Kinematic backpack LIDAR data from labyrinthine channels on Devon Island, Nunavut, Canada

Akhka-R4 lidar´backpack is equipped with Riegl MiniVUX-3UAV and VUX-1HA laser scanners. The data you have is based that from MiniVUX-3UAV with ranging accuracy of 15 mm with 10 mm precision (in practice these values seem to be more diminued/better). Maximum range of the scanner is at the used 200kHz pulse rate about 290 m at 60% reflective target, 170 m for 20% target. I have cut the range however for smaller overall data and accuracy of the point cloud. Scan line speed was 100 lines per second, which means about 10-15 mm scan line spacing, angular resolution of subsequent points within a scan line was thus 3.14 mrad, which translates to 15.7 cm point spacing at 50 m range. Thus I like to walk around the features quite densely if feasible given the time available. To allow the reconstructing of the scene in 3D an accurate GNSS-IMU positioning device was used (NovAtel Pwrpak7 GNSS + ISA-100C IMU) for trajectory and sensor orientation at 200Hz data rate. Trajectory was computed in tightly-coupled kinematic post-processing using base station GNSS data (Trimble R10). Data is thinned to approximately 5cm point spacing using median elevation. Coordinate system: UTM16N Elevation system: WGS84/GRS89 ellipsoidal Data format: LAZ1.2