Layer structure: multiScan136 vs. multiScan165

Summary table

Aspect

multiScan136

multiScan165

Vertical aperture (total)

65°

42°

Vertical angle range (φ)

+22.5° (up) … −42.5° (down)

+7.5° (up) … −35° (down)

Typical vertical spacing

Approx. 2.5° or 5° between layers (mode-dependent)

Approx. 2.5° or 5° between layers (mode-dependent)

Horizontal resolutions / layers

0.125° on 2 high-res layers, plus 14 layers at 1°; interlaced options: 0.5°/0.125° for 14 layers

0.125°, 0.25° or 0.5° for all 16 layers, interlaced options

Extra scan mode

—

40 Hz scan between layer 4 and 13 (central vertical band)

Interpretation of the layer structure

  • Vertical coverage / application focus

    • multiScan136

      • Wider vertical FOV (65°), reaching +22.5° upwards.

      • Better for applications needing overhead coverage and ground detection.

    • multiScan165

      • Narrower vertical FOV (42°), only up to +7.5° upwards.

      • Focuses its layers where mobile platforms most need detail: horizon and ground region.

  • Horizontal sampling per layer

    • multiScan136

      • Only 2 layers support the finest resolution of 0.125° (20Hz).

      • Remaining layers use 1° (20Hz), in interlaced mode: 0.5° (10Hz), 0.25° (5Hz)

    • multiScan165

      • All 16 layers support 0.5° (20Hz); in interlaced mode: 0.25° (10Hz), 0.125° (5Hz)

  • Dynamic behavior (central layers)

    • multiScan165 introduces a 40 Hz mode limited to layers 4–13 for faster reaction in the main obstacle-detection band.

    • multiScan136 scans uniformly at 20 Hz on all layers.

—.\install

Elevation angle table of multiScan 136

Scan layer

Measuring module allocation to scan layers

DIN ISO 8855 (data output)

Physical (see following figure for visualization)

1

Measuring module 0 (looks downwards)

22.7°

-22.7°

2

Measuring module 0

17.5°

-17.5°

3

Measuring module 0

12.5°

-12.5°

4

Measuring module 0

7.4°

-7.4°

5

Measuring module 0

2.5°

-2.5°

6 (high resolution)

Measuring module 0

0°

0°

7

Measuring module 0

-2.4°

2.4°

8

Measuring module 0

-7.3°

7.3°

9

Measuring module 1

-12.8°

12.8°

10

Measuring module 1

-17.3°

17.3°

11

Measuring module 1

-22°

22°

12

Measuring module 1

-26.8°

26.8°

13

Measuring module 1

-31.9°

31.9°

14 (high resolution)

Measuring module 1

-34.4°

34.4°

15

Measuring module 1

-37.2°

37.2°

16

Measuring module 1 (looks upwards)

-42.8°

42.8°

See p. 28/29 in this manual

multiscan_136_elevation_000.png

multiscan_136_elevation_001.png

Elevation angle table of multiScan 165

Scan layer

Measuring module allocation to scan layers

DIN ISO 8855 (data output)

Physical (see following figure for visualization)

1

Measuring module 0 (looks downwards)

7.3°

-7.3°

2

Measuring module 0

2.4°

-2.4°

3

Measuring module 0

0.0°

-0.0°

4

Measuring module 0

-2.5°

2.5°

5

Measuring module 1

-5.4°

5.4°

6

Measuring module 0

-7.4°

7.4°

7

Measuring module 1

-10°

10°

8

Measuring module 0

-12.5°

12.5°

9

Measuring module 1

-14.7°

14.7°

10

Measuring module 0

-17.5°

17.5°

11

Measuring module 1

-19.6°

19.6°

12

Measuring module 0

-22.7°

22.7°

13

Measuring module 1

-24.7°

24.7°

14

Measuring module 1

-27.3°

27.3°

15

Measuring module 1

-29.9°

29.9°

16

Measuring module 1 (looks upwards)

-35.3°

35.3°

See p. 27/28 in this manual

multiscan_165_elevation_000.png

multiscan_165_elevation_001.png

Explanation of the 40 Hz Mode (multiScan165)

Each measuring module of the multiScan165 operates at 20 Hz and transmits data packets containing 8 scan layers. However, in the range of scan layers 4 to 13, the vertical fields of view of the two modules overlap.

In this overlapping elevation region:

  • Of the 8 layers transmitted by each module, 5 layers overlap (“interlock”) in elevation with the corresponding 5 layers of the other module.

  • Since both modules operate independently at 20 Hz, but provide measurements in the same elevation range, and are rotated by 180° in azimuth relative to each other, the system receives two complementary data streams for these layers.

  • As a result, the overlapping layers are effectively updated at 40 Hz, because both modules contribute 20 Hz each for the same set of 5 layers.

In summary:
Each module continues to output 20 Hz × 8 layers, but 5 of these layers lie within the shared elevation range. Since both modules deliver 20 Hz for these layers, the effective update rate becomes 20 Hz + 20 Hz = 40 Hz for this specific vertical segment.

General overview

  • Advantages of multiScan136:

    • Maximum vertical coverage.

    • General-purpose 3D perception including overhead detection.

  • Advantages of multiScan165:

    • Uniform fine horizontal resolution across all layers.

    • Faster update rate in the central vertical region (40 Hz mode).