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LiAir

X3

User Guide • GreenValley International Inc.

Consumption

10 W (average)

Working Temperature

-20 ℃ ~ 65 ℃

IP Rating

IP67

Note: The laser sensor cannot be directly irradiated with strong laser light
(including two sensors facing the light), so as to avoid high-intensity laser
damage to the receiving sensor.

2.3.2

Position and Orientation System (POS)

The airborne Position Orientation System (POS) is an inertial measurement unit (IMU)
and Global Navigation Satellite System (GNSS). POS systems are used to accurately
determine system velocity, position, and attitude values at specific moments in time.

1.

Global Navigation Satellite System (GNSS)

Global navigation satellite system, or (GNSS) on LiAir

X3

supports, mainly includes GPS,

GPS (the U.S.), Galileo satellite navigation system (Europe), BeiDou Navigation Satellite
System (China), and GLONASS (Russia). The GNSS of LiAir

X3

includes the aviation

GNSS antenna and the base station antenna.

2.

Inertial Measurement Unit (IMU)

Inertia measurement unit, or IMU, consists of a high-accuracy three-axis gyroscope and
a high-accuracy three-axis accelerometer. It is the benchmark center of the LiDAR
system. Its role is to get the position and orientation information without external
reference data.
The LiAir

X3

integrates a 3-axis MEMS (Micro-Electro-Mechanical System) gyroscope, 3-

axis MEMS accelerometer and dual GNSS/BD receivers into one system, the POS
system. Together the POS system components gather multi-reference parameters that
provide accurate, effective and reliable by optimization algorithm of integrated
navigation system.

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Содержание LiAir X3

Страница 1: ...LiAir X3 User Guide GreenValley International Inc Page 1 LiAir X3 UAV LIDAR System User Guide GreenValley International Inc Table of Contents ...

Страница 2: ...position 10 2 3 1 Laser Scanner 10 2 3 2 Position and Orientation System POS 12 2 3 3 Control and Storage Unit 13 2 3 4 Integrated Camera 13 2 3 5 GNSS Base Station 14 3 Product Components 17 4 Data Acquisition 18 5 1 Set Up GNSS Base Station 18 5 2 Device Installation 21 5 3 Parameter Setting 23 5 4 Workflow 26 5 Data Downloading 27 5 1 LiAir X3 Data Download 27 5 2 Base Station Data Download 27 ...

Страница 3: ... Structure 28 6 2 Open Project 30 6 3 Select and Configure Parameters 31 6 3 1 POS Processing Settings 31 6 3 2 Laser Scanner Settings 35 6 3 3 Camera Settings 35 6 4 Georeferencing Point Cloud Data 36 7 System Transportation and Maintenance 45 7 1 Operation Notice 45 7 2 Equipment Maintenance 46 ...

Страница 4: ...rovided by GVI 5 Do NOT use any power supply outside the specified voltage range 12 24V 0 9A 24VDC Incorrect voltage supply may cause permanent damages to the integrated instruments and other hazards Damage caused by the use of an unauthorized power supply are not covered by the Product Warranty 6 Keep the power USB network and other connector ports clean and dry and do not insert other objects ot...

Страница 5: ...e 11 Before using the equipment please ensure that the operating environment is far away from the source of electromagnetic interference 12 There are corresponding specifications for battery use and storage Please refer to the lithium battery use storage specifications for details 13 After the equipment is scrapped please do not throw it directly into the trash can It can be sent back to the manuf...

Страница 6: ...ons The LiAir X3 system intergration is comprised of multiple technologies including 1 A dynamic differential GNSS receiver for measuring the spatial position of the reference point of the laser signal transmission 2 Attitude measurement equipment for measuring the attitude parameters namely inertial measurement unit IMU 3 Laser ranging equipment used to measure the distance between the laser sign...

Страница 7: ...system coordinate system with the POS data to obtain accurate geographic coordinates 5 1 Technical Specification X3 Specifications Weight 1 2 kg Scan Range Sunny Outdoor 100 klx 190 m 10 reflectivity 230 m 20 reflectivity 320 m 80 reflectivity Field of View Repetitive Mode 70 4 horizontal 4 5 vertical Number of Returns Triple Return Scan Rate 240 000 points s first or strongest return 480 000 poin...

Страница 8: ...ct Structure 1 Power Port PWR Connects the power cable to power up the system 2 Switch button ON OFF and indicator light powers the system on and off also used to create project shared display system working status 3 USB C Port used for communication between computer and system such as firmware update data download etc 4 Memory card slot built in 256GB TF card for data storage 5 GNSS1 first main a...

Страница 9: ...Flashing Green The project has been created the inertial navigation data is being recorded and the system is working normally Flashing Red Once a Second The project has been created the inertial navigation data is being recorded and the system is working abnormally Solid Red The system status is abnormal the reasons include 1 TF card space is less than 15G 2 M300 RTK PSDK module is not activated 3...

Страница 10: ...s on the object and diffusely reflects back to the receiver The speed of light is known and the distance from the target object to the sensor is calculated by the flight time of the laser beam in the air LiDAR Ranging Formula S is the distance from the sensor to the target c is the speed of light and Δt is the round trip time of the laser The LiAir X3 product integrates the Livox Avia laser and su...

Страница 11: ...or 100 klx 190 m 10 reflectivity 230 m 20 reflectivity 320 m 80 reflectivity Distance Random Error 1σ 20m 2 cm Tested in an environment at a temperature of 25 with a target object that has a reflectivity of 80 and is 0 2 meters away Angular Random Error 1σ 0 05 Points Rate 240 000 points s first or strongest return 480 000 points s dual return 720 000 points s triple return FOV Repetitive scanning...

Страница 12: ...ir X3 supports mainly includes GPS GPS the U S Galileo satellite navigation system Europe BeiDou Navigation Satellite System China and GLONASS Russia The GNSS of LiAir X3 includes the aviation GNSS antenna and the base station antenna 2 Inertial Measurement Unit IMU Inertia measurement unit or IMU consists of a high accuracy three axis gyroscope and a high accuracy three axis accelerometer It is t...

Страница 13: ...ands from the computer and executes the commands 2 Controlling and coordinating each sensor to work properly 3 Storing the data Store the data of IMU camera and device log 2 3 4 Integrated Camera This product has a built in GVI self developed camera The main parameters of the camera are as follows Image Sensor Format APS C Lens 16 mm fixed focal length lens Effective Pixels 26 megapixels Picture E...

Страница 14: ...GPS base station composition GPS antenna GPS receiver power supply Base Station Information 1 Power Port 9 30 V 0 3 A 12 V 2 USB Port Connect to a computer via a double ended USB cable for base station data downloading 3 System Status Indicators Used to indicate base station status 4 RTK Button Cancelled 5 Save Button Base station data storage end storage function long press 6 RTK Antenna Port 7 G...

Страница 15: ...r supply is normal 3 6 W Flashing Red Low battery battery needs to be replaced Solid Blue Recording base station data Flashing Blue Internal SD card error or remaining storage space is less than 1 GB Off Not recording base station data Solid Green Cancelled RTK function normal Flashing Orange Locating satellites Solid Orange Satellite positions locked ...

Страница 16: ...tialization time 10 s Initialization reliability 99 9 Positioning Accuracy 0 2 m Data Update Rate Raw data up tp 50 Hz Position data up to 50 Hz First Position Time Cold start 50 s Warm start 35 s Dimensions and Electrical Parameters Dimensions mm 130 X 90 X 32 Weight 300 g Input Voltage 12 V Consumption 4 W Communication Port Data Download USB Port insert USB stick to download base station data a...

Страница 17: ...e GreenValley International Inc Page 17 3 Product Components LiAir X3 LiDAR System U SB Cable GNSS Antenna Kits 256GB TF Card Card Reader Documentation User Guide Note Please refer to the actual product list for delivery ...

Страница 18: ...e electromagnetic interference Open areas refer to those places which are not covered by high objects The maximum elevation mask angle of surrounding objects should be less than 15 The source of strong electromagnetic interference might be cellular base station high voltage transmission lines or objects with high reflectance e g mirror large water body which may cause the multipath propagation 2 S...

Страница 19: ...m edge to the ground for more than three times take the mean value as H1 Antenna height m 0 05 0 046 H1 2 0 1515 2 2 Antenna height m 0 05 0 046 H1 2 0 1515 2 2 Note When connecting the base station and the base station power cable you need to align the red dot on the power cable with the recessed part of the interface before connecting ...

Страница 20: ...res a Power on the base station then and indicator lights are always on b Wait for the orange GPS satellite signal light to become solid in this case the GPS signal is stable press and hold the Save button 2s release the button indicator light will turn on and start recording data c After the outdoor data collection work is completed press and hold for more than a second the indicator light will b...

Страница 21: ...at the shock absorbing ball is not broken Note When the base station is set up on an unknown point the base station needs to start collecting data 15 minutes before the flight operation and stop collecting data 15 minutes after the operation ends When the base station is set up on a known point the base station acquisition time only needs to cover the entire LiDAR acquisition time period ...

Страница 22: ... dust cover from the bottom of the device 4 Turn on the controller and power on the drone 5 Press and hold the ON OFF button of the device for more than 3 seconds to turn it on 6 Observe the status of the button indicator The red flashing quickly means that the system is powered on and initializing and the steady green light indicates that the system initialization is complete and the device is wo...

Страница 23: ...he web configuration interface of the device or the LiPlan application The parameters supported by the two methods are not exactly the same 1 Web Settings a Use WIFI to establish communication between the device and the computer or mobile phone After the device is powered on search for the wireless network named LiAir_XXXXXX click Connect and the password is 66666666 b Enter http 192 168 1 88 in t...

Страница 24: ...LiAir X3 User Guide GreenValley International Inc Page 24 Note Google Chrome or IE11 browser is recommended ...

Страница 25: ...the air and automatically stops LiDAR and camera data collection when the drone is landed Fast Mode Click the power ON OFF button create new project and synchronize the collection of both IMU data and LIDAR data simultaneously Manual mode In this mode the device automatically starts lidar and camera data collection when it reaches the first waypoint and automatically stops data collection when it ...

Страница 26: ...in green 1 time s which means the project is created and the IMU data recording starts 3 After take off the laser scanner and camera will start collecting data automatically 4 After completing the flight routes and landing the data collection of the laser and camera will automatically stop 5 Short press the ON OFF button for 0 2 seconds to stop the IMU data recording and finish the project then th...

Страница 27: ...ert the TF card into the computer and copy the corresponding project files to the computer Not the folder with _NAV suffix 5 2 Base Station Data Download 1 Connect the computer and the base station 2 Place the base station file into the Base folder within the corresponding project folder Disconnect the connection Note Base station file name in SD card UTC time suffix log for example 20170810063808...

Страница 28: ...y using LiGeoreference s data fusion capabilities to produce a true color 3D model of an object or area surveyed LiGeoreference is now available as a stand alone application with a helpful graphical user interface as well as a command line interface for scripting and easy integration with third party software In this article the main purpose to produce this chapter is to show the data post process...

Страница 29: ...tion folder is used to store the calibrated file of liDAR csv but only available to partial series like LiAir 200 and LiAir 220 LaserRaw folder is used to store the raw data of laser scanner s point cloud vpts After being post processing it is convenient for users to convert the data s format as needed Note vpts is the default format developed by GVI LiNav folder is used to store the intermediate ...

Страница 30: ... software Click File icon on the toolbar to open LiGeoreference project file live through Browse icon 2 Users can also open the project file via Recent Projects icon which refers to history project opened before 3 After opening the project the georeferencing tool will automatic import the IMU file ...

Страница 31: ...ation and smooth settings Normally users only need to set pos process settings and target coordinate system settings 6 3 1 POS Processing Settings LiGeoreference software has pos calculation and point cloud calculation functions Users could directly use LiGeoreference software to calculate LiAir X3 H s trajectory or choose to use other third party software to perform pos processing procedure 1 Usi...

Страница 32: ...long baseline mode can be selected 3 Load rover station data under normal circumstances the software will automatically read the rover station data under the project folder 4 Select base station data Under normal circumstances the software will automatically read the base station data in the project folder or manually load the base station data If the format of the local base station is the Rinex ...

Страница 33: ... station coordinates Additionally users could use Save to Favorites function to save the entered base station coordinates and later can directly use the saved base station coordinates through Select from Favorites Analyze from the data header some base station files and base station coordinates are stored in the header file From Header option needs to be clicked when users want to use this functio...

Страница 34: ... 34 2 Import External IMU or Existing POS Data Select External Input under Process Mode to import pos data The external input function supports importing the original IMU data and the processed POS data and the specific format includes pos out pof sbtc imu ...

Страница 35: ...distance and scanning angle users could change the range via clicking Filter to set the parameters For more details please visit LiGeoreference users guide 6 3 3 Camera Settings Normally users do not need to change the parameters of the camera setting interface Uniform Color Function sometimes the shooting is affected by the light and the uniform color function will make the light and dark more un...

Страница 36: ...n process of using the trajectory selection tool The way of drawing polygon could be found in the user manual of LiGeoreference software 1 Click the Select On Trajectory button on the main interface of the software and a table will automatically pop up at the same time select the trajectory which needs to be georeferenced and click OK 2 If needed to select multiple trajectories then repeat the abo...

Страница 37: ...ence module by default Users could check and re choose the function modules as needed 3 Data Georeferencing Click Start button to start data calculation After the calculation is completed the point cloud is automatically displayed in the main window Note If there is no image data please do not choose Colorization module otherwise the program will prompt an error ...

Страница 38: ...table for devices with cameras under the Tools bar a POS Trajectory Report There are 11 POS accuracy evaluation criteria included in the software Usually the number of satellites data coverage estimated attitude accuracy estimated position accuracy and PDOP value are mainly checked during data quality inspection Users can click the evaluation index of a certain plot or directly click Trajectory Re...

Страница 39: ...ime While the red part means the satellite number is too few to meet the requirement The insufficient GNSS signal will result in poor data quality If the number of satellites can be reached by the device is too few during a period of data acquisition user can select the time period and right click on that Then click Go to Time button to find out the corresponding period on the trajectory Floating ...

Страница 40: ... This is used to show the data coverage relation among base station data IMU data and GNSS data of the moving device Estimated Attitude Accuracy Click to show the plot of attitude accuracy This plot is used to show that if the accuracy exceeds the limitation of the IMU accuracy The X axis shows the GPS time The Y axis shows the attitude accuracy Red line is for changes in Roll direction Green line...

Страница 41: ...ion Green line shows the position accuracy in North direction While the blue line shows the position accuracy in height direction Estimated Velocity Accuracy Click to plot the velocity accuracy The X axis shows the GPS time The Y axis shows the velocity accuracy Red line is for velocity accuracy in East direction Green line shows the velocity accuracy in North direction While the blue line shows t...

Страница 42: ...n East North and Up directions during the forward backward processing Attitude Separation Click to show the plot of attitude separation This plot is used to show the difference among the angles in Roll Heading and Pitch directions during the forward backward processing The smaller the value is the better the matching degree of the forward backward processing is ...

Страница 43: ...the changes in height during the data acquisition Velocity Profile This plot shows the changes in velocity during the data acquisition Red line is for the changes in East direction Green shows the changes in North direction While the blue line shows the changes in up direction to the ground ...

Страница 44: ...LiAir X3 User Guide GreenValley International Inc Page 44 b Image Overlap Report The image overlap report lists the image overlap The report could check whether the photos are lost ...

Страница 45: ... lens with any part of the body 6 If the system needs to be transported it must be stored within appropriate packages 7 The operating temperature of the system is 20 50 In case of rain snow fog sand and other bad weather the operation should be stopped It can prevent equipment damage and on the other hand it can ensure the measurement accuracy In case of sudden bad weather during work please move ...

Страница 46: ...torage and the equipment is stored in an appropriate box 6 If the storage time is more than one month the power on test should be carried out 7 During the transportation of LiAir equipment the packing box equipped at the factory should be used 8 If it needs to be packed separately due to special circumstances please ensure that the packing box has a certain pressure resistance and label the outsid...

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