Imaging lidar system employing bistatic operation

• US 5,343,284 A
• Filed: 10/22/1992
• Issued: 08/30/1994
• Est. Priority Date: 10/24/1990
• Status: Expired due to Fees

• Current Assignee: Kaman Aerospace Corporation (Kaman Corporation)
• Original Assignee: Kaman Aerospace Corporation (Kaman Corporation)
• Inventors: Keeler, R. Norris, Ulich, Bobby L.
• Primary Examiner(s): Buczinski, Stephen C.
• Application Number:
  US07/968,940
• Time in Patent Office: 677 Days
• Field of Search: 358/95, 358/99, 358/100, 358/109, 356/5
• US Class Current: 356/4.01
• CPC Class Codes: G01S 17/46 Indirect determination of position data
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/4811 common to transmitter and receiver
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

An imaging lidar system is presented which is adapted to decrease the backscattering at the receiver when a target is viewed in reflection and to increase the backscattered reflection when the target is viewed in obscuration by operating the airborne lidar imaging system bistatically in the former case, and monostatically in the latter case. In accordance with a first embodiment of the present invention, a retractible prism and remote reflecting mirror are used to direct the laser transmitter beam downward. The reflecting mirror is offset so that there is a finite angle between the transmitter optical path and the path of the light reflected back into the CCD framing camera. The angle can be varied by moving the reflecting mirror along a track or rail with the appropriate adjustment to the mirror so that the transmitter beam is completely captured and directed downward to illuminate the area viewed by the camera. In a second embodiment of the present invention, the camera is placed on runners and displaced from the transmitter beam. A control is inserted so that the transmitter optics are directed to the area imaged by the camera.

Claims

1. An apparatus for detecting and imaging an object enveloped by water from an airborne platform comprising:

transmitter means mounted on an airborne platform for selectively generating pulses of light;

projecting means for projecting said pulses of light toward the water at an object enveloped by the water;

receiver means for receiving 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; and

converting means for converting said received pulses of light to a video image of said object;

said receiver means being positioned at a first location to receive said pulses of light reflected back from said object at an angle which is in the range of 179.45°

to 150°

relative to said projected light pulses.

2. The apparatus of claim 1 wherein said angle is about 160°

to about 170°

.

3. The apparatus of claim 1 wherein said receiver means includes:

moving means for moving said receiver means between said first location and a second location displaced horizontally from said first location.

4. The apparatus of claim 1 wherein said receiver means includes at least one first gated camera at said first location and further including:

at least one second gated camera at a second location displaced horizontally from said first location wherein at said second location, said second camera means receives said reflected pulses of light at an angle which is 180°

.

5. An apparatus for detecting and imaging an object enveloped by water which is at least partially transmitting to light comprising:

transmitter means mounted on an airborne platform for selectively generating pulses of light;

projecting means for projecting said pulses of light toward the water and at an object enveloped by the water;

receiver means for receiving 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; and

converting means for converting said received pulses of light to a video image of said object;

said projecting means being positioned at a first location to project said pulses of light at an angle which is in the range of 179.45°

to 150°

relative to said pulses of light received by said receiver means.

6. The apparatus of claim 5 wherein said angle is 160°

to 170°

.

7. The apparatus of claim 5 wherein said projecting means includes:

light bending means for altering the trajectory of said pulses of light, said light bending means being displaced in a horizontal direction from said transmitter means, said light bending means receiving said pulses of light from said transmitter means and projecting said pulses of light toward said backscattering medium.

8. The apparatus of claim 7 wherein:

said light bending means is movable in said horizontal direction.

9. The apparatus of claim 7 wherein:

said light bending means is pivotable to vary said angle of 179.45°

to 150°

.

10. The apparatus of claim 7 wherein:

said light bending means comprises prism means.

11. The apparatus of claim 7 including:

mirror means in the optical path between said transmitter means and said projecting means, said mirror means directing the light pulses from said transmitter means to said projecting means.

12. The apparatus of claim 11 wherein:

said mirror means is removable from said optical path so that said transmitter means will bypass said projecting means and said pulses of light will travel at an angle of 180°

degrees.

13. An imaging lidar apparatus positioned on an airborne platform for detecting and imaging an object enveloped by water, the imaging lidar apparatus including light pulse generating means and reflected light pulse detection means for detecting backscattered reflection from the object and volume backscatter from the water and further including:

means for decreasing said volume backscatter at said detection means when said object is viewed in reflection wherein said imaging lidar apparatus operates bistatically at a bistatic angle in the range of 179.45°

to 150°

.

14. The apparatus of claim 13 including:

means for increasing said volume backscatter at said detection means when said object is viewed in obscuration wherein said imaging lidar apparatus operates monostatically.

15. A method for detecting and imaging an object enveloped by water comprising the steps of:

selectively generating pulses of light from an airborne platform;

projecting said pulses of light toward the water and at an object enveloped by the water;

receiving 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 a receiver means; and

converting said received pulses of light to a video image of said object;

positioning said receiver means at a first location to receive said pulses of light reflected back from said object at an angle which is in the range of 179.45°

to 150°

relative to said projected light pulses.

16. The method of claim 15 wherein said positioning step comprises:

transmitting said received pulses of light along at least one fiber optic cable, said cable terminating at one end at a location displaced horizontally from the location where said pulses are projected.

17. A method for detecting and imaging an object enveloped by water comprising:

selectively generating pulses of light from an airborne platform using light pulse generating means;

projecting said pulses of light toward the water and at an object enveloped by the water using projecting means;

receiving 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; and

converting said received pulses of light to a video image of said object;

said projecting means being positioned at a first location to project said pulses of light at an angle which is in the range of 179.45°

to 150°

relative to said pulses of light received by said receiver means.

18. The method of claim 17 including:

transmitting said generated pulses of light along at least one fiber optic cable, said cable running between said light pulse generating means and said projector means, said light pulse generating means and said projector means being horizontally displaced.

19. A method for detecting and imaging an object enveloped by water, the method employing an imaging lidar apparatus mounted on an airborne platform including light pulse generating means and reflected light pulse detection means for detecting backscattered reflection, said backscattered reflection including volume backscattering and further including the step of:

decreasing said volume backscatter at said detection means when said object is viewed in reflection wherein said imaging lidar apparatus operates bistatically at a bistatic angle in the range of 179.45°

to 150°

.

20. The method of claim 19 including:

increasing said volume backscatter at said detection means when said object is viewed in obscuration wherein said imaging lidar apparatus operates monostatically.