Hesai PandarXT-16 User manual

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HESAI Wechat
PandarXT-16
16-Channel Medium-Range
Mechanical LiDAR
User Manual

󶛾󶜀󶜀󶜀󶛾󶜂󶛿󶛾

..................................................................................... 󶛿
.............................................................................................. 󶜁
󶛿......................................................................................... 󶛿󶛾
󶛿󶛿  ...................................................................... 󶛿󶛾
󶛿󶜀  ............................................................................. 󶛿󶛿
󶛿󶜁 .................................................................... 󶛿󶜀
󶛿󶜂 ............................................................................... 󶛿󶜁
󶜀.................................................................................................... 󶛿󶜅
󶜀󶛿 ................................................................ 󶛿󶜅
󶜀󶜀  ...................................................................................... 󶜀󶛾
󶜀󶜁  .......................................................... 󶜀󶜂
󶜀󶜂  .......................................................................... 󶜀󶜆
󶜁...................................................................................... 󶜀󶜇
󶜁󶛿  .............................................................. 󶜁󶛾
󶜁󶜀  ........................................................................... 󶜁󶜅
󶜂......................................................................................... 󶜂󶜁
󶜂󶛿 .............................................................................................󶜂󶜂
󶜂󶜀  .........................................................................................󶜂󶜄
󶜂󶜁  .................................................................................󶜃󶜂
󶜂󶜂  ......................................................................󶜃󶜅
󶜂󶜃  ........................................................................................󶜃󶜆
󶜃 .................................................................... 󶜃󶜇
󶜄 ............................................................................ 󶜄󶛾
󶜅 .................................................................................. 󶜄󶜀
 ............................................................. 󶜄󶜄
....................................... 󶜄󶜅
 ............................................... 󶜅󶜁
 ........................................... 󶜅󶜃
 .......................................................................... 󶜆󶛾

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




















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
  
  

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
  






4






  













5






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
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
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󶜀󶜁󶜃󶜁󶛾󶜅󶛾





6
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
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    
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
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

7

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󶜄󶛾󶜆󶜀󶜃󶛿󶜀󶛾󶛿󶜂
󶜀󶛿󶛿󶛾󶜂󶛾󶛿󶛾󶛿󶛾󶜂󶛾󶛿󶛿󶜄󶛾󶜆󶜀󶜃󶛿󶜁󶜃󶜄󶜆󶜀󶛾󶛿󶜇
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  
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









9
  

  






10
1Introduction
󶛿󶜄
1.1 

󶛿  
󶜀  
󶜁  





󶛿󶛿

11
1.2 

󶛿󶜀
󶛿󶜁

󶛿󶜂
󶛿󶜁

󶛿󶜂󶛾

󶜇󶛾 
󶜇󶛾 
the Azimuth field in the corresponding data block in the Point Cloud Data Packet will be 90.

12
1.3 
󶜀 󶛿󶜃
󶛿󶜃
󶛿󶜄

when 

   󶜃
 
 

13
1.4 




󶛿󶜄

󶛾󶛾󶜃󶛿󶜀󶛾
 
󶜆󶛾󶛿󶛾󶜃󶛿󶜀
󶜃󶛾󶛿󶛾󶛿󶜂󶛿󶜁󶛿󶜄
 
󶛿
󶜀
 
󶛾󶜃󶛿
󶜀

󶜁󶜄󶛾

󶛾󶛾󶜇
󶜃
󶛾󶛿󶜆
󶛿󶛾
󶛾󶜁󶜄
󶜀󶛾

󶜁󶛾󶛿󶜃󶛿󶜃

󶜀

󶜃󶛿󶛾󶜀󶛾



  



󶜇󶛾󶜃

󶛿

󶜄󶜅


󶜅6.0 mm

󶛿󶛾󶛾󶛾󶛿󶛾󶜁󶛾 mm

󶜇󶜁󶜄
 
󶜇

󶜀󶛾 󶜄󶜃

󶜂󶛾 󶜆󶜃

󶛾󶜆



󶛿󶛾󶛾




󶜁󶜀󶛾󶛾󶛾󶛾

󶜄󶜂󶛾󶛾󶛾󶛾


󶛿󶜀󶜀󶛾

󶜀󶜂󶜂󶛾


 
󶛰󶛿 
 
󶛰󶛿 

14


 󶛿󶛾󶛾󶜇󶛾
 
 
 󶜃󶛿󶜀󶛾󶜃󶜅󶛾󶜁󶛾
󶜃󶛾
 3/7/15/25 
5% and 65%.
 
 󶛿󶜀󶜄󶛾󶛾
 
 󶜁󶛾
 
 
 
 

15


󶜁󶛾󶜃󶛿󶜀
-1.0
0.0
1.0
2.0
3.0
4.0
5.0
0.05 0.5 1 3 5 10 20 30 50 70 90
Accuracy (cm)
Target Distance (m)
Accuracy @50% Reflectivity
Random Sample 1
Random Sample 2
Random Sample 3
-1.0
0.0
1.0
2.0
3.0
4.0
5.0
0.05 0.5 13510 20 30 50 70 90
Accuracy (cm)
Target Distance (m)
Accuracy @10% Reflectivity
Random Sample 1
Random Sample 2
Random Sample 3
 
 
 
󶜁󶛾


16


󶜁󶛾󶜃󶛿󶜀
0.0
0.5
1.0
1.5
2.0
2.5
0.05 0.5 13510 20 30 50 70 90
Precision (cm)
Target Distance (m)
Precision @50% Reflectivity
Random Sample 1
Random Sample 2
Random Sample 3
0.0
0.5
1.0
1.5
2.0
2.5
0.05 0.5 1 3 5 10 20 30 50 70 90
Precision (cm)
Target Distance (m)
Precision @10% Reflectivity
Random Sample 1
Random Sample 2
Random Sample 3

17
2Setup
2.1 
󶜀󶛿

18
󶜀󶜀