HDL-32E-manual-Rev-E-NOV2012

USER’SMANUALANDPROGRAMMINGGUIDEHDL-32EHighDefinitionLiDAR™SensoriSAFETYNOTICES1INTRODUCTION2PRINCIPLESOFOPERATION3SETUP5USAGE7ExternalGPSTimeSynchronization9PacketFormatandStatusByteforGPSTimeStamping9TimeStampingAccuracyRates9LaserTiming10LaserFiringSequence11TROUBLESHOOTING11SERVICEANDMAINTENANCE12SPECIFICATIONS13APPENDIXA:DigitalSensorRecorder(DSR)16APPENDIXB:HDL-32ESampleDataPackets22APPENDIXC:CoordinateCalculationAlgorithmSampleCode23APPENDIXD:CalibrationandOrientation24APPENDIXE:EthernetTransitTimingTableCAUTION—SAFETYNOTICE[i]CautionToreducetheriskofelectricshockandtoavoidviolatingthewarranty,donotopensensorbody.Referservicingtoqualifiedservicepersonnel.Thelightningflashwitharrowheadsymbolisintendedtoalerttheusertothepresenceofuninsulated“dangerousvoltage”withintheproduct’senclosurethatmaybeofsufficientmagnitudetoconstituteariskofelectricshocktopersons.Theexclamationpointsymbolisintendedtoalerttheusertothepresenceofimportantoperatingandmaintenance(servicing)instructionsintheliteratureaccompanyingtheproduct.1.ReadInstructions—Allsafetyandoperatinginstructionsshouldbereadbeforetheproductisoperated.2.RetainInstructions—Thesafetyandoperatinginstructionsshouldberetainedforfuturereference.3.HeedWarnings—Allwarningsontheproductandintheoperatinginstructionsshouldbeadheredto.4.FollowInstructions—Alloperatinganduseinstructionsshouldbefollowed.5.Servicing—Theusershouldnotattempttoservicetheproductbeyondwhatisdescribedintheoperatinginstructions.AllotherservicingshouldbereferredtoVelodyne.WARNINGRISKOFDAMAGEORFAILUREDONOTDIRECTLASERSTOWARDONEANOTHERINTRODUCTIONHDL-32EUser’sManuaI[1]CongratulationsonyourpurchaseofaVelodyneHDL-32EHighDefinitionLiDARSensor.Thissensorprovidesstate-of-the-art3Dimaging.ThismanualdescribeshowtosetupandoperatetheHDL-32E,coversinstallationandwiring,addressesoutputpacketconstructionandinterpretation,alongwithGPSinstallationnotes.Thismanualisundergoingconstantrevisionandimprovement—check[2]PRINCIPLESOFOPERATIONHDL-32EUser’sManuaIPrinciplesofOperationTheHDL-32Ecreates360°3Dimagesbyusing32laser/detectorpairswhosehousingrapidlyspinstoscanthesurroundingenvironment.Thisdesignallowsforthelaserstoeachfirethousandsoftimespersecond,providingarich,3Dpointcloud.Digitalsignalprocessingandwaveformanalysisprovidehighaccuracy,extendeddistancesensingandintensitydata.TheHDL-32Eusesadirectdrivemotorsystem,employingnobeltsorchainsinthedrivetrain,toimprovereliabilityandreducemaintenance.Theunitprovides:•A360°horizontalfieldofview(FOV)•A41.3°verticalFOV•Usablereturnsupto70metersFigure1.OverviewoftheLiDARHDL-32E3DImagingSystem.[3]SETUPHDL-32EUser’sManuaIThissectiondescribesthestandardsetupassumingyouareconnectingthesensortoastandardcomputerorlaptopandmountingthesensoronavehicle.Forotherconnectionsandmountinglocations,pleasecontactVelodynefortechnicalassistance.Thestandardsetupinvolves:1.Unpackingtheshippingcasecontents.2.Securelymountingthesensorbasetoavehicleorotherscanningplatform.3.Connectingpowertothesensor.4.Connectingthesensor’sdataoutputtothecomputer.CaseContentsTheshippingcasecontains:•HDL-32Esensorunitwithapproximately3metercableterminatedataninterfacebox.•DesktopAC/DCpoweradapter.•ACcord.•1meterEthernetcable.•GarminGPS-18LVGPSreceiverwith5metercable.•CDwith:-Usermanual.Check(db.xml),sampledatasets,andmiscellaneousdocuments.-DSRViewersoftwareMountBaseThesensorbaseprovidesmountingholesonthebase.Thesensorcanbemountedatanyanglefrom0°to360°withrespecttothesensorbase.Refertothefigurebelowforlocationofthefour10-32threaded,3/8”deepmountingholes.73.12.876144.25.68OVERALLHEIGHT51.62.033TWO.156LOCATINGFEATURESFOR5.32”DOWELLPINSFOUR10-32THREADEDMOUNTINGHOLES3/8”DEEP85.33.3651.62.033INTERFACECABLE3METERSLONGFigure2:SensorBaseMounting[4]SETUPHDL-32EUser’sManualConnectPowerandComputerThesensorunitsarecommonlyusedinvehicleapplicationswherestandard12volt,2amppowerisreadilyavailable.1.Connecttheinterfacemoduletopower.2.ConnecttheEthernetconnectortoastandardPCorlaptopRJ45Ethernetport.OperateBeforeoperatingthesensor,makesurethat:•thesensorisinacceptableenvironmentalconditions•thesensorissecurelymountedWeatherTheunitisweatherproofedtowithstandwind,rainandotheradverseweatherconditions.Theunit’sspinningmotionhelpsitshedexcesswaterfromthefrontwindowthatcouldhamperperformance.Refertothespecificationspageforoperationalandstoragetemperatureranges.ShockandVibrationBesuretheunitismountedsecurelytowithstandvibrationandshockwithoutriskofdetachment.Theunitdoesnotneedshockproofing.TheunitisdesignedtowithstandstandardautomotiveG-forces;(500m/sec2amplitude,11msecdurationshockand3Grms5Hzto2000Hzvibration).WiringTheHDL-32Ecomeswithanintegralcablethatisterminatedataninterfacebox.Thecableisapproximately3meters(10’)inlength.TheinterfaceboxprovidesconnectionsforEthernet,powerandGPSinputs.Power.The2.1mmbarrelplugjackfitstheAC/DCpoweradapterincluded.Thecenterpinispositivepolarity.Note:TheHDL-32Edoesnothaveapowerswitch.Itspinsandoperateswheneverpowerisapplied.Etherne