GreenValley LiAirX3-H User manual

LiAir X3-H User Guide • GreenValley
International Inc.
LiAir X3-H
UAV LiDAR System
User Guide
GreenValley International Inc.

LiAir X3-H User Guide • GreenValley
International Inc.
Table of Contents
Read This First........................................................................................................ 1
LiAir X3-H System..................................................................................................4
Technical Specification...................................................................................5
Product Structure........................................................................................... 7
Product Composition..................................................................................... 9
Laser Scanner.......................................................................................9
Position and Orientation System (POS).......................................... 12
Control and Storage Unit................................................................. 13
Integrated Camera............................................................................ 13
GNSS Base Station.............................................................................14
Product Components.......................................................................................... 18
Data Acquisition...................................................................................................19
Set Up GNSS Base Station.......................................................................19
Device Installation........................................................................................ 22
Parameter Setting.........................................................................................24
Workflow....................................................................................................... 27
Data Downloading...............................................................................................29

LiAir X3-H User Guide • GreenValley
International Inc.
LiAir X3-H Data Download..........................................................................29
Base Station Data Download.......................................................................29
Data Processing................................................................................................... 30
Project Folder Structure............................................................................... 30
Open Project.................................................................................................32
Select and Configure Parameters............................................................... 32
POS Processing Settings...................................................................33
Laser Scanner Settings...................................................................... 37
Camera Settings................................................................................ 37
Georeferencing Point Cloud Data...............................................................38
System Transportation and Maintenance......................................................... 49
Operation Notice..........................................................................................49
Equipment Maintenance..............................................................................50

LiAir X3-H User Guide Read This First
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Read This First
Important Notices
1. LiAir X3-H 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

LiAir X3-H User Guide Read This First
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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.
9. When not in use, store LiAir X3-H 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

LiAir X3-H User Guide Read This First
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handle it on your behalf.
GreenValley International Inc. reserve the right to explain the above terms.
GreenValley International Inc. April 2nd, 2022

LiAir X3-H User Guide LiAir X3-H System
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LiAir X3-H System
LiAir X3-H 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-H system integration 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).

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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.
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.
Technical Specification
X3-H Specifications
Weight
1.25 kg
Scan Range（Sunny, Outdoor
190 m @ 10% reflectivity

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@100 klx）
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
Size
136 × 106 × 129 mm
Consumption
22 W
Working Temperature
-20 ~ 50℃
Storage Temperature
-30 ~ 60℃

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Drone Model
DJI M300 RTK (ideally)
Display and Control Application
LiPlan
Georeferencing Software
LiGeoreference
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.

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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

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5. The laser scanner is not synchronized
Product Composition
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-H product integrates the Livox Avia laser and supports two modes

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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.
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
LiVOX AVIA
Detection Range
190 m @ 10% reflectivity
Horizontal
Unit: mm
Horizontal
Vertical
Unit: m
Reflectance: 10%
Sunlight: 100 klx

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(Sunny, Outdoor
@100 klx)
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)
Consumption
10 W (average)
Working Temperature
-20 ℃ ~ 65 ℃

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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.
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-H 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-H 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-H integrates a 3-axis MEMS (Micro-Electro-Mechanical System)

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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.
3. LiAir X3-H POS System Performance (after post-processing)
System Accuracy
Azimuth
0.038°(1σ)
Attitude
0.008°(1σ)
Data Frequency
200 HZ
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.
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

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Effective Pixels
26 megapixels
Picture Element Size
3.76 um
Image Size
6252 * 4168
DFOV
83°
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

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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
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

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Flashing
Orange
Locating satellites
Solid Orange
Satellite positions locked
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

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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