# Recon XT Initialization and Acquisition Workflow ### Recon **XT Backpack LiDAR Initialization:** * It is important to begin your data acquisition outside to allow the system to receive GPS time and record an initial position. PLS recommends approximately 30 seconds of Static time before and after acquisition. * PLS recommends a 10 second kinematic straight line walk and a figure eight at the speed of approximately 1.4 m/s before and after acquisition of your POI. More information can be found on the [best practices page](/data-acquisition-and-uav-piloting/backpack-acquisition-best-practices.md#ins-kinematic-alignment-strategy-all-imus). * If possible end your collection at the same location you began #### **Recon XT Acquisition Workflow:** * Mount the Recon XT to the backpack using the attached Sky Port mount. The Sky Port is designed with a twist lock mechanism that makes an auditory click when fully twisted into position.

* Connect the XT60 power cable and SMA GPS 1 cable. * Ensure the Recon Thumb drive is inserted into the USB port located near the SMA GPS connection. {% tabs %} {% tab title="XT60 connection" %}

{% endtab %} {% tab title="GPS and thumb drive" %}

{% endtab %} {% endtabs %} * Check the XT60 connectors where they attach to the Battery trays. Ensure the battery trays are in good condition. * Make sure batteries are fully charged and install the batteries into the battery tray, the batteries will lock into place when installed correctly. {% tabs %} {% tab title="XT60 Connectors" %}

{% endtab %} {% tab title="Battery Tray and Batteries" %}

{% endtab %} {% endtabs %} * The Recon XT backpack angle of the sensor can be adjusted by the user. The sensor angle can be set to 30, 45, and 90 degrees. Check and confirm the acquisition angle for the sensor on the back pack matches the angle you wish to acquire at. {% tabs %} {% tab title="30-degrees" %}

{% endtab %} {% tab title="45-degrees" %}

{% endtab %} {% tab title="90-degrees" %}

{% endtab %} {% endtabs %} * Power on the Recon XT via the batteries. The batteries are TB47S DJI batteries. To power on each battery press the button once and release, then press the button again and hold. The Batteries will not turn the LiDAR on directly, you will need to turn the LiDAR on via the power button located on the LiDAR unit itself. {% tabs %} {% tab title="TB47S DJI Battery" %}

{% endtab %} {% tab title="Power button" %}

{% endtab %} {% endtabs %} * The Recon XT will not acquire static data until the system has been activated via the Recon XT web GUI. * To access the GUI, connect to the LiDAR via wi-fi with the password "LidarAndINS" and open a web browser and type in the IP address "192.168.12.1". {% tabs %} {% tab title="Wi-Fi access" %}

{% endtab %} {% tab title="Web GUI" %}

{% endtab %} {% endtabs %} * You will need to configure the IMU offset from the GNSS receiver for 30, 45, and 90 degree back pack settings. Navigate to the "Geometry" setting in the Recon XT GUI and adjust the following values: {% tabs %} {% tab title="30-degree angle offsets" %}

{% endtab %} {% tab title="45-degree angle offsets" %}

{% endtab %} {% tab title="90-degree angle offsets" %}

{% endtab %} {% endtabs %} * Check the GUI and ensure the sensors GNSS is showing "computed, single" under "GNSS Solution" * Press "Start" under the section labeled "Data Recording". This will activate the LiDAR sensor and camera simultaneously. * The system will need approximately 30 seconds of static time prior to starting acquisition. The camera takes a photo every 2 seconds. If you wait until 15 photos are captured that will give you your 30 second static alignment time. * The INS will go through several stages during this process, The stages in order are as follows: * INS: Not started - This is the status the LiDAR will be prior to starting data recording * INS: Static alignment - This will be the status for the 30 second static alignment * INS: Waiting for high velocity - after 30 second static, this will que you to begin your 10 second kinematic alignment * INS: Kinematic alignment - This will display while conducting the kinematic alignment * INS: Navigation - This will display when the sensor is aligned and ready to acquire. * After the 10 second kinematic, maintain a steady comfortable walking speed during the figure-8 and throughout the entirety of the acquisition AOI. PLS recommends a walking speed of 1 - 1.4 m/s. * Maintain a good posture during collection to ensure proper angle of the sensor. * Refrain from stopping, walking backwards, or turning at the waist while actively collecting in the AOI. * If possible, end your collection where you began. After collecting the AOI, complete with another 10 sec kinematic and figure-eight at a comfortable walking speed. * Allow the system to collect another 30 seconds of static time before shutting down the LiDAR completely. * Lastly, the data is stored on the removable thumb stick found in the USB port on the LiDAR see image below:

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