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  • B. Mbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th, 2010 1

    B. Moebius JenaB. Moebius Jena--Optronik/ Germany, Optronik/ Germany, M. Pfennigbauer Riegl Measurement Systems/ Austria, M. Pfennigbauer Riegl Measurement Systems/ Austria, J. Pereira do Carmo ESTEC/ The NetherlandsJ. Pereira do Carmo ESTEC/ The Netherlands

    IMAGING LIDAR TECHNOLOGYIMAGING LIDAR TECHNOLOGY

    Development of a 3DDevelopment of a 3D--LIDAR LIDAR Elegant Breadboard for Rendezvous & Docking, Elegant Breadboard for Rendezvous & Docking, Test Results, Test Results, Prospect to Future Sensor ApplicationProspect to Future Sensor Application

    Presentation at Presentation at ICSO 2010, ICSO 2010, International Conference on Space Optics,International Conference on Space Optics, Rhodes, GreeceRhodes, Greece, October 5, October 5thth 20102010

  • B. Mbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th, 2010 2

    OverviewOverview

    What is a scanning 3D Lidar?What is a scanning 3D Lidar?

    3D Imaging Lidar for ILT 3D Imaging Lidar for ILT Aim of the DevelopmentAim of the Development

    Design and Technology Challenges Design and Technology Challenges

    Requirements and Performance ParametersRequirements and Performance Parameters

    Tests and Test ResultsTests and Test Results

    3D Lidar Classification; Same Technology for 3D Lidar Classification; Same Technology for Different 3D Lidar Classes and ApplicationsDifferent 3D Lidar Classes and Applications

    3D Lidar Assessment 3D Lidar Assessment Summary & ConclusionSummary & Conclusion

    130 mm130 mm

  • B. Mbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th, 2010 3

    What is a scanning 3D Lidar??What is a scanning 3D Lidar??

    TimeTime--ofof--flight measurement of pulsed laser beamflight measurement of pulsed laser beam

    The collimated Laser beam scans the FOV via scan mirror(s) The collimated Laser beam scans the FOV via scan mirror(s) (2 axis, one perpendicular to the other)(2 axis, one perpendicular to the other)

    HardwareHardware--inherent, efficient protection against sun and spurious reflectiinherent, efficient protection against sun and spurious reflectiononOptics assembly

    Azimut

    Elevation

    TimeE-Box

    RangeAmplitude

    GNC

  • B. Mbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th, 2010 4

    JenaJena--Optronik Heritage in RvD Lidar: Precursor Sensor RVSOptronik Heritage in RvD Lidar: Precursor Sensor RVS About 20 Flight Models delivered up to nowAbout 20 Flight Models delivered up to now

    ARPARP--RVS on STSRVS on STS--84 and STS84 and STS--86 (1997): 86 (1997):

    Participation in Atlantis Participation in Atlantis MIR dockingMIR docking

    RVS on ATV duringRVS on ATV during

    docking to ISS (2008)docking to ISS (2008)

    RVS on HTV RVS on HTV during during

    berthing with ISS (2009)berthing with ISS (2009)

    Extensive test program both on ground and in spaceExtensive test program both on ground and in space Successful application of RVS during docking/berthing missions Successful application of RVS during docking/berthing missions

    with excellent performancewith excellent performanceRVS on Cygnus RVS on Cygnus berthing with ISS berthing with ISS

    (planned for 2011)(planned for 2011)Images: ESA/JAXA/NASA

  • B. Mbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th, 2010 5

    3D Imaging Lidar 3D Imaging Lidar -- Aim of DevelopmentAim of Development

    Development of the 3D Lidar in the ILT project founded by ESTEC Development of the 3D Lidar in the ILT project founded by ESTEC in the frame of the Aurora program for future Humanin the frame of the Aurora program for future Human Exploration of Mars Exploration of Mars

    Three major potential applications for Imaging Lidars sensors: Three major potential applications for Imaging Lidars sensors:

    Sensors to be small and lightweight, with low power consumption Sensors to be small and lightweight, with low power consumption

    No offNo off--thethe--shelf availability of 3D Lidar sensors covering all needs shelf availability of 3D Lidar sensors covering all needs

    technology development required!technology development required!

    Application of the new technologies for more than one of the 3D Application of the new technologies for more than one of the 3D Lidars Lidars

    benefit at least concerning cost and development time benefit at least concerning cost and development time

    Landing Lidar for support of the GNC navigation functions, in paLanding Lidar for support of the GNC navigation functions, in particular for rticular for selection of a safe landing site selection of a safe landing site hazard avoidance; hazard avoidance;

    3D Lidar providing inputs to Rover navigation, substitution of t3D Lidar providing inputs to Rover navigation, substitution of the usual stereo he usual stereo camera on the Rover head by an actively distance measuring 3D secamera on the Rover head by an actively distance measuring 3D sensor; nsor;

    Rendezvous and Docking Lidar sensor to provide inputs to GNC durRendezvous and Docking Lidar sensor to provide inputs to GNC during final ing final approach of the sample return canister to the mother spacecraft approach of the sample return canister to the mother spacecraft in the Mars orbitin the Mars orbit

  • B. Mbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th, 2010 6

    3D Imaging Lidar 3D Imaging Lidar Design and Performance ChallengesDesign and Performance Challenges

    ILTILT--RVS:RVS: Scanning 3D Lidar; Scanning 3D Lidar; application for application for

    3D imaging (e.g. client inspection at short range) 3D imaging (e.g. client inspection at short range)

    target position determination (i.e. RvD sensor)target position determination (i.e. RvD sensor)

    Status: Elegant Breadboard,Status: Elegant Breadboard,now under enhancement in several projects, incl. key component qnow under enhancement in several projects, incl. key component qualificationualification

    LRF on fibre laser basis; eye safeLRF on fibre laser basis; eye safe

    Coaxial transmitter/receiver optics;Coaxial transmitter/receiver optics;

    Scanner Head containing 1 Gimbal mounted scan mirror; Scanner Head containing 1 Gimbal mounted scan mirror;

    Scanner control for tuning of scan window size and position depeScanner control for tuning of scan window size and position depending on application nding on application

    Complemented by commercial computer and DC-DC converter

  • B. Mbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th, 2010 7

    Sensor Head Sensor Head Optical Frontend Optical Frontend Laser Range FinderLaser Range Finder

    View into optical frontend (0.15 kg, 66 x 48 x 30 mm)

    Sensor head (1.45 kg, 130 x 130 x 146 mm w/o opt. frontend)

    incl. fibre optics as interface to the LRF

    LRF:LRF:pulsed TOF measurement echo digitization online waveform processingFibre laser for high beam quality scalability of output power flexibility wrt pulse duration &

    pulse repetition rate compact size and fair efficiency mean output power

    50 mW (up to 1 W for diffusely reflecting targets at long range)

    pulse rate

    30 kHz unambiguity range > 5 km

    pulse duration

    few ns high resolution and precision

    receiver FE

    APD

    200 m and transimpedance amplifier

  • B. Mbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th, 2010 8

    LTLT--RVS RVS Performance Parameters and Test ResultsPerformance Parameters and Test Results Short range tests in Germany and long range tests in Portugal Short range tests in Germany and long range tests in Portugal & Germany& Germany

    Parameter Requirement

    Field of view (FOV) >= 20

    x 20

    Frame rate in Track Mode >= 1 Hz

    Acquisition duration

  • B. Mbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th, 2010 9

    ILTILT--RVS RVS Long Range Test ResultsLong Range Test Results 5km-Measurement via Saale Valley

    Target location

    ILT Sensor

    Measurement results in TM:

    R = 4750 m

    Av. Echo Amp: 2000

    Av. Return Nmb: 30

    R 3

    noise: 0.018m

    Az 3

    noise: 0.013

    El 3

    noise: 0.024

  • B. Mbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th, 2010 10

    ILTILT--RVS RVS 3D Imaging of a Non3D Imaging of a Non--Cooperative TargetCooperative Target

    Scan over "stairs", R= 4.6 m, LPL 2, AmpThr 500, cut at El=+1(red part of test body)

    4.6

    4.61

    4.62

    4.63

    4.64

    4.65

    4.66

    4.67

    4.68

    -1 0 1 2 3 4 5 6

    Az

    Ran

    ge

    Test sample

    1.5 mm

    -3.5 mm

    4.0 mm

    -8.0 mm

    8.5 mm

    -9.7 mm

    9.7 mm

    -15.0 mm

    15.2 mm

  • B. Mbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th, 2010 11

    ILTILT--RVS RVS -- 3D Imaging of the Cooperative Target Canister3D Imaging of the Cooperative Target Canister

    Load CSV File

    Min: 0.8455m

    Max: 0.9130m

  • B. Mbius Jena-Optronik GmbH Imaging LI

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