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
4
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).

LiAir X3-H User Guide LiAir X3-H System
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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

LiAir X3-H User Guide LiAir X3-H System
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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℃

LiAir X3-H User Guide LiAir X3-H System
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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.