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US7248342B1
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US
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Three-dimension imaging lidar
Assignee: National Aeronautics and Space Administration
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Filing: 2003-12-05
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Granted: 2007-07-24
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Expires: 2023-12-05
Abstract
Abstract This invention is directed to a 3-dimensional imaging lidar, which utilizes modest power kHz rate lasers, array detectors, photon-counting multi-channel timing receivers, and dual wedge optical scanners with transmitter point-ahead correction to provide contiguous high spatial resolution mapping of surface features including ground, water, man-made objects, vegetation and submerged surfaces from an aircraft or a spacecraft.
Inventors
- 👤 John J. Degnan
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 14:45
CPC Classifications
G; G01; G01C; G01C7/00; G01C3/00; G01C3/02; G01C3/06; G01C3/08; G01S; G01S17/00; G01S17/88; G01S17/89; G01S7/00; G01S7/48; G01S7/481; G01S7/4811; G01S7/4813; G01S7/4817; G02; G02B; G02B26/00; G02B26/08; G02B26/10; G02B26/105
Claims Analysis
Total Claims: 31
Claim 1
Independent Claim
157 words
An imaging lidar system aboard an aircraft or a spacecraft comprising: a light source transmitting a first beam of light; a scanner for scanning both the first beam of light transmitted to the surface of the ground and a second beam of light received from the surface of the ground, wherein transmission scanning of the field of view of the surface is ahead of reception scanning of the field of view of the surface; a detector for detecting the second beam of light received from the scanner and generating signals responsive to the light, wherein the detector comprises a photon detector that includes an array of two-dimensional pixellated detectors for detecting the second beam of light received from the scanner and generating signals responsive to the light; a processor system for processing signals from the detector; and, a multi-channel timing receiver wherein the number of channels is equal to the number of pixels in the array detectors.
Claim 2
Dependent Claim
157 words
An imaging lidar system aboard an aircraft or a spacecraft comprising: a light source transmitting a first beam of light; a scanner for scanning both the first beam of light transmitted to the surface of the ground and a second beam of light received from the surface of the ground, wherein transmission scanning of the field of view of the surface is ahead of reception scanning of the field of view of the surface; a detector for detecting the second beam of light received from the scanner and generating signals responsive to the light, wherein the detector comprises a photon detector that includes an array of two-dimensional pixellated detectors for detecting the second beam of light received from the scanner and generating signals responsive to the light; a processor system for processing signals from the detector; and, a multi-channel timing receiver wherein the number of channels is equal to the number of pixels in the array detectors.
Claim 3
Dependent Claim
16 words
The imaging lidar system as in claim 1 , wherein the light source includes a laser.
Claim 4
Dependent Claim
29 words
The imaging lidar system as in claim 2 , wherein the laser is pumped by diode laser arrays operating in CW mode and passively Q-switched by a saturable absorber.
Claim 5
Dependent Claim
32 words
The imaging lidar system as in claim 1 further comprising: means for angularly displacing the transmitter beam in the forward direction of the lidar system motion at the input to the scanner.
Claim 6
Dependent Claim
20 words
The imaging lidar system as in claim 4 , wherein the angularly displacing means include a prism or a mirror.
Claim 7
Dependent Claim
159 words
An imaging lidar system aboard an aircraft or a spacecraft comprising: a light source transmitting a first beam of light; means for scanning both the first beam of light transmitted to the surface of the ground and a second beam of light received from the surface of the ground, wherein transmission scanning of the field of view of the surface is ahead of reception scanning of the field of view of the surface; means for detecting the second beam of light received from the scanning means and generating signals responsive to the light wherein the detector means comprises a photon detector that includes an array of two-dimensional pixellated detectors for detecting the second beam of light received from the scanning means and generating signals responsive to the light; a processor system for processing signals from the detector means; and, a multi-channel timing receiver wherein the number of channels is equal to the number of pixels in the array detectors.
Claim 8
Dependent Claim
159 words
An imaging lidar system aboard an aircraft or a spacecraft comprising: a light source transmitting a first beam of light; means for scanning both the first beam of light transmitted to the surface of the ground and a second beam of light received from the surface of the ground, wherein transmission scanning of the field of view of the surface is ahead of reception scanning of the field of view of the surface; means for detecting the second beam of light received from the scanning means and generating signals responsive to the light wherein the detector means comprises a photon detector that includes an array of two-dimensional pixellated detectors for detecting the second beam of light received from the scanning means and generating signals responsive to the light; a processor system for processing signals from the detector means; and, a multi-channel timing receiver wherein the number of channels is equal to the number of pixels in the array detectors.
Claim 9
Dependent Claim
123 words
The imaging lidar system as in claim 6 , wherein the means for scanning includes a dual wedge scanner comprising: a first optical wedge, with a first cone half-angle, comprising a central portion and an annular portion; a second optical wedge, with a second cone half-angle, comprising a central portion and an annular portion wherein phases of the central portions of the first and the second optical wedges are advanced relative to phases of the annular portions of the first and the second optical wedges, respectively; and means for counter-rotating the first and the second optical wedges whereby the rotation of one of the optical wedges is in one direction while the rotation of the other optical wedge is in the opposite direction.
Claim 10
Dependent Claim
113 words
The imaging lidar system as in claim 7 , wherein the instantaneous position of the receiver field of view on the surface at time t is determined by the following equations: x ( t )=ν g t+R tan α[ cos ω+cos(−ω t +Δφ.)] y ( t )= R tan α[ sin ω t +sin(−ω t +Δφ)] wherein ν g is the ground velocity of an aircraft or a spacecraft in the positive x-direction; ω is the angular velocity of the counter-rotating optical wedges; α is the cone half-angle of optical wedges; R is the perpendicular distance from the scanner to the surface; and Δφ is the relative starting phase of the optical wedges.
Claim 11
Dependent Claim
112 words
The imaging lidar system as in claim 7 , wherein the means for counter-rotating the first and second optical wedges comprises in combination: a first annular bevel gear connected relative to the first optical wedge; a second annular bevel gear connected relative to the second optical wedge; a bevel miter gear rotatably journaled between the first annular bevel gear and the second annular bevel gear for engagement therewith; a motor; and means for operatively connecting said motor to the first optical wedge, the second optical wedge or the bevel miter gear whereby rotation of one of the wedges in one direction will rotate the other of the wedges in the opposite direction.
Claim 12
Dependent Claim
99 words
The imaging lidar system as in claim 7 , wherein the means for counter-rotating the first and second optical wedges comprises in combination: a first annular bevel gear connected relative to the first optical wedge; a second annular bevel gear connected relative to the second optical wedge; a first motor means for rotating the first annular bevel gear; a second motor means for rotating the second annular bevel gear; and, means for driving said first motor means and said second motor means in the opposite directions at the angular velocity of ω and with a fixed phase offset Δφ.
Claim 13
Dependent Claim
22 words
The imaging lidar system as in claim 7 , wherein the first and the second wedges are in a constant rotating motion.
Claim 14
Dependent Claim
22 words
The imaging lidar system as in claim 6 , further comprising means for determining and controlling scan frequency of the scanning means.
Claim 15
Dependent Claim
35 words
The imaging lidar system as in claim 6 , further comprising a telescope that transmit the first beam and receives and collimates the second light beam returned from the surface prior to the scanning means.
Claim 16
Dependent Claim
130 words
An imaging lidar system aboard an aircraft or a spacecraft comprising: a light source transmitting a first beam of light; means for scanning both the first beam of light transmitted to surface of the ground and a second beam of light received from the surface of the ground, wherein transmission scanning of field of view of the surface is ahead of reception scanning of field of view of the surface; an array of two-dimensional pixellated detectors for detecting the second beam of light received from the scanning means and generating signals responsive to the light; and a processor system for processing signals from the detectors wherein said processor system includes a multi-channel timing receiver wherein the number of channels is equal to the number of pixels in the array detectors.
Claim 17
Dependent Claim
130 words
An imaging lidar system aboard an aircraft or a spacecraft comprising: a light source transmitting a first beam of light; means for scanning both the first beam of light transmitted to surface of the ground and a second beam of light received from the surface of the ground, wherein transmission scanning of field of view of the surface is ahead of reception scanning of field of view of the surface; an array of two-dimensional pixellated detectors for detecting the second beam of light received from the scanning means and generating signals responsive to the light; and a processor system for processing signals from the detectors wherein said processor system includes a multi-channel timing receiver wherein the number of channels is equal to the number of pixels in the array detectors.
Claim 18
Dependent Claim
164 words
An imaging lidar system aboard an aircraft or a spacecraft comprising: a light source transmitting a first beam of light; a optical scanner comprising: a first optical wedge, with a first cone half-angle, comprising a central portion and an annular portion; a second optical wedge, with a second cone half-angle, comprising a central portion and an annular portion; wherein phases of the central portions of the first and the second optical wedges are advanced relative to phases of the annular portions of the first and the second optical wedges, respectively; and means for counter-rotating the first and the second optical wedges whereby rotation of one of the optical wedges is in one direction while rotation of the other optical wedge is in the opposite direction and with a fixed phase offset Δφ; and means for detecting the second beam of light received from the scanning means and generating signals responsive to the light; and a processor system for processing signals from the detecting means.
Claim 19
Dependent Claim
164 words
An imaging lidar system aboard an aircraft or a spacecraft comprising: a light source transmitting a first beam of light; a optical scanner comprising: a first optical wedge, with a first cone half-angle, comprising a central portion and an annular portion; a second optical wedge, with a second cone half-angle, comprising a central portion and an annular portion; wherein phases of the central portions of the first and the second optical wedges are advanced relative to phases of the annular portions of the first and the second optical wedges, respectively; and means for counter-rotating the first and the second optical wedges whereby rotation of one of the optical wedges is in one direction while rotation of the other optical wedge is in the opposite direction and with a fixed phase offset Δφ; and means for detecting the second beam of light received from the scanning means and generating signals responsive to the light; and a processor system for processing signals from the detecting means.
Claim 20
Dependent Claim
168 words
An imaging lidar system aboard an aircraft or a spacecraft comprising: a light source transmitting a first beam of light; a optical scanner comprising: a first optical wedge, with a first cone half-angle, comprising a central portion and an annular portion; a second optical wedge, with a second cone half-angle, comprising a central portion and an annular portion; wherein phases of the central portions of the first and the second optical wedges are advanced relative to phases of the annular portions of the first and the second optical wedges, respectively; and means for counter-rotating the first and the second optical wedges whereby rotation of one of the optical wedges is in one direction while rotation of the other optical wedge is in the opposite direction and with a fixed phase offset Δφ; and an array of two-dimensional pixellated detectors for detecting the second beam of light received from the scanning means and generating signals responsive to the light; and a processor system for processing signals from the detectors.
Claim 21
Dependent Claim
168 words
An imaging lidar system aboard an aircraft or a spacecraft comprising: a light source transmitting a first beam of light; a optical scanner comprising: a first optical wedge, with a first cone half-angle, comprising a central portion and an annular portion; a second optical wedge, with a second cone half-angle, comprising a central portion and an annular portion; wherein phases of the central portions of the first and the second optical wedges are advanced relative to phases of the annular portions of the first and the second optical wedges, respectively; and means for counter-rotating the first and the second optical wedges whereby rotation of one of the optical wedges is in one direction while rotation of the other optical wedge is in the opposite direction and with a fixed phase offset Δφ; and an array of two-dimensional pixellated detectors for detecting the second beam of light received from the scanning means and generating signals responsive to the light; and a processor system for processing signals from the detectors.
Claim 22
Independent Claim
210 words
A method of imaging a contiguous map of ground from an aircraft or a spacecraft comprising: providing a laser beam; scanning the laser beam transmitted to a surface of the around; scanning the laser beam received from the surface of the ground such that transmission scanning of the field of view of the surface is ahead of reception scanning of field of view of the surface wherein the step of scanning the transmission beam and the step of the scanning the reception beam are effected by a dual wedge scanner comprising: a first optical wedge, with a first cone half-angle, comprising a central portion and an annular portion; a second optical wedge, with a second cone half-angle, comprising a central portion and an annular portion; wherein phases of the central portions of the first and the second optical wedges are advanced relative to phases of the annular portions of the first and the second optical wedges, respectively; counter-rotating the first and the second optical wedges whereby rotation of one of the optical wedges is in one direction while rotation of the other optical wedge is in the opposite direction; and, detecting the laser beam returned from the surface of the ground and processing a signals responsive to the returned beam.
Claim 23
Independent Claim
210 words
A method of imaging a contiguous map of ground from an aircraft or a spacecraft comprising: providing a laser beam; scanning the laser beam transmitted to a surface of the around; scanning the laser beam received from the surface of the ground such that transmission scanning of the field of view of the surface is ahead of reception scanning of field of view of the surface wherein the step of scanning the transmission beam and the step of the scanning the reception beam are effected by a dual wedge scanner comprising: a first optical wedge, with a first cone half-angle, comprising a central portion and an annular portion; a second optical wedge, with a second cone half-angle, comprising a central portion and an annular portion; wherein phases of the central portions of the first and the second optical wedges are advanced relative to phases of the annular portions of the first and the second optical wedges, respectively; counter-rotating the first and the second optical wedges whereby rotation of one of the optical wedges is in one direction while rotation of the other optical wedge is in the opposite direction; and, detecting the laser beam returned from the surface of the ground and processing a signals responsive to the returned beam.
Claim 24
Dependent Claim
29 words
The method of imaging in claim 17 , wherein the laser beam is pumped by diode laser arrays operating in CW mode and passively Q-switched by a saturable absorber.
Claim 25
Dependent Claim
113 words
The method of imaging in claim 17 , wherein the instantaneous position of the receiver field of view on the surface at time t is determined by the following equations: x ( t )=θ R r+R tan α[ cos ω t +cos(−ω t +Δφ)] y ( t )= R tan α[ sin ω t +sin(−ω t +Δφ)] wherein ν g is the ground velocity an aircraft or a spacecraft in the positive x-direction; ω is the angular velocity of the counter-rotating optical wedges; α is the cone half-angle of optical wedges; R is the perpendicular distance from the scanner to the surface; and Δφ is the relative starting phase of the optical wedges.
Claim 26
Dependent Claim
112 words
The method of imaging in claim 17 , wherein the means for counter-rotating the first and second optical wedges comprises in combination: a first annular bevel gear connected relative to the first optical wedge; a second annular bevel gear connected relative to the second optical wedge; a bevel miter gear rotatably journaled between the first annular bevel gear and the second annular bevel gear for engagement therewith; motor means; and means for operatively connecting said motor means to the first optical wedge, the second optical wedge or the bevel miter gear whereby rotation of one of the wedges in one direction will rotate the other of the wedges in the opposite direction.
Claim 27
Dependent Claim
40 words
The method of imaging in claim 17 , further comprising: angularly displacing the laser beam in the forward direction of the motion of an aircraft or a spacecraft prior to the step of scanning the laser beam transmitted to surface.
Claim 28
Dependent Claim
29 words
The method of imaging in claim 21 , wherein the step of angularly displacing the laser beam is effected by passing the beam through a prism or a mirror.
Claim 29
Dependent Claim
35 words
The method of imaging in claim 17 , wherein the step of detecting the returned laser beam comprises: counting photons returned from the surface; and generating signals responsive to the number of the returned photons.
Claim 30
Dependent Claim
47 words
The method of imaging in claim 17 , wherein the step of detecting the returned laser beam is effected by a two-dimensional array of pixellated detectors and a multi-channel timing receiver wherein the number of channels is equal to the number of pixels of the array detectors.
Claim 31
Dependent Claim
29 words
The method of imaging in claim 17 , wherein the step of processing signals responsive to the returned beam comprises: producing a ranging signal responsive to the returned beam.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
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| 3.5 Years (Year 4) | 2010-07-23 | 2011-01-22 | 2011-07-24 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2014-07-23 | 2015-01-22 | 2015-07-24 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2018-07-23 | 2019-01-22 | 2019-07-24 | $7700.00 | Window Closed / Lapsed |