JP2020042020A - Lidarのリターンに対するdveの影響を低減するためのシステム及び方法 - Google Patents
Lidarのリターンに対するdveの影響を低減するためのシステム及び方法 Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4808—Evaluating distance, position or velocity data
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
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- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Optics & Photonics (AREA)
- Optical Radar Systems And Details Thereof (AREA)
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Abstract
Description
となる。式中、xはM次元の空間座標であり、kはM次元の空間周波数座標であり、位相回復は、測定された振幅について、一式の制約を満たす位相を見つけることにある。別の例では、複数の散乱を考慮に入れたビーム伝播法に基づいて再構成モデルを生成するために、学習トモグラフィが用いられる。
コヒーレント光線を放射するように構成されたレーザ源(201)と、
当該コヒーレント光線を変調するための空間光変調器であって、当該空間光変調器と標的物(114)との間に配置されたDVE媒質(112、231)の干渉パターンに対する位相共役光を生成するように構成された空間光変調器と、
空間光変調器からの当該コヒーレント光線をフィルタリングする光学レンズ(200)であって、コヒーレント光線を標的物(114)に向けるように構成されており、コヒーレント光線はDVE媒質(112、231)に反射して散乱光子を生み出し、標的物(114)に反射して反射光子を生み出す、光学レンズ(200)と、
散乱光子及び反射光子を収集する第2の光学レンズ(200)と、
散乱光子及び反射光子を検出する検出器アレイとを備える、LIDARシステム(110)。
レーザ源(201)からコヒーレント光線を放射するステップと、
空間光変調器を介して当該コヒーレント光線を変調するステップであって、空間光変調器が、当該空間光変調器と標的物(114)との間に配置されたDVE媒質(112、231)の干渉パターンに関する位相共役光を生成するように構成された、当該コヒーレント光線を変調するステップと、
光学レンズ(200)を介して空間光変調器からの当該コヒーレント光線をフィルタリングするステップと、
コヒーレント光線を標的物(114)に向けるステップであって、コヒーレント光線がDVE媒質(112、231)に反射して散乱光子を生み出し、標的物(114)に反射して反射光子を生み出す、コヒーレント光線を前記標的物(114)に向けるステップと、
第2の光学レンズ(200)を介して散乱光子及び反射光子を収集するステップと、
検出器アレイを介して散乱光子及び反射光子を検出するステップとを含む、
方法。
Claims (15)
- 悪視程環境(DVE)下で運航する航空ビークル(102)用のLIDARシステム(110)であって、
コヒーレント光線を放射するように構成されたレーザ源(201)と、
前記コヒーレント光線を変調するための空間光変調器であって、前記空間光変調器と標的物(114)との間に配置されたDVE媒質(112、231)の干渉縞に対する位相共役光を生成するように構成された空間光変調器と、
前記空間光変調器からの前記コヒーレント光線をフィルタリングする光学レンズ(200)であって、前記コヒーレント光線を前記標的物(114)に向けるように構成されており、前記コヒーレント光線は前記DVE媒質(112、231)に反射して散乱光子を生み出し、前記標的物(114)に反射して反射光子を生み出す、光学レンズ(200)と、
前記散乱光子及び前記反射光子を収集する第2の光学レンズ(200)と、
前記散乱光子及び前記反射光子を検出する検出器アレイと、を備えるLIDARシステム(110)。 - 前記DVE媒質(112、231)の現在の散乱特性を特定するため、複数の共役光を繰り返して走査するように構成されている、請求項1に記載のLIDARシステム(110)。
- 前記複数の共役光を繰り返して走査するステップが、フィーナップ再構成技法を用いる、請求項2に記載のLIDARシステム(110)。
- 前記LIDARシステム(110)が、走査のための所定の時間が推定距離における前記DVE媒質(112、231)の脱相関時間を超過するまで、連続してより長い推定距離でプローブするように構成されている、請求項2に記載のLIDARシステム(110)。
- 前記レーザ源(201)が、光学フェーズドアレイ(202)を介して前記コヒーレント光線を放射するように構成されている、請求項1から4のいずれか一項に記載のLIDARシステム(110)。
- 前記検出器アレイが、単一光子アバランシェダイオード(SPAD)アレイである、請求項1から5のいずれか一項に記載のLIDARシステム(110)。
- 前記検出器アレイ及び前記空間光変調器は、それぞれデジタル信号プロセッサに連結されており、前記デジタル信号プロセッサは、前記航空ビークル(102)の飛行制御システムと通信するように構成されている、請求項1から6のいずれか一項に記載のLIDARシステム(110)。
- 悪視程環境(DVE)下で運航する航空ビークル(102)用のLIDARシステム(110)を操作する方法であって、
レーザ源(201)からコヒーレント光線を放射するステップと、
空間光変調器を介して前記コヒーレント光線を変調するステップであって、前記空間光変調器が、前記空間光変調器と標的物(114)との間に配置されたDVE媒質(112、231)の干渉パターンに対する位相共役光を生成するように構成された、コヒーレント光線を変調するステップと、
光学レンズ(200)を介して前記空間光変調器からの前記コヒーレント光線をフィルタリングするステップと、
前記コヒーレント光線を前記標的物(114)に向けるステップであって、前記コヒーレント光線が前記DVE媒質(112、231)に反射して散乱光子を生み出し、前記標的物(114)に反射して反射光子を生み出す、前記コヒーレント光線を前記標的物(114)に向けるステップと、
第2の光学レンズ(200)を介して前記散乱光子及び前記反射光子を収集するステップと、
検出器アレイを介して前記散乱光子及び前記反射光子を検出するステップとを含む、
方法。 - 前記DVE媒質(112、231)の現在の散乱特性を特定するため、複数の共役光を繰り返して走査するステップをさらに含む、請求項8に記載の方法。
- 前記DVE媒質(112、231)の現在の散乱特性を特定するため、あらゆる可能な共役光を繰り返して走査するステップをさらに含む、請求項8または9に記載の方法。
- 走査のための所定の時間が推定距離における前記DVE媒質(112、231)の脱相関時間を超過するまで、連続してより長い推定距離でプローブするステップをさらに含む、請求項8から10のいずれか一項に記載の方法。
- 前記検出器アレイ及び前記空間光変調器が、それぞれデジタル信号プロセッサに連結されており、前記デジタル信号プロセッサが、前記航空ビークル(102)の飛行制御システムと通信するように構成されている、請求項8から11のいずれか一項に記載の方法。
- 前記デジタル信号プロセッサを介して前記LIDARシステム(110)から受信したデータに応じて、着陸ゾーンを特定するステップをさらに含む、請求項12に記載の方法。
- 前記光学レンズ(200)が、参照光を生成するビームスプリッタを含む方法であって、前記方法が、前記参照光を前記散乱光子または前記反射光子と比較するステップをさらに含む、請求項8から13のいずれか一項に記載の方法。
- 前記航空ビークル(102)が前記DVE媒質(112、231)を通って航行する際に、前記航空ビークル(102)の位置と姿勢を追尾するステップをさらに含む、請求項8から14のいずれか一項に記載の方法。
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US16/101,059 US11119212B2 (en) | 2018-08-10 | 2018-08-10 | System and method to reduce DVE effect on lidar return |
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