HDL-64E S2 manual_Rev C_2011 - Velodyne Lidar

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A P P E N DI X D : C A L I B R AT I O N A N D O R I E N TAT I O NHDL-32E User’s ManuaICalibration and OrientationThere 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 withrotational, 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 tobe the distance from the bottom of the base plane to the center of the lenses, or 3.575 inches (9.0805 cm).Figure Dl.The device isn’t calibrated at the factory for angular accuracy. The angular precision is 1/100 of a degree, and the device should repeat tothis level of accuracy. There are provisions for a pair of dowel pins to be located in the mating fixture, and this will provide repeatability incase the device is removed and remounted. The reason for this is that the device needs to be calibrated in situ to whatever defines either thex 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 thedeflection (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 parameternecessary 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 aslisted above.Laser Spot SizeThe lasers project a well defined rectangular shaped spot that is approximately 4” wide by 2” tall at 100’ distance. The spot size at the sourceof the HDL-32 is approximately 1/2” wide by 1/4” tall, causing the angular divergence to be 2.79 milliradians.Distance CalibrationDistance calibration parameters are programmed into the HDL-32E firmware — no external adjustment for distance is needed. The HDL-32Euses ((1023/1024) * 300,000,000 meters/sec) as the reference speed of light. However, as the true speed is affected by local atmosphericconditions, the unit uses a closed-loop timing compensation scheme that calibrates each laser continuously and is the primary compensationfor thermally induced timing corrections.[ 23 ]
A P P E N DI X D : C A L I B R AT I O N A N D O R I E N TAT I O NHDL-32E User’s ManuaI[ 24 ]
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HDL-64E S2 manual_Rev C_2011 - Velodyne Lidar

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