Imaging lidar system using non-visible light

• US 5,013,917 A
• Filed: 10/12/1988
• Issued: 05/07/1991
• Est. Priority Date: 07/07/1988
• Status: Expired due to Fees

• Current Assignee: Kaman Aerospace Corporation (Kaman Corporation)
• Original Assignee: Kaman Aerospace Corporation (Kaman Corporation)
• Inventors: Ulich, Bobby L.
• Primary Examiner(s): FIELDS, CAROLYN
• Application Number:
  US07/256,778
• Time in Patent Office: 937 Days
• Field of Search: 250/330, 250/332, 250/334, 250/370.08, 358/113, 358/95
• US Class Current: 250/330
• CPC Class Codes: G01N 2021/1765 Method using an image detector and processing of image signal
• CPC Class Codes: G01N 2021/1782 In-depth resolution
• CPC Class Codes: G01N 2021/4709 Backscatter
• CPC Class Codes: G01N 21/49 within a body or fluid
• CPC Class Codes: G01N 21/53 within a flowing fluid, e.g. smoke
• CPC Class Codes: G01N 2201/0697 Pulsed lasers
• CPC Class Codes: G01S 17/88 Lidar systems specially adapted for specific applications
• CPC Class Codes: G01S 17/89 for mapping or imaging

Abstract

A system is presented for the remote detection and imaging of objects at night. In accordance with the present invention, a laser is used to generate short pulses of infrared light with pulse widths on the order of nanoseconds. The laser light is expanded by optics and projected at the target scene. An intensified CCD (charge coupled device) camera is electronically shuttered after an appropriate time delay such that the image formed by the camera is composed of infrared light backscattered by the target from a range of r.

Claims

1. A method of detecting and imaging an object at night or where atmospheric propagation of visible light is severely hampered by fog, dust, smoke, haze or snow including the steps of:

selectively generating pulses of non-visible light;

projecting said pulses of non-visible light at an object at night or where atmospheric propagation of visible light is severely hampered by fog, dust, smoke, haze or snow;

detecting said pulses of light reflected back from said object after a time delay corresponding to the round-trip propagation time of said light pulses to and from said object using at least one camera means;

detecting the leading edge of light reflected back from said object using glint detection means;

gating said at least one camera means on one pulse after said glint detection means detects the leading edge of the reflected light; and

converting the detected pulses of non-visible light to a video image of said object.

2. The method of claim 1 wherein:

said pulses of non-visible light are generated by pulsed laser means.

3. The method of claim 2 wherein:

said pulsed laser means comprises a pulsed Nd;

YAG laser.

4. The method of claim 1 wherein:

said pulses comprise pulse widths of less that about 100 nanoseconds.

5. The method of claim 1 including:

expanding said generated pulses of light by directing said pulses through optical means.

6. The method of claim 2 wherein:

said pulses of non-visible light are in the infrared wavelength.

7. The method of claim 1 including:

filtering the reflected pulses of light.

8. The method of claim 7 including:

using bandpass filter means to discriminate said pulses of light from background light sources.

9. The method of claim 1 wherein:

said at least one camera means includes an intensified charge coupled device (CCD) sensor.

10. The method of claim 9 wherein said at least one camera means further includes:

fiber optic window means; and

intensifier tube means, said fiber optic window means coupling said CCD sensor to said intensifier tube means to define said intensified CCD sensor.

11. The method of claim 1 including:

displaying said video image on cathode ray tube means.

12. The method of claim 2 wherein the detected signal strength S is given by:

where ##EQU7## E=laser pulse energy (J) Γ

=target reflectance (dimensionless)

r=target range (m)

N=number of pixels in TV camera image (dimensionless)

λ

=laser wavelength (m) (in vacuum)

h=planck'"'"'s constant (6.626×

10^-34 J s)

A=effective collecting area of camera lens (m²)

C=velocity of light (2.9971×

10⁸ m s^-1)

S=number of photoelectrons detected per pixel per pulse

η

.sub.ε

=camera photocathode quantum efficiency

13. The method of claim 12 wherein the signal-to-noise ratio (SNR) in a pixel is given by:

space="preserve" listing-type="equation">SNR=S.sup.1/2

14. An apparatus for detecting and imaging an object at night or where atmospheric propagation of visible light is severely hampered by fog, dust, smoke, haze or snow comprising:

generating means for selectively generating pulses of non-visible light;

projecting means for projecting said pulses of non-visible light at an object at night or where atmospheric propagation of visible light is severely hampered by fog, dust, smoke, haze or snow;

at least one camera means for detecting said pulses of light reflected back from said object after a time delay corresponding to the round-trip propagation time of said light pulses to and from said object;

glint detection means for detecting the leading edge of light reflected back from said object;

gating means for gating said at least one camera means on one pulse after said glint detection means detects the leading edge of the reflected light; and

converting means for converting the detected pules of non-visible light to a video image of said object.

15. The apparatus of claim 14 wherein:

said generating means comprises pulsed laser means.

16. The apparatus of claim 15 wherein:

said pulsed laser means comprises a pulsed Nd;

YAG laser.

17. The apparatus of claim 14 wherein:

said pulses comprise pulse widths of less than about 100 nanoseconds.

18. The apparatus of claim 15 wherein:

said pulses of non-visible light are in the infrared wavelength.

19. The apparatus of claim 14 including:

means for expanding the generated pulses of light by directing said pulses through optical means.

20. The apparatus of claim 14 including:

means for filtering the reflected pulses of light.

21. The apparatus of claim 20 wherein:

said filtering means comprises bandpass filter means.

22. The apparatus of claim 14 wherein:

said at least one camera means includes an intensified charge coupled device (CCD) sensor.

23. The apparatus of claim 22 wherein said at least one camera means further includes:

fiber optic window means; and

intensifier tube means, said fiber optic window means coupling said CCD sensor to said intensifier tube means to define said intensified CCD sensor.

24. The apparatus of claim 14 including:

means for visually displaying said video image.

25. The apparatus of claim 14 wherein the detected signal strength S is given by:

##EQU8## where E=laser pulse energy (J)

Γ

=target reflectance (dimensionless)

r=target range (m)

N=number of pixels in TV camera image (dimensionless)

λ

=laser wavelength (m) (in vacuum)

h=planck'"'"'s constant (6.626×

10^-34 J s)

A=effective collecting area of camera lens (m²)

C=velocity of light (2.9971×

10⁸ m s^-1)

S=number of photoelectrons detected per pixel per pulse

η

.sub.ε

=camera photocathode quantum efficiency

26. The apparatus of claim 24 wherein the signal-to-noise ratio (SNR) in a pixel is given by:

space="preserve" listing-type="equation">SNR=S.sup.1/2

27. The apparatus of claim 14 wherein said glint detection means comprises:

fast photodiode means; and

pulse discriminator means operatively connected to said fast photodiode means.

28. A method of detecting and imaging an object at night or where atmospheric propagation of visible light is severely hampered by fog, dust, smoke, haze or snow including the steps of:

selectively generating pulses of non-visible light;

projecting said pulses of non-visible light at an object at night or where atmospheric propagation of visible light is severely hampered by fog, dust, smoke, haze or snow;

detecting said pulses of light reflected back from said object after a time delay corresponding to the round-trip propagation time of said light pulses to and from said object wherein glint detection means is used to detect the leading edge of light reflected back from said object; and

converting the detected pulses of non-visible light to a video image of said object.

29. A method of detecting and imaging an object at night or where atmospheric propagation of visible light is severely hampered by fog, dust, smoke, haze or snow including the steps of:

selectively generating pulses of non-visible light;

projecting said pulses of non-visible light at an object at night or where atmospheric propagation of visible light is severely hampered by fog, dust, smoke, haze or snow;

detecting said pulses of light reflected back from said object using at least one camera means after a time delay corresponding to the round-trip propagation time of said light pulses to and from said object;

gating said camera means on one pulse after the leading edge of the reflected light is detected; and

converting the detected pulses of non-visible light to a video image of said object.

30. An apparatus for detecting and imaging an object at night or where atmospheric propagation of visible light is severely hampered by fog, dust, smoke, haze or snow comprising:

generating means for selectively generating pulses of non-visible light;

projecting means for projecting said pulses of non-visible light at an object at night or where atmospheric propagation of visible light is severely hampered by fog, dust, smoke, haze or snow;

detecting means for detecting said pulses of light reflected back from said object after a time delay corresponding to the round-trip propagation time of said light pulses to and from said object;

glint detection means for detecting the leading edge of light reflected back from said object; and

converting means for converting the detected pulses of non-visible light to a video image of said object.

31. The apparatus of claim 30 wherein said glint detection means comprises:

fast photodiode means; and

pulse discriminator means operatively connected to said fast photodiode means.

32. An apparatus for detecting and imaging an object at night or where atmospheric propagation of visible light is severely hampered by fog, dust, smoke, haze or snow comprising:

generating means for selectively generating pulses of non-visible light;

projecting means for projecting said pulses of non-visible light at an object at night or where atmospheric propagation of visible light is severely hampered by fog, dust, smoke, haze or snow;

at least one camera means for detecting said pulses of light reflected back from said object after a time delay corresponding to the round-trip propagation time of said light pulses to and from said object;

gating means for gating said camera means on one pulse after the leading edge of the reflected light is detected; and

converting means for converting the detected pulses of non-visible light to a video image of said object.