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

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1 B. Moebius Jena-Optronik/ Germany, M. Pfennigbauer Riegl Measurement Systems/ Austria, J. Pereira do Carmo ESTEC/ The Netherlands IMAGING LIDAR TECHNOLOGY Development of a 3D-LIDAR Elegant Breadboard for Rendezvous & Docking, Test Results, Prospect to Future Sensor Application Presentation at ICSO 2010, International Conference on Space Optics, Rhodes, Greece,, October 5 th 2010 B. Möbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th,

2 Overview What is a scanning 3D Lidar? 3D Imaging Lidar for ILT Aim of the Development Design and Technology Challenges Requirements and Performance Parameters Tests and Test Results 3D Lidar Classification; Same Technology for Different 3D Lidar Classes and Applications 3D Lidar Assessment Summary & Conclusion 130 mm B. Möbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th,

3 What is a scanning 3D Lidar?? Time-of of-flight flight measurement of pulsed laser beam The collimated Laser beam scans the FOV via scan mirror(s) (2 axis, one perpendicular to the other) Range Amplitude Elevation Azimut Time E-Box Hardware-inherent, efficient protection against sun and spurious reflection Optics assembly B. Möbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th, GNC

4 Jena-Optronik Heritage in RvD Lidar: Precursor Sensor RVS About 20 Flight Models delivered up to now ARP-RVS RVS on STS-84 and STS-86 (1997): Participation in Atlantis MIR docking RVS on ATV during docking to ISS (2008) RVS on HTV during berthing with ISS (2009) Extensive test program both on ground and in space Successful application of RVS during docking/berthing missions with excellent performance Images: ESA/JAXA/NASA RVS on Cygnus berthing with ISS (planned for 2011) B. Möbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th,

5 3D Imaging Lidar - Aim of Development Development of the 3D Lidar in the ILT project founded by ESTEC in the frame of the Aurora program for future Human Exploration of Mars Three major potential applications for Imaging Lidars sensors: Landing Lidar for support of the GNC navigation functions, in particular for selection of a safe landing site hazard avoidance; 3D Lidar providing inputs to Rover navigation, substitution of the t usual stereo camera on the Rover head by an actively distance measuring 3D sensor; Rendezvous and Docking Lidar sensor to provide inputs to GNC during final approach of the sample return canister to the mother spacecraft in the Mars orbit Sensors to be small and lightweight, with low power consumption No off-the the-shelf availability of 3D Lidar sensors covering all needs technology development required! Application of the new technologies for more than one of the 3D Lidars benefit at least concerning cost and development time B. Möbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th,

6 3D Imaging Lidar Design and Performance Challenges ILT-RVS: Scanning 3D Lidar; application for 3D imaging (e.g. client inspection at short range) target position determination (i.e. RvD sensor) Status: Elegant Breadboard, now under enhancement in several projects, incl. key component qualificationq LRF on fibre laser basis; eye safe Coaxial transmitter/receiver optics; Scanner Head containing 1 Gimbal mounted scan mirror; Scanner control for tuning of scan window size and position depending on application Complemented by commercial computer and DC-DC converter B. Möbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th,

7 Sensor Head Optical Frontend Laser 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: pulsed TOF measurement echo digitization online waveform processing Fibre laser for high beam quality scalability of output power flexibility wrt pulse duration & pulse repetition rate compact size and fair efficiency mean output power pulse rate pulse duration receiver FE 50 mw (up to 1 W for diffusely reflecting targets at long range) 30 khz unambiguity range > 5 km few ns high resolution and precision APD 200 µm and transimpedance amplifier B. Möbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th,

8 LT-RVS Performance Parameters I and Test Results Short range tests in Germany and long range tests in Portugal & 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 Sphere, rotation Sphere, rotation Sphere, no rotation Sphere, rotation Fix planar target of 7 1 -RRs B. Möbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th,

9 ILT-RVS Long 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: El 3 noise: B. Möbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th,

10 ILT-RVS 3D Imaging of a Non-Cooperative Target Scan over "stairs", R= 4.6 m, LPL 2, AmpThr 500, cut at El=+1 (red part of test body) Range Az Test sample 15.2 mm mm B. Möbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th, mm -9.7 mm 8.5 mm -8.0 mm 4.0 mm -3.5 mm 1.5 mm

11 ILT-RVS - 3D Imaging of the Cooperative Target Canister Load CSV File Min: m Max: m B. Möbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th,

12 3D Lidar Classification 3D Lidars can be classified into large-sized and small-sized Lidars,, depending on their specific application and resulting specification. Small-sized 3D Lidars: for measurement of cooperative targets at short and long distance (up to a few thousand meters) and of non-cooperative surfaces at short range Large-sized 3D Lidars: measurement of non-cooperative objects at short and long distance The wording small-sized and large-sized corresponds with the dimensions of the Lidar sensor: 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 classification into a small-sized and a large-sized type comprise utilization of the same or a similar technology in graded dimension for different 3D Lidar type and application B. Möbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th,

13 3D Lidar Assessment Summary and Conclusion High experience and experts knowledge at Jena-Optronik from RVS program for 3D Lidar HW and SW design, development, integration, verification, qualification ication & application Small-sized 3D-Lidar of ILT-RVS type is best choice for rendezvous and docking or servicing missions with satellites that are equipped with retro reflecting targets. With further miniaturization it is also applicable on rovers. The large-sized 3D-Lidar of ILT-RVS type is an excellent solution for missions to non-cooperative satellites. Even the application of large-sized scanning 3D-Lidar for hazard avoidance and GNC support tasks during Landing missions is considered to be optimum, at least as long as the technologies for a 3D-Lidar that is entirely scanner-free are not yet sufficiently advanced. The key technologies of both small-sized sized and large-sized 3D Lidar were developed in the ILT project. The test results are promising. Currently, upgrade and qualification of the technologies are ongoing in several projects in Jena-Optronik. B. Möbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th,

14 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,

15 Application & Key Technologies Concept of small sized and large sized Lidars Same technology for different 3D Lidar classes & applications Application Small sized Lidar Cooperative targets up to few km RvD with Satellites and ISS, equipped with RRs Rover navigation short-range range Large sized Lidar Non-cooperative up to few km & cooperative targets RvD with Satellites Landing missions Rover navigation up to km view Key technologies Gimbal mounted scan mirror Scanner control including electric encoders Small refractive telescope Coaxial transmitter / receiver optics Reflective telescope Fibre laser B. Möbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th,

16 Dimension, Mass, Power Concept of small sized and large sized Lidars Same technology for different 3D Lidar classes & applications Laser peak power Laser wavelength Receiver diameter Sensor head Sensor mass total Power consumption Small sized Lidar 500 W (eye safe) 10kW 1550 nm Large sized Lidar 4 kw 10 kw 8 mm 80 mm 1.3 kg / 140 * 160 * 130 mm³ 3 kg / 220 * 350 * 210 mm³ kg kg 32 W W for 1-channel 1 sensor B. Möbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th,

17 Operational Characteristics Concept of small sized and large sized Lidars Same technology for different 3D Lidar classes & applications Operating distance Field of view (FOV) Recommended Laser pulse rate depending on range Image update rate and image resolution Small sized Lidar 5 km with coop. target 200 m with diffusely reflecting target Max. 40 x 40 min. 1 1 x 1 1 Large sized Lidar 5 km as Landing Lidar 1 3 km for non-cooperative satellites Size and position adaptable to actual, temporary needs Laser altimeter for R> 5 km Up to 30 khz for R<= 5 km Up to 100 khz for R <= 1 km 1 Hz 3 Hz depending on FOV 60 x 60 (for 30kHz pulse / 3Hz image) x 300 (for 100kHz / 1Hz ) B. Möbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th,

18 3D-Lidar Advantage Compared with Cameras Measurement capability is independent on the external illumination situation of the client a 3D-Lidar provides the required illumination itself Active measurement thus direct discrimination of any physical object that is within 3D Lidar measurement range from the background stars in the space High robustness against parasitic light,, e.g. from sun, moon, Albedo High angular and range measurement accuracy that is nearly independent on range B. Möbius Jena-Optronik GmbH Imaging LIDAR Technology ICSO2010 Rhodes/ Greece October 5th,