VLP-16 Users Manual
Contents
1. SOLLSNOOV 3NAGOT3A SNOISIA3MH 3105 3Hl SI 9NIMV IG SIHL NI Q3NIVINOO SHL 2 g 9 1 9 33 APPENDIX C WEBSERVER GUI VLP 16 USER S MANUAL Setting up your computer to communicate with the sensor e Connect the computer to the interface box with an Ethernet Cable e Apply power to the sensor e For now disable the WiFI connection on your computer e Configure your computer s IP address on its Ethernet port to manual mode e Set your computer s IP address to 192 168 1 77 777 can be any number except 0 255 or 201 e Set the subnet mask to 255 255 255 0 e Pull up the sensor s webserver interface by typing the 5 network address 192 168 201 into the address bar in your web browser Note Occasionally a computer won t activate the new IP address unless the computer is rebooted If you cannot communicate with your sensor after double checking the IP address of the sensor with Wireshark and the IP address of your computer try rebooting the computer For detailed step by step instructions follow the directions in the presentation found at this link http velodyne com lidar web pdf doc Webserver 20Interface 20Instructions 20v1a pdf 34 APPENDIX D FIRMWARE UPDATE PROCEDURE VLP 16 USER S MANUAL This procedure should only be performed if instructed by Velodyne to update a new firmware version e Establish communication with the web2. 27648 38707 49766 185 94003 18082 116122 ereo 27878 38938 49997 toss 72145 108293 1 6352 2 201 00 etes 50227 61286 72046 aeos 94464 105523 127642 a ssi 20570 39629 1747 72806 abes 94025 105994 17043 1201 00 s ses 39959 suis tors 73037 34996 95155 126333 s 20020 40090 62208 72267 34326 95326 106445 117504 128569 o rem 29722 aor 62899 73958 esate 96077 107126 neas 129254 1 tesi 20052 eri 52070 69120 vates 96307 07366 110426 19123 30182 enar 52301 63360 744 35479 96538 107897 110056 129745 1 19354 41472 52531 63590 4650 35709 96769 107827 129946 ars 20874 41933 52992 eost 7510 36170 97229 108228 119347 130406 Table 7 Timing Offset Values Note All times in microseconds Combine the value shown from the packet to arrive at actual laser firing time 28 APPENDIX B INTERFACE BOX VLP 16 USER S MANUAL Using the Interface Box Caution There is no internal polarity nor over voltage production in the sensors therefore it is imperative that the Interface Box and or protective circuitry is in
3. 5 8 Ns 8 SX JNG dHl 4 HOMOYHL 1H9 vS1s 8996 1 0 u u Zn 5 B e cem ees L 2 S 9 VLP 16 USER S MANUAL INTERFACE BOX APPENDIX B 2 G 9 1 8 133Hs sin 0 L 60 L I NYL 31V9S LON ASSY LX3N V 009 08 3215 S3lON 33S TM S31ON 395 0 d Sav daldVvav 0 L 60 1 L 0 SOO 3ufISO TON avs eum s ATIVANV LON OG SONTO Ou sonsnooy was L HIVOS EL HIVOS 4 4 NOILO3S 5 5 NOILOAS Co 080 dAL L3N 3H1L3 067 0S9 O NYHL 227 5 5484 1 44 3NIHOVMW v 2248 3NOLNVd 40100 2806 29 N d J2NAQO T3A MHOMLYV HSINIJ J3SVOA Od 992 89 3PIVIN S3HONI NI SNOISNAWIG TIY 091319345 3SIMH3HLO 55 41 SALON 3573 144 OF OL 19 41 AYNSOTONG 997 88 v 698111 0 L 60 L L dvi JSV3 13H ON TVI LI NI SI SOILSNODV 3NAGOT3A 40 NOISSIIN2I3d JHL LNOHLIM 310HM LYVd NI
4. SHLOIM W 38 LN3S3eld38l LON S3OQ SYALNSD WVY38 31 VWIXOsIddV i d N cO lt 000 SON CN 2 m m N 431390 1vOlLdO 0 N LO Ow CN LO 10 st 00 CN O CN PS e 11 ON3Z IN3W33hSV3W SIXV N31N3O aaLigiHO3d SI SOLLSNOOV 3NAGOT3A dO NOISSIWH3d NALLIYM 3H L NOI LdlHOS3GQ LNOHLIM 31OHM NI 6 16 ANAGOTSA SNOISIA3H diva ALMN3dONd 3 10S AHL SI SIHL NI GANIVLNOD NOILVWYOSANI 3H L 45 Velodyne LIDAR Velodyne Acoustics 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 LIDAR 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 9243 Rev A Aug 2015
5. 0430 1c 57 19 1c bc 11 1c 19 15 dl 11121 ea 19 19 en s aa cae a 1 0440 b6 11 25 la 18 ba Ob Oc dO 11 14 Od dO 4 N 0450 1122 74 Of 12 19 16 ef 11 la 3e 19 16 11 t 0460 1 72 19 1 cd 11 le a5 19 16 da 31061a D r I 0470 ca 1125 23 la 19 ff 73 69 bb OblOc cS 11 la W 51 Factory Byte Interpretation 0480 4f Od c0 11 25 72 0f 02 19 16 2 11 19 2 0 Location OxO4DE 0x39 gt Dual Return Mode 0490 19 17 dl 11 1 57 19 1 11 9 0440 21 19 19 56 11 25 14 18 d 11121 Location OxO4DF 0x22 gt Data Source is a VLP 16 0450 4e Od Oa dO 11 22 74 Of 12 04c0 19 16 2 11 1 72 19 1 cd 11 0440 21 06 1 lb ca 11 25 23 la 19 Figure 10b Sample Packet 2 For further information regarding the packet structure see Appendix A 15 SENSOR DATA VLP 16 USER S MANUAL Time Stamp The four byte time stamp is a 32 bit unsigned integer This value represents microseconds from the top of the hour to the first laser firing in the packet The number ranges from 0 to 3600x106 us the number of microseconds in one hour The time stamp represents the time of the first shot of the first firing sequence The time stamp like the reported distance are transmitted least significant byte first All sixteen lasers are fired and recharged every 55 296us The cycle time between firings is 2 304us There
6. APRA 74 56 3d 52 01 ea 1n 17 Al ni Figure 10a Sample Packet 1 14 SENSOR DATA VLP 16 USER S MANUAL Below is the last part of a sample packet as displayed in Wireshark Calculation of the timestamp and interpretation of the Factory Bytes are shown 26029 15 608857 192 168 1 200 26030 15 609562 192 168 1 200 255 255 255 255 1248 Source port 2368 Destination port 2368 255 255 255 255 UDP 1248 Source port 2368 Destination port 2368 lt lt b Frame 26029 1248 bytes on wire 9984 bits 1248 bytes captured 9984 bits b Ethernet II Src Velodyne 00 00 00 60 76 88 00 00 00 Dst Broadcast ff ff ff ff ff ff Internet Protocol Version 4 Src 192 168 1 200 192 168 1 200 Dst 255 255 255 255 255 255 255 255 Port 2368 2368 Dst Port 2368 2368 b User Datagram Protocol Src af 0280 19 18 ff ee 24 69 c2 O Oc 91 11 1 57 04 90 i W 4 0290 11 21 81 Of Of b5 18 16 aa 11 18 dd 18 16 a5 11 r 0240 18 14 19 le 8c 11 14 47 19 1796 112134 19 19 1 0250 83 11 21 cO 19 la c4 Ob 9d 11 1 57 Od 96 B sape wes die 02 0 11 20 85 Of c9 18 14 b8 11 18 eb 18 16 11 0240 18 29 19 1f 95 11 ld 56 19 16 9e 11 21 b4 19 lb 0260 93 11 1f d9 19 lb ff ee 24 69 c2 Ob 91 11 1 i 02f0 57 Od 90 11 21 81 Of Of b5 18 16 11 18
7. 25 1010 98 on onals a saronaas JdOT3ANH 9 d A sezerioz ds8 ee ean SwAOUdN 1 820110 xx iALVGdN ATIVYONVIA LON OQ ou sonsnooy eu po oA S31SNV STVvWIO3q S3ONVH3IOL SIHONI IVIWIO3Q NI 33V SNOISN3WIG 4315193985 ASIMYSHLO SSJINN NOILLdIdHOS3G SNOISIA3S 9 9 2 8 sS 26 4 SNId 26 5 91 XZ 6 2191 9 INNOW 00 97 1 XVW ZZL XVW 0S o0 6 88 0876 601 zov 9 XVW 721 XVW OS 1 Z z 188971 09 TINS 1014182 vau v 1786 Jos i 331N3O 1vOlldO 39N33H3H HOS TIV 2 SIHONI NI 34V SNOISN3WIG TIV L SILON SI SOILSNOOV 3NAQO 3A dO NOISSINYAd 3H1 3 10HM 1 4 NI NOILONGOYdaY ANY SOILSNOOV 3NAGOT3A ALMH3dOHd 4106 AHL SI 9NIMVHG SIHL NI Q3NIVINOO NOILVINHOJNI JHL S 9 1 8 44 VLP 16 USER S MANUAL APPENDIX F MECHANICAL DRAWING L 9 9 2 8 JO 1H3HS SLN 31VOS V LO 0 98 8 AH 1S31V3alD 404 4 A Tdd V SNVIQVaITIIW ATALVWIXOdddV SI WV38 INIOd IVOOd LV TIVL SZ AT31IVWIXOelddV Adv
8. 16 firings 16 2 304us followed by a recharge period of 18 43us Therefore the timing cycle to fire and recharge 16 lasers is given by 16 x 2 304us 1 x 18 43us 55 29 5 There are 24 of these 16 laser firing groups per packet hence it takes 1 33ms to accumulate one data packet This implies a data rate of 754 data packets second 1 1 33ms The GPS timestamp feature is used to determine the exact firing time for each laser This allows users to properly time align the VLP 16 data points with the pitch roll yaw latitude longitude and altitude data from a GPS Inertial measurement system Time Stamping Accuracy The following rules and subsequent accuracy apply for GPS time stamping 1 When the VLP 16 powers up it runs on its own internal clock and it begins issuing timestamps in microseconds beginning from zero Expect a drift of about 5 seconds per day under this method 2 When a GPS is connected and synchronized the NMEA GPRMC sentence is reported in the position packet as described in Appendix B GPS time synching runs in one of two modes a When GPS achieves lock The VLP 16 clock will then be within 50ps of the correct time at all times The timestamp reported will be in microseconds past the hour based on the current UTC provided by the GPS b Some GPS receivers have a battery back up and will continue to supply a time code for some period hours days or weeks In this instance the accuracy i
9. 583140020140 Lal Q13IH e SP S 3 0V1B e ONS T zcv AGI qas Z AZ lt C lt 15114 589 dl VOCdMG o gt INO 35104 549 m c sda 3AI303N 599 E INST eq v 22 HM ii 4X1 13 13 bs S 1 111 1 L3NH3H13 1 27 9 39NYMO 9 XI I3NH3H13 ld lt i XM L3NN3HI3 E IH9I1 L XM L13N33H13 lt g lt ing s Tale E N33N9 AE AE e m 1 549 6 wv vM Sh I Q13IHS YOLONGNOO em 211 6 OL 39NVHO THA 318V2 4 yee AOS 9108608 2N 1 i nj 08 25 UH m 09 S0 12 00 010f uiu1o9 WZ 1919 0A1 BL 549 V N T gt SISSVH Ou molo c OE uii 8x LX No aS 1nd Sd5 1 x INn039 aNd 18 lt IN5 VIVO LINSNVYL lt d9 2416 5 viva 3AGO3u c OY T8 5 IINSNYHI 9 ZX 9X 91A 8 E NE S on er 4 1 I3NN3H13 N30 IHM x X1 I3NN3HI3 Z c NYO c LX X RI XM I3NN3HI3 N39 LHM y 941 4 S n18 LHM p XM 13NM3Hl3 9 49 N38 THM
10. Note The Validity field in the message A or should be checked by the user to ensure the GPS system and the VLP 16 are receiving valid Coordinated Universal Time UTC updates from the user s GPS receiver Providing timestamps in UTC allows third party software to geo reference the LiDAR data into a point cloud Upon synchronization the sensor will read the minutes and seconds from the GPRMC message and use that to set the sensor s time stamp to the number of microseconds past the hour per UTC time 17 SENSOR DATA VLP 16 USER S MANUAL No Time Sore Destination Protoco length mo 7 1 0 007507 97 168 1 200 ODP T8 Source port 58 De nation port 58 15 0 007630 16 0 008042 192 168 1 200 192 168 1 200 255 255 255 255 255 255 255 255 554 Source port 8308 Destination port 8308 1248 Source port 2368 Destination port 2368 Frame 15 554 bytes on wire 4432 bits 554 bytes captured 4432 bits Ethernet II Src Velodyne 00 00 00 60 76 88 00 00 00 Dst Broadcast ff ff ff ff ff ff Internet Protocol Version 4 Src 192 168 1 200 192 168 1 200 Dst 255 255 255 255 255 255 255 255 User Datagram Protocol Src Port 8308 8308 Dst Port 8308 8308 Data 512 bytes ff d2 ff 00 00 00 00 00 00 00 00 00 00 00 ff 00 20 00 00 00 ff ff ff 00 40 00 74 20 74 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
11. OF OPERATION VLP 16 USER S MANUAL The VLP 16 creates 360 3D images by using 16 laser detector pairs mounted in a compact housing The housing rapidly spins to scan the surrounding environment The lasers fire thousands of times per second providing a rich 3D point cloud in real time Advanced digital signal processing and waveform analysis provide high accuracy extended distance sensing and calibrated reflectivity data Unique features include Horizontal Field of View FOV of 360 e Rotational speed of 5 20 rotations per second adjustable e Vertical Field of View FOV of 30 Returns of up to 100 meters useful range depends on application GPS optional IP Address 192 168 1 77 a IP Address 192 168 1 201 Ethernet 9 32 VDC Figure 1 Overview of the LiDAR VLP 16 3D Imaging System PRINCIPLES OF OPERATION VLP 16 USER S MANUAL Calibrated Reflectivities The VLP 16 measures the reflectivity of an object with 256 bit resolution independent of laser power and distance over a range from 1m to 100m Commercially available reflectivity standards and retro reflectors are used for the absolute calibration of the reflectivity which is stored in a calibration table within the FPGA of the VLP 16 e Diffuse reflectors report values from 0 100 for reflectivities from 0 to 100 e Retro reflectors report values from 101 to 255 with 255 being the reported reflectivity for an ideal retro reflector and 101
12. Read Instructions All safety and operating instructions should be read before 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 oo po c VLP 16 x LAS E R Velodyne Acoustics Inc 345 Digital Drive Morgan Hill CA 95037 4 LiIDAR Velodyne com VelodyneLiDAR com Complies with 21 CFR 1040 10 and 1040 11 except for deviations Complies with IEC 60825 1 pursuant to Laser Notice No 50 dated 24 June 2007 Use of controls or adjustments or performance of procedures other than those specified herein may result in hazardous radiation exposure INTRODUCTION VLP 16 USER S MANUAL Congratulations on your purchase of a Velodyne VLP 16 Real Time 3D LiDAR Sensor This sensor provides state of the art 3D imaging in real time This manual describes how to set up and operate the VLP 16 It covers installation and wiring output packet format and interpretation and GPS installation notes This manual is undergoing constant revision and improvement check www velodynelidar com for updates PRINCIPLES
13. as X Y Z data in CSV format or screenshots of the currently displayed point cloud can be exported with the touch of a button Features e Input from live sensor stream or recorded file e Visualization of LIDAR returns in 3D time including 3D position and attribute data such as timestamp azimuth laser ID etc e Spreadsheet inspector for LIDAR attributes e Record to pcap from sensor e Export to CSV formats e Record and export GPS and IMU data e Ruler tool e Visualize path of GPS data e Show multiple frames of data simultaneously e Show or hide subset of lasers Installation Download VeloView at the following link htto www paraview org Wiki VeloView Click on the executable file and follow the on screen instructions How to use For sensor streaming live display of sensor data it is important to change the network settings of the Ethernet adapter connected to the sensor to manual IP address selection and choose IP address 192 168 1 77 777 can be any number except 0 255 or 201 e Gateway 255 255 255 0 It is important to disable firewall restrictions for the Ethernet port Disable the firewall completely for the Ethernet device connected to the sensor or explicitly allow data from that Ethernet port including both public and private networks 43 VLP 16 USER S MANUAL MECHANICAL DRAWING APPENDIX F 240 133HS kV F VOS 31VOS LON OG ASSVDGN
14. bytes are used to indicate the current return mode and the sensor model that delivered the packet The addition of these fields allows the processing software to automatically determine the sensor type and return mode Field 4DEh Field 4DFh otrongest Return HDL 32E Last Return VLP 16 Table 2 Factory Byte 23 APPENDIX A PACKET STRUCTURE amp TIMING VLP 16 USER S MANUAL Data Block Structure in VLP 16 in Dual Return Mode Data blocks alternate between Last and Strongest or 2nd Strongest Return 1248 bytes 42 Bytes 12 2 bytes flag 2 bytes azimuth 32 2 bytes distance 1 byte reflectivity 1200 bytes 4 2 6 bytes Data 1 Flag FFEE Channe 0 Data A E oea curet Figure 14 Data Block Structure Dual Return Mode 24 APPENDIX A PACKET STRUCTURE amp TIMING Azimuth Interpolation Because the VLP 16 reports the azimuth value for every other firing sequence it s helpful to interpolate the un reported azimuth There are several ways to interpolate the un reported azimuth but the one given below is simple and straight forward Consider a single data packet The time between the first firing of the first set of sixteen firings Data Block 1 and the first firing of the third set of sixteen laser firings Data Block 2 is 110 6us If you assume the rotation speed over that short interval is constant you can assume the azimuth of the 1 set of sixteen
15. laser firings is halfway between the azimuth reported with the Nth set of 16 laser firings and the azimuth reported with the N 2 set of laser firings Below is pseudo code that performs the interpolation The code checks to see if the azimuth rolled over from 359 99 to 0 between firing sets N and N 2 In the example below N 1 First adjust for a rollover from 359 99 to 0 If Azimuth 3 lt Azimuth 1 Then Azimuth 3 Azimuth 3 360 Endif Perform the interpolation VLP 16 USER S MANUAL Data Block 2 Flag xFFEE 44444 Azimuth N 2 Channel 0 Data Channel 0 Data Channel 1 Data Channel 1 Data Channels Channels 2 3Data 2 3Data v Channel 14 Data Channel 15 Data Data Block 1 Flag xFFEE Azimuth N Channel 14 Data Channel 15 Data Channel 0 Data Channel 1 Data A Channels 2 3Data Y Channell14 Data Channel 15 Data Figure 15 Azimuth Interpolation Azimuth 2 Azimuth 1 Azimuth 3 Azimuth 1 2 Correct for any rollover over from 359 99 to O If Azimuth 2 gt 360 Then Azimuth 2 Azimuth 2 360 Endif 25 APPENDIX A PACKET STRUCTURE amp TIMING VLP 16 USER S MANUAL Precise Data Point Timings All sixteen lasers are fired and recharged every 55 296us The cycle time between firings is 2 304us There are 16 firings 16 x 2 304us followed by a recharge period of 18 43us Therefore the timing cycle to fire and
16. 0 ff 11 b4 aa 01 c8 ff ff 0020 ff ff 09 40 09 40 04 be 00 00171 eels 2 09 0030 08 00 00 00 fO Oc dd 61 01 06 6001 0040 23 05 0b 61 00 10 05 87 52 01 06 14 Od 2d 6 R 0050 52 01 56 lb 08 c9 67 01 00 00 07 28 56 01 fe 09 R V g V 0060 09 00 00 00 f2 Ob 01 62 02 4c 06 60 Ol 84 0070 2d 06 9b 55 01 10 65 c2 5c 01 d6 14 Od owns 0080 00 00 0142 5a 01 00 00 07 ae 55 0 0090 9 ARPA He bh Uu 00a0 05 37 Se 01 29 05 89 55 01 8 10 05 bb 58 01 d 00 00 9 51 01 ba lb 08 00 00 02 00 00 0706 0 00 0 56 01 fd 09 08 00 00 00 f4 Oc 49 62 01 45 Oc V Ib E Example Azimuth Calculation 0040 04 02 Sc 00 25 06 3b Sd 01 cb 1006 95 5801 X 1 Get Azimuth Values 0x33 amp 0 71 00e0 00 00 89 52 01 00 00 01 00 00 02 00 00 07 47 8 G 0040 56 00 ff ee Sc 71 17 09 08 00 00 00 14 0b 57 V W W 0100 62 01 58 Oc 06 24 5c 01 27 05 00 00 01 dg 10 b X ne the bytes 0110 05 28 58 01 00 00 42 51 01 ba lb 08 ac 53 01 0 5 4 Convert to decimal 28 979 0120 00 00 07 48 55 01 fd 09 08 00 00 00 f6 79 U 5 Divide by 100 0130 62 0159 Oc 04 30 5c 00 31 05 00 00 0144 10 l 6 Result 289 79 0140 04 25 5b 34 52 01 ba lb 08 53 01 0150 00 00 07
17. 00 00 00 00 00 00 00 00 10 18 79 69 32 39 2c 4e 30 30 35 2e 36 31 Oa 8888838888838888 888888888838888 35 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 32 38 2c 2c 31 32 2c 30 31 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 60 ff 02 00 00 00 00 00 76 11 08 00 00 00 00 00 9888898822 888888828 9898898999888898889859202788888 89888888888888898 505 1388888 00 00 00 00 00 00 00 888888858 88888888888888 88888 08 01 00 00 00 00 00 00 00 45 00 c8 ff ff 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 43 2c 32 39 35 35 39 2c 57 32 33 30 2a 30 46 00 00 00 715 013 8 E D OF Figure 11 Position Packet 18 Time Stamp 0x04DA Example Time Stamp Calculation 1 Get Time Stamp Values 0x10 0x18 0x79 0x69 2 Reverse the bytes 0x69 0x79 0x18 0x10 3 Combine the bytes 0x69791810 4 Convert to decimal 1 769 543 696 5 Divide by 1 000 000 convert from microseconds 6 Result 1 769 543696 Seconds past the hour 7 Divide by 60 to get minutes past the hour if needed TROUBLESHOOTING VLP 16 USER S MANUAL Use this chart to troubleshoot common problems with the VLP 16 Unit doesn t spin Verify power connection and polarity Verify proper voltage should be
18. 11 Data Block 12 Timestamp Factory Azimuth N 20 A 2 D Data Channel 1 Data 3 Channel 14 Data Header Data Block 1 Data Block 2 Data Block 3 Data Block 4 Channel 15 Data gt Channels Y Channell14 Data Channel 15 Data Figure 9a Data Packet Each data block begins with a two byte start identifier FF EE then a two byte azimuth value rotational angle followed by 32x 3 byte data records Azimuth Value The reported azimuth is associated with the first laser shot in each collection of 16 laser shots However only every other encoder angle is reported for alternate firing sequences The user can choose to interpolate that missing encoder stamp see Appendix A 12 SENSOR DATA VLP 16 USER S MANUAL Valid values for the azimuth range from 0 to 359 99 For example in Figure 10a on page the following page the second azimuth calculation for the second data block would be Get Azimuth Values 0x33 amp 0x71 Reverse the bytes 0x71 amp 0x33 Combine the bytes into a two byte unsigned integer 0x7133 Convert to decimal 28 979 Divide by 100 Result 289 79 1 2 3 4 5 6 0 s OT s Hence value of the azimuth for the first laser firing the second data block is 289 79 Note The zero degree position on the sensor is directly opposite the cable connection Appendix F Data Record Each three byte data record consists of two
19. 254 being the reported reflectivity for partially obstructed or imperfect retro reflectors Diffuse Reflector Black absorbent diffuse reflector White reflective diffuse reflector value 0 value 100 Retro Reflector Retro reflector covered with semi Retro reflector without any coverage transparent white surface value 101 value 255 Figure 2 Reflector Types PRINCIPLES OF OPERATION VLP 16 USER S MANUAL Return Modes Due to the laser s beam divergence a single laser firing often hits multiple objects producing multiple returns The VLP 16 analyzes multiple returns and reports either the strongest return the last return or both returns In the illustration below the majority of the beam hits the near wall while the remainder of the beam hits the far wall The VLP 16 will record both returns only if the distance between the two objects is greater than 1m In the event that the strongest return is the last return the second strongest return is reported Last Return Strongest Return Figure 3 Return Modes The dual return function is often used in forestry applications where the user needs to determine the height of the trees The figure below illustrates what happens when the laser spot hits the outer canopy penetrates the leaves and branches and eventually hits the ground Amplitude 0 Strongest Return Time Figure 4a Dual Returns Example 1 PRINCIPLES OF OPERATION VLP 16 USER S MANUAL V
20. 255 255 Data Port 236 Telemetry Port 830 Set Network IP 192 168 1 201 Mask 2552552550 Gateway 192 168 1 1 DHCP OnQ Off set Save Configuration Download Snapshot GPS Position PPS Absent Motor State On RPM Lock Phase Laser State Velodyne LIDAR Figure 5 Selecting Return Type SETUP VLP 16 USER S MANUAL This section describes the usual standard set up of the sensor 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 A video showing the set up of the VLP 16 in an office environment is available at https www youtube com watch v wUfHadExvs8 The standard setup involves 1 Unpacking the shipping case contents 2 Securely mounting the sensor 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 VLP 16 sensor unit with 3 meter cable terminated at an interface box Desktop AC DC power adapter North American plug e AC cord e Ethernet cable 1 meter USB memory stick with o User manual check www velodynelidar com for updates o Sample data sets and miscellaneous documents o VeloView free open source viewing and recording software Mounting The sensor base provides one 74 20 threaded 9 32
21. 6 sensor needs no configuration calibration or other setup to begin producing usable data Once the unit is mounted and wired supplying power initiates scanning and the delivery of data The quickest way to watch the VLP 16 in action is to use VeloView the open source viewer software https github com Kitware VeloView included with the unit VeloView reads the packets from the VLP 16 via the Ethernet connection performs the necessary calculations to determine point locations then plots the points in 3D on the viewer s computer This is the recommended starting point for new users You can observe both distance and intensity data through VeloView For more information on VeloView see Appendix E Most users 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 VLP 16 Parse the data packets for rotational angle measured distance and reported calibrated reflectivities Calculate X Y Z coordinates from reported rotational angle measured distance and vertical angle dependent on laser ID 4 Plot or store the data as needed Each of these steps is described in detail below 1 Establish communication with the VLP 16 The VLP 16 outputs two separate broadcast UDP packets By using a network monitoring tool such as Wireshark https www wireshark org download html you can capture and observe the pack
22. 89 59 00 4 Prt tra 78895689 q 0160 fa Od 91 62 01 56 Oc 06 28 5d 00 2f Oe 65 29 Last Firing in Third Data Block 0x0153 0170 Sd 00 de 10 05 a8 52 02 00 00 22 52 61 ba lb R R 0180 08 32 53 01 00 00 07 6d 60 00 ff 09 08 00 00 00 25 eum 0190 00 Ob b3 62 01 Oc 06 5c 0139 06 a7 b l 11 9 uicem iam 0140 5 00 df 10 06 14 52 01 00 00 52 Olba lb R R nce 0109 08 6d 62 01 00 00 07 3f 60 00 ff ee af 71 05 Oa mb 4 2 Reverse the bytes 0x59 amp 0x89 olco 08 00 00 00 fc Oc d9 62 91 64 0 06 2 56 00 b d V 3 Combine the bytes 0x5989 0140 31 05 69 56 00 10 65 9d 64 013a 15 Od 15 l iV d 0160 52 01 ba lb 08 00 00 02 00 00 07 73 60 00 R 5 0170 08 00 00 00 fc Ob fb 62 0160 06 9 55 01 b U Multiply by 2 0mm 0200 3d 05 cS 52 01 ea 10 04 a2 52 01 00 00 5f z R 6 Result 45 842 mm 0210 51 02 ba lb 08 d7 69 01 00 00 07 15 59 00 ff Y 7 Distance to Object 45 842 meters 0220 48 71 Oc 08 00 00 00 fe Of 63 01 0 0230 06 00 00 01 05 51 01 4 1005 85 5a Ol gt 0 7 0240 00 00 10 51 00 00 01 00 00 02 00 00 07 df Q Reflectivity 0x00 0250 58 00 16 08 00 00 00 00 Ob Od 25 63 0170 0 X
23. Data Block 4 Data 1 Flag Flag xFFEE Channel Data Channel 1 Data Flag xFFEE N 4 4 Channel 15 Data LA L Channels o Channels 2 30 2 30 W LE T E I Figure 16 Time Offset Calculation 0 55 296us 0 2 304us Channel 14 Dats Channel 15 Dats L UH Channe 0 Data N dm 21 APPENDIX A PACKET STRUCTURE amp TIMING VLP 16 USER S MANUAL Data Block ____ 1 2 3 4 5 6 J 000 11089 22146 33176 44237 56296 6355 995 33 1105 92 1216 51 18 j i a 3 a a C a a 1843 23962 2021 46080 57120 79238 90347 155 123494 on 13133 24492 38251 46340 57370 66429 79489 90547 01606 112666 123725 1e 13363 24422 35482 46541 63659 79748 0778 01837 12996 123955 24653 35742 46771 57830 66800 91008 102067 13126 ares 24893 38942 47002 9120 30179 91238 102298 13357 124446 snas 25344 36403 47462 58522 69531 91699 102758 13840 1s 14545 25574 36634 araoa 58752 os 30870 91930 museo
24. USER S MANUAL AND PROGRAMMING GUIDE VLP 16 Velodyne LIDAR Puck TABLE OF CONTENTS i SAFETY NOTICES 1 INTRODUCTION 2 PRINCIPLES OF OPERATION 3 Calibrated Reflectivities 4 Return Modes 7 SETUP 10 12 19 20 2 1 29 34 35 4 3 44 7 Case Contents 7 Mounting 8 Connections 8 Power 8 Ethernet 9 GPS USAGE 10 Using the Sensor SENSOR DATA 12 Data Packet Format 16 Time Stamp 16 Time Stamping Accuracy 16 Factory Bytes 17 The Position Packet TROUBLESHOOTING 19 Service and Maintenance SPECIFICATIONS APPENDIX A Packet Structure amp Timing APPENDIX B Interface Box APPENDIX C Webserver GUI APPENDIX D Firmware Update Procedure APPENDIX E VeloView APPENDIX F Mechanical Drawing VLP 16 USER S MANUAL SAFETY NOTICES VLP 16 USER S MANUAL IMPORTANT SAFETY INSTRUCTIONS RISK OF ELECTRIC SHOCK DO NOT OPEN A 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
25. a Biock 4 Data Block 1 Data Block 12 Flag xFFEE Azimuth N 4 Azmu Azimut 22 Timestamp Microseconds since top of the hour synced w GPS every sec Represents the time of the first firing of the first firing sequence O m o n gt Channe 0 Data Channel 0 Data Channel 0 Data Channe 0 Dats Channel 0 Dats Channe 1 Data Channelt Dats Channel 15 Dats Figure 12 Data Block Structure Single Return Mode 22 APPENDIX A PACKET STRUCTURE amp TIMING Use of Factory Bytes Beginning With VLP Firmware Version 3 0 23 0 1248 bytes VLP 16 USER S MANUAL 42 Bytes 12 2 bytes flag 2 bytes azimuth 32 2 bytes distance 1 byte reflectivity 1200 bytes 4 2 Header Data Block 1 Data Block 2 Data Block J Flag Flag xFFEE Flag Channel 0 Data Channel Data Channel 0 Data A Channels Channels 2 30 Data Block 4 Data Block 11 2 Timestamp Flag Flag xFFEE Channel 0 Data Y A E Channel 15 Dats Channel 15 Dats Channels Channels Channels 2 304 2 3Data 2 3 v 15 Data Channels Channels 2 3 2 3Data v T u T PETIT 27 Figure 13 Factory Bytes Beginning with firmware version 3 0 23 the factory
26. ad the minutes and seconds from the GPRMC message and use that to set the sensor s time stamp to the number of microseconds past the hour per UTC time Synchronizing the VLP 16 s timestamps to UTC allows third party software to easily geo reference the LiDAR data into a point cloud GPS Receiver Option 1 User Supplied GPS Receiver The user must configure their GPS device to issue a once a second synchronization pulse PPS 0 5V rising edge typically output over a dedicated wire and issue once a second NMEA standard GPRMC sentence No other output message from the GPS will be accepted by the VLP 16 Note The GPRMC sentence can be configured for either hhmmss format or hhmmss s format The GPS signals can be wired directly to the screw terminal inside the interface box If you wish to wire your own GPS receiver unscrew the top of the interface box and refer to the labeled screw terminal connector on the circuit card Appendix B GPS Receiver Option 2 Velodyne Supplied GPS Receiver A consumer grade Garmin GPS receiver that is pre programmed by Velodyne is available for purchase by VLP 16 users This receiver is pre wired with a connector that plugs into the VLP 16 interface box and it is pre programmed to output the correct GPRMC sentence and PPS synchronization pulse Contact Velodyne for current pricing and order part number 92 GPS18L VC Figure 7 Interface Box USAGE VLP 16 USER S MANUAL Using the Sensor The VLP 1
27. are to be uploaded Click Open and see file path in window EI 9 Velodyne HDL32 High Defi lt 88 Be FIRMWARE C 5 192 168 1 201 Favorites Today v Date Modified gt iCloud Drive vlp16_3 0 23 0_ mer_update flash 4 15 PM 3 9 MB a I Dropbox Velog U f L D 7 Applications J Desktop Sensor Model VLP 16 S N AE02811163 1 Docuperffs Downloads H Movies TIEFETIIETTZITTEYTI o 5 Pictures Update Firmware File Name Choose File file chosen Update fat henryle Update Calibration Devices File Name Choose File file chosen Update Henry s MacBook Air Remote Disc Reset System E Mac HD Media Music Photos H Movies GPS Position PPS Absent Motor State On RPM Lock Phas Laser State Velodyne Figure 19c Firmware Update Step 3 37 APPENDIX D FIRMWARE UPDATE PROCEDURE VLP 16 USER S MANUAL Click Update and notice progress status Velodyne HDL32 High Dei W 1 X 192 168 1 201 Velodyne LIDAR Sensor Model VLP 16 S N AE02811163 MAC 60 76 88 10 2b 9b VLP 16 USER INTERFACE Configuration I Diagnostics Update Firmware File Name Choose File vlp16 3 0 23 pdate flash Update ff Update Calibration File Name Choose File file chosen Update 39 1 Reset System GPS Position PPS Motor State RPM Lock Off Phase La
28. between 9 and 32 volts drawing a minimum of one amp Inspect the fuse in the interface module Replace if necessary 3 Amp automotive fuse Unit spins but no data Verify Ethernet wiring Verify packet output using another application e g Ethereall Wireshark Verify receiving computer s network settings Set a static IP address in your computer s network settings 192 168 1 77 Verify that no security software has been installed which may block Ethernet broadcasts Table 4 Troubleshooting Service and Maintenance There are no user serviceable nor maintenance requirements or procedures for the Velodyne VLP 16 Opening the sensor will void the warranty For service or maintenance please contact Velodyne at 1 408 465 2800 or log on to our website at www velodynelidar com 19 SPECIFICATIONS Mechanical Electrical Operational Wave Length Pulse Duration Repetition Rate Maximum Power Energy Output VLP 16 USER S MANUAL Time of flight distance measurement with calibrated reflectivities 16 channels Measurement range up to 100 meters Accuracy 3 cm typical Dual returns Field of view vertical 30 4157 to 15 Angular resolution vertical 2 Field of view horizontal azimuth 360 Angular resolution horizontal azimuth 0 1 0 4 Rotation rates 5 20 Hz Integrated web server for easy monitoring and configuration Max altitude of opera
29. corporated in every installation The interface box contains circuitry to protect against 1 Over Voltage The Interface Box accepts 9 32VDC input voltage The over voltage protection will kick in at 34V until the 3A fuse blows 2 Reverse Voltage The reverse voltage protection kicks in at 0 6V until the fuse blows or the TVS diode burns out Using the Sensors in Hardwired Applications The sensors may be integrated into a custom system by removing the Interface Box and cutting the interface cable to the desired length When integrated into a custom system adequate circuit protection similar to that provided by the interface box must be included to safeguard against damaging the sensors Failing to provide adequate circuit protection may result in severe damage to the sensors Important When shortening the interface cable take care to ensure the terminal block is correctly wired Reversing the power and ground at the terminal block may result in severe damage to the sensors 29 APPENDIX B INTERFACE BOX VLP 16 USER S MANUAL Time Synchronization with an External GPS INS System The sensors can synchronize their data with precise GPS supplied time Synchronizing to the GPS pulse per second PPS signal provides the ability to compute the exact firing time of each data point which aids in geo referencing and other applications To utilize these features the user must configure their GPS INS device to issue a once p
30. dd W 0300 18 16 a5 11 18 19 1 8c 11 ld 47 19 0310 2134 19 19 83 11 21 19 la c4 Ob O 9d 11 1 0320 57 Od 96 11 20 85 Of c9 18 0330 18 16 ac 11 18 29 19 1f 95 11 14 Example Time Stamp Calculation aoe 2 H 2 5 9 T H ine 1 Get Time Stamp Values 0x61 0x67 OxB9 5 0360 11 15 fc 18 16 b6 11 18 3d 19 1 11 1 74 2 Reverse the bytes 5 0x83 0x67 0x61 0370 19 17 a8 11 21 c1 19 18 9f 11 21 fd 19 18 c4 Ob m 3 Combine the bytes 5 96761 x E 2 x 5 B n E 4 4 Convert to decimal 1 522 100 065 c 4c 0340 19 16 bc 11 21 d2 19 19 a7 1124 Od 1 16 ff fi capes elena nds 0390 4c 69 c7 Ob Oc ab 11 1 4f Od 9411 le 81 Of Li 0 m v pa 03cO Of df 18 11 15 fc 18 16 b6 11 18 3d 19 1f 7 Divide by 60 to get minutes past the hour if needed 0340 a7 11 1 74 19 17 a8 11 21 1 19 19191 11 21 6 t 1 03e0 19 18 Ob Oc bc 11 18 4c Od ael 11 20 7f Of E los ue 0310 Of f7 18 14 d6 11 19 la 19 17 2 11 1 4 19 1 L 0400 bl 11 1 8b 19 16 bc 11 21 42 19 19 a7 11 24 04 Tie 0410 la 16 ff ee 73 69 bb Ob Oc c5 11 la 4f Od Oa cO si 0 0420 11 25 72 Of 02 19 16 2 11 19 2a 19 174111
31. deep mounting hole and two precision locating holes for dowel pins The sensor can be mounted at any angle orientation e The unit is weatherproofed to withstand wind rain and other adverse weather conditions Refer to the specifications page for operational and storage temperature ranges e Be sure the unit is mounted securely to withstand vibration and shock without risk of detachment The unit does not need shock proofing The unit is designed to withstand automotive G forces 500 m sec amplitude 11 msec duration shock and 3G rms 5 Hz to 2000 Hz vibration 103 3mm 4 07in 12 7mm MAX 0 50in MAX 88 9mm 4 ji 3 50in U 12 7mm MAX 0 50in MAX 1 4 20 MOUNT 9 32in 7 1mm 2X 216 FEATURES FOR 5 32in PINS 7 32in 5 5mm Figure 6 VLP 16 Base SETUP VLP 16 USER S MANUAL Connections The VLP 16 comes with an integral cable that is terminated at an interface box The cable is approximately 3 meters 10 in length and is permanently attached at the sensor but it may be removed from the interface box for ease of cable routing direct wiring and or inserting in line connector s The interface box provides connections for power Ethernet and GPS inputs For more information on the interface box see Appendix B Power The 2 1 mm barrel plug jack fits in the included AC DC power adapter The center pin is positive polarity Note The VLP 16 does not have a power switch It spins and operates approx
32. distance bytes and a calibrated reflectivity byte Return Distance Channel N Data Calibrated 422 Reflectivity Figure 9b Data Record The distance and reflectivity data are collected in the same staggered order in which the lasers are fired see Appendix A Distance to an object is reported in the first two of the three bytes in a data record The Calibrated Reflectivity value is reported in the third of the three bytes The distance is reported to the nearest 2 0mm meaning that the unsigned integer value given by the two distance bytes needs to be multiplied by 2 0mm to calculate the absolute distance to the object The Calibrated Reflectivity value is defined on a scale from 0 255 Refer to the Calibrated Reflectivities section on page 3 for further details 13 SENSOR DATA VLP 16 USER S MANUAL Below is the first part of a sample packet as displayed in Wireshark 198 0 216337 192 168 1 200 1248 Source port 2368 Destination port 2368 b Frame 198 1248 bytes on wire 9984 bits 1248 bytes captured 9984 bits b Ethernet II Src Velodyne 00 00 00 60 76 88 00 00 00 Dst Broadcast ff ff ff ff ff ff b Internet Protocol Version 4 Src 192 168 1 200 192 168 1 200 Dst 255 255 255 255 255 255 255 255 b User Datagram Protocol Src Port 2368 2368 Dst Port 2368 2368 0000 ff ff ff ff ff ff 60 76 88 00 00 00 08 00 45 00 E 0010 04 d2 00 00 40 0
33. eloView is able to display dual return data Figure 4b below has two good examples of dual return data In this test area the VLP 16 gets returns from the vinyl weather curtain see inserted image as well as from objects inside the building Additionally you can see where the beam is split on the edge of the loading dock The blue lines indicate the portion of the beam that hit the loading dock while the red lines indicate the portion of the beam that hit the ground beyond the loading dock Last Return red Solid Surface Strongest or Second strongest Return blue Transparent Curtain Figure 4b Dual Returns Example 2 In dual return mode the data rate of the sensor doubles Data rates for the two modes are given below Packets Second Megabits Second strongest 7 Dp 2508 Table 1 Dual Return Data Rates PRINCIPLES OF OPERATION VLP 16 USER S MANUAL The return mode is selected in the webserver user interface Appendix C In the screenshot below the Strongest return is selected The other options are Last and Dual 69 Velodyne HDL32 High Dei V 4 lt 5 192 168 1 201 index html Velodyne LIDAR Sensor Model VLP 16 S N AE02811163 MAC 60 76 88 10 2b 9b VLP 16 USER INTERFACE NEN Diagnostics Laser On Return Type Strongest 2 Motor RPM 600 Set FOV Start End 359 Set Phase Lock Off Offset 0 Set Host IP 255 255
34. er second synchronization pulse in conjunction with a once per second NMEA GPRMC sentence No other NMEA message will be accepted by the sensors Other NMEA sentences might be misinterpreted by the sensors For additional information please refer to the tables and diagrams in the following section Interface Cable Signal Description e The serial data output from the GPS receiver should be connected to the sensor Interface Box via the screw terminal labeled GPS RECEIVE e The PPS output from the GPS INS should be connected to the sensor Interface Box via the screw terminal labeled GPS PULSE The ground signal s from the GPS INS should be connected to the sensor Interface Box via the screw terminal labeled GROUND e Serial configuration for the NMEA Message should be 9600 baud 8N1 The PPS synchronization pulse and GPRMC message may be issued concurrently or sequentially The PPS synchronization pulse length is not critical typical lengths are between 20ms and 200ms but reception of the GPRMC sentence must conclude less than 500ms after the rising edge of the synchronization pulse I P Typ 20 200 ms PRETPRITHIITITLODA IIT 0 430 ms gt UM oo I I 1 70 ms 9600 bps Figure 17 PPS Synchronization and GPRMC Message 30 APPENDIX B INTERFACE BOX Interface Cable Signal Description VLP 16 USER S MANUAL Specifications Black Red Yellow White Light Orange Ora
35. ets as they are generated by the unit 2 Parsethe data packets for rotational angle measured distance and reported calibrated reflectivities Your software needs to read the data packet from the Ethernet port and extract the azimuth elevation angle distance to the object and time stamp Once the data is identified proceed to the next step See Data Packet Format in Appendix A 3 Calculate X Y Z coordinates from reported data The VLP 16 reports coordinates in spherical coordinates Consequently a transformation is necessary to convert to XYZ coordinates The vertical elevation angle is fixed and is given by the Laser ID Appendix A The position of the return in the data packet indicates the Laser ID The horizontal angle azimuth a is reported at the beginning of every other firing sequence and the distance is reported in the two distance bytes With this information X Y Z coordinates can be calculated for each measured point Points with distances less than one meter should be ignored The conversion is shown in Figure 8 on the following page 10 USAGE VLP 16 USER S MANUAL Side View 4 Data Point R COS w R COS o SIN a R COS o COS a Figure 8 Spherical to XYZ Conversion 4 Plot or store the data as needed The calculated X Y Z data is typically stored for later processing and or it is displayed on a computer as a series of poi
36. ffset 0 Host IP 255 255 255 255 Data Port 236 Telemetry Port 830 Set Network 192 168 1 20 Mask 255 255 255 0 Gateway 192 168 1 1 DHCP Off set Save Configuration Download Snapshot GPS Position PPS Motor State RPM Lock Phase Laser State Velodyne LIDAR Figure 19g Firmware Update Step 7 41 APPENDIX D FIRMWARE UPDATE PROCEDURE VLP 16 USER S MANUAL e Switch to Info screen to verify new firmware version Velodyne HDL32 High De x c 5 192 168 1 201 index html Velodyne LIDAR Sensor Model VLP 16 S N AE02811163 MAC 60 76 88 10 2b 9b VLP 16 USER INTERFACE Application Enabled pomo 5020 Application Bonom Bonom Watchdog Enabled 2 boso 0210 Firmware GPS Position PPS Motor State On RPM Lock Phase 0 Laser State Velodyne LIDAR Figure 19h Firmware Update Step 8 42 APPENDIX E VeloView VLP 16 USER S MANUAL VeloView performs real time visualization of 3D LiDAR data from Velodyne sensors VeloView can also playback pre recorded data stored in pcap files VeloView displays the distance measurements from the sensors as point cloud data and supports customer color maps of multiple variables such as intensity of return time distance azimuth and laser ID The data can be exported
37. imately 5s after power has been applied The VLP 16 requires 8 watts of power and is commonly used in vehicle applications where standard 12 volt 2 amp power is readily available 1 Connect the interface box 2 Connect to the Ethernet port of any standard computer Note Before operating the sensor make sure that e sensor is securely mounted Power is applied in the correct polarity Ethernet The standard RJ45 Ethernet connector connects to any standard computer IP Address The IP address for each VLP 16 is set at the factory to 192 168 1 201 but can be changed by the user via the WebServer GUI For details on how to connect to the webserver GUI see Appendix C MAC address Each VLP 16 has a unique MAC address that is defined by Velodyne and cannot be changed Serial Number Each VLP 16 has a unique serial number that is defined by Velodyne and cannot be changed Note The VLP 16 is only compatible with network cards that have either MDI or AUTO MDIX capability SETUP VLP 16 USER S MANUAL GPS The VLP 16 can synchronize its data with precision GPS supplied time pulses enabling users to determine the exact firing time of each laser External synchronization requires a user supplied GPS receiver generating a synchronization Pulse Per Second PPS signal and a NMEA GPRMC message Appendix B The GPRMC message provides minutes and seconds in Coordinated Universal Time Upon synchronization the sensor will re
38. ket Data Point A data point is represented in the packet by three bytes two bytes of distance and one byte of Calibrated Reflectivity Data Block A data block is 100 bytes of data and consists of A two byte flag xFFEE a two byte azimuth and 32 Data Points 100 2 2 32 3 There are 12 data blocks in a packet but for calculating time offsets it s recommended they be numbered 0 11 Data Packet 1248 Bytes A data packet is 1248 bytes and consists of 42 bytes of header twelve Data Blocks a four byte timestamp and a two byte factory field Return Modes three choices The VLP 16 can be set to report either the strongest by light energy return the last temporally default or both the strongest and last If the strongest return is also the last return then the second strongest return is reported The information from two Firing Sequences of 16 lasers is contained in one Data Block Each packet contains the data from 24 firing sequences Only one Azimuth is returned per Data Block See Figure 12 on the following page 15 13 11 11 Table 6 Laser ID 21 APPENDIX A PACKET STRUCTURE amp TIMING VLP 16 USER S MANUAL Data Block Structure in VLP 16 in SINGLE Return Mode The User can select Strongest or Last return 1248 bytes 42 Bytes 12 2 bytes flag 2 bytes azimuth 32 2 bytes distance 1 byte reflectivity 1200 bytes 4 2 6 bytes Header Anmuth Data Block 2 Data Block 3 Dat
39. nge Light Blue Blue Input Output Ground Input Power Input GPS Sync Pulse Input GPS Serial Receive Input Ethernet TX Output Ethernet TX Output Ethernet RX Input Ethernet RX Input Table 8 Interface Cable Signal Description ETHERNET RX LE 3 M Figure 18 Interface Box Connections 31 System Ground 9 15V DC 12W TTL TTL Differential Differential Differential Differential VLP 16 USER S MANUAL 01701711 32 INTERFACE BOX APPENDIX B L 133HS 3NON 31V3S N M 8 0028 5 q 7 N3ldVOV 318VO OILVW3HOS 2 2 quu 1048 4208 ASSY LX3N eu po SA Hos 8a00z8 v8 MOO 19 IVNIAS 31 43MOd T 6000 4576 Goer dl
40. nt clouds Note The VLP 16 has the capability to synchronize its data with GPS precision time via a Pulse Per Second PPS signal from a GPS receiver A synchronized timestamp from the VLP 16 sensor may be used to match the data stream from the sensor with the data stream from the attached external GPS receiver and or Inertial Measurement Unit IMU 11 SENSOR DATA VLP 16 USER S MANUAL Data Packet Format The VLP 16 outputs two types of UDP Ethernet packets Data Packets and Position Packets The Data Packet is comprised of the laser return values calibrated reflectivity values azimuth values a time stamp and two factory bytes indicating the sensor model and the return mode Strongest Last and Dual The data packet is 1248 bytes long and is sent on port 2368 Each VLP 16 data packet consists of a 42 byte header and a 1206 byte payload containing twelve blocks of 100 byte data records The data is followed by a four byte time stamp data and two factory bytes The data packet is then combined with status and header data in a UDP packet and transmitted over the Ethernet The firing data is assembled into the packets in the firing order with multi byte values azimuth distance timestamp transmitted least significant byte first The basic form of the data packet is shown below 1248 bytes 12 2 bytes flag 2 bytes azimuth 32 2 bytes distance 1 byte reflectivity 1200 bytes 4 2 6 bytes 42 Bytes Data Block
41. recharge all 16 lasers is given by 16 x 2 304us 1 x 18 43us 55 296us To calculate the exact time in microseconds of each data point first number the points in the firing sequence as 0 15 This becomes the data point index for your calculations Next number the firing sequences 0 23 This becomes your sequence index Because the timestamp is the time of the first data point in the packet you need to calculate a time offset for each data point and then add that offset to the timestamp The offset equation is given by TimeOffset 55 296us Sequence Index 2 304us Data Point Index To calculate the exact point time add the TimeOffset to the timestamp ExactPointTime Timestamp TimeOffset Example Calculate the exact firing time of the last firing in a packet if the timestamp value is 45 231 878us Sequence Index 23 Data Point Index 15 Time Stamp 45 231 878us ExactPointTime Timestamp TimeOffset ExactPointTime 45 231 878 55 296us 23 2 304us 15 ExactPointTime 45 231 878 1 306 368us ExactPointTime 45 233 184 368us Additional examples are show in Figure 16 and a complete table of the offsets is given in Table 7 26 APPENDIX A PACKET STRUCTURE amp TIMING VLP 16 USER S MANUAL Time offset calculation in VLP 16 1248 bytes 42 Bytes 12 2 bytes flag 2 bytes azimuth 32 2 bytes distance 1 byte reflectivity 1200 bytes 4 2 6 bytes Data Block 1 ata Block 2 Data Block 3
42. s as good as the back up clock in the GPS If the GPS is disconnected after synchronization the VLP 16 will continue to run its own clock and be subject to a drift of approximately 5 seconds per day Factory Bytes Every VLP 16 data packet beginning with firmware version 3 0 23 identifies the type of sensor from which the packet came and the return mode Strongest Last Dual The return mode determines how the packet should be interpreted See Figure 10b on the previous page Field 4DEh Field 4DFh Table 2 Factory Byte 16 SENSOR DATA VLP 16 USER S MANUAL The Position Packet The position packet is provided so the user can verify that the VLP 16 is receiving valid time updates from a GPS receiver The position packet is a 554 byte long UDP packet broadcasted on port 8308 It consists of 42 byte Ethernet header 198 bytes 4 bytes 4 bytes 72 byte NMEA GPRMC sentence 234 bytes Table 3 Position Packet An example GPRMC message is shown below GPRMC 220516 A 5133 82 N 00042 24 W 173 8 231 8 130694 004 2 W 70 1 2 3 4 5 6 7 8 9 10 11 12 1 220516 Time Stamp 2 A validity A ok V invalid 3 5133 82 current Latitude 4 N North South 5 00042 24 current Longitude 6 W East West 7 173 8 Speed in knots 8 231 8 True course 9 130694 Date Stamp 10 004 2 Variation 11 W East West 12 70 checksum The position packet returns the exact same GPRMC message that was received from the GPS via the serial connection
43. ser State Velodyne Figure 19d Firmware Update Step 4 38 APPENDIX D FIRMWARE UPDATE PROCEDURE Once uploaded the following window will open e Click Process Firmware Update e Monitor progress status 3 Velodyne HDL32 High Dei W 4 lt 5 192 168 1 201 program flash html Velodyne LIDAR VLP 16 USER INTERFACE Firmware Update Complete VLP 16 USER S MANUAL Process Firmware Update 5 096 Reset System Return to main page Figure 19e Firmware Update Step 5 39 Velodyne APPENDIX D FIRMWARE UPDATE PROCEDURE Once 100 has been reached click Reset System e The main page will appear again after reset 3 Velodyne HDL32 High Deti W N 3 192 168 1 201 program flash html Velodyne LIDAR VLP 16 USER INTERFACE Firmware Update Complete Process Firmware Update 10096 Reset System Return to main page Figure 19f Firmware Update Step 6 40 VLP 16 USER S MANUAL Velodyne APPENDIX D FIRMWARE UPDATE PROCEDURE VLP 16 USER S MANUAL Click Download Snapshot to save configuration after upload e 69 Velodyne HDL32 High Def WA lt 1 192 168 1 201 index html Velodyne LIDAR Sensor Model VLP 16 S N 2811163 MAC 60 76 88 10 2b 9b VLP 16 USER INTERFACE Syste Info Diagnostics Laser On Off Return Type Strongest Motor RPM 600 Set FOV Start 0 End 359 Set Phase Lock On Off O
44. server GUI o Default IP 192 168 1 201 e For backup purposes click Download Snapshot and save file 3 Velodyne HDL32 High Dei W 4 c 7 192 168 1 201 Velodyne LIDAR Sensor Model VLP 16 S N AE02811163 MAC 60 76 88 10 2b 9b VLP 16 USER INTERFACE 19 Diagnostics Laser On Return Type strongest Motor RPM 600 set FOV Start End 35999 Phase Lock Off Offset 0 Set Host IP 255 255 255 255 Data Port 236 Telemetry Port 830 set Network IP 192 168 1 20 Mask 255 255 255 0 Gateway 192 168 1 1 DHCP Off se Save Configuration Download Snapshot GPS Position PPS Motor State On RPM 599 Lock Phase Laser State Velodyne Figure 19a Firmware Update Step 1 35 APPENDIX D FIRMWARE UPDATE PROCEDURE VLP 16 USER S MANUAL Switch to System page 69 Velodyne HDL32 High W lt 192 168 1 201 Velodyne LIDAR Sensor Model VLP 16 S N AE02811163 MAC 60 76 88 10 2b 9b VLP 16 USER INTERFACE Update Firmware File Name Choose File file chosen Update Update Calibration File Name Choose File file chosen Update Reset System GPS Position PPS Motor State RPM Lock Phase Laser State Velodyne Figure 19b Firmware Update Step 2 36 APPENDIX D FIRMWARE UPDATE PROCEDURE VLP 16 USER S MANUAL Click Choose File and locate firmw
45. tion 200 meters Class 1 eye safe 903 nm wavelength Power consumption 8 W typical Operating voltage 9 32 VDC with interface box and regulated power supply Weight 830 grams without cabling Dimensions 103 mm diameter x 72 mm height Shock 500 m sec amplitude 11 msec duration Vibration 5 Hz to 2000 Hz 3G rms Environmental Protection IP67 Operating temperature 10 to 60 C Storage temperature 40 to 105 C Up to 0 3 million points second 100 Mbps Ethernet Connection UDP packets containing Distances Calibrated relectivities Rotation angles Synchronized time stamps us resolution GPRMC NMEA sentence from GPS receiver GPS not included 903 nm min max range is 896 910 nm 6 ns duration 1 44us 16 lasers per pattern for a period of 46 1 us 21 7KHz repetition 31 Watt 0 19 uJ Table 5 Specifications 20 APPENDIX A PACKET STRUCTURE amp TIMING VLP 16 USER S MANUAL Definitions Firing Sequence The time and or process of cycle firing all the lasers in a VLP 16 It takes 55 296 uSec to fire all 16 Lasers Laser Channel A single 905nm Laser emitter and detector pair Each laser channel is fixed at a particular elevation angle relative to the horizontal plane of the sensor Each laser channel is given its own Laser ID number as shown in Table 6 The elevation angle of a particular laser channel is given by its location in the data pac
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