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

RIEGL VQ-840-GL®

lightweight 9.8 kg (21 lbs)
• designed for combined topographic
and bathymetric airborne andUAV-based survey• high accuracy ranging based onecho digitization and online waveform processing with multiple-target
capabilityIN• high spatial resolution due tomeasurement rate of up to 200 kHz
and high scanning speed ofup to 100 scans/secIM• integrated inertial navigation system(optional)• integrated digital camera (optional)

PREL• compact, lightweight and robust
housing compliant with typicalhatches in aircrafts and withstabilized platforms

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-GL can be complemented with an inertial navigation
sensor for subsequent estimation of the instrument’s location andorientation. As a further option a high-resolution digital camera canbe integrated.
The rugged internal mechanical structure together with the dust- andsplash water proof housing enables long-term operation on airborne
platforms.

AR• concurrent comprehensive
full waveform storage for all
measurements for subsequent
full waveform analysis

The new RIEGL® VQ-840-GL is a fully integrated, compact airborne
laser scanner for combined topographic and bathymetricsurveying. The LiDAR system is now offered in a new design. Maintaining the proven form factor, the internal redesign and use ofvery lightweight material enables a reduced weight of less than
10 kg (22 lbs), making the VQ-840-GL even more suitable for UAV
integration.

YNEW

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

visit our website
www.riegl.com

Airborne Laser Scanning

Preliminary Data SheetRIEGL VQ-840-GL Scan Patterntransmitted
laser pulse

ARY

elliptic scan ofgreen laser scannershoreline

surfaceechoINtyp. topographic
targetsreceived echo signal

bottom echowater surface

IMbottomecho

surface echoPREL

seabed2

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

Data SheetPRELIMINARYRIEGL VQ-840-GL
Main Dimensions
RIEGL VQ-880-G
Housingdimensions in mm

Data Sheet

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3

RIEGL VQ-840-GL Perspective View

connector panel

ARYbeam exit window

RIEGL VQ-840-GL Installation Examples

PRELIMIN

Complemented by an optional IMU/GNSS system and an optional high-resolution digital camera, the RIEGL VQ-840-GL represents
a fully integrated system with low weight for integration on various aircraft platforms including UAVs.

UAV integration example:
RIEGL VQ-840-GL installed on RiCOPTER-M

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

4Copyright RIEGL Laser Measurement Systems GmbH © 2022– All rights reserved.

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

The VQ-840-GL 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-List
to be found on site http://www.wassenaar.org.
Within the European Union, (Regulation (EU) No. 2021/821) implements the export
restrictions of the Wassenaar Arrangement. The corresponding position number is 6A008j3.

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

Laser Product Classification
Laser ClassClass 3B Laser Product according to IEC60825-1:2014

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

Measurement Rate 5)

200 kHz100 kHz

1.7

1.8

Max. Water Depth Penetration in Secchi Depths 6) 7)

Scanner Performance

2.22.520 m
20 mm15 mm
50 kHz to 200 kHz
for each echo signal, high-resolution 16 bit intensity information is provided
online waveform processing: up to 15 12)532 nm, green
selectable, 1 up to 6 mrad 13)
selectable, 3 up to 18 mrad
50 mm @ 50 m, 100 mm @ 100 m, 150 mm @ 150 m 14)

INEL

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

0.5 kHz 8)

IMMinimum Range
Accuracy 9) 11)
Precision 10) 11)
Laser Pulse Repetition Rate
Echo Signal Intensity
Number of Targets per Pulse
Laser Wavelength
Laser Beam Divergence
Receiver Field of View
Laser Beam Footprint (Gaussian Beam Definition)

2.05 kHz 8)

AR(Flight altitude 75m above water level)

50 kHzY

Measuring Principle

rotating scan mirror
nearly elliptic± 20° = 40° perpendicular to flight direction, ± 14° = 28° in flight direction
10 - 100 lines/sec (lps) 15)
0.018° ≤   ≤ 0.72° (for PRR 50 kHz) 16) 17)

between consecutive laser shots

0.001° (3.6 arcsec)
11)		One sigma @ 150m rounded values12)		If the laser beam hits, in part, more than one target, the laser‘s pulse power is split accordingly. Thus, the		 achievable range ist reduced.
13)		Measured at the 1/e² points. 1.0 mrad corresponds to an increase of 100 mm of beam diameter		per 100 m distance.
14)		The laser beam footprint values correspond to a beam divergence of 1mrad.
15)		One line corresponds to a full revolution (360°) of the scan mechanism which can be split into two user		 defined segments.
16)		The angular step width depends on the selected laser PRR.
17)		The maximum angular step width is limited by the maximum scan rate.

PRAngle Measurement Resolution5)		rounded values6) 		T he Secchi depth is defined as the depth at which a standard
black and white disc deployed into the water is no longer visible
to the human eye.
7)	The depth performance is specified for bright targets with sizein excess of the laser beam diameter and for clear atmosphericconditions.
8)		Waveform averaging applied in postprocessing, Laser PRR=50kHz9)		A ccuracy is the degree of conformity of a measured quantity
to its actual (true) value.
10) Precision, also called reproducibility or repeatability, is the 		degree to which further measurements show the same result.

General Technical Data
Power Supply Input Voltage
Power Consumption

18 - 34 V DC
typ. 110 W
max. 220 W
360 mm x 285 mm x 200 mm

Main Dimensions (L x W x H)
WeightLiDAR sensor
optionally integrated IMU
optionally integrated camera
Humidity
Protection Class
Max. Flight Altitude 18)
operating / not operating
Temperature Range
operation / storage

approx. 9.8 kg
approx. 0.23 kg
approx. 0.50 kg
non condensing
IP64, dust and splash-proof
18 500 ft (5 600 m) above Mean Sea Level (MSL)-10°C up to +40°C / -20°C up to +50°C18) 		for standard atmospheric conditions: 1013 mbar, +15°C at sea level

Data Sheet

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5		

RIEGL VQ-840-GL 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 Resolution
Sensor Dimensions (diagonal)
Focal Length of Camera Lens
Field of View (FOV)Interface

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

Data Interfaces
Configuration
Scan Data Output

LAN 10/100/1 000 Mbit/sec,
LAN 10/100/1 000 Mbit/sec,high speed data link to RIEGL DR1560i (optional) 4)
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 240 GByte (optional) 4)
2 TB SSDGNSS Interface 3)3) to be used for external GNSS receiver4) only one single option (CFast or data recorder interface) can be implementedPR

ELIMIN1) accuracy specifications for post-processed data2)	Please note: adding optional features will enhance the overall
weight of the system

ARY

General IO & Control
Camera Interface
Removable Storage CardInternal Data Storage

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.

Preliminary Data Sheet, RIEGL VQ-840-GL, 2022-12-16