DGI's MUSE L1 Training Course - Module 1

Introduction

• Objective: Comprehensive understanding of the XEMUSE L1 lidar unit.
• No prerequisites: Course designed for beginners.
• Topics Covered:
  • Hardware preparation
  • Mission planning
  • Mission monitoring
  • Data processing
  • Sensor calibration

Importance of Understanding System Capabilities

• Know system limits: Understand what the system can and can't do.
• Familiarization: Key focus on characteristics and technical specifications.

Protection and Transportation

• Hard Case:
  • DJi provides a hard-shell case.
  • Protects L1 from knocks and elements (IP67 rated).
  • Foam inserts for additional security.
• Care Tips:
  • Ensure secure transportation.
  • Replace dirty or wet lens cloths regularly.

Sensor Overview

• Component Overview:
  • Comes with three-axis gimbal for flexibility.
  • Integrated with DJI Skyport for easy connection.
  • Includes rubberized lens protector.
• Sensor Details:
  • Derived from Livox sensor range.
  • RGB camera for colorized lidar point clouds.
  • Auxiliary positioning camera for GNSS backup.

Technical Specifications

• Physical Dimensions:
  • Length: 15cm
  • Width: 11cm
  • Depth: 17cm
  • Weight: 930g
• Power:
  • Standard usage: 30W
  • Max usage: 60W
• Ingress Protection: IP54
• Operating Temperatures:
  • Sensor: -20°C to 50°C
  • RGB camera: 0°C to 50°C
• Storage Temperatures: -20°C to 60°C
• Detection Range:
  • Reflectivity 80%: Up to 450m
  • Reflectivity 10%: Up to 190m

Lidar Performance

• Return Measurements:
  • Single return: 240,000 points/second
  • Dual/Triple return: 480,000 points/second
• Accuracy:
  • Horizontal: ±10cm
  • Vertical: ±5cm
• Live Monitoring: View real-time point cloud coloring
• Safety: Class 1 Laser
• Field of View:
  • Horizontal: 70.4 degrees
  • Vertical (non-repetitive): 77.2 degrees
  • Vertical (repetitive): 4.5 degrees
• IMU Specifications:
  • Update Frequency: 200Hz
  • Accelerometer Range: ±8G
  • Angular Velocity Range: ±2000°/s
  • Yaw Accuracy: 0.3° (real-time), 0.1.5° (post-processing)
  • Pitch/Roll Accuracy: 0.05° (real-time), 0.025° (post-processing)

RGB Mapping Camera

• Specifications:
  • Sensor: 20MP, 1-inch
  • Resolutions:
    • 5472x3078 (16:9)
    • 4864x3648 (4:3)
    • 5472x3648 (3:2)
  • Focal Length: Equivalent to 24mm
  • ISO Range: 100-3200 (auto), up to 12800 (manual, photo)
  • Aperture: f/2.8 to f/11

Data Storage & Formatting

• SD Cards:
  • Required speed: 50MB/s or higher, UHS-1 Speed Grade 3
  • Recommended cards:
    • SanDisk Extreme 16GB-128GB
    • Lexar 1066x 128GB
    • Samsung EVO Plus 128GB

Output Formats

• Post-processing in DJI Tera: Required for interpreting data
• Standard Formats: PNT, LAS, PLY, PCD, S3MB

Summary

• Familiarization with the sensor and specifications
• Next section: Workflows for optimizing data accuracy