1

Micro LADAR and Raman Spectral LADARfor Inspection

Bradley SalleeSystems & Processes Engineering Corp. (SPEC)7050 Burleson RoadAustin, Texas 78744Telephone: 512-479-7732 x2122Cell: 512-423-5101E-mail: sallee@spec.comURL: http://www.spec.com

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LADAR Family Overview

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SPEC’s Multi-Dimensional Imaging Programs

Army 3D Change

ArmyImaging

SAL

DARPASUAVTL

AFRLLGSS

ArmyExplosiveDetection

AFRLMST

NROHD6D

OSLILADAR

ArmyWind

DetectionNASAWind

Detection

NASAHD6D

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Scanner/Telescope Family

• Risley Prism Scanners• Cassegrain Receive Telescope• Coaxial Laser Collimator

Micro LADAR10mm aperture

ISL LADAR18mm aperture

Gen I LADAR25mm aperture

Gen IV LADAR50mm aperture

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LADAR Receiver Family

1

2 3

45

1

5

32

44

1

3

2

5

Pow

er-u

p

DigitalRead OutSignal

AnalogOutputSignal

First Pulse Second Pulse Third Pulse

Sample Rate: 500 MSPSReadout Rate: 50 MSPS

ROICNASA100µx100µ Pixel15 S&H800 MSPS1K Fame/sec

MCML, Pipeline ProcessingGen IV4.83 cm²/channel24 S&H300 MSPS400K Frame/sec

AnalogGen I19.35 cm²/channel9 S&H55K Frame/sec

• Detect First 3 Objects in Range• Capture Waveform• Enhanced Range Accuracy by Deconvolution

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HD6D LADAR Details

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• 12.8M Pixel per second• 30° FOV• 0.7mr pixels NRO & OSLI, 0.15mr LGSS• 3.0 W rms LGSS, 25W rms OSLI• Final size scanner & receiver boards, output FPGA and processors non miniaturized for ease of software development• 7.38x7.0x11.0 inches• Vector Nav Inertial Navigation Included• Sentech USB3 RGB 5Mpixel camera, bore sighted

HD6D Gen IV LADAR Bench and Aircraft Configuration

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Fully Miniaturized Gen IV LADAR (HD6D)

1550nm TransmitterEDFA SeedEDFA Power Amp

Laser Pump, Temp ControlAnd Modulator Board

4 Channel Receiver BoardsWith Pipeline Image Processing1x2” MCM-L, 8 each

Control Board3D image pipeline Processing,Scanner Control, Laser control

Image Processor Board,Xenon or Hyper X™

50mm Aperture Scanner,Receive Optics and Transmitter Optics

8.50 inches

3.45φ

1550nm TransmitterEDFA SeedEDFA Power Amp

Laser Pump, Temp ControlAnd Modulator Board

4 Channel Receiver BoardsWith Pipeline Image Processing1x2” MCM-L, 8 each

Control Board3D image pipeline Processing,Scanner Control, Laser control

Image Processor Board,Xenon or Hyper X™

50mm Aperture Scanner,Receive Optics and Transmitter Optics

8.50 inches

3.45φ

• 12.8M Pixel per second• First 6 targets in range• Capture receive waveform• 3mm range accuracy• Pixel size 0.7mr to 0.15mr• Scan FOV 30° to 90°• Zero net angular momentum• Range to 30km vacuum,

5km rain• Pipeline processing receiver

32 Channel, MCM Receiver and Controller

18 W rms Transmit Laser3.5ns pulse, 1550.12nm Laser

Collimator

FocalPlaneArray

CassegrainTelescope

Risley PrismScanner

Image Processor

MEMS IMU

LO

Receiver MCM-L Board

Scanner

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6Gbps

400,000Hz

P0 P1 P2P3

32

ch

an

ne

l

A1 A2 A3 A4A5To

Phase Range

R1-R0R2-R0R3-R0

Channel 1-32

KalmanFilterResolvers

Scanner PrismPosition at LaserFire

Prism PositionTo pointing Unit Vector

Quaternion

Pointing Unit Vector Converted to Global Coordinates

Unit VectorTimes RangeGives X,Y,Z

X,Y,Z

LCS or LCS/msqPeak amplitude,Range and Gain inputs

X,Y,Z, LCS

100Hz

Global UnitVector For 32 Channels

32

ch

an

nel

time

6Gbps

400,000Hz

P0 P1 P2P3

32

ch

an

ne

l3

2 c

ha

nn

el

A1 A2 A3 A4A5To

Phase Range

R1-R0R2-R0R3-R0

Channel 1-32

KalmanFilterResolvers

Scanner PrismPosition at LaserFire

Prism PositionTo pointing Unit Vector

Prism PositionTo pointing Unit Vector

Quaternion

Pointing Unit Vector Converted to Global Coordinates

Unit VectorTimes RangeGives X,Y,Z

X,Y,Z

LCS or LCS/msqPeak amplitude,Range and Gain inputs

X,Y,Z, LCS

100Hz

Global UnitVector For 32 Channels

32

ch

an

nel

32

ch

an

nel

time

Software and Data Flow

Point Cloud

Pipeline Processing Software and Data Flow

115Gbps 6Gbps3.7Gbps

AccumulatedRigid Bodies

with 6DOF Dynamics

Image Overlay4MpRGB

5.9Gbps

1.75GbpsMax to 0.17Gbps

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Gen IV LADAR (HD6D) Range

Single Photon

.995 Detection

100 1000 10000 100000

Range, meters

1

10

100

1000

10000

100000

1000000

Sign

al to

Noi

se R

atio

Clear, NightClear, dayDrizzel, nightDrizzel dayRain, nightRain, dayThunder StormHaze, 3kmFog, 1kmFog 0.5kmVacuum

0.1 Reflectivity Target, Perpendicular to line of sight

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0 20 40 60 80 100

Percent Maximum Range

0

5

10

15

20

25

30

Ran

ge A

ccur

acy,

mm

Range Accuracy vs. Range

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Close Inspection, Complex Waveform Range Accuracy

Variable Frequency Modulated Long Pulse Waveform

• Enables high range accuracy at close ranges (>10 feet)

• Accuracies of 15 microns in range demonstrated

• Only senses the first object in range

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Foveal Scan Pattern, 2 Prisms • Flying Frame scan with frame sized optimized for maximum range and pixels per second.

• Foveal Scan allows fast framing center with outside situational awareness

•Foveal Scan is constant velocity counter rotating 2 prism scan tuned to zero net angular momentum

• Isolation rings on prisms gives 54dB isolation transmit to receive, allows sub 1m minimum range.

• Total FOV can be up to 90°+

• Resolvers indicate pointing position to 0.015mr

Scanner / Receive Optics Details

30°Dia6.5Hz

8x15°15Hz

3x5°60Hz

2x4°100Hz

Internal Cassegrain Scanner Assembly

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Micro LADAR Details

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AF093-107 Micro Seeker Technology Program

LADAR ConScannerScanner Motors

Motor Control BoardTEC Control Board

AF093-107 Micro Munitions Seeker, 3 cubic inch

GEO Cube Sat HD3DMicro UAV LADAR

LADAR ConScannerScanner Motors

Motor Control BoardTEC Control Board

1 Shot Counter SniperCross Wind Detection

LADAR ConScannerScanner Motors

Motor Control BoardTEC Control Board

Beyond GPSNavigation

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Micro Seeker LADAR Scanner

Micro Seeker LADAR 4 Channel Receiver Board

Micro LADAR Hardware

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Micro LADAR Adapted for GEO and Cube Sat.

Micro LADARScanner, with Ceramic bearings

1Mp 30Hz RGB Sensor

LADAR ReceiverCards (2)

Back planeConnectorDouble height1.2 inch

Cold PlateAttached to outside wall

Laser EDFA preamp & power amp80� Fiber

LADAR ReceiverCards (2)

Micro LADARScanner

Cold PlatePumps

Vertex-5QV FPGAHardened

Micro LADARScanner

RGB Sensor

PCI 104 Configuration Board

30.4mm

96.mm 90.mm

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Micro LADAR Range, Fiber Laser 1550nm PulseSOA/InGaAs APD Sensors

• 1.6M Pixels per second

0 20 40 60 80 100

Percent Maximum Range

0

5

10

15

20

25

30

Ran

ge A

ccur

acy,

mm

Range

Accuracy vs. Max Range

% Maximum RangeR

ange

Acc

urac

y, m

m0 200 400 600 800 1000 1200 1400 1600 1800 2000

Range, meters, .1 reflectivity target

1

10

100

1000

10000

Sign

al to

Noi

se R

atio

Vacuum, Day

Single Photon

Threshold .995

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Fiber LaserPCIe 104Connector

3MpCamera

LADAR ReceiverTelescope

Scanner

LADAR ReceiverBoards

PCIe 104Board withHardened Vertex 5

Fiber LaserPCIe 104Connector

3MpCamera

LADAR ReceiverTelescope

Scanner

LADAR ReceiverBoards

PCIe 104Board withHardened Vertex 5

Micro LADAR with 25mm scannerAdapted for GEO and Cube Sat. Long Range, .5U

•5 Km range in Vacuum•3.2 Mpps

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Raman Spectra LADAR Details

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Raman Spectra LADAR

Fiber Laser

Laser Pulse Driver

TelescopeDetector1

Detector2

Detector31

Detector32

Fiber Laser

Laser Pulse Driver

TelescopeDetector1

Detector2

Detector31

Detector32

Fiber WDM Filters

λ31

λ32

λ2

λ1

32 Ch Raman LADAR

Target

1550nm TransmitterEDFA SeedEDFA Power Amp

Laser Pump, Temp ControlAnd Modulator Board

4 Channel Receiver BoardsWith Pipeline Image Processing1x2” MCM-L, 8 each

Control Board3D image pipeline Processing,Scanner Control, Laser control

Image Processor Board,Xenon or Hyper X™

50mm Aperture Scanner,Receive Optics and Transmitter Optics

8.50 inches

3.45φ

1550nm TransmitterEDFA SeedEDFA Power Amp

Laser Pump, Temp ControlAnd Modulator Board

4 Channel Receiver BoardsWith Pipeline Image Processing1x2” MCM-L, 8 each

Control Board3D image pipeline Processing,Scanner Control, Laser control

Image Processor Board,Xenon or Hyper X™

50mm Aperture Scanner,Receive Optics and Transmitter Optics

8.50 inches

3.45φ

32 Channel SiPM Sensor Card

PreAmpYDFA38dB Gain

PwrAmpYDFA,Clad pump38dB small Signal Gain

SM Pump MM PumpsCollimator

Seed1060nm

6ns pulses50GHz BW

DWDM

PPLNFrequencyDoubler 530nm Transmit

PreAmpYDFA38dB Gain

PwrAmpYDFA,Clad pump38dB small Signal Gain

SM Pump MM PumpsCollimator

Seed1060nm

6ns pulses50GHz BW

DWDM

PPLNFrequencyDoubler 530nm Transmit

Fiber Laser Transmitter

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Raman Spectra LADAR, Explosive Detection

123456 123456

Spectra of Explosives

(555 to 575nm)

Demonstration Windows

(611 to 623nm)

Spectra of Explosives

(555 to 575nm)

Demonstration Windows

(611 to 623nm)

0

0.2

0.4

0.6

0.8

1

1.2

0 500 1000 1500 2000 2500 3000 3500

4

5

6

7

Nitrate Line

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Ground Based, Eye-Safe, 17.8 Peak Pwr,

0 50 100 150 200 250 300 350 400 450 500

Range, meters

0.1

1

10

100

1000

10000

Sign

al to

Noi

se R

atio

Clear, NightClear, DayDrizzel, NightDrizzel, DayRain, NightRain, DayThunder storm, NightThunder storm, Day3km Haze, Night3km Haze, Day1km Fog, Night1km Fog, Day0.5km Fog, Night0.5km Fog, Day

.995Pd.995Pd

0 1000 2000 3000 4000 5000 6000 7000 8000

Range, meters

0.1

1

10

100

1000

10000

Sign

al to

Noi

se R

atio

Clear, NightClear, DayDrizzel, NightDrizzel, DayRain, NightRain, DayThunder storm, NightThunder storm, Day3km Haze, Night3km Haze, Day1km Fog, Night1km Fog, Day0.5km Fog, Night0.5km Fog, Day

.995Pd.995Pd

Air Borne, Ground Eye-safe, 8790 Peak Pwr

Explosive Detection LADAR Range, 1 molecule layer

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Raman Spectra LADAR Capabilities

1. Identifies chemical composition of material being looked at an adsorbed gasses on surface

2. Identifies Stokes and AntiStokes giving temperature sensing capability

3. Gives 3D image with 0.7 to 0.14mr cross range pixels, 3mm range accuracy

Resultant Uses:1. Chemical detection of explosives, propellant, rocks, plants

2. Identification of adsorbed gasses for:1. Leak detection2. Underground reservoirs3. Identification of radioactive boxes (nitrous oxide)

3. Identification of temperature profile, Stokes and Anti-Stokes Ratio

4. Above uses plotted on an accurate 3D profile

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Contact Information:

Bradley SalleeVice President, Systems TechnologySystems & Processes Engineering Corporation (SPEC)7050 Burleson RoadAustin, Texas78744

Telephone: 512-479-7732 x2122Cell: 512-423-5101E-mail: sallee@spec.comURL: http://www.spec.com