lidar-基本原理

时间戳单位

1s = $10^3$103ms = $10^6$106us = $10^9$109ns

转换	单位
1s=$10^3$103ms	毫秒
1ms=$10^3$103us	微秒
1us=$10^3$103ns	纳秒

不同雷达坐标系

velodyne基本原理

RPM 600 resolution 0.2°
600rpm/min = 10frames/s = 1frame/100ms 360°
1 DataPackets = 12 DataBlocks = 24 FiringSeques
1 DataPacket time
$1\times12\times2\times55.296=1.327ms$1×12×2×55.296=1.327ms
$1Packet/1.327ms\approx754Packets/s $
10Hz, 10frames/s 1frame/0.1s也就是 75.4Packets/0.1s
$\frac{360^o}{\frac{100ms}{1.327ms}\times12\times2} = 0.19905^o$1.327ms100ms​×12×2360o​=0.19905o

from velodyne_driver

激光雷达测距精度 0.2cm, 2mm的精度