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B. Möbius 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


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


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


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


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


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


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 mm³)

Sensor head (1.45 kg, 130 x 130 x 146 mm³ 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 µm and transimpedance amplifier


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 <= 1 min

Operational Range (R) <= 1m … 5000m

Sensor mass (requirement / goal) 10 kg / 7 kg (on future FM)

Power consumption (req. / goal) 50 W / 30 W (on future FM)

Range [m] Target / Rotating?

Range 3

noise [m]

Az 3

noise [deg]

El 3

noise [deg]

Meas. Meas. Meas.

1 Sphere, rotation

0.009

0.72

0.53

8 Sphere, rotation

0.006

0.091

0.076

30 Sphere, rotation

0.005

0.025

0.025

120 Sphere, no rotation

0.003

0.005

0.012

244 Sphere, rotation

0.006

0.010

0.010

4750 Fix planar target of 7 1”-RRs

0.018

0.013

0.024

II


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°


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


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


3D Lidar Classification3D Lidar Classification

3D Lidars can be classified into 3D Lidars can be classified into ““largelarge--sizedsized”” and and ““smallsmall--sizedsized”” LidarsLidars, depending on their , depending on their specific application and resulting specification. specific application and resulting specification.

SmallSmall--sized 3D Lidars: for measurement of cooperative targets at shortsized 3D Lidars: for measurement of cooperative targets at short and long distance and long distance (up to a few thousand meters) and of non(up to a few thousand meters) and of non--cooperative surfaces at short range cooperative surfaces at short range

LargeLarge--sized 3D Lidars: measurement of nonsized 3D Lidars: measurement of non--cooperative objects at short and long distance cooperative objects at short and long distance

The wording The wording ““smallsmall--sizedsized”” and and ““largelarge--sizedsized”” corresponds with the dimensions of the Lidar corresponds with the dimensions of the Lidar sensor: sensor:

3D Lidar classification into a 3D Lidar classification into a ““smallsmall--sizedsized”” and a and a ““largelarge--sizedsized”” type type comprise utilization of the same or a similar technology in gradcomprise utilization of the same or a similar technology in graded ed dimension for different 3D Lidar type and applicationdimension for different 3D Lidar type and application

• A scanning Lidar that transmits a collimated beam to non-cooperative targets at long range requires more transmitted laser power and a larger receiver aperture than a RvD sensor for application on cooperative targets


3D Lidar Assessment 3D Lidar Assessment –– Summary and ConclusionSummary and Conclusion

High experience and expertsHigh experience and experts’’ knowledge at Jenaknowledge at Jena--Optronik from RVS program for 3D Lidar Optronik from RVS program for 3D Lidar HW and SW design, development, integration, verification, qualifHW and SW design, development, integration, verification, qualification & applicationication & application

““SmallSmall--sizedsized”” 3D3D--LidarLidar of ILTof ILT--RVS type is best choice for rendezvous and docking or RVS type is best choice for rendezvous and docking or servicing missions servicing missions with satellites that are equipped with retro reflecting targetswith satellites that are equipped with retro reflecting targets.. With further miniaturization it is also applicable on rovers.With further miniaturization it is also applicable on rovers.

The The ““largelarge--sizedsized”” 3D3D--LidarLidar of ILTof ILT--RVS type is an excellent solution for missions to RVS type is an excellent solution for missions to nonnon--cooperative satellitescooperative satellites. .

Even the application of Even the application of largelarge--sized scanning 3Dsized scanning 3D--LidarLidar for hazard avoidance and GNC for hazard avoidance and GNC support tasks during support tasks during Landing missionsLanding missions is considered to be optimum, at least as long is considered to be optimum, at least as long as the technologies for a 3Das the technologies for a 3D--Lidar that is entirely scannerLidar that is entirely scanner--free are not yet sufficiently free are not yet sufficiently advanced.advanced.

The key technologies of both smallThe key technologies of both small--sized and largesized and large--sized 3D Lidar were developed in the sized 3D Lidar were developed in the ILT project. The test results are promising. ILT project. The test results are promising.

Currently, upgrade and qualification of the technologies are onCurrently, upgrade and qualification of the technologies are ongoing in several projects going in several projects in Jenain Jena--Optronik.Optronik.


Thank you very much for your attention!Thank you very much for your attention!

ACKNOWLEDGEMENTS Thank you very much to our colleagues at Jena-Optronik, RIEGL and ESTEC for their cooperation and support, for their excellent ideas and patience during technical consulting. Vicariously for the colleagues at LusoSpace, sincere thanks are given to Carla Felix and Bruno Rodrigues for preparation and realization of the external longrange tests on RVS ILT.


Application & Key TechnologiesApplication & Key Technologies

Small sized LidarSmall sized Lidar Large sized LidarLarge sized LidarApplication Application

••Cooperative targets up to few kmCooperative targets up to few km••RvD with Satellites and ISS, RvD with Satellites and ISS,

equipped with RRsequipped with RRs••Rover navigation shortRover navigation short--rangerange

••NonNon--cooperative up to few km & cooperative up to few km & cooperative targetscooperative targets

••RvD with SatellitesRvD with Satellites••Landing missionsLanding missions••Rover navigation up to km viewRover navigation up to km view

Key Key technologiestechnologies

Gimbal mounted scan mirror Gimbal mounted scan mirror Scanner control including electric encodersScanner control including electric encoders

Coaxial transmitter / receiver opticsCoaxial transmitter / receiver optics

Small refractive telescopeSmall refractive telescope Reflective telescopeReflective telescope

Fibre laserFibre laser

Concept of “small sized” and “large sized” Lidars – Same technology for different 3D Lidar classes & applicationsSame technology for different 3D Lidar classes & applications


Dimension, Mass, PowerDimension, Mass, Power

Small sized LidarSmall sized Lidar Large sized LidarLarge sized LidarLaser peak Laser peak powerpower 500 W (eye safe) 500 W (eye safe) …… 10kW10kW 4 kW 4 kW …… 10 kW10 kW

Laser Laser wavelengthwavelength 1550 nm1550 nm

Receiver Receiver diameterdiameter 8 mm8 mm 80 mm80 mm

Sensor headSensor head

1.3 kg / 140 * 160 * 130 mm1.3 kg / 140 * 160 * 130 mm³³

3 kg / 220 * 350 * 210 mm3 kg / 220 * 350 * 210 mm³³

Sensor mass Sensor mass totaltotal

6 6 –– 6.3 kg6.3 kg

11.5 11.5 –– 11.8 kg11.8 kg

Power Power consumptionconsumption

32 W32 W

50 50 –– 60 W for 160 W for 1--channel sensorchannel sensor



Operational CharacteristicsOperational Characteristics

Small sized LidarSmall sized Lidar Large sized LidarLarge sized Lidar

Operating Operating distancedistance

5 km with coop. target5 km with coop. target

200 m with diffusely reflecting 200 m with diffusely reflecting targettarget

5 km as Landing Lidar5 km as Landing Lidar

1 1 –– 3 km for non3 km for non--cooperative cooperative satellitessatellites

Field of view Field of view (FOV)(FOV)

Max. 40Max. 40°°

x 40x 40°°

…… min. 1min. 1°°

x 1x 1°°Size and position adaptable to actual, temporary needsSize and position adaptable to actual, temporary needs

Recommended Recommended Laser pulse Laser pulse rate depending rate depending on rangeon range

Laser altimeter for R> 5 kmLaser altimeter for R> 5 km

Up to 30 kHz for R<= 5 kmUp to 30 kHz for R<= 5 km

Up to 100 kHz for R <= 1 kmUp to 100 kHz for R <= 1 km

Image update Image update rate and image rate and image resolutionresolution

1 Hz 1 Hz –– 3 Hz depending on FOV3 Hz depending on FOV

60 x 60 (for 30kHz pulse / 3Hz image) 60 x 60 (for 30kHz pulse / 3Hz image) -- 300 x 300 (for 100kHz / 1Hz )300 x 300 (for 100kHz / 1Hz )



3D3D--Lidar Advantage Compared with CamerasLidar Advantage Compared with Cameras

Measurement capability is Measurement capability is independent on the external illuminationindependent on the external illumination situation of the client situation of the client –– a 3Da 3D--Lidar Lidar provides the required illumination itselfprovides the required illumination itself

Active measurement Active measurement –– thus thus direct discrimination of any physical direct discrimination of any physical objectobject that is within 3D Lidar measurement range that is within 3D Lidar measurement range from the from the background stars in the spacebackground stars in the space

High High robustness against parasitic lightrobustness against parasitic light, e.g. from sun, moon, Albedo, e.g. from sun, moon, Albedo

High angular and range High angular and range measurement accuracy that is nearly measurement accuracy that is nearly independent on rangeindependent on range

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