Contents

Introduction
Overview
Connecting the xNAV
Connecting the Survey+
Configuring the xNAV/Survey+
  Serial 1 output
  PPS
Collecting your data
Processing your OxTS raw data
Georeferencing your 9012 Profiler data 

Introduction

The Z&F 9012 Profiler is a 2D LiDAR laser scanning system ideal for use in land based mobile mapping applications. In order to create an adjusted, properly georeferenced pointcloud suitable for feature extraction and analysis, an inertial navigation system (INS) is required. When synchronised with a LiDAR system, the GNSS+IMU data fusion provides accurate, robust trajectory information that combines with the mobile LiDAR data.

The xNAV550 and Survey+ INS' are an ideal companion to the Z&F 9012 profiler. They incorporate survey-grade RTK capable dual GNSS receivers and high-grade MEMS inertial sensors for maximum position accuracy and precise heading and orientation measurements.

Overview

In order to integrate the xNAV550 or Survey+ and the Z&F 9012 Profiler, the following equipment is needed:

• OxTS INS - xNAV550 or Survey+ INS
• OxTS INS User cable
• GNSS antennas and cables
• Z&F 9012 Profiler and associated cables
• OxTS to Z&F Adaptor cable (details in this guide)
• Power supply
• Laptop running NAVsuite
• Ethernet cable

Connecting the xNAV

The xNAV user cable splits into a number of different connectors. The relevant connectors for connecting to the Z&F 9012 Profiler are the J4 RS-232 serial connector and the J5 Digital I/O connector. The diagram below shows the exact pin-outs but you can also use an adaptor cable from OxTS. If you would like to purchase that cable, quote part no. 14C0214A when contacting OxTS.

xNAV user cable diagram

xNAV to Z&F 9012 Profiler pin-out

Connecting the Survey+

The Survey+ user cable has a slightly different layout to the xNAV due to its additional available pins on the front panel. The relevant connectors for connecting to the Z&F 9012 Profiler are the J2 RS-232 serial connector (J4 can also be used, this connectoris configured as "Serial 2" inNAVconfig) and the J5 Digital I/O connector. The diagram below shows the exact pin-outs

Survey+ user cable diagram

Survey+ to Z&F 9012 Profiler pin-out

Configuring the xNAV/Survey+

This guide won’t cover the full process of configuring the xNAV/Survey+, just the steps relevant to working with the Z&F 9012 Profiler. Full details for configuration can be found in the xNAV user manual and Survey+ manual.

The xNAV is configured using the NAVconfig software supplied. The configuration can be created offline without being connected to the xNAV, but in order to commit the configuration to the system you will need to connect to it with the Ethernet connector on the user cable. All the settings relevant for this integration are found on the Options page, seen below.

NAVconfig Options page

Serial 1 output

The Z&F 9012 Profiler requires a once-per-second GPZDA NMEA message to timestamp the laser firing. The NMEA messages are configured on the serial output.

Select the Serial 1 output option and click the "..." button to open the settings window.

Serial 1 output settings - general

On the General tab, select NMEA from the Packet dropdown box and 9600 from the Baud rate dropdown box.

When NMEA is selected, the NMEA tab will appear. Click the tab to configure the NMEA message settings.

Serial 1 output settings - NMEA

On the NMEA tab, the GPZDA message should be set to 1 Hz.

By default, the GPGGA and GPHDT messages may also already be set to 1 Hz. If this is the case, these should be disabled as the Z&F 9012 Profiler will not accept any other NMEA messages and they may be misinterpreted.

The checkboxes for the triggers should be left blank.

Click OK to accept the changes.

PPS

A one-pulse-per-second (1PPS) output is used to synchronise the Z&F 9012 Profiler data to GPS time.

On the NAVconfig Options page, scroll down to the 1PPS setting. Click the setting and select rising edge from the dropdown box.

NAVconfig PPS setting

Collecting your data

All OxTS INS' will automatically record raw data onto their onboard storage, you can FTP to the IP address of your system at the end of the data collection, either via Windows FTP, an FTP client,  or through NAVsolve.

Z&F data will be recorded in Z&F's Laser Control software. Be sure to check in the Z&F software that the PPS and NMEA are being received successfully before completing your survey.

Processing your OxTS raw data

Follow the NAVsolve manual to take your INS' raw data and turn it into a file that the Z&F 9012 Profiler can use.

When you reach the export page of NAVsolve, output a CSV with the following fields:

NOTE: Don't worry if the order is incorrect as you can rearrange it in the Z&F processing software.

Georeferencing your 9012 Profiler data

The actual georeferencing will take place using your OxTS output file and the Z&F 9012 Profiler raw data. To do this the Z&F Syncat software is needed. For more information follow the link and contact Z&F if more help is needed.

For any additional information that isn't covered in the guide above, contact OxTS Support at support@oxts.com