Impact of Temperature and Humidity on a 3D LiDAR Sensor: Performance and Characterization

In recent years, the use of Unmanned Aircraft Systems (UASs) has steadily increased for a wide range of military, civil, and scientific applications. During UAS operations, it is crucial to accurately identify and track all elements within the operational environment, including obstacles, other vehicles (stationary or moving), and the presence of people. Environmental conditions, such as temperature, pressure, and humidity variations, can significantly affect the performance of onboard sensors. Therefore, evaluating these effects is essential to ensure reliable operations. This paper analyses the impact of temperature and relative humidity variations on distance measurements provided by a 3D LiDAR (Light Detection and Ranging) sensor, aiming to assess its functionality under different simulated weather conditions. The objective of this work is to characterize the sensor and validate a mathematical model for distance measurements, considering temperature and humidity fluctuations. The 3D LiDAR is integrated into an obstacle detection system prototype, designed for UAS operations. The test setup consists of an RS-Helios 16P LiDAR sensor and a PC-based ground station for data visualization and analysis.