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.

1
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

2
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

3
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.

4
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

5
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