Coherent pulsed lidar system with spectral signatures
In one embodiment, a lidar system includes a light source configured to emit local-oscillator light and pulses of light, where each emitted pulse of light is (i) coherent with a corresponding portion of the local-oscillator light and (ii) includes a spectral signature of one or more different spectral signatures. The lidar system also includes a receiver configured to detect the local-oscillator light and a received pulse of light, the received pulse of light including light from one of the emitted pulses of light scattered by a target located a distance from the lidar system, the one of the emitted pulses of light including a particular spectral signature of the one or more spectral signatures. The local-oscillator light and the received pulse of light are coherently mixed together at the receiver. The receiver includes one or more detectors and a frequency-detection circuit.
1. A lidar system comprising:
a light source configured to emit local-oscillator light and pulses of light, wherein each emitted pulse of light is (i) coherent with a corresponding portion of the local-oscillator light and (ii) includes a spectral signature of one or more different spectral signatures;
a receiver configured to detect the local-oscillator light and a received pulse of light, the received pulse of light comprising light from one of the emitted pulses of light scattered by a target located a distance from the lidar system, the one of the emitted pulses of light including a particular spectral signature of the one or more spectral signatures, wherein:
the local-oscillator light and the received pulse of light are coherently mixed together at the receiver; and
the receiver comprises:
one or more detectors configured to produce one or more respective photocurrent signals corresponding to the coherent mixing of the local-oscillator light and the received pulse of light; and
a frequency-detection circuit configured to determine, based on the one or more photocurrent signals, one or more amplitudes of one or more respective frequency components of the photocurrent signals; and
a processor configured to determine that the one or more determined amplitudes of the frequency components match the particular spectral signature, and wherein:
the receiver is further configured to receive an optical signal from a light source external to the lidar system;
the frequency-detection circuit is further configured to determine one or more amplitudes of one or more respective frequency components associated with the received optical signal; and
the processor is further configured to determine, based on the determined amplitudes of the frequency components associated with the received optical signal, that the received optical signal does not match any of the one or more spectral signatures.
2. The lidar system of claim 1 , wherein the processor is further configured to determine, based on the amplitudes of the frequency components matching the particular spectral signature, that the received pulse of light is associated with the one of the emitted pulses of light.
3. The lidar system of claim 1 , wherein the processor is further configured to determine, based on the amplitudes of the frequency components matching the particular spectral signature, that the received pulse of light is a valid received pulse of light that is associated with a pulse of light of the emitted pulses of light.
4. The lidar system of claim 1 , wherein, in response to determining that the received optical signal does not match any of the spectral signatures, the processor is further configured to determine that the received optical signal is not associated with the emitted pulses of light.
5. The lidar system of claim 1 , wherein, in response to determining that the received optical signal does not match any of the spectral signatures, the processor is further configured to discard or ignore the received optical signal.
6. The lidar system of claim 1 , wherein determining the amplitudes of the frequency components of the photocurrent signals comprises determining, for each frequency component, whether an amplitude of the frequency component is above or below a particular threshold value.
7. The lidar system of claim 6 , wherein the processor is further configured to determine, if the amplitude of the frequency component is above the particular threshold value, that the received pulse of light includes the frequency component.
8. The lidar system of claim 6 , wherein the processor is further configured to determine, if the amplitude of the frequency component is below the particular threshold value, that the received pulse of light does not include the frequency component.
9. The lidar system of claim 1 , wherein:
the particular spectral signature is associated with one or more spectral-signature frequency components; and
determining that the amplitudes of the frequency components of the photocurrent signals match the particular spectral signature comprises determining that the frequency components of the photocurrent signals match the frequency components of the particular spectral signature.
10. The lidar system of claim 1 , wherein each of the one or more spectral signatures is associated with one or more particular frequency components.
11. The lidar system of claim 10 , wherein each of the frequency components has a frequency between 200 MHz and 20 GHz.
12. The lidar system of claim 1 , wherein the amplitudes of the frequency components matching the particular spectral signature corresponds to each of the frequency components being associated with the particular spectral signature.
13. The lidar system of claim 1 , wherein the amplitudes of the frequency components matching the particular spectral signature corresponds to the received pulse of light including each frequency component associated with the particular spectral signature.
14. The lidar system of claim 1 , wherein each photocurrent signal produced by the detectors includes one or more frequency components that correspond to the particular spectral signature.
15. The lidar system of claim 1 , wherein the light source comprises:
a seed laser diode configured to produce seed light and the local-oscillator light; and
a semiconductor optical amplifier (SOA) configured to amplify temporal portions of the seed light to produce the emitted pulses of light, wherein each amplified temporal portion of the seed light corresponds to an emitted pulse of light.
16. The lidar system of claim 1 , wherein the light source comprises:
a seed laser diode configured to produce seed light and the local-oscillator light;
a semiconductor optical amplifier (SOA) configured to amplify temporal portions of the seed light to produce pulses of light; and
a fiber-optical amplifier configured to further amplify the pulses of light to produce the emitted pulses of light, wherein each amplified temporal portion of the seed light corresponds to an emitted pulse of light.
17. The lidar system of claim 1 , wherein the light source comprises:
a seed laser configured to produce seed light and the local-oscillator light; and
a pulsed optical amplifier configured to amplify temporal portions of the seed light to produce the emitted pulses of light, wherein each amplified temporal portion of the seed light corresponds to an emitted pulse of light, and wherein:
the light source is configured to impart the spectral signatures to the temporal portions of the seed light or to the amplified temporal portions of the seed light so that each of the emitted pulses of light includes one of the spectral signatures.
18. The lidar system of claim 17 , wherein:
the pulsed optical amplifier comprises a semiconductor optical amplifier (SOA); and
the light source further comprises an electronic driver configured to supply pulses of electrical current to the SOA, wherein each pulse of current causes the SOA to (i) amplify one of the temporal portions of the seed light and (ii) impart one of the spectral signatures to the amplified temporal portion of the seed light to produce an emitted pulse of light that includes the one spectral signature.
19. The lidar system of claim 18 , wherein imparting the one spectral signature to the amplified temporal portion of the seed light comprises supplying a pulse of current to the SOA, wherein the pulse of current has a particular rise time, fall time, pulse duration, or pulse shape associated with the one spectral signature.
20. The lidar system of claim 18 , wherein supplying the pulses of current to the SOA comprises supplying a first pulse of current and a second pulse of current, wherein:
the first pulse of current results in a first emitted pulse of light having a first pulse duration and a first spectral signature; and
the second pulse of current results in a second emitted pulse of light having a second pulse duration and a second spectral signature, wherein:
the second pulse duration is greater than the first pulse duration; and
a spectral linewidth associated with the second spectral signature is less than a spectral linewidth associated with the first spectral signature.
21. The lidar system of claim 17 , wherein the light source further comprises an optical modulator configured to impart the spectral signatures to the temporal portions of the seed light or to the amplified temporal portions of the seed light.
22. The lidar system of claim 1 , wherein the particular spectral signature of the emitted pulse of light is associated with a pulse characteristic of the emitted pulse of light, the pulse characteristic comprising one or more of: a rise time, a fall time, a pulse duration, and a pulse shape of the emitted pulse of light.
23. The lidar system of claim 1 , wherein the light source is further configured to impart the spectral signatures so that the emitted pulses of light include spectral signatures that change in a pseudo-random manner or in a repeating sequential manner.
24. The lidar system of claim 1 , wherein the frequency-detection circuit comprises one or more electronic band-pass filters, each band-pass filter having a particular pass-band center frequency that corresponds to one of the frequency components.
25. The lidar system of claim 1 , wherein the frequency-detection circuit determining an amplitude of a frequency component comprises the frequency-detection circuit determining an amplitude, peak value, size, or energy associated with the frequency component.
26. The lidar system of claim 1 , wherein:
the receiver further comprises a pulse-detection circuit configured to determine, based on the one or more photocurrent signals, a time-of-arrival for the received pulse of light; and
the processor is further configured to determine the distance to the target based on the time-of-arrival for the received pulse of light.
27. The lidar system of claim 26 , wherein the time-of-arrival for the received pulse of light corresponds to a time associated with a rising edge, falling edge, peak, or temporal center of the received pulse of light.
28. The lidar system of claim 26 , wherein the time-of-arrival for the received pulse of light corresponds to a round-trip time for at least a portion of the one of the emitted pulses of light to travel to the target and back to the lidar system.
29. A lidar system comprising:
a light source configured to emit local-oscillator light and pulses of light, wherein each emitted pulse of light is coherent with a corresponding portion of the local-oscillator light, the light source comprising:
a seed laser configured to produce seed light and the local-oscillator light; and
a pulsed optical amplifier configured to amplify temporal portions of the seed light to produce the emitted pulses of light, wherein each amplified temporal portion of the seed light corresponds to an emitted pulse of light, and wherein:
the light source is configured to impart a spectral signature of one or more different spectral signatures to the temporal portions of the seed light so that each of the emitted pulses of light includes one of the spectral signatures;
a receiver configured to detect the local-oscillator light and a received pulse of light, the received pulse of light comprising light from one of the emitted pulses of light scattered by a target located a distance from the lidar system, the one of the emitted pulses of light including a particular spectral signature of the one or more spectral signatures, wherein the particular spectral signature comprises a change of delta-frequency (Δf) in an optical frequency of one of the temporal portions of the seed light, which results in a corresponding change of Δf in an optical frequency of the one of the emitted pulses of light, and wherein:
the local-oscillator light and the received pulse of light are coherently mixed together at the receiver; and
the receiver comprises:
one or more detectors configured to produce one or more respective photocurrent signals corresponding to the coherent mixing of the local-oscillator light and the received pulse of light; and
a frequency-detection circuit configured to determine, based on the one or more photocurrent signals, one or more amplitudes of one or more respective frequency components of the photocurrent signals; and
a processor configured to determine that the one or more determined amplitudes of the frequency components match the particular spectral signature.
30. The lidar system of claim 29 , wherein:
the seed laser comprises a laser diode; and
the light source further comprises an electronic driver configured to:
supply an electrical current to the laser diode; and
change the electrical current to the laser diode by a particular amount to cause the change of Δf in the optical frequency of the one temporal portion of the seed light.
31. The lidar system of claim 29 , wherein the particular spectral signature corresponds to a frequency component with a frequency of Δf wherein Δf is a frequency between 10 MHz and 50 GHz.
32. The lidar system of claim 29 , wherein Δf is greater than 1/Δτ, wherein Δτ is a duration of the one of the emitted pulses of light.
33. The lidar system of claim 29 , wherein:
the received pulse of light has an optical frequency offset of Δf with respect to the local-oscillator light; and
the photocurrent signals resulting from the coherent mixing of the local-oscillator light and the received pulse of light include periodic pulsations separated by a time interval of 1/Δf.
34. A lidar system comprising:
a light source configured to emit local-oscillator light and pulses of light, wherein each emitted pulse of light is (i) coherent with a corresponding portion of the local-oscillator light and (ii) includes a spectral signature of one or more different spectral signatures;
a receiver configured to detect the local-oscillator light and a received pulse of light, the received pulse of light comprising light from one of the emitted pulses of light scattered by a target located a distance from the lidar system, the one of the emitted pulses of light including a particular spectral signature of the one or more spectral signatures, wherein:
the local-oscillator light and the received pulse of light are coherently mixed together at the receiver; and
the receiver comprises:
one or more detectors configured to produce one or more respective photocurrent signals corresponding to the coherent mixing of the local-oscillator light and the received pulse of light; and
a frequency-detection circuit configured to determine, based on the one or more photocurrent signals, one or more amplitudes of one or more respective frequency components of the photocurrent signals, wherein:
the frequency-detection circuit comprises one or more electronic band-pass filters, each band-pass filter having a particular pass-band center frequency that corresponds to one of the frequency components; and
one or more amplitude detectors, each amplitude detector coupled to one of the band-pass filters, wherein each amplitude detector is configured to produce an output signal that corresponds to an amplitude of an electrical signal received from a corresponding band-pass filter; and
a processor configured to determine that the one or more determined amplitudes of the frequency components match the particular spectral signature.
35. The lidar system of claim 34 , wherein each amplitude detector includes a sample-and-hold circuit, a peak-detector circuit, an integrator circuit, or an analog-to-digital converter.