Related Manuals for GreenValley LiAir X3C-H
Summary of Contents for GreenValley LiAir X3C-H
- Page 1 LiAir X3C-H User Guide • GreenValley International LiAir X3C-H UAV LiDAR System User Guide GreenValley International Inc.
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Page 2: Table Of Contents
LiAir X3C-H User Guide Contents Contents 1 User Instructions ........................1 2 Product Introduction ......................4 2.1 Technical Specifications.....................5 2.2 Product Structure ......................7 2.3 System Components ....................9 2.3.1 Laser Scanner ....................9 2.3.2 Integrated Navigation System ..............11 2.3.3 Storage and Control Unit ................12 2.3.4 Camera ...................... - Page 3 LiAir X3C-H User Guide Contents 6.1 Project Folder Structure ..................22 6.2 Open Project ......................24 6.3 Select and Configure Parameters ............... 25 6.3.1 POS Processing Settings ................25 6.3.2 Laser Scanner Settings ................29 6.3.3 Camera Settings ................... 29 6.4 Georeferencing Point Cloud Data ...............
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Page 4: User Instructions
User Instructions 1 User Instructions Safety Precautions 1. LiAir X3C-H system use Class 1 (IEC60825-1:2014) eye-safe laser sensors. If you have any concerns, please contact GVI for details. 2. Please read this manual carefully before operating the system, and the system operator must be at least 18 years old. - Page 5 LiAir X3C-H at the time of purchase or in a productive case authorized for use by GVI. 9. When not in use, store LiAir X3C-H system and accessories in a cool and dry environment. Make sure the device is powered off when performing maintenance and cleaning.
- Page 6 LiAir X3C-H User Guide User Instructions handle it on your behalf. GreenValley International Inc. reserve the right to explain the above terms. GreenValley International Inc. March 5, 2023...
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Page 7: Product Introduction
LiAir X3C-H User Guide Product Introduction 2 Product Introduction LiAir X3C-H is a new light and compact UAV LiDAR system developed by GreenValley International through integrating a 360° scanning LiDAR sensor, self-developed inertial navigation system, and 26MP HD mapping camera with a high computing power edge computing platform. -
Page 8: Technical Specifications
LiAir X3C-H User Guide Product Introduction namely inertial measurement unit (IMU); 3. Laser ranging equipment used to measure the distance between the laser signal emission reference point and the ground point, that is, the core part of the entire integrated system, the laser scanner;... - Page 9 LiAir X3C-H User Guide Product Introduction 80 m @ 10% reflectivity; Scan Range（Sunny, Outdoor 200 m @ 54% reflectivity; @100 klx） 300 m @ 90% reflectivity Field of view 360° (Horizontal) × ° (Vertical) 40.3 Number of Returns first return: 640,000 points/s...
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Page 10: Product Structure
LiAir X3C-H User Guide Product Introduction Operating Temperature -20~50℃ Storage Temperature -30~60℃ UAV Model DJI M300 RTK Data Georeferencing Software LiGeoreference point cloud data georeferencing software 2.2 Product Structure 1— Power Port (PWR): Connect the power cable to power up the system. - Page 11 LiAir X3C-H User Guide Product Introduction 6— GNSS2: Second antenna port. Meaning of status indicator status: Color/Status Description Flashing Red (Four System is powered on and initializing Times a Second) Solid Green System initialization completed Flashing Green The project has been created, the inertial...
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Page 12: System Components
LiAir X3C-H User Guide Product Introduction 4. Camera self-test failed 5. The laser scanner is not synchronized 2.3 System Components 2.3.1 Laser Scanner The laser scanner is the core of the system. The LiDAR uses the laser as the emitting light source and the photoelectric detection sensor as the receiving element. - Page 13 LiAir X3C-H User Guide Product Introduction △t is the round-trip time of the laser beam. LiAir X3C-H is integrated with the HESAI 32-channel 360° scanning laser with the following parameters: Laser Scanner Parameters Scanning Principle Rotating Scan Number of Channels...
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Page 14: Integrated Navigation System
1. Global Navigation Satellite System (GNSS) Global navigation satellite system, or (GNSS) on LiAir X3C-H 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 X3C-H includes the aviation GNSS antenna and the base station antenna. -
Page 15: Storage And Control Unit
LiAir X3C-H User Guide Product Introduction 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. -
Page 16: Gnss Ground Station
LiAir X3C-H User Guide Product Introduction Lens 16mm fixed focal length lens Effective pixels 26 MP Pixel size 3.76um Image size 6252*4168 DFOV 83° 2.3.5 GNSS ground station The GNSS ground (base) station is mainly used to observe the same point for a long time to reach a high single-point accuracy as a differential reference for the UAV mobile station. -
Page 17: Package List
LiAir X3C-H User Guide Package List 3 Package List ① LiAir X3C-H LiDAR System×1 ② USB cable×1 ③ GNSS antenna assembly×1 ④ GNSS antenna×2 ⑤ 256G TF card × 1 ⑥ Card reader × 1 ⑦ USB flash drive × 1 ⑧ Tool × 1 ⑨ Document × 1... -
Page 18: Data Acquisition
LiAir X3C-H User Guide Data Acquisition 4 Data Acquisition 4.1 Base Station Setup 1. Select an open area for positioning Place the GNSS antenna at an open area in order to ensure the antenna can get access to the GNSS satellites as many as possible. Apart from this, the placement spot of the GNSS antenna should be stable and far away from the electromagnetic interference. -
Page 19: Installation
LiAir X3C-H User Guide Data Acquisition Note: The base station needs to start collecting data 15 minutes before the flight operation, and stop collecting data 15 minutes after the operation ends. 4.2 Installation 1. Mount the device to the DJI M300 UAV after checking that the shock absorbing module is not broken or damaged. -
Page 20: Parameters Settings
4.3 Parameters Settings LiAir X3C-H will remember the parameters last set and you can skip this step if no modification is required. LiAir X3C-H mainly contains laser parameters, camera parameters and etc. The parameters can be modified by either logging... - Page 21 WiFi network. After the device is powered on, search for the wireless network with the name LiAir_XXXXXX, click “Connect” and enter the password 66666666. b) Enter http://192.168.1.88 in browser to open the LiAir X3C-H Web Configuration page (username: root; password: 888888). Click “System Settings” to set the device parameters.
- Page 22 Note: The Manual mode must be used with GreenValley APP, otherwise it will be impossible to activate the laser and camera data acquisition.
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Page 23: Data Acquisition
LiAir X3C-H User Guide Data Acquisition Configuration: To set the interval of time or distance. 4.4 Data Acquisition 1. Power on the drone, press and hold the ON/OFF button of the system for at least 3 seconds to turn it on, and wait for the indicator light to be solid green, which means the system is in a normal state. -
Page 24: Data Download
5 Data Download 5.1 X3C-H data download All data of LiAir X3C-H will be stored in the TF card, including project files, camera images, LiDAR data, IMU data and log files. Insert the TF card into the computer and copy the project files to the computer (folders that are not suffixed with _NAV). -
Page 25: Data Georeferencing
6 Data Georeferencing LiGeoreference is a LiDAR point cloud georeferencing software developed by GreenValley which allows users to merge range measurements collected by mobile, UAV or airborne laser scanning systems with position and orientation information recorded by integrated IMU and GNSS sensors. Point clouds can also be attributed with RGB imagery using LiGeoreference’s data fusion capabilities to... - Page 26 LiAir X3C-H User Manual Data Processing Project folder is named with UTC Time, including: -Base folder is used to store the ground GPS base station data. -Calibrate folder is used to store calibrated files (*.cal). Please notice that: do not remove or delete this folder, otherwise, the performance of georeferencing will fail.
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Page 27: Open Project
LiAir X3C-H User Manual Data Processing configuration values, etc. 6.2 Open Project 1. Open LiGeoreference 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. -
Page 28: Select And Configure Parameters
LiAir X3C-H User Manual Data Processing 6.3 Select and Configure Parameters Before undertaking post-processing procedure, users can use the "Settings" function to set the calculation parameters, including laser settings, camera settings, pos process, target coordinate system, classification, and smooth settings. Normally, users only need to set pos process settings. - Page 29 LiAir X3C-H User Manual Data Processing （2）Select the processing mode according to the length of the trajectory. It is recommended to use the general mode. When the length of the trajectory is more than 10 km, the long baseline mode can be selected.
- Page 30 LiAir X3C-H User Manual Data Processing If the local base station format is Log format, select the NovAtel option. （5）Enter the Base Station Coordinates When there is no precise base station coordinate, users could select "Average" mode. And the positioning principle is single point positioning, which leads to meter-level errors between the point cloud coordinates calculated by this method and the true coordinates.
- Page 31 LiAir X3C-H User Manual Data Processing 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,...
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Page 32: Laser Scanner Settings
LiAir X3C-H User Manual Data Processing 6.3.2 Laser Scanner Settings Normally, the user does not need to change the parameters of the laser setting interface. If users want to limit the output power range by reflectivity, distance and scanning angle, users could change the range via clicking “Filter” to set the parameters. -
Page 33: Georeferencing Point Cloud Data
LiAir X3C-H User Manual Data Processing Uniform Color Function: sometimes the shooting is affected by the light and the uniform color function will make the light and dark more uniform, but will blur the color slightly. 6.4 Georeferencing Point Cloud Data 1. - Page 34 LiAir X3C-H User Manual Data Processing （2）If needed to select multiple trajectories, then repeat the above operation, and the selected trajectory segments will be displayed in the cutting table at the lower left corner. 2. Select Processing Module After opening the project, LiGeoreference will select “POS Process” and “Georeference”...
- Page 35 LiAir X3C-H User Manual Data Processing Note: If there is no image data, please do not choose "Colorization" module, otherwise the program will prompt an error. 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.
- Page 36 LiAir X3C-H User Manual Data Processing Satellites Number: Click to open the plot to show the relation between number of satellites, which can be reached, and the GPS time. This tool is used to show the number of satellites can be reached by the device each time during the data acquisition.
- Page 37 LiAir X3C-H User Manual Data Processing Floating/Fixed ambiguity status: Click to show the plot of ambiguity resolution status. This is used to show the situation of cycle ambiguity resolution. If the status is shown as green on the plot, it means the cycle ambiguity resolution is fixed.
- Page 38 LiAir X3C-H User Manual Data Processing File Data Coverage: Click to show the plot of data coverage situation. This is used to show the data coverage relation among base station data, IMU data, and GNSS data of the moving device.
- Page 39 LiAir X3C-H User Manual Data Processing Estimated Position Accuracy: Click to plot the position accuracy. The X-axis shows the GPS time. The Y-axis shows the position accuracy. Red line is for position accuracy in East direction. Green line shows the position accuracy in North direction.
- Page 40 LiAir X3C-H User Manual Data Processing accuracy in East direction. Green line shows the velocity accuracy in North direction. While the blue line shows the position velocity in height direction. Position Separation: Click to plot the position separation. This plot shows the differences of position in East, North, and Up directions during the forward-backward processing.
- Page 41 LiAir X3C-H User Manual Data Processing better the matching degree of the forward-backward processing is. Height Profile: This plot shows the changes in height during the data acquisition. Velocity Profile: This plot shows the changes in velocity during the data acquisition.
- Page 42 LiAir X3C-H User Manual Data Processing b) Image Overlap Report The image overlap report lists the image overlap. The report could check whether the photos are lost.
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Page 43: System Transportation And Maintenance
LiAir X3C-H User Guide System Transportation and Maintenance 7 System Transportation and Maintenance 7.1 Operation Notice To ensure the reliable use of the system and the safety of the operation personnel, please observe the following notices during installation, use and maintenance. -
Page 44: Equipment Maintenance
If the equipment is modified or disassembled not authorized by GreenValley International Inc., the warranty will be void. 7.2 Equipment Maintenance 1. - Page 45 LiAir X3C-H User Guide System Transportation and Maintenance 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 outside of the box with signs such as "Precision Instrument", "Handle with...
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