dji Zenmuse L2 Operation Manual
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dji Zenmuse L2 Operation Manual

dji Zenmuse L2 Operation Manual

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DJI Zenmuse L2 Operation Guide V1.0
Mar-2024

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  • Page 1 DJI Zenmuse L2 Operation Guide V1.0 Mar-2024...

  • Page 2: Table Of Contents

    2.3.5. Ranging Accuracy ..................... 9 2.3.6. IMU Calibration ....................9 2.3.7. Point Cloud Coloring ..................10 2.3.8. Application Scenarios of Zenmuse L2 ................11 Mapping Scenarios ....................11 3.1. Preparation ...................... 11 3.1.1. Field Data Collection ..................15 3.1.2. Office Data Processing ................... 28 3.1.3.

  • Page 3: Applicable Versions

    Download from the DJI official website Station [1] Matrice 300 RTK must work with DJI RC Plus. Note: The parameters mentioned in the Operation Guide are for reference only and do not apply to all scenarios. Please adjust them as appropriate to adapt to the practical conditions.

  • Page 4: Introduction To Zenmuse L2

    3-axis stabilized gimbal, which can be used with Matrice 350 RTK and Matrice 300 RTK. 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, L2 offers a turnkey solution that generates point cloud output and extracts ground points to generate DEM results, which efficiently completes highly accurate reconstructed models of complex structures.

  • Page 5: 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 450 m @50% reflectivity, 0 klx 250 m @10% reflectivity, 100 klx Point Cloud Rate Single return: max.
  • Page 6 JPEG/DNG (RAW) Video Format MP4 (MPEG-4 AVC/H.264) Gimbal Stabilization System 3-axis (tilt, roll, pan) Angular Vibration Range 0.01° Mounting Detachable DJI SKYPORT Mechanical Range Tilt: -143° to +43° Pan: ±105° Controllable Range Tilt: -120° to +30° Pan: ±90° Operation Mode Follow/Free/Recenter...
  • Page 7 -90°, and each straight segment of the route was no more than 1500 m. [5] Zenmuse L2 supports the Security Code function. Users can go to Data and Privacy in DJI Pilot 2 and set a security code to encrypt microSD cards inserted into payloads. DJI Decrypt Tool can be downloaded from the DJI...

  • Page 8: Key Terms

    LiDAR by manufacturers. In the case of DJI Zenmuse L2, its LiDAR supports a detection range of 450 m under 0 klx when the target object's reflectivity is 50%, and 250 m under 100 klx when the target object's reflectivity is 10%.

  • Page 9: Point Cloud Rate

    Zenmuse L2 supports five return modes: single return, dual return, triple return, quad return, and penta return. The sampling rate is 240 kHz (meaning that 240,000 laser beams are emitted per second) in all these modes.

  • Page 10: Beam Divergence

    The accuracy of the Inertial Navigation System is gradually degraded when the aircraft is flying at a consistent speed. In the case of Zenmuse L2, after the aircraft flies at a consistent speed for 200 seconds, the accuracy of the Inertial Navigation System drops below the nominal accuracy. With IMU Calibration, as long as there is a rapid speed change within a short period of time, the accuracy can be restored to a high level.

  • Page 11: Point Cloud Coloring

    2.3.8. Point Cloud Coloring Point cloud coloring provides LiDAR with real-time RGB rendering to generate RGB 3D point cloud models.

  • Page 12: Application Scenarios Of Zenmuse L2

    Preparation 3.1.1.1. RTK/PPK Solution Confirmation For the purpose of point cloud data processing, Zenmuse L2 needs to have accurate-to- centimeters positioning data in place for calculations. Before an operation, Zenmuse L2 must be connected to an RTK and ensure RTK status is fix through the whole flight mission. If an RTK connection cannot be guaranteed, please consider setting up a base station and performing post- processing.
  • Page 13 D-RTK 2. Copy the base station file with a suffix of .DAT for the corresponding time slot, and paste the file into the same folder as the raw point cloud data. DJI Terra can then calculate the difference automatically during data post-processing.
  • Page 14 Note: Base station files are necessary for Zenmuse L2's data processing. If no network RTK is connected and no base station file exists, Zenmuse L2's data cannot be processed. If the RTK gets disconnected during the flight, the aircraft will automatically pause the task to ensure data validity.
  • Page 15 3.1.1.2.2. Elevation Checkpoints With DJI Terra used for accuracy check, the aircraft can output an elevation accuracy report, with a focus on the Root Mean Square Error (RMSE) indicator. Note that this type of software only checks the elevation accuracy but does not generate any plane check reports. The basic principle...

  • Page 16: Field Data Collection

    3.1.2.1. Power-On and Deployment Mount Zenmuse L2 on the location of single downward gimbal No. 1, which faces the front of the aircraft and has a Type-C port on the right, of Matrice 350 RTK and insert a microSD card.
  • Page 17 Figure: RTK settings If a network RTK signal is available in the mapping area or the D-RTK 2 Mobile Station has been set up at a known point, you can enable RTK Positioning to obtain differential data. In this case, you are recommended to disable the Maintain Positioning Accuracy Mode.
  • Page 18 3.1.2.2. Area Route Planning 3.1.2.2.1. Area Route Creation After the auto-check is complete, tap the route icon. On the Library screen, tap Create a Route or tap Import Route (KMZ/KML) to import operation area data. Alternatively, enter the camera view, tap the route icon, and then tap the plus icon (+) to create a route.
  • Page 19 In areas with sparse and low vegetation (less than 5 m high), you can select a mode with fewer returns, such as triple return. Ø Sampling Rate: It is 240 kHz in any return mode, meaning that Zenmuse L2 emits 240,000 laser beams per second. Ø...
  • Page 20 Set Ortho GSD, which specifies the GSD used by the RGB camera to collect images. Point Cloud Density specifies the average number of LiDAR points (non-ground points) per square meter in principle. Figure: Route editing Set ASL/ALT to Relative to Takeoff Point (ALT), ASL (EGM96), or AGL. We recommend that you select AGL to enable Terrain Follow.
  • Page 21 Figure: Flight altitude settings If the mapping area is flat and has no undulations, you can select Relative to Takeoff Point (ALT) for ASL/ALT. We recommend that you disable Elevation Optimization except when you need to produce digital orthophoto maps. Figure: Elevation Optimization switch If a high-rise obstacle exists between the takeoff point and the route starting point, Safe Takeoff Altitude must be set.
  • Page 22 Figure: IMU Calibration enabled 11) We recommend that you set the flight speed to 15 m/s. (The lower the flight speed, the higher the point cloud density.) Figure: Flight speed at 15 m/s 12) You can set Course Angle to adjust the route direction. By default, the route is parallel to the long side of the mapping area.
  • Page 23 Figure: Overlap settings 17) Use the default values for Margin and Photo Mode. 18) Set Takeoff Speed to the highest speed to improve operating efficiency. Figure: Highest takeoff speed 19) We recommend that you turn off the Custom Camera Angle switch. 20) You can set the start point of the route as needed.
  • Page 24 3.1.2.2.4. Recommended Route Parameters in Various Scenarios High High High Accuracy - High Efficiency Route High Accuracy - High Efficiency Accuracy - Efficiency - Mountainous - Mountainous Forests Parameter Hilly Areas - Hilly Areas Plain Areas Plain Areas Areas Areas Horizontal Horizontal Network...
  • Page 25 controller is in N mode, the devices have been sufficiently charged, the RTK status is normal (if PPK technology is used, GNSS can be used), the microSD card has sufficient storage space, the RTH altitude and max altitude are higher than the route altitude, the signal lost action is Return To Home, the Max Flight Distance switch is turned off, and the control stick mode is Mode 2.
  • Page 26 Figure: Side-by-side display of the visible light view and LiDAR view Press the R3 button on the remote controller to display the FPV view on the screen. Observe the flight environment to ensure flight safety. Figure: FPV view Figure: Battery hot-swapping If the battery needs to be replaced during the flight, we recommend that you perform battery hot-...
  • Page 27 3.1.2.3.3. Task Quality Report After a flight ends, DJI Pilot 2 automatically generates a task quality report. Note: After photo shooting or point cloud recording, wait 60 seconds before you power off the device or remove the microSD card. Otherwise, point cloud accuracy may be impaired or files may be damaged.
  • Page 28 Figure: Task quality report Power off the aircraft after the task is complete and remove the microSD card from Zenmuse L2. Insert the microSD card into a computer and check the point cloud data and other files in the DCIM folder.

  • Page 29: Office Data Processing

    Click the folder icon to import a folder that contains the LiDAR point cloud data collected by Zenmuse L2. (The folder should contain files with the following suffixes: CLC, CLI, CMI, IMU, LDR, RTB, RTK, RTL, and RTS. Any JPEG files in the folder are not required to be imported.)
  • Page 30 If you need to use the D-RTK 2 Mobile Station or a third-party base station for PPK calculations, you need to confirm the operation time based on the point cloud data files acquired by Zenmuse L2. Search for .DAT format RTCM files with the same timestamp as the stored files of the D-RTK 2 Mobile Station or third-party RTK base station.
  • Page 31 3.1.3.2. Basic Parameters You can set Point Cloud Density by percentage or by distance. This parameter allows you to adjust the number of point clouds to be processed. If you need fast processing or computer performance is insufficient, set a small percentage or a large distance. Figure: Point cloud density selection By Percentage: High density refers to the original sampling rate, which uses 100% of the point cloud data for processing.
  • Page 32 calculation, which reduces the amount of points and makes the point cloud density more even. Select Point Cloud Processing for the Scenarios option. 3.1.3.3. Point Cloud Processing Ø Point Cloud Effective Distance Range: It refers to the effective distance between the point cloud and the LiDAR for point cloud processing.
  • Page 33 Figure: Ground Point Classification should be enabled before task reconstruction The ground point classification algorithm of DJI Terra uses the specified building dimensions to set evenly distributed seed points in the mapping area and then connects the seed points to form an initial triangle network.
  • Page 34 If this parameter is set to a small value, rooftops may be recognized as ground. Ø Type of Terrain: DJI Terra provides preset parameters for different types of terrain such as Flat Ground, Gentle Slope, and Steep Slope. The default parameters suit most common scenarios.
  • Page 35 Figure: Import of checkpoints and control points Ø Set the coordinate system and point cloud results according to the result requirements. The default format of LOD point cloud files is PNTS. LAS refers to the ASPRS LASer format for 3D point cloud files. PLY refers to the PLY format for non-LOD 3D point cloud files.
  • Page 36 Figure: Reconstruction parameter checklist After the reconstruction is complete, you can move, zoom in or out, or rotate the result. You can choose to display the output in different modes at the bottom of the screen. Select RGB to display the output with true colors. Select Reflectivity to display the corresponding color based on the object's reflectivity, in the scale of 0-255.
  • Page 37 Figure: Display in Reflectivity mode Select Height to display different colors for different altitudes of the point cloud. Figure: Display in Height mode Select Return to display the corresponding color according to the number of returns when collecting data. Figure: Display in Return mode Click the profile icon to open the Profile panel.

  • Page 38: Manual Flights

    HTML format. The report contains relevant information about the raw data, software parameters, output format, and point cloud processing time. Refer to the document to Read a DJI Terra Quality Report on DJI official website for more information.
  • Page 39 3.1.4.1. Flight Safety Control the aircraft takeoff and keep the flight within a visual line of sight. Fly the aircraft below 120 m (400 ft). Any flight altitude higher than that may violate local laws and regulations. Make sure you understand and comply with the local laws and regulations before flying. Make sure to read the Safety Guidelines before flight to ensure the safe use of the product.
  • Page 40 Be sure to perform a manual IMU calibration after data collection to avoid possible accuracy issues with the result. Zenmuse L2 automatically records the IMU raw data within about 2 minutes after the point cloud recording ends, for the purpose of difference calculations by DJI Terra.
  • Page 41 20 m and 150 m. Figure: Detection range Note: It is not recommended to use Zenmuse L2 in scenarios as described below. Otherwise, the detection range and accuracy of LiDAR may be reduced, leading to point cloud noise or voids.
  • Page 42 Figure: Enable point cloud recording Press the L1 button on the remote controller to switch to the side-by-side display of the visible light view and LiDAR view. Figure: Side-by-side display of the visible light view and LiDAR view Press the L2 button on the remote controller to switch between the visible light view and the LiDAR view.
  • Page 43 Figure: Switch coloring coding Press the R2 button on the remote controller to preview the model recorded. Tap to view the point cloud model from above or in the direction of north, east, south, or west. Figure: Model preview When previewing a model, press the L1 button on the remote controller. The model recenters. Zoom in or out to display the whole model.
  • Page 44 Figure: Filter point clouds Recorded point cloud files and photos are displayed (The RGB coloring feature needs to be enabled). You can select one or more point cloud files and download them to the remote controller. (Make sure that the remote controller has sufficient storage space before the download.) Figure: Select and download point clouds After the download is complete, tap to preview the point cloud files.
  • Page 45 To clear the cache, enter the album to select and delete the downloaded files or tap Data and Privacy on the homepage and then tap DJI Pilot Cache Management to clear all downloaded point cloud data files.

  • Page 46: Power Line Scenarios

    3.2. Power Line Scenarios Zenmuse L2 can apply to acquisition of the point cloud of power lines of the main grid and the distribution grid to serve tree barrier analysis or inspection route planning. If coordinates and heights of towers are unknown, you need to manually set points to determine the coordinates of the electrical towers, and then carry out the scan.
  • Page 47 Special circumstance: If the mapping area has no network signal but coordinates are known, you can set up the D-RTK 2 Mobile Station in a position with known coordinates to achieve high- precision positioning or switch Zenmuse L2 to the GNSS flight mode for point cloud data collection and reconstruction.
  • Page 48 For reference: For common power transmission lines, it is discovered about the RGB mapping camera of Zenmuse L2 that when the gimbal yaw recenters, the gimbal pitch is -90°, and the two auxiliary vertical lines overlap the guiding lines on the upper left and upper right, high-quality point cloud data can be collected at the route altitude.
  • Page 49 2. Waypoint Settings: First waypoint: Start executing Zenmuse L2's data collection task. Add Gimbal Pitch Rotation(°) as the first action at the waypoint and set the pitch angle to -75°. Then, add Start point cloud modeling...
  • Page 50 Then, you can export route files in KMZ format to the microSD card for archiving and backup. KMZ route files archived for backup or from other sources can be imported as follows: Open the DJI Pilot 2 app, tap Flight Mission, and then select Import Route (KMZ/KML). 3.2.2.2. Manual Flights The route planning method above has been verified in a large number of applications, which can cover most power transmission line construction scenarios.

  • Page 51: Field Point Cloud Data Collection

    For the purpose of point cloud data processing, Zenmuse L2 needs to have centimeter accurate positioning data in place for calculations. You can connect Zenmuse L2 to a network RTK and keep the network RTK in the FIX state throughout the process. Alternatively, you can adopt the GNSS operation mode in which you need to set up the D-RTK 2 Mobile Station and perform post- processing.
  • Page 52 Network RTK or Custom Network RTK Status RTK connected. RTK data in use. Select Aircraft □ Matrice 350 RTK Route Homepage Select Payload □ Gimbal 1: Zenmuse L2 Settings ASL/ALT □ ASL (EGM96) Return Mode □ Dual Payload Sampling Rate □...
  • Page 53 WGS 84 is preferred. If you need to output the results in other coordinate systems, you can configure the output coordinate system in DJI Terra.) Upload the route task and start point cloud data collection in an open area.
  • Page 54 Figure: IMU calibration The yellow segment indicates the route segment for IMU calibration. The aircraft will fly backward and forward along this route segment while accelerating and decelerating, for three times. After IMU calibration, the aircraft adjusts the pitch angle at the first waypoint and starts point cloud data collection and photo snapping.
  • Page 55 If the battery needs to be replaced during the flight, we recommend that you tap the red stop button on the left side of the screen in the DJI Pilot 2 app for the aircraft to return to home for landing and then perform battery hot-swapping to maintain the RTK status.
  • Page 56 Select D-RTK 2 Mobile Station for connection. Return to the RTK settings screen and slide to the bottom. Tap Advanced Settings and enter the default password 123456. Set Longitude, Latitude, and Altitude for the D-RTK 2 Mobile Station. On the RTK settings screen, disable the RTK Positioning feature. Do not move the D-RTK 2 Mobile Station throughout the flight and make sure that it stays in a normal state.
  • Page 57 Settings Settings Smart RTH □ RTK Positioning □ Select Aircraft □ Matrice 350 RTK Route Homepage Select Payload □ Gimbal 1: Zenmuse L2 Settings ASL/ALT □ ASL (EGM96) Return Mode □ Dual Payload Sampling Rate □ 240 kHz Settings Scanning Mode □...
  • Page 58 If the battery needs to be replaced during the flight, we recommend that you tap the red stop button on the left side of the screen in the DJI Pilot 2 app for the aircraft to return to home for landing and then perform battery hot-swapping to maintain the RTK status.
  • Page 59 Figure: Content of the task quality report After a flight ends, DJI Pilot 2 automatically generates a task quality report. Note: After photo shooting or point cloud recording, wait 60 seconds before you power off the device or remove the microSD card.
  • Page 60 To clear the cache, enter the album to select and delete the downloaded files or tap Data and Privacy on the homepage and then tap DJI Pilot Cache Management to clear all downloaded point cloud data files.

  • Page 61: Data Processing

    3.2.4.1.1. Zenmuse L2 Data Confirmation Remove the microSD card from Zenmuse L2. Insert the microSD card into a computer and check the files. In the DCIM folder, the folder of each task contains files with the following suffixes. Check whether all the files are contained.
  • Page 62 Figure: LiDAR point cloud processing task Click the grey folder icon. To import multiple LiDAR point cloud data files of Zenmuse L2, you can put the files in the same folder and directly import the folder. Alternatively, you can import the files one by one.
  • Page 63 time points during point cloud processing to improve their overall accuracy. For low-overlap power line scenarios, point cloud accuracy optimization may also cause negative phenomena such as layering. For this reason, we recommend that you disable this feature. Set Reconstruction Output Format. 3D point clouds of the PNTS (the format used for display in Terra) and the LAS format (the standard format of airborne radar output) will be output by default.
  • Page 64 3.2.4.3.3. Result Data Export In the task bar, click the export icon to export result files. The result files output by DJI Terra include an LAS point cloud result and an OUT trajectory file. Figure: Result files output by DJI Terra 3.2.4.3.4.

  • Page 65: Application Of Point Cloud Results

    Powerline: tree barrier analysis or provision of a point cloud model for offline refined inspections. Based on the data contributed by Zenmuse L2 and by using third-party software, you can directly output a tree barrier analysis report. You can also scan the poles and towers to get their accurate coordinates and then utilize the Refined inspection module of DJI Terra to perform refined inspections on power transmission towers.

  • Page 66: More

    LiDAR Basic Guide https://enterprise-insights.dji.com/blog/lidar-basic-guide Visit the official website of DJI Zenmuse L2 https://enterprise.dji.com/zenmuse- l2?site=enterprise&from=nav to get more information, including the quick start guide, user manual, firmware, the latest version of the installer of DJI Terra, and technical parameters of products.

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