In 2015 FMV has funded the project 3D-UAV: Collection of 3D data from 3D lidar with mini-UAV as measurement platform (phase 2), at FOI called 3D:UAV (FMV reference 387645-LB884939). This is a project continued from the FMV project funded in 2014 with the same name. The first phase has been reported [1]. The 3D lidar technology is particularly useful for detecting target behind occlusion. Further the 3D lidar technology operates even in the dark. We see a number of military applications, where an uplifted 3D lidar in a flying sensor platform can generate data to obtain a better situation awareness of the situation as a complement to other EO sensors; RGB cameras, thermal infrared and hyperspectral imaging. Data can be used for various applications such as intelligence information, 3D measurement and documentation during the military operations, and detection of military targets (direct detection through occlusion or detection by changes). The results presented in this report are important steps towards practical applications of lidar data collection from small UAVs, because of the relatively high accuracy and the ability to manage rapid platform movements. Our results show that 3D lidar, and inexpensive MEMS based INS in conjunction with a dynamic calibration process can obtain significantly improved accuracy compared to processing only with data from the INS. For military use real time are desirable to quickly take advantage of the 3D information for further decision making. High resolution laser scanning creates challenges in data management and processing towards real-time presentation of the relevant results for the operator. In order to increase the speed of processing data, the project has started modifying the dynamic calibration.