Compact Topo-Bathymetric Airborne Laser Scannerwith Online Waveform Processing and Full Waveform Recording

RIEGL VQ-840-G®

• designed for combined topographic
and bathymetric airborne andUAV-based survey• high accuracy ranging based onecho digitization and online waveform processing with multiple-target
capability• concurrent comprehensive
full waveform storage for all
measurements for subsequent
full waveform analysis• high spatial resolution due tomeasurement rate of up to 200 kHz
and high scanning speed ofup to 100 scans/sec• integrated inertial navigation system(optional)• additional, fully integrated
infrared laser rangefinder (optional)• integrated digital camera (optional)• compact, lightweight and robust
housing compliant with typicalhatches in aircrafts and withstabilized platforms

The RIEGL® VQ-840-G is a fully integrated compact airborne
laser scanner for combined topographic and bathymetricsurveying. The system can be offered optionally with an integrated
and factory-calibrated IMU/GNSS system and with an optional
camera or IR rangefinder.
The VQ-840-G is a compact and lightweight LiDAR system to beinstalled on various platforms including UAVs.
The scanner carries out laser range measurements for high resolution
surveying of underwater topography with a narrow, visible green laser
beam, emitted from a pulsed laser source. Subject to clarity, at thisparticular wavelength the laser beam penetrates water enablingmeasurement of submerged targets.
The distance measurement is based on the time-of-flight measurementwith very short laser pulses and subsequent echo digitization and online
waveform processing. To handle target situations with most complex
multiple echo signals, beside the online waveform processing thedigitized echo waveforms can be stored on the removable data
storage card for subsequent off-line full waveform analysis.
The laser beam is deflected in an elliptic scan pattern and hits the water
surface at an incidence angle with low variation.
The VQ-840-G can be complemented with an inertial navigation
sensor for subsequent estimation of the instrument’s location andorientation. As an option either a high-resolution digital camera or an
infrared laser rangefinder can be integrated to supplement the data
gained by the green laser scanner.
The rugged internal mechanical structure together with the dust- andsplash water proof housing enables long-term operation on airborne
platforms.

Typical applications include• coastline and shallow water mapping• surveying for hydraulic engineering• hydro-archeological-surveying• river surveying• repeated survey of water reservoirs

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Airborne Laser Scanning

Data SheetRIEGL VQ-840-G Scan Patterntransmitted
laser pulse

elliptic scan ofgreen laser scannerreceived echo signal

surfaceechotyp. topographic
targetsbottomecho

shoreline
water surface

bottom echosurface echoseabedPoint pattern and density for UAV applications
flying altitude 75 m, flying speed 20 kts, average point density: 92 points/sqm
black lines: scan trace on ground, red crosses: points on the ground

Point pattern and density for helicopter applications
flying altitude 150 m, flying speed 50 kts, average point density: 18 points/sqm
black lines: scan trace on ground, red crosses: points on the ground2

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Data SheetRIEGL VQ-840-G
Main DimensionsRIEGL VQ-880-G
Housingdimensions in mm

Data Sheet

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3

RIEGL VQ-840-G Perspective View

connector panel

exit window
for camera orIR rangefinder

beam exit window

RIEGL VQ-840-G Installation Examples
Complemented by an optional IMU/GNSS system and further options like a high-resolution digital camera or an IR rangefinder,
the RIEGL VQ-840-G represents a fully integrated system with low weight for integration on various aircraft platforms including UAVs.

RIEGL VQ-840-G installed on RiCOPTER-M,
RIEGL‘s remotely piloted aircraft systemwith exceptional payload capacity

RIEGL VQ-840-G (with external IMU) installed onGSM-4000 stabilized platform to be used in a helicopteror fixed-wing aircraft

4

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Data SheetRIEGL VQ-840-G Technical Data
Export Classification

The VQ-840-G is subject to export restrictions as set up by the Wassenaar Arrangement. 		
It is classified as dual-use good according to position number 6A8j3 of the official Dual-Use-Listto be found on site http://www.wassenaar.org.
Within the European Union, Council Regulation (EC) No 428/2009 implements the export
restrictions of the Wassenaar Arrangement. The corresponding position number is 6A008j3.

Laser Product Classificationfor System with Green Laser Scanner and optional Laser Rangefinder
Class 3B Laser Product according to IEC60825-1:2014

The Topo-Bathymetric Airborne Laser Scanner VQ-840-G
has been designed and developed for commercial
topographic, hydrographic and bathymetric surveying
applications.

Laser Class

The following clause applies for instruments delivered into the United States: Complies with 21 CFR 1040.10 and1040.11 except for conformance with IEC 60825-1 Ed.3., as described in Laser Notice No. 56, dated May 8, 2019.

NOHD 1) 3) 4)ENOHD 2) 3) 4)

15 m75 m

1) NOHD ... Nominal Ocular Hazard Distance2) ENOHD ... Extended Nominal Ocular Hazard Distance3) beam divergence 6 mrad, laser PRR 50kHz
4) provided that the instrument is mounted on a moving platform

Range Measurement Performance
Measuring Principle

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

Laser Pulse Repetition Rate PRR 5)
Max. Water Depth Penetration in Secchi Depths
Minimum RangeAccuracy 8) 10)
Precision 9) 10)
Laser Pulse Repetition Rate
Max. Effective Measurement Rate 5)
Echo Signal Intensity
Number of Targets per Pulse
Laser Wavelength
Laser Beam Divergence
Receiver Field of View
Laser Beam Footprint (Gaussian Beam Definition)

6)

200 kHz100 kHz

50 kHz5 kHz 7)

0.5 kHz 7)

1.7

1.8

2.0

2.2

2.5

20 m
20 mm
15 mm
50 kHz to 200 kHzup to 200 000 meas./sec
for each echo signal, high-resolution 16 bit intensity information is provided
online waveform processing: up to 15 11)532 nm, green
selectable, 1 up to 6 mrad 12)
selectable, 3 up to 18 mrad
50 mm @ 50 m, 100 mm @ 100 m, 150 mm @ 150 m 13)

Scanner Performance
Scanning Mechanism / Scan Pattern
Scan Pattern
Off Nadir Scan Angle Range
Scan Speed (selectable)
Angular Step Width   (selectable)

rotating scan mirror
elliptic± 20° = 40°
10 - 100 lines/sec (lps) 14)
0.018° ≤   ≤ 0.72° (for PRR 50 kHz) 15) 16)

between consecutive laser shots

Angle Measurement Resolution

0.001° (3.6 arcsec)5)		rounded values6)	The depth performance is specified for bright targets with sizein excess of the laser beam diameter and for clear atmosphericconditions. Flight altitude 75 m above water level.
7)		Waveform averaging applied8)		A ccuracy is the degree of conformity of a measured quantity
to its actual (true) value.
9)		Precision, also called reproducibility or repeatability, is thedegree to which further measurements show the same result.
10) One sigma @ 150m rarounded values11)	If the laser beam hits, in part, more than one target, the laser‘s pulse power is split accordingly. Thus, theachievable range ist reduced.
12)	M easured at the 1/e² points. 1.0 mrad corresponds to an increase of 100 mm of beam diameterper 100 m distance.
13) The laser beam footprint values correspond to a beam divergence of 1mrad.
14)	O ne line corresponds to a full revolution (360°) of the scan mechanism which can be split into two user
defined segments.
15) The angular step width depends on the selected laser PRR.
16) The maximum angular step width is limited by the maximum scan rate.

General Technical Data
Power Supply Input Voltage
Power Consumption

18 - 34 V DC

without IMU/GNSS/camera
with internal IMU/GNSS/camera 17) or IR rangefinder

Main Dimensions (LxWxH)
WeightHumidity
Protection Class
Max. Flight Altitude 18)
operating / not operating
Temperature Range
operation / storage

18 500 ft (5 600 m) above Mean Sea Level (MSL)-10°C up to +40°C / -20°C up to +50°C17) @ 20°C ambient temperature, 100 kHz PRR, 100 scans/sec

Data Sheettyp. 110 W
160 W
max. 400 W
360 mm x 285 mm x 200 mm
approx. 12 kg<15 kg (with IMU/GNSS and camera or IR rangefinder)
non condensing
IP64, dust and splash-proof18) for standard atmospheric conditions: 1013 mbar, +15°C at sea level

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RIEGL VQ-840-G Technical Data (Optional Components)
IMU/GNSS (optional)

IMU Accuracy 1)		Roll, Pitch
0.015°
Heading
0.035°IMU Sampling Rate
200 HzPosition Accuracy (typ.)horizontal / vertical<0.05 m / <0.1 m

Integrated Digital Camera (optional)2)
RGB Camera

Sensor ResolutionSensor Dimensions (diagonal)
Focal Length of Camera Lens
Field of View (FOV)Interface

Data Interfaces
Configuration
Scan Data Output
GNSS Interface 3)
General IO & Control
Camera Interface
Removable Storage Card1) accuracy specifications for post-processed data

12 MPixel
17.5 mm (4112 x 3008 px)
16 mmapprox. 47° x 36°
GigE

LAN 10/100/1 000 Mbit/sec, WLAN IEEE 802.11 a/b/g/n
LAN 10/100/1 000 Mbit/sec,high speed data link to RIEGL DR1560i (optional)
Serial RS-232 interface for data string with GNSS-time information,
TTL input for 1 PPS synchronization pulse
1x TTL input/output, 1x Serial RS-232 Interface, 1x Remote on/off
1x GNSS RS-232 Tx & PPS, Power, Trigger, Exposure
CFast®, up to 512 GByte (optional)
2)	Please note that the camera is an optional component which cannot be integrated together with theoptional infrared laser rangfinder.
3) to be used for external GNSS receiver

Infrared Laser Rangefinder (optional)
Important Note:

Please note that the rangefinder is an optional component which cannot beintegrated together with the optional camera.

Measuring Principle

time of flight measurement, echo signal digitization,
online waveform processing

Laser Pulse Repetition Rate PRR 4)			
Max. Measuring Range 5)natural targets  ≥ 20 %			natural targets  ≥ 60 % 				Max. Number of Targets per Pulse 6)			

100 kHz				
150 m
250 m
5				4) Rounded values.
5)	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.
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 4)
Max. Effective Measurement Rate 4)
Echo Signal Intensity
Laser Wavelength
Laser Beam Divergence 10)
Laser Beam Footprint

3m
15 mm
10 mm
100 kHzup to 100 000 meas./sec.
for each echo signal, high-resolution 16 bit intensity information is provided
near infrared
1.6 x 0.5 mrad
160 mm x 50 mm @ 100 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 @ 50 m range under RIEGL test conditions.
10) Measured at 50% peak intensity, 1.6 mrad corresponds to an increase of 160 mm of beam diameterper 100 m distance.

RIEGL
Laser Measurement Systems GmbH
Riedenburgstraße 483580 Horn, Austria
Phone: +43 2982 4211
office@riegl.co.at | www.riegl.com

RIEGL USA Inc. | info@rieglusa.com | www.rieglusa.com
RIEGL Japan Ltd. | info@riegl-japan.co.jp | www.riegl-japan.co.jp
RIEGL China Ltd. | info@riegl.cn | www.riegl.cn
RIEGL Australia Pty Ltd. | info@riegl.com.au | www.riegl.com

Copyright RIEGL Laser Measurement Systems GmbH © 2020– 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.

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Data Sheet, RIEGL VQ-840-G, 2020-04-07