Phoenix LiDAR Systems User Manual
  • Welcome
  • SpatialExplorer 8 & 9
    • Introduction
    • Installation
      • System Requirements
      • SpatialExplorer-Compatibility
      • Licensing
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              • Aerial Trajectory Optimization
              • Mobile Trajectory Optimization
            • Ground Control with LiDARSnap
              • Vertical Only Adjustment
              • Full Adjustment
            • LiDARSnap Tuning and Parameters
            • Control Point Clouds
            • Example: Optimizing Data from Multiple Scans
          • CameraSnap
            • Auto-detect without review
            • Auto-detect with manual review
            • Manually-Created Matches
            • CameraSnap Reports
          • Colorize Cloud
          • Align to GCPs
            • Adjusting Automatically to GCPs (Vertical Only)
            • Manual Adjustment (Horizontal and Vertical)
          • Reports
          • Export
        • Analytics
          • Classify
            • Classify By Class
            • Classify Noise
            • Classify Statistical Outliers
            • Classify Ground
            • Classify Powerlines
            • Classify Moving Objects
          • Create
            • Create Maps
            • Create Floorplans
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          • Calculate Distance
          • Measure
            • Std. Dev. Along Surface Normal
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        • LiDARMill
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        • Rover
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          • Rover Settings and Profiles
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          • Licensing
          • Create Transformation...
    • Workflows
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        • LAZ Processing
        • Field Data Check
    • FAQs
  • LiDARMill Cloud
    • Introduction
    • Login/Register
      • User management
    • Quick Start Guide
    • Overview
    • Post Processing Workflow
      • Create New Project
        • Details
        • Project Reference Setup
        • Summary
      • Create New Mission
        • Uploading a SpatialExplorer Mission
        • Uploading a RECON Mission
        • Uploading a Pointcloud Processing Mission
      • Adding Reference Station Data
      • Adding Ground Control Points and Polygons
        • Ground Control Points (GCPs)
        • Polygons
      • Processing Tools
        • NavLab Pipeline
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      • Cloud Viewer
      • Additional Tabs
    • FAQs
  • FlightPlanner
    • Introduction
    • User Interface
      • FlightPlanner Interface Tools
        • Change Theme
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        • Flight Info
        • Delete All
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        • Upload Google KMZ file and Delete All KMLs
        • Take off Location
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        • Address Search
    • Workflow
      • Missions Library
      • Basic UAS LiDAR Mission Planning (FP 9.0)
      • Mission Type
    • Overlap
    • FAQs
  • Hardware and Interfaces
    • Warnings and Safety Notices
      • LiPo Battery Safety
        • General Guidelines and Warnings
        • Pre-Charging Guidelines
        • Charging Process Guidelines
        • Storage/Transportation Guidelines
        • Battery Care Guidelines
      • Laser Safety
        • Class 1 Lasers
        • VUX-240 Laser Safety
      • Aircraft/Rover Operational Safety
    • Connecting and Interfacing with Phoenix Lidar Systems
      • Connect via Rover's Web Interface
      • Connecting via SpatialExplorer
        • Base Station (Notebook) Setup
          • Configure Windows
            • Disable Automatic Updates
            • Change Active Hours
            • Install Latest NVIDIA Drivers
          • Modify Hosts File
          • Wired Ethernet Network Card Setup
          • Install Software Tools
            • 7-Zip
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            • Teamviewer
            • PuTTY
            • NovAtel Connect and NovAtel Convert4
        • Connect to Rover
          • Connect to Rover as a UDP Client
            • Connect via Wi-Fi
            • Connect via Ethernet
              • Connect via 900 MHz Radio
            • Connect Via Ground-Station-Wi-Fi (Groove)
              • Connect via Ground Station Wi-Fi (Bullet M5)
          • Connect to Rover using a Serial Port
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            • Connect via Cellular
        • User Interface
          • Settings
            • Rover Settings
              • General
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    • NavBox
      • FLEXPack
        • Specifications
        • Ports and User Elements
        • Status LED
        • Using the CPU button
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        • Recording Data
        • Questions & Troubleshooting
      • Air
        • Specifications
        • Ports and User Elements
        • Status LED
        • Using the CPU Button
        • Preparing the System
        • Recording Data
        • Questions & Troubleshooting
      • Scout
        • Specifications
        • Ports and User Elements
        • Using the CPU/Sensor Button
        • Preparing the System
        • Recording Data
        • Questions & Troubleshooting
      • RECON Series
      • Alpha 3
        • Ports and User Elements
        • IMU-32/IMU-33/IMU-34
        • IMU-41/IMU-52
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    • Camera
      • Sony Mirrorless Cameras
        • Specifications
        • Camera Settings
        • A7R4 Warning Messages
      • A7R4-Lite
        • Sony A7R4-Lite SD card folder setup procedure
      • A6K-Lite Camera
        • Highlights
        • Specifications
        • Warnings
        • Ports and User Elements
        • Status & Activity LED
        • Settings Wheel
        • Mounting
        • Powering ON the Camera - Self-Check
        • Operating with Spatial Explorer
          • Changing the Trigger Interval / Distance
          • Initial Camera Setup
          • Dual A6K-Lite Setup
        • Changing Camera Settings
        • Troubleshooting
      • Ladybug5+ and LadybugCapPro
        • Pre-Procedure
        • Data Acquisition
    • Lidars
      • Real-Time Point Clouds and MTA Disambiguation
    • Inertial Navigation System
      • Orientation and Offsets
        • IMU
        • GNSS Antennas
        • LiDARs and Cameras
      • Wheel Sensor
    • Miscellaneous Hardware
      • Mobile Roof Rack
        • RFM2-Dual LiDAR Mobile Accessory
      • Backpack Lidar Mount
        • Backpack Telescoping Boom
      • Wi-Fi Range Extenders
      • Accessories
        • Cables
          • SMB to SMA GPS Antenna Cable
          • MCX to RP-SMA WiFi Antenna Cable
          • LiDAR / Camera Cable
          • micro USB to USB Type A Female Cable
          • RJ45 Ethernet Cable
          • HDMI Cable Type D to Type A
          • SMA to TNC Ground Mount GNSS Antenna Cable
          • 7.5” Rover GPS Antenna Cable
          • 24” Rover GPS Antenna Cable
        • Power Supply Parts
          • Power Splitter Cable
          • AC Power Supply
          • XT30 3" Extension Cable
          • XT60 Female to XT30 Male Adapter
          • XT60 Male to XT30 Female Adapter
          • XT60 Female to EC5 Male
          • XT60 Extension Cable
        • Antennas
          • Rover GNSS Antenna
          • UHF Rubber Duck Antenna
          • Ground Mount GNSS Antenna
          • Bullet Long Range Module
          • Omni 12dBi Antenna for Bullet Module
          • Rover 5.8 GHz Wi-Fi Antenna RP-SMA
        • Other Components
          • LiDAR/IMU Cable
          • LiDAR Cable
          • IMU Cable
          • AL3 Power Cable with Integrated Splitter
          • EC5 to XT60 Adapter Cable
          • LiPo with EC5 Connector
          • LiPo Charger
          • 5.8 GHz Directional Panel Antenna
          • TNC 90 Degree Adapter
        • Miscellaneous
          • USB Drive
          • USB to Ethernet Adapter
          • Suction Cups w/ Clamps
          • Multi-Tool
          • SMA Wi-Fi Terminator
          • LiDAR Sensor Cover
          • LiPo Guard Battery Bag
          • Cable Accessories Bag
          • Storm Case
          • Foam Divider
  • Data Acquisition and UAV Piloting
    • Flight Planning
      • UAS LiDAR Hot Swapping
    • UAV Data Acquisition
    • Mobile Acquisition
    • Backpack Acquisition
      • Ranger FLEX Initialization and Acquisition Workflow
      • Recon XT Initialization and Acquisition Workflow
    • SLAM Acquisition
    • Navigation System Configuration
      • Navigation System Basics
      • Real-Time and Post-Processing Differences
      • Further Reading
        • GPS Time Status
        • Navigation Procedures
        • IMU Alignment
        • Navigation System Stabilization
    • RECON UAV Acquisition
    • RECON Series Quick Start Guides
      • RECON-XT M300/M350
      • RECON-XT-A FreeFly Astro
      • RECON-A
    • Calibration Flight Strategy
    • Acquisition FAQs
    • Post Acquisition Checks
  • MissionGuidance
    • Introduction
    • Flightplans
    • Heightmaps
    • Setup
    • Operations
  • GNSS Hardware and Ground Control
    • Reference Stations
    • Downloading Reference Station Data
    • Ground Control - Best Practices
    • Stonex S-900 and Cube-A
      • Cube-A project set up
      • Configure base station
        • Configuring Harxon HX-DU8608D radio
      • Configure rover
      • Surveying ground control points
      • Post processing
        • Post processing base station observations
        • Change base coordinates to a post processed position
        • Export points from Cube-A
  • Reports
    • Processing Report
    • Project Report
    • Trajectory Report
  • 3rd Party Software Documentation
    • Bathymetric LiDAR Processing in RiProcess
      • Creating a Project in RiProcess
        • Adding a Navigation Device
        • Adding a Trajectory
        • Adding a Scanner
        • Adding a Camera
        • Adding Control Objects
        • Processing Parameters
          • Exponential Decomposition
          • Page
        • Adding Records
      • Data Processing Wizard
      • Visualize Data
      • RiPrecision
      • RiHydro Workflow
    • RiParameter
    • TerraSolid and Spatix Install
    • Orthomosaic Production with Pix4D
    • InertialExplorer Desktop 8.70 - 8.90 Processing
    • Hyperspectral Data Processing
    • SDCImport Filter Options
      • MTA (Multiple Time Around)
      • Region of Interest
  • Image Processing using PhaseOne IXCapture
  • General FAQ
    • Accuracy Standards & Quantification
      • Precision
      • Relative Accuracy
      • Absolute Accuracy
      • Further Considerations
    • Mapping Terms and Definitions
    • Abbreviations
    • Examples: How to ensure accurate Georeferencing of Trajectories and Pointclouds
      • Example 1: Static Datum
      • Example 2: Dynamic Datum
    • Clock bias adjustment
    • General FAQs
  • Legacy Documentation
    • Offsets, Rotations, and Reference Frames: SpatialExplorer Version 4-7
    • Legacy TerraSolid Documentation
    • Legacy SpatialExplorer Documentation
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On this page
  • Preflight Checks
  • Workflow (UAS)
  1. Data Acquisition and UAV Piloting

UAV Data Acquisition

PreviousUAS LiDAR Hot SwappingNextMobile Acquisition

Last updated 21 days ago

Preflight Checks

It’s important to ensure that your IMU to GNSS antenna offset measurements are within an appropriate range before initiating a mapping mission. If these measurements are not within an acceptable range, it will cause a mismatch between uncertainty values (position and attitude), which will make it difficult to obtain a proper IMU alignment solution. Before powering on rover, we recommend verifying the IMU to GNSS antenna offset measurements. The easiest way to confirm the offset is to ensure the correct LiDAR profile is set. Each PLS LiDAR comes withalready defined in SpatialExplorer. While connected to a LiDAR, you can access the SETTINGS tab to confirm the correct profile is selected or change profiles as needed.

Ensure that your rover is set to the correct profile if you have multiple profiles (aerial, ground 30 deg mount, etc.) before the mission begins.

Workflow (UAS)

1. Place your UAV at the takeoff site. Ensure the aircraft is in an area clear of overhead obstructions that could interfere with takeoff and landing. Remove the protective coverings from the LiDAR and camera (if applicable). Ensure the glass on the LiDAR and camera are clean and serviceable.

Perform a proper pre-flight check for the aircraft and the sensor in accordance with manufacturers recommendations.

Improper integration of a PLS LiDAR sensor package could dramatically affect the flight characteristics of the aircraft. PLS recommends following manufacturers recommendations at all times regarding integration and weight capacity.

2. Provide power to the Phoenix LiDAR system with either the UAV’s power or from a backup battery. We recommend using the UAV’s power as your main source and only temporarily using the battery power for “hot swapping” scenarios, such as maintenance.

Primary power will be drawn from the source with the highest voltage.

3. Power on the Phoenix LiDAR system. The CPU will turn on automatically when power is supplied to the power input connector. When using a PLS LiDAR equipped with an AirNav Box or FLEX pack, an RGB status LED will indicate the sensors current status. See the guide below as reference:

In a rare case where the CPU button does not light up after power has been supplied, the CPU can manually be turned on using the CPU button.

4. Launch SpatialExplorer and connect to the rover to monitor the system. If connecting to the rover as a TCP client, make sure to use the correct Rover Hostname:

  • via ethernet use rover-wire.

  • via Wi-Fi use rover-wifi.

  • If you are connecting to the rover over a 3G/4G cellular connection, choose the Phoenix LiDAR Systems connection service and enter the corresponding license key.

5. Leave the system powered on and idle at its departure site for a period of at least 5 minutes.

If your system is capable of static alignment, the system will determine its heading and the navigation system status (INS) in SpatialExplorer will switch from "Aligning" to "Alignment Complete" during this time.

Static alignment uses the average of the sensor output, therefore it is imperative for the vehicle to remain completely stationary for the duration of the alignment.

6. Activate Sensors: Prior to takeoff, PLS recommends you activate the sensors before leaving the ground. The system can be activated/deactivated at any point in the flight, but if you cannot maintain link through Spatial Explorer, you will not be able to activate the sensor.

7. Initiate UAV takeoff and hover at a comfortable height. At PLS, we strongly recommend you do your takeoff and landings manually so you can judge the airworthiness of the system before sending it on an automated mission. A flight control check while airborne is always good practice, but keep your lateral movements to a minimum when the LiDAR is actively running. PLS recommends any manual flight before and after a collection flight should be done slower than 5 m/s to prevent inadvertently creating a kinematic alignment.

You will notice the navigation system status (INS) in Spatial Explorer switch from "Aligning" to "AlignmentComplete" indicating that the heading has been determined with sufficient certainty.

Always keep the vehicle direction of flight pointing forward while flying the kinematics, figure-8s, and AOI flight plan. As you're flying, the Uncertainty Position (UncertP) and Uncertainty Attitude (UncertA) are both visible in progress bars in Spatial Explorer. The lower the values are, the better.

We highly recommend flying straight to obtain smooth scan lines throughout the scan area. Furthermore, avoid sharp turns and extreme elevation changes, and turn only at the perimeter of your scan area. Using autopilot will result in the best scan results. Data acquired during turns will be much less accurate.

10. Once you’ve finished scanning your flight, deactivate the sensors from within SpatialExplorer.

11. Mirror Beginning and End Alignment Procedures: Before landing, if you intend to post process the trajectory for increased accuracy, you must conduct another figure eight, and then travel forward for a period of at least 10 seconds (kinematic alignment), at a minimum velocity of 5 m/s (18 km/h), moving as straight and as level as possible with an unobstructed clear line of sight.

12. Land the UAV, but do not move it from its landing spot. PLS recommends you stop collecting LiDAR and imagery once you land.

13. Leave the rover static for a period of at least 5 minutes to allow the IMU to obtain a reliable static alignment. During this period, the IMU must be completely static.

Prior to conducting flight ops, a GNSS reference station (aka base station) should be set up to collect raw static position data. Using a base station, ensure that it is set up in a location with a clear view of the sky, away from buildings and powerlines, and properly configured to log raw observations of at least GPS+GLONASS at 1 Hz during the entire aerial acquisition period. For more information, please refer to .

Refer to for more information.

If you have a : LONG press the SENSOR button on the system to power on the LiDAR sensor.

8. Kinematic Alignment: To perform a , you must travel forward for a period of at least 10 seconds, at a minimum velocity of 5 m/s (18 km/h), moving as straight and as level as possible with an unobstructed clear line of sight. FlightPlanner, the PLS mission planning software, can incorporate kinematic lines directly into your flights automatically. Refer to and for more details on incorporating kinematic alignments into your flight plans.

We recommend performing kinematic alignment regardless if you've already statically aligned your system. You can read more about .

9. Figure Eights: You must conduct two sets of figure-8s (one prior to collecting your AOI and one directly after the AOI), PLS does NOT recommend flying the figure-8s manually. Instead, PLS has a figure-8 tool built into that incorporates them into your flight plans.

Figure-8s are used to stabilize the navigation system and obtain an INS status of "SolutionGood" in SpatialExplorer. Figure-8s help initialize the navigation system. Refer to for more details.

14. With the flight complete, shut down the rover using the “” radio button in SpatialExplorer and check the "Power off onboard computer" box. Alternatively, the CPU button on the NavBox can be used to shut down the system.

GNSS Hardware and Ground Control
Connect to Rover
Scout Series NavBox
FlightPlanner
Shutdown Rover
manufacturer profiles
Mission Type
Basic UAS LiDAR Mission Planning
AirNav Box
FLEX pack
LED Field Guide
Summary illustration of field scanning procedure
kinematic alignment maneuver
static alignments here
Navigation System Basics