RJ45 Ethernet connector to your host computer s network connection You may wish to utilize auto DNS settings for your computers network configuration DSR desktop icon Open DSR from your desktop icon created during the installation Pull down the Options menu and select the proper input device Go to Options again and deselect the Show Ground Plane option Leave this feature off for the time being or until the ground plane has been properly adjusted You can now go to Options Properties to change the individual settings for each LASER channel if so desired REFRESH button Provided that your computer is now receiving data packets click on the Refresh button to start live viewing of a point cloud The initial image is of a directly overhead perspective See page 15 for mouse and key commands used to manipulate the 3D image within the viewer Note The image can be manipulated in all directions and become disorienting If you lose perspective simply press F1 to return to the original view Recording Data RECORD button 13 HDL 32E User s Manual Once the input of streaming data has been confirmed through the live playback feature click on the Record button and the program will reque
10. reference speed of light However as the true speed is affected by local atmospheric conditions the unit uses a closed loop timing compensation scheme that calibrates each laser continuously and is the primary compensation for thermally induced timing corrections 23 HDL 32E User s Manual ETHERNET TRANSIT TIMING TABLE APPENDIX E Leet 18 809v 001 9840 1ex9ed Z6S ZYS S Buruy suWe ep oj enuo oun Bu uoneeJo jexoed Jo pue je uem pue pepJooel s duiejseui Jase jenjoe je auone yeyoed jo Duuufag eu e peei s enjeA Jepooue feos oun Huy Jase jene ye eAuJe o noy 3y jo do eu WO spuooesoJorul duiejseum jexoed y wos UMOYS anjena eu euiquio spuooesoJolui ui saw v SJON 24 Dt Uert ET tI ST 9T LT 8T L ce 2 vc Sc G 0 TE CE EE Fs ze po pos pe pz 29 9 99 99 88 9 09 19 es 89 9 99 9 ss es toe ie ten e S oi 24 86 86 z6 6 v6 96 z6 86 66 oor tor eor vor sor or zor gor or rrr err err err Lett orr err ort oer zer eer eer rer eer zer 8ET Jet tet ert leet prt Test 9vT tt Leet OST tert let leet Leet Leet zer Leet Leet oor rer Let vor sor Last zor Leet Leer ozr zzr 41 vst ser zer egr Test oer rer cer ver ser oer zer er eer ooe zoe eoe voe soe 90z zo 6oz o
11. risk of detachment The unit does not need shock proofing The unit is designed to withstand standard automotive G forces 500 m sec amplitude 11 msec duration shock and 3 Grms 5 Hz to 2000 Hz vibration Wiring The HDL 32E comes with an integral cable that is terminated at an interface box The cable is approximately 3 meters 10 in length The interface box provides jacks for Ethernet power and GPS Power The 2 1 mm barrel plug jack fits the AC DC power adapter included The center pin is positive polarity Note The HDL 32E does not have a power switch It spins and operates whenever power is applied Ethernet This standard Ethernet connector is designed to connect to a standard PC Note The HDL 32E is only compatible with network cards that have either MDI or AUTO MDIX capability GPS The GPS connector fits the GPS receiver included If you wish to wire your own GPS receiver refer to the labeled connector within the interface box Cable The cable is permanently attached at the sensor but the interface box may be removed for direct wiring and or inserting in line connector s 4 USAGE HDL 32E User s Manual The HDL 32E sensor needs no configuration calibration or other setup to begin producing usable data Once the unit is mounted and wired supplying it power will cause it to start scanning and producing data packets The quickest way to watch the HDL 32E in action is to use Digital Sensor Recorder DSR the viewer sof
12. L SENSOR RECORDER DSR HDL 32E User s Manual Digital Sensor Recorder DSR DSR is a windows based 3D point cloud visualization software program designed for use with the HDL 32E This software is an out of the box tool for the rendering and recording of point cloud data from the HDL unit You can develop visualization software using the DSR as a reference platform A code snippet is provided on the CD to aid in understanding the methods at which DSR parses the data points generated by the HDL sensor Install To install the DSR on your computer 1 Locate the DSR executable program on the provided CD 2 Double click on this DSR executable file to begin the installation onto the host computer We recommend that you use of the default settings during the installation 3 Copy the db XML file supplied with the HDL 32E into the same directory as the DSR executable defaults to c program files Digital Sensor Recorder You may want to rename the existing default db XML that comes with the DSR install Note Failure to use the calibration db xml file supplied with your sensor will result in an inaccurate point cloud rendering in DSR Calibrate The db xml file provided with the HDL unit contains correction factors for the proper alignment of the point cloud information gathered for each laser When implemented properly the image viewable from the DSR is calibrated to provide an accurate visual representation of the environment in which the sensor
13. USER S MANUAL AND PROGRAMMING GUIDE HDL 32E High Definition LiDAR Sensor Velodyne o oO oO N C 10 16 22 23 24 SAFETY NOTICES INTRODUCTION PRINCIPLES OF OPERATION SETUP USAGE External GPS Time Synchronization Packet Format and Status Byte for GPS Time Stamping Time Stamping Accuracy Rates Laser Timing Laser Firing Sequence TROUBLESHOOTING SERVICE AND MAINTENANCE SPECIFICATIONS APPENDIX A Digital Sensor Recorder DSR APPENDIX B HDL 32E Sample Data Packets APPENDIX C Coordinate Calculation Algorithm Sample Code APPENDIX D Calibration and Orientation APPENDIX E Ethernet Transit Timing Table CAUTION SAFETY NOTICE IMPORTANT SAFETY INSTRUCTIONS RISK OF ELECTRIC SHOCK DO NOT OPEN cb Hn Caution To reduce the risk of electric shock and to avoid violating the warranty do not open sensor body Refer servicing to qualified service personnel The lightning flash with arrowhead symbol is intended to alert the user to the presence of uninsulated dangerous voltage within the product s enclosure that may be of sufficient magnitude to constitute a risk of electric shock to persons The exclamation point symbol is intended to alert the user to the presence of important operating and maintenance servicing instructions in the literature accompanying the product Read Instructions All safety and operating instructions should be read be
14. curacy The angular precision is 1 100 of a degree and the device should repeat to this level of accuracy There are provisions for a pair of dowel pins to be located in the mating fixture and this will provide repeatability in case the device is removed and remounted The reason for this is that the device needs to be calibrated in situ to whatever defines either the x or y axis of the vehicle The HDL 32E s laser spots are aligned at the factory to be within 1 2 of their true position at 100 feet Therefore no calibration of either the deflection horizontal or rotational angle is necessary both the horizontal angle and rotational laser angles are always zero The vertical angle of each laser is described in the XML file supplied with each unit and as listed above This is the only calibration parameter necessary to plot points in 3D space so for the HDL 32E all db xml calibration files are identical and contain only the vertical angle values as listed above Laser Spot Size The lasers project a well defined rectangular shaped spot that is approximately 4 wide by 2 tall at 100 distance The spot size at the source of the HDL 32 is approximately 1 2 wide by 1 4 tall causing the angular divergence to be 2 79 milliradians Distance Calibration Distance calibration parameters are programmed into the HDL 32E firmware no external adjustment for distance is needed The HDL 32E uses 1023 1024 300 000 000 meters sec as the
15. e second data packet as described in Appendix B GPS time synching runs in one of two modes a The GPS has an internal clock that runs for several weeks that will be used first The accuracy is as good as the GPS device employed b When the GPS achieves lock the HDL 32E clock will then be within 50us of the correct time at all times 3 If the GPS is then disconnected the HDL 32E will continue to run on its own clock and be subject to a drift of approximately 5 seconds per day Laser Timing If the GPS timestamp feature is employed it may be useful to determine the exact firing time for each laser so as to properly time align the HDL 32E point cloud with other data sources The Ethernet packet is assembled in real time therefore the encoder angle is that associated with the first laser shot in each collection of 32 laser shots while the time stamp is reported in the last 6 bytes of the packet relates to the last shot of the last group in the entire sequence of 12 records The time stamp is synchronized to the leading edge of the GPS signal as provided by the Garmin GPS 18LV GPS receiver or the user s GPS receiver programmed as described on page 7 Lasers are fired on a clock running at 1 152 usec cycle time There are 40 of these time periods per 32 firings with the dead time being used to recharge the lasers making the total time to fire all 32 lasers 46 08 usec There are 12 of these 32 laser firing groups per packet for a total packet t
16. er s Manual DSR Key Controls Zoom Z Zoom in Shift Z Zoom out Z Axis Rotation Y Rotate CW Shift Y Rotate CCW X Axis Rotation P Rotate CW Shift P Rotate CCW Y Axis Rotation R Rotate CW Shift R Rotate CCW Z Shift F Forward B Back X Shift L Left H Right Y Shift U Up D Down Aux Functions Ctrl Z Y P R F B L H U D Direction Fine Movement Alt Z Y P R F B L H U D Direction Very Fine Movement DSR Mouse Controls Rotational Left Button Move Slide Right Button Move Zoom Scroll forward Zoom In Scroll backward Zoom Out 15 APPENDIX B HDL 32E SAMPLE DATA PACKETS HDL 32E User s Manual Data Packet Format The HDL 32E outputs two UDP Ethernet packets a data packet containing laser firing data located on Port 2368 and a positioning packet which contains GPS and positioning data located on Port 8308 The packet at Port 2368 contains a header a data payload of firing data and status data Data packets are assembled with the collection of all firing data for twelve laser firing sequences The laser distance and instensity data is collected in the same staggered order 0 16 1 17 14 30 15 31 as the laser is firing The data packet is then combined with status and header data in a UDP packet transmitted over Ethernet The data packet is transmitted starting with the last byte acquired in a last in first out LIFO data order The status data alway
17. fore the product is operated Retain Instructions The safety and operating instructions should be retained for future reference Heed Warnings All warnings on the product and in the operating instructions should be adhered to Follow Instructions All operating and use instructions should be followed Servicing The user should not attempt to service the product beyond what is described in the operating instructions All other servicing should be referred to Velodyne PON HDL 32E 345 Digital Drive Velodyne LiDAR Inc Morgan Hill CA 95037 CLASS 1 LASER PRODUCT l Complies with 21 CFR 1040 10 and 1040 11 except for deviations pursuant to Laser Notice No 50 dated 24 June 2007 i INTRODUCTION HDL 32E User s Manual Congratulations on your purchase of a Velodyne HDL 32E High Definition LiDAR Sensor This sensor provides state of the art 3D imaging This manual describes how to set up and operate the HDL 32E covers installation and wiring addresses output packet construction and interpretation along with GPS installation notes This manual is undergoing constant revision and improvement check www velodynelidar com for updates 1 PRINCIPLES OF OPERATION HDL 32E User s Manual Principles of Operation The HDL 32E creates 360 3D images by using 32 laser detector pairs whose housing rapidly spins to scan the surrounding environment This design allows for the lasers to each fire thousands of times pe
18. ime of 552 96 usec This totals to approximately 1808 packets per second or approximately 694 292 laser shots per second A table can be found in Appendix E showing timing for each laser shot based on these calculations 9 HDL 32E User s Manual Laser Firing Sequence The laser firing order is the same as the order in the Ethernet packet The most downward laser fires first followed by the interleaved firings from the lower and upper banks of 16 lasers as follows Firing order DsR Vertical angle oO an O Om A O N oO co N O Om d Co N wo wo N N YP NY NY YH NY M YP NY a HF BSF FPF och ch ch ech O O DAN Oa F Wo NY C oO CO 4 DOD Om A Co N O The interleaving firing pattern is designed is to avoid and potential ghosting caused primarily by retro reflectors Note Laser 9 from the top of the stack or DSR 15 is set at a 0 vertical angle This laser can be used as a reference to calibrate pitch and yaw of the sensor relative to the vehicle 10 TROUBLESHOOTING HDL 32E User s Manual Use this chart to troubleshoot common problems with the HDL 32E Unit doesn t spin Verify power connection and polarity Verify proper voltage should be between 9 and 32 volts drawing a minimum of one amp Inspect the fuse in the interface module Replace if necessary Unit spins but no data Verify Ethernet wiring Verify packet output using another application e g Ethereal Wireshark Verify ne
19. in GPS 18LV GPS receiver with 5 meter cable CD with User manual Check www velodynelidar com for updates Calibration file db xml DSR Viewer software Mount Base The sensor base provides mounting holes on the base The sensor can be mounted at any angle from 0 to 360 with respect to the sensor base Refer to the figure below for location of the four 10 32 threaded 3 8 deep mounting holes 144 2 5 68 OVERALL HEIGHT TWO 5 156 LOCATING FEATURES FOR 5 32 DOWELL PINS FOUR 10 32 THREADED MOUNTING HOLES 3 8 DEEP INTERFACE CABLE 3 METERS LONG 53 36 Figure 2 Sensor Base Mounting 3 cC a HDL 32E User s Manual Connect Power and Computer The sensor units are commonly used in vehicle applications where standard 12 volt 2 amp power is readily available 1 Connect the interface module to power 2 Connect the Ethernet connector to a standard PC or laptop RJ45 Ethernet port Operate Before operating the sensor make sure that the sensor is in acceptable environmental conditions the sensor is securely mounted Weather The unit is weatherproofed to withstand wind rain and other adverse weather conditions The unit s spinning motion helps it shed excess water from the front window that could hamper performance Refer to the specifications page for operational and storage temperature ranges Shock and Vibration Be sure the unit is mounted securely to withstand vibration and shock without
20. r second providing a rich 3D point cloud Digital signal processing and waveform analysis provide high accuracy extended distance sensing and intensity data The HDL 32E uses a direct drive motor system employing no belts or chains in the drive train to improve reliability and reduce maintenance The unit provides A 360 horizontal field of view FOV e A41 3 vertical FOV Usable returns up to 100 meters 360 Spinning LiDAR Sensor Valid Data Range 5 cm to 100 m Uncalibrated Point Cloud Data Packets Calibrated Point Cloud Data as 3D Image Digital Sensor V XML Laser Recorder and Vien Software Calibration File Figure 1 Overview of the LiDAR HDL 32E 3D Imaging System 2 SETUP HDL 32E User s Manual This section describes the standard set up assuming you are connecting the sensor to a standard computer or laptop and mounting the sensor on a vehicle For other connections and mounting locations please contact Velodyne for technical assistance The standard setup involves 1 Unpacking the shipping case contents 2 Securely mounting the sensor base to a vehicle or other scanning platform 3 Connecting power to the sensor 4 Connecting the sensor s data output to the computer Case Contents The shipping case contains HDL 32E sensor unit with approximately 3 meter cable terminated at an interface box Desktop AC DC power adapter AC cord 4 5 meter Ethernet cable Garm
21. r the end of the sync pulse Note The GPRMC record can be configured for either hhmmss format or hhmmss s format es e Note The connector within the supplied interface box can be used to interface the GPS receiver or it can be wired directly as indicated within the box 7 HDL 32E User s Manual The images below show the GPS receiver included with the HDL 32E GPS EQUIPMENT Ethernet Cable Power Adapter Interface Box GPS Interface Box Front amp Back View ETHERNET POWER Interface Box Interface Box Top View Front View 8 HDL 32E User s Manual Packet Format and Status Byte for GPS Time Stamping The 6 extra bytes at the end of the HDL 32E data packet are used to report GPS timing For every packet the last 6 bytes are formatted as follows 4 bytes 32 bit unsigned integer time stamp This value represents microseconds from the top of the hour to the first laser firing in the packet 2 bytes blank Time Stamping Accuracy Rules The following rules and subsequent accuracy apply for GPS time stamping 1 If the GPS isn t connected GPS Status 0 the HDL 32E starts running on its own clock starting at midnight Jan 1 2000 Expect a drift of about 5 seconds per day under this method This date and time data is reflected in the H M S D N and Y data values Also note that the HDL 32E clock does not correct for leap years 2 When the GPS is connected the GPRMC NMEA record is reported in th
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23. s contains a GPS 4 byte timestamp representing milliseconds from the top of the hour In addition the status data contains two reserved bytes not used at this time 16 HDL 32E User s Manual User Datagram Protocol UDP Ethernet Data Packet Format HDL 32E Port 2368 a Ethernet Header ES Start identifier OXEEFF 2 gemmam Integer 0 35999 100 degrees from 0 m g D a e be 2 ra 2 a e kel 2 mm increments 0 no return within 100 m 2 Distance Information P E Integer 0 255 255 most intense return 6 Lower Blocks 6 Upper Blocks Lidar Data Payload Timestamp Bytes in reverse order sec ES Figure B1 17 HDL 32E User s Manual Positioning Packet Using outputs from onboard gryrometers and 2 axis accelerometers orientations shown below in Figure B2 the positioning ethernet Packet provides motion data rotational and acceleration for the stationary base of the HDL 32E unit See the User Datagram Protocol UDP Positioning Ethernet Packet Format HDL 32E Figure B3 for interpretation of data output wmm GYRO1 ACCEL1 X ACCEL2 X CABLE CABLE pum ACCELIY ACCEL3 X 0 degrees ACCEL2 Y ACCEL3 Y CABLE d ROTATION DIRECTION d GYRO3 Figure B2 18 HDL 32E User s Manual User Datagram Protocol UDP Positioning Ethernet Packet Format HDL 32E Destination port 8308
24. st the name and location for the pcap file to be created Recording will begin immediately once the file information has been entered Click on the Record button again to discontinue the capture One can string multiple recordings together on the same file by performing the Record function repeatedly A new file name will not be requested until after the session has been aborted Note An Ethernet capture utility such as Wireshark can also be used as a pcap capture utility Playback of Recorded files Use the File Open command to open a previously captured pcap file for playback The DSR playback controls are similar to any DVD VCR control features PLAY button PAUSE button Press the Play button to render the file The Play button will alternate to Pause when in playback mode FORWARD button bb REVERSE button Use the Forward and Reverse buttons to change the direction of playback Note The X Y Z and distance figures at the bottom of the image represent the distance of the x y z crosshairs with respect to the origin point indicated by the small white circle The concentric gray circles and grid lines represent 10 meter increments from the sensor Following is an example image of the calibration values as seen in DSR File Properties screen Values will be different than those on your CD T Properties Jy Scanner Properties Distance LsB 0 20 S cm Scanner Position em x 0 0 v 00 E z oo Scanner Angle deg
25. ta gt points idx distance 0 coords idx setX 0 0 coords idx setY 0 0 coords idx setZ 0 0 return float distance db gt getDistLSB float data gt points idx distance Get measured distance distancel float cosVertAngle cal gt getCosVertCorrection float sinVertAngle cal gt getSinVertCorrection float cosRotAngle rotCosTable data gt position float sinRotAngle rotSinTable data gt position float xyDistance distance cosVertAngle Convert to X Y plane coords idx setX xyDistance sinRotAngle pos getX VLS DIM SCALE Calculate X coordinate coords idx setY xyDistance cosRotAngle pos getY VLS DIM SCALE Calculate Y coordinate Calculate Z coordinate coords idx setZ distance sinVertAngle pos getZ VLS DIM SCALE 22 APPENDIX D CALIBRATION AND ORIENTATION HDL 32E User s Manual Calibration and Orientation There are six axes of variation when determining the exact location of any given laser firing for the HDL 32 The axes are x y z along with rotational horizontal and vertical angles X Y Z Both x and y offsets are zero and are calculated from the centerline of the device The Z location of the firing should be considered to be the distance from the bottom of the base plane to the center of the lenses or 3 575 inches 9 0805 cm 3 575 Figure D1 33 Y The device isn t calibrated at the factory for angular ac
26. the serial number In the above example the Source IP address would be represented by IP address 192 168 17 100 In this example the 11 and 64 are shown as decimal numbers for the purposes of expressing the IP address For all HDL 32E units the destination IP address remains fixed at 192 168 3 255 2 Create an internal calibration table from the included db xml data file This table must be built and stored internal to the point cloud processing software 5 HDL 32E User s Manual Alternatively the calibration data can be found in the included db xml file found on the CD included with the HDL 32E The calibration data for vertCorrection is the vertical correction angle for each laser as viewed from the back of the unit and stated in degrees Positive values have the laser pointing up and negative values have the laser pointing down The calibration table once assembled will contain 64 instances of the calibration values to interpret the packet data to calculate each points position in 3D space Use only the top 32 instances 3 Parse the packets for rotation distance and intensity data Each HDL 32E packet has a 1206 byte payload consisting of 12 100 byte records and then a 6 byte data area that contains GPS time stamping The zero degree position is 90 degrees to the right of the interface cable when looking at the bottom Each 100 byte record contains first a start identifier then a two byte rotational value followed by 32 3 byte
27. tware included with the unit DSR reads in the packets from the HDL 32E over Ethernet performs the necessary calculations to determine point locations then plots the points in 3D on the viewer s PC If you have never used the HDL 32E before this is the recommended starting point For more on installing and using DSR see Appendix A You can observe both distance and intensity data through DSR Most users however will elect to create their own application specific point cloud tracking and plotting and or storage scheme There are several fundamental steps to this process 1 Establish communication with the HDL 32E 2 Create a calibration table from the included db xml data file 3 Parse the packets for rotation distance and intensity data 4 Apply the calibration factors to the data 5 Plot or store the data as needed Each of these steps is described in detail below 1 Establish communication with the HDL 32E The HDL 32E outputs two separate broadcast UDP packets By using a network monitoring tool such as Wireshark you can capture and observe the packets as they are generated by the unit HDL 32 MAC ID and IP address format Mac ID Each HDL 32E has a unique MAC address based on the serial number with the last four hex digits mapping to the serial number of the unit The following MAC ID shows serial number 4452 60 76 88 20 11 64 IP Address The Source IP address for the HDL 32E units maps to the last four digits in the Mac ID and hence
28. twork settings Set a static IP address in network settings 192 168 3 255 SERVICE AND MAINTENANCE There are no user service or maintenance requirements or procedures for the Velodyne HDL 32E For service or maintenance please contact Velodyne at 1 408 465 2800 or log on to our website at www velodynelidar com 11 SPECIFICATIONS Laser Sensor Mechanical Output Dimensions Height Diameter Shipping Weight approx HDL 32E User s Manual Class 1 eye safe 905 nm wavelength Time of flight distance measurement with intensity Measurement range 100 m 5 cm to 100 m 32 laser detector pairs 10 67 to 30 67 degrees field of view vertical 360 degree field of view horizontal 10 Hz frame rate Operating temperature 10 C to 60 C Storage temperature 40 to 105 C Accuracy 2 cm one sigma at 25 m Angular resolution vertical 1 33 degrees Power 12V 2 Amps Operating voltage 9 32 VDC Weight 2 kg Shock 500 m sec2 amplitude 11 msec duration Vibration 5 Hz to 2000 Hz 3 Grms Environmental Protection IP67 Approximately 700 000 points second 100 Mbps Ethernet connection UDP packets distance intensity rotation angle Orientation internal MEMS accelerometers and gyros for six axis motion correction external correction Unit 5 68 x 3 36 149 86mm x 85 3mm 14 35 Ibs 6 5 Kg 12 APPENDIX A DIGITA
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