USER GUIDE

POSPac™ MMS™ LiDAR Tools Software

Version 6.2
Revision 4
March 2013
Legal Notices
Corporate Office
Applanix Corporation
85 Leek Crescent
Richmond Hill, ON, Canada
L4B 3B3
Tel: +1 905 709 4600
Fax: +1 905 709 6027
www.applanix.com

Copyright and Trademarks

© 2007–2013, Applanix Corporation. All rights reserved. No part
of this publication may be reproduced, stored in a retrieval
system, transmitted in any form or by any means without the prior
written consent of Applanix Corporation. The information
contained herein is proprietary to Applanix. Release to third-
parties of this publication or of information contained herein is
prohibited without the prior written consent of Applanix
Corporation.
Applanix, the Applanix logo, ASB, IN-Fusion, MMS, POSPac,
POSView, and SmartBase are trademarks of Applanix Corporation.
Trimble is a Trademark of Trimble Navigation Limited, registered in
the United Stated and in other countries.
Microsoft and Windows are either registered trademarks or
trademarks of Microsoft Corporation in the United States and/or
other countries.
All other trademarks are the property of their respective owners.

General Notice
Although every care has been taken to ensure that this manual is
reliable and accurate, Applanix Corporation (here after referred to
as Applanix) provides it ‘as is’ and without express, implied or
limited warranty of any kind. In no event shall Applanix be liable
for any loss or damage caused by the use of this manual.
This manual describes the POSPac™ MMS™ LiDAR Tools software
and contains operating instructions. The manual is an important
part of the system. It should remain with the system for use by
those who will operate and maintain it.
It is the customer’s responsibility to ensure that there are
adequate mounting facilities and carefully plan the component
layout. Applanix will not be responsible for damage caused by
improper installation or inadequate environmental conditions.
Access to the end-user agreement is available from the software,
see Help / About POSPac MMS.
Applanix reserves the right to change the specifications and
information in this document without notice.

Release Notice
This is the March 2013 release (Revision 4) of the POSPac MMS
LiDAR Tools Software User Guide. It applies to version 6.2 of the
POSPac MMS LiDAR Tools Software, part number
PUBS-MAN-001830.

© 2013, APPLANIX CORPORATION POSPAC MMS LIDAR TOOLS SOFTWARE USER GUIDE 2
List of Abbreviations,
Synonyms, and Symbols
ASCII American Standard Code for Information Interchange
CalQC Calibration and Quality Control
CCD Charge Coupled Device
DEM Digital Elevation Model
DSS Digital Sensor System
DTM Digital Terrain Model
EO Exterior Orientation
GNSS Global Navigation Satellite System
GPS Global Positioning System
GSD Ground Sample Distance
GUI Graphical User Interface
POS Position and Orientation System
POS AV Position and Orientation System for Airborne Vehicles
POSEO Position and Orientation System Exterior Orientation
POSPac™ Position and Orientation System Postprocessing Package
QC Quality Control
RNAV Real-Time GPS Inertial Navigation Solution
SBET Smoothed Best Estimate of Trajectory
UTM Universal Time Mercator

© 2013, APPLANIX CORPORATION POSPAC MMS LIDAR TOOLS SOFTWARE USER GUIDE 3
Contents
Legal Notices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
List of Abbreviations, Synonyms, and Symbols . . . . . . . . . . . . . . . . . . . . . 3
1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
About the POSPac MMS LiDAR Tools software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
About this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Related information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Technical Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2 Extracting and Processing Riegl Data . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Extracting and processing Riegl LMS-Q240 data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Processing the files using the Point Cloud Generation module . . . . . . . . . . . . . . . . . . . . . 8
Downloading, extracting, and processing Riegl LMS-Q560 data . . . . . . . . . . . . . . . . . . . . . . .11
Downloading the data logger files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
Extracting the data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
Processing the files using the Point Cloud Generation module . . . . . . . . . . . . . . . . . . . . .13

© 2013, APPLANIX CORPORATION POSPAC MMS LIDAR TOOLS SOFTWARE USER GUIDE 4
 CHAPTER
1
Introduction 1

This manual describes how to set up the POSPac™ MMS™ LiDAR Tools software.

About the POSPac MMS LiDAR Tools

software
Use the LiDAR Tools software to extract and process laser scanner data collected with Riegl
LMS-Q240 and LMS-Q560 equipment.
The POSPac MMS LiDAR Tools software requires a license. Contact Applanix technical support, see
page 5.

About this manual

This manual describes how to:
• extract and process Riegl LMS-Q240 data
• extract and process Riegl LMS-Q560 data

Related information
Sources of related information include the following:
• Release notes – the release notes describe new features of the product, information not included
in the manuals, and any changes to the manuals.
• POS AV Installation and Operation Guide, PUBS-MAN-000046
• POSPac MMS GNSS-Inertial Tools User Guide, PUBS-MAN-001768.

Technical Support
If you have a problem and cannot find the information you need in the product documentation,
contact your local dealer. Else, go to the Support area of Applanix website
(www.applanix.com/support/general-support/contact-support.html). Select the product you need
information on. Product updates, documentation, and any support issues are available for download.
For general enquiries, please visit our website or call +1 905 709-4600.

© 2013, APPLANIX CORPORATION POSPAC MMS LIDAR TOOLS SOFTWARE USER GUIDE 5
 CHAPTER
2
Extracting and Processing
Riegl Data 2

In this chapter:
 Extracting and processing Riegl LMS-Q240
data
 Downloading, extracting, and processing
Riegl LMS-Q560 data

© 2013, APPLANIX CORPORATION POSPAC MMS LIDAR TOOLS SOFTWARE USER GUIDE 6
 2 – Extracting and Processing Riegl Data

Extracting and processing Riegl LMS-Q240

data
This section describes how to extract and process the Riegl LMS-Q240 data. Data is logged with
version 5 or later of the POSTrack software, extracted using the POSPac software and then processed
using the Point Cloud Generation module.
Integration of the Riegl LMS-Q240 data and version 5 or later of the POSTrack software enables the
POS Computer System (PCS) to accurately timestamp and log raw LiDAR data measurements onto a
PC card.
The following steps describe the general process:
1. The Flight Management Computer System (FCS) is used to automatically disable LiDAR data
logging during turns and automatically enables logging when approaching the next flight line.
2. Once the LiDAR and POS navigation data are logged, it is imported into a POSPac project using
the POSPac MMS software. The raw Q240 LiDAR data is extracted into files called
las_xxx_###.dat, where xxx is the POSPac MMS kernel name and ### is the LiDAR line number.

C CAUTION – If the Q240 LiDAR data and the POS Navigation data are logged on two different
mediums, as is the case when a Riegl LMS-Q240 is used with an Applanix Digital Sensor System
(DSS). The order of the imports is important. You must import the Q240 LiDAR data first and
the POS Navigation data last.

3. The GNSS-Inertial Processor processes the POS navigation data to produce an SBET (Smoothed
Best Estimate of Trajectory) file of one or more of the SDC files (RiANALYSE Q560). For more
information, refer to the POSPac MMS GNSS-Inertial Tools User Guide, PUBS-MAN-001768.
4. LiDAR data is extracted using the PosPac MMS software.
5. The Point Cloud Generation module processes the extracted LiDAR data file into a LAS file format
(e.g., LiDAR_kernel_linenumber.las) that can be output to any user-specified mapping frame.
One output file is generated for each LiDAR line in the required mapping frame.

© 2013, APPLANIX CORPORATION POSPAC MMS LIDAR TOOLS SOFTWARE USER GUIDE 7
 2 – Extracting and Processing Riegl Data

Processing the files using the Point Cloud Generation

module
1. On the POSPac MMS menubar, select Project / Project Settings. The following dialog appears
displaying numerous file folders:

2. Select the LIDAR folder. The LiDAR file folder shows the options that are available in the various
LiDAR configurations.
3. In the LiDAR Type list, select Riegl Q240.
By selecting the LiDAR type, the SBET (Smoothed Best Estimate of Trajectory), RMS (Root Mean
Square), and Raw LiDAR Files (las_xxx_###.dat) are automatically selected.

© 2013, APPLANIX CORPORATION POSPAC MMS LIDAR TOOLS SOFTWARE USER GUIDE 8
 2 – Extracting and Processing Riegl Data

a. To change or add additional LiDAR files, click Raw LiDAR Files:

b. Click OK.
4. Enter the LiDAR Parameters, Output Coordinate Unit, Lever Arms, Boresight Angles, and Height
Options data.
Note – Boresight angles are between the reference frame and the LiDAR frame.
Note – Lever arms are from the reference frame to the LiDAR frame in the reference frame (all
zeros preserve the SBETs original reference frame).
5. If required, select the Use Real-time Solution check box. This option enables the Point Cloud
Generation selection in the RUN menu bar when SBET is not available.
6. Click Mapping Frame to select the required mapping frame.
7. Click OK to accept the inserted data.
8. Do one of the following:
– Select the Point Cloud Generation icon on the POSPac MMS toolbar.
– Select Run / Point Cloud Generation from the menu bar to start the LiDAR Point Cloud
Generation.
The output of the Point Cloud Generation module (LiDAR_kernel_linenumber.las files) is located in
the LiDAR folder of a particular POSPac project (for example, C:\data\flight#1\mission 1\LiDAR).
See Figure 2.1.

© 2013, APPLANIX CORPORATION POSPAC MMS LIDAR TOOLS SOFTWARE USER GUIDE 9
 2 – Extracting and Processing Riegl Data

Figure 2.1 Riegl Q240 X, Y and Z axis

© 2013, APPLANIX CORPORATION POSPAC MMS LIDAR TOOLS SOFTWARE USER GUIDE 10
 2 – Extracting and Processing Riegl Data

Downloading, extracting, and processing

Riegl LMS-Q560 data
This section explains how to download and the Riegl data logger files using version 5 or later of the
POSTrack software, extract the data using the Riegl RiANALYZE 560 software, and then how to create
a laser file using the Point Cloud Generation module.
With the integration of the Riegl LMS-Q560 data and version 5 or later of the POSTrack software, the
POS AV Controller can connect to the LIDAR Ethernet control port and control the data logging.
The following steps describe the general process:
1. The Flight Management Computer System (FCS) is used to automatically disable LiDAR data
logging during turns and automatically enables logging when approaching the next flight line.
2. The POS navigation data is imported into a POSPac project.
3. By using the Riegl RiANALYZE 560 software, LiDAR data is extracted to an SDC file format.
4. The GNSS-Inertial Processor processes the POS navigation data to produce an SBET (Smoothed
Best Estimate of Trajectory) file of one or more of the SDC files (RiANALYSE Q560). For more
information, refer to the POSPac MMS GNSS-Inertial Tools User Guide, PUBS-MAN-001768.
5. The Point Cloud Generation module converts the SBET file into a LAS file format (e.g.,
LiDAR_kernel_linenumber.las) that can be output to any user-specified mapping frame. One
output file is generated for each LiDAR line in the required mapping frame.
You need the following software tools for postprocessing:
• Web browser such as Internet Explorer (access the data logger files)
• RiANALYZE 560, version 3.0.3 (processing .sdf files)

Downloading the data logger files

Use a web browser to download the data logger files:
1. Connect the Ethernet cable of the data logger to a computer or a hub with a local network
connection.
2. Open a web browser and then enter the IP address of the data logger, e.g.:
http://129.100.000.141/ .

3. Highlight and then copy the SDF files using the Save Target As option.

© 2013, APPLANIX CORPORATION POSPAC MMS LIDAR TOOLS SOFTWARE USER GUIDE 11
 2 – Extracting and Processing Riegl Data

Extracting the data

1. Load the SDF files into the RiANALYZE Q560 software:

If… Select…
the file is located on the local machine File / Open. Locate and select the SDF file.
the file is located only on the data logger Select File / Load to RiANALYZE. The software assumes that
the data logger is connected to the computer using a USB
cable (and assumes that the data logger is configured to
support a USB connection).

2. Enable a USB connection on the data logger:

a. Establish a connection to the data logger using a web browser.
b. On the data logger, click CFG. Set the USB connection to ON and save the settings.
3. Locate and select the SDF file.
4. From the RiANALYZE Q560 menu, select File / Extract. The following dialog appears:

5. Set the corresponding fields. The output file must be in SDC format (RESULT OUTPUT pane,
Format field).
6. Click OK. The files will be processed and the SDC file is created.

© 2013, APPLANIX CORPORATION POSPAC MMS LIDAR TOOLS SOFTWARE USER GUIDE 12
 2 – Extracting and Processing Riegl Data

Processing the files using the Point Cloud Generation

module
1. From the POSPac MMS software, select Project / Project Settings. The following dialog appears:

2. Select the LIDAR folder. The LiDAR file folder shows the options that are available in the various
LiDAR configurations.
3. In the LiDAR Type list, select Riegl Q560.
4. Click Raw LiDAR Files. Select the location of the SDC files.
By selecting the LiDAR type, the SBET (Smoothed Best Estimate of Trajectory), RMS (Root Mean
Square), and Raw LiDAR Files (las_xxx_###.dat) are automatically selected.
a. To change or add additional LiDAR files, click Raw LiDAR Files:

b. Click OK.
5. Enter the LiDAR Parameters, Output Coordinate Unit, Lever Arms, Boresight Angles, and Height
Options data.

© 2013, APPLANIX CORPORATION POSPAC MMS LIDAR TOOLS SOFTWARE USER GUIDE 13
 2 – Extracting and Processing Riegl Data

Note – Boresight angles are between the reference frame and the LiDAR frame.
Note – Lever arms are from the reference frame to the LiDAR frame in the reference frame (all
zeros preserve the SBETs original reference frame).
6. If required, select the Use Real-time Solution check box. This option enables the Point Cloud
Generation selection in the RUN menu bar when SBET is not available.
7. Click Mapping Frame to select the required mapping frame.
8. Click OK to accept the inserted data.
9. Start the LiDAR Point Cloud Generation. Do one of the following:
– Select the Point Cloud Generation icon on the POSPac MMS toolbar.
– Select Run / Point Cloud Generation from the menu.
The output of the Point Cloud Generation module (LiDAR_kernel_linenumber.las files) is located in
the LiDAR folder of a particular POSPac project (for example, C:\data\flight#1\mission 1\LiDAR).
Note – The LiDAR data in the SDC files are synchronized with UTC (Coordinated Universal Time). If the
time in POS is set to output GPS time, enter the difference between GPS and UTC time in the LiDAR
Time Shift field.
Note – When using POSPac MMS or earlier versions, the true LiDAR (reference) frame is the Riegl
Q560 frame rotated around z axis +90° (right hand rule). This no longer applies in POSPac MMS
Service Pack 1 and later releases.
See Figure 2.2.

Figure 2.2 Riegl Q560 X, Y, and Z Axis (POSPac MMS Service Pack 1 and later)

© 2013, APPLANIX CORPORATION POSPAC MMS LIDAR TOOLS SOFTWARE USER GUIDE 14