GreenValley LiAir X3 User manual

LiAir X3 User Guide • GreenValley International Inc.
Page 1
LiAir X3
UAV LIDAR System
User Guide
GreenValley International Inc.
Table of Contents

LiAir X3 User Guide • GreenValley International Inc.
Page 2
Content
1. Read This First..........................................................................................................................................4
Important Notices ...................................................................................................................................4
2. LiAir X3 System ...................................................................................................................................6
5.1 Technical Specification..................................................................................................................7
1.................................................................................................................................................................8
2.2 Product Structure.............................................................................................................................8
2.3 Product Composition.................................................................................................................. 10
2.3.1 Laser Scanner.................................................................................................................... 10
2.3.2 Position and Orientation System (POS)................................................................. 12
2.3.3 Control and Storage Unit.............................................................................................. 13
2.3.4 Integrated Camera ........................................................................................................... 13
2.3.5 GNSS Base Station ........................................................................................................... 14
3. Product Components........................................................................................................................ 17
4. Data Acquisition................................................................................................................................... 18
5.1 Set Up GNSS Base Station ......................................................................................................... 18
5.2 Device Installation......................................................................................................................... 21
5.3 Parameter Setting ......................................................................................................................... 23
5.4 Workflow ........................................................................................................................................... 26
5. Data Downloading .............................................................................................................................. 27
5.1 LiAir X3 Data Download ......................................................................................................... 27
5.2 Base Station Data Download ................................................................................................... 27

LiAir X3 User Guide • GreenValley International Inc.
Page 3
6. Data Processing.................................................................................................................................... 28
6.1 Project Folder Structure............................................................................................................. 28
6.2 Open Project.................................................................................................................................... 30
6.3 Select and Configure Parameters .......................................................................................... 31
6.3.1 POS Processing Settings............................................................................................... 31
6.3.2 Laser Scanner Settings.................................................................................................. 35
6.3.3 Camera Settings ............................................................................................................... 35
6.4 Georeferencing Point Cloud Data .......................................................................................... 36
7. System Transportation and Maintenance.............................................................................. 45
7.1 Operation Notice ........................................................................................................................... 45
7.2 Equipment Maintenance............................................................................................................ 46

LiAir X3 User Guide • GreenValley International Inc.
Page 4
1.Read This First
Important Notices
1. LiAir X3 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.
3. Please stop using the system if you hear noticeable noises, warnings, or while the device
is damaged. Contact the manufacturer's technicians for maintenance in time. Forcible
use may cause permanent damage to the system.
4. Strictly follow the tutorials, advises, warnings, and other cautions included in this user
guide as well as other documents provided by GVI.
5. Do NOT use any power supply outside the specified voltage range (12~24V,
0.9A@24VDC). Incorrect voltage supply may cause permanent damages to the
integrated instruments and other hazards. Damage caused by the use of an
unauthorized power supply are not covered by the Product Warranty.
6. Keep the power, USB, network and other connector ports clean and dry, and do not
insert other objects other than the connector.
7. Tampering with the product is strictly prohibited and will void the Product Warranty.
Any repair, modification, or upgrade must be performed by GVI technician or authorized
service provider.
8. This product is a high-precision mapping and surveying instrument that must be
handled with care. This product should by stored and transported in the protective case
provided with the LiAir V70 at the time of purchase or in a productive case authorized
for use by GVI.

LiAir X3 User Guide • GreenValley International Inc.
Page 5
9. When not in use, store LiAir X3 system and accessories in a cool and dry environment.
Make sure the device is powered off when performing maintenance and cleaning.
10. The working temperature of this equipment is -20 ℃ ~50 ℃ . Below/exceed this
temperature range, it may cause wrong measurement results, data loss or equipment
damage.
11. Before using the equipment, please ensure that the operating environment is far away
from the source of electromagnetic interference.
12. There are corresponding specifications for battery use and storage. Please refer to the
lithium battery use/storage specifications for details.
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. April 2nd, 2022

LiAir X3 User Guide • GreenValley International Inc.
Page 6
2.LiAir X3 System
LiAir X3 is a new generation of light-weight UAV LiDAR system developed by GreenValley
International. It integrates light-weight LiDAR scanner, self-developed inertial
measurement unit, 2600MP high-resolution mapping camera and high performance
computing platform. It can be mainly used for topographic mapping, forestry surveying,
power inspection, etc. With the LiPlan, LiGeoreference, LiDAR360 software developed by
GreenValley International, it can provide users with complete surveying and mapping
solutions.
The LiAir X3 system intergration is comprised of multiple technologies, including:
1. A dynamic differential GNSS receiver for measuring the spatial position of the reference
point of the laser signal transmission.
2. Attitude measurement equipment for measuring the attitude parameters, namely
inertial measurement unit (IMU).
3. Laser ranging equipment used to measure the distance between the laser signal
emission reference point and the ground point, that is, the core part of the entire
integrated system, the laser scanner.
4. The storage control system, which is used for data storage and device control, 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.

LiAir X3 User Guide • GreenValley International Inc.
Page 7
System Principles:
1. The system collects data by receiving and executing hardware switches or commands
sent by LiPlan to control the device.
2. All the collected raw data are stored in the TF card, and after the data collection is
completed, it is copied to the local computer for data processing.
3. Use LiGeoreference software to fuse the position and angle information under the LiDAR
system coordinate system with the POS data to obtain accurate geographic coordinates.
5.1 Technical Specification
X3 Specifications
Weight 1.2 kg
Scan Range
（Sunny, Outdoor @100 klx） 190 m @ 10% reflectivity 230 m @ 20% reflectivity
320 m @ 80% reflectivity
Field of View (Repetitive Mode) 70.4° (horizontal) × 4.5° (vertical)
Number of Returns Triple Return
Scan Rate
240,000 points/s (first or strongest return)
480,000 points/s (dual return)
720,000 points/s (triple return)
Camera Resolution 26 MP
POS Performance – Attitude
（after post-processing） 0.008°
POS Performance - Azimuth（after
post-processing） 0.038°
System Accuracy (Vertical) 5 cm @ 70 m
Voltage 12~24 V，0.9 A @ 24V DC

LiAir X3 User Guide • GreenValley International Inc.
Page 8
Consumption 22 W
Working Temperature -20 ~ 50℃
Storage Temperature -30 ~ 60℃
Drone Model DJI M300 RTK
Display and Control Application LiPlan
Georeferencing Software LiGeoreference
2.2 Product Structure
1 —Power Port (PWR): Connects the power cable to power up the system.
2 — Switch button (ON/OFF) and indicator light: powers the system on and off, also used
to create project (shared), display system working status.
3 — USB-C Port: used for communication between computer and system, such as
firmware update, data download, etc.
4 — Memory card slot: built-in 256GB TF card for data storage.
5 — GNSS1: first (main) antenna port.
6 — GNSS2: second antenna port.

LiAir X3 User Guide • GreenValley International Inc.
Page 9
Explanation of ON/OFF button operation and LED light status descriptions
LED Color/Status Description
ON/OFF
Flashing Red (Four Times a
Second) System is powered on and initializing
Solid Green System initialization
completed
Flashing Green The project has been
created, the inertial
navigation data is being
recorded, and the system is
working normally
Flashing Red
(Once a Second)
The project has been
created, the inertial
navigation data is being
recorded, and the system is
working abnormally
Solid Red
The system status is
abnormal, the reasons
include:
1. TF card space is less than
15G
2. M300 RTK PSDK module is
not activated
3. IMU misalignment
4. Camera self-test failed
5. The laser scanner is not
synchronized

LiAir X3 User Guide • GreenValley International Inc.
Page 10
2.3 Product Composition
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. According to the
principle of laser ranging, the distance and angle are measured and recorded, so as to
determine the azimuth information of the measured object.
The transmitter in the LiDAR emits a beam of ultra-short light pulses on the object and
diffusely reflects back to the receiver. The speed of light is known, and the distance from
the target object to the sensor is calculated by the flight time of the laser beam in the air.
LiDAR Ranging Formula:
S is the distance from the sensor to the target, c is the speed of light, and Δt is the round-
trip time of the laser.
The LiAir X3 product integrates the Livox Avia laser and supports two modes of non-
repetitive scanning and repetitive scanning. This product uses the repetitive scanning
mode, with a FOV of 70.4° horizontally and a FOV of 4.5° vertically, as shown in the figure
below.
Transmitter
Receiver
The surface of
object
t∆
Transmitter
Receiver
The surface of
object
t∆

LiAir X3 User Guide • GreenValley International Inc.
Page 11
Please note that the effective range of Livox Avia is different in different FOV regions. The
closer to the edge of the FOV, the shorter the effective range. Please be careful with the
range to avoid incomplete acquisition coverage. The measuring range can refer to the
following figure:
LiDAR Sensor Specifications
Model AVIA
Detection Range
(Sunny, Outdoor @100 klx)
190 m @ 10% reflectivity
230 m @ 20% reflectivity
320 m @ 80% reflectivity
Distance Random Error
(1σ@20m)
2 cm (Tested in an environment at a temperature of
25℃ with a target object that has a reflectivity of
80% and is 0.2 meters away.)
Angular Random Error 1σ<0.05°
Points Rate
240,000 points/s (first or strongest return)
480,000 points/s (dual return)
720,000 points/s (triple return)
FOV
Repetitive scanning pattern: 70.4° (horizontal) ×
4.5° (vertical)
Non-repetitive scanning pattern: 70.4° (horizontal)
× 77.2° (vertical)
Laser Safety Class 1 (IEC 60825-1:2014) (Safe for eyes)
Voltage 10~15V DC
(recommended 12 V DC and 30 W or higher)

LiAir X3 User Guide • GreenValley International Inc.
Consumption 10 W (average)
Working Temperature -20 ℃ ~ 65 ℃
IP Rating IP67
Note: The laser sensor cannot be directly irradiated with strong laser light
(including two sensors facing the light), so as to avoid high-intensity laser
damage to the receiving sensor.
2.3.2 Position and Orientation System (POS)
The airborne Position Orientation System (POS) is an inertial measurement unit (IMU)
and Global Navigation Satellite System (GNSS). POS systems are used to accurately
determine system velocity, position, and attitude values at specific moments in time.
1. Global Navigation Satellite System (GNSS)
Global navigation satellite system, or (GNSS) on LiAir X3 supports, mainly includes GPS,
GPS (the U.S.), Galileo satellite navigation system (Europe), BeiDou Navigation Satellite
System (China), and GLONASS (Russia). The GNSS of LiAir X3 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. It is the benchmark center of the LiDAR
system. Its role is to get the position and orientation information without external
reference data.
The LiAir X3 integrates a 3-axis MEMS (Micro-Electro-Mechanical System) gyroscope, 3-
axis MEMS accelerometer and dual GNSS/BD receivers into one system, the POS
system. Together the POS system components gather multi-reference parameters that
provide accurate, effective and reliable by optimization algorithm of integrated
navigation system.
Page 12

LiAir X3 User Guide • GreenValley International Inc.
Page 13
3. LiAir X3 POS System Performance (after post-processing)
System Accuracy
Azimuth 0.038°(1σ)
Attitude 0.008°(1σ)
Data Frequency 200 HZ
2.3.3 Control and Storage Unit
Function:
1. Receiving the commands from the computer and executes the commands.
2. Controlling and coordinating each sensor to work properly.
3. Storing the data. Store the data of IMU, camera, and device log.
2.3.4 Integrated Camera
This product has a built-in GVI self-developed camera. The main parameters of the
camera are as follows:
Image Sensor Format APS-C
Lens 16 mm fixed focal length lens
Effective Pixels 26 megapixels
Picture Element Size 3.76 um
Image Size 6252 * 4168
DFOV 83°

LiAir X3 User Guide • GreenValley International Inc.
Page 14
2.3.5 GNSS Base Station
The main function of the ground GNSS base station is to observe the same point for a long
time, so that it has a high single-point accuracy and serves as a differential reference for
the UAV mobile station. GPS base station composition: GPS antenna + GPS receiver +
power supply.
Base Station Information
1 — Power Port (9-30 V，0.3 A @ 12 V)
2 — USB Port: Connect to a computer via a double-ended USB cable for base station data
downloading
3 — System Status Indicators: Used to indicate base station status
4 — RTK Button (Cancelled)
5 — Save Button: Base station data storage/end storage function (long press)
6 — RTK Antenna Port
7 — GNSS Antenna Port: Connect GNSS antenna and base station through feeder cable
8 — RTK Antenna

LiAir X3 User Guide • GreenValley International Inc.
Page 15
Base Station Indicator Lights
LED Light Status Status Description
Solid Red Base station power supply is normal, 3.6 W
Flashing Red Low battery, battery needs to be replaced
Solid Blue Recording base station data
Flashing Blue Internal SD card error or remaining storage space is less
than 1 GB
Off Not recording base station data
Solid Green
(Cancelled)
RTK function normal
Flashing
Orange
Locating satellites
Solid Orange Satellite positions locked

LiAir X3 User Guide • GreenValley International Inc.
Page 16
Base Station Specifications:
System
Performance
Signals 120 dynamic channels
GPS:L1，L2，L2C,LC
GLONASS:L1，L2，L2C
BDS:B1，B2
GALILEO:E1,E5a,E5b,ALtBOC,SBAS,QZSS,
L-band
Horizontal
Positioning
Accuracy
Single point L1: 1.5 m
Single point L1/L2: 1.2 m
SBAS: 0.6 m
DGPS: 0.4 m
RT-2: 1 cm + 1 ppm
Initialization time: <10 s
Initialization reliability: >99.9%
Positioning
Accuracy
0.2/m
Data Update
Rate
Raw data: up tp 50 Hz
Position data: up to 50 Hz
First Position
Time
Cold start: <50 s
Warm start: <35 s
Dimensions and
Electrical
Parameters
Dimensions
(mm)
130 X 90 X 32
Weight 300 g
Input Voltage 12 V
Consumption 4 W
Communication
Port
Data Download USB Port, insert USB stick to download base station
data automatically
Operating
Environment
Temperature Working temperature: -40°C - +75°C
Storage temperature: -40°C - +85°C
Relative
Humidity
95% no condensation

LiAir X3 User Guide • GreenValley International Inc.
Page 17
3.Product Components
①LiAir X3 LiDAR System ②USB Cable ③GNSS Antenna Kits
④256GB TF Card ⑤Card Reader ⑥Documentation/User Guide
Note: Please refer to the actual product list for delivery.

LiAir X3 User Guide • GreenValley International Inc.
Page 18
4.Data Acquisition
5.1 Set Up GNSS Base Station
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.
Open areas refer to those places which are not covered by high objects. The maximum
elevation mask angle of surrounding objects should be less than 15°.
The source of strong electromagnetic interference might be cellular base station, high
voltage transmission lines, or objects with high reflectance (e.g. mirror, large water body)
which may cause the multipath propagation.
2. Set up base station
Connect the GNSS antenna to the GNSS receiver by the feeder cable and connect the
battery to the GNSS receiver by the power cable as it shown below:

LiAir X3 User Guide • GreenValley International Inc.
Page 19
3. Calculate the antenna height
Measure the oblique distance from antenna bottom edge to the ground for more than
three-times, take the mean value as H1.
Antenna height (m)=(0.05-0.046)+√(〖(H1)〗^2-〖(0.1515/2)〗^2 ) Antenna height
(m)=(0.05-0.046)+√(〖(H1)〗^2-〖(0.1515/2)〗^2 )
Note: When connecting the base station and the base station power cable,
you need to align the red dot on the power cable with the recessed part of the
interface before connecting.

LiAir X3 User Guide • GreenValley International Inc.
Page 20
Take the above picture as an example, if the height of the measuring instrument is 1.6
meters, the actual height of the base station antenna is:
Antenna Height=
4. Record base station data
Procedures:
a) Power on the base station，then and indicator lights are always on.
b) Wait for the orange GPS satellite signal light to become solid (in this
case, the GPS signal is stable), press and hold the Save button (>2s),
release the button, indicator light will turn on and start recording
data.
c) After the outdoor data collection work is completed, press and hold
for more than a second, the indicator light will be off, and the base station
will stop recording data.