DJI Zenmuse L2 - LiDAR and RGB for Aerial Surveying

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System Performance

Detection Range

• 450m @50% reflectivity, 0 klx
  250m @10% reflectivity, 100 klx
  
  Typical data. Measured using a flat subject with a size larger than the laser beam diameter, perpendicular angle of incidence, and an atmospheric visibility of 23 km. In low-light environments, the laser beams can achieve the optimal detection range. If a laser beam hits more than one subject, the total laser transmitter power is split, and the achievable range is reduced. The maximum detection range is 500 m.

Point Cloud Rate

• Single return: max. 240,000 pts/s
  Multiple returns: max. 1,200,000 pts/s

System Accuracy

• Horizontal: 5 cm @ 150 m
  Vertical: 4 cm @ 150 m
  
  Measured under the following conditions in a DJI laboratory environment: Zenmuse L2 mounted on a Matrice 350 RTK and powered up. Using DJI Pilot 2’s Area Route to plan the flight route (with Calibrate IMU enabled). Using repetitive scanning with the RTK in the FIX status. The relative altitude was set to 150 m, flight speed to 15 m/s, gimbal pitch to -90°, and each straight segment of the flight route was less than 1500 m. The field contained objects with obvious angular features, and used exposed hard ground check points that conformed to the diffuse reflection model. DJI Terra was used for post-processing with Optimize Point Cloud Accuracy enabled. Under the same conditions with Optimize Point Cloud Accuracy not enabled, the vertical accuracy is 4 cm and the horizontal accuracy is 8 cm.

Real-Time Point Cloud Coloring Coding

• Reflectivity, Height, Distance, RGB

LiDAR

Ranging Accuracy (RMS 1σ)

• 2 cm @ 150 m
  
  Measured in an environment of 25° C (77° F) with a subject of 80% reflectivity at a distance of 150 m. The actual environment may differ from the testing environment. The figure listed is for reference only.

Maximum Returns Supported

• 5

Scanning Modes

• Non-repetitive scanning pattern, Repetitive scanning pattern

FOV

• Repetitive scanning pattern: Horizontal 70°, Vertical 3°
  Non-repetitive scanning pattern: Horizontal 70°, Vertical 75°

Minimum Detection Range

• 3 m

Laser Beam Divergence

• Horizontal 0.2 mrad, Vertical 0.6 mrad
  
  Measured at full width at half maximum (FWHM) conditions. 0.6 mrad signifies that for every 100m increase in distance, the diameter of the laser beam expands by 6 cm.

Laser Wavelength

• 905 nm

Laser Spot Size

• Horizontal 4 cm, vertical 12 cm @ 100 m (FWHM)

Laser Pulse Emission Frequency

• 240 kHz

Laser Safety

• Class 1 (IEC 60825-1:2014)

Accessible Emission Limit (AEL)

• 233.59 nJ

Reference Aperture

• Effective Aperture: 23.85 mm (equivalent to circular)

Max Laser Pulse Emission Power Within 5 Nanoseconds

• 46.718 W

Inertial Navigation System

IMU Update Frequency

• 200 Hz

Accelerometer Range

• ±6 g

Angular Velocity Meter Range

• ±300 dps

Yaw Accuracy (RMS 1σ)

• Real-time: 0.2°, Post-processing: 0.05°
  
  Measured under the following conditions in a DJI laboratory environment: Zenmuse L2 mounted on a Matrice 350 RTK and powered up. Using DJI Pilot 2’s Area Route to plan the flight route (with Calibrate IMU enabled). RTK in the FIX status. The relative altitude was set to 150 m, flight speed to 15 m/s, gimbal pitch to -90°, and each straight segment of the flight route was less than 1500 m.

Pitch/Roll Accuracy (RMS 1σ)

• Real-time: 0.05°, Post-processing: 0.025°
  
  Measured under the following conditions in a DJI laboratory environment: Zenmuse L2 mounted on a Matrice 350 RTK and powered up. Using DJI Pilot 2’s Area Route to plan the flight route (with Calibrate IMU enabled). RTK in the FIX status. The relative altitude was set to 150 m, flight speed to 15 m/s, gimbal pitch to -90°, and each straight segment of the flight route was less than 1500 m.

Horizontal Positioning Accuracy

• RTK FIX: 1 cm + 1 ppm

Vertical Positioning Accuracy

• RTK FIX: 1.5 cm + 1 ppm

RGB Mapping Camera

Sensor

• 4/3 CMOS, Effective Pixels: 20 MP

Lens

• FOV: 84°
  Format Equivalent: 24 mm
  Aperture: f/2.8-f/11
  Focus Points: 1 m to ∞ (with autofocus)

Shutter Speed

• Mechanical Shutter: 2-1/2000 s
  Electronic Shutter: 2-1/8000 s

Shutter Count

• 200000

Photo Size

• 5280×3956 (4:3)

Still Photography Modes

• Single shot: 20 MP
  Timed: 20 MP
  JPEG Timed Interval: 0.7/1/2/3/5/7/10/15/20/30/60 s
  RAW/JPEG + RAW Timed Interval: 2/3/5/7/10/15/20/30/60 s

Video Codec and Resolution

• H.264
  4K: 3840×2160@30fps
  FHD: 1920×1080 @30fps

ISO

• Video: 100-6400
  Photo: 100-6400

Video Bitrate

• 4K: 85Mbps
  FHD: 30 Mbps

Supported File System

• exFAT

Photo Format

• JPEG/DNG (RAW)

Video Format

• MP4 (MPEG-4 AVC/H.264)

Gimbal

Stabilization System

• 3-axis (tilt, roll, pan)

Angular Vibration Range

• 0.01°

Mounting

• Detachable DJI SKYPORT

Mechanical Range

• Tilt: -143° to +43°
  Pan: ±105°
  
  * Structural limit, not controllable range.

Controllable Range

• Tilt: -120° to +30°
  Pan: ±90°

Operation Mode

• Follow/Free/Re-center

Data Storage

Raw Data Storage

• Photo/IMU/Point cloud/GNSS/Calibration files

Point Cloud Data Storage

• Real-time modeling data storage

Supported microSD Cards

• microSD: Sequential writing speed 50 MB/s or above and UHS-I Speed Grade 3 rating or above; Max capacity: 256 GB. Use the recommended microSD cards.

Recommended microSD Cards

• Lexar 1066x 64GB U3 A2 V30 microSDXC
  Lexar 1066x 128GB U3 A2 V30 microSDXC
  Kingston Canvas Go! Plus 128GB U3 A2 V30 microSDXC
  Lexar 1066x 256GB U3 A2 V30 microSDXC

Post-Processing

Supported Software

• DJI Terra

Data Format

• DJI Terra supports exporting point cloud models in the following formats:
  PNTS/LAS/PLY/PCD/S3MB