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
            • Resample Cloud (Delaunay)
          • 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
  • Converting HEIF and Raw Images to JPG using Sony's IEDT
  • 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
  • Overview
  • Trajectory Processing Methodology
  • Dynamics Model
  • 4 Character Trajectory Solution Description
  • Reference Station Configuration
  • Rover Configuration
  • QA/QC Plots
  • File Data Coverage Plots
  • Forward/Reverse Attitude Separation Plot
  • Forward/Reverse Positional Separation Plot
  • Height Plot
  • Velocity Plot
  • Acceleration Plot
  • Rover GNSS Satellite Count
  • Float or Fixed Ambiguity
  • IMU to GNSS Lever Arm QA/QC
  1. Reports

Trajectory Report

The LiDARMill Trajectory Report is intended for data processors to glean insight pertaining to Navlab pipeline processing configuration details and kinematic navigation data specifications. The trajectory report focuses on assessing the quality of the resulting NavLab post processed trajectory.

Overview

Trajectory Processing Methodology

The Kalman filter produces estimates of the state of a dynamic system from a series of measurements and is used extensively in kinematic positioning and navigation for GNSS/INS (Inertial Navigation System) integration. Navlab utilizes the Kalman filter to perform forward and reverse trajectory processing using both the loosely coupled (LC) and the tightly coupled (TC) processing methods.

The LC method is a two-stage processing method where an inertial trajectory (IMU data) is processed in the forward direction and the reverse direction with updates from a previously processed GNSS trajectory. The TC method is also a two-stage processing method, however it processes GNSS and INS data simultaneously, which is typically the preferred method for computing GNSS + inertial datasets. Navlab processes a TC trajectory in the forward and reverse direction three times, compared to a LC solution's single pass.

Navlab also combines processing directions and performs back smoothing on the LC and TC solutions, which greatly improves position quality over GNSS data gaps. Even when there are no GNSS gaps present, smoothing will always generate the highest quality trajectory possible. A ".cts" output file is a combined and smoothed TC solution, whereas a ".cls" file is a combined and smoothed LC solution.

For best possible results, a trajectory is computed within each Navlab pipeline multiple times using different processing methods and vehicle dynamics profiles, in order to derive the highest quality trajectory output.

Dynamics Model

The NavLab pipeline scans the unprocessed position records from the ".nav" file in order to determine if the dynamics are characteristic of aerial, ground vehicle, etc. “Automatic” is selected by default within Navlab, which automatically detects the best dynamics model for processing.

4 Character Trajectory Solution Description

Example: 1TAV

Character 1: The number represents how many reference stations were used for processing the solution

Character 2: Letter represents the type of trajectory solution - T = TC , L = LC

Character 3: Letter represents the dynamics profile used - U = UAV, A = Airborne, and G = Ground Vehicle

Character 4: Letter represents either Enable or Disable Doppler - O = disable the use of doppler for velocity determination , V = enable the use of doppler for velocity determination

Overview

Data Acquisition Time

Local and UTC date and time of mission

Output Datum

Output datum of post processed trajectory

Input Raw Data

File name of input ".nav" raw trajectory file containing IMU and GNSS information from rover's mission

Output Processed Trajectory

File name of highest quality trajectory produced from Navlab pipeline processing. File name is "(nav File name)-(Output datum)-(4 character trajectory solution description).(cts or cls)"

Solution

Description of processing methodology used to derive highest quality trajectory solution

Reference Station Configuration

Inputting the correct reference station position is a very important step in trajectory post processing. Select from the available post processed positions in the drop down menu, or enter your own "Custom" position if you positioned your reference station over a known ground point.

Note:

Custom reference station positions generally reference a survey marker on the ground. In this case, input the known X,Y, and Z coordinates, measured height to ARP, and antenna model. This will ensure the phase center, or applied antenna height is properly computed and used during PPK processing.

Alternatively, when a LiDARMill derived OPUS or RTX solution is selected, the coordinates are already at the phase center elevation (measured antenna height is 0 and antenna model is marked as "generic" in order to avoid incorrectly applying a phase center offset)

Reference Station "Reference station file name"

Reference Station File

Uploaded static reference station file name

Reference Station Input

Position type (OPUS, RTX, PPP, AVERAGE or CUSTOM)

Antenna Model

GNSS reference station antenna model

Measured Antenna Height

Input height of reference station antenna, measured to specified “Measured To” point

ARP to L1 Offset

Vertical offset from Antenna Reference Point to L1 phase center offset. Measurement corresponds to Antenna Model.

Applied Antenna Height

L1 phase center height

Measured To

Measurement mark for reference station antenna height (L1 phase center or (ARP) Antenna Reference Point)

Geographic Coordinates

Geographic latitude and longitude reference station coordinates (DDMMSS.SSSS)

Grid Coordinates

Grid coordinates expressed in Easting (X), Northing (Y), and Ellipsoidal Height along with Grid type and Zone

Input Datum

Datum of input reference station coordinates

Epoch

Reference station datum epoch

Rover Configuration

During rover configuration in Navlab, it is required to specify whether the lever arm Z value is measured to the antenna’s reference point (ARP) or L1 phase center. When ARP is specified as the antenna height reference point, the correct rover antenna model must be specified. In doing so, the antenna model’s phase center offset value is applied to the Z value to raise the Z value to the L1 phase center.

Rover Configuration

Antenna Model

Applies the phase center offset associated with the selected antenna model. “Generic” is selected by default, meaning the lever arm is measured to the antenna phase center already.

Measured To

Reference point where the lever arm is measured. Use “L1 phase center” if lever arm is measured to phase center, but use “Antenna Reference Point” if lever arm is measured to bottom of the antenna mount (be sure to select antenna name in this case).

Lever Arm Offset (IMU to GNSS Antenna #)

To perform GNSS updates accurately, enter the 3-D offset, in meters, from the IMU sensor array’s navigation center to the GNSS antenna. This offset vector must be entered with respect to the body-frame of the vehicle (X right, Y forward, Z up).

Body to IMU Rotation (Order: Z, X, Y)

Some IMUs are installed in a tilted and/or rotated position with respect to the body frame of the vehicle. If the tilt/rotation between the IMU frame and body frame is known, Navlab compensates so that the attitude information produced is with respect to vehicle body frame, not the IMU sensor frame. The order of rotations employed is Rz, then Rx, followed by Ry, in decimal degree units.

QA/QC Plots

The following plots are utilized to assess the quality of the post processed trajectory

File Data Coverage Plots

This series of plots shows data coverage as a function of time (X axis = GPS seconds of week) for camera triggers, reference station GNSS observations, rover GNSS observations, and rover IMU data. This plot is useful in determining whether any base station data does not fully overlap the rover data time interval.

Forward/Reverse Attitude Separation Plot

This plot shows the difference between the forward and reverse solutions in terms of roll, pitch and heading as a function of time. A zero separation is ideal, as it indicates matching solutions in the forward and reverse IMU processing. Spikes at the beginning and the end of the plot are common, as they indicate the periods of alignment. As a rule of thumb, a quality trajectory has a forward/reverse attitude separation < +/- 2 arcmins.

Forward/Reverse Positional Separation Plot

The following plot shows the north, east and height position difference between the forward and reverse solutions. Plotting the difference between forward and reverse solutions can be an effective QC tool. When processing both directions, no information is shared between forward and reverse processing. Thus both directions are processed independently. When forward and reverse solutions agree closely, it helps provide confidence in the solution. To a lesser extent, this plot can also help gauge solution accuracy. However, if there is a common bias in both forward and reverse solutions (for example, due to inaccurate base station coordinates or due to a large residual tropospheric error), it will never be seen in the combined separation plot. Large differences in the combined separation plot may be a result of different solution types (fixed/float) or different levels of float solution convergence between the processing directions and thus not a direct indication of a problem. It is important to also consider solution status (fixed/float plot below) when evaluating forward/reverse differences. As a rule of thumb, a quality trajectory has a forward/reverse positional separation <+/- 0.02 meters in Easting, Northing, and Up.

Height Plot

The following plot shows the ellipsoidal height of the rover as a function of time.

Velocity Plot

The following plot shows rover velocity as a function of time in north, east, up and horizontal directions.

Acceleration Plot

The following plot shows rover acceleration as a function of time in the north, east and up direction.

Rover GNSS Satellite Count

The following plot shows the number of satellites used in the solution as a function of time. The number of GPS satellites, GLONASS satellites, and the total number of satellites are plotted by color.

Float or Fixed Ambiguity

The following plot indicates where the processed solution is fixed (in one or both directions) or float. If both forward and reverse solutions achieved a fix, the plot shows a value of 2 and is plotted in bright green. If either the forward or reverse achieved a fix, but not both, a value of 1 is plotted. The value will be plotted cyan if the fixed direction is forward and blue if the fixed direction is reverse. If neither direction achieved a fix, a value of 0 is plotted which appears red on the plot. This plot can be helpful to view in conjunction with the Combined Separation plot, as it will help determine if large values in the forward/ reverse separation are expected or not, depending on solution status in each direction.

IMU to GNSS Lever Arm QA/QC

The X, Y and Z IMU to GNSS lever arm states are added to Navlab's kalman filter. After processing, the best converged estimate (forward direction, reverse direction, and averaged) of the lever arm is reported in the table below labeled "Computed for Analysis 4th iteration Results" with the averaged 4th iteration lever arm values differenced from the input lever arm values.

Navlab automatically computes 4 iterations and the resulting lever arm measurement convergence is plotted below, with the X axis showing iteration number, and the Y axis showing lever arm offsets colored by X,Y,Z lever arm calculations (Forward direction on the left, Reverse on the right). Note that Navlab's ability to estimate lever arm values is dependent on the quality of the inital lever arm measurement input, correct vehicle body rotation, the amount of data collected and vehicle dynamics."

User Input

Lever Arm Offset (IMU to GNSS Antenna)

X

Input lever arm X offset measurement (used in trajectory post processing)

Y

Input lever arm Y offset measurement (used in trajectory post processing)

Z (to phase center)

Input lever arm Z offset measurement (used in trajectory post processing)

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Example File Data Coverage Plot
Example Attitude Separation Plot
Example Forward/Reverse Positional Separation Plot
Example Height Plot
Example Velocity Plot
Example Acceleration Plot
Example Rover GNSS Satellite Count Plot
Example Float or Fixed Ambiguity Plot
Example 4th Iteration Results
Navlab Vehicle Reference Frame
Example Lever Arm Computation Analysis Plot