Lightweight UAV Laser Scanner with Online Waveform Processing

RIEGL VUX-1UAV®

• 10 mm survey-grade accuracy• scan speed up to200 scans / second• PRR values freely selectable• measurement rate up to1,200,000 meas./sec(@ 1200 kHz PRR & 360° FOV)22

The RIEGL VUX-1UAV22 is a very lightweight and compact laser scanner,
meeting the challenges of emerging survey solutions by UAS/UAV/RPAS
both in measurement performance as well as in system integration.
With regard to the specific constraints and flight characteristics of theUAS, the RIEGL VUX-1UAV22 is designed to be mounted in any orientationand even under limited weight and space conditions. Modest in power• operating flight altitude
more than 2,640 ft• field of view up to 360° for practicallyunrestricted data acquisition• regular point pattern,
perfectly parallel scan lines

consumption, the instrument requires only a single power supply.
The entire data set of an acquisition campaign is stored onto an internal
1 TByte SSD and/or provided as real-time line scan data via the integrated LAN-TCP/IP interface.
The RIEGL VUX-1UAV22 provides highspeed data acquisition using a• cutting edge RIEGL technology
providing:- echo signal digitization- online waveform processing- multiple-time-around processing• multiple target capability up to 15 target echoes• compact (227x180x125 mm),lightweight (3.5 kg), and rugged• easily mountable to professional
UAS / UAV / RPAS
• mechanical and electricalinterface for IMU mounting• electrical interfaces for GPS data
string and Sync Pulse (1PPS)• LAN-TCP/IP interface• internal data storage on
Solid State Disc SSD, 1 TByte

narrow infrared laser beam and a fast line scanning mechanism.
High-accuracy laser ranging is based on RIEGL´s unique echo digitization and online waveform processing, which enables achieving superior
measurement results even under adverse atmospheric conditions, andthe evaluation of multiple target echoes. The scanning mechanism isbased on an extremely fast rotating mirror, which provides fully linear,
unidirectional and parallel scan lines, resulting in excellent regular point
pattern.

Typical applications include• Agriculture & Forestry• Archaeology and Cultural
Heritage Documentation• Corridor Mapping:Power Line, Railway Track, andPipeline Inspection• Topography in Open-Cast Mining• Construction-Site Monitoring• Surveying of Urban Environments• Resources Managementvisit our website
www.riegl.com

Unmanned Laser Scanning

Data SheetTechnical Data RIEGL VUX®-1UAV22Laser Product Classification

Class 1 Laser Product according to IEC 60825-1:2014
The following clause applies for instruments delivered into the United States:
Complies with 21 CFR 1040.10 and 1040.11 except for conformance withIEC 60825-1 Ed.3., as described in Laser Notice No. 56, dated May 8, 2019.

Range Measurement Performance
Measuring Principle

Laser Pulse Repetition Rate PRR 1) 2)
Max. Measuring Range 3) 4)
natural targets  ≥ 20 %natural targets  ≥ 60 %natural targets  ≥ 80 %Max. Operating Flight Altitude AGL 1) 5)@  ≥ 20 %		
@  ≥ 60 %		
Max. Number of Targets per Pulse up to 6)

time of flight measurement, echo signal digitization,
online waveform processing, multiple-time-around-processing
50 kHz

100 kHz200 kHz400 kHz600 kHz800 kHz

1200 kHz

755 m
1250 m1415 m

545 m
910 m
1040 m

390 m
660 m
755 m

280 m
480 m
550 m

230 m
390 m
450 m

200 m
340 m
390 m

160 m
280 m
320 m

490 m
(1590 ft)
800 m
(2640 ft)

350 m
(1150 ft)
580 m
(1920 ft)

250 m
(820 ft)
420 m(1390 ft)

180 m
(590 ft)
310 m(1010 ft)

150 m
(490 ft)
250 m(820 ft)

130 m(420 ft)
220 m(720 ft)

100 m(340 ft)
180 m(590 ft)

1515

15

1515

1171) Rounded values.
2) Setting of intermediate PRR values possible.
3) Typical values for average conditions. Maximum range is specified for flat targets with size in excess of the laser beam diameter, perpendicular angle of incidence, and foratmospheric visibility of 23 km. In bright sunlight, the max. range is shorter than under overcast sky.
4) Ambiguity to be resolved by post-processing with RiUNITE software.
5) Flat terrain assumed, scan angle ±45° FOV.
6)	If more than one target is hit, the total laser transmitter power is split and, accordingly, the achieveable range is reduced.

Minimum Range
Accuracy 7) 9)
Precision 8) 9)
Laser Pulse Repetition Rate 1) 10)
Max. Effective Measurement Rate 1)
Echo Signal Intensity
Laser Wavelength
Laser Beam DivergenceLaser Beam Footprint (Gaussian Beam Definition)

3m @ PRR ≤ 500 kHz, 2m @ 500 kHz < PRR < 1 MHz, 1.5m @ PRR ≥ 1 MHz
10 mm5 mm
up to 1200 kHz
up to 1200 000 meas./sec. (@ 1200 kHz PRR & 360° FOV)
for each echo signal, high-resolution 16 bit intensity information is provided
near infrared
typ. 0.35 mrad @ 1/e 11), typ. 0.5 mrad @ 1/e² 12)
50 mm @ 100 m, 250 mm @ 500 m, 500 mm @ 1000 m7) Accuracy is the degree of conformity of a measured quantity
to its actual (true) value.
8) Precision, also called reproducibility or repeatability, is thedegree to which further measurements show the same result.
9) One sigma @ 150 m range under RIEGL test conditions.

10) User selectable, setting of intermediate PRR values possible.
11) Measured at the 1/e points. 0.35 mrad corresponds to an increase of 35 mm of beam diameterper 100 m distance.
12) Measured at the 1/e² points. 0.50 mrad corresponds to an increase of 50 mm of beam diameterper 100 m distance.

Scanner Performance

Scanning Mechanism
Field of View (selectable)
Scan Speed (selectable)
Angular Step Width   (selectable)

rotating mirror
up to 360° (full range measurement performance) 13)
10 - 200 revolutions per second, equivalent to 10 - 200 scans/sec
0.003° ≤   ≤ 1.5°

Angle Measurement Resolution
Internal Sync Timer
Scan Sync (optional)

0.001°
for real-time synchronized time stamping of scan data
scanner rotation synchronization

between consecutive laser shots

Data Interfaces

Configuration / Scan Data Output
GNSS Interface
Internal Data Storage
Memory Card Slot 14)External Camera
External GNSS Antenna

General Technical Data

Power Supply Input Voltage / Consumption 16)
Main Dimensions 17)

LAN 10/100/1000 Mbit/sec / LAN 10/100/1000 Mbit/sec or USB 2.0
Serial RS-232 interface for data string with GNSS-time information,
TTL input for 1PPS synchronization pulse
1 TByte SSDfor CFAST® 15) industrial memory card 240 GByte (can be upgraded to 480 GByte)
TTL input/output
SMA connector (optional)
11 - 34 V DC / typ. 60 W

VUX-1UAV without / with Cooling Fan

227 x 180 x 125 mm / 227 x 209 x 129 mm

VUX-1UAV without / with Cooling Fan

approx. 3.5 kg / approx. 3.75 kg
max. 80 % non condensing @ 31°C
IP64, dust and splash-proof
16 500 ft (5 000 m) above MSL / 18 000 ft (5 500 m) above MSL-20°C19) up to +40°C (operation) / -20°C up to +50°C (storage)

Weight 17)

Humidity
Protection Class
Max. Flight Altitude (operating / not operating)Temperature Range 18)

Optional Components (integrated)
Embedded GNSS-Inertial Systemhigh performance multi-channel GNSS receiver,low-grade, solid-state MEMS IMU

13) slightly degraded ranging performance around 0°/360°
14) applies to IMU APX-20 UAV only
15) CFast is a registered trademark of CompactFlash Association16) without external IMU/GNSS, cooling fan not in operation17) without external IMU/GNSS18) The instrument requires air convection with a minimum flow rate of 5 m/s for continuous operation at +15 °C
and above. If the necessary flow rate cannot be provided by the moving platform, the cooling fan (includedin the scope of delivery) has to be used.
19) Contininous scanning operation if instrument is powered on while internal temperature is at or above 0°C andstill air. Insulating the scanner with appropriate material will enable operation at even lower temperatures.

2Copyright RIEGL Laser Measurement Systems GmbH © 2022– All rights reserved.

Data SheetMaximum Measurement Range & Point Density RIEGL VUX®-1UAV22Laser PRR = 50kHz

PRR = 50 kHz

964

3160

899

2950

835

2740

1200

771

2530

1100

707

2310

1000

642

2100

900

578

1890

800

514

1680

700

449

1470

600

385

1260

321

1050

257

843

192

632

128

421

64

210

0

00

102030terra cotta

0

deciduous trees

100

dry asphalt

200

dry snow

wet ice, tar paper

300

coniferous trees

400

40

50

70

80

Operating Flight Altitude [m]60Target Reflectance [%]white marble

MTA1500
construction concreteMax. Measurement Range [m]1300

white plaster work, limestone

1400

cliffs, sand, masonryvisibility 23 km
visibility 15 km
visibility 8 km

90Operating Flight Altitude [ft]

1500

[m/s]

Operating flight altitude AGL given for the following conditions:
FOV +/- 45°, target size ≥ laser footprint

Laser PRR = 100kHz

PRR = 100 kHz

707

2310

642

2100

900

578

1890

800

514

1680

700

449

1470

600

385

1260

500

321

1050

400

257

843

192

632

128

421

64

210

0070

80

Operating Flight Altitude [m]

6090

[m/s]

Example: VUX-1UAV22 at 100,000 pulses/second, speed = 8 m/s,
range to target = 309 m, resulting point density ~ 6.5 pts/m²

Laser PRR = 200kHz
1680

482

1580

449

1470

650

417

1370

600

385

1260

550

353

1150

500

321

1050

450

289

948

400

257

843

350

224

738

300

192

632

160

527

128

421

96

316

64

210

32

105

000

10

20

30

terra cotta

0

deciduous trees

50

dry asphalt

100

coniferous trees

150

dry snow

wet ice, tar paper

200

4050

7080

Operating Flight Altitude [m]60250

white marble

MTA1

white plaster work, limestone700

cliffs, sand, masonryvisibility 23 km
visibility 15 km
visibility 8 km

90

Target Reflectance [%]Operating flight altitude AGL given for the following conditions:
FOV +/- 45°, target size ≥ laser footprint

Data Sheet

Operating Flight Altitude [ft]

514

MTA2

750

Max. Measurement Range [m]50Target Reflectance [%]Operating flight altitude AGL given for the following conditions:
FOV +/- 45°, target size ≥ laser footprint

PRR = 200 kHz
800

40white marble

30

terra cotta

20

MTA1

white plaster work, limestone

10cliffs, sand, masonry0deciduous trees

0

dry asphalt

100

coniferous trees

200

dry snow

wet ice, tar paper

300

construction concreteMax. Measurement Range [m]1000

construction concrete

visibility 23 km
visibility 15 km
visibility 8 km

Operating Flight Altitude [ft]1100

Example: VUX-1UAV22 at 50,000 pulses/second, speed = 6 m/s,
range to target = 529 m, resulting point density ~ 2.5 pts/m²[m/s]

Example: VUX-1UAV22 at 200,000 pulses/second, speed = 10 m/s,range to target = 241 m, resulting point density ~ 13 pts/m²

Copyright RIEGL Laser Measurement Systems GmbH © 2022– All rights reserved.

3Maximum Measurement Range & Point Density RIEGL VUX®-1UAV22Laser PRR = 400kHz

PRR = 400 kHz385

1260

353

1150

321

1050

289

948

257

843

350

224

738

300

192

632

250

160

527

200

128

421

96

316

64

210

32

105

00visibility 23 km
visibility 15 km
visibility 8 km

550
500

1080

Operating Flight Altitude [m]7090[m/s]

Example: VUX-1UAV22 at 400,000 pulses/second, speed = 10 m/s,range to target = 152 m, resulting point density ~ 42 pts/m²
1050

289948400257

843

350

224

738

Operating Flight Altitude [m]300192632

250

160

527

200

128421

96

316

64210

32

105

000104050

MTA1

60

70

white marble

cliffs, sand, masonry

30

construction concrete

20

terra cotta

deciduous trees

0

dry asphalt

50

coniferous trees

wet ice, tar paper

100

dry snow150

white plaster work, limestone

MTA2

80

90

Operating Flight Altitude [ft]321

visibility 23 km
visibility 15 km
visibility 8 km

450

Target Reflectance [%]Operating flight altitude AGL given for the following conditions:
FOV +/- 45°, target size ≥ laser footprint

Laser PRR = 800kHz

PRR = 800 kHz[m/s]

Example: VUX-1UAV22 at 600,000 pulses/second, speed = 8 m/s,
range to target = 126 m, resulting point density ~ 95 pts/m²

896

257

843

241

790

350

224

738

325

208

685

300

192

632

275

176

579

250

160

527

225

144

474

128

421

175

112

369

150

96

316

visibility 23 km
visibility 15 km
visibility 8 km

MTA3

375

cliffs, sand, masonry

MTA1

white plaster work, limestone

60

70

80

250010deciduous trees

50

dry asphalt

75

coniferous trees

wet ice, tar paper

100

dry snow

125

20304050

white marble

MTA220090

Operating Flight Altitude [ft]273400Operating Flight Altitude [m]425terra cotta

Max. Measurement Range [m]60Laser PRR = 600kHz

500

Max. Measurement Range [m]50Target Reflectance [%]Operating flight altitude AGL given for the following conditions:
FOV +/- 45°, target size ≥ laser footprint

PRR = 600 kHz

440

white marble

30terra cotta

20

MTA1

white plaster work, limestone0

deciduous trees

0

dry asphalt

50

coniferous trees

100

dry snow

wet ice, tar paper

150cliffs, sand, masonry

400

construction concrete

MTA2

construction concreteMax. Measurement Range [m]450Operating Flight Altitude [ft]6008026364210

4815832105

165200Target Reflectance [%]Operating flight altitude AGL given for the following conditions:
FOV +/- 45°, target size ≥ laser footprint[m/s]

Example: VUX-1UAV22 at 800,000 pulses/second, speed = 8 m/s,
range to target = 103 m, resulting point density ~ 155 pts/m²

Copyright RIEGL Laser Measurement Systems GmbH © 2022– All rights reserved.

Data SheetMaximum Measurement Range & Point Density RIEGL VUX®-1UAV22Laser PRR = 1200kHz

PRR = 1200 kHz

218

717

205

674

192

632

179

590

167

548

240

154

506

220

141

463

200

128421

180

115

379

160

102

337

89

295

300
280

MTA3

MTA2

cliffs, sand, masonry

MTA1

white plaster work, limestone

120

60

70

80

00

102030construction concrete

20terra cotta

40

deciduous trees

60

dry asphalt

wet ice, tar paper

80

coniferous trees

100

40

50

Target Reflectance [%]77

white marble140

dry snow

Max. Measurement Range [m]

260

90

Operating Flight Altitude [ft]visibility 23 km
visibility 15 km
visibility 8 km

320

Operating Flight Altitude [m]3402536421051168381262584

124200[m/s]Operating flight altitude AGL given for the following conditions:
FOV +/- 45°, target size ≥ laser footprint

Example: VUX-1UAV22 at 1,200,000 pulses/second, speed = 8 m/s,range to target = 79 m, resulting point density ~ 302 pts/m²

Dimensional Drawings RIEGL VUX®-1UAV22
all dimensions in mm

bottom view

front viewside view

rear view

RIEGL VUX®-1UAV22 with Cooling Fan Device
front view

Data Sheetside view

rear view

Copyright RIEGL Laser Measurement Systems GmbH © 2022– All rights reserved.

5

RIEGL VUX®-1UAV22 Additional Equipment and Integration
Additional Equipment for RIEGL VUX-1UAV22Cooling FanLightweight structure with two axial fans providing forced air convection
for applications where sufficient natural air flow cannot be guaranteed.
Power supply is provided via a connector on the rear side of the RIEGL
VUX-1UAV22. The cooling fan can be mounted either on the top side or on thebottom side of the RIEGL VUX-1UAV22 and is included in the scanner‘s scopeof delivery.
The cooling fan has to be mounted whenever the environmental conditions/temperatures require (see ”temperature range” on page 2 of this data sheet).

Cooling Fan

Protective Cap
To shield the glass tube of the RIEGL VUX-1UAV22 from mechanical damage
and soiling, a protective cap is provided to cover the upper part of the instrument during transport and storage.

Options for RIEGL VUX-1UAV22 Integration
RIEGL provides user-friendly, application- and installation-oriented solutions
for integration of the VUX-1UAV22 LiDAR sensor:

RIEGL VUX-1UAV with Protective Cap
22• RIEGL VUX-SYS
Complete airborne laser scanning system for flexible use in
UAS/UAV/RPAS, helicopter, gyrocopter and ultra-light aircraft
installations comprising the RIEGL VUX-1UAV22, an IMU/GNSSunit and a dedicated control unit.
• RiCOPTER
Ready to fly remotely piloted aircraft system with RIEGLVUX-SYS integrated

RIEGL VUX-1UAV22 with external IMU-Sensor(RIEGL VUX-SYS)• RIEGL VP-1
Small and lightweight pod with integrated RIEGL VUX-SYS tobe mounted on standard hard points and typical camera
mounts of manned helicopters
Details to be found on the relevant datasheets and infosheets.

Multiple-Time-Around Data Acquisition and Processing
In time-of-flight laser ranging a maximum unambiguous measurement range
exists, which is defined by the laser pulse repetition rate and the speed oflight. In case the echo signal of an emitted laser pulse arrives later than theemission of the subsequently emitted laser pulse, the range result becomesambiguous - an effect known as „Multiple-Time-Around“ (MTA).

Field of View(FOV)
360°

MTA 1
MTA 2

The RIEGL VUX-1UAV22 allows ranging beyond the maximum unambiguous
measurement range using a sophisticated modulation scheme applied tothe train of emitted laser pulses. The dedicated post-processing softwaremodule RiUNITE provides algorithms for multiple-time-around processing,which automatically assign definite range results to the correct MTA zones
without any further user interaction required.

MTA 3

RIEGL Laser Measurement Systems GmbHHorn, Austria
Phone: +43 2982 4211 | www.riegl.com
RIEGL USA Inc.
Winter Garden, Florida, USA
Phone: +1 407 248 9927 | www.rieglusa.com

RIEGL Japan Ltd. | www.riegl-japan.co.jp
RIEGL China Ltd. | www.riegl.cn
RIEGL Australia Pty Ltd. | www.riegl.com
RIEGL Canada Inc. | www.rieglcanada.com
RIEGL UK Ltd. | www.riegl.co.uk

www.riegl.com
Copyright RIEGL Laser Measurement Systems GmbH © 2022 – All rights reserved.
Use of this data sheet other than for personal purposes requires RIEGL’s written consent.
This data sheet is compiled with care. However, errors cannot be fully excluded and alternations might be necessary.

Data Sheet, RIEGL VUX-1UAV22, 2022-09-14