Velodyne Acoustics LIDAR HDL-32E - Manual (Page 13)

Laser Firing Sequence
The laser firing order is the same as the order in the Ethernet packet. The most downward laser fires first, followed by the interleaved firings
from the lower and upper “banks” of 16 lasers, as follows:
The interleaving firing pattern is designed is to avoid and potential ghosting caused primarily by retro-reflectors.
note: Laser #9 from the top of the stack, or DSR #15, is set at a 0 vertical angle. This laser can be used as a reference to calibrate pitch and
yaw of the sensor relative to the vehicle.
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HDL-32E User’s Manual
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Firing order DSR # Vertical angle
1 0 -30.67
2 1 -9.33
3 2 -29.33
4 3 -8.00
5 4 -28.00
6 5 -6.66
7 6 -26.66
8 7 -5.33
9 8 -25.33
10 9 -4.00
11 10 -24.00
12 11 -2.67
13 12 -22.67
14 13 -1.33
15 14 -21.33
16 15 0.00
17 16 -20.00
18 17 1.33
19 18 -18.67
20 19 2.67
21 20 -17.33
22 21 4.00
23 22 -16.00
24 23 5.33
25 24 -14.67
26 25 6.67
27 26 -13.33
28 27 8.00
29 28 -12.00
30 29 9.33
31 30 -10.67
32 31 10.67