The HERON MS-1 is perfect mobile surveying system for difficult fields. THE HERON MS-1 is the rugged variant of the HERON system and is built for surveyors who need to take on arduous work like in humid or dusty sites without compromising excellence in real-time 3D mapping, localization and detection capabilities. The HERON MS-1 supports real time 2 cm resolution 3D mapping virtually anywhere with 2 cm local accuracy and 5 cm global accuracy. Higher resolution scans can be automatically registered on the HERON point cloud when required. The HERON MS-1 can be used anywhere and does not require GPS / GNSS, targets, trolleys and calibration stops in order to work properly. Its rugged design is particularly useful in sites such as underground mines.