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dji ZENMUSE L2 User Manual

dji ZENMUSE L2 User Manual

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User Manual
v1.0
2023.10

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  • Page 1 User Manual v1.0 2023.10...
  • Page 2 This document is copyrighted by DJI with all rights reserved. Unless otherwise authorized by DJI, you are not eligible to use or allow others to use the document or any part of the document by reproducing, transferring or selling the document. Users should only refer to this document and the content thereof as instructions to operate DJI UAV.

  • Page 3: Using This Manual

    ZENMUSE L2 User Manual Using This Manual Legends Important Hints and Tips Video Tutorials Go to the address below or scan the QR code to watch the tutorial videos, which demonstrate how to use the product safely. https://enterprise.dji.com/zenmuse-l2/video Warnings This product is a precision instrument. DO NOT drop it and handle with care.
  • Page 4 ZENMUSE L2 User Manual Under stable laboratory conditions, the product achieves an IP54 protection rating by IEC 60529 standards. The protection rating is not permanent and may reduce over an extended period. 10. Make sure there is no liquid on the surface or in the port of the gimbal.

  • Page 5: Table Of Contents

    Set Waypoints Live Mission Recording Route Parameters Manual Flight Task Quality Report Point Cloud Data File Description PPK Data Acquisition Office Data Processing Downloading DJI Terra Reconstruction Procedures LiDAR Description Non-repetitive Scanning Method   © 2023 DJI All Rights Reserved.
  • Page 6 ZENMUSE L2 User Manual Repetitive Scanning Method Point Cloud Density LiDAR Usage Scenario Maintenance Log Export Firmware Update Using DJI Pilot 2 Using microSD Card Update Status Alarm L2 Calibration Re-calibrating the Internal and External Parameters Restoring the Internal and External Parameters to Default Settings...

  • Page 7: Product Profile

    3-axis stabilized gimbal, which can be used with specified compatible DJI aircraft. With Point Cloud LiveView, users can take a quick view of the 3D point cloud effect in the DJI PILOT 2 app. When used with DJI TERRA...
  • Page 8 ZENMUSE L2 User Manual 2. Press the button on the aircraft used for detaching the gimbal and camera. Rotate and remove the gimbal cap on the aircraft. 3. Align the white dot on the gimbal with the red dot on the aircraft and insert the gimbal.

  • Page 9: Remote Controller Controls

    ZENMUSE L2 User Manual Remote Controller Controls With the buttons on the DJI RC Plus remote controller, users can switch display modes between point cloud and visible light live views, preview the point cloud effect, and control the gimbal and camera.

  • Page 10: Dji Pilot 2 App

    DJI Pilot 2 App In the DJI Pilot 2 app, users can perform a flight task or use Manual mode to record point cloud data. After the flight task, the user can preview the 3D models or even merge models collected from multiple flight tasks.
  • Page 11 ZENMUSE L2 User Manual parameters can be configured accordingly in different exposure modes. IMU Calibration Status Tap Calibrate to perform an IMU calibration to calibrate the LiDAR’s inertial navigation system and increase the accuracy of data reconstruction. A calibration flight should be performed at both the start and end of a flight. Make sure there are no obstacles within a 30m radius of the start and end points.

  • Page 12: Point Cloud Liveview

    ZENMUSE L2 User Manual 18. Press the L2 button on the remote controller to switch between the visible light view and the LiDAR view. 19. Press the L1 button on the remote controller to switch to side-by-side display with visible light and LiDAR live view.

  • Page 13: Point Cloud Preview

    ZENMUSE L2 User Manual Point Cloud Preview Press the R2 button on the remote controller during a flight task to preview the point cloud 3D model recorded in real time. 26. Tap to view the point cloud model from above or in the direction of north, east, south, or west.

  • Page 14: Point Cloud Merging

    ZENMUSE L2 User Manual 31. Screen Gestures Displays the supported control gestures when entering the view for the first time. 32. Point Cloud Merging Press the L3 button on the remote controller to select multiple point cloud data files and view the merging model.
  • Page 15 Calibration enabled to ensure the data is effective. • To clear the cache, enter the album to select and delete the downloaded files or tap Data and Privacy on the home page and then tap DJI Pilot Cache Management to clear all downloaded point cloud data files.

  • Page 16: Field Data Collection

    ZENMUSE L2 User Manual Field Data Collection In the DJI Pilot 2 app, users can perform a flight task (Area Route, Waypoint Route, and Linear Route) or use Manual mode to record point cloud data. After each task, the app will generate a task quality report to show the validity of the data.
  • Page 17 ZENMUSE L2 User Manual Choose the aircraft, and then select Zenmuse L2, LiDAR Mapping. Click OK after completing the Payload Settings, then set the flight route parameters and Advanced Settings. to save the task and tap to upload and execute the flight task.

  • Page 18: Terrain Follow

    1. Importing Local File • Collect the 2D data of the mapping area and perform a 2D reconstruction using DJI Terra by selecting Mapping Scenarios. A gsddsm.tif file will be generated and can be imported to the microSD card of the remote controller.

  • Page 19: Waypoint Route

    ZENMUSE L2 User Manual Waypoint Route Waypoint Route can be planned in two ways: Set Waypoints or Live Mission Recording. Use Set Waypoints to create a route by adding editable waypoints on the map. Use Live Mission Recording to create a route by recording the waypoint location of the aircraft along the route.

  • Page 20: Live Mission Recording

    ZENMUSE L2 User Manual 7. Flight Route Settings: the settings are applied to the entire route, including safe takeoff altitude, ascend to start point, aircraft speed, aircraft altitude, aircraft yaw, gimbal control, waypoint type, completion action, and IMU Calibration. 8. Individual Waypoint Settings: select a waypoint and set its parameters. Tap < or > to switch to the previous or next waypoint.
  • Page 21 ZENMUSE L2 User Manual Altitude Mode Relative to Takeoff Point (ALT): the altitude of the aircraft relative to the takeoff point. It is recommended to use this option for a flat mapping area with no undulations and set the altitude to 150 m.

  • Page 22: Manual Flight

    ZENMUSE L2 User Manual Manual Flight 1. Fly the aircraft to an appropriate height and tap Calibrate to start a calibration flight. To ensure flight safety, enable obstacle sensing and make sure the area shaded red on the map is clear of obstacles.
  • Page 23 ZENMUSE L2 User Manual 2. Tap View to open the quality report. The following uses an Area Route as an example. a. Flight route name b. Start and end time of the task c. The completed flight route progress when finishing the task.

  • Page 24: Point Cloud Data File Description

    .RTB file in the point cloud data file directory by following the name format in the table below and copy the renamed file to the folder of the point cloud data file directory. DJI Terra will prioritize files in the following order: .oem > .ubx > .obs > .rtcm.
  • Page 25 • Make sure the distance between the RTK base station and the device is less than 15 km. Otherwise, the calculation may fail. Refer to DJI Terra Quality Report for more details. • Refer to the D-RTK 2 Mobile Station User Guide for more information.

  • Page 26: Office Data Processing

    DJI Terra and use reconstructions. Reconstruction Procedures Follow the steps below to reconstruct point cloud data in DJI Terra. 1. Launch DJI Terra, select New Mission or Import to create and save a point cloud processing task. 2. Select on the task editing page and import the folder from the microSD card.
  • Page 27 ZENMUSE L2 User Manual • Read the DJI Terra User Manual for more information about how to process point cloud data.   © 2023 DJI All Rights Reserved.

  • Page 28: Lidar Description

    ZENMUSE L2 User Manual LiDAR Description The L2 features two point cloud scanning methods. Users can choose between non-repetitive and repetitive scanning methods. Non-repetitive scanning pattern: the non-repetitive scanning pattern provides a near- circular FOV with a scanning density that is denser in the center of the FOV compared to the surrounding area, resulting in a more comprehensive point cloud model.

  • Page 29: Point Cloud Density

    ZENMUSE L2 User Manual Figure A Figure B: the point cloud patterns after 10 s recording by the L2 that is installed on the aircraft. The relative altitude is set to 150 m and the flight speed to 10 m/s.

  • Page 30: Lidar Usage Scenario

    ZENMUSE L2 User Manual LiDAR Usage Scenario It is not recommended to use the L2 in scenarios as shown below. Otherwise, the detection range and accuracy of LiDAR may be reduced leading to point cloud noise or voids. 1. Conditions with low visibility such as rainy or foggy weather.

  • Page 31: Maintenance

    ZENMUSE L2 User Manual Maintenance Log Export Run DJI Pilot 2, tap HMS, then Manage Logs, and select L2 to export the log to the microSD card of the payload. Firmware Update Using DJI Pilot 2 Online Update 1. Make sure that the L2 is correctly installed on the aircraft and the aircraft, remote controller, and other DJI devices are powered on.

  • Page 32: Update Status Alarm

    2. Using DJI Terra to Export Calibration File Use DJI Terra (v3.9.0 or later) to create a LiDAR Point Cloud Processing task, import the calibration data collected in Step one, and select LiDAR Calibration. Click Export Calibration File after the processing task is completed.

  • Page 33: Restoring The Internal And External Parameters To Default Settings

    ZENMUSE L2 User Manual computer and check the .txt format log file. The calibration is successful if All succeed is displayed. Users can also record the point cloud data to check whether the time parameter of the .CLI file is updated.

  • Page 34: Maintenance

    ZENMUSE L2 User Manual Maintenance 1. Under normal circumstances, the only maintenance required for the product is to clean the optical window of the LiDAR sensor. Dust and stains on the optical window can negatively affect the performance of the LiDAR sensor. Make sure to regularly clean the optical window to prevent this from happening.

  • Page 35: Specifications

    -20° to 50° C (-4° to 122° F) Storage Temperature -20° to 60° C (-4° to 140° F) Supported Aircraft Matrice 350 RTK Matrice 300 RTK (requires DJI RC Plus) System Performance Detection Range 450m @50% reflectivity, 0klx 250m @10% reflectivity, 100klx Point Cloud Rate Single return: max.
  • Page 36 ZENMUSE L2 User Manual Accelerometer Range ±6 g Angular Velocity Meter Range ±300 dps Yaw Accuracy (RMS 1σ) Real-time: 0.2°, Post-processing: 0.05° Pitch/Roll Accuracy (RMS 1σ) Real-time: 0.05°, Post-processing: 0.025° Positioning Accuracy (RTK FIX) Horizontal: 1 cm + 1 ppm Vertical: 1.5 cm + 1 ppm...
  • Page 37 -90°, and each straight segment of the flight route was less than 1500 m. [5] Zenmuse L2 supports the Security Code function. Go to Data and Privacy in DJI Pilot 2 and set the code to encrypt the microSD card installed on the camera. Download DJI Decrypt Tool from the DJI official website to decrypt the microSD card on a Windows computer and access the microSD card content.
  • Page 38 DJI SUPPORT This content is subject to change. https://enterprise.dji.com/zenmuse-l2/downloads If you have any questions about this document, please contact DJI by sending a message to DocSupport@dji.com. DJI and ZENMUSE are trademarks of DJI. Copyright © 2023 DJI All Rights Reserved.  ...

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