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Drivers Manual

Laser Scanning - RIEGL VZ-400 (UTC) - 20

Description

Driver to decode data from RIEGL VZ laser scanners.

The following RIEGL 3D Terrestrial VZ scanners are supported:

VZ-400VZ-1000VZ-2000VZ-4000VZ-6000
Short range (500m)Long range (1400m)Long Range (2000m)
Very High Speed
Very long range (4000m)

Ultra long range (6000m)

All supported VZ scanners can operate in both long range and in short range mode.
In short range mode they can operate in 2D line scanning mode making them ideal for mobile scanning applications, where Qinsy will deliver geo-referenced point cloud co-ordinates, in real-time corrected for motion, heading and timing.

Laser stands for Light Amplification by Stimulated Emission of Radiation. All RIEGL Laser scanners are eye-safe (class 1R), except for the VZ-6000.

The VZ-6000 uses class 3B, which is not eye-safe, so extra precautions should be taken.

Characteristic of class 1R laser is that you will not receive any reflection from a water surface, which makes these VZ scanners ideal for combining with multibeam data acquisition surveys. Class 3B is well suited for measuring long ranges in snowy and icy terrain.

Please contact QPS if you need support for a RIEGL scanner type which is not described in this document.

It is highly recommended to interface the VZ scanner with a Time Synchronization pulse (aka PPS), in order to time-tag all data with UTC. 
Actually, this interfacing requirement is mandatory when using the scanner on a moving platform. 
The pulse may come from an external GNSS receiver, but the VZ scanners have an internal GPS which makes an interface to an external GNSS receiver obsolete.

In case you do not have a valid GNSS/GPS receiver (e.g. during testing or mobilization), or you use the scanner fixed on a tripod (so not on a moving platform), then you may select in your template setup the driver without "(With UTC)" in the driver name.

See paragraph Interfacing below for further details.


Driver Information

Driver RIEGL VZ-400  / 1000 / 6000 Interface Type Freebase/TCP/IP/UDP  Driver Class Type Freebase 
UTC Driver (question)  Yes Input / Output Input/Output  Executable DrvLaser.exe RIEGL_VZxxxx
Related Systems
Related Pages

Laser Scanning - RIEGL VZ-400i (UTC)

Laser Scanning - RIEGL VQ laser scanner



Decoding Notes

Data is always broadcast via TCP network. It is advisable to use a fast (gigabit) network card, due to the enormous amount of data to be expected. If an on-board wireless network is available, do not use this for real-time scanning.

The actual raw binary data stream is in so-called RXP format, a proprietary data format defined by RIEGL. This document does not describe the RXP format.


The driver is configured as a Multibeam System and creates XYZ 'multibeam' observations.

('multibeam' versus 'laser scanning' terminology: ping = scan (i.e. 1 vertical line scan), footprint = pixel = pulse, swath = line)

The number of points (beams, pixels) depends on the on-line used settings, like (user-definable) range mask, vertical angle mask, etc. See also Controller Setup below.

The maximum expected number of points per second will vary per scanner type:

  • VZ-400 has two range modes: 42000 in long range mode and 125000 in short range (high speed) mode.
  • VZ-1000 has four range modes: 29000 in longest range mode and up to 122000 in the shortest range (highest speed) mode.
  • VZ-2000 has four range modes: 21000 in longest range mode and up to 396000 in the shortest range (highest speed) mode.
  • VZ-4000 has four range modes: 23000 in longest range mode and up to 222000 in the shortest range (highest speed) mode.
  • VZ-6000 has four range modes: 23000 in longest range mode and up to 222000 in the shortest range (highest speed) mode.

Notice that all VZ scanners do support another range mode: Reflector scanning. In this mode the laser output power will be reduced.

The actual number of beams per scan depends on the combination of user-definable settings. Under normal conditions you can expect values of up to three thousand pixels.

The number of scans (lines) per second also depends on the scanner type itself, and the combination of user-definable settings.

If you are using a VZ-2000, please see also the expected-results-table in the Additional Information section below.


Next to the pixel XYZ value, three other important attributes are stored, dealing with the reflection from the target's surface:

  • Echo return type 
    The echo return type indicates whether the returned signal is a single, a first, an interior or a last echo from the same emitted pulse. 
    This means that one pulse may return multiple beams (pixels), e.g. the first return from a tree-leaf, an interior return type from another leaf, and a last return type from a wall.
  • Amplitude 
    The value of the pixel amplitude (returned power) is situation dependent and its range will be between 0 and 80 dB.
  • Reflection 
    More important and more usable is the reflectance, a kind of 'normalized' amplitude, which will always be in the range of -25 dB to 65 dB. 
    It is the received power relative to the power that would be received from a white diffuse target (0 dB) at the same distance. The surface normal of this target is assumed to be parallel to the laser beam direction.

Qinsy will store these attributes as follows: 

The amplitude is stored as Quality.
If setting 'Modify Intensity Echo types' is enabled (see Online Setup below), it will be 255 in case of a last echo return type, and 0 (zero) in case of an interior echo return type. For first and single echo types it will be the exact value as reported by the scanner.

The reflection is stored as Intensity.
If setting 'Modify Intensity Echo types' is enabled (see Online Setup below), it will be the reflectance plus 1000 in case of a last echo return type, and reflectance minus 1000 in case of an interior echo return type. For first and single echo types it will be the exact value as reported by the scanner. 

The Quality or Intensity value can be used for color-coding, e.g. when viewing the final point cloud in the Validator.

Interfacing Notes

By default, the driver will time-stamp the data when received at the UDP port. 

However, due to network characteristics in general, this may result in inaccurate timing. Therefore timing via Time Synchronization pulse from GPS is highly advised, especially when you are scanning from a moving platform (vessel or car).

The internal GPS can be used for this, or you may use an external GPS/PPS connected to the Trig Socket port. 
It is recommended to use the internal GPS receiver because of simplicity (no extra cables are needed). 
Notice that for the integrity of the time-stamping it does not matter which GPS you use, external or internal.

When using GPS/PPS time stamping of the laser data (internal or external), it is important that
1) Laser driver '...(With UTC)' is selected in the template setup,
2) The Qinsy template setup also has a PPS Time Synchronization driver defined otherwise no data will be decoded at all, due to timing mismatches.

Database Setup

  1. Add a Multibeam Echosounder system to your Template Setup, and select the correct driver "Laser Scanning - RIEGL VZ-xx00 (With UTC)".

    The Port number must be the same as the configuration port of the scanner, normally 20002. The driver will communicate (sending and receiving commands) via this configuration port of the scanner. 
    (The real-time line-stream is received via the data port, and is always the configuration port number minus one, so normally 20001. You don't have to enter this data port number in the setup) 

    It is important to enter for the IP Address the address of the scanner, by default this will be something like 192.168.0.125.
    It is recommended to have a dedicated network interface between your computer and the scanner. However, in case your computer's network card subnet IP address differs from the scanner's IP address, and you can not change the address of your computer's network card (e.g. other network devices are also connected), it is possible to change the default IP address of the scanner. Please consult the laser scanner manual, or contact RIEGL support on how to do this. 



    The maximum update rate is not used, so leave it at zero.

  2. On the next page, the Transducer Location and Mounting Angles are important. 

    The exact values for the roll, pitch and heading offsets should be established with a calibration procedure.

    Before such a calibration please use values as accurate as possible: 
    E.g. when the connectors of the scanner are pointing in a certain direction use the table below:

    Connectors of the scanner pointing Heading offset
    Forward (bow)
    Right (starboard side) 90º
    Backwards (aft) 180º
    Left (port side) 270º



    Illustration showing the Scanner's Own Co-ordinate System (SOCS).

    Notice that this XYZ co-ordinate system differs from the Qinsy XYZ system:

    Qinsy

    VZ Scanner

    X

    -Y

    Y

    +X

    Z

    -Z

    Set the Max. beams per Ping value to 40000. 
    The actual number of beams will be variable and depends for example on the on-line used settings, and on the targets being scanned.

  3. Leave all other values on the next page(s) also at their defaults.

Online

When on-line, the laser unit can be controlled using the Controller: 


Select Echosounder Settings, click on the Laser System icon, and select the 'Control' tab page. 



First of all, a (TCP/IP) network connection has to be established between Qinsy and the laser unit. This has to be done every time you go on-line: 

Change on the 'Control' tab page option 'Connected' to Yes and select the Apply button. Wait until you see in the Events list that a connection has been made successfully.


Connected

Connect (using TCP/IP) to the so-called LRC Server of the Laser Scanner. Make sure that the IP address entered in Database Setup is correct.
Under normal circumstances a successful connection will be established within a second. If it takes considerable more time, you should check your network cable/configurations.
If no network connection can be made at all, e.g. the laser unit is switched off, then it may take 5 to 10 seconds before you will be informed.

You may also use the Ping command from the Windows Command Prompt in order to check for a successful network connection between Qinsy and the scanner:

Action

Selected action will be sent to the laser unit, immediately after hitting the Apply or OK button. You must be connected first in order to select an action.

Notice that any selection will always revert back to [ None ], after each selected action.

First time users should read the Check List paragraph below.

It is recommended to wait a few moments after each action, until the status in the Events list is updated with a message, because it takes some time for the unit to handle each command (action).

  • [ None ]
    This will be the selection after each action. Nothing will happen when you hit the Apply or OK button.
  • Start
    Select this action in order to start scanning. Notice that it may take a few seconds before the first data is received, so be patient for at least 5 seconds.
  • Stop
    Select this action in order to stop scanning. Scanning will be stopped immediately, after hitting the Apply or OK button. The laser will also stop scanning automatically when going offline with the Controller.
  • [ REBOOT ]
    Select this action to reboot the laser unit, which is comparable to the sequence of a shutdown followed by a power up. Please notice that it takes several minutes before the unit is up and running, prior to re-connecting.
  • [ SHUTDOWN ]
    This action is highly recommended in order to take the power off the unit first. You may also use the Power button on the scanner.

Scan Mode

Select the required measurement method: Line (2D), i.e. looking at one fixed direction, or Radar (3D), i.e. scanning 360° around.

Scan Direction

Set the line scan direction in degrees. Valid values are from 0° to 360°.
Use the scanner's own co-ordinate system (SOCS): 0° means forward, 90° means left, 180° looking backward and 270° means looking right. Forward here means the same direction as the connectors on the scanner device.

This option is only available when Scan Mode is set to Line (2D).

Continuous

When enabled, scanner will start endless scanning after [Start], until the [Stop] command is received.

This option is only available when Scan Mode is set to Radar (3D).

Lines

The maximum number of lines to scan after the [Start] command is received.

This parameter is not used when continuous scanning is enabled above.

Horizontal Area Selection

The horizontal scan area goes from 0 to 720°.
Using the scanner's own co-ordinate system (SOCS), 0° means forward, 90° means left, 180° looking backward and 270° means looking right. (Forward here means the same direction as the connectors on the scanner device).

This option is only available when Scan Mode is set to Radar (3D).

Select the required scheme from the list. Schemes are defined in the Laser Device Settings XML File.

Excluded data due to this setting will not be recorded.

Vertical Area Selection

Maximum vertical scan area goes from 30° to 130° (VZ-400, VZ-1000, VZ-2000) or from 60° to 120° (VZ-4000, VZ-6000).
Using the scanner's own co-ordinate system (SOCS), 0° means looking up, 90° means looking horizontal and 180° means looking down.

Select the required scheme from the list. Schemes are defined in the Laser Device Settings XML File.

Excluded data due to this setting will not be recorded.

Sector Reduction

Select the required scheme from the list. Schemes are defined in the Laser Device Settings XML File.
Excluded data due to this setting will not be recorded.

Scan Resolution

Select the required vertical angle resolution, i.e. the angle increment between two consecutive pixels.
Notice that some combinations with Scan Speed may not be possible. In that case you will be informed in the Events List after hitting the Apply button.

If you are using a VZ-2000, please see also the expected-results-table in the Additional Information section below.

Scan Rate

Select the required scanner measurement rate, i.e number of pixels / second.
Notice that some combinations with Scan Resolution may not be possible. In that case you will be informed in the Event List after hitting the Apply button.
The Scan Rate selection varies for each scanner type:

  • VZ-400
    • Long Range
      Maximum expected number of pixels per second will be 42000
    • High Speed
      Maximum expected number of pixels per second will be 125000
    • Reflector Scanning
  • VZ-1000
    • 1400m
      Maximum expected number of pixels per second will be 29000
    • 1200m
      Maximum expected number of pixels per second will be 42000
    • 950m
      Maximum expected number of pixels per second will be 62000
    • 450m
      Maximum expected number of pixels per second will be 122000
    • Reflector Scanning
  • VZ-2000 (Please see also the expected-results-table in the Additional Information section of this document below).
    • 2050m (50 kHz)
      Maximum expected number of pixels per second will be 21000
    • 1800m (100 kHz)
      Maximum expected number of pixels per second will be 42000
    • 1000m (300 kHz)
      Maximum expected number of pixels per second will be 122000
    • 750m (550 kHz)
      Maximum expected number of pixels per second will be 230000
    • 580m (1010 kHz)
      Maximum expected number of pixels per second will be 396000
    • Reflector Scanning (150 kHz)
      Maximum expected number of pixels per second will be 62000
  • VZ-4000
    • 30 kHz (long range) (4000m)
      Maximum expected number of pixels per second will be 23000
    • 50 kHz (4000m)
      Maximum expected number of pixels per second will be 37000
    • 150 kHz (2700m)
      Maximum expected number of pixels per second will be 113000
    • 300 kHz (short range) (2000m)
      Maximum expected number of pixels per second will be 222000
  • VZ-6000
    • 30 kHz (long range) (6000m)
      Maximum expected number of pixels per second will be 23000
    • 50 kHz (6000m)
      Maximum expected number of pixels per second will be 37000
    • 150 kHz (4200m)
      Maximum expected number of pixels per second will be 113000
    • 300 kHz (short range) (3300m)
      Maximum expected number of pixels per second will be 222000

Minimum Range

Set the minimum required range in meters. Valid Values: 1.5 to 500 (VZ-400), 2.5 to 1400 (VZ-1000), 2.5 to 2050 (VZ-2000) or 5 to 6000 (VZ-4000/VZ-6000) meters.

Using this setting is recommended, but be careful: Blocked data due to this setting (i.e. all pixels less than this range) will not be recorded!

Maximum Range

Set the maximum allowed range in meters. Valid Values: 1.5 to 500 (VZ-400), 2.5 to 1400 (VZ-1000), 2.5 to 2050 (VZ-2000) or 5 to 6000 (VZ-4000/VZ-6000) meters.

Using this setting is recommended, but be careful: Blocked data due to this setting (i.e. all pixels more than this range) will not be recorded!

Minimum Amplitude

Set the minimum required amplitude (returned power in dB) value.
Values are scanner dependent, and normally in the range between 0 and 80 dB.

Notice that blocked data due to this setting will not be recorded.

This option may not be available in your setup. In that case all amplitude values will be accepted.

Maximum Amplitude

Set the maximum allowed amplitude (in dB) value.
Values are scanner dependent, and normally in the range between 0 to 80 dB.

Notice that blocked data due to this setting will not be recorded.

This option may not be available in your setup. In that case all amplitude values will be accepted.

Minimum Reflection

Set the minimum required reflection (in dB). The reflection is a 'normalized' amplitude, and values are in the range between -25 dB to 65 dB.

It is the received power relative to the power that would be received from a white diffuse target (0 dB) at the same distance. The surface normal of this target is assumed to be parallel to the laser beam direction.

Notice that blocked data due to this setting will not be recorded.

This option may not be available in your setup. In that case all reflection values will be accepted.

Maximum Reflection

Set the maximum allowed reflection (in dB). The reflection is a 'normalized' amplitude, and values are in the range between -25 dB to 65 dB.

It is the received power relative to the power that would be received from a white diffuse target (0 dB) at the same distance. The surface normal of this target is assumed to be parallel to the laser beam direction.

Notice that blocked data due to this setting will not be recorded.

This option may not be available in your setup. In that case all reflection values will be accepted.

Atmospheric Relative Humidity

Set the current atmospheric relative humidity. Valid values: 0% - 100%.

Atmospheric parameters are needed when highly accurate range measurements are required.

This option may not be available in your setup. In that case the default value will be used.

Atmospheric Temperature

Set the current atmospheric temperature in degrees Celsius. Valid values: -50°C - 100°C.

Atmospheric parameters are needed when highly accurate range measurements are required.

This option may not be available in your setup. In that case the default value will be used.

Atmospheric Pressure at Sealevel

Set the atmospheric pressure at sea level in mbar. Valid values: 0 - 1200 mbar.

Atmospheric parameters are needed when highly accurate range measurements are required.

This option may not be available in your setup. In that case the default value will be used.

Height above Mean Sealevel

Set the height above mean sea level in meters. Valid values: 0 m - 1000 m.

Atmospheric parameters are needed when highly accurate range measurements are required.

This option may not be available in your setup. In that case the default value will be used.

Multi Target Measurement

One emitted laser pulse may hit one or several targets, causing one or several echo pulses.
For example the first return is from a tree-leaf, an interior return type comes from another leaf, and a possible last return type because of hitting the wall.

Select here the type of echo pulse you want to decode.

Notice that blocked data due to this setting will not be recorded.

Modify Intensity Echo types

When enabled, the original reported intensity and quality value for interior and last echo types will be modified.

Notice that the value for first and single echo types are never modified.

See also the detailed explanation under Decoding Notes

Store Laser Location

If enabled, an additional pixel with zero co-ordinates will be added to each line scan, in order to indicate the exact laser scanner location in the resulting point cloud.
This extra pixel will always have beam number 1, and its intensity/quality value will be zero.

Use PPS (Time Synchronization)

Notice that this setting is only available when laser driver '...(With UTC)' has been selected in your template setup.

The most convenient setup is to use the Time Synchronization from the Internal GPS.

In case you use Time Synchronization from an external GPS, the scanner needs a valid NMEA GGA message and Time Synchronization pulse from your GPS receiver.
The exact I/O parameters from this external GPS need to be defined using the following settings below:

Always check if the PPS/GPS signal is accepted by the scanner, see the Check List below for more details about this

PPS Trigger Edge

Select the used trigger edge of the external GPS PPS pulse. It depends on the external GPS receiver being used and you should therefore consult the GPS manual.

This setting is only available when using Time Synchronization from an External GPS.

GPS Baudrate

Select the baud rate of the external GPS receiver connected to the scanner

The GPS Sync led on the laser will only be green when this GPS Baudrate and the GPS Format (below) settings are correct!

This setting is only available when using Time Synchronization from an External GPS.

GPS Format

Select the format of the external GPS message connected to the scanner:

The GPS Sync led on the laser will only be green when this GPS Format and the GPS Baudrate (above) settings are correct!

This setting is only available when using Time Synchronization from an External GPS.

  • NMEA GGA
  • IGI ($TOPAL)
    For this format it is important to set the correct 'UTC to GPS Correction' (leap-second) in your template setup (As of July 1, 2015, this value is 17 sec.).
  • NMEA ZDA
    Some scanners with older firmware may not support the ZDA message.

PPS Pulse/Data Sequence

Select if the external Time Synchronization pulse comes before the GPS data string, or vice versa.

This setting is only available when using Time Synchronization from an External GPS.

Additional Information

VZ-2000 users may use the following table to see what the results will be for all the possible scan rate/resolution combinations:

Notice that any combination with a scan rate set to 580m - 1010 kHz may result in theoretically too many pixels that Qinsy may handle in real-time.

Qinsy handles only approximately 250 thousand measurements per second. However, this value can be safely much higher but depends highly on the used hardware.
Nevertheless it is important to prepare the project prior to the start of the scanning by optimizing all parameters to meet the necessary requirements: 
Select the right scan rate, vertical area selection, sector reduction and/or range blocking in order to decrease the number of expected points per second.

An advanced user may overrule this limitation of max 250 thousand points per sec. 
The best reason for doing this is to by-pass the check which is done by the driver every time prior to the Start command to see if the theoretically expected number of points per second does not exceed the limitation.

First go offline. Use a registry editor and change registry key:
HKEY_CURRENT_USER\Software\QPS\QINSy\8.0\Drivers\DrvLaser\VZ-2000\<Your System Name>\Settings\QINSyMaxPixelPerSecond
You may enter a value up to 1 000 000. Please notice that when you do use a higher value, it is highly recommended to store only to db, and not to DTM nor Sounding Grid file, and only have a limited number of displays open. A DTM file (QPD) can always safely be created with Replay.

Check List


Please use at least the following checks prior to starting scanning and recording laser data:

  • Is there a valid network connection between the scanner and the Qinsy computer? 
    Start a web browser (e.g. Internet Explorer), and type in the IP address of the scanner. 
    You should see the same HMI (Human Machine Interface) as on the scanner itself. 

  • Is the GPS and/or PPS timing okay at the scanner? 
    Start a web browser, type in the IP address of the scanner, and go to the GPS information page: 
    Home, Settings, Peripherals..., GPS... 

    Set the GPS Mode to 'INTERNAL_GPS', or to 'EXTERNAL_GPS' in case the scanner receives the Time Synchronization and GGA message from an external source. 

    Check that you see a valid UTC Time and WGS84 Position, and that Synchronization is Ok.
  • After starting scanning, do you see a low Ping Age, using a Generic Display? 
    This ping age value must be around zero, e.g. 0.08, or 0.02. 
    Further, make sure that the Status Flag value is 2, meaning 'PPS OKAY'. 
    If the Status Flag is 0 then this either means that or
    - you are using driver "Laser Scanning - RIEGL VZ-xx00" without "(With UTC)" (not recommended), or 
    - your template setup has no Time Synchronization system defined (not recommended), or 
    - your Qinsy Time Synchronization system is not working (please check), or
    - the GPS Sync Led on the VZ scanner is not green, or 
    - the internal reported GPS_STATUS from the RIEGL data stream is not 0x3.

    You may use the attached example Generic Display Layout file as example: Copy this layout (Use 'Save Link As...') to your current Project's Settings\Display folder and open it using a new Generic Display. 
    You only have to select the correct laser system as defined in your template setup. 

    Note: You need internet access in order to download this example file.


Problems

If you experience problems using your laser scanner in combination with this driver, or if you need additional information or support, please attach the daily laser log-file when submitting your JIRA support ticket.


  • The most commonly reported problem is that network data is blocked by the Windows Firewall. When this happens you may see that data does come in using other utilities (like the IO Tester or the manufacturer's own software), but that the Qinsy driver does not accept any data.

    The following (Windows 7) steps may solve this:
  1. Go offline, open the Control Panel (Start menu, Settings, Control Panel)
  2. Select Windows Firewall (System and Security)
  3. Select Advanced Settings (Upper left corner)
  4. Select Inbound Rules, highlight all 'Driver for Laser Scanning' entries and delete them using the right mouse popup menu (or Del key)
  5. If you now go online, the Windows Security Alert message will pop up: It is important to check all three check boxes!
  • Another possible problem could be that your computer has more than one network cards installed (e.g. LAN and WIFI), but within the same sub-net mask range (255.255.255.0). It is recommended to make the first three digits unique for each network card IP address.
    You may check the daily laser log-file, it will show the IP addresses for all available network adapters and indicates which one the driver will use.

    Please check that the driver is using the correct one.

Daily Laser Log File

All user actions are logged in a daily laser log file. You will find this file in the current project's LogFiles folder.
The filename convention for this ASCII log-file is <System Name> DD-MM-YYYY.log.

Notice that all time stamps in this log file are by default in UTC.
An advanced user may change this to local time zone (LTZ) by changing the registry key:

HKEY_CURRENT_USER\Software\QPS\QINSy\8.1\Drivers\DrvLaser\Settings\TimeLogFileUtc value from 1 to 0.

 

Improve Performance

Due to the enormous amount of data to be expected while scanning and recording, it is recommended to keep the system overhead as low as possible.

Here you'll find some tips and tricks in order to fine-tune your setup.

However, these are not strict rules, because each project is different and depends on the current situation and hardware being used. Your goal should be to keep your system CPU usage as low as possible.

HARDWARE

Virus Scanner

Disable Virus Scanner, or at least the setting 'Scan Files when Writing/Reading to/from disk'.

Storage

Make use of Solid State Drive (SSD), or fast SATA hard drive (7200 - 10000 rpm).

Network

Your network card speed should never be lower than the scanner's network speed. Use a network card that can be configured for 100Mbit or 1Gbit speed. Do not use USB Networking Adapters, because this may result in loss of data when huge amounts of data are being broadcast.

Task Manager CPU

General Task Manager CPU Usage should be less than 50%. CPU load of each display must be less than 10-15%.

Make sure that the 'Working Set (Memory)' column for process Multibeamer.exe and/or DrvResultOut.exe is not constantly increasing, especially during recording.

PROJECT PREPARATION

Laser Device Settings

During project preparation, establish the optimum settings in order to achieve the required results.

The most benefit you will gain from setting the Scan Speed, Scan Rate, Scan Resolution, Angle Resolution, Vertical Area Selection, Scan Area Selection and Sector Reduction as well as possible.

Especially the Vertical or Scan Area Selection is very important. Make use of Mask schemes to define areas which you don't want to scan.

 ONLINE

Raw Multibeam Display

Open only one Raw Multibeam Display.

Disable the options 'Show Big Dots' and 'Draw Lines'.

Navigation Display

Open only one Navigation Display.

Preferably disable DXF and TIFF layers. These layers should only be used during project preparation.

When 'object tracking' is enabled, do not zoom in too close. Keep in mind that the display should not be 'refreshed' more than 1x per second.

3D Point Cloud Display

It is not recommended to use a 3D Point Cloud Display.

If you do so, make sure your hardware contains a high-spec video card.

- Sounding Grid

- Dynamic Surface

Storage to a Sounding Grid is not recommended, and should be purely for display purposes: e.g. for checking the scan coverage or for showing the 95% Confidence Level statistics.

If you do want to see the scan coverage then it is advisable to store to a sounding grid and not to the dynamic surface

Do not use a small cell-size, preferably not less than 1.0 meter.

If you notice in the Navigation Display that the real-time sounding grid is drawn/updated with a delay, then please increase the cell-size or disable the storage completely.

Offline (Replay) there are no limitations and you may use small cell-sizes, e.g. 0.10 meter.

 OFFLINE

Replay

In Replay there are no limitations as mentioned above: use as many displays as you like, store to sounding grids with small cell-sizes, update the dynamic surface, etc.

All this may only affect the replay speed, but the data integrity of your final DTM processing files should be fine.


Controller Computation Setup

While working online, disabling the laser system in your Computation Setup will have the most effect on the performance

Footprints will not be geo-referenced, nor corrected for motion, heading or timing in real-time. This will save a tremendous amount of CPU power and memory usage.

This tip allows you to get the most out of your scanner: maximum scanning speed and maximum scanning rate, without the risk of losing scans due to performance issues.


Drawback is that no DTM file (e.g. QPD) is created, nor a sounding grid is filled, while working online.

To create a final DTM and/or Sounding Grid file you need to Replay the recorded databases afterwards.