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GreenValley LiAirH800 User Manual

Uav lidar system
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LiAir H800
UAV LiDAR System
User Guide
GreenValley International Inc.

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Summary of Contents for GreenValley LiAirH800

  • Page 1 LiAir H800 UAV LiDAR System User Guide GreenValley International Inc.

  • Page 2: Table Of Contents

    LiAir H800 User Guide Contents Contents 1 User Instructions ......................... 1 2 Product Introduction ........................3 2.1 Technical Specifications ....................4 2.2 Product Structure ......................5 2.3 System Compositions ....................7 2.3.1 Laser Scanner ..................... 7 2.3.2 Integrated Navigation System ................ 8 2.3.3 Storage and Control Unit .................9 2.3.4 Camera .......................10 2.3.5 GNSS ground station ..................10 3 Package List ..........................11...
  • Page 3 LiAir H800 User Guide Contents 6.1 Project Folder Structure ..................... 20 6.2 Opening Project ......................21 6.3 Select and Configure Parameters ................23 6.3.1 POS Processing Settings ................24 6.3.2 Laser Scanner Settings ...................27 6.3.3 Camera Settings ....................28 6.4 Georeferencing Point Cloud Data ................28 7 System Transportation and Maintenance ................39 7.1 Operation Notice ......................39 7.2 Equipment Maintenance ....................

  • Page 4: User Instructions

    LiAir H800 User Guide User Instructions 1 User Instructions Safety Precautions 1. LiAir H800 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 13. After the equipment is scrapped, please do not throw it directly into the trash can. It can be sent back to the manufacturer, and the manufacturer will handle it on your behalf. GreenValley International Inc. reserve the right to explain the above terms. GreenValley International Inc. November 2, 2023...

  • Page 6: Product Introduction

    With the support of flight control software GreenValley App and data processing software LiGeoreference, providing more efficient all-in-one solution tasks for power line inspection, forest monitoring, emergency disaster assessment, and more.

  • Page 7: Technical Specifications

    LiAir H800 User Guide Product Introduction receiving the signals transmitted from the ground to the airborne, and controlling the parameters adjustment, data acquisition and downloading. 5. Power supply and management unit. Operating principle: 1. The system controls the device to collect data by receiving and executing commands sent by the hardware switch.

  • Page 8: Product Structure

    POS Azimuth Accuracy 0.019° (post-processing) Size 249×102×163.3mm Voltage 18~24V，2.52A@24VDC Power Consumption ≤61W Operating Temperature -20~50℃ Storage Temperature -30~60℃ Protection Class IP54 UAV Model M300/M350 RTK Display console GreenValley Flight Assistant Data Georeferencing Software LiGeoreference point cloud data solution software 2.2 Product Structure...
  • Page 9 LiAir H800 User Guide Product Introduction 1— Power Port (PWR): Connect the power cable to power up the system or connect the OSDK communication cable to communicate with the airplane. 2— Switch button (ON/OFF) and indicator: The button shared for power-on and project creation and display the working status of the device.

  • Page 10: System Compositions

    LiAir H800 User Guide Product Introduction 3. IMU misalignment 4. Camera self-test fails 5. The laser scanner is not synchronized 2.3 System Compositions 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 11: Integrated Navigation System

    LiAir H800 User Guide Product Introduction Scanning Principle Rotating Motor Number of Channels 350 m (reflectivity ≥10%) 790 m (reflectivity ≥50%) Scan Range 1000 m (reflectivity ≥80%) Measuring Frequency 100~1000KHZ Scanning Speed 210 lines per second Field of View 100° Vertical Angle Resolution 0.001°...

  • Page 12: Storage And Control Unit

    LiAir H800 User Guide Product Introduction Navigation Satellite System (China), and GLONASS (Russia). The GNSS of LiAir H800 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.

  • Page 13: Camera

    LiAir H800 User Guide Product Introduction 2.3.4 Camera This product has a built-in digital camera independently developed by GreenValley APP. The main parameters of the built-in camera are listed below: Sensor APS-C Lens 16 mm fixed-focus length lens Effective pixels...

  • Page 14: Package List

    LiAir H800 User Guide Package List 3 Package List ①LiAir H800 LiDAR System × 1 ② USB cable × 1 ③ OSDK communication cable × 1 (M350/M300) ④ GNSS antenna assembly × 1 ⑤ GNSS antenna × 2 ⑥ 256G TF card × 1 ⑦ Card reader × 1 ⑧ USB flash drive × 1 ⑨ Tool × 1 ⑩...

  • Page 15: Data Acquisition

    LiAir H800 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 16 LiAir H800 User Guide Data Acquisition Install the GNSS antenna assembly with GNSS1 connected to the rear antenna and GNSS2 to the front antenna. (The flight direction is specified as Forward). Connect the equipment to the drone using the OSDK communication cable. 3.

  • Page 17: Parameter Settings

    LiAir H800 will remember the parameters last set and you can skip this step if no modification is required. The LiAir H800 collection parameters mainly include laser parameters, camera parameters, and automated powerline parameters. The parameters can be modified by logging to the Web interface or using the GreenValley flight assistant. 1. Setting method （1）...
  • Page 18 Data Acquisition Note: we recommend to use Google Chrome or IE11. （2） GreenValley APP Settings Start the GreenValley software. Click the Route Flight. The route flight interface is displayed. Click the setting button in the upper right corner to set the equipment parameters.
  • Page 19 You can click this button to start/stop LiDAR and camera data acquisition. Note: the Manual mode must be used with GreenValley APP, otherwise it will be impossible to activate the laser and camera data acquisition.
  • Page 20 LiAir H800 User Guide Data Acquisition c) Flight Altitude This section can be used to configure the flight altitude of the laser. The system will adjust the laser energy and spot frequency based on the selected flight altitude. There are a total of nine flight altitudes to choose from.

  • Page 21: Data Acquisition

    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. 2. Turn on the remote control, start the GreenValley software, and log in LiCloud account.

  • Page 22: Data Download

    LiAir H800 User Guide Data Download 5 Data Download 5.1 H800 Data Download All data of LiAir H800 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 23: Data Georeferencing

    LiAir H800 User Guide Data Georeferencing 6 Data Georeferencing The data solution of the LiAir H800 uses the LiGeoreference software, including functions such as real-time IMU data solution, POS data solution and accuracy assessment, point cloud data solution, point cloud preliminary quality assessment, image preliminary quality assessment, three-dimensional display of point cloud data, survey, and basic analysis.

  • Page 24: Opening Project

    LiAir H800 User Guide Data Georeferencing -INSRaw folder is used to store the raw IMU data (*.rgps,*.rimu,*.rnav). -LaserCalibration 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).
  • Page 25 LiAir H800 User Guide Data Georeferencing 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.

  • Page 26: Select And Configure Parameters

    LiAir H800 User Guide Data Georeferencing 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 27: Pos Processing Settings

    LiAir H800 User Guide Data Georeferencing 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 H800's trajectory, or choose to use other third-party software to perform POS processing procedure. 1.
  • Page 28 If the local base station format is Log, select NovAtel. If there is no base station data, you can select "GreenValley" to download the cloud trace base station data by logging in to the LiCloud account.
  • Page 29 LiAir H800 User Guide Data Georeferencing base 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.

  • Page 30: Laser Scanner Settings

    LiAir H800 User Guide Data Georeferencing 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. See the figure below. 6.3.2 Laser Scanner Settings Normally, the user does not need to change the parameters of the laser setting interface.

  • Page 31: Camera Settings

    LiAir H800 User Guide Data Georeferencing 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 uniform, but will blur the color slightly.
  • Page 32 LiAir H800 User Guide Data Georeferencing to be selected, including "trajectory selection" or "draw polygon". And this document only introduces the operation 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"...
  • Page 33 LiAir H800 User Guide Data Georeferencing 2. Select processing module " " " " After opening the project, LiGeoreference will select POS Process Georeference module by default. Users could check and re-choose the function modules as needed. Note: If there is no image data, please do not choose "Colorization" module, otherwise the program will prompt an error.
  • Page 34 LiAir H800 User Guide Data Georeferencing 4. Data Quality Assessment Reports If the user needs to view the "Trajectory Report" and the "Image Overlap Report", click the "Trajectory Plot" (or " Trajectory Report ") or "Image Overlap Report" (only suitable for devices with cameras) under the "Tools" bar. a) POS Track Report There are 11 POS accuracy evaluation criteria included in the software.
  • Page 35 LiAir H800 User Guide Data Georeferencing 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. Satellites number is shown on the Y-axis. The green part on the plot means the number of satellites is good at that time.
  • Page 36 LiAir H800 User Guide Data Georeferencing PDOP: Position dilution of precision, or PDOP, shows the distribution of the GNSS satellites. Click to show the plot of PDOP. The smaller PDOP is, the better the distribution is. 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 37 LiAir H800 User Guide Data Georeferencing 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.
  • Page 38 LiAir H800 User Guide Data Georeferencing 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 the position velocity in height direction.
  • Page 39 LiAir H800 User Guide Data Georeferencing 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.
  • Page 40 LiAir H800 User Guide Data Georeferencing 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. b) Image overlap report (for equipment containing cameras) The image report lists a graph of image overlap.
  • Page 41 LiAir H800 User Guide Data Georeferencing...

  • Page 42: System Transportation And Maintenance

    9. Non-professionals, without permission, please do not try to disassemble the equipment, do not repair it without permission, so as to avoid accidents or aggravate the damage of the equipment. If the equipment is modified or disassembled not authorized by GreenValley International Inc., the warranty will...

  • Page 43: Equipment Maintenance

    LiAir H800 User Guide System Transportation and Maintenance be void. 7.2 Equipment Maintenance 1. Before turning on the device, check whether the scanner lens is clean, if there are any stains, it should be cleaned immediately. 2. 2.After the equipment is used, check whether the scanning window of the scanner is dirty.
  • Page 44 LiAir H800 User Guide System Transportation and Maintenance services.

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