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Diode pulsed lidar-rangefinder: eye-safe measurements with ~1cm
accuracy by 15 ns pulse
Sergey Pershin, V.N. Lednev1), V.S. Makarov2), A.V. Turin2)
1)Wave Research Center,Prokhorov General Physics Institute, Moscow, 119991,
Vavilov, 38.2)Space Research Institute Russian Academy of Sciences,
82/34 Profsouznaya Street, Moscow 117133, [email protected]
• S.Pershin, V.Linkin, V.Makarov, I.Prochazka, K.Hamal,
“Spaceborn laser altimeter based on the SPAD receiver and semiconductor laser transmitter”, Proc. CLEO, Advance Program p.120 (1991).
S.Pershin et al. Compact “eye-safe” lidar for environmental monitoring,
SPIE, v. 2107, 336 (1993)
S.PershinTrouble-free compactLidar for in/out door atmosphere
monitoring, SPIE v. 2506, 428 (1995)
Micro-Joule Lidar based on diode laser and single photon detector
• Covered by Patent of Russia -2007
Outline• Noval approach based on high repetition rate eye-
safe microJoules pulses and quantum counter• Advantages
• High efficiency diode pulsed lasers as transmitter• High efficiency Single Photon Avalanche Diode as
receiver• Results
• The first Lidar on Mars was the lidar of • Russian Academy of Sciences • which was delivered by NASA “Mars Polar
Lander” mission in 1999
Lidar LIMS for NASA project Mars Polar Lander –99
Weight – 940 gConsumption - 0.2 WТ = –100 +50 0СData volume2kB per set36 kB/12 sets per solRange 750 metersresolution 10 m
1999 - The first Lidar onMars surface (South Pole )
Congratulations with 10th anniversary !!
LIMS
Lidar principle with Single Photon Avalanche Diode as receiver
laser pulse
gates
hysto noisesignal
Motivation• Can we measured the distance
with centimeter accuracyby τ =15 ns (~4.5m) pulsed rangefinder based on eye-safe diode laser and SPAD as receiver?
• distance is L = c ∆t /2,where ∆t is time of flight;
accuracy is ∆L = сτ/2,where τ is pulse duration (about 4.5 m)
N E W L A S E R S A F E T Y C O N C E P T SD . S L I N E Y . L A S E R F O C U S W O R L D . 1 9 9 4 . P . 1 8 5
L A S E R T Y P E W A V E -L E N G T H
M a x i m u m p e r m i s s i b l ee x p o s u r e ( M P E )
A r g o n F l u o r i d e 1 9 3 n m 3 , 0 m J / c m 2 o v e r 8 h
X e n o n C l o r i d e 3 0 8 n m 4 0 m J / c m 2 o v e r 8 hN i t r o g e n 3 3 4 n m 1 . 0 J / c m 2 o v e r 8 hA g r o n I o nH e l i u m - N e o nK r i p t o n I o n
4 8 8 , 5 1 4 . 5 n m6 3 2 . 8 n m5 6 8 , 6 4 7 n m
3 . 2 m W / c m 2 f o r 0 . 1 s2 . 5 m W / c m 2 f o r 0 . 2 5 s1 . 8 m W / c m 2 f o r 1 . 0 s1 . 0 m W / c m 2 f o r 1 0 s
N d : Y A G / 2R u b y
5 3 2 n m6 9 4 . 3 n m
0 . 5 J / c m 2 f o r 1 n s t o 1 8 s
D i o d e s 8 5 0 n m( t y p i c a l )
1 . 0 J / c m 2 f o r 1 n s t o 1 8 s2 . 0 m W / c m 2 f o r 1 0 s
N d : Y A G 1 0 6 4 n m ,1 3 3 4 n m
N o M P E f o r t < 1 n s5 . 0 J / c m 2 f o r 1 n s t o 5 0 s5 . 0 m W / c m 2 a t 1 0 6 4 n m / 1 0 s4 0 m W / c m 2 a t 1 3 3 4 n m / 1 0 s
H o l m i u m /T h u l i u m
1 . 9 – 2 . 2 m 1 0 0 m W / c m 2 f o r 1 0 s t o 8 h ,l i m i t e d a r e a1 0 m W / c m 2 f o r > 1 0 s f o rm o s t o f b o d y
C a r b o nm o n o x i d eC a r b o n d i o x i d e
m
1 0 . 6 m
1 0 0 m W / c m 2 f o r 1 0 s t o 8 h ,l i m i t e d a r e a1 0 m W / c m 2 f o r > 1 0 s f o rm o s t o f b o d y
S o u r c e e s : A N S I s t a n d a r d Z – 1 3 6 . 1 - 1 9 9 3
Micro-Lidar advantages• Eye-safe and full trouble-free• High efficiency – diode laser & photon counting• Digital circuit– high stability to environment• Reliability• No interference• High repetition rate-short acquisition time• Photon counting – discrete statistics• Multilayer clouds, plume detection and smoke
mass measured for forest fires, bio-mass restoration after forest fires
Hand-held aerosol Lidar
Urban aerosol monitoring• 50 meters over the surface
Clouds-layer monitoring in strong snowing
0 200 400 600 800 1000 120010000
15000
20000
25000
30000
Lida
r cou
nts
Height, m
boundary layer
cloudslow boundary
strongsnowing
850 elevation
Moscow, 09.11.06
Clouds-layer monitoring in strong snowing
0 200 400 600 800 1000 120010000
15000
20000
25000
30000
35000
Lida
r cou
nts
Height, m
600 elevation
shift with elevation
height layers
strongsnowing
Moscow, 09.11.06
0 200 400 600 800 1000 1200 1400 1600 1800 20000
5000
100000 200 400 600 800 1000 1200 1400 1600 1800 2000
0
5000
100000 200 400 600 800 1000 1200 1400 1600 1800 2000
0
5000
100000 200 400 600 800 1000 1200 1400 1600 1800 2000
0
5000
10000
15000 0 200 400 600 800 1000 1200 1400 1600 1800 20000
500010000
elevation 100 21:30
cloud's low boundary, m
elevation 200 21:33
elevation 450 21:38
elevation 75-800 21:43
Moscow, Vargy street, 21:30 -21:55, 11/09/07ph
otoc
ount
s32 000 pulses
elevation 450
21:55
aperture 25 mmno saturation
Eye-safe pulsed rangefinder
• Improvements of space resolution
Lidar principle with Single Photon Avalanche Diode as receiver
laser pulse
gates
hysto noisesignal
Target ranging through canopy, 5 m step
0 10 20 30 40 50 60 70 80 90 1000
500
1000
1500
2000
2500
SPA
D p
hoto
coun
ts
Distance, m
building wall
tree canopyglass of window
Target ranging through canopy, 5 m step
40 50 60 70 80 90 1000
500
1000
1500
2000
2500
SPA
D p
hoto
coun
ts
Distance, m
building wall
tree canopy5 m step
Target ranging through canopy, 5 cm step
5000 6000 7000 8000 9000 100000
20
40
60
80
Pho
toco
unts
Distance, cm
tree’s canopy
target:building wall
Range measurement scheme
Lidar target
Lidar shift = i * 1 cm
Ranges = ~ 0.3 and 500 m
Distance measurements
0 2 4 6 8 10
3804
3806
3808
3810
3812
3814
3816
Dis
tanc
e to
targ
et, c
m
Lidar shift, cm
Y = A + B * XWeight given by Datadistcompa_C error bars.
Parameter Value ErrorA 3804.84489 0.48122B 1.00675 0.10646
R SD N P0.99668
Distance measurements(curve fitting analysis)
3500 3600 3700 3800 3900 4000 4100 42000
300
600
900
1200
1500
1800
2100
Sign
al, a
.u.
Distance, cm
3700 3720 3740
800
900
1000
1100
1200
Comparison by fittingTwo curves are different
3750 3800 3850 3900
1400
1600
1800
2000
Nonlinear fitting by Voight profile
confidence bands(shift 0 cm)
confidence bands(shift 1 cm)
FWHM = 2.25 m
Distance measurements(curve fitting analysis)
3500 3600 3700 3800 3900 4000 4100 42000
300
600
900
1200
1500
1800
2100
Sign
al, a
.u.
Distance, cm
Model: VoigtEquation:Weighting: y Statistical
Chi^2/DoF R^23.81067 0.99291
Parameter Value Errory0 -17.62557 1.94836xc 3805.49068 0.28506A 417099.75023 2739.20227wG 163.74087 1.99847wL 48.21054 2.43773
Model: VoigtEquation:Weighting: y Statistical
Chi^2/DoF R^24.781 0.99088
Parameter Value Errory0 -16.59373 2.19xc 3807.21457 0.3239A 404785.78912 3049.22477wG 165.89906 2.26771wL 46.28024 2.79002
3720 3750
800
1000
1200
sig
nal
distance
Comparison by fittingTwo curves are different according to fitting
3800
1400
2100
sig
nal
distance
Signal fragment: the target shift ~1 cm
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900
1000
1100
1200
Cou
nter
num
ber
distance, cm
∆~ 1 cm
Лазерный измеритель нижней границы облаков
ООО «Центр исследований и разработок концерна АГАТ»ОАО « Лыткаринский завод оптического стекла»ЗАО НПАО «Эполар»
105275, г. Москва, шоссе Энтузиастов, д.29 E-mail: [email protected]Тел./факс +7(499)5038787, 5038778 Август 2013 г.
Skolkovo Center
Laser celeometer: cloud height
ЛДВО - 01• НАЗНАЧЕНИЕ И
ОБЛАСТЬ ПРИМЕНЕНИЯ
• ЛДВО-01 предназначен для оперативного дистанционного измерения высоты нижней границы облаков и вертикальной видимости.
• ЛДВО-01 обеспечивает:
ЛДВО – 01Общий вид опытного
образцаблочного исполнения
Блок оптический
Блок питания и связи
Conclusion
Micro-Joule eye-safe Lidar can be widely used for environment
monitoring Without eyes protection
and with cm accuracy ranging
Thank for attention
MicroJoule man-handle Lidara
b
Oil slick monitoring by lidar (Volga, 1994).
novel approach: double pass
L idar
S horeI IIIII
500
400
300
200
100
0 50 100 150 200 250 300Range, m
Lidar backscattering, count
A1
A2
A3
aerosolwater
surface
double pass
S.M. Pershin, Phys. of Vibr. V.9(3) 192 (2001)
10-FOLD increasing due to oil slickBackscattering photon, count20000
15000
10000
5000
010 20 30 40 50
Range, m
Clean water surface
Oilspot surface32000 pulsesaverage
22 l 2 .LA I R
Clouds and layers monitoring
Clouds height measurements
5 0 1 0 0 1 5 0 2 0 0 2 5 0 3 0 0 3 5 00
1 0 0
2 0 0
3 0 0
4 0 0
5 0 0
6 0 0
7 0 0
8 0 0
Phot
ount
s
H e i g h t , m
aerosolCloud’s low boundary
Multi-layers clouds
Three layers
Forest fires monitoring
USA, Montana-Idaho St.
Sept. 1999
Trees height monitoring
For biomass restoration after forest fires
Tree’s height monitoring via air-platform
Tree’s biomass estimation by Lidar profiling of forest canopy
Micro -Lidarin Moscow State
University,
Physics Department,
for student education courses
Compact microLidar
Acknowledgements
• Makarov V.• Patsaev D.• Bukharin A.• Nekhaenko V.• Lyash A.
Thanks for attention
Distance measurements(curve quality difference)
3600 3800 40000
700
1400
Sign
al, a
.u.
Distance, cm
0 cm 1 cm 10 cm
FWHM = 160 cm
target shift
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200
400
600
800
1000
1200
1400
Sign
al, a
.u.
Distance, cm
0 cm 1 cm 10 cm
target shift
3690 3700 3710 3720 3730 3740 3750 3760 3770 3780
600
800
1000
1200
1400
1600
Sign
al, a
.u.
Distance, cm
0 cm 1 cm 10 cm
target shift
3750 3760 3770 3780 3790 3800 3810 3820 3830 3840 3850
1600
Sign
al, a
.u.
Distance, cm
0 cm 1 cm 10 cm
target shift
Nonlinear fitting by Voight profile