Recent advancements in lidar technologies have led to significant improvements in Teledyne Optech’s airborne lidar systems. This paper will present the performance enhancements that have led to the creation of the Galaxy, a compact scanning lidar system. Unlike the previous generation of conventional airborne lidar, the Galaxy offers fundamentally improved specifications for long-range airborne lidar systems. The Galaxy system is capable of acquiring high-density, multiple-return data with unique pulse separation characteristics and exceptional precision. Utilizing discrete time-of-flight measurement electronics, this new system is capable of seamlessly operating at very high laser repetition rates through blind zones and with multiple pulses in the air. By utilizing even higher scan products , the system outperforms previous generations of systems and optimizes point density during collection.
The rapid 2-axis scanning lidar prototype was developed to demonstrate high-precision single-pixel linear-mode lidar
performance. The lidar system is a combined integration of components from various commercial products allowing for
future customization and performance enhancements. The intent of the prototype scanner is to demonstrate current stateof-
the-art high-speed linear scanning technologies.
The system consists of two pieces: the sensor head and control unit. The senor head can be installed up to 4 m from the
control box and houses the lidar scanning components and a small RGB camera. The control unit houses the power
supplies and ranging electronics necessary for operating the electronics housed inside the sensor head.
This paper will discuss the benefits of a 2-axis scanning linear-mode lidar system, such as range performance and a userselectable
FOV. Other features include real-time processing of 3D image frames consisting of up to 200,000 points per
frame.
The compact High Speed Scanning Lidar (HSSL) was designed to meet the requirements for a rover GN&C sensor. The
eye-safe HSSL's fast scanning speed, low volume and low power, make it the ideal choice for a variety of real-time and
non-real-time applications including:
3D Mapping;
Vehicle guidance and Navigation;
Obstacle Detection;
Orbiter Rendezvous;
Spacecraft Landing / Hazard Avoidance.
The HSSL comprises two main hardware units: Sensor Head and Control Unit. In a rover application, the Sensor Head
mounts on the top of the rover while the Control Unit can be mounted on the rover deck or within its avionics bay. An
Operator Computer is used to command the lidar and immediately display the acquired scan data.
The innovative lidar design concept was a result of an extensive trade study conducted during the initial phase of an
exploration rover program. The lidar utilizes an innovative scanner coupled with a compact fiber laser and high-speed
timing electronics. Compared to existing compact lidar systems, distinguishing features of the HSSL include its high
accuracy, high resolution, high refresh rate and large field of view. Other benefits of this design include the capability to
quickly configure scan settings to fit various operational modes.
Part of the requirements of the future Constellation program is to optimize lunar surface operations and
reduce hazards to astronauts. Toward this end, many robotic platforms, rovers in specific, are being sought
to carry out a multitude of missions involving potential EVA sites survey, surface reconnaissance, path
planning and obstacle detection and classification. 3D imaging lidar technology provides an enabling
capability that allows fast, accurate and detailed collection of three-dimensional information about the
rover's environment. The lidar images the region of interest by scanning a laser beam and measuring the
pulse time-of-flight and the bearing. The accumulated set of laser ranges and bearings constitutes the threedimensional
image.
As part of the ongoing NASA Ames research center activities in lunar robotics, the utility of 3D imaging
lidar was evaluated by testing Optech's ILRIS-3D lidar on board the K-10 Red rover during the recent
Human - Robotics Systems (HRS) field trails in Lake Moses, WA. This paper examines the results of the
ILRIS-3D trials, presents the data obtained and discusses its application in lunar surface robotic surveying
and scouting.
Airborne laser terrain mapping systems have redefined the realm of topographic mapping. Lidars with kilohertz
collection rates and long ranges have made airborne surveying a quick, efficient and highly productive endeavor. Despite
the current industry efforts toward improving airborne lidar range, collection rate, resolution and accuracies, and with the
advent of Unmanned Aerial Vehicles (UAVs) and their myriad advantages, military and civil applications alike are
looking for very compact and rugged lidar systems that can fit within the tight volumetric, form-factor, mass and power
constraints imposed by UAVs.
Optech has developed a very compact airborne laser terrain mapper that's geared toward UAV deployment. The system
is composed of a highly integrated unit that combines a lidar transceiver, a position orientation sensor and control
electronics in a 1 cubic foot - 57 lb package. Such level of compactness is achieved by employing the latest laser
technology trends along with featuring very compact optical design, and using the latest control and data collection
architecture technology. This paper describes the UAV requirements that drove the system design, the technology
employed and optimizations implemented in the system to achieve its ultra-compact size.
In August 2007, the engineering model of the Rendezvous Lidar System (RLS) was tested at the Sensor Test Range
Facility that has been developed at NASA Langley Research Center for the calibration and characterization of 3-D
imaging sensors. The three-dimensional test pattern used in this characterization is suitable for an empirical verification
of the resolving capability of a lidar for both mid-range terminal rendezvous and hazard avoidance landing. The results
of the RLS lidar measurements are reported and compared with image frames generated by a lidar simulator with an
Effective Instantaneous Field of View (EIFOV) consistent with the actual scanning time-of-flight lidar specifications.
These full-scale tests demonstrated the resolving capability of the lidar under static testing conditions. In landing
operations, even though the lidar has a very short exposure time on a per-pulse basis, the dynamic motion of a lander
spacecraft with respect to the landing site will cause pulse-to-pulse imaging distortion. MDA, Optech, and NGC
Aerospace have teamed together to resolve this issue using motion compensation (platform stabilization) and motion
correction (platform residual correction) techniques. Platform stabilization permits images with homogenous density to
be generated so that no safe landing sites will be missed; platform residual errors that are not prevented by this
stabilization are then corrected in the measurement data prior to map generation. The results of recent developments in
platform stabilization and motion correction are reported and discussed in the context of total imaging error budget.
KEYWORDS: LIDAR, Solid state lighting, Space operations, Commercial off the shelf technology, Sensors, Reflectivity, Mirrors, Mars, Receivers, Pulsed laser operation
The Spaceborne Scanning Lidar System (SSLS) system is a space-qualified scanning lidar system developed by MDA and Optech. It has been operating on orbit since April 2005 as part of the XSS-11 one-year demonstration of space technologies associated with spacecraft autonomous rendezvous and proximity operations. The SSLS has already successfully supported long and medium-range object acquisition and tracking. Short range acquisition, tracking, and imaging tasks are scheduled towards the end of its one-year mission. MDA and Optech view SSLS as the first 'smart' product in the RELAVIS line of scanning lidar products. An upgrade plan, addressing customer needs and lessons learned during SSLS build and operation on orbit, has been established and is currently being implemented. Next generation SSLS lidar will provide improved performance and real-time space object tracking solution based on point cloud data acquired by the lidar. Real-time pose (position and orientation) capability will be provided in addition to the currently provided range, bearing, and centroid telemetry data. The integrated pose solution will provide the user with tracking data while reducing spacecraft databus and processor utilization. This new functionality expands the SSLS role from a 'sensor only' ranging role to a robust long/medium and short range 'ranging and tracking solution' supporting rendezvous and close proximity missions. This paper describes the SSLS upgrade plan and provides information related to the implementation and progress of the upgrade via test results of the new SSLS capabilities.
KEYWORDS: Solid state lighting, LIDAR, Space operations, Mirrors, Receivers, Aerospace engineering, Calibration, Light sources and illumination, Inspection, Data acquisition
The Spaceborne Scanning Lidar System (SSLS) system is a space qualified scanning lidar system developed by MDA, Space Missions (MD Robotics) and Optech. It is scheduled to be launched in 2005 as part of a one year on-orbit demonstration of space technologies associated with spacecraft autonomous rendezvous and proximity operations. The SSLS was designed to meet specific performance requirements under all lighting conditions during its one-year mission. Prior to delivery to the customer, the SSLS completed a successful proto-flight testing program that demonstrated SSLS capability to perform its intended mission in its target space environment. The SSLS is a product of a successful fusion of proven terrestrial lidar technologies with space proven hardware and software designs. The SSLS product was developed, qualified and delivered to a customer within an extremely demanding schedule. This paper describes the requirements, design constraints and architecture of the SSLS. The paper includes scan results which demonstrate its performance and capabilities at short and long ranges.
KEYWORDS: Space operations, LIDAR, Robotics, Satellites, Laser systems engineering, Control systems, Received signal strength, Navigation systems, Cameras, Sensors
Many on-orbit rendezvous missions would benefit from the ability to locate and track a spacecraft at a distance, compute its pose and attitude with high accuracy during close-in maneuvers, and to provide a visual record of the final mission event. The Rendezvous Laser Vision System (RELAVIS), designed by Optech and MD Robotics, meets such needs.
Installed on a seeker vehicle, RELAVIS provides an integrated laser-based vision system that obtains relative position and orientation of a target vehicle. RELAVIS supports targetless operation, does not require any external illumination sources and operates irrespective of location of a solar disk. The primary use of RELAVIS is to support autonomous satellite rendezvous and docking operations. RELAVIS can also be used for 3D workspace mapping and calibration, target vehicle inspection and reconnaissance in space environments.
RELAVIS has the unique capability of producing highly accurate data over a range of 0.5 metres to 3 kilometres and providing 6 degrees-of-freedom (pose) bearing and range data of a target spacecraft, which may be processed by an autonomous Guidance Navigation and Control (GNC) system for orbital rendezvous and docking operations. RELAVIS can also be equipped with a space-qualified camera unit to view on-orbit events.
Dennis Gregoris, Arkady Ulitsky, Dennis Vit, Andy Kerr, Peter Dorcas, George Bailak, Jeffrey Tripp, Ross Gillett, Chris Woodland, Robert Richards, Christian Sallaberger
The Shuttle Inspection Lidar (SIL) system is a derivative of a scanning lidar system being developed by MD Robotics and Optech. It incorporates a lidar, a camera, lights and video communications systems. The SIL is designed to meet the specific requirements for the on-orbit inspection and measurement of the Space Shuttle leading edge Reinforced-Carbon Carbon (RCC) and Thermal Protection System (TPS). The SIL has a flexible electrical and mechanical interface that enables it to be mounted on different locations including the Shuttle Remote Manipulator System (SRMS, Canadarm), and the Space Station Remote Manipulator System (SSRMS) on the International Space Station (ISS).
This paper describes the SIL system and the specifications of the imaging lidar scanner system, and discusses the application of the SIL for on-orbit shuttle inspection using the on-orbit SRMS. Ground-based measurements of the shuttle TPS taken by a terrestrial version of the imager are also presented.
Future planetary exploration missions will aim at landing a spacecraft in hazardous regions of a planet, thereby requiring an ability to autonomously avoid surface obstacles and land at a safe site. Landing safety is defined in terms of the local topography-slope relative to gravity and surface roughness-and landing dynamics, requireing an impact velocity lower than a given tolerance. In order to meet these challenges, a LIDAR-based Autonomous Planetary landing System (LAPS) was developed, combining the three-dimensional cartographic capabilities of the LIDAR with autonomous 'intelligent' software for interpreting the data and for guiding the Lander to the safe site. This paper provides an overview of the LAPS ability to detect obstacles, identify a safe site and support the navigation of the Lander to the detected safe site. It also demonstrates the performance of the system using real LIDAR data taken over a physical emulation of a Mars terrain.
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