GreenValley LiAir X3C-H User manual

LiAir X3C-H User Guide • GreenValley International
LiAir X3C-H
UAV LiDAR System
User Guide
GreenValley International Inc.

LiAir X3C-H User Guide Contents
Contents
1 User Instructions ......................................................................................................................1
2 Product Introduction ..............................................................................................................4
2.1 Technical Specifications.............................................................................................5
2.2 Product Structure........................................................................................................7
2.3 System Components..................................................................................................9
2.3.1 Laser Scanner...................................................................................................9
2.3.2 Integrated Navigation System................................................................. 11
2.3.3 Storage and Control Unit.......................................................................... 12
2.3.4 Camera............................................................................................................ 12
2.3.5 GNSS ground station.................................................................................. 13
3 Package List............................................................................................................................ 14
4 Data Acquisition.................................................................................................................... 15
4.1 Base Station Setup................................................................................................... 15
4.2 Installation .................................................................................................................. 16
4.3 Parameters Settings................................................................................................. 17
4.4 Data Acquisition ....................................................................................................... 20
5 Data Download...................................................................................................................... 21
5.1 X3C-H data download............................................................................................ 21
5.2 Base station data download ................................................................................. 21
6 Data Georeferencing ........................................................................................................... 22

LiAir X3C-H User Guide Contents
6.1 Project Folder Structure ......................................................................................... 22
6.2 Open Project.............................................................................................................. 24
6.3 Select and Configure Parameters ....................................................................... 25
6.3.1 POS Processing Settings............................................................................ 25
6.3.2 Laser Scanner Settings............................................................................... 29
6.3.3 Camera Settings........................................................................................... 29
6.4 Georeferencing Point Cloud Data....................................................................... 30
7 System Transportation and Maintenance..................................................................... 40
7.1 Operation Notice...................................................................................................... 40
7.2 Equipment Maintenance........................................................................................ 41

LiAir X3C-H User Guide User Instructions
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1User Instructions
Safety Precautions
1. LiAir X3C-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,
1A@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 X3C-H User Guide User Instructions
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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 X3C-H at the time of purchase or
in a productive case authorized for use by GVI.
9. When not in use, store LiAir X3C-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 X3C-H User Guide User Instructions
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handle it on your behalf.
GreenValley International Inc. reserve the right to explain the above terms.
GreenValley International Inc. March 5, 2023

LiAir X3C-H User Guide Product Introduction
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2Product Introduction
LiAir X3C-H is a new light and compact UAV LiDAR system developed by
GreenValley International through integrating a 360° scanning LiDAR sensor,
self-developed inertial navigation system, and 26MP HD mapping camera with a
high computing power edge computing platform. With a highly integrated
design, it can be used for topographic mapping, forestry measurement and
power line inspection. Equipped with LiGeoreference/LIDAR360 software
independently developed by GreenValley International, it can provide one-stop
mapping solutions for customers in an array of industries such as utilities power
inspections, forestry management, building façade scanning, and many more.
The LiAir X3C-H (shown above) mainly consists of three components: a LiDAR
scanning system, an inertial navigation system, and a storage & control system.
The main components include:
1. The dynamic differential GNSS receiver for measuring the spatial position of
the reference point for emitting the LiDAR signals;
2. Attitude measurement equipment for measuring the attitude parameters,

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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.
Operating principle:
1. The system controls the device to collect data by receiving and executing
commands sent by the hardware switch.
2. Then the raw data collected are stored in the TF card and copied to the local
computer for processing after the collection is completed.
3. Finally, the LiGeoreference software is used to combine and georeference the
position and angle information under the coordinate system of the LiDAR
system with the POS data to obtain accurate geographic coordinates.
2.1 Technical Specifications
X3C-H System Specifications
Weight 1.12kg

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Scan Range（Sunny, Outdoor
@100 klx）
80 m @ 10% reflectivity;
200 m @ 54% reflectivity;
300 m @ 90% reflectivity
Field of view 360° (Horizontal) ×40.3° (Vertical)
Number of Returns 3
Scan Rate
first return: 640,000 points/s
dual return: 1,280,000 points/s
triple return: 1,920,000 points/s
Camera Pixels 26MP
POS Attitude Accuracy
(post-processing)
0.008°
POS Azimuth Accuracy
(post-processing)
0.038°
System Accuracy (Vertical) 5 cm@70m AGL
Size 153*100*133mm
Communication WIFI
Voltage 12~24V, 1A@24VDC
Power Consumption 24W

LiAir X3C-H User Guide Product Introduction
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Operating Temperature -20~50℃
Storage Temperature -30~60℃
UAV Model DJI M300 RTK
Data Georeferencing Software
LiGeoreference point cloud data
georeferencing software
2.2 Product Structure
1— Power Port (PWR): Connect the power cable to power up the system.
2— Switch button (ON/OFF) and indicator: The button shared for power-on and
project creation/data capture and displays the working status of the device.
3— USB-C port: For the communication between the computer and the device
for firmware upgrade and data download.
4— Memory card slot: with a built-in 256G TF card for data storage.
5— GNSS1: First (Main) antenna port.
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