„NFB“ (Nadir/Forward/Backward) Scanning UAV LiDAR Sensor

RIEGL VUX-120®

• laser pulse repetition rate
up to 2.4 MHz• measurement rate up to2,000,000 meas./sec• scan speed up to 400 lines/second• operating flight altitude up to720 m / 2,350 ft• Field of View up to 100°
• compact & lightweight (2 kg / 4.4 lbs)
• Nadir/Forward/Backward Scanningfor unrivaled completeness of scandata even on vertical structures andnarrow canyons• cutting edge RIEGL technology
providing:- echo signal digitization- multiple target capability- online waveform processing- multiple-time-around processing• easily mountable to unmanned
platforms (UAVs) and small manned
aircraft• mechanical and electrical interfacefor INS/GNSS integration• interfaces for up to 2 external
cameras• scan data storage on internal
SSD Memory• removeable CFAST®
memory card

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The RIEGL VUX-12023 is a lightweight and versatile airborne laser
scanner offering a wide field of view of 100 degrees and an extremely high pulse repetition rate of up to 2.4 MHz. Thus, it is perfectly
suited for high point density corridor mapping applications.
The measuring beam of the RIEGL VUX-12023 is consecutively emitted
in three different directions: it alternates from strictly nadir, to+10 degrees forward, and to -10 degrees backward. This allows
data acquisition with an unrivaled completeness in data capture,especially in challenging environments with vertical surfaces andnarrow canyons.
The scanner provides an internal data storage capacity of 1 TByte
and a removeable CFast card and is equipped with interfaces for
integration of an external INS/GNSS system. Additionally, interfaces for
up to two optional external cameras are available.
The sophisticated design of the RIEGL VUX-12023 allows smooth
integration on UAS/UAV/RPAS, small manned aeroplanes (like gyrocopters), but also on helicopters. It is offered both, as stand-alone
UAV LiDAR sensor and also in various fully-integrated UAV-based laser
scanning system configurations with appropriate INS/GNSS system andoptional cameras. This allows the scanner to perfectly meet all thespecific requirements of the customers‘ applications.

Typical applications include• Corridor Mapping:Power Line, Railway Track andPipeline Inspection• Topography in Open-Cast Mining• Surveying of Urban Environments• Archeology and Cultural
Heritage Documentation• Agriculture & Forestry

visit our website
www.riegl.com

Airborne Laser Scanning

Data SheetRIEGL VUX-12023 Scan Pattern „NFB“ (Nadir/Forward/Backward)
top view

side view

ing
Scann

+10°

Forward Scan Line

Nadir Scan Line

Backward Scan Line-10°

ForwardNadir Scanning

Backw

ard ScanningFlight Direction

Field of View

± 50° (100°)

Forward/Backward Scan Angle in Swath Center± 10°

Forward/Backward Scan Angle at Swath Edges± 15°

The RIEGL VUX-12023 offers a sophisticated scan pattern consisting of scan lines
with periodically changing directions. The scan directions in the center of thescan lines change consecutively from strictly nadir, to +10 degrees forward
and to -10 degrees backward. This scan pattern provides an almost complete
3D data set, as also vertical surfaces like the facades of buildings and objects(e.g. masts and poles) are accurately sampled by laser range measurements.
In addition, the nadir direction enables the reliable data acquisition down tothe bottom of narrow canyons.

Facet 1

2

Facet 2

Facet 3Copyright RIEGL Laser Measurement Systems GmbH © 2022 – All rights reserved.

front view with FOV

Data SheetMaximum Measurement Range & Point Density RIEGL VUX®-12023
PRR = 150 kHz

Operating Flight Altitude AGL given for the following conditions:
FOV 100°, ambiguity resolved by multiple-time-around (MTA) processing,average ambient brightness, target size ≥ laser footprint, roll angle ±5

Example: VUX-12023 at 150,000 pulses/sec, laser power level 100%
Altitude = 1,500 ft AGL, Speed 60 kn, resulting point density ~ 4 pts/m²

PRR = 300 kHz

Operating Flight Altitude AGL given for the following conditions:
FOV 100°, ambiguity resolved by multiple-time-around (MTA) processing,average ambient brightness, target size ≥ laser footprint, roll angle ±5

Example: VUX-12023 at 300,000 pulses/sec, laser power level 100%
Altitude = 1,000 ft AGL, Speed 60 kn, resulting point density ~ 11 pts/m²

PRR = 600 kHz

Operating Flight Altitude AGL given for the following conditions:
FOV 100°, ambiguity resolved by multiple-time-around (MTA) processing,average ambient brightness, target size ≥ laser footprint, roll angle ±5

Data Sheet

Example: VUX-12023 at 600,000 pulses/sec, laser power level 100%
Altitude = 800 ft AGL, Speed 30 kn, resulting point density ~ 55 pts/m²

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

3

Maximum Measurement Range & Point Density RIEGL VUX®-12023
PRR = 1200 kHz

Operating Flight Altitude AGL given for the following conditions:
FOV 100°, ambiguity resolved by multiple-time-around (MTA) processing,average ambient brightness, target size ≥ laser footprint, roll angle ±5

Example: VUX-12023 at 1,200,000 pulses/sec, laser power level 100%
Altitude = 600 ft AGL, Speed 30 kn, resulting point density ~ 150 pts/m²

PRR = 1800 kHz

Operating Flight Altitude AGL given for the following conditions:
FOV 100°, ambiguity resolved by multiple-time-around (MTA) processing,average ambient brightness, target size ≥ laser footprint, roll angle ±5

Example: VUX-12023 at 1,800,000 pulses/sec, laser power level 100%
Altitude = 500 ft AGL, Speed 30 kn, resulting point density ~ 270 pts/m²

PRR = 2400 kHz

Operating Flight Altitude AGL given for the following conditions:
FOV 100°, ambiguity resolved by multiple-time-around (MTA) processing,average ambient brightness, target size ≥ laser footprint, roll angle ±54Example: VUX-12023 at 2,400,000 pulses/sec, laser power level 100%
Altitude = 400 ft AGL, Speed 30 kn, resulting point density ~ 450 pts/m²

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

Data SheetDimensional Drawings RIEGL VUX®-12023
RIEGL VUX-12023 UAV LiDAR Sensorwith Connection Box

all dimensions in mm

Data Sheet

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

5Dimensional Drawings RIEGL VUX®-12023
RIEGL VUX-12023 UAV LiDAR Sensorwith Interface Box

6Copyright RIEGL Laser Measurement Systems GmbH © 2022 – All rights reserved.

Data SheetTechnical Data RIEGL VUX®-12023
Laser Product Classification

Class 1 Laser Product according to IEC60825-1:2014
The following clause applies for instruments delivered into theUnited States: Complies with 21 CFR 1040.10 and 1040.11 except forconformance with IEC 60825-1 Ed.3., as described in Laser Notice
No. 56, dated May 8, 2019.

Range Measurement Performance
Measuring Principle

time of flight measurement, echo signal digitization, multiple target
capability, online waveform processing, multiple-time-around-processing

Laser Pulse Repetition Rate PRR 1)
Max. Measuring Range 2) 3)
natural targets  ≥ 20 %natural targets  ≥ 60 %natural targets  ≥ 80 %Max. Operating Flight Altitude AGL 2) 4)@  ≥ 20 %			150 kHz300 kHz600 kHz

1200 kHz

1800 kHz

2400 kHz

760 m
1260 m
1430 m

550 m
920 m
1050 m

400 m
670 m760 m

280 m
480 m
550 m

230 m
400 m
450 m

200 m
350 m
400 m

440 m
(1450 ft)

320 m
(1050 ft)

230 m
(750 ft)

160 m(550 ft)

130 m(450 ft)

110 m(360 ft)@  ≥ 60 %			

720 m
(2350 ft)

530 m
(1750 ft)

380 m
(1250 ft)

280 m
(900 ft)

230 m(750 ft)

200 m(650 ft)

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32

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117

Max. Number of Targets per Pulse 5)5		1) Rounded average PRR.
2) Typical values for average conditions and average ambient brightness. In bright sunlight, the max. range is shorter than under an overcast sky.
3) The maximum range is specified for flat targets with size in excess of the laser beam diameter, perpendicular angle of incidence, and for atmospheric visibility of 23 km. Range
ambiguities have to be resolved by multiple-time-around processing.
4) Considering max. effective FOV 100°, additional roll angle ± 5°.
5) If the laser beam hits, in part, more than one target, the laser‘s pulse power is split accordingly. Thus the achievable range is reduced.

Minimum Range
Accuracy 6) 8)
Precision 7) 8)
Laser Pulse Repetition Rate 1) 9)
Max. Effective Measurement Rate 1)
Echo Signal Intensity
Laser Wavelength
Laser Beam DivergenceLaser Beam Footprint (Gaussian Beam Definition)

5m10 mm5 mm
up to 2400 kHz
up to 2,000,000 meas./sec. (@ 2400 kHz PRR & 100° scan angle)
for each echo signal, high-resolution 16 bit intensity information is provided
near infrared
0.4 mrad 10)
40 mm @ 100 m, 200 mm @ 500 m, 400 mm @ 1000 m

6) Accuracy is the degree of conformity of a measured quantity
to its actual (true) value.
7) Precision, also called reproducibility or repeatability, is thedegree to which further measurements show the same result.

8) One sigma @ 150 m range under RIEGL test conditions.
9) User selectable.
10) Measured at the 1/e2 points. 0.4 mrad corresponds to an increase of 40 mm of beam diameterper 100 m distance.

Scanner Performance
Scanning Mechanism
Scan Pattern

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

rotating polygon mirror
parallel scan lines, angular directions -10°, 0°, +10° transvers to the scan
direction for forward and backward view
± 50° = 100°
50 - 400 lines/sec0.0025° ≤   ≤ 0.32° 11) 12)

Angle Measurement Resolution
Scan Sync (optional)

0.001°
scanner rotation synchronization

between consecutive laser shots

Data Interfaces

Configuration, Scan Data Output &Communication with External Devices
GNSS Interface
General IO & Control

LAN 10/100/1000 MBit/sec
Serial RS-232 interface, TTL input for 1pps synchronisation pulse,
accepts different data formats for GNSS-time information
2 x TTL input/output13), 1 x Remote on/off

Camera Interface

trigger, exposure13), power, 2 x GNSS RS-232 Tx & PPS

General Technical Data

Power Supply Input Voltage / Consumption 14)
Main Dimensions (L x W x H)		Weight (without Interfacing Unit / with Interfacing Unit)
Humidity
Protection Class
Max. Flight Altitude (operating & not operating)Temperature Range

11 - 34 V DC / typ. 45 W
225 mm x 117 mm x 126 mm (without Interfacing Unit)
242 mm x 117 mm x 126 mm (with Interfacing Unit)
approx. 2 kg / approx. 2.3 kg
max. 80 % non condensing @ 31°C
IP64, dust and splash-proof
18 500 ft (5 600 m) above MSL (Mean Sea Level)-10°C up to +40°C (operation) / -20°C up to +50°C (storage)11) The angular step width depends on the selected laser PRR.
12) The maximum angular step width is limited by the maximum
scan rate.

13) 1x externally available with standard interface box14) separate input power connector for external cameras

Data Sheet

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

7

Technical Data RIEGL VUX®-12023 (continued)
Data Storage
Internal Data Storage
Memory Card Slot

Solid State Disc SSD, 1 TBytefor CFAST® 1) industrial memory card 240 GB (can be upgrated to 480 GB)

External IMU & GNSS (optional)

Applanix APX-20 UAV 3)
Applanix AP50-Air 3)
IMU Accuracy 		Roll, Pitch
0.015°
0.005°
Heading
0.035°
0.010°IMU Sampling Rate
200 Hz200 HzPosition Accuracy (typ.)0.02 - 0.05 m
0.02 - 0.05 m
System Total Weight (approx.)
3.0 kg
3.6 kg 4)
2)

1)
2)

CFast is a registered trademark of CompactFlash Association.
Accuracy specifications for post-processed data

3)
4)

See technical details at the according Applanix datasheet
Total weight includes VUX-SYS-CU Control Unit (0.9 kg)

all dimensions in mmRIEGL VUX-12023 equipped with APX-20 UAVRIEGL VUX-12023 equipped with AP50-Air

RIEGL VUX®-12023 Camera Option

open platform set-up:
RIEGL VUX-12023 LiDAR sensor with IMU/GNSS unit (APX-20 UAV),and nadir RGB camera fully integrated

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

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.

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
Data Sheet, RIEGL VUX-120 23, 2022-10-10