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complete, search for the base station file for the corresponding time slot and rename the file to the
RTB file name in the lidar file folder following the suffix rules below. Then copy the base station
file to the same directory as the lidar file.
Zenmuse L2 supports the following base station protocols and versions. (Note: The renamed file
DJI_YYYYMMDDHHMM_XXX must share the same name as the .RTB file in the point cloud
data directory.)
DJI_YYYYMMDDHHMM_XXX.rtcm
MSM4, MSM5, MSM6, and MSM7
Table: RTK protocol types supported by Zenmuse L2
Note: Base station files are necessary for Zenmuse L2's data processing. If no network RTK
is connected and no base station file exists, Zenmuse L2's data cannot be processed. If the
RTK gets disconnected during the flight, the aircraft will automatically pause the task to
ensure data validity.
3.1.1.2. Checkpoint Layout
In topographic mapping operations, total-station instruments and RTK devices are generally used
to measure several checkpoints to verify the accuracy. Zenmuse L2 outputs point cloud in LAS
format. Unlike the 3D model obtained by using visible light, Zenmuse L2's point cloud contains
no structural information, so its checkpoint layout is different from that for mapping in visible-
light display mode. Several recommended checkpoint layouts are listed below.
3.1.1.2.1. Plane Elevation Checkpoints
Combination of black and white paint: Zenmuse L2's point cloud result contains the reflectivity
data of ground objects, which helps to lcoate the checkpoint centers based on reflectivity
differences. The combination of white paint (reflectorized road paint, highly reflective heat-
insulating paint) with a high reflectivity and black paint with a low reflectivity is recommended,
and the checkpoint diameter should be greater than 1 m × 1 m. During point cloud-based
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