Leica Pegasus:Two

Mobile Mapping Solution

Leica Pegasus:Two
Bounded only by your imagination –
vehicle independent, data economical,
multiple sensory platform
Leica Pegasus:Two is a complete mobile mapping
solution from hardware to object extraction from
Leica Geosystems. The Leica Pegasus:Two solution
provides an integrated hardware platform including
cameras and lidar profilers with an external trigger
Leica Pegasus:Two
Nothing forgotten
The Leica Pegasus:Two solution captures calibrated
imagery and point cloud data together – assuring
that no object is forgotten. Capturing full 360°
spherical view and lidar together means you never
forget an object or return to a project site. Leica
Pegasus:Two provides an optional rear road
camera for pavement analysis providing options to
grow your business – collect once, sell twice.
Main features
nnLight sensor for auto brightness and balance
control for image capture
nnFull calibrated spherical view through optional
dome camera to enable city modeling
nnMarries imagery and point cloud data into a single
calibrated, user-intuitive platform
nnExternal trigger output and external time
stamping for additional sensors
nnScanners and profilers can be added separately,
after purchase, and calibrated by the user
nnNo dedicated, modified vehicles are required
nnSoftware enables access to Esri® ArcGIS for
Desktop
nnMost advanced GNSS receiver leverages global
constellations
nnCapture and edit 3D spatial objects from images
or within the point cloud
nnEconomical with data - balances data quantity
and quality, with project logistics and
postprocessing
Leica Pegasus:Two is at home on any vehicle
and sync output for additional sensors. Simply
fly-in, collect, then fly-out  – no dedicated,
modified vehicles are required – batteries included,
measure the unlimited.
Leica Pegasus:Two
Complete and easy
Enabled by a complete software workflow including
data acquisition, calibration, Novatel enabled
post-processing, object extraction, and a GIS-
enabled configurable layered storage – the Leica
Pegasus:Two is your single, easy answer.
A hardware light sensor assures the operator that
all images are useable after post-processing.
Capture to extract – your only tool needed.
Hardware features
nnCompatible with a variety of profilers, including
a single high speed 200 Hz profiler and multiple
beam profilers
nnLargest sensor to pixel in the market
– 5.5  um x 5.5  um
nnSix 4  MB cameras positioned to capture 360° x
270° view – plus optional sky and road cameras
nnUser adjustable acquisition intervals based on the
distance travelled
nnUser adjustable camera orientation
nnNovAtel ProPak6™ provides the latest and most
sophisticated precise GNSS reciver with a robust
field proven IMU for position accuracy of 20  mm
RMS after 10 seconds of outage
nnINS determination of the location, speed, velocity
and orientation at a rate of 200 Hz
nnIncludes triple band – L-Band, SBAS, and QZSS for
GPS, GLONASS, Galileo, and BeiDou constellations
nnPortable system fitting into two carrying cases
88  x  68  x  81 cm, 86.5 kg; 65  x  32  x  37 cm, 34.8 kg
nnBattery based
nnMulti-core industrial PC, 1 TB SSD, USB3 interface
plus USB, ethernet, and wireless connection from
the battery system – enabling reliable in-vehicle
connection
Leica Pegasus:Two combines the comfort and confidence of visual images with the accuracy of a point cloud at vehicle speed
together into a GIS-enabled interface with semi-automatic extraction tools.
Software features
nnSemi-automatic extraction tools
nnPavement analysis through optional
eighth camera
nnUser capable of adding acquisition point objects
in a Shapefile format during data acquisition
nnSequenced images and videos for rapid
navigation and object recognition
nnSoftware pointer “snaps” automatically and
continuously onto the point cloud data from
within an image
nnImmediate access to point clouds for an accu-
rate measurement
nnOptional 3D stereoscopic view to decrease
errors and increase throughput
nnShadowed or missing 3D points can be acquired
via photogrammetric processes
nnData capture module displays the current
location of the vehicle based on a GIS user
interface
nnData capture module displays all cameras live,
simultaneously
nnData capture module enables laser scanner
management and GNSS operation
nnLive status monitoring of system during data
acquisition
Leica Pegasus:Two – the only mobile platform
Software benefits
nnDigitize spatial objects through mobile mapping
nnA more natural approach for nonprofessional
users while offering technical interface for
advanced users
nnLidar accuracy with image-based usability
nnScalable to your applications including less
accurate simple GIS needs
nnObject Recognition – advanced features
including street sign identification and
object blurring
nnPoint cloud density less critical with image
integration – enabling economical data
collection
nnManageable data file sizes of 2 GB per km
nnShort data acquisition time
nnHigh acquisition throughput
nnHigh post-processing throughput
nnManageable licence options – compatible with
thin-client viewer
nnEsri® ArcGIS for Desktop compatible
nnLeverages Esri relational platform for advanced
features
 Whether you want to digitize your city for planning, record your road
assets for budgeting, capture a topo view for new construction, or plan
an emergency route, you need a single solution that is easy to use and
flexible. Leica Geosystems’ mobile products are integrated complete
hardware and software solutions to capture data quickly, reference
objects accurately, navigate your data effortlessly and present spatial
information easily.

Those who use Leica Geosystems products every day trust them for
their precision, their seamless integration and their superior customer
support. When data really counts, Leica Geosystems delivers geospatial
imaging solutions with precision, integration and service.

When it has to be right.

Illustrations, descriptions and technical specifications are not binding and may change.
Printed in Switzerland – Copyright Leica Geosystems AG, Heerbrugg, Switzerland, 2014.
821033en - 05.14 - galledia

Leica Viva GS25 Leica ScanStation P20 The Leica ADS100 Leica ALS70
GNSS Surveying Receiver Industry’s Best Performing Airborne Digital Sensor Airborne Laser Scanners
Peak Performance Ultra-High Speed Scanner Airborne Evolution Performance for diverse Applications

Technology Whether you want to capture airborne data of an agricultural area

System performance or of a city, record the challenges in a disaster area or the expanse of
a high tension line, you need reliable measurements and solutions for
Leica ALS70-CM and Leica ALS70-HP systems achieve your entire workflow to build image-based maps. Leica Geosystems’
Leica LS70-LP Scanner measurement rates of 500 kHz, reducing on-line flying broad array of airborne sensors and integrated software solutions
time by up to 60%. And with scan rates that allow capture data efficiently, reference imagery accurately, measure easily,
well-matched cross-track and along-track spacing. analyze and present spatial information in 3D.

Post processing Leica ALS70-HA offers an extended flying height with Those who use Leica Geosystems products every day trust them
lower scan rates appropriate to wide-area, low-point- for their precision, their seamless integration and their superior
Post-flight data processing uses Leica IPAS TC for GNSS/ density data acquisition. customer support. When data really counts, Leica Geosystems delivers
IMU data reduction and the ALS Point Processor for geospatial imaging solutions with precision, integration and service.
generation of the point cloud. Leica IPAS TC utilizes Model
ALS70-CM ALS70-HP ALS70-HA
“tightly-coupled” GNSS/IMU data processing to allow full When it has to be right.
Maximum Flying Height (m AGL) 1’600 3’500 5’000
trajectory accuracy, even when satellites are temporarily Maximum Measurement Rate (kHz) 500 500 250
obscured, reducing the need for inefficient and lengthy Field of view (degrees) The new Leica ADS100 Airborne Digital Sensor – Airborne evolution.
0 – 75 (full angle, user adjustable)
Roll stabilization
75 – active FOV
low-bank-angle turns from one flight line to the next. (automatic adaptive, degrees)
Scan patterns (user selectable) For over ten years, the Leica ADS Airborne Digital Sensor has defined airborne imaging. Just like your
sine, triangle, raster
sine 200 100
Maximum Scan Rate (Hz) triangle 158 job requirements, it has evolved
79 over time to continuously innovate in image
Cover image
quality, accuracy, acquisition
Illustrations, descriptions and technical data are not binding. All rights reserved.
raster 120 60
performance and processingLucerne,
speed.Switzerland, June Printed in Switzerland – Copyright Leica Geosystems AG, Heerbrugg, Switzerland, 2011.
Numbers of returns unlimited 2009 flown from 1600 m AGL 785440en – XI.11 – RDV
Number of intensity measurements 3 (first, second, third) At 100 knots, with a
Accuracy see graph 15-degree FOV, 50 Hz scan
Storage media removable 500 GB SSD
The new Leica ADS100 continues to 140
rate and leadkHzthe path of airborne evolution. With its number of unique features it
(MPiA)
pulse rate. Point density
Storage capacity
6 is 12
designed to meet the needs~25
of points
21st /century
m , average airborne
2
post imaging with higher acquisition efficiency, more applications
(hours @ max measurement rate) spacing 20 cm. Fusion of
and reduced costs. intensity image and classified
Summary specifications for a complete family of airborne point cloud.
LIDAR solutions
n Full multispectral color swath width of 20000 pixels n Improved Leica PAV100 gyrostabilized mount with
in RGBN for highest data acquisition efficiency adaptive control for improved image quality
n Selectable TDI stages for improved sensitivity and n Embedded Novatel SPAN GNSS/IMU with tightly coupled
expanded operational envelopeTotal Quality Management – processing to reduce fuel consumptionLeica FCMS
Leica ADS80 Leica RCD30 Leica FPES Leica PAV80
Leica ALS70-CM and ALS70-HP provide high accuracy, even in Physical specifications our commitment to total
Product brochure workflow
Product flyer Product with
brochure Product brochure Product flyer
MPiA mode n Improved cycle time to acquire smaller
customer GSDs
satisfaction. n End-to-end from mission planning Leica
at faster speed Laser class 4 in accordance with MissionPro to orthophoto and point cloud generation
Model IEC 60825-1 resp. EN 60825-1
ALS70-CM n Full color RGBN in forward, nadir and backward for
ALS70-HA with Leica XPro
ALS70-HP
more flexible stereo interpretation
37 W x 68 L x 26 H 37 W x 68 L x 27 H
Scanner
43 kg 43 kg
Size (cm), Weight (kg)
45 W x 47 D x 36 H
Control Electronics
45 kg In addition, the Leica ADS100 supports a unified aircraft installation. All aircraft components such as Leica PAV100,
Scanner 0 –40°C cabin-side temperature
Operating Temperature Camera Controller CC33 as well as operator and pilot displays can be shared with the Leica RCD30 medium format
Control Electronics 0 –40°C
Flight Management FCMS and oblique cameras, thus significantly reducing cost of ownership and simplifying operation.
Power Consumption (average, DUS5 IMU) 927 W @ 22.0 – 30.3 VDC

The new Leica ADS100 – Leading airborne evolution.

Leica ALS70-HA carries accuracy to an industry-leading

5’000 m AGL

Leica Geosystems AG
Heerbrugg, Switzerland
www.leica-geosystems.com

Leica Viva GS25 Leica ScanStation P20 Leica ADS100 Leica ALS70
GNSS Surveying Receiver Industry’s Best Airborne Digital Sensor Airborne Laser Scanners
Peak Performance Performing Ultra-High Airborne Evolution Performance for diverse
Speed Scanner Applications

Leica Geosystems AG
Heerbrugg, Switzerland
www.leica-geosystems.com
http://di.leica-geosystems.com

Asset Management
Pavement Assessment
Capturing assets for budget
planning and maintenance
scheduling, measuring road
quality for budget reporting, and
maintaining outdoor advertising
compliance happens easily with
semi-automatic data extraction
into a standard GIS interface.
Leica Pegasus:Two
Mobile Mapping Solution
Survey & Design
With the appropriate control points,
design and surveying for road
construction is enabled at vehicle
speeds. Coordinate conversion to
local datums is standard and easy
even with large datasets.
Rail Georeferencing
Enable quick and precise georeferenced
cartography of railways, non-intrusive
and safe, enables preventive mainte-
nance while reducing surveying time
and balancing staffing requirements.
Leica Pegasus:Two Product Specifications
Camera Sensor Battery
Number of cameras 8 Weight 34.8 kg
CCD size 2000 x 2000 Size 65 x 32 x 37cm
Pixel size 5.5 x 5.5 microns
Maximum frame rate 8 fps x camera, equal to 256 M pixels x second Environmental
(collected, compressed, stored)
Lens 8.0 mm focal, ruggedised; 2.7 mm focal, top Operating temperature 0° C to + 40° C, non-condensing
Coverage 360° x 270° excluding rear down facing camera IP protection level IP52, excluding the scanner.
Please refer to scanner documentation.
Scanner Storage temperature – 20° C to + 50° C, non-condensing

Please refer to scanner manufacturer datasheet. Typical Accuracy*

Control Unit Hortizontal accuracy 0.020 m RMS

Vertical accuracy 0.015 m RMS
Multi-core industrial PC, low power consumption, 1 TB SSD hard disk with USB3 Conditions Without control points, open sky conditions
interface. USB, Ethernet, and wireless connections available through the battery
system. Service support available through remote interface. Productivity *

Battery System Performance Data produced per project

Typical operating time 9 hrs, profiler version; 13 hrs, scanner version
VAC input voltage 100 min to 240 max VAC autoranging
AC input power (charge cycle) 350 W Max
AC input frequency 50/60 Hz
Time to full charge 11.0 max h starting 0 %
DC output 21 – 29 volts
Watt/Amp hours 2685 Watts hours / 104 Amp hours
(compressed) 43 GB/h or 1.1 GB/km
Data produced after post
processing (images and point cloud) 60 GB/h or 1.5 GB/km
Post processing time 1 hr of data collection equals 1 hr post-processing
without colourising, 1 hr of data collection equals
5 hrs of post-processing with colourising.
Export Options

GNSS/IMU/SPAN Sensor Images JPEG and ASCII for photogrammetric parameters

Point cloud Binary LAS 1.2. X,Y,Z, intensity, RGB values.
Includes triple band – L-Band, SBAS, and QZSS for GPS, GLONASS, Galileo, and BeiDou Colourisation by camera pictures.
constellations, single and dual antenna support, wheel sensor input, tactical grade – Hexagon Point Format.
no ITAR restrictions, low noise FOG IMU.
Accuracy Test Conditions* 
Frequency 200 Hz
MTBF 35,000 hour Scanner frequency 1,000,000 points per second
Gyro bias in-run stability (±deg/hr) 0.75 Image distance 3 m
Gyro bias offset (deg/hr) 0.75 Driving speed 40 km/h
Gyro angular rand. walk (deg/√hr) 0.1 System configuration No wheel sensor, no dual antenna
Gyro scale factor (ppm) 300 Laser scanner ZF 9012
Gyro range (±deg/s) 450 Max baseline length 3.2 km
Accelerometer bias (mg) 1
Accelerometer scale factor (ppm) 300 Repeatability*
Accelerometer range (±g) 5
Position accuracy after 10 sec Based on open sky, GPS+GLONASS processing, and phase differential. Points were
of outage duration 0.020 m RMS horizontal, 0.020 m RMS vertical, measured manually from within the point cloud. A ring with 26 check points were
0.008 degrees RMS pitch/roll, 0.013 degrees collected 4 times, for a total of 104 observations. Check points were measured with
RMS heading. TPS and levelling.

Optional Accessories Resulting mean error for X,Y,Z was -0.004,-0.004,0.001 meters, and the resulting
standard deviation for X,Y,Z was 0.011,0.012,0.008 meters.
Wheel sensor
1,000 pulses per rotation, IP 67, integrated time stamping of the wheel sensor data
(handled by GNSS controller). Processing of the wheel sensor data is integrated with * If not specified, datasheet is refers to a Leica Pegasus:Two with a ZF9012 profiler
the Kalman filtering based trajectory computational software. A variety of wheel sizes and an iMAR FSAS IMU. Datasheet is subject to change without notice.
supported.

Rotational platform
Optional rotational platform is available to provide an alternative scanner or profiler
position while maintaining the camera geometry.

Sensor Platform
Weight 51 kg (without case), 86 kg (with case)
Size 60 x 76 x 68 cm, profiler version
60 x 79 x 76 cm, Leica ScanStation P20
Size with case 68 x 68 x 65 cm

From left to right:

Optional wheel sensor, battery with power cable and rain cover, sensor system.

Illustrations, descriptions and technical data are not binding. All rights reserved. Printed in Switzerland –
Copyright Leica Geosystems AG, Heerbrugg, Switzerland, 2014. 821034en - 05.14 - galledia

Leica Geosystems AG
Heerbrugg, Switzerland
www.leica-geosystems.com
http://di.leica-geosystems.com
Z+F PROFILER® 9012 How we build reality
Z+F PROFILER® 9012
Datasheet

Dimensions and weight

Dimensions (w x d x h) 320 x 260 x 340 mm

Weight 13.5 kg

Flanges on bottom / left / right sides, consisting of:

Mounting flanges 7 2 x 6 mm holes for orientation pins
6 x M6 x 10 mm threaded holes for mounting screws

Additional technical specifications of the Z+F PROFILER® 9012M

Lasersystem in Marker Mode The fastest way to scan
www.zf-laser.com
• 3R (according to EN60825-1/ANSI Z 136.1),
with active marker mode
Laser class • 1 (according to EN60825-1/ANSI Z 136.1),
without marker mode or with active marker mode at
distances >2m (NOHD)*
Wave length 635 nm
Pulse duration 185 µs
Repetition rate 49 Hz
Peak output power < 6 mW
NOHD (Nominal Ocular Hazard Distance) 2m

All further technical data is similar to the standard Z+F PROFILER® 9012.
* Please contact Z+F for further information

We also have a Z+F Z+F PROFILER® 9012 MA version available. Please contact info@zf-laser.com if you need
any further information.

© 2015 Copyright Zoller + Fröhlich GmbH · ZF UK Laser Ltd. · Z+F USA, Inc. · Z+F Italy Srl
Reproduction and copies only with written permission from the copyright holders. All rights reserved. Errors and changes
reserved.

4
Z+F PROFILER® 9012
The Z+F PROFILER® 9012 is a compact high-speed phase-based laser scanner with great pre-
cision, 119 m range and a 360° field of view. With its scan rate of more than 1 million points/
sec. and scanning speed up to 200 profiles/sec., very short distances between profiles can be
achieved even at high platform speeds.

Laser system Settings

Laser class 1 (according to EN60825-1 / ANSI Z136.1) 200 Hz 100 Hz 50 Hz
Spindle Speed
(12,000 rpm) (6,000 rpm) (3,000 rpm)
Beam divergence < 0.5 mrad
Data rate / Data rate / Data rate /
Beam diameter Approx. 1.9 mm (at 0.1 m distance) Pixel/360°
x noise factor 3 x noise factor 3 x noise factor 3
Ambiguity distance 119 m (above, range reading restarts at zero) 20,480 --- --- 1016 KHz / x 2.8
Minimum distance 0.3 m 10,240 --- 1016 KHz / x 2.8 508 KHz / x 2.0
Range resolution 0.1 mm 5,120 1016 KHz / x 2.8 508 KHz / x 2.0 254 KHz / x 1.4
Data acquisition rate Max. 1.016 million pixel/sec.
Linearity error ≤ 1 mm
Range drift (full -10° C ... +45° C) < 2 mm (without reference) < 0.3 mm (with ref.) Interfaces
Z+F Z+F Z+F Z+F Z+F Z+F Data storage Internal 128 GB SATA, 2 x external 32 GB USB flash drive
Accuracy PROFILER® PROFILER® PROFILER® PROFILER® PROFILER® PROFILER®
1 GB Ethernet
9012 9012 A 9012 9012 A 9012 9012 A Data interface
2 x USB-2.0 (for removable memory sticks)
Target Distance White (80%) 1 Grey (37%) 1 Black (14%) 1
2h ... 4h for each 32 GB memory 5
Data recording time 4
1 Sigma Range Noise, 0.5 m 0.5 mm 0.5 mm 0.8 mm 0.8 mm 1.3 mm 1.3 mm 4h ... 8h in total for internal 128 GB memory 6
1 Sigma Range Noise, 1 m 0.5 mm 0.3 mm 0.6 mm 0.4 mm 1.0 mm 0.8 mm Remote Controlbox for power on / off, emergency stop and display for
Control panel
1 Sigma Range Noise, 2 m 0.3 mm 0.2 mm 0.5 mm 0.3 mm 0.8 mm 0.4 mm status messages
• External encoder input for wheel sensor (Odometer)
1 Sigma Range Noise, 5 m 0.3 mm 0.2 mm 0.4 mm 0.3 mm 0.6 mm 0.5 mm
• GPS input (PPS pulse + UTC message over RS232)
1 Sigma Range Noise, 10 m 0.2 mm 0.2 mm 0.3 mm 0.3 mm 0.5 mm 0.5 mm Synchronization interface • Linesync output (TTL pulse per profile)
1 Sigma Range Noise, 25 m 0.4 mm 0.4 mm 0.6 mm 0.6 mm 1.1 mm 1.1 mm • Rotor sync in / out (angular movement of two parallel devices
can be synchronized)
1 Sigma Range Noise, 50 m 0.9 mm 0.9 mm 1.4 mm 1.4 mm 3.1 mm 3.1 mm

Deflection unit Power supply

PROFILER: 22 - 28 V DC (24 V DC typ.)
Deflection system Completely encapsulated, rotating mirror Input voltage
Power supply: 100 – 240 V AC
Vertical field of view 360° un-obstructed
Power consumption (24V) 7.0A @ 200Hz; 3.7A @ 100Hz; 3.0A @ 50Hz; 10.5A during rotor speed up
Angular resolution 0.0088°
Angular accuracy 0.02° rms 2
Rotation speed 50 Hz up to 200 Hz (max. 12,000 rpm) Ambient conditions
Operating temperature -10 °C … +45 °C
Storage temperature -20 °C … +50 °C
Lighting conditions All natural conditions
Humidity Non-condensing
Protection class IP 54

1. Range Noise (1-Sigma interval) is specified at 127 KHz data rate, which is the standard data rate for any Z+F noise specs.
However, these specs have to be converted to the appropriate data rate in KHz (1,000 pixel/sec.), see table “settings“.
Detailed explanation on request – please contact info@zf-laser.com
2. RMS (Root Mean Squared): mean value of squared errors
3. The actual data rate in KHz (1,000 pixel/sec.) is stated for each available setting. The Range Noise specs have to be
multiplied by the stated factors, yielding the actual 1-Sigma range noise for a particular setting
4. Continuous data recording at max. data rate of 1,016 million pixel/sec., (i.e. 200 Hz spindle speed,
5120 pixel/360° or 100 Hz spindle speed 10,240 pixel/360°)
5. Data compression factor depends on scanned scene
© 2015 Copyright Zoller + Fröhlich GmbH · ZF UK Laser Ltd. · Z+F USA, Inc. · Z+F Italy Srl
6. Data stream is automatically routed to empty memory in case the selected memory stick is full – 2 x 32 GB are available in total Reproduction and copies only with written permission from the copyright holders. All rights reserved. Errors and changes
7. Technical drawing available upon request reserved.

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