User Guide: Performing a Boresight in LiDAR Boost Post Process

Prerequisites

• An RD file (.rd) containing GNSS and IMU raw data.
• A base station file (RINEX format) for GNSS corrections if RTK not present in real time.
• One or more .pcap LiDAR data files
• LiDAR to INS offsets:
  • Minimum: vertical offset between the INS and the LiDAR.
  • Optional: INS to LiDAR position (LIP) and rotation (LIR) offsets

Step 1: Input Files

Open LiDAR Boost Post Process and click the Input Files tab.

1. In the RD* field, select your RD file (.rd).
2. In the Base Stations field, select your RINEX base station file.
3. Click the + button next to LiDARs. The LiDAR Configuration dialog opens. Configure the LiDAR:
   • Select your sensor from the Select LiDAR dropdown.
   • In the PCAP* field, select your LiDAR data file.
   • Set Use only vertical offset to:
     • Yes if an LIP/LIR offset is not known, then enter the vertical offset value.
     • No if an initial LIP/LIR is known; then drag and drop your files.
   • Set RPM to match your LiDAR. The default is 600.
   • Click Accept.
4. Click Continue.

Step 2: Processing Options

1. Click the Processing Options tab.
2. Under Process type, select Boresight.
3. Under Trajectory Settings, set Processing type to:
   • Combined for best results. Combined blends forward and backward processing runs.
   • Simulated for processing speed. 
4. Under Boresight Settings, open the Select LiDAR to boresight dropdown and select the correct LiDAR file.
5. Choose your optimization mode:
   • Select Rotation if you already know the full translational offset.
   • Select Rotation and horizontal translation if you only know the vertical offset. This is the recommended fallback. The system optimizes horizontal translation well.
   • Select Rotation and 3D translation only if needed. The system optimizes full 3D translation less reliably.

Step 3: Process

1. Click Process. The software first computes a trajectory and displays it on the map.
2. Select the data to use in the Data Overlap timeline. Drag the red handles to set the start and end of the segment.
   • For short datasets with good GNSS and LiDAR feature coverage, click Auto. This selects the overlap automatically and is the recommended option.
   • For long datasets, shorten the overlap manually. Select the section with the best GNSS and LiDAR coverage. Select approximately 10 to 15 minutes of data.
3. Click Accept Overlap to continue processing.

Step 4: Boresight Complete

When processing finishes, the Boresight tab shows the results log.

• LIR Results lists the original, adjustment, and optimised rotation values for each axis. Difference between initial and final LIRs (deg) shows the total rotation change.
• LIP Results lists the same for the position offset. Difference between initial and final LIPs (m) shows the total position change.
• The optimised LIP and LIR files are:
  • Automatically loaded back into the Input Files tab. You can run a trajectory or map generation immediately, using the calibrated offsets.
  • Saved in a process folder inside the output directory as 'boresighted.lip' and 'boresighted.lir'