Phoenix LiDAR Systems User Manual
  • Welcome
  • SpatialExplorer 8 & 9
    • Introduction
    • Installation
      • System Requirements
      • SpatialExplorer-Compatibility
      • Licensing
      • Change Log
    • User Interface
      • Windows
        • AGL Oracle
        • Classify On Selection
        • Coordinate Reference System
        • Corrections
        • Main View
        • Picks
        • Messages
        • Mission Guidance
        • Photo Viewer
        • Project
          • Rover
            • Cameras
              • Camera Acquisition Settings
              • Camera Calibration Settings
              • Camera Processing Settings
              • Camera Tools
                • Load sensor transform/extrinsics from file
                • Calibrate Sensor Manually
                • Edit Receptor Masks
            • IMU
            • GNSS
            • Lidars
              • Lidar Acquisition Settings
              • Lidar Calibration Settings
              • Lidar Processing Settings
              • Lidar Tools
                • Load sensor transform/extrinsics from file
          • Reference Stations
          • Flightplans
          • Geometry
            • Modifying Geometries
          • Grid
          • Ground Control
          • Images
          • Intervals
          • Trajectories
          • Pointclouds
          • Terrains
        • Project Player
        • Sensors
        • SLAM
          • SLAM Processing Profile
        • System Monitor
      • Toolbars
        • File
        • View
        • Selection
          • Cloud Script Tool
        • Workflow
          • NavLab Embedded
            • Processing Options
            • Estimating Primary Antenna Lever Arm
          • Create Intervals
          • Disambiguate Lidar Ranging
          • Create Cloud
          • LiDARSnap
            • Sensor Calibration
            • Trajectory Optimization
              • 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
            • Create Contours
            • Create Mesh
            • Compute Normals
            • CloudClean
          • Calculate Distance
          • Measure
            • Std. Dev. Along Surface Normal
            • Surface Area and Point Density
            • Volume
          • Compute SOCS
        • LiDARMill
          • Positions
          • Manage Grids
          • View GNSS Antennas
        • Rover
          • Connect to Rover
          • Disconnect from Rover
          • Rover Settings and Profiles
            • Navigation System
            • Sensors
            • Camera Settings
            • LiDAR Settings
          • Shutdown Rover
        • Tools
          • Navigation
            • Plot Trajectories
          • Camera
            • Edit Camera Events
            • Create Camera Sessions from Data
          • Licensing
          • Create Transformation...
    • Workflows
      • Data Processing Workflows
        • Airborne Lidar Processing
        • Mobile Lidar Processing
        • Backpack and Pedestrian Lidar Processing
        • SLAM Lidar Processing
        • 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
        • Spatial Fuser Pipeline
        • Pointcloud Optimization Pipeline
      • Cloud Viewer
      • Additional Tabs
    • FAQs
  • FlightPlanner
    • Introduction
    • User Interface
      • FlightPlanner Interface Tools
        • Change Theme
        • Feedback, Help, and Changelog
        • Flight Info
        • Delete All
        • Measurement and Reset View
        • Upload Google KMZ file and Delete All KMLs
        • Take off Location
        • Reverse Waypoint Order, Undo, and Auto Update mission flightlines on setting change
        • 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
            • Filezilla
            • 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
          • Connect to Rover via Connection Service
            • Connect via Cellular
        • User Interface
          • Settings
            • Rover Settings
              • General
              • Navigation System
              • Network
            • Local Settings
          • System Monitor
          • Sensors
          • Satellites
      • Downloading Rover Data
        • Log Files
      • Updating Rover
    • NavBox
      • FLEXPack
        • Specifications
        • Ports and User Elements
        • Status LED
        • Using the CPU button
        • Preparing the System
        • 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
        • IMU-14/IMU-27
    • 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
  • Defining your AOI and requirements for final deliverable
  • Defining the Environment
  • Designing your Flight Plan
  • Flight Pattern
  • Flight Speed
  • Point Density
  1. Data Acquisition and UAV Piloting

Flight Planning

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Last updated 5 months ago

Flight planning is essential to ensuring quality data is being acquired during each mission. A proper flight plan can increase accuracy, reduce acquisition time, reduce processing time/troubleshooting, and make certain that you are achieving full coverage over the area of interest. Phoenix LiDAR Systems' Flight Planner software is the perfect way to effectively and efficiently plan waypoints and to ensure quality data capture.

Preparation for UAS LiDAR acquisition can be broken down into several easy to follow steps:

  • Defining your Area of Interest (AOI) and requirements for the final deliverable,

  • Defining the environment (LAANC, Topography, Legality, Meteorology, Etc.); and

  • Designing your Flight Plan.

Defining your AOI and requirements for final deliverable

The first thing a RPIC should do is either have the AOI defined by the client or define the AOI themselves. Knowing the lateral boundaries of your project will help when defining the environment of your flight plan.

The easiest way to define an AOI is by utilizing a KML to define the boundaries. Google Earth Pro is widely used method to create KMLs without the use of proprietary software's and/or GIS tools.

Once The AOI is defined by the KML, it is time to determine what is the deliverable within the AOI. LiDAR point density is an important requirement to adhere to when flight planning. The American Society for Photogrammetry and Remote Sensing (ASPRS) defines Points per Square Meter (PPSM) as the amount of returns/echo's collected by a LiDAR within a 1-meter by 1-meter area in a single swath pass. So it is important to remember this standard when defining your deliverable.

Knowing the PPSM for your project helps you define the boundaries of your flight plan. Each LiDAR sensor is unique and knowing the limitations of your sensor is paramount to providing quality data as a deliverable. One feature the Riegl LiDAR's offer is a powerful tool called RiParameter.

RiParameter uses the following parameters to determine the LiDAR scan pattern:

  • Pulse Repetition Rate (PRR),

  • Scan Rate,

  • FOV,

  • Altitude in AGL; and

  • Speed.

Defining the Environment

Knowing the Environment you are about to operate in is key to success. If you don't take into account the FAA airspace, the topography, and legality under FAA Part 107 rules, you could delay your acquisition and possibly face legal consequences. Some of the key areas PLS recommends checking prior to flight planning are:

  • FAA airspace or more specifically LAANC. LAANC is the Low Altitude Authorization and Notification Capability, a collaboration between FAA and Industry. It directly supports UAS integration into the airspace. Knowing when and where a LAANC authorization is needed is paramount during the early stages of your mission planning. LAANC may limit where and how high you can fly, which directly affects the settings on your LiDAR sensor.

  • using the KML/ KMZ we created earlier, we can go into Google Earth Pro and observe the topography, vegetation, and Line-of-Sight (LOS) issues that may or may not be present. Google Earth Pro has many tools to better understand their environment remotely before ever setting foot on the location.

  • Knowing your local and Federal laws prior to flying will keep you out of trouble. PLS strongly recommends you stay current with the 14 CFR Part 107 FAA regulations for Drones.

Lastly, weather and meteorological conditions can have a detrimental affect on your LiDAR data. It's recommended to pay close attention to your weather forecast and changing meteorological conditions. Weather can be unpredictable, but a good UAS LiDAR RPIC will maintain situational awareness and be ready to adjust accordingly. It's recommended to use multiple sources of information to make a educated decision in regards to weather. Consider the following useful weather apps below:

  • Windy and Windy.app

  • AeroWeather

  • UAV Forecast

  • Aloft Air Control

Designing your Flight Plan

Flight Pattern

Flight Speed

The recommended flying speed for optimum data capture via UAV is usually between 6 and 8 ms. Of course this is just a rule of thumb, as factors like desired point density, LiDAR and camera field-of-view, wind conditions, height and flight time restrictions all influence each other.

Point cloud accuracy can decrease with increased vehicle vibrations, so its important to find the right speed to fly so the aircraft always flies smoothly. Navigation system accuracy can also decrease when moving very slowly, because the GNSS/IMU data fusion benefits from observing dynamics in the IMU measurements.

Point Density

There are a few ways to increase point density:

  • Reduce flight velocity

  • Decrease AGL (Above Ground Level)

  • Increase PRR (Pulse Repetition Rate)

    • Only an option on some miniRanger and Ranger models

    • We recommend utilizing RIEGL's RiParameter to determine optimal PRR

  • Increase lateral overlap between flightlines

Increasing Motor RPM (Scout models) can influence point distribution, but will not affect point density

Using these parameters, the user can fine tune their LiDAR acquisition to optimize it to their needs. If your system is not a Riegl, other tools can be used instead. One such tool is the Phoenix LiDAR Systems (PLS) can provide similar LiDAR output data as RiParameter for any LiDAR PLS supports.

Windy and Windy.App
Aero Weather
UAV Forecast
Aloft Air Control

PLS offers a suite of options when it comes to flight planning. Applications like RiParameter are available to our customers purchasing Riegl LiDAR units. Flight Planner is also available to all of our customers and is a powerful tool for LiDAR acquisition planning. I recommend going to the section of this user manual for further information regarding what PLS offers.

The recommended flight pattern is a grid with parallel flight lines that have the right amount of overlap at a constant height over the terrain. Refer to the section for more information on our Flight Planning Software.

Flight Planner 9.0. Flight Planner
Flight planner
Mission Type
KML on Google Earth Pro
RiParameter application
Flight Planner LiDAR Output
Drone Fly Zone LAANC Map
Aloft Air Control
Using the Ruler tool to cut an Elevation Profile
Importing mission KMLs with correct altitudes
Using Street View to view your mission Three-dimensionally
14 CFR Part 107
Recommended Flight Pattern