http://www.dji.com/zenmuse-l1
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Contents
1. Supported Firmware and Software Versions ............................................................................................................. 4
2. Parameter Overview........................................................................................................................................................... 4
2.1 Introduction to DJI L1 ............................................................................................................................................. 4
2.2 Specifications.............................................................................................................................................................5
2.3 Key Parameters.........................................................................................................................................................7
2.3.1 Detection Range...........................................................................................................................................7
2.3.2 Point Cloud Data Rate...............................................................................................................................7
2.3.3 Scan Mode and FOV................................................................................................................................. 8
2.3.4 Beam Divergence Angle.........................................................................................................................10
2.3.5 Ranging Accuracy .....................................................................................................................................10
3. DJI L1 Field Operation Guide ........................................................................................................................................10
3.1 RTK/PPK.....................................................................................................................................................................10
3.1.1 Ntrip (Custom Network RTK) Solution................................................................................................10
3.1.2 D-RTK 2 Base Station Solution............................................................................................................... 11
3.1.3 Third-party RTK Solution.......................................................................................................................... 11
3.2 IMU Calibration.......................................................................................................................................................13
3.2.1 Calibration Flight Button in Manual Flight .......................................................................................13
3.2.2 IMU Calibration in Mapping/Oblique/Linear Flight Missions..................................................14
3.2.3 IMU Calibration in Waypoint Flight Missions.................................................................................15
3.3 RGB Camera Recalibration.................................................................................................................................16
3.3.1 Calibration data collection......................................................................................................................16
3.3.2 Use DJI Terra software to generate the calibration files...........................................................17
3.3.3 Run the calibration files in L1 ................................................................................................................18
3.3.4 How to restore factory parameters? .................................................................................................18
3.4 Flight Mission Planning........................................................................................................................................19
3.4.1 Topographic Surveying............................................................................................................................19
Terrain-follow Flight............................................................................................................................................21
3.4.2 Riverbank / Road Surveying ................................................................................................................25
3.4.3 Powerline ....................................................................................................................................................27
3.5 Checkpoint Setup ................................................................................................................................................ 30
3.5.1 3D Checkpoints ........................................................................................................................................ 30
3.5.2 Elevation Checkpoints ...........................................................................................................................32
3.6 Field Data Collection.........................................................................................................................................33
3.6.1 Power on L1 for Warmup........................................................................................................................33
3.6.2 Flight Mission Execution .......................................................................................................................33
3.6.3 Manual Data Collection .........................................................................................................................34
3.7 Data Storage ...........................................................................................................................................................36
4. Processing L1 Data with DJI Terra ..............................................................................................................................36
4.1 Prepare Your Computer......................................................................................................................................36
4.2 Reconstruction Steps...........................................................................................................................................37
