8
Figure: Penta returns
2.3.3. Point Cloud Rate
Point cloud rate is also called sampling rate or pulse frequency, and refers to the maximum number
of laser beams emitted by the laser within unit time. Given the same conditions, the higher the
frequency, the more the number of measured points and the higher the operating efficiency.
Zenmuse L2 supports five return modes: single return, dual return, triple return, quad return, and
penta return. The sampling rate is 240 kHz (meaning that 240,000 laser beams are emitted per
second) in all these modes.
2.3.4. Scanning Mode and FOV
L2 can produce different scan shapes in different scanning modes. Note that the shape formed by
the LiDAR on the ground depends on not only the laser scanning mode, but also the flight direction,
flight speed, and terrain.
L2 supports non-repetitive scanning and repetitive scanning.
Figure: Scan shapes formed in different scanning modes of Zenmuse L2 in the static state
The first shape from the left is produced by a repetitive scan, and the rest shapes from the left are
produced by a non-repetitive scan for different lengths of time.
Field of view (FOV), also known as scan angle, represents the angle of laser beams during scanning.
It refers to the maximum angle range of the laser beams from the scanner. The FOV of L2 varies in
different scanning modes.
Repetitive scanning pattern: The FOV is 70°×3°. This scanning mode features a narrow scan range
but high accuracy. This mode is recommended for high-accuracy mapping.
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