> For the complete documentation index, see [llms.txt](https://realtimerobotics.gitbook.io/real-time-robotics/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://realtimerobotics.gitbook.io/real-time-robotics/lidar/pcmasterprogl-user-guide.md).

# PCMasterProGL User Guide

### Prerequisites

Before processing data, make sure you installed the following prerequisites:

* PCMasterProGL 1.8.0.0: <https://www.dropbox.com/sh/8fjopms5w6np0jk/AABTEHqcPnDXYMEKPJxFGigZa?e=1&dl=0>
* QGIS Desktop 3.36.3:  <https://qgis.org/en/site/forusers/download.html>

### Activating the PPK License Manager

Open PCMasterProGL and navigate to Settings > Local License Manager > Activate License as shown in the image below.

<figure><img src="/files/m2hQFP21kqtHwt2Q453r" alt=""><figcaption></figcaption></figure>

1. Input the License Key:  `3cb1-7cc4-4b90-e6d7-c164-xxx`
2. Input the Activator Info: RTR
3. Press "Activate"

### Data Processing

#### Prepare dataset&#x20;

1. Open the folder: `RESEPI-AAAAAA-BBBB-CC-DD-EE-FF-GG`
2. The file structure is as shown in the image below.

<figure><img src="/files/g2scIMIxovM9L5NcKXso" alt="" width="275"><figcaption></figcaption></figure>

3. PCMasterProGL supports the following **Base Station** file formats for PPK processing:

* NovAtel Raw (.gpb)
* Trimble Raw
* Ublox Raw (.ubx)
* Septentrio Raw
* RTCM Data
* Rinex Data

#### Quick Start

1. Double-click on the "ppk" file.
2. PCMasterProGL software will open and generate individual folders containing camera imagery (if the camera is available), data from the inertial navigation system (INS), and all LiDAR data as shown in the image below.

<figure><img src="/files/1BrradmJSKcQhUvQx8F1" alt=""><figcaption></figcaption></figure>

3. The result is shown in the image below.

<figure><img src="/files/c3l96nN7rFFxy88DtV9G" alt=""><figcaption></figcaption></figure>

4. Export to the "LAS" file by navigating to File > Export LAS File(s). The point cloud will be saved as "ppk\_cloud\_colorized.las" in the "clouds" folder.&#x20;

<figure><img src="/files/eZ7A0Eqj6HWQfOYPIdLY" alt="" width="330"><figcaption></figcaption></figure>

### 3D Visualization

1. Open the QGIS Desktop software and navigate to Layer > Data Source Manager

<figure><img src="/files/pQhKfIgtWtHcN77276ST" alt=""><figcaption></figcaption></figure>

2. Add a point cloud dataset as a "LAS" file.

<figure><img src="/files/HsqEduf4JEfxZwrvIvPm" alt=""><figcaption></figcaption></figure>

3. Navigate to View > 3D Map Views > New 3D Map View. The result is shown in the image below.

<figure><img src="/files/A80Zx8ouGGInQupewbSE" alt=""><figcaption></figcaption></figure>

### Evaluation

Navigate to the "ins" folder within the dataset folder and open the "PPK Report `BBBB-CC-DD-EE-FF-GG.html"` file on Google Chrome. &#x20;

eg.&#x20;

{% file src="/files/SPYGFKyrngEYEGWYolpV" %}

#### 1. Evaluate the GNSS Position Quality.

Direction: It is expected to have a spike in separation during the takeoff and landing, and then become fixed during the flight.  The plot in the image below indicating the GNSS quality is good.

<figure><img src="/files/Io0huUUszB64DrcxcqbE" alt=""><figcaption></figcaption></figure>

#### 2. Evaluate the loosely coupled IMU-GNSS position misclosure

Direction:  The misclosure plot will appear thinner after each iteration, indicating that the lever arm is more accurate.

<figure><img src="/files/LtXcahJf3BPX9009bhsd" alt=""><figcaption></figcaption></figure>

#### 3. Evaluate Forward/Reverse Attitude Separation

Direction: The attitude separation is only problematic if it is above 4 arcminutes for heading and above 1 arcminute for pitch and roll. In the image below, the attitude separation plot does not eclipse 1 arcminute for heading, pitch, and roll, indicating that the attitude separation is very good.

<figure><img src="/files/DiIg5CGogp6VdIdIJ99Z" alt=""><figcaption></figcaption></figure>

### `References`

{% embed url="<https://lidarpayload.com/docs/resepi/resepi-pcmasterpro-user-manual-ver-1-2/>" %}

{% embed url="<https://www.youtube.com/watch?v=AygQTBVNrKw>" %}