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
B. Möbius 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. Möbius 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. Möbius 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. Möbius 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. Möbius 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. Möbius 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 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
B. Möbius 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 <= 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
B. Möbius 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. Möbius 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. Möbius 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. Möbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th, 2010 12
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
B. Möbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th, 2010 13
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.
B. Möbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th, 2010 14
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.
B. Möbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th, 2010 15
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
B. Möbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th, 2010 16
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
Concept of “small sized” and “large sized” Lidars – Same technology for different 3D Lidar classes & applicationsSame technology for different 3D Lidar classes & applications
B. Möbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th, 2010 17
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 )
Concept of “small sized” and “large sized” Lidars – Same technology for different 3D Lidar classes & applicationsSame technology for different 3D Lidar classes & applications
B. Möbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th, 2010 18
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