LSLIDAR MS03 User manual

MS03
High-Precision Long Range Mapping LiDAR
V1.0.0 2022.03
LeiShen Intelligent System Co., LTD www.leishen-lidar.com

TABLE OF CONTENTS
1. PRODUCT PROFILE........................................................................................................................1
1.1 OVERVIEW ......................................................................................................................................1
1.2 MECHANISM ...................................................................................................................................1
1.3 SPECIFICATION................................................................................................................................1
1.4 DIMENSIONS ...................................................................................................................................2
2. ELECTRICAL INTERFACE............................................................................................................3
2.1 POWER SUPPLY ...............................................................................................................................3
2.2 ELECTRICAL INTERFACE .................................................................................................................4
3. GET READY ......................................................................................................................................6
3.1 LIDAR CONNECTION .......................................................................................................................6
3.2 SOFTWARE PREPARATION................................................................................................................6
4. USAGE GUIDE ..................................................................................................................................7
4.1 OPERATION UNDER WINDOWS OS..................................................................................................7
4.1.1 Lidar Configuration................................................................................................................7
4.1.2 LSMS03 Windows Client Interface .......................................................................................8
4.1.3 Operation Procedure ............................................................................................................11
4.1.4 Point Cloud Data Parsing.....................................................................................................12
4.1.5 Note......................................................................................................................................12
4.2 ROS DRIVER OPERATION UNDER LINUX OS ................................................................................16
4.2.1 Hardware Connection and Test ............................................................................................16
4.2.2 Software Operation Example ...............................................................................................17
5. COMMUNICATION PROTOCOL................................................................................................18
5.1 MSOP PROTOCOL.........................................................................................................................19
5.1.1 Format..................................................................................................................................19
5.1.2 Data Package Parameter Description ...................................................................................19
5.2 DIFOP PROTOCOL........................................................................................................................22
5.3 UCWP PROTOCOL........................................................................................................................23
5.3.1 Configuration Parameters and Status Description................................................................24
5.3.2 Configuration Package Example..........................................................................................26

6. TIME SYNCHRONIZATION.........................................................................................................27
6.1 GPS SYNCHRONIZATION...............................................................................................................27
6.2 EXTERNAL SYNCHRONIZATION .....................................................................................................28
6.3 LIDAR INTERNAL TIMING..............................................................................................................29
7. ANGLE AND COORDINATE CALCULATION ..........................................................................29
7.1 HORIZONTAL ANGLE.....................................................................................................................29
7.2 DISTANCE VALUE .........................................................................................................................29
7.3 CARTESIAN COORDINATE REPRESENTATION .................................................................................30
8. ACCURATE TIME CALCULATION ............................................................................................31
8.1 CALCULATION OF DATA PACKET END TIME..................................................................................31
8.2 ACCURATE TIME CALCULATION OF CHANNEL DATA.....................................................................31

Safety Instruction
Before using the product, please read and follow the instructions of this manual carefully, and refer
to relevant national and international safety regulations.
∆Attention
Please do not disassemble or modify the Lidar privately. If you need special instructions, please
consult the technical support staff of LeiShen Intelligent.
∆Laser Safety Level
The laser safety of this product meets the following standards:
● IEC 60825-1:2014
● 21 CFR 1040.10 and 1040.11 standards, except for the deviations (IEC 60825-1, third edition)
stated in the Laser Notice No. 56 issued on May 8, 2019. Please do not look directly at the
transmitting laser through magnifying devices (such as microscope, head-mounted magnifying glass,
or other forms of magnifying glasses).
Eye Safety
The product design complies with Class 1 human eye safety standards. However, to maximize self-
protection, please avoid looking directly at running products.
∆Safety Warning
In any case, if the product is suspected to have malfunctioned or been damaged, please stop using
it immediately to avoid injury or further product damage.
Housing
The product contains high-speed rotating parts, please do not operate unless the housing is fastened.
Do not use a product with damaged housing in case of irreparable losses. To avoid product
performance degradation, please do not touch the photomask with your hands.
Operation
This product is composed of metal and plastic, which contains precise circuit electronic components
and optical devices. Improper operations such as high temperature, drop, puncture or squeeze may
cause irreversible damage to the product.
Power Supply
Please use the connecting cable and matching connectors provided by LeiShen Intelligent to supply
power. Using cables or adapters that are damaged or do not meet the power supply requirements, or

supply power in a humid environment may cause abnormal operation, fire, personal injury, product
damage, or other property loss.
Light Interference
Some precise optical equipment may be interfered with by the laser emitted by this product, please
pay attention when using it.
Vibration
Please avoid product damage caused by strong vibration. If the product's mechanical shock and
vibration performance parameters are needed, please contact LeiShen Intelligent for technical
support.
Radio Frequency Interference
The design, manufacture and test of this product comply with relevant regulations on radiofrequency
energy radiation, but the radiation from this product may still cause other electronic equipment to
malfunction.
Deflagration and Other Air Conditions
Do not use the product in any area with potentially explosive air, such as areas where the air contains
high concentrations of flammable chemicals, vapours or particles (like fine grains, dust or metal
powder). Do not expose the product to the environment of high-concentration industrial chemicals,
including near evaporating liquefied gas (like helium), so as not to impair or damage the product
function.
Maintenance
Please do not disassemble the Lidar without permission. Disassembly of the product may cause its
waterproof performance to fail or personal injury.

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1. Product Profile
1.1 Overview
MS03 is a Lidar based on the ToF principle. Adopting Class I eye-safe laser, it scans at
a high speed at a horizontal angle of 120° and reaches a detection range of up to 2,000
meters, a measurement accuracy of ±2 cm, and a minimum angular resolution of 0.01°.
This product is widely used in the fields of high-precision map, smart city, urban 3D
modelling, land survey, fire emergency, power inspection, track detection, mine
detection, tunnel detection, forest detection, bridge collision avoidance, etc.
1.2 Mechanism
MS03 adopts the Time of Flight (ToF) method. The Lidar starts timing (t1) when the
laser pulses are sent out. And when the laser encounters the target object and the light
returns to the sensor unit, the receiving end stops timing (t2).
Distance = Speed of Light*(t2 – t1)/2
Figure 1.1 Mechanism of MS03 Lidar
1.3 Specification
Table 1.1 Specifications of MS03
Model
MS03
Channels
4
Detection
Method
Time of Flight
Wavelength
1550 nm (ClassⅠeye-safe)
Detection Range
2000 m
1000 m
500 m
300 m
200 m

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1.4 Dimensions
There are 4 mounting holes at the back of MS03 Lidar. Four M6 mechanical screws
with spring washers and flat washers are needed for locking and fixing the Lidar. Figure
1.2 is the dimension drawing of MS03 Lidar with cable interface is on its side face.
Laser
Frequency
75k Hz
150k Hz
300k Hz
500k Hz
750k Hz
Range Accuracy
±2 cm
Horizontal FOV
120°
Angular
Resolution
0.096° (10 Hz)
0.192° (20 Hz)
0.048° (10 Hz)
0.096° (20 Hz)
0.024° (10 Hz)
0.048° (20 Hz)
0.014° (10 Hz)
0.028° (20 Hz)
0.01° (10 Hz)
0.02° (20 Hz)
Data Point
Generating
Rate
50,000 pts/sec
100,000 pts/sec
200,000 pts/sec
333,000 pts/sec
500,000 pts/sec
Echo Times
1 ~ 3 Times
Communication
Interface
Industrial Ethernet
GNSS Interface
TTL Sync Pulse
Operating
Voltage
14 V ~ 36 VDC
IP Grade
IP67
Operating
Temperature
-20℃~ 60℃
Storage
Temperature
-40℃~ 85℃
Weight
About 3 kg
Dimensions
(L·W·H)
230 * 120 * 106 mm

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Figure 1.2 MS03 Lidar Dimensions (Cable Interface on the Side)
MS03 Lidar utilizes mirror rotation to realize high-speed and high-repetition scanning
for horizontal 120° area. Figure 1.3 shows the appearance of the MS03 Lidar.
Figure 1.3 External View of MS03
2. Electrical Interface
2.1 Power Supply
The power input range of the MS03 Lidar is 9V～36VDC. If other DC power supply
is adopted, the recommended output voltage of the power supply is 12VDC, 19VDC or
24VDC. Please note that DC 9V and 36V are short-term power supplies in extreme
environments, which cannot be used as working voltage. When the voltage output
fluctuates, the Lidar may not be able to work normally.

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The maximum output current should be ≥2A (the Lidar requires a large instantaneous
current when starting, and a small starting current may cause its failure to start
normally). The output ripple noise should be <120 mVp-p and output voltage accuracy
<5%. It is recommended to use 12V/3A or 24V/2A power adapter.
The higher the power supply voltage and the stronger the discharge capacity, the more
severe the impact on the Lidar (such as powered by direct vehicle power supply without
adapters or interface boxes). Therefore, it is necessary to use high-power TVS transient
suppression diodes to protect the Lidar to avoid damage.
The line length of the Lidar power supply is 5~10 m, and the power supply voltage
needs to be over 19V. If the line length is more than 10 m, then it is recommended to
use a 220VAC adapter nearby for the power supply (DC long-distance power supply is
not recommended).
2.2 Electrical Interface
The cables from the side of the MS03 Lidar base are a 4-Pin power cord and a 12-Pin
ethernet cable. See the figures below.
Figure 2.1 The 4-Pin Power Supply Cable

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Figure 2.2 The 12-Pin Ethernet Cable
The wiring definition of the 4-Pin power supply cable and the 12-Pin ethernet cable are
presenting in the tables below:
Table 2.1 Wiring Definition of the 4-Pin Power Supply Cable
S/N
Color
Definition
Description
1
Dark Orange
VCC
Power+
2
Light Orange
VCC
Power+
3
Dark Blue
GND
Power-
4
Light Blue
GND
Power-
Table 2.2 Wiring Definition of the 12-Pin Ethernet Cable
S/N
Color
Definition
Description
1
White & Orange (24 AWG)
MX1+
Ethernet TX+
2
Orange (24 AWG)
MX1-
Ethernet TX-
3
White & Blue (24 AWG)
MX3-
Ethernet TX-
4
Blue (24 AWG)
MX3+
Ethernet TX+
5
White & Green (24 AWG)
MX2+
Ethernet TX+
6
Green (24 AWG)
MX2-
Ethernet RX-
7
White & Brown (24 AWG)
MX4+
Ethernet TX+
8
Brown (24 AWG)
MX4-
Ethernet RX-
9
Blue (22 AWG)
GND
GPS_GND
10
Red (22 AWG)
N.C
11
Brown (22 AWG)
PPS-GPS
GPS Inputting PPS Signal
12
Black (22 AWG)
TX-GPS
GPS Inputting Signal

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3. Get ready
3.1 Lidar Connection
To get ready for the Lidar operation, please connect the Lidar, host computer, GPS
module and power supply through the interface box as shown in Figure 3.1.
Figure 3.1 Connecting the Lidar
3.2 Software Preparation
The LeiShen MS03 Lidar can be operated under both Windows operating system and
Linux operating system. Software needed is as follows:
Wireshark: to capture the ARP (Address Resolution Protocol) packets.
Note: Wireshark is a third-party software, and you may need to download it by yourself.
LeiShen Intelligent bears no responsibility for any copyright and commercial disputes
caused by the use of this software.
To view the point cloud data generated by the Lidar, you can either use the LSMS03
Windows Client or the ROS Drive Program.
LSMS03 Windows Client (optional): a host computer software to view point cloud
image under Windows operating system, which is also referred to as “point cloud
display software”. Simple functions like parameter configuration, Lidar test and fault
detection can be realized through the client, too.
⚫Software Acquisition
This LSMS03 Windows Client has been pre-stored in the USB flash drive provided
along with the Lidar. It can also be obtained from the sales or technical support
personnel. No installation is required to the client.
⚫Operating Environment

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This software can only run under the Windows x64 operating system at present. The
computer configuration requirements for installing the software are: CPU: Intel(R)
Core (TM) i5 or higher; Graphics Card: NVIDIA GeForce GTX750 or higher achieves
the best effect, otherwise the display of the point cloud may be affected. And the
computer graphics card must support OpenGL 2 or higher graphics acceleration to
display the point cloud normally.
⚫Supplemental Software
To use the LSMS03 Windows Client, the installation of the WinPcap third-party library
is necessary. This software has also been pre-stored in the USB flash drive provided
with the Lidar.
To install the WinPcap software, please follow the following steps:
Step 1. Insert the USB driver into computer port and open it.
Step 2. Find the WinPcap installation file and double-click it to initiate the installation.
Step 3. Click “next” to enter the installation path selection interface.
Step 4. Click “next” to enter the installation interface.
Step 5. Click the “install” button, and wait for the installation to be completed.
ROS Drive Program (optional): to view the point cloud data under Linux operating
system. This program has been pre-stored in the USB flash drive provided with the
Lidar. It can also be obtained from the sales or technical support personnel. No
installation is required.
4. Usage Guide
This part states operation instructions of the LSMS03 Windows Client and ROS drive
presented by the LeiShen Intelligent System Co. Ltd.
4.1 Operation Under Windows OS
4.1.1 Lidar Configuration
The default IP address and port number of the Lidar network are as follows:
Table 4.1 Default Lidar Network Configuration
IP Address
UDP Device Package Port
UDP Data Package Port
Lidar
192.168.1.200
2368 (Fixed)
2369 (Fixed)
Computer
192.168.1.102
2369
2368

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Note:
1) The Lidar IP (local IP) and the computer IP (destination IP) cannot be set to the
same, otherwise the Lidar will not work normally.
2) In the multicast mode, no two destination ports should be set to the same port
number.
When connecting to the Lidar, if the computer IP and the Lidar IP are in different
network segments, the gateway is needed to be set; if they are in the same network
segment, different IPs are needed to be set, for example: 192.168.1.x, and the subnet
mask is 255.255.255.0. If you need to find the Ethernet configuration information of
the Lidar, please connect the Lidar to the computer and use “Wireshark” to capture the
ARP packet of the device for analysis. For the feature identification of the ARP packet,
see the figure below.
Figure 4.1 Wireshark captures APR packets
4.1.2 LSMS03 Windows Client Interface
The software interface includes menu area, tool bar area, 3D window area, data table
area, etc.

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Figure 4.2 Initial Interface
Note: To view the software version, click “Help->About” in the toolbar.
Point cloud display interface supports the following operations:
1) Zoom in/out the display interface with the mouse wheel; hold the right mouse button
and drag it up/down to zoom in/out.
2) Hold the left mouse button and drag it to adjust the angle of view;
3) Hold the mouse wheel and drag it to pan the display interface; or hold the shift key
on the keyboard and the left mouse button to pan the interface.
Menu button function introduction
⚫Lidar Menu
Button
Description
Click to start receiving display data
Show/hide measurement grid
Mark the selected points in the point cloud image
Pause point cloud image and data generating

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Note: In the point cloud display area, with 20 circles and 40*40 grids, the radius of
every two adjacent circles differs by 10 m. The difference between every two grids
(horizontal or longitudinal) is 10 m. And the radius of the outermost circle is 200 m.
The grids and circles make it easy to view the position of the point cloud. The direction
of the coordinate axis in the 3D display interface is consistent with the direction of the
X-Y axis in the point cloud reference system.
⚫Offline Menu
Button
Description
Open offline data
Record and save data, valid only when Lidar receives data in real time
Skip to the beginning
When paused, view the previous frame;
When playing, rewind (click multiple times to
select 2x, 3x, 1/2x, 1/4x and 1x speed)
Click to start playing after the point cloud file is loaded
When playing, click to pause
When paused, view the next frame;
When playing, fast forward (click multiple times
to select 2x, 3x, 1/2x, 1/4x and 1x speed)
Skip to the end
Drag the progress bar or enter the frame number to skip to the specified position
Select point clouds from different angles
Clear screen
Show/hide coordinate
Show/hide the column on the left
Three-view option: set the observation angle from top,
front, and left.

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⚫Setup Menu
Button
Description
Open Lidar parameter
form
The upper part of the form shows the Lidar
configuration. The parameters include local IP,
destination IP, subnet mask, gateway, data port, device
port, and motor speed setting (5Hz/10Hz/20Hz can be
selected under combobox), whether to obtain the local
time, Mac address information, and device packet
sending interval.
The lower part shows the real-time status information.
According to the DIFOP status packet sent out regularly
by the Lidar, the current status information is displayed,
including GPS position information, satellite time
information, motor speed, current Lidar IP, and current
Lidar port number.
Select laser channel
Vertical Angle column represents the vertical angle of
the corresponding channel data and Channel column
represents the data sequence number corresponding to
the channel.
Save the data in .csv
format
The data includes Points_X, Points_Y, Points_Z,
Laser_id, Azimuth, Distance, Intensity.
Set the display mode of
the point cloud
Intensity, laser ID, azimuth angle, etc.
Note: The computer graphics card must support OpenGL 2 or higher graphics
acceleration to display the point cloud normally.
4.1.3 Operation Procedure
Step 1. Set the data port number (default 2368), device port (or telemetry port in the
picture below) number (default 2369).
Step 2. When the power supply of the Lidar is connected to the network cable, click
to receive the Lidar data in real time.
Step 3. The data table contains ID, Points_m_XYZ, Distance, Azimuth, Intensity, in
which ID is the Lidar channel number; Points_m_XYZ are the coordinates; Distance is
the distance value; Azimuth is the azimuth angle; and Intensity is the reflection intensity.

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Figure 4.3 Real-Time Lidar Point Cloud Display
4.1.4 Point Cloud Data Parsing
If you need to parse Lidar data, please follow the steps below:
Step 1. Parse the data package to obtain the relative horizontal angle, ranging
information, intensity data and microsecond timestamp information of each laser;
Step 2. Read the device package to obtain information such as the horizontal correction
angle value, UTC (GPS or NTP time service) and the current configuration of the device;
Step 3. Obtain the vertical angle of each line according to the laser beam distribution;
Step 4. According to the distance measurement value, vertical angle and the calculated
horizontal angle of the point cloud data, the XYZ coordinate values are obtained;
Step 5. If necessary, calculate the precise time of the point cloud data through UTC,
microsecond timestamp, light-emitting time of each laser, as well as single and dual
echo modes;
Step 6. Reconfigure information such as Ethernet, PPS synchronization horizontal
angle, motor speed and other information as needed, and pack the configuration
package protocol.
4.1.5 Note
Notice about the Lidar setting and usage:
1) It is not possible to use LSMS03 Windows Client to receive data in two processes

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(open twice at the same time) on the same computer. The port occupancy of the PC
is generally exclusive, so the other software that uses the same process or the same
port number cannot work normally after a process is bound to a specified port
number. When LSMS03 Windows Client detects that the port is occupied, it will
prompt that the communication network port configuration has failed, and
automatically close the software. You need to close the software process that
occupied the port, and reopen the Client to use it normally.
2) At the same time, since Qt is adopted in the low-level software development, please
create English paths when naming files and path folders.
3) Since the port number of the MS03 Lidar can be modified through user
configuration, and the Lidar sends data to the host computer through the preset
destination IP and port. Therefore, when the local laptop or desktop computer and
other devices are receiving data, their IP address should be the same as the
destination IP, and the port bound to the local host computer program needs to be
the same as the destination port number, as shown in the figure below (these are the
data packet parameters captured and analyzed by Wireshark software). The data in
the red boxes indicate the destination IP and port number of the Lidar.
Figure 4.4 Data Packet Parameters Captured by Wireshark Software
Please set the host computer IP according to the following steps:
Step 1. In the Control Panel -> Network and Internet -> Network Sharing Center, click
the “local connection” button.
Step 2. Click “Properties” in the pop-up status box, and click “TCP/IPv4 protocol” in
the pop-up properties box, as shown in the figure below.

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Figure 4.5 Network Connections
Step 3. In the TCP/IPv4 property settings, set the IP address to the Lidar's destination
IP (The default destination IP of the Lidar is 192.168.1.102), and the subnet mask is
set to 255.255.255.0.
Figure 4.6 IP Address and Subnet Mask Setting
4) Since the LSMS03 Windows Client needs to obtain a large number of data packets

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through the network in a short time, it may be considered as a malicious program by
the network firewall and be prohibited. Therefore, there may be situations in which the
data packet has been sent to the computer by the Wireshark software, but the client
cannot display it.
To address this problem, in Control Panel -> System and Security -> Windows Firewall
Settings, click to allow this program to pass through Windows Firewall, setting steps
are as shown in the figures below:
Step 1. In Control Panel -> System and Security -> Windows Defender Firewall, click
“Allow an app or feature through the Windows Defender Firewall”.
Step 2. Browse to find the software installation path, select it and click OK.
Step 3. Tick the part marked in the red box according to the nature of your network,
and click OK to see the data.
Figure 4.7 Windows Defender Firewall Setting
Computer graphics settings
When installing the LSMS03 Windows Client on a desktop or laptop with dual graphics
cards, the default global settings of the computer operating system is to use the global
settings (automatic selection: integrated graphics), which affects the display efficiency
of the software. In order to ensure the use and display efficiency of the software, you
need to manually set the computer graphics.
The condition of dual graphics cards can be checked in the computer configuration, and
the condition of the display adapter can be seen in My Computer->Properties->Device
Manager.
Take a laptop with Intel(R)HD Graphics 530 integrated graphics and NVIDIA GeForce
GTX 960 discrete graphics as an example. The setting steps to manually switch the
applicable graphics card of the software to high-performance discrete graphics card are
as follows:
Step 1. Right-click on a blank space on the desktop to pop up a right-click menu and
select “NVIDIA Control Panel”.
Step 2. Select the “Manage 3D Settings” in the NVIDIA Control Panel interface.