Zenmuse L1

Instant Clarity. Superior Accuracy.

A Lidar + RGB Solution for Aerial Surveying

The Zenmuse L1 integrates a Livox Lidar module, a high-accuracy IMU, and a camera with a 1-inch CMOS on a 3-axis stabilized gimbal. And it all works together with DJI’s 3-axis stabilization system. When used with Matrice 300 RTK and DJI Terra, the L1 forms a complete solution that gives you real-time 3D data throughout the day, efficiently capturing the details of complex structures and delivering highly accurate reconstructed models.

Integrates a Lidar module, an RGB camera, and a high-accuracy IMU

High Efficiency 2 km2 covered in a single flight [1]

High Accuracy Vertical Accuracy: 5 cm / Horizontal Accuracy: 10 cm [2]

Point Rate: 240,000 pts/s

Supports 3 Returns [3]

Detection Range: 450 m (80% reflectivity, 0 klx)

IP44 Rating

Point Cloud LiveView

Digitize without Compromise

Exceptional Efficiency

Generate true-color point cloud models in real-time, or acquire 2 km2 of point cloud data in a single flight [1] using the Livox frame Lidar module with a 70° FOV and a visible light camera with a 1-inch sensor.

Unparalleled Accuracy

Render centimeter-accurate reconstructions thanks to the high-accuracy IMU, a vision sensor for positioning accuracy, and the incorporation of GNSS data.

Ready When You Are

The IP54 rating allows the L1 to be operated in rainy or foggy environments. The Lidar module’s active scanning method enables you to fly at night.

Visualize Data as You Fly with Livox Lidar Module

-Frame Lidar with up to 100% effective point cloud results -Detection Range: 450m (80% reflectivity, 0 klx) / 190 m (10% reflectivity, 100 klx) -Effective Point Rate: 240,000 pts/s -Supports 3 Returns[3] -Non-repetitive scanning pattern, Repetitive scanning pattern

Everything in View
RGB Camera

20MP 1-inch CMOS
Mechanical Shutter

Accurate Details at Your Disposal High-accuracy IMU

Accuracy: 0.025° (roll/pitch) / 0.08° (yaw)
Vision Sensor for Positioning Accuracy
GNSS, IMU, RGB Data Fusion

Воссоздайте мир в трехмерном облаке точек

Recreate the World in 3D Point Clouds

Point Cloud LiveView

Real-time point clouds provide immediate insights onsite, so operators are informed to make critical decisions quickly. You can also verify fieldwork quality by checking point cloud data immediately after each flight.

Measurement and Annotation

Acquire and communicate critical dimensions on the point cloud model using measurements and annotations.

One-stop Post-processing

DJI Terra fuses the IMU and GNSS data for point cloud and visible light calculations, in addition to conducting POS data calculations so you can effortlessly generate reconstructed models and accuracy reports.

Applications

Topographic

Quickly generate topographic maps using accurate digital elevation models.

Emergency Response

Any time of the day, gather critical insights in real-time using true-color point clouds.

AEC and Surveying

Manage the full project lifecycle using highly accurate point clouds and 3D models.

Law Enforcement

Gain situational awareness and forensic intel in real-time to make informed decisions on site.

Energy and Infrastructure

Model sparse or complex structures in detail to manage them efficiently and safely.

Agriculture and Forestry Management

Gain insight into vegetation density, area, stock volume, canopy width, and growth trends.

[1] Over 30 minutes, at a speed of 13 m/s, a flight altitude of 100 m, with a side overlap rate of 10%, point cloud density > 200 points/m2.

[2] The accuracy was measured after a 5-minute warm up, using Mapping Mission with Calibration Flight enabled in DJI Pilot, and with the RTK in FIX status. The relative altitude was set to 50 m, flight speed to 10 m/s, gimbal pitch to -90°, and each straight segment of the flight route was less than 1000 m. DJI Terra was used for post-processing.

[3] In operations with two or three returns, the point rate is 480,000 pts/s

GENERAL SPECIFICATIONS

Product Name	Zenmuse L1
Dimensions	152 × 110 × 169 mm
Weight	930±10 g
Power	30 W
Protection Rating	IP54
Supported UAV	Matrice 300 RTK
Operating Temperature	-20° to 50° C (-4° to 122° F)
Storage Temperature Range	-20° to 60° C (-4° to 140° F)

SYSTEM PERFORMANCE

Detection Range	450 m @ 80% reflectivity, 0 klx ; 190 m @ 10% reflectivity, 100 klx
Point Rate	Single return: max. 240,000 pts/s ; Multiple return: max. 480,000 pts/s
System Accuracy(RMS 1σ)1	Horizontal: 10 cm @ 50 m; Vertical: 5 cm @ 50 m
Real-time Point Cloud Coloring Modes	Natural color; Reflectivity, Distance, RGB Height

LIDAR

Measurement Accuracy	3 cm @ 100 m
Max Returns Supported	3
Scan Modes	Repetitive scanning pattern, Non-repetitive scanning pattern
FOV	Repetitive scanning pattern: 70.4° (horizontal) × 4.5° (vertical) Non-repetitive scanning pattern: 70.4° (horizontal) × 77.2° (vertical) ;
Laser Safety	1

INTERNAL NAVIGATION SYSTEM

IMU Update Frequency	200 Hz
Accelerometer Range	±8 g
Angular Velocity Meter Range	±2000 dps
Yaw Accuracy (RMS 1σ)	Real-time: 0.18°, Post-processing: 0.08°
Pitch / Roll Accuracy (RMS 1σ)	Real-time: 0.03°, Post-processing: 0.025°

AUXILIARY POSITIONING VISION SENSOR

Resolution	1280×960
FOV	95°

RGB MAPPING CAMERA

Sensor Size	1 inch
Effective Pixels	20 MP
Photo Size	4864×3648 (4:3); 5472×3648 (3:2)
Focal Length	8.8 mm / 24 mm (Equivalent)
Shutter Speed	Mechanical Shutter Speed: 1/2000 - 8 s Electronic Shutter Speed: 1/8000 - 8 s
ISO	Video: 100 – 3200 (Auto), 100 – 6400 (Manual) Photo: 100 - 3200 (Auto), 100 - 12800 (Manual)
Aperture Range	f/2.8 - f/11

GIMBAL

Stabilized System	3-axis (tilt, roll, pan)
Angular Vibration Range	0.01°
Mount	Detachable DJI SKYPORT
Mechanical Range	Tilt: -120° to +30°; Pan: ±320°
Operation Modes	Follow/Free/Re-center

STORAGE

Raw Data Storage	Photo/IMU/GNSS/Calibration files
Point cloud data storage	Storage of simulation data in real time
Supported SD Cards	microSD: Class 10 / UHS-1 or higher; Max capacity: 256 GB

POST-PROCESSING SOFTWARE

Supported Software	DJI Terra
Data Format	DJI Terra supports exporting standard format point cloud models: Point cloud format: PNTS/LAS/PLY/PCD/S3MB format reconstruction model format: B3DM/OSGB/PLY/OBJ/S3MB

All specifications are obtained in laboratory conditions and can only be used as reference data.

General

1. What is the protection level of the Zenmuse L1?

The L1 has an IP54 rating according to the IEC60529 standard. This means that it is protected against solid objects over 1mm in size and against water splashed from all directions. The protection level is not permanent however and will decrease over time due to device wear.

To ensure the highest levels of protection:

Before installing, make sure that the interface and surface of the gimbal are dry;
Before use, make sure that the gimbal is firmly installed on the drone and the SD card protective cap is clean, free of foreign objects, and closed;
Before opening the SD card protective cap, wipe the surface of the drone clean.

2. What aircraft is the L1 compatible with?

The L1 is compatible with the M300 RTK. Before using, please upgrade the firmware of the drone and remote controller to the latest version.

3. Which apps are compatible with the L1?

The L1 currently supports only the Android version of the DJI Pilot App.

4. Does the camera require an SD card?

The camera requires a MicroSD card with Class 10 or higher transmission speed or rated UHS-1 , with up to 256 GB supported.

5. What is the Field of View (FOV) of the L1’s Lidar?

In Non-repetitive Scanning mode, the FOV is 70.4°x77.2°.

In Repetitive Scanning mode, the FOV is 70.4°x4.5°.

6. What is the maximum measuring range of the L1?

The maximum measuring range of the L1 is 190m@10%, 100klx ; 450m@80%, 0klx. The recommended typical working height is 50m-120m.

7. What is the scanning frequency of the L1?

The L1 provides three scanning frequencies: one/two returns: 80K/s, 160K/s, and 240K/s; three returns: 80K/s, 240K/s.

8. How many scanning modes does the L1 have?

The L1 has two scanning modes: Non-repetitive Scanning mode and Repetitive Scanning mode.

9. How many returns does the L1 support?

The L1 supports 3 types of returns:

One return;
Two returns;
Three returns.[TR2]

10. What does the L1’s Point Cloud LiveView do?

The L1 collects point cloud models based on RTK and displays the collected models on Pilot in real time.

The following features are supported:

Rotating, dragging, zooming, quick switching of perspectives, and centering;
Multiple coloring modes including RGB, reflectivity, elevation and distance;

11. How does the L1 perform high-accuracy post-processed modeling?

For high-accuracy post-processed modeling, you can import the data from the SD card into DJI Terra with one click. This will generate a colorized point cloud model with high-accuracy PPK-IMU position and orientation calculation supported.

12. Which model reconstruction formats does the L1 support?

The L1 supports the following model reconstruction formats:

Point cloud formats: PNTS, LAS, PLY, PCD and S3MB

13. Which types of flight missions does the the L1 support?

The L1 currently supports Mapping, Linear Flight Mission, Oblique and Waypoint.

14. What is the IMU accuracy of the L1?

In typical operating scenarios, the IMU accuracy of the L1 is 0.025°(roll/pitch)/0.15°(yaw). The accuracy was measured under the following conditions in a DJI laboratory environment: after a 5-minute warm up, using Mapping Mission with Calibration Flight enabled in DJI Pilot, and with the RTK in FIX status. The relative altitude was set to 50 m, flight speed to 10 m/s, gimbal pitch to -90°, and each straight segment of the flight route was less than 1000 m. DJI Terra was used for post-processing.

15. What is the L1’s auxiliary vision sensor used for?

The vision sensor provides altitude data. This means that if the GNSS signal temporarily fails, the aircraft’s accuracy will not be affected for up to 60 seconds. Support coming soon.

16. What is the L1’s RGB camera used for?

The RGB camera of the L1 provides basic functions for taking photos and recording videos and provides real-time color information for the point cloud data during the scanning process. This allows the L1 to output true color point clouds and reality models. Note that Lidar scanning and video recording cannot work simultaneously.

17. What is the surveying and mapping accuracy of the L1?

The vertical accuracy of the L1 can reach 5 cm and the horizontal accuracy can reach 10 cm. The accuracy was measured under the following conditions in a DJI laboratory environment: after a 5-minute warm up, using Mapping Mission with Calibration Flight enabled in DJI Pilot, and with the RTK in FIX status. The relative altitude was set to 50 m, flight speed to 10 m/s, gimbal pitch to -90°, and each straight segment of the flight route was less than 1000 m. DJI Terra was used for post-processing.

18. Can the L1 work at night?

The Lidar module of the L1 has active detection capability which can scan terrain to collect point clouds during nighttime or other low light conditions.

19. Which scanning mode does the L1’s Lidar module adopt?

The Lidar module of the L1 adopts an Advanced Frame Scanning mode. This ensures that all point clouds collected are valid point cloud data.

20. How efficient is the surveying and mapping operation of the L1?

At a flight height of 100 m and a velocity of 13 m/s, a single flight with the M300 RTK and the L1 can collect data covering an area of 2 km2.

21. What are the application scenarios of the Zenmuse L1?

The L1 can be widely used in multiple scenarios including:

Topographic surveying and mapping
Power transmission line corridor modeling
Emergency response surveying and mapping
Detailed modeling;
Agriculture & forestry investigation.

22. On which gimbal of the the M300 RTK can the L1 be mounted?

The L1 can be mounted on the right downward gimbal port (when facing the drone) of the M300 RTK. Currently, only suppot single gimbal mode.

Zenmuse L1 LiDAR Point Cloud Process

1. Do I need to purchase a license to use the DJI Terra LiDAR to process point cloud collected by Zenmuse L1?

No, Zenmuse L1 point cloud process is a free feature, but if the point cloud accuracy optimization is desired, you need to purchase the license for the Pro version or higher.

2. Does LiDAR point cloud mission create 3D models?

No.

3. Which data should be imported when doing the LiDAR point cloud process?

Imported folders must include LiDAR point cloud data, RTK data, IMU data, whereas JPEG data can be imported when needed (select the folder named after data collection time).

4. What would be the format of the output of the route document?

The route document are in .out and .txt format, which are SBET and SMRMSG format.

5. What is the point cloud effective distance? How do I set up a point cloud effective distance? Under which scenes do I need to set up?

Point cloud effective distance: The point cloud that exceeds the distance from the LiDAR will be filtered during post-processing.
How to set up a point cloud effective distance: Estimate the maximum straight-line distance between the location of LiDAR and the corresponding target area when collecting data.
Under which scenes to set up: When reconstructing a closer measuring area, and when distant background areas are inevitably collected, you can set up an effective distance to get a better result for point cloud.

6. What is point cloud accuracy optimization? When do I need to turn on point cloud accuracy optimization?

Point cloud accuracy optimization: Optimize point cloud data scanned at different times to make the overall point cloud accuracy higher.
When to turn on point cloud accuracy optimization: When it is off, if the results contain obvious layer malposition, turn on the point cloud accuracy optimization feature to fix the problem.

7. What is the default output coordinate system? Can I modify the coordinate?

The default coordinate system is WGS84 and can be modified.

8. How do I process a point cloud file when it is too large?

You are recommended to separate it into multiple tasks for processing.

What does the value of the Colorbar reflectivity mean? And what would be the range?

The reflectivity of the measured target is between 0 – 255, where 0 to 150 correspond to the reflectivity within the range of 0 to 100% in the Lambertian reflection model; 151 to 255 correspond to the reflectivity of target objects with retroflection properties.

10. What information does LAS file record?

The 3D coordinates, RGB color, reflectivity, GPS timestamp, number of returns, the actual return number, and scanning angle of the points are recorded, along with the total number of points corresponding to each return, the software and version corresponding to the generated results, and the geographic coordinate system.

11. What output formats of the files does LiDAR point cloud process?

.pnts, .las, .s3mb, .ply, and .pcd

DJI Mavic

DJI Mavic Mini

DJI FPV

DJI Osmo

For kids, education and fun

FIMI

DJI Inspire

Professional cameras

DJI Ronin

DJI Transmission

DJI MIC

DJI Matrice

DJI Mavic Enterprise

Zenmuse L1 Gimbal with Camera

Zenmuse L1

A Lidar + RGB Solution for Aerial Surveying

Digitize without Compromise

Exceptional Efficiency

Unparalleled Accuracy

Ready When You Are

Visualize Data as You Fly with Livox Lidar Module

Everything in ViewRGB Camera

Accurate Details at Your Disposal High-accuracy IMU

Recreate the World in 3D Point Clouds

Point Cloud LiveView

Measurement and Annotation

One-stop Post-processing

Applications

Topographic

Emergency Response

AEC and Surveying

Law Enforcement

Energy and Infrastructure

Agriculture and Forestry Management

GENERAL SPECIFICATIONS

SYSTEM PERFORMANCE

LIDAR

INTERNAL NAVIGATION SYSTEM

AUXILIARY POSITIONING VISION SENSOR

RGB MAPPING CAMERA

GIMBAL

STORAGE

POST-PROCESSING SOFTWARE

General

1. What is the protection level of the Zenmuse L1?

2. What aircraft is the L1 compatible with?

3. Which apps are compatible with the L1?

4. Does the camera require an SD card?

5. What is the Field of View (FOV) of the L1’s Lidar?

6. What is the maximum measuring range of the L1?

7. What is the scanning frequency of the L1?

8. How many scanning modes does the L1 have?

9. How many returns does the L1 support?

10. What does the L1’s Point Cloud LiveView do?

11. How does the L1 perform high-accuracy post-processed modeling?

12. Which model reconstruction formats does the L1 support?

13. Which types of flight missions does the the L1 support?

14. What is the IMU accuracy of the L1?

15. What is the L1’s auxiliary vision sensor used for?

16. What is the L1’s RGB camera used for?

17. What is the surveying and mapping accuracy of the L1?

18. Can the L1 work at night?

19. Which scanning mode does the L1’s Lidar module adopt?

20. How efficient is the surveying and mapping operation of the L1?

21. What are the application scenarios of the Zenmuse L1?

22. On which gimbal of the the M300 RTK can the L1 be mounted?

Zenmuse L1 LiDAR Point Cloud Process

1. Do I need to purchase a license to use the DJI Terra LiDAR to process point cloud collected by Zenmuse L1?

2. Does LiDAR point cloud mission create 3D models?

3. Which data should be imported when doing the LiDAR point cloud process?

4. What would be the format of the output of the route document?

5. What is the point cloud effective distance? How do I set up a point cloud effective distance? Under which scenes do I need to set up?

6. What is point cloud accuracy optimization? When do I need to turn on point cloud accuracy optimization?

7. What is the default output coordinate system? Can I modify the coordinate?

8. How do I process a point cloud file when it is too large?

What does the value of the Colorbar reflectivity mean? And what would be the range?

10. What information does LAS file record?

11. What output formats of the files does LiDAR point cloud process?

Related products

OUR COMPANY

Everything in View
RGB Camera