dji ZENMUSE L2 - Point Cloud Data File Description; PPK Data Acquisition

ZENMUSE L2
User Manual
22
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Point Cloud Data File Description
1. The recorded point cloud data is stored in the microSD card. The storage directory is
microSD: DCIM/DJI_YYYYMMDDHHMM_NO._XXX (XXX can be edited by the user).
2. The folder contains not only photos taken during the ight but also les with CLC (camera
LiDAR calibration le), CLI (LiDAR IMU calibration le), LDR (LiDAR data), RTK (RTK data of
main antenna), RTL (compensation data of RTK pole), RTS (RTK data of auxiliary antenna),
RTB (base station RTCM data), IMU (IMU raw data), SIG (PPK signature le), LDRT (point cloud
le for playback on the app), RPT (point cloud quality report), RPOS (real-time POS solution
data), and photos taken during ight.
PPK Data Acquisition
When the mobile network or remote controller video transmission signal is poor, use the RTCM
data of the D-RTK 2 Mobile Station or a third-party RTK base station to assist the L2 for data
post-processing. Follow the steps below:
1. Check the local operation time from the point cloud data le directory stored in the microSD
card.
2. Search for .DAT RTCM files with the same timestamp as the stored files of the D-RTK 2
Mobile Station or third-party RTK base station and follow the steps below:
a. If using the D-RTK 2 Mobile Station, copy the .DAT le with the same timestamp in the
rtcmraw folder to the folder of the point cloud data le directory.
b. If using a third-party RTK base station, .oem/.ubx/.obs/.rtcm les are supported. Rename
the le the same as the .RTB le in the point cloud data le directory by following the
name format in the table below and copy the renamed le to the folder of the point cloud
data le directory. DJI Terra will prioritize les in the following order: .oem > .ubx > .obs
> .rtcm.
Protocol Type Protocol Version Message Type Name Format
OEM OEM4, OEM6 RANGE DJI_YYYYMMDDHHMM_XXX.oem
UBX -- RAWX DJI_YYYYMMDDHHMM_XXX.ubx
RINEX v2.1x, v3.0x -- DJI_YYYYMMDDHHMM_XXX.obs
RTCM
v3.0
1003, 1004, 1012,
1014
DJI_YYYYMMDDHHMM_XXX.rtcm
v3.20
MSM4, MSM5,
MSM6, MSM7