gvi liair user guide 20181210 final - greenvalleyintl.com · sony a6000 § resolution: 6000 by 4000...

LiAir User Guide • GreenValley International Inc.

LiAir UAV LiDAR System User Guide

COPYRIGHT ©2017, 2018 GreenValley International Inc.


GreenValley International Inc. (GVI) reserves all right for final explanation, and at its sole discretion, to change, modify, and remove portions of this document.

No Part of this document may be reproduced or transmitted in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise, without prior written permission of GreenValley International Inc.

GreenValley International Inc. 2120 University Ave. Ste. 210 Berkeley, CA. 94706 USA +1 510.345.2899 [email protected] www.greenvalleyintl.com


About This Guide

This document is a general introduction and operation guide for GVI’s LiAir lightweight UAV LiDAR mapping/survey systems. This user guide is suitable for LiAir 50, LiAir S50, LiAir P50.

As we continue to update and improve the product, you may find some differences between the contents of this document and your particular LiAir system. We will diligently update this guide as the product changes.

Please check with GVI for the latest revision, and contact GVI support if you have any question.


Organization of This Guide

About This Guide .................................................................................................................... 3 Organization of This Guide ..................................................................................................... 4 LiAir System ............................................................................................................................ 5

About ............................................................................................................................................... 5 Important Notices ............................................................................................................................ 5 Main System Components ................................................................................................................ 6

System Components ............................................................................................................................................ 6 How System Components Work .......................................................................................................................... 6 System Technical Specifications and Performance .............................................................................................. 6

LiAir System Parts ............................................................................................................................ 7 Main Compartment ............................................................................................................................................. 8

Integrated Camera (Optional) ......................................................................................................... 10 Supporting Hardware ..................................................................................................................... 10

Radio Station ...................................................................................................................................................... 10 GPS Base Station ................................................................................................................................................ 12

Operation Guide ................................................................................................................... 16 Mission Preparation and Planning .................................................................................................. 16 Site Inspection ............................................................................................................................... 16 Set up Base Station ........................................................................................................................ 16 Assemble and Mount LiAir Payload ................................................................................................ 17 LiAir System Initialization ............................................................................................................... 17 Set up Ground Computer ................................................................................................................ 18 Set Up Radio Connection ................................................................................................................ 18 Set up System Settings ................................................................................................................... 18 Set up Mission Configuration ......................................................................................................... 19 Data Collection ............................................................................................................................... 19 Download LiAir Data ...................................................................................................................... 21

Via Ethernet Cable ............................................................................................................................................. 21 Via USB Flash Drive ............................................................................................................................................ 22

Disconnect Communication ............................................................................................................ 23 Transfer Camera Data .................................................................................................................... 23 Transfer Base Station Data ............................................................................................................. 24 Complete Mission .......................................................................................................................... 24

Special Notes ........................................................................................................................ 25 Pre-fight ......................................................................................................................................... 25 Operation ....................................................................................................................................... 25 About the Instruments ................................................................................................................... 25

FAQ ...................................................................................................................................... 27 LiAir Step-by-Step Operation Procedure ................................................................................ 29


LiAir System

About

The LiAir series are a line of lightweight, fully integrated, and high-precision LiDAR (Light Detection and Ranging) mapping and survey systems designed specifically for small aerial vehicles (SUAS), such as the DJI M600 Pro. Some of the models can also be mounted to large aerial platforms, including LiAir 200, 250, and 1000. For more information on suitable mounting solutions, please contact GVI for details.

Important Notices

STOP! PLEASE READ THIS SECTION CAREFULLY BEFORE USING THE PRODUCT!

§ All LiAir systems use Class 1 (IEC60825-1:2014) eye-safe laser sensors. If you have any concerns,please contact GVI for details.

§ System operator must be at least 18 years old.

§ Tampering with the product is strictly prohibited and will void the Product Warranty. Any repair,modification, or upgrade must be performed by GVI technician or authorized service provider.

§ Do NOT use any power supply outside the specified voltage range. Incorrect voltage supply maycause permanent damages to the integrated instruments and other hazards. Damage caused bythe use of unauthorized power supply are not covered by your warranty.

§ STOP using the product and contact GVI support immediately if there is any visible damage or ifpersistent system warnings or alarms are observed. Failure to do so may result in permanentdamage to the LiAir system.

§ This product is NOT water-proof. Do NOT operate in rain or snow. Water damage is NOTcovered by the Product Warranty.

§ This product is a high-precision mapping and surveying instrument that must be handled withcare. Damages caused by improper handling of the product are not covered by your warranty.

§ Properly disconnect all batteries, antennas, and cables after use.

§ This product should by stored and transported in the protective case provided by or authorizedfor use by GVI.

§ Clean the product thoroughly after each use. Use only proper cleaning agents for scientificinstrument. Do NOT use water.

§ When not in use, store the product in a cool and dry environment.

There may be additional notices and warning in other parts of this document. Please read them carefully and follow the instructions.


Main System Components

System Components LiAir is comprised of multiple systems. Its main components include:

1. Laser Scanner (LiDAR sensor)

2. GNSS (Global Navigation Satellite System)

3. INS (Inertial Navigation System)

4. System Controller

5. Data Storage Unit

6. Power Supply and Management Unit

The GNSS unit and INS unit together form what is often referred to as the POS Module.

How System Components Work § In operation, the System Controller receives and executes operational commands while

controlling the measurement instrumentation required for UAV-LiDAR data collection.

§ The POS Module (GNSS and INS) determines LiAir’s position and attitude.

§ The precise coordinates of each data point measured by the Laser Scanner is calculated basedon the laser’s distance and angular measurements, together with its registered POS data.

§ All data are saved to the onboard Data Storage Unit for download after data collection.

§ A down-sampled copy of the point cloud is transmitted via radio link, in real-time, back to theGround Computer for viewing and inspection.

System Technical Specifications and Performance LiAir system performance varies between models. Please refer to your product’s technical specification documentation for details on each system’s performance.


LiAir System Parts

Figure 1. LiAir Product Diagram

1. Laser Scanner

2. Main Compartment

3. RGB Camera Module (optional)

4. RTK Rod Antenna (for communication with Base Station)

5. Data RX/TX Rod Antenna (for communication with Ground Computer)

6. Folding Antenna Arm Joint

7. GNSS Antenna

8. Payload Mount

9. External Power Source Holder

10. Folding Antenna Arm


Main Compartment

Figure 2. Main Compartment (back view)

11. USB Port

12. LAN Cable Port

13. Power Source Voltage Display

14. 14-Pin Power/Data Cable Port

Figure 3. 14-pin Power Cable

(1) 14-Pin Power/Data Cable Pin Pattern

(2) 14-Pin Power/Data Cable Connector

(3) External Power Supply Adaptor


(4) USB Cable Adaptor (for Diagnostic Use)

(5) LiPlan Adaptor

(6) Flight Control Adaptor

15. Power On/Off Button

16. Start/Stop LiAir Data Collection

17. LiAir Data Collection Status Indicator

18. System Status Indicator Panel

19. Integrated Camera Port

System Status Indicator Lights

Figure 4. System Status Indicator Panel

Indicator Light Light Status Status Description

Start/Stop Flashes Blue (1x/second) LiPlan activated

Solid Blue Project created

SYS Solid Blue System start successful

Flashes Blue (1x/second) Built-in SD card available space less than 6GB. Clear space on Built-in SD card before starting data collection.

Flashes Blue (5x/second)

Built-in SD card failed to mount

IMU Green IMU sensor initialization complete

Red IMU sensor initialization incomplete

LIDAR Solid Blue LiDAR sensor initialization complete

Flashes Blue (1x/second) GPRMC invalid, pps locked

Flashes Blue (5x/second) GPRMC invalid, pps unlocked

CAM Solid Blue Camera initialization complete

RTK Solid Blue RTK system initialization complete


Integrated Camera (Optional)

Integrated camera options currently available for LiAir systems include:

Sony A6000

§ Resolution: 6000 by 4000

§ Focal Length: 16mm

§ Weight: 315g

Supporting Hardware

Radio Station

Figure 5. Radio Station

1. USB Port (for connecting to the ground computer) 2. External Battery Port

3. ANT Antenna Port 4. ANT Antenna 5. Air-flow Vents

Radio Station Specs

§ Voltage: 9-30V

§ Current: 0.3A@12VDC

§ Built-in Fan Operating Temperature: 35℃

§ Dimensions (mm): 116.5 * 88 * 43

§ Build-in Radio Consumption: <1W

§ Build-in Radio Frequency: 2.4GHz

§ Type: SZLT-LiAir-D3


Avoid exposure to direct sunlight for extended period of time. Keep the Radio Station in a cool and shaded place to avoid overheating.

Radio Station and Computer Setup

Figure 6. Radio Station Setup

1. Connect the Radio Station to Ground Computer and external power supply via provided cables.

2. Set up the Network Connection between the Ground Computer and the Radio Station .

a. Disable the Ground Computer’s WIFI.

b. Power ON the Radio Station

c. Open the Ground Computer’s Internet Protocol Version 4 (TCP/IPv4) Properties dialogwindow and change the IP settings to match those found in Figure 7.

Figure 7. Ground Computer Internet Protocol Version 4 (TCP/IPv4) Properties


GPS Base Station

Figure 8. GPS Base Station

1. Power Port (9-30V, 0.3A@12V) 2. USB Port 3. System Status Indicators

4. RTK Button 5. Save Button 6. RTK Antenna Port

7. GNSS Antenna Port 8. RTK Antenna

Base Station Indicator Lights

LED Icon Light Status Status Description

Solid red Base station power supply is normal

Flashing red Base station power supply is low

Solid blue Recording base station data

Flashing blue Internal data storage failed to mount. Remaining storage space is low (less than 1 GB remaining)

Off Not recording base station data

§ Build-in Radio Consumption: <1W

§ Build-in Radio Frequency: 915MHz

§ Type: SZLT-LiAir2.0JZ


Solid green RTK connection established

Flashing orange Locating satellites

Solid orange Satellite positions locked

Base Station Specifications

System

Performance

Signals GPS: L1，L2，L2C, LC GLONASS: L1，L2，L2C BDS: B1，B2 GALILEO: E1，E5a,E5b,ALtBOC,SBAS,QZSS,L-band

Horizontal positioning accuracy

Single point L1 1.5m

Single point L1/L2 1.2m

SBAS 0.6m

DGPS 0.4m

RT-2 1cm+1ppm

Initial time <10s

Initial reliability >99.9%

Data update rate Raw data Up to 50Hz

Position data Up to 50Hz

First position time Cold start <50s

Warm start <35s

Dimensions and electrical parameters

Dimensions (mm) 130 X 90 X 32

Weight 300g

Input voltage 12V

Consumption 4W

Communication Port Download USB


Operating Environment

Temperature

Working temperature -40°C - +75°C

Storage temperature -40°C - +85°C

Relative humidity 95% no condensation

Base Station Setup

Figure 9. Base Station Setup

1. Connect the Base Station with provided GNSS Antenna and an External Power Source as shown above.

2. Power on the Base Station.

3. Wait for Base Station to initialize. Once completed:

a. Battery signal light is solid red

b. Save signal light is off.

c. RTK signal light is solid green

d. GPS satellite signal light is solid orange

4. Press and hold for 2 seconds and then release. The save indicator will turn solid blue and the data will start recording to the Base Station’s internal storage device.


5. After LiAir data collection is complete, press and hold . The save indictor will turn off and data will stop recording to the Base Station’s internal storage device.

6. Power off the system.

Download Base Station Data

Figure 10. Connecting Base Station to a Computer for Data Download

1. Connect the Base Station to a computer via provided USB cable.

2. The computer should recognize Base Station as an external disk.

3. Copy the project’s Base Station data file into designated subfolder.

The Base Station’s data files (.log) are named based on UTC time, e.g. 20170810063808.log


Operation Guide

This section provides a general operational user guide, following the recommended operation procedure. Use this guide together with the LiAcquire User Guide.

Mission Preparation and Planning

Mission planning is critical to successful LiAir data collection. Operators should attempt to complete the following preparations prior to take-off:

§ study the project site and identify potential hazards within the survey area

§ check weather and GPS signal forecasts for survey area for the duration of the intended data collection period

§ verify that equipment is not damaged and in good condition

§ brief support staff on plans for data collection and any potential hazards

It is highly recommended that operators create custom LiAir mission check list and establish standardized workflow protocols.

It is also recommended, when possible, to investigate the survey area and construct mission flight plans prior to arriving at the project area. This will speed up data collection and make operators more aware of surrounding hazards.

Site Inspection

After arriving at a project site, operators should take time to inspect the site thoroughly. Operators must identify all potential hazards found within the project area. Special attention should be paid to terrain variation and elevation changes within the project area. Tall objects, such as powerlines, trees, and structures that may pose danger to the flight must be located and accounted for during flight planning. Extra precaution should be taken when operating LiAir in new places and unfamiliar situations.

During the site inspection, operators should locate a relatively open area, free of hazards, which is flat enough to designate as the point for UAV take-off and landing. This will be referred to a Home Location. Mark the location with a high-visibility landing pad if necessary.

Set up Base Station

Set up the Base Station as soon site inspection is complete and Home Location has been identified. Once Base Station data recording has started, it is necessary to not stop data collection or move the GNSS antenna for the duration of the LiAir mission.


Please refer to the GPS Base Station section for detailed instructions.

Assemble and Mount LiAir Payload

1. Place the LiAir system on a clean, safe, and flat surface

2. Unfold the Dual GPS Antennas. Make sure the connectors are securely locked

3. Connect the power cables for RTK and ANT Rod Antennas

4. If the system includes an integrated Camera Module, check and that the camera’s removable SD card is securely inserted and the lens cap has been removed

5. Mount the payload on to the UAV. Double check to make sure all mounting adaptors/locks are set and secure

Figure 11. LiAir Payload Mounted on DJI M600 Pro.

6. Mount the External Power Source

7. Connect the 14-Pin Power/Data Cable to the LiAir, the External Power Source, and (if LiPlan available) the UAV flight control interface.

LiAir System Initialization

1. Power on the UAV

2. Upload flight plan (route) to the UAV flight controller

3. Turn on LiAir by pressing the Power On/Off Button

4. Wait for LiAir initialization to complete. The entire initialization process usually takes about 5 to 10 minutes to finish. In areas where GNSS coverage is poor the initialization process can take longer to complete or fail. Once all System Status Indicators have turned solid, the initialization is complete.

Please refer to the System Status Indicator Lights section for more information.


Set up Ground Computer

1. Set up and power on the Ground Computer.

Some laptop computers’ batteries may run out faster than expected. Watch the computer’s battery level carefully. Avoid unexpected shut-off due to insufficient battery.

Set Up Radio Connection

1. Following the instructions in Radio Station and Computer Setup section to connect and set up the Radio Station.

2. Make sure the Radio Station is secured in a safe place where the Data RX/TX Antenna will not be blocked.

3. Launch LiAcquire on the Ground Computer. Click the Connect tool icon to establish the radio connection between this computer and the LiAir system.

Figure 12. Click the Connection tool in LiAcquire to establish radio connection.

4. A “Connection Successful” message prints to the LiAcquire Console Window once the radio connection has been established.

Wait until the LiAir payload has completed initialization before establishing radio connection with LiAcquire.

Once the radio connection has been successfully established, operators will be able to monitor LiAir system performance details through the LiAcquire user interface. Operators should confirm that all system components are functioning normally and at least of 6GB of space is available on the internal storage device. If the remaining storage space is less than 6GB, time should be taken to download data from the system to free up additional space.

Please refer to the LiAcquire User Guide for more information and detailed instructions on how to transfer from LiAir to an external storage device.

Set up System Settings

Please refer to detailed instruction found in the Settings section of the LiAcquire User Guide when configuring system settings.


Set up Mission Configuration

Please follow the detailed instruction in the Configure Data Collection Parameters section of the LiAcquire User Guide to configure mission data collection parameters, including Data Collection Mode and Camera Parameter.

Figure 13. Mission Configuration Dialog in LiAcquire.

Sony ILCE-6000 is the only Camera Type currently supported by the LiAir 200 models.

Trigger By Interval is the only Control Mode currently supported by LiAir systems.

Data Collection

1. Check LiAcquire Status Panel to ensure the system status has met the following requirements:

a. RTK status LOCK b. IMU status LOCK

Please note that it is normal for the Synchro Status LOCK to be unchecked prior to UAV take-off.


Figure 14. LiAir System Status Panel in LiAcquire.

Please refer to the LiAcquire User Guide for detailed explanation about the information displayed in this System Status Panel.

2. Now press and hold the Start/Stop LiAir Data Collection for two seconds to initiate data collection. LiAir will then automatically create a project for the mission and associated subfolders to store incoming data on LiAir’s internal storage device.

a. Data collected from the system’s internal IMU device will start being logged as soon as the Start/Stop LiAir Data Collection button is pressed

b. The LiDAR Scanner and, if available, integrated Camera Module will begin data collection once the system reaches user-defined conditions as set during Mission Configuration .

3. After confirming that the Start/Stop LiAir Data Collection has turned solid blue, let the system on sit COMPLETEY UNDISTRUBED for at least 5 minutes.

4. Lift off the UAV.

5. Perform 2 Figure-8 maneuvers to calibrate the IMU.

The Figure-8 maneuvers should be performed outside of, and at an altitude, or AGL (Above Ground Level), below the mission flight path.

6. Now execute the mission plan uploaded to the UAV’s on-board flight controller to collect data for target area.


7. After completing the mission, take manual control of the UAV, pilot the vehicle away from the target area covered by the mission plan, and lower it down to a safe altitude that is lower in elevation than the mission AGL.

8. Perform two consecutive Figure-8 maneuvers to calibrate the IMU after collecting data for target area.

9. Land the UAV safely back at the Home Location.

10. Leave the system on the ground and let it sit COMPLETEY UNDISTRUBED for at least 5 minutes.

Do NOT touch the payload or the UAV during this time!

11. Now press and hold the Start/Stop LiAir Data Collection button for at least 2 second on the LiAir’s Main Compartment to end data collection. The Start/Stop LiAir Data Collection Indicator will shut off and a “Project Stopped” message will print to the LiAcquire Console.

12. Power off the UAV.

Download LiAir Data

There are two methods for transferring data from the LiAir payload. The recommended method is to establish a connection between LiAir’s internal storage device and directly to a computer via the provided LEMO to Ethernet Cable provided by GVI. Users can also use LiAcquire to copy data directly from LiAir’s internal storage to a properly formatted USB flash drive.

Via Ethernet Cable 1. Connect the computer to LiAir using the provided LEMO to Ethernet Cable.

2. Set up the Internet Protocol Version 4 (TCP/IPv4) Properties dialog window and change the IP settings to match those found in Figure 15.


Figure 15. Make sure the TCP/IP4 Properties are configured as shown here.

3. Launch Windows File Explorer, and enter \\192.168.0.88. You should now see the projects available currently in the LiAir’s internal storage.

Figure 16. Projects stored in LiAir.

4. Now copy the project(s) folder(s) in its entirety to the connected computer.

Via USB Flash Drive 1. Insert a USB flash drive into the USB Port on the LiAir system.

The USB drive must be formatted into exFAT file structure.

Make sure there is sufficient space available in the USB Drive.

2. In LiAcquire, click Save to USB on the tool bar.

3. Select the project(s) and click OK to start copying data.


Figure 17. Using LiAcquire and USB drive to download LiAir data.

Always check to make sure the downloaded folder(s) have the same size as the folder(s) in the LiAir’s internal storage to make sure all data are successfully copied. Try copy again if otherwise.

Disconnect Communication

1. In LiAcquire, click Disconnect to terminate the radio communication.

2. Unplug the Radio Station.

3. Now turn off the LiAir system by pressing the Power On/Off button.

Transfer Camera Data

If the LiAir system includes an integrated RGB Camera Module, you will also need to copy the camera data after the system is turned off.

Make sure the LiAir system is powered off first!

1. Unplug the Camera Module’s SD card.

2. Plug the SD card directly into the computer, if a slot is available, or via a SD card reader.

3. In Windows File Explorer, navigate to the SD card’s image folder.

4. Copy all the images (.JPEG) into the designed project data subfolder (/Cam/Images/Cam1).

5. Delete all the images from the SD card.

Only delete the images. Do NOT delete the SD card’s folder structure.


You can use the Cut-and-Paste method to complete the process in one step.

6. Insert the SD card back into the LiAir Camera Module’s card slot.

Transfer Base Station Data

If you have multiple missions at the same site, leave the Base Station on and let it collect data until all missions are completed.

1. Press and hold the Save button on the Base Station for two seconds to power off the unit safely.

2. Follow the instructions in the Download Base Station Data section to transfer data into designated project subfolder.

Complete Mission

1. Disconnect all cables from the LiAir payload.

2. Dismount the LiAir payload from UAV.

3. Put back the camera lens cap, if available.

4. Unlock and fold Antenna Arms.

5. Place the LiAir payload back into the protective storage and transport case.

6. Disconnect all cables and antennas and place the Base Station and Radio Station back into the protective case.

7. Remove the batteries, disassemble the UAV and put all items back into their transport case(s).

Always double check to make sure all items are collected and stored away properly. There are a lot of small items, cables, and batteries. Some of these small items are not easy to replace quickly if lost.


Special Notes

Here are some special notes to pay attention while operating LiAir. GVI has compiled these notes based on past experience and feedback from customers. The following points out details that seem small or insignificant but can, however, lead to issues that may be difficult or impossible to rectify post mission if left unchecked.

Pre-fight

§ Make sure the Lens Cap is removed from the camera before mission.

§ Make sure the camera’s SD card is NOT set to Write-Protected or Locked.

§ It’s best to delete all existing images from the camera’s SD card before a new mission. But be sure NOT to delete the folders or format the card.

§ Always double check all antenna and cable connections are secure.

Operation

§ System power on/off sequence: UAV ON -> LiAir On -> LiAir Off -> UAV Off .

§ System safe operating temperature: - 10℃ to + 40℃.

§ System max wind resistance: 8m/s.

§ Before mission, make sure the internal storage unit has at least 6GB of space available.

§ When the system starts to collect data successfully, you should see in LiAcquire the Synchro Status turn green, and point cloud data displayed in Viewer.

§ Before lifting off and after landing the UAV, leave the system on the ground, UNDSTURBED, for at least 5 minutes.

§ Do not touch or move the GPS Base Station Antenna once it starts logging data. Base Station should start recording data well ahead of the mission and continue to record data until all mission(s) are completed.

§ Stop data logging first before powering off the Base Station.

About the Instruments

§ The LiAir system integrates a number of high-precision instruments. Please handle with care.

§ Avoid direct impact to the system. Always store all items properly in the protective case before transporting. Do not move or transport the system unprotected.

§ Do NOT scratch the Laser Scanner Lens.


§ Ensure the Laser Scanner Lens surface is clean before mission. Only clean the lens with special cleaning agents for high-precision measurement instruments and optics with soft cloth.

§ Do NOT operate the system in raining or harsh environment outside its safe temperature range.

Tampering with the product is strictly prohibited and will void your warranty. Any repair, modification, or upgrade must be performed by GVI technician or authorized service provider!


FAQ

l Error Message “Connection failed. Please try again!” o Make sure the LiAir system is powered on and initialized successfully. Reboot the system if

the initialization doesn’t complete for an extended period of time.

o Double check the Ground Computer’s IP settings.

o Re-connect the USB cable.

o Use another USB device to check if the computer’s USB port is functioning properly.

o Double-check to make sure the Radio Station Antenna is securely locked.

o Make sure the computer’s WIFI radio is turned off.

l The camera does not collect image (no photo in the SD card). o In LiAcquire, make sure the camera’s Trigger Mode is set to “Trigger by Interval”.

o Make sure the camera’s SD card is NOT set to Read-Only or Locked.

o Check if the SD card is missing required system files. If so, reset the camera by pressing the OK button on the module.

l Camera photos are all black. o Make sure the lens cap is removed.

l When downloading LiAir data using USB drive, the transfer speed is slow. o Make sure the USB drive is formatted using exFAT file format.

l LiAcquire prompts "Error: Failed to Mount SD Card!" o Check the system has enough space available.

l How to empty the device when the storage space is full.


o Turn the system on, connect the radio station to the computer.

o Start LiAcquire, click Device -> Clear Space to empty the system storage.

l How to export raw IMU data if the IMU performance is abnormal. o After the system is powered on, connect it with a computer using provided cable.

o Connect the Radio Station

o Launch LiAcquire.

o Open Device->RawImu.

o When the IMU is recognized as an external disk, copy out the raw IMU data (.T).

o Please send the raw IMU data (.T) to GVI support for analysis.

l When connecting the Ethernet Cable, it prompts for login credential. o Username: root

o Password: 888888


LiAir Step-by-Step Operation Procedure

Step Operator 1 - Pilot Operator 2

1 Site Inspection – identify Home Location for take-off and landing; identify and address any potential problems that may interfere with the mission.

2* Recommended -- Perform a scout flight with secondary drone to confirm mission plan is safe.

3 Set up the UAV. Set up Base Station and start logging data.

4 Assemble and mount LiAir payload.

5 Upload mission plan to UAV. Start Base Station data collection.

6 Power on LiAir and initialize the system.

Set up Ground Computer and Radio Station.

7 Confirm UAV and LiAir payload ready. Establish radio connection.

8 Confirm in LiAcquire system ready for mission.

9 Start LiAir data collection. Leave the system untouched for 5 minutes for IMU calibration.

10 Launch the UAV.

Monitor the data collection status in LiAcquire via Ground Computer. Stay in communication with the pilot. Inform the pilot if any anomalies are observed. Also serve as an observer on the drone in flight as well as maintain the safe and normal operation of all other equipment.

11 Perform two calibration figure-8’s.

12 Execute Mission Plan.

13 Monitor the mission and be ready to intervene when necessary.

14 After mission plan is completed, perform two calibration figure-8’s

15 Land the UAV safely back to Home Location.

16 Leave the system on the ground for at least 5 minutes undisturbed.


Step Operator 1 - Pilot Operator 2

17 Stop LiAir data logging.

18 Power off UAV.

19 Stop Base Station data logging.

20 Download all project data, from LiAir, LiAir Camera (if available), and GPS Base Station following proper procedures.

21 Dismount and pack up LiAir payload. Pack up GPS Base Station

22 Pack up the UAV. Pack up Radio Station and Ground Computer.

23 Final check all items are collected and properly packed away.

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