Livox Avia User Manual

Using this Manual

Legend:

• Warning: Indicates potential hazards.
• Important: Highlights critical information.
• Hints and Tips: Provides helpful suggestions.
• Explanation: Offers further clarification.

Searching for Keywords: Use Ctrl+F (Windows) or Command+F (Mac) to search for specific terms.

Navigating to a Topic: Click on topics in the table of contents to navigate.

Printing this Document: Supports high-resolution printing.

Downloading Documents

Download the latest Livox Avia User Manual and other related documents from www.livoxtech.com/avia.

Downloading Livox Viewer

Download Livox Viewer from www.livoxtech.com/avia.

Downloading Livox SDK

Download the Livox SDK from https://github.com/Livox-SDK/Livox-SDK.

Product Profile

Introduction

The Livox Avia is a reliable and lightweight LiDAR sensor designed for applications such as robotics, mapping, and vehicle-to-everything (V2X). It offers a long detection distance, high precision, and a wide field-of-view (FOV).

• High Detection Range: Optimized for low reflectivity objects, increasing detection range by 70%.
• Light Weight: Weighs 498g, making it suitable for drone mapping and small robots.
• Triple Return: Supports up to triple return for enhanced forestry mapping.
• Alternative Scanning Patterns: Offers non-repetitive and repetitive scanning for different applications.
• Built-in IMU Module: Features a BMI088 IMU with a push frequency of 200 Hz.
• User-Friendly Livox Viewer: Software for checking, recording, and analyzing point cloud data.
• Open-Source Livox SDK: Enables development of customizable applications, supporting Windows, Linux, Mac OS, and ROS.

Key Features:

• Detection range up to 320 m (for objects reflecting 80% or more of light).
• Remove the screen protector from the optical window before first use.

Product Characteristics

The Avia utilizes Livox's unique scanning technology with two point cloud patterns: non-repetitive and repetitive scanning. The non-repetitive scanning pattern offers denser point clouds in the center of the FOV, with a vertical FOV of 77.2° and horizontal FOV of 70.4°. The point cloud density in the center rivals traditional 32-line and 64-line LiDAR sensors.

The repetitive scanning pattern provides a repeat cycle of approximately 0.1s with a horizontal FOV of 70.4° and a minimum vertical FOV of 4.5°.

Figure 1.2.1: Displays typical point cloud patterns of the Livox Avia over an extended period.

Figure 1.2.2: Compares the FOV coverage of the Avia with other non-Livox LiDAR sensors. The Avia's FOV coverage increases significantly with integration time, approaching 100% after 0.8s.

Figure 1.2.3: Illustrates repetitive scanning point cloud patterns of the Avia.

Specifications

Table 1.2.1 Point Cloud Specifications:

Overview

Livox Avia

1. Optical Window: Allows laser to scan objects.

2. Conversion Cable: Connects the Avia to the Livox Converter 2.0.

3. Mounting Hole: For secure mounting.

4. Locating Hole: Aids in precise mounting.

Livox Converter 2.0

1. LIDAR Connector Port: JAE MX34012NF1 type connector for Avia connection.

2. Power Port: Connects to an external power supply (9-30 V).

3. Ethernet Port: RJ45 connector for Ethernet connection.

4. Sync Port: 3-pin port for 3.3V LVTTL sync signal input.

Connectors

M12 Aviation Connector

The Avia features a high-reliability M12 12P A-code male connector (IP67 rated). It connects to the Livox Connector 2.0 via a conversion cable for power, control signals, and data transmission.

Figure 2.1.1: Conversion cable diagram.

Table 2.1.1: Conversion Cable Description: Details pin assignments, signal types, descriptions, and wire colors for the conversion cable.

Power Cable and Sync Cable

Power Cable

Connects the Livox Converter 2.0 to an external DC power supply (10-15 V). The connector type is MOLEX 105307-1202.

Figure 2.2.1: Power cable diagram.

Table 2.2.1: Power Cable Description: Details power cable pin assignments, signal types, descriptions, and colors.

Sync Cable

Connects the Livox Converter 2.0 to the sync signal. Features a 3-pin connector compatible with JST GHR-03V-S.

Figure 2.2.2: Sync cable diagram.

Table 2.2.2: Sync Cable Description: Details sync cable pin assignments, signal types, descriptions, and colors.

Ethernet Port

The Livox Converter 2.0 has a 100BASE-TX RJ45 Ethernet port for data transmission.

Mounting the Livox Avia

Effective Field of View (FOV) Range

The Avia has a horizontal FOV of 70.4° and a vertical FOV of 77.2°. Ensure the FOV is not obstructed during mounting. Download 3D models from www.livoxtech.com/avia.

Figure 3.1.1: Illustrates the effective FOV of the Avia.

Figure 3.1.2: Shows detection range variations based on object position within the FOV and reflectivity.

Mounting Notice

• Remove the screen protector from the optical window before use.
• Keep the optical window clean to maintain sensor performance.
• Ensure the FOV is not blocked by any objects.
• The Avia can be mounted in any direction; however, mounting with the surface parallel to the ground is recommended.
• The Avia cannot bear additional payload, as it may compromise reliability.

Dimensions

Figure 3.3.1: Livox Avia Dimensions (refer to Appendix 1 for details).

The Avia can be mounted using its sides, and can also be mounted or embedded in a mounting bracket.

Livox Converter 2.0

Figure 3.3.2: Livox Converter 2.0 Dimensions (refer to Appendix 2 for details).

Table 3.3.1: Livox Converter 2.0 Weight & Dimensions: Approx. 88 g, 74×52×23 mm.

Getting Started

External Power Supply

The Avia operates within a voltage range of 10-15 V, with a recommended 12 V. Ensure the external power source voltage is sufficient, especially when using extension cables, to account for voltage drop. The maximum voltage should not exceed 15 V. In low-temperature environments, a higher minimum voltage may be required. The Avia's working power is typically 9 W, but can reach up to 31 W during self-heating mode in temperatures between -20°C and -10°C.

Figure 4.1.1: Shows the working power of the Avia at different temperatures.

Connection

The Avia uses an M12 aviation connector for power, control signals, and data transmission. The Livox Converter 2.0 integrates a LiDAR port, sync port, power port, and Ethernet port.

The Avia supports both static and dynamic IP address configurations. By default, sensors use a static IP address (192.168.1.XX). For dynamic IP, use Livox Viewer or Livox SDK to switch the mode.

Static IP Address Setup

Windows System:

1. Navigate to Control Panel > Network and Sharing Center.
2. Select the network > Properties.
3. Double-click “Internet Protocol Version 4 (TCP/IPv4)”.
4. Set the computer's IP address to 192.168.1.50 and subnet mask to 255.255.255.0.

Ubuntu™ 16.04 System: Use the `ifconfig` command (e.g., `sudo ifconfig enp4s0 192.168.1.50`).

Figure 4.2.1: Connecting using static IP address.

• Connect the Avia, Converter 2.0, power source, and computer.
• If using multiple Avia sensors, ensure unique IP addresses and use a switchboard.
• Launch Livox Viewer to configure IP addresses.
• For more than six sensors, use a switchboard to prevent data loss.

Dynamic IP Address Setup

1. Connect the Avia, Converter 2.0, power source, and computer as shown in Figure 4.2.1.
2. In Livox Viewer, set the Avia's IP address to dynamic.
3. Disconnect and reconnect devices.
4. Configure the computer for dynamic IP address (DHCP).

Windows System: Obtain IP and DNS automatically.

Ubuntu-16.04 System: Network > IPv4 > Automatic (DHCP).

Figure 4.2.2: Connecting using dynamic IP address.

• Connect the Avia, Converter 2.0, router, computer, and power source.
• If more than six sensors are used, a kilo mega router is recommended.
• Broadcast numbers can be found in Livox Viewer's Device Manager or Livox SDK.

Usage

Coordinates

The Avia features a built-in IMU. Point cloud coordinates (O-XYZ) and IMU coordinates (O'-X'Y'Z') are defined.

Figure 5.1.1: Coordinates of the Avia.

The IMU origin (O') is located at (-41.65, -23.26, 28.40) in the point cloud coordinate system.

Output Data

The Avia outputs point cloud data and IMU data, including timestamps, status codes, reflectivity, coordinates, and tag information.

Point Cloud Data

Each point contains:

• Target reflectivity: 0-255 (0-150 for Lambertian reflection, 151-255 for retroflection).
• Coordinates: Cartesian (x, y, z) or Spherical (r, θ, φ).

Figure 5.2.1.1: Relationship between Cartesian and Spherical coordinates.

Tags

Tags indicate return type and noise. The format includes bits for reserved, return number, point property based on intensity, and point property based on spatial position.

• Group 2 (Return Sequence): 00: return 0, 01: return 1, 10: return 2, 11: return 3.
• Group 3 (Intensity-based Noise): Indicates likelihood of noise based on return intensity.
• Group 4 (Spatial Position-based Noise): Indicates likelihood of noise based on spatial proximity.

Note: Point property based on intensity and spatial position are not yet available for Avia.

Timestamp

Data synchronization methods include IEEE 1588-2008 (PTP), Pulse Per Second (PPS), and GPS (PPS+UTC).

IEEE 1588-2008: Supports UDP/IPV4 for PTP message events.

PPS: Uses the sync cable for synchronization. The rising edge of PPS resets the timestamp.

Figure 5.2.2.1: Pulse Per Second signal.

Figure 5.2.2.2: UTC Time Commands.

Status Codes

Status codes indicate the current working status, including temperature, voltage, motor, dust, service life, and PPS signal status. These can be viewed in Livox Viewer or Livox SDK.

Working States & Working Modes

Working States: Initializing, Normal, Standby, Power Saving, Error.

Figure 5.3.1: Relationship between working states.

Working Modes: Normal, Standby, Power Saving. These can be set via Livox Viewer or Livox SDK.

Figure 5.3.2: Relationship between working modes.

Multiple Return Mode

The Avia supports Multiple Return mode (up to three returns) with a point rate of 720,000 points/s. Set via Livox Viewer or Livox SDK.

IMU

The Avia has a built-in IMU for altitude data. IMU push frequency can be set via Livox Viewer or Livox SDK.

Livox Viewer

Software for checking, recording, and analyzing point cloud data. Download the User Manual from https://www.livoxtech.com/downloads.

Storage, Transportation, and Maintenance

Storage

Store the Avia LiDAR sensor in a dry, dust-free environment between -40°C to 85°C (-40°F to 185°F). Avoid exposure to poisonous or corrosive gases. Handle with care to prevent drops.

Transportation

Transport the Avia LiDAR sensor in a secure, clean, and dry box with adequate foam padding. Handle with care.

Maintenance

The primary maintenance is cleaning the optical window. Dust and stains can affect performance.

1. Clean with compressed air: Dust the window first.
2. Wipe stains: Use the provided lens tissue with isopropyl alcohol. Wipe gently.

If the window remains dirty, use a mild soap solution and rinse thoroughly.

Troubleshooting

After-Sales Information

Visit www.livoxtech.com/support for after-sales policy and warranty conditions.

Appendix

Appendix 1: Livox Avia Dimensions

Diagrams showing the dimensions of the Livox Avia.

Appendix 2: Livox Converter 2.0 Dimensions

Diagrams showing the dimensions of the Livox Converter 2.0.

Specifications

Livox Avia