User Guide: Generating a LiDAR Boost Map 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.
• A full LiDAR calibration (LIP and 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 No if a full LIP/LIR is known, then load your LIR and LIP files. If a full LIP/LIR offset is not known, you must first run a boresight to obtain the full calibration: see the boresight guide.
   • Set RPM to match your LiDAR. The default is 600.
   • Click Accept.
4. Click Continue.

Step 2: Processing Options

Click the Processing Options tab.

1. Under Process type, select Map Generation.
2. Configure the Trajectory Settings:
   • Processing type: Combined blends forward and backward processing runs for the highest accuracy. Simulated runs a single forward pass, which is faster but less accurate.
   • Use smoothing: Smoothing refines the solution using the full dataset, which improves accuracy across the trajectory.
   • GNSS recovery: This controls how many unexpected GNSS updates are ignored before the engine is forced to use them. No applies the default behavior. Yes lets you set the threshold manually. GNSS updates run at 4 Hz and velocity at 10 Hz.
   • Use angular GAD updates (Beta): This adds LiDAR angular rate updates to the standard velocity updates. It is a beta feature, and the performance benefit is not yet confirmed.
   • Use ZVU (Zero Velocity Updates): ZVU detects when the system is stationary and constrains the solution to zero motion. This reduces drift during a GNSS outage. The GNSS rejection duration, Packets before activation, and Speed threshold fields tune when ZVU activates.
3. Under LiDAR Boost Settings, choose your algorithm:
   • Odometry provides velocity updates to the INS.
   • SLAM provides position updates to the INS using loop closure. Use SLAM where the dataset contains loop closures, such as a multi-storey indoor car park. SLAM detects the loop closure and corrects accumulated drift, giving the most accurate map and avoiding double vision.

Step 3: Process

1. Click Process. The software computes a GNSS/INS trajectory and displays it on the map. Select the data to use in the Data Overlap timeline. Drag the red handles to set the start and end of the segment. Target the sections with GNSS-denied or poor coverage. These sections benefit most from LiDAR Boost. Data with good GNSS coverage is already accurate and does not need LiDAR Boost.
2. Click Accept Overlap. The remaining stages run automatically:
   • Odometry runs the odometry stage.
   • SLAM runs odometry, then a trajectory, then SLAM.

Step 4: Map generation complete

When processing finishes, the outputs are saved to a timestamped Process folder inside your output folder.

The map is the .map file (for example, lidar-slam.map). Load this file onto your WayFinder Prime or WayFinder Hub to enable real-time LiDAR Boost map matching navigation.

The folder also contains supporting outputs, including the the optimised trajectory and edges / planes point clouds (.laz files) that make up the map.