CHCNAV Alpha3D User manual

Alpha3D Mobile Mapping System
User Manual
V1.0.1

Table of Content
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Table of Content
Table of Content...............................................................................................................2
1Reading Tips..............................................................................................................5
1.1 Symbol Explanation.................................................................................................. 5
1.2 Recommendation..................................................................................................... 5
1.3 Service & Support .................................................................................................... 5
1.4 Disclaimer................................................................................................................. 6
2User Guide................................................................................................................7
2.1 Operation Environment............................................................................................ 7
2.2 Attentions Before Using ........................................................................................... 7
2.3 Attentions When Using ............................................................................................ 7
2.4 Attentions After Using.............................................................................................. 8
3Product Overview......................................................................................................9
3.1 Product Introduction................................................................................................ 9
3.2 Product Component............................................................................................... 10
3.2.1 Configuration List ...................................................................................... 10
3.2.2 Instrument Container................................................................................ 12
3.2.3 Orange Battery Container ......................................................................... 13
3.3 Product Details....................................................................................................... 14
3.3.1 Alpha3D Hardware.................................................................................... 14
3.3.2 Physical Characteristics............................................................................. 17
3.3.3 Electrical Characteristics ........................................................................... 17
3.4 Primary Sensor Introduction.................................................................................. 17
3.4.1 LiDAR VUX-1HA ......................................................................................... 17
3.4.2 High-precision IMU ................................................................................... 18
3.4.3 G5ant-3AT1 Antenna................................................................................. 19
3.4.4 LADYBUG 5+ Panoramic Camera............................................................... 19
3.5 Data Storage Introduction...................................................................................... 19
3.6 Vehicle Platform Introduction................................................................................ 21
3.6.1 Roof Rack Extension.................................................................................. 21
3.6.1.1 Extension Installation......................................................................... 22
3.6.1.2 Alpha3D installation........................................................................... 25
3.6.2 Other Platform Installation ....................................................................... 26
3.7 Rotation Platform Introduction.............................................................................. 26
3.7.1 Rotation Platform Overview...................................................................... 26
3.7.2 Installation Steps....................................................................................... 28
4Battery Container Overview..................................................................................... 29
4.1 Battery Container Introduction.............................................................................. 29
4.1.1 Battery Container Components ................................................................ 29

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4.1.2 Orange Container Port .............................................................................. 30
4.1.3 Controller Box Port.................................................................................... 31
4.2 Functional Specification......................................................................................... 33
4.2.1 Orange Container Function....................................................................... 33
4.2.1.1 Orange Container Light Condition ..................................................... 33
4.2.1.2 Orange Container Discharge Condition ............................................. 33
4.2.1.3 Orange Container Charge .................................................................. 33
4.2.1.4 Orange Container Communication .................................................... 33
4.2.1.5 Orange Container Low Voltage Alarm................................................ 33
4.2.1.6 Orange Container Overcurrent Protection ........................................ 33
4.2.1.7 Orange Container Use........................................................................ 34
4.2.1.8 Orange Container Screen Explain ...................................................... 34
4.2.2 Controller Box Function ............................................................................ 35
4.2.2.1 Controller Box Electric Parameter...................................................... 35
4.2.2.2 Controller Box Working Condition..................................................... 35
4.2.2.3 Controller Box Temperature Control System ..................................... 36
4.2.2.4 Controller Box Communication.......................................................... 36
4.2.2.5 Controller Box Overcurrent Protection.............................................. 36
4.2.2.6 Controller Box Screen Explain............................................................ 36
4.3 Electrical Parameter............................................................................................... 37
4.3.1 Battery Parameters ................................................................................... 37
4.3.2 Charger Parameters................................................................................... 37
4.4 Operation Instruction............................................................................................. 38
4.4.1 Battery Installation Steps.......................................................................... 38
4.4.2 Containers Assemble Steps....................................................................... 42
4.4.3 Charge Steps.............................................................................................. 43
4.5 Common Problems & Solutions ............................................................................. 44
5Software Overview..................................................................................................46
5.1 CoCapture - Data Acquisition Software.................................................................. 46
5.1.1 CoCapture Interface Overview.................................................................. 46
5.1.2 CoCapture Function Description............................................................... 47
5.1.2.1 Setting & Control Toolbar .................................................................. 47
5.1.2.2 GNSS, IMU, SCANNER, DATA Status ................................................... 51
5.1.2.3 Viewer Interface................................................................................. 52
5.1.2.4 Status Information Display Bar .......................................................... 54
5.1.3 CoCapture Version Update........................................................................ 55
5.1.4 CoCapture Quick Guide............................................................................. 55
5.2 Inertial Explorer - GNSS + IMU Post Processing Software...................................... 61
5.2.1 Inertial Explorer Overview ........................................................................ 61
5.2.2 Inertial Explorer Quick Guide.................................................................... 61
5.2.2.1 Pre-prepared...................................................................................... 61

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5.2.2.2 Base Data Processing......................................................................... 65
5.2.2.3 License Activation.............................................................................. 67
5.2.2.4 Data Format Conversion .................................................................... 68
5.2.2.5 POS Processing................................................................................... 69
5.2.2.6 GPS/INS Combine Processing ............................................................ 76
5.2.2.7 Export POS File................................................................................... 78
5.3 CoPre - Point Cloud Processing Software............................................................... 81
5.3.1 CoPre Software Overview ......................................................................... 81
5.3.2 CoPre Quick Guide .................................................................................... 81
5.3.2.1 Import Project.................................................................................... 81
5.3.2.2 Solve Point Cloud Data....................................................................... 83
5.3.2.3 Picture Collation................................................................................. 84
5.3.2.4 Point Cloud Colorized......................................................................... 86
6Alpha3D Operation Quick Guide ..............................................................................87
6.1Pre-Requirement for Installation............................................................................ 87
6.2 Operation Steps...................................................................................................... 87
6.3 Data Pre-Processing Steps...................................................................................... 88
7Safety Directions ..................................................................................................... 89
7.1 General Requirements ........................................................................................... 89
7.2 System Delivery Tips............................................................................................... 89
7.3 Alpha3D Using Tips ................................................................................................ 90
7.4 Alpha3D Storage..................................................................................................... 90

Reading Tips
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1 Reading Tips
1.1 Symbol Explanation
: Forbid : Warning
: Important attention : Instruction
1.2 Recommendation
CHCNAV provides follow documents for user:
◼Items List
◼Alpha3D Mobile Mapping User Manual
The above content is recommended for user to read carefully before first-time use.
1.3 Service & Support
CHCNAV website: http://www.chcnav.com
Service hotline: [phone]
Wechat public account:

Reading Tips
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1.4 Disclaimer
◼Client needs to use and maintain the instrument as per CHCNAV requirements. If the
instrument’s life is affected even broken because of customer’s incorrect operation &
maintenance, CHCNAV will not assume the relevant responsibilities and all maintenance
services will be charged at standard rates.
◼Client needs to provide stable vehicle roof rack based on special technical parameters. If
the instrument is broken or damaged because of other reasons, CHCNAV will not assume
all relevant consequences and responsibilities.
◼During transit, if the instrument is damaged because of logistics company, CHCNAV will
not assume relevant responsibilities.
◼During using process, if the instrument is damaged because of self-assembly or self-
disassembly operations without CHCNAV support, CHCNAV will not assume all relevant
responsibilities.
◼Customer needs to use original battery and accessories for Alpha3D. If customer uses
non-dedicated battery or charger, it may cause accidents for example explosion and
burning. CHCNAV will not assume relevant responsibilities if client uses non-dedicated
accessories, and the warranty qualification will become invalid.

User Guide
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2 User Guide
2.1 Operation Environment
◼Not recommend using on rainy day, snowy day and foggy day for security and more noise
points reasons.
◼Not recommend using on a dusty environment as it will reduce instrument’s lifetime.
◼Do not put instrument and accessories under extreme temperature. The environment
temperature should not lower or higher than specific temperature.
◼When client moves instrument from cold environment to much warm environment, water
may condense on some inside components. To avoid such situation, please put
instrument under sealed plastic first before moving. After the condensed water
evaporates, then start Alpha3D.
2.2 Attentions Before Using
◼Check whether the laser optical glass cover is normal. The instrument needs to be
cleaning if there is dust.
◼Check whether all ports are cleaning, and whether stitches are distorted.
◼Check whether all connected cables are stable and confirm GNSS cable is no curving and
broken.
◼Check whether battery power is enough for requirement.
2.3 Attentions When Using
◼Please ensure all cables are connected to correct ports based on one by one check to
avoid mistake. Do not insert or extract cables forcibly.
◼After the instrument is powered, check whether wireless & wired network and laser
network are connected normally. (Detailed steps please see Hardware Operation
Instruction)
◼The instrument should put at an open & good signal place when start work. Check
whether GPS satellites’ signal is normal.
◼If buzzer is not ringing properly after startup or during data capture process, please check
whether instrument is normal immediately.
◼Check the rest volume of SSD drive before data capture start. If rest volume less than 10%
or not enough for this time’s requirement, please delete laser data files in advance.
◼Check whether the protection cover of laser scanner is take down before data capture.

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◼Check whether the indicator light of Ladybug camera is orange after powered on.
2.4 Attentions After Using
◼After work finished, turn off laser on CoCapture first, then turn off battery and remove
power cable. Finally put instrument and all accessories into case.
◼Please move case carefully during transit and do not bump.
◼The battery box should be turn off.

Product Overview
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3 Product Overview
3.1 Product Introduction
The Alpha3D is an advanced mobile mapping system which completely designed and
integrated by CHC Navigation Company. It combines several state-of-the-art high-performance
sensors, for example 3D laser scanning module, satellite positioning module, inertial
navigation module and 360°HD panoramic camera. The Alpha3D can obtain high-precision
ground object’s point cloud information and HD image data because of flexible, short cycle,
high precision, high resolution and real-time multi-source data fusion features. It can widely
use in digital urban management, digital city, digital land, road, emergency, public security,
navigation and civil information construction areas.

Product Overview
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3.2 Product Component
3.2.1 Configuration List
Alpha3D Mobile Mapping System
Part Number
Description
Pcs
System components
191206020252
030 000
Alpha3D Mobile Mapping unit
1
1903 110 005
Alpha3D battery in transport case
1
3204 050 002
Alpha3D transport container
1
2404 010 004
Panoramic camera LadyBug5+
1
0101 080 018
1TB SSD drive
1
0201 050 363
Rotational mount
1
1911 110 013
Roof rack extension
1
0105 000 443
Power cable
1
0105 000 370
Ethernet cable
1
0105 000 453
GNSS cable 240mm
1
0101 070 087
Power cord, CHN standard
1
0105 000 479
Power cord, EU standard
1
0105 000 480
Power cord, NA and related standard
1
0201 050 413
Car Power plug cable
1
3204 990 009
Rugged weather cover
1
0201 050 379
Unit fixed screws on roof rack (set)
4
0102 100 772
dust proof plug
7
0102 100 747
dust proof plug
2
0201 050 379
Extension fixed screws
2
3204 070 001
USB stick
1
3204 990 016
Alpha3D user manual, Engl.
0
3204 990 008
CHC tape
1
0101 070 086
Ground Power Supply (220V)
1
0105 000 412
Data Copy Connector
1
Scanner Configuration
0101 100 003
Riegl VUX-1HA scan head
1
0101 100 002
Riegl VUX-1UAV scan head
0
Software
2405 030 040
Inertial Explorer license
1

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1904 110 014
Inertial Explorer 1yr CSP
1
1904 110 664
CoCapture license
1
1904 110 015
CoCapture 1yr CSP
1
1904 110 662
CoPre license
1
1904 110 016
CoPre 1yr CSP
1
1904 110 660
CoProcess license-(better $12500)
1
1904 110 017
CoProcess 1yr CSP
1
1904 110 666
CoSurvey AutoCAD license-(better $6250)
1
1904 110 018
CoSurvey AutoCAD 1yr CSP
1
1904 110 668
CoManager GIS license
1
1904 110 019
CoManager GIS 1yr CSP
1
1904 110 667
CoView (Panoramic publishing platform for Web )
1
1904 110 020
CoView (Panoramic publishing platform for Web ) 1yr CSP
1
3205 030 001
Orbit 3DM feature extraction bundle
1
1904 110 021
Orbit 3DM feature extraction bundle CSP
1
Optional accessories
3204 020 002
Additional GNSS antenna with magnetic mounting
0
0105 000 454
GNSS cable 3m
1
1908 110 010
Wheel encoder (DMI)
0
3203 010 003
Tablet
0
0105 000 372
Display cable
1
0105 000 481
Calbe VGA to miniVGA
1
3204 010 001
Displayer
1
3204 990 001
Wireless keyboard
1
0101 080 022
2TB SSD drive
0
0101 080 023
4TB SSD drive
0
0101 070 062
Lead acid battery kid
2
Services
1904 110 022
Alpha3D 1yr CSP
1
1904 110 023
Alpha3D HW and SW training 5 days max. 5 person
1
1904 110 024
Alpha3D 1-day project support (on site)
1

Product Overview
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3.2.2 Instrument Container

Product Overview
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①Roof rack extension: Fixed on the car roof for installation of instrument;
②USB stick: Used to store initial parameters and product manual;
③Instrument: Used for data capture and storage;
④Accessories cables: Power cable, VGA cable, data line etc;
⑤Displayer cable: Used for connection between instrument and displayer;
⑥Displayer: Used for test and recondition.
3.2.3 Orange Battery Container

Product Overview
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3.3 Product Details
3.3.1 Alpha3D Hardware
◼Main instrument: Used for data capture and data storage.
◼Power cable: Used for main instrument charged. The output interface is 1B Lemo four-
core aerial plug which mainly used for indoor testing. The input voltage of power adapter
is 100-240VAC, output voltage is 24V and maximum power is 221W.
◼Antenna: Used to receive satellite signal for GPS timing.

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◼GNSS cable: Used for connection between antenna and instrument.
◼Portable displayer kit: Used for indoor test and recondition.
◼Wireless keyboard: Used for software operation and parameter configuration.
◼Data line: One internet access and two USB interfaces which are 1B 17-core aerial plug.

Product Overview
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◼VGA video line: One side connect to displayer and another 1B 10-core Lemo aerial plug
connect to DISP interface.
◼Battery power cable: One side is 1B 4-core aerial plug with needle which connect to
battery power; Another side is 1B 4-core aerial plug with hole which connect to DC24V
interface.
◼Hardware operation interface:
ON/OFF: Button to control switch on/off with green light.
CAMERA: External camera interface.
EXT1: Firmware upgrade interface.

Product Overview
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GNSS: Secondary GNSS antenna interface.
ODO: Wheek coder interface.
EXT2: Reserved interface.
DISP: Video interface.
DATA: Data transport interface.
DC24: Power interface, DC 24V.
GNSS main antenna interface which shown in above right Figure.
3.3.2 Physical Characteristics
Instrument shape size
51.26 ×31 × 67.17cm
Instrument weight
20.6 kg
Roof rack extension size
72 × 31 × 12 cm
Roof rack extension weight
16.6kg
3.3.3 Electrical Characteristics
Input voltage
24V±10% DC(9-32V DC)
Rated power
120W
Working temperature
-10℃ — + 40℃
Storage temperature
-20℃ — +50℃
Humidity
Maximum 80%
IP level
IP64
3.4 Primary Sensor Introduction
3.4.1 LiDAR VUX-1HA
Class 1 safety laser, 360°Field Of View (FOV), Scanning frequency 10-250Hz.

Product Overview
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Notice: There are four frequently used PRR: 300KHz, 500KHz, 750KHz and 1000KHz. For
example, If scanner works as 300KHz: when the object reflectivity≥10%, the maximum
measuring range is only 150m; And when the object reflectivity ≥80%, the maximum
measuring range is 420m. So, it can be concluded that both PRR and object reflectivity will
influence the maximum measuring range. When you use high PRR for scanning such as 750KHz
and 1000Khz, the maximum measuring range is highly influenced by battery level: When
scanner works as 750KHz and object reflectivity≥80%, the maximum measuring range is
270m under full charged condition but only 135m under low charged condition; When scanner
works as 1000KHz and object reflectivity≥80%, the maximum measuring range is 235m under
full charged condition but only 120m under low charged condition.
3.4.2 High-precision IMU
Orientation accuracy
0.01°
Attitude accuracy
0.005°
Positioning accuracy
≤1cm
Heading error
﹤0.03°
Data updating rate
600HZ
Weight
140g

Product Overview
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3.4.3 G5ant-3AT1 Antenna
Frequency Range
GPS L1/L2 GLONASS L1/L2 BDS B1/B2/B3
Horizental Coverage Angle
360°
Phase Center Error
±2mm
Working Voltage
2.5～24VDC
Working Current
﹤50mA
Working Temperature
-55℃～+85℃
Weight
256g
3.4.4 LADYBUG 5+ Panoramic Camera
The camera is set as automatic mode to adapt weather changes. No need to adjust exposure,
shutter and diaphragm these settings
3.5 Data Storage Introduction
◼Step 1: Push the button down to open the external cover of hard disk cartridge which
shown in below:
Max resolution
Panorama 12000*6000
Data interface
USB3.0
Shutter form
Global shutter
Field angle
360
Optical lens
2.5mm prime lens
Working voltage
12V
Weight
2.9kg

Product Overview
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◼Step 2: Use index finger to pull fastener up which will bounce off automatically:
◼Step 3: Take out disk by hand: