OXTS Z+F LiDAR 9012 Quick setup guide
Hardware integration guide
Overview
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The Z+F 9012 Proler is a 2D LiDAR laser scanning system ideal for
use in land based mobile mapping applications. In order to create an
adjusted, properly georeferenced pointcloud suitable for feature extraction
and analysis, an inertial navigation system (INS) is required. When
synchronised with a LiDAR system, the GNSS+IMU data fusion provides
accurate, robust trajectory information that combines with the mobile
LiDAR data.
The xNAV650 and Survey+ INS’ are an ideal companion to the Z+F 9012
Proler. They incorporate survey-grade RTK capable dual GNSS receivers
and high-grade MEMS inertial sensors for maximum position accuracy and
precise heading and orientation measurements.
Requirements
Overview
In order to integrate the xNAV650 or Survey+ with the Z+F 9012 Proler,
the following equipment is needed:
• OxTS INS
• OxTS INS user cable
• GNSS antennas and cables
• Z+F 9012 Proler and associated cables
• OxTS to Z+F adaptor cable (details in this guide)
• Power supply
• Laptop running NAVsuite (OxTS’ post-processing software)
• Ethernet cable
Overview
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Connecting the devices
To use the devices together you need to send NMEA messages over serial and PPS messages from the INS to the LiDAR.
This can be done simply using a Z+F adapter cable and the right connectors on the INS user cable. If you wish to use
your OxTS INS with the Z+F LiDAR you can purchase the adapter cable by emailing [email protected] and quoting the part
number 14C0214A.
If your user cable does not have the right connectors, modify the cable so that it has two 9-Way connectors correctly
wired for serial and for digital I/O. These are connected directly to the adapter cable which connects straight into the
LiDAR.
Diagram of the Z+F Proler adapter cable
2RS232 RX Blue J1-2
5 Ground Black J1-5
1RS232 TX Yellow J1-3
3+10 Ground Black J2-6
91PPS Green J2-1
Overview
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If you are modifying the xNAV650 user cable to have the right connectors then you will need
to ensure the correct wiring is used. The cable comes with a number of bare wires. Connect
these to two 9-Way male D-type connectors in the following way:
3 Red RS232 RX J4-2
4 ORG RS232 TX J4-3
11 W/BLK Signal Ground J5-6 - 9, J4-5
12 W/BRN PPS J5-1
13 W/RED I/O Signal 2 J5-2
9GRY I/O Signal 1 J5-3
2Red J1-3
3 ORG J1-4
5 W/BLK J1-11
11PPS J1-12
2I/O 1 J1-13
3 I/O 2 J1-9
6-9 Digital
Ground
J1-11
J4
RS232
J5
Digital I/O
Conguring Setup
Overview
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This guide won’t cover the full process of conguring the xNAV/Survey+, just the steps relevant to working
with the Z+F 9012 Proler. Full details for conguration can be found in the xNAV and Survey+ user manuals.
These can be found on the OxTS website - www.oxts.com.
The xNAV is congured using the NAVcong software supplied. You will need an ethernet connection to the
INS device. All the settings relevant for this integration are found in the Interfaces section, as shown below.
The Z+F 9012 Proler requires a once-per-second GPZDA NMEA message to timestamp the laser ring. The
NMEA messages are congured on the serial output. On the Serial 1 Output tab, congure the serial to output
NMEA packets at a baud rate of 9600 and change the NMEA message type to GPZDA. Make sure no other
packet type is selected, for example GPRMC might need to be disabled. Set GPZDA to 1Hz.
A one-pulse-per-second (1PPS) output is used to synchronise the Z+F 9012 Proler data to
GPS time.
On the PPS/Triggers tab of the Interfaces section, select the rising edge of the PPS
message and leave the triggers as input triggers.
Collecting Data
All OxTS INS’ will automatically record raw data onto their onboard storage. You can FTP
to the IP address of your system at the end of the data collection, either via Windows FTP,
an FTP client, or through NAVsolve.
Z+F data will be recorded in Z+F’s Laser Control software. Be sure to check in the Z+F
software that the PPS and NMEA are being received successfully before completing your
survey.
Data Processing
Following the instructions in your NAVsolve manual take your INS’ raw data and turn it into a le that the Z&F
9012 Proler can use.
When you reach the export screen of NAVsolve, output a CSV le with the following elds:
Time (GPS) Weeks - seconds
Latitude Decimal degree
Longitude Decimal degree
Altitude Meters (ellipsoidal)
Roll Decimal degree
Pitch Decimal degree
Heading Decimal degree
The actual georeferencing will take place using your OxTS output le and the Z+F 9012 Proler
raw data. To do this the Z+F Syncat is needed. For more information, follow the link and
contact Z+F if more help is needed.
This can also be done easily in NAVgraph by right-clicking the graph and exporting as a CSV
le after you have chosen the correct measurements from the table.
NOTE: Don’t worry if the order is incorrect as you can rearrange it in the Z&F processing
software.
Example Data
The data to produce the images below was collected using an OxTS xNAV550 INS and a Z+F
9012 Proler LiDAR sensor.
Example Data (cont...)
Similar to the page opposite. These pointclouds were created using the OxTS xNAV550 INS
and a Z+F 9012 Proler LiDAR sensor.
Need further
assistance?
Visit the support website:
support.oxts.com
Get in touch if you can’t nd
what you need:
support@oxts.com
Support: +44(0)1869 814251
Sales: +44(0)1869 814253
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