TSR20
Handheld LiDAR Scanner
The TSR20 is a new lightweight, high-performance handheld mobile LiDAR scanner launched by Toknav. Featuring the Livox Mid-360 sensor and advanced SLAM algorithms, it captures precise 3D point clouds in GNSS or GNSS-denied environments. Its compact design ensures easy mobility for indoor and outdoor mapping, including urban surveys, infrastructure inspection, and digital twin modeling. Combining LiDAR, GNSS, and INS, the TSR20 delivers reliable, seamless data processing across diverse applications.
System Architecture

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Application Area
Underground
Indoor Stairs
Parking Lots
Outdoor Buildings
Low-canopy Forest
Power Line Patro
Hardware Parameters
SYSTEM SPECS
Accuracy
≤3cm(Relative), ≤5cm(Absolute)
Voltage Range
12-20V
Dimensions
16.5*12.0*32.4cm
Weight
1.0kg (including battery)
Storage
64GB internal flash memory 128GB MicroSD Card
POS SPECS
Model
Built-in GNSS positioning and orientation dual antenna
POS Update Rate
200Hz
Positioning Accuracy
Horizontal: ±0.02m Vertical: ±0.03m
MAPPING
Mapping Mode
SLAM; RTK-SLAM; PPK-SLAM
CAMERA SPECS
Effective Pixel
2*20MP
Scanning Mode
Time-synchronized Scanning
FOV
Horizontal/Vertical FOV: 200°
LASER SPECS
Measuring Range
40m/10%
Horizontal FOV
360°
Vertical FOV
-7°-52°
Wavelength
1535mm
Data
Single echo, 200,000Points/Sec
Range Accuracy
≤2cm/10m, ≤3cm/0.2m
Scanning Mode
Non-repetitive Scanning