Modular LADAR sensor
A mobile ladar platform having a ladar sensor, a positioning system, and a digital processor adapted to perform analysis of a scene in a field of view. The ladar sensor includes a ladar transmitter, a zero range reference circuit, a two-dimensional array of light sensitive detectors positioned at a focal plane of a light collecting and focusing system, and a readout integrated circuit with a plurality of unit cell electrical circuits. The ladar sensor also includes a detector bias circuit and a communications port.
1. A mobile ladar platform having a ladar sensor, the ladar sensor with a field of view and having a first electrical connector and contained within a housing, and said mobile ladar platform further having a positioning system, and a digital processor adapted to perform analysis of a scene in the field of view, and the mobile ladar platform having a second electrical connector adapted to mate with said first electrical connector, and said positioning system having at least one control motor adapted to move said mobile ladar platform in response to a command from a digital processor, and said ladar sensor further comprising:
a laser transmitter with modulated laser light output and a diffusing optic for illuminating a scene in the field of view of the ladar sensor;
a zero range reference circuit having a zero range reference output adapted to signal the initiation of the modulated laser light output;
a clock driver circuit having a clock output, and having a temperature stabilized frequency reference;
a two dimensional array of light sensitive detectors positioned at a focal plane of a light collecting and focusing system, each of said light sensitive detectors having an output producing an electrical response signal from a reflected portion of said modulated laser light output;
a readout integrated circuit with a plurality of unit cell electrical circuits, each of said unit cell electrical circuits having
an input connected to one of said light sensitive detector outputs,
an electrical response signal demodulator,
a range measuring circuit connected to an output of said electrical response signal demodulator, and said range measuring circuit further connected to the zero range reference output, and the range measuring circuit connected to the clock output and having a range output;
a detector bias circuit connected to at least one voltage distribution grid of said array of light sensitive detectors;
a communications port having an input connected to the range output of each unit cell and adapted to transmit the range output of each unit cell through said first electrical connector and said second connector.
2. The mobile ladar platform of claim 1 wherein said digital processor is adapted to identify an object in the field of view and command the positioning system to maneuver the mobile ladar platform relative to said object.
3. The mobile ladar platform of claim 1 wherein the laser transmitter comprises an optically pumped solid state laser formed in a gain medium selected from the set of yttrium aluminum garnet, erbium doped glass, neodymium doped yttrium aluminum garnet, and erbium doped yttrium aluminum garnet.
4. The mobile ladar platform of claim 1 wherein the laser transmitter comprises a vertical cavity surface emitting laser formed in a semiconducting gain medium with at least one element selected from the set of indium, gallium, arsenic, phosphorus.
5. The mobile ladar platform of claim 1 wherein the modulated laser light output is modulated with a waveform selected from the set of a single Gaussian pulse profile, multiple Gaussian profile pulses, a single flat-topped pulse profile, multiple flat-topped pulses, a pulsed sinewave, and a chirped sinewave pulse.
6. The mobile ladar platform of claim 1 wherein the two dimensional array of light sensitive detectors is mounted directly to the readout integrated circuit.
7. The mobile ladar platform of claim 1 wherein said two dimensional array of light sensitive detectors is formed of a semiconductor having at least one element selected from the set of silicon, indium, gallium, arsenic, phosphorus, aluminum, boron, antimony, magnesium, germanium, and nitrogen.
8. The mobile ladar platform of claim 1 wherein the housing has at least one conductive surface.
9. The mobile ladar platform of claim 1 wherein the electrical response signal demodulator comprises:
an input amplifier with an output connected to a trigger circuit;
a plurality of analog sampling gates, each sampling gate connected to an analog memory cell,
a sample clock controlling the timing of each of said sampling gates,
a selector for selecting each of said sampling gates in sequence,
a counter for counting the number of samples,
an output amplifier with an input connected to each of said analog memory cells,
an output control for selecting a sequence of analog memory cells,
and wherein an input of an analog to digital converter is connected to said output amplifier, an output of said analog to digital converter producing a sequence of digitized analog samples of said electrical response signal, and the output of the analog to digital converter connected to the input of a digital processor, and the digital processor is programmed to demodulate said electrical response signal by operating on the sequence of digitized analog samples using a digital processing algorithm.
10. A three dimensional imaging system and mobile ladar platform, said mobile ladar platform having an electronic enclosure, the electronic enclosure having a front panel, the front panel with a front panel opening therein, the three dimensional imaging system further comprising;
a ladar sensor module mounted to the front panel and operating through the front panel opening and having a field of view, the ladar sensor module having;
a retention feature adapted to engage with a mating feature on the front panel;
a first electrical connector adapted to mate with a second electrical connector mounted within the electronic enclosure, said first electrical connector having at least one mating pair of electrical contacts,
a laser transmitter with a modulated laser light output and a diffusing optic adapted to illuminate a scene in the field of view of the ladar sensor module;
a zero range reference circuit having a zero range reference output adapted to signal the initiation of the modulated laser light output;
a clock driver circuit having a clock output, and having a temperature stabilized frequency reference;
a two dimensional array of light sensitive detectors positioned at a focal plane of a light collecting and focusing system, each of said light sensitive detectors with an output producing an electrical response signal from a reflected portion of said modulated laser light output;
a readout integrated circuit with a plurality of unit cell electrical circuits, each of said unit cell electrical circuits having;
an input connected to one of the light sensitive detector outputs,
an electrical response signal demodulator,
a range measuring circuit connected to an output of the electrical response signal demodulator, and the range measuring circuit further connected to the zero range reference output, and the range measuring circuit connected to the clock output and having a range output;
a detector bias circuit connected to at least one voltage distribution grid of said array of light sensitive detectors.
11. The three dimensional imaging system of claim 10 wherein the laser transmitter comprises an optically pumped solid state laser formed in a gain medium selected from the set of yttrium aluminum garnet, erbium doped glass, neodymium doped yttrium aluminum garnet, and erbium doped yttrium aluminum garnet.
12. The three dimensional imaging system of claim 10 wherein the laser transmitter comprises a vertical cavity surface emitting laser formed in a semiconducting gain medium with at least one element selected from the set of indium, gallium, arsenic, phosphorus.
13. The three dimensional imaging system of claim 10 wherein the modulated laser light output is modulated with a waveform selected from the set of a single Gaussian pulse profile, multiple Gaussian profile pulses, a single flat-topped pulse profile, multiple flat-topped pulses, a pulsed sinewave, and a chirped sinewave pulse.
14. The three dimensional imaging system of claim 10 wherein the two dimensional array of light sensitive detectors is mounted directly to said readout integrated circuit.
15. The three dimensional imaging system of claim 10 wherein an outer surface of the ladar sensor module is a conductive surface.
16. The three dimensional imaging system of claim 10 wherein the front panel opening has a plurality of conductive spring fingers connecting between a surface of the front panel opening and a conductive surface of the ladar sensor module.
17. A motor vehicle connected to a ladar sensor through a cable, the ladar sensor with a field of view and having a first electrical connector and contained within a housing, and said motor vehicle having a second electrical connector at a terminus of said cable, the second electrical connector adapted to mate with the first electrical connector, a digital processor adapted to perform analysis of a scene in the field of view, and to identify an object within said scene, and to command a positioning system to maneuver with respect to the object, and said ladar sensor further comprising;
a laser transmitter with modulated laser light output and a diffusing optic for illuminating a scene in the field of view of the ladar sensor;
a zero range reference circuit having a zero range reference output adapted to signal the initiation of the modulated laser light output;
a clock driver circuit having a clock output, and having a temperature stabilized frequency reference;
a two dimensional array of light sensitive detectors positioned at a focal plane of a light collecting and focusing system, each of said light sensitive detectors having an output producing an electrical response signal from a reflected portion of said modulated laser light output;
a readout integrated circuit with a plurality of unit cell electrical circuits, each of said unit cell electrical circuits having
an input connected to one of said light sensitive detector outputs,
an electrical response signal demodulator,
a range measuring circuit connected to an output of said electrical response signal demodulator, and said range measuring circuit further connected to the zero range reference output, and the range measuring circuit connected to the clock output and having a range output;
a detector bias circuit connected to at least one voltage distribution grid of said array of light sensitive detectors;
a communications port having an input connected to the range output of each unit cell and adapted to transmit the range output of each unit cell through said cable to said motor vehicle.
18. The motor vehicle of claim 17 wherein the motor vehicle is selected from the set of a van and a truck.
19. The motor vehicle of claim 17 wherein the motor vehicle connects through a plurality of cables to a plurality of ladar sensors.
20. The motor vehicle of claim 17 wherein the motor vehicle also connects to at least one 2D video camera.