dji ZENMUSE L1 User manual

2021.05
v1.0
ZENMUSE L1
User Manual

2
©2021 DJI All Rights Reserved.
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3
Using This Manual
Legends
Important Hints and Tips Reference
Caution
1. The L1 is a precision instrument. DO NOT drop the L1 and handle with care.
2. If highly accurate point cloud data is required, it is not recommended to use the L1 in low visibility
conditions such as foggy or rainy weather. Otherwise, the detection range may be reduced resulting
in point cloud noise being produced.
3. DO NOT touch the optical window of the L1. Dust and stains on the optical window can negatively
affect the performance. Use compressed air or a wet lens cloth to clean the optical window
correctly. Refer to the Storage, Transportation, and Maintenance section for more information on
how to clean optical windows.
4. DO NOT touch the surface of the lens with your hand. Be careful to avoid scratching the surface of
the lens with sharp objects. Otherwise, the quality of images may be aected. Clean the surface of
the camera lens with a soft, dry, clean cloth. DO NOT use substances containing alcohol, benzene,
thinners, other ammable substances, or alkaline detergents to clean or maintain the RGB Mapping
Camera or Auxiliary Positioning Vision Sensor.
5. When not in use, store the L1 in the storage case and replace the desiccant packet as necessary to
prevent fogging the lenses due to excessive ambient humidity. If the lenses fog up, the water vapor
will usually dissipate after powering on the device for a while. It is recommended to store the L1 in
an environment with a relative humidity of less than 40% and temperature of 20±5° C.
6. DO NOT place the product under direct sunlight, in areas with poor ventilation, or near a heat
source such as a heater.
7. DO NOT repeatedly power the product on or o. After powering o, wait at least 30 seconds before
powering back on. Otherwise, the product life will be aected.
8. Under stable laboratory conditions, the L1 achieves an IP54 protection rating by IEC 60529
standards. The protection rating is not permanent, however, and may reduce over an extended
period.
9. Make sure there is no liquid on the surface or in the port of the gimbal.
10. Make sure the gimbal is securely installed on the aircraft and the microSD card slot cover is closed
properly.
11. Make sure the surface of the gimbal is dry before opening the microSD card slot cover.
12. DO NOT remove or insert the microSD card when taking a photo or recording a video.

4
©2021 DJI All Rights Reserved.
Contents
Using This Manual 3
Legends 3
Caution 3
Product Prole 5
Introduction 5
Overview 5
Installation 5
Supported Aircraft 5
Installing on Aircraft 5
Remote Controller Controls 7
DJI Pilot App Controls 8
Basic Features 8
Point Cloud Recording View 9
Point Cloud Model Preview 10
Field Data Collection 11
Preparation 11
Setting Camera Parameters 11
Mapping Mission 11
Linear Flight Mission 12
Manual Flight 13
Point Cloud Data File Description 14
Base Station Satellite Data Acquisition 14
Oce Data Processing 15
Downloading DJI Terra 15
Reconstruction Procedures 15
LiDAR Point Cloud Description 16
Non-Repetitive Scanning Method 16
Repetitive Scanning Patterns 17
Maintenance 18
Exporting Log 18
Firmware Update 18
Storage, Transportation, and Maintenance 19
Specications 20

©2021 DJI All Rights Reserved.
5
Product Prole
Introduction
The ZENMUSETM L1 integrates a LIVOXTM LiDAR module, a high-accuracy IMU, and an RGB mapping
camera on a 3-axis stabilized gimbal. When used with compatible DJI aircraft and DJI TERRATM, the L1
oers a complete solution that gives real-time 3D data throughout the day, which eectively captures
the details of complex structures and delivers highly accurate reconstructed models.
Overview
1. Gimbal Connector
2. Pan Motor
3. LiDAR Sensor
4. RGB Mapping Camera
5. Auxiliary Positioning Vision Sensor
6. microSD Card Slot
7. Tilt Motor
8. Roll Motor
2
3
4
5
8
7
6
1
Installation
Supported Aircraft
MATRICETM 300 RTK
Installing on Aircraft
1. Remove the gimbal cap and lens protector.

ZENMUSE L1 User Manual
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©2021 DJI All Rights Reserved.
2. Press the button on the aircraft used for detaching the gimbal and camera. Rotate the gimbal cap
on the aircraft to remove.
3. Align the white dot on the gimbal with the red dot on the aircraft and insert the gimbal.
4. Rotate the gimbal lock to the locked position by aligning the red dots.
2
113
Make sure the gimbal connector on the aircraft is positioned correctly when mounting.
Otherwise, the L1 cannot be mounted.
Only remove the L1 after powering off the aircraft.
Remove the L1 by pressing the button on the aircraft to detach the gimbal and camera.
Make sure the microSD card slot cover is firmly in place to prevent dust or moisture
entering while using or during transportation. Failure to close the microSD card slot cover
may cause the gimbal motor to overload during usage.
To avoid burns, DO NOT directly touch the camera case when powering on.
Detach the gimbal from the aircraft during transportation or storage. Otherwise, the
service life of the gimbal dampers may be shortened or they may even be damaged.

©2021 DJI All Rights Reserved.
7
Remote Controller Controls
The Matrice 300 RTK remote controller is used as an example below. Adjust the tilt of the gimbal using
the left dial and adjust the pan using the right dial. Press the shutter button or record button to take
photos or record video. Toggle the 5D button to adjust the EV value. The customizable C1 button can
be used to recenter the gimbal and the customizable C2 button can be used to switch between the
main and auxiliary screen.
1. Left Dial
Turn to adjust the tilt of the gimbal.
2. Record Button
Press to start or stop recording video.
3. Shutter Button
Press to take a photo. The photo mode
can be set to single or interval in DJI Pilot.
Single photos can also be taken during video
recording.
4. Right Dial
Turn to adjust the pan of the gimbal.
5. 5D Button
The default conguration is listed below. The
conguration can be adjusted in DJI Pilot.
Left: Decrease EV value
Right: Increase EV value
6. Customizable C2 Button
The default function is to switch between the
main and auxiliary screen. The function for
this button can be customized in DJI Pilot.
7. Customizable C1 Button
The default function is to recenter the
gimbal. The function for this button can be
customized in DJI Pilot.
3
1
2
6
4
5
7

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©2021 DJI All Rights Reserved.
DJI Pilot App Controls
The touch interface can be used for capturing photos, recording videos, and viewing playback. Users
can create a ight mission to record point cloud data in DJI Pilot.
Basic Features
The touch interface can display a HD live view and oers professional photography congurations.
In-Flight（RTK）
19:29
RTK
44
R
5.8G
55%
56% 3.72v
3.72v
AE
1260 1260
AF-C
ISO
ISO
100
100
Shutter
Shutter
1/1000
1/1000
EV
EV
0
0
N
E
W
S
3
6
12
15
21
24
30
33
222m
20
05.2
SPD
m/s
WS 04.0
130.2 ALT
m
VS2.5
ASL1234.5
CAMERA
LiDAR
SBS
MENU
1 2 3 4
6
7
8
9
10
12
11
5
1. Live HD Video
Displays the current camera view.
2. Camera Type
Displays the current camera type including camera view, point cloud view, and side-by-side view.
3. Camera Parameters
Displays the current camera parameters.
4. Focus Mode
Tap to switch between MF, AF-C, and AF-S focus mode.
5. Auto Exposure Lock
Tap to lock the exposure value.
6. Camera Settings
Tap to enter the photo and video settings. Tap to congure photo settings such as photo mode
and image format. Tap to congure video settings such as video size and format. Tap to
congure point cloud settings. Tap to congure video subtitles, grid, and smart LED settings. The
settings may vary according to dierent camera models.
The interface may need to be updated. Make sure to update to the latest rmware.

ZENMUSE L1 User Manual
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9
7. Recording Mode (Shutter/Video Record/Point Cloud Record)
Tap to switch between photo, video, and point cloud recording modes.
8. Shooting Button (Shutter/Video Record/Point Cloud Record)
Tap to take photos or start or stop recording video or point cloud data. The shutter and record
buttons can also be used to take a photo and record video.
9. Playback
Tap to enter and preview photos and videos as soon as they are captured.
10. Parameter Settings
Tap to set ISO, shutter, exposure values, and other parameters.
11. Camera/Point Cloud Toggle
Tap to switch the main screen to the camera view or point cloud view.
12. Single/Dual View Toggle
Tap to switch the main screen to single or dual view.
Point Cloud Recording View
13. Calibration Flight Button
Tap to perform a calibration ight to calibrate the LiDAR’s inertial navigation system and increase
accuracy of reconstruction. Tap STOP to stop a calibration flight. 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.
14. Color Palette
Tap to select a rendering mode including reectivity, height, distance, and RGB.
N
E
W
S
3
6
12
15
21
24
30
33
222m
20
05.2
SPD
m/s
WS 04.0
130.2 ALT
m
VS2.5
ASL1234.5
In-Flight（RTK）
19:29
RTK
44
R
5.8G
55%
56% 3.72v
3.72v
1260 1260
SBS
LiDAR
CAMERA
22:02
MENU
13 14 15
16

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©2021 DJI All Rights Reserved.
17. Use one nger to drag the point cloud model and use two ngers to rotate or zoom in or out on the
point cloud model.
18. Tap to view the point cloud model beneath the aircraft.
19. Tap and the point cloud model will recenter and zoom in or out to display the whole model.
20. Tap to view the point cloud model from the top, north, east, south, or west.
NW 330°
500M 500M
T
N
E
S
W
Preview
17 18 19
20
15. Model Preview Button
Refer to the Point Cloud Model Preview section for more information.
16. Pause Button
Tap to pause point cloud recording and tap again to resume.
Point Cloud Model Preview
Tap to view the current point cloud model from dierent perspectives.

©2021 DJI All Rights Reserved.
11
Field Data Collection
Users can create a ight mission to record point cloud data in DJI Pilot and import the recorded data
into DJI Terra for high-precision model reconstruction.
Preparation
1. Make sure the L1 is installed correctly on the aircraft and that the aircraft and remote controller are
linked after powering on.
2. Go to camera view in DJI Pilot, select , then RTK, choose the RTK service type, and make sure
that the status of RTK positioning and heading both display FIX. Refer to the Base Station Satellite
Data Acquisition section for more information on data processing if the network or remote controller
video transmission signal is poor.
3. Before recording data, it is recommended to warm up the L1 for 3 to 5 minutes after powering on.
Wait until a prompt appears in the app stating that the payload INS IMU is warmed up.
Setting Camera Parameters
1. Go to the camera view in DJI Pilot and select CAMERA .
2. Select to adjust the camera parameters according to the surroundings. Make sure the photo will
be well exposed.
Mapping Mission
Enter the mission ight screen in DJI Pilot, select Create a Route, and then to choose a Mapping mission.
1. Tap and drag on the map to adjust the area that will be scanned.
S224.8m
245.8m
224.8m 245.8m
H20 T
6277 fs 26 m 49 s
Distance
Estimated Time
42
Waypoints
697
Photos
55549.0 ㎡
Areas
Mapping1
Zenmuse L1 LiDAR Mapping
Point Cloud Density
283 points/㎡
Calibration Flight
GSD
10.00cm/pixel
Altitede Mode
Relative to Takeoff Point (ALT)
300
Flight Route Altitude(ft)
4921
40
In-Flight（RTK）
19:29
RTK
12
R
2.4G 80%
100% 26.1v
26.1v
2. Edit the parameters for a LiDAR Mapping mission or Photogrammetry mission.
A. LiDAR Mapping mission:
a. Select Zenmuse L1 and then LiDAR Mapping.
b. Set the advanced settings, payload settings, and other parameters. It is recommended to

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©2021 DJI All Rights Reserved.
set the Side Overlap (LiDAR) to 50% or above, the Scanning Mode to Repetitive, the altitude
to 50-100 m, the ight speed to 5-10 m/s, and enable Calibration Flight.
B. Photogrammetry mission:
a. Select Zenmuse L1 and then Photogrammetry.
b. Set the advanced settings, payload settings, and other parameters. It is recommended to
disable Dewarping and set Forward Overlap (Visible) and Side Overlap (Visible) to default
parameters.
3. Select to save the ight mission and select to upload and execute the ight mission.
4. Power o the aircraft after the mission is completed and remove the microSD card from the L1.
Connect it to a computer and check the point cloud data, photos, and other les in the DCIM folder.
Linear Flight Mission
1. Enter the mission ight screen in DJI Pilot, select Create a Route, and then to choose a Linear
Flight mission.
2. Tap and drag on the map to adjust the area that will be scanned.
H20 T
6277 fs 12 m 49 s
Distance
Estimated Time
32
Waypoints
197
Photos
55549.0 ㎡
Areas
S
460.8m
430.8m230.8m
330.8m
Linear Flight Mission1
Zenmuse L1 LiDAR Mapping
Point Cloud Density
283 points/㎡
Single Route
Equal Left/Right Extensions
Flight BandFlight Route
GSD
10.00cm/pixel
150
Left Extension Length (ft)
In-Flight（RTK）
19:29
RTK
12
R
2.4G 80%
100% 26.1v
26.1v
3. Edit the parameters for a LiDAR Mapping mission or Photogrammetry mission.
A. LiDAR Mapping mission:
a. Select Zenmuse L1 and then LiDAR Mapping.
b. Set the advanced settings, payload, flight band, flight route, and other parameters. It is
recommended to enable Single Route. Set the altitude to 50-100 m, the ight speed to 5-10
m/s, and adjust the extension length to cover the area to be scanned.
B. Photogrammetry mission:
a. Select Zenmuse L1 and then Photogrammetry.
b. Set the advanced settings, payload settings, and other parameters. It is recommended to
disable Dewarping and set Forward Overlap (Visible) and Side Overlap (Visible) to default
parameters.
4. Select to save the ight mission and select to upload and execute the ight mission.

ZENMUSE L1 User Manual
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13
Manual Flight
1. Fly the aircraft to an appropriate height. It is recommended that the target be 5 to 100 meters away
from the L1 and to perform a calibration ight. Tap CAMERA , and , and follow the prompts to
nish the calibration. Make sure there are no obstacles within a 30m radius during calibration ight.
2. Fly the aircraft to the target you wish to record and use the camera view to adjust the gimbal to a
suitable angle for recording point cloud data. Tap LiDAR to enter point cloud view. Tap to start
point cloud recording.
N
E
W
S
3
6
12
15
21
24
30
33
222m
20
05.2
SPD
m/s
WS 04.0
130.2 ALT
m
VS2.5
ASL1234.5
19:29
RTK
R
12 2.4G 55%
56% 3.72v
3.72v
1260 1260
LiDAR
CAMERA
SBS
MENU
The aircraft will start at its current location
and execute Calibration Flight to calibrate
the inertial navigation system. For flight
safety, make sure the red shaded area on
the map is clear of obstacles. The aircraft
should be at least 40 m away from any
obstacles
Calibration Flight
Start
3. Perform the ight mission to record point cloud data. Tap to view the point cloud model recorded
in real time during ight.
4. Return to the point cloud view and tap to nish recording.
5. It is recommended to perform another calibration ight after recording the point cloud data.
6. Power o the aircraft after the mission is completed and remove the microSD card from the L1.
Connect it to a computer and check the point cloud data, photos, and other les in the DCIM folder.
5. Power o the aircraft after the mission is completed and remove the microSD card from the L1.
Connect it to a computer and check the point cloud data, photos, and other les in the DCIM folder.

ZENMUSE L1 User Manual
14
©2021 DJI All Rights Reserved.
Point Cloud Data File Description
A. The recorded point cloud data is stored in the microSD card. The storage directory is microSD:
DCIM/DJI_YYYYMMDDHHMM_NO. _XXX (XXX can be edited by the user).
B. The folder contains not only photos taken during the ight but also les with the sux CLC, CLI,
CMI, IMU, LDR, RTB, RTK, RTL, and RTS.
Chinese characters cannot be used to rename any of the les.
Base Station Satellite Data Acquisition
When the mobile network or remote controller video transmission signal is poor, use the RTCM data of
the D-RTK 2 Mobile Station or a third-party RTK base station to assist the L1 for data post-processing.
Follow the steps below:
1. Check the local operation time from the point cloud data le directory stored in the microSD card.
2. Search for .DAT format RTCM files of the same time as the stored files of the D-RTK 2 Mobile
Station or third-party RTK base station. Rename the le as the same as the .RTB le in the point
cloud data le directory and add a .RTCM sux.
3. Copy the .RTCM le to the folder of the point cloud data le directory. DJI Terra will prioritize .RTCM
les over .RTB les.
Note that the RTCM le stored in the D-RTK 2 Mobile Station is in UTC time format.
Read the D-RTK 2 Mobile Station User Guide for more information.

©2021 DJI All Rights Reserved.
15
Oce Data Processing
Users can import the recorded point cloud data into DJI Terra for high-precision model reconstruction.
Read the DJI Terra User Manual for more information.
Downloading DJI Terra
DJI Terra is required for data processing. Read the DJI Terra User Manual for more information about
how to congure DJI Terra and use reconstruction.
Visit https://www.dji.com/dji-terra/downloads to download and install DJI Terra.
Reconstruction Procedures
Follow the steps below to reconstruct point cloud data in DJI Terra.
1. Launch DJI Terra, select New Mission, and create and save a point cloud processing mission.
2. Select on the mission editing page and import the folder from the microSD card. The folder will
be named according to the time the point cloud data was recorded. The folder contains les with
the sux CLC, CLI, CMI, IMU, LDR, RTB, RTK, RTL, and RTS.
3. Congure the point cloud density and output coordinate system settings.
4. Click to start reconstruction and wait until it is completed.
5. In the reconstruction page, the current mission folder can be opened by pressing “Ctrl+Alt+F” to
nd the le and check the result of the reconstruction.
6. Read the DJI Terra User Manual for more information about how to process data such as optimizing
point cloud data accuracy.

16
©2021 DJI All Rights Reserved.
LiDAR Point Cloud Description
The L1 features two point cloud scanning methods. Users can choose between non-repetitive and
repetitive scanning methods.
A. The non-repetitive scanning method is the L1’s unique LiDAR technology. It 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.
-40-30 -20-10 010203
04
0
Azimuth/ deg
50
60
70
80
90
100
110
120
130
Zenith/ deg
-40-30 -20-10 010203
04
0
Azimuth/ deg
50
60
70
80
90
100
110
120
130
Zenith/ deg
-40-30 -20-10 010203
04
0
Azimuth/ deg
50
60
70
80
90
100
110
120
130
Zenith/ deg
-40-30 -20-10 010203
04
0
Azimuth/ deg
50
60
70
80
90
100
110
120
130
Zenith/ deg
Non-Repetitive Scanning Method
Typical Point Cloud Patterns
For the non-repetitive scanning method, the L1 has a vertical FOV of 77.2° and a horizontal FOV of
70.4°. The gure below displays the typical point cloud patterns of the L1 after 0.1 s, 0.2 s, 0.5 s, and 1 s.
A. Within a radius of 10° of the center of the FOV, the point cloud density rivals traditional 32-line
LiDAR sensors within 0.1 s.
B. Within a radius of 10° of the center of the FOV, the point cloud density rivals traditional 64-line
LiDAR sensors within 0.2 s. The point cloud density in the rest of the FOV rivals traditional 32-line
LiDAR sensors within the same time.
C. Over time, the point cloud density and coverage inside the FOV increase signicantly and reveal
more detailed information of the surroundings.
B. The repetitive scanning method provides a flat FOV, which is similar to traditional mechanical
scanning methods. It can obtain more uniform and precise scanning results compared to traditional
mechanical scanning methods.

ZENMUSE L1 User Manual
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17
FOV Coverage
The gure below shows the FOV coverage of the L1 compared with non-L1 LiDAR sensors that use
traditional mechanical scanning methods.
A. When the integration time is less than
0.3 s, the 70% FOV coverage of the L1
is slightly better than a 64-line LiDAR
sensor.
B. As the integration time increases,
however, the FOV coverage of the L1
increases signicantly. After 0.8 s, almost
all areas are illuminated by laser beams
as the FOV coverage approaches
100%.
Repetitive Scanning Patterns
For the repetitive scanning method of L1, the scanning repeats approximately every 0.1 s, the horizontal
FOV is 70.4°, the vertical FOV is 4.5°, and the vertical angular resolution is slightly better than traditional
32-line LiDAR sensors.
Close Proximity Blind Zone: the L1 LiDAR sensor cannot precisely detect objects that are less
than 1 meter away. The point cloud data may be distorted to a varying extent when the target
object is within a range of 1 to 3 meters.
The range accuracy of L1 LiDAR is 2 cm tested in an environment at a temperature of 25° C
(77° F) with a target object that has a reectivity of 80% and is 20 meters away from the L1. The
actual environment may dier from the testing environment. The gure listed is for reference only.
-40-30 -20-10 010203
04
0
Azimuth/ deg
50
60
70
80
90
100
110
120
130
Zenith/ deg
)%(egarevoCVOF
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
1
10
20
30
40
50
60
70
80
90
100
Integration time (s)
64 Lines
32 Lines
16 Lines
The L1

18
©2021 DJI All Rights Reserved.
Maintenance
Exporting Log
Go to the camera view in DJI Pilot, select , and Export Zenmuse L1 Log to export the camera log
to the microSD card of the L1.
Firmware Update
Using DJI Pilot
1. Make sure that the L1 is securely mounted onto the aircraft, that there is a strong connection
between the aircraft and remote controller and other DJI devices used with the aircraft, and that all
devices are powered on.
2. Go to HMS in DJI Pilot, select Firmware Update, then Zenmuse L1, and follow the on-screen
instructions to update the rmware. Select Update All to update all available devices simultaneously.
Using microSD Card
1. Make sure that the L1 is securely mounted onto the aircraft and the aircraft is powered o. Check
that there is enough free space on the microSD card and the Intelligent Flight Batteries are fully
charged.
2. Visit the Zenmuse L1 product page on the DJI ocial website and go to Downloads.
3. Download the latest rmware.
4. Once downloaded, copy the rmware le to the root directory of the microSD card.
5. Insert the microSD card into the microSD card slot of the L1.
6. Power on the aircraft. The gimbal and camera perform an auto-check and will start to update
automatically. The gimbal will beep to indicate the status of the rmware update.
7. Restart the device after the rmware update is complete.
Update Status Alarm
Alarm Descriptions
1 short beep Firmware update detected. Preparing to update
4 short beeps Updating rmware. Do not stop update
1 long beep followed by 2 short beeps Firmware update successful
Continuous long beep Firmware update failed. Try again and contact DJI Support if the
problem persists
Make sure that there is only one rmware update le on the microSD card.
Do not power o the aircraft or detach the gimbal and camera while updating the rmware. It
is recommended to delete the rmware update le on the microSD card once the rmware is
updated.

ZENMUSE L1 User Manual
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19
Storage, Transportation, and Maintenance
Storage
The storage temperature range for the L1 LiDAR is from -40° to 85° C (-40° to 185° F). Keep L1 LiDAR
sensors in a dry and dust-free environment.
1. Make sure the L1 LiDAR sensors are not exposed to environments containing poisonous or
corrosive gases or materials.
2. DO NOT drop the L1 LiDAR sensors and be careful when placing in or taking out of storage.
Transportation
1. Before transportation, place the L1 in a suitable box for transportation and make sure it is secure.
Make sure to place foam inside the transportation box and that the box is clean and dry.
2. DO NOT drop the L1 and be careful when carrying it.
Maintenance
1. Under normal circumstances, the only maintenance required for the L1 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.
2. First, check the surface of the optical window to see if cleaning is necessary. If it is necessary to
clean it, follow the steps below:
A. Use compressed or canned air. DO NOT wipe a dusty optical window as it will only cause more
damage. Clean the optical window with compressed or canned air before wiping the optical
window. It is not necessary to use a wipe if there is no visible stains on the optical window
afterward.
B. Wipe the stains: DO NOT wipe using a dry lens tissue as it will scratch the surface of the optical
window. Use a wet lens tissue. Wipe slowly to remove the dirt instead of redistributing it on the
surface of the optical window. If the optical window is still dirty, a mild soap solution can be used
to gently wash the window. Repeat Step B to remove any remaining soap residue.

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Specications
General
Product name ZENMUSE L1
Dimensions 152×110×169 mm
Weight 930±10 g
Power Typical: 30 W; Max: 60 W
IP Rating IP54
Supported Aircraft Matrice 300 RTK
Operating Temperature Range -20° to 50° C (-4° to 122° F)
when using RGB mapping camera: 0° to 50° C (32° to 122° F)
Storage Temperature Range -20° to 60° C (-4° to 140° F)
System Performance
Detection Range 450 m @ 80% reectivity, 0 klx
190 m @ 10% reectivity, 100 klx
Point Rate Single return: max. 240,000 pts/s
Multiple return: max. 480,000 pts/s
System Accuracy (RMS 1σ)* Horizontal: 10 cm @ 50 m
Vertical: 5 cm @ 50 m
Real-Time Point Cloud Coloring Coding Reectivity, Height, Distance, RGB
LiDAR
Ranging Accuracy (RMS 1σ)* 3 cm @ 100 m
Maximum Returns Supported 3
Scan Modes Non-repetitive scanning pattern, Repetitive scanning pattern
FOV Non-repetitive scanning pattern: 70.4° (horizontal) × 77.2° (vertical)
Repetitive scanning pattern: 70.4° (horizontal) × 4.5° (vertical)
Laser Safety Class 1 (IEC 60825-1:2014) (Eye Safety)
Inertial Navigation System
IMU Update Frequency 200 Hz
Accelerometer Range ±8 g
Angular Velocity Meter Range ±2000 dps
Yaw Accuracy (RMS 1σ)* Real-time: 0.3°, Post-processing: 0.15°
Pitch/Roll Accuracy (RMS 1σ)* Real-time: 0.05°, Post-processing: 0.025°
Auxiliary Positioning Vision Sensor
Resolution 1280×960
FOV 95°
RGB Mapping Camera
Sensor Size 1 in
Eective Pixels 20 MP
Photo Size 5472×3078 (16:9), 4864×3648 (4:3), 5472×3648 (3:2)
Focal Length 8.8/24 mm (equivalent)