LADAR Measurements of the

International Space Station

LADAR Guidance for Autonomous

Rendezvous and Docking
Colin L. Smithpeter (csmithp@sandia.gov ), Robert
O. Nellums, Steve M. Lebien, George Studor*,
George James*
Sandia National Laboratories
*NASA Johnson Space Center
Unclassified Sandia is a multiprogram laboratory operated by Sandia Corporation, a Lockheed Martin Company,
for the United States Department of Energy under contract DE-AC04-94AL85000.
 Laser Radar

Laser Radar provides angle, angle, range images

of target
Potential for small, standalone sensor in AR&C
Range & bearing with each image, day or night, uncooperative
targets
6 DOF velocities from sequential images
Target vehicle orientation from 3D images

X:+2 Y:-2 Z:+20

DX:-0.2 DY:0.0 DZ:+2
Unclassified Sandia is a multiprogram laboratory operated by Sandia Corporation, a Lockheed Martin Company,
for the United States Department of Energy under contract DE-AC04-94AL85000.
 Key Points

Laser Radar is accurate, rapid, and small

What are the issues?

Scanning Versus Scannerless

Virtually all existing ladar capabilities utilize scanning
A unique, scannerless laser radar has been developed by
Sandia National Laboratories.

Laser Dynamic Range Imager (LDRI) Overview

Scannerless demonstration on STS 97 Mission in 2001.

AR&C LADAR concept

Next Generation micro LADAR

Unclassified Sandia is a multiprogram laboratory operated by Sandia Corporation, a Lockheed Martin Company,
for the United States Department of Energy under contract DE-AC04-94AL85000.
 Laser Radar Issues

Optical energy per pixel measurement

Minimum signal requirement depends upon ladar architecture, including
quantum efficiency, noise, and background. Typical to require 100s of
photons, but a single photon is potentially feasible.
Required illumination, given required signal, tends to vary directly with
number of pixels, range2 and FOV2. Energy can become prohibitive at
long range.
Temporal and spectral filtering required to reduce solar background

Target Albedo
Specular materials, such as Mylar, can be very difficult to detect
Diffuse materials, such as brushed metal or beta-cloth, provide reliable
returns
Retro-reflective cubes or tapes greatly enhance return from range

Unclassified Sandia is a multiprogram laboratory operated by Sandia Corporation, a Lockheed Martin Company,
for the United States Department of Energy under contract DE-AC04-94AL85000.
 Scanning Versus Scannerless

Why Scanning
Single-channel EO can incorporate sophisticated readout
of return waveform
Single axis can incorporate spatial filter: IFOV can be
much smaller than pixel spacing, to reduce solar
background
Variable FOV, pointing, and pixel spacing

Why Scannerless
Focal plane eliminates bulk and reliability issue of
scanning mechanism
Focal plane enables fast image acquisition. Single flash
feasibility.

Unclassified Sandia is a multiprogram laboratory operated by Sandia Corporation, a Lockheed Martin Company,
for the United States Department of Energy under contract DE-AC04-94AL85000.
 LADAR Sensor

Challenge: Measure laser pulse return time in each pixel

with nanosecond accuracy
Nyquist indicates 2 GHz bandwidth, thousands of samples
Sandia Approach: Detect laser time of flight by sampling
waveform with limited number of frequencies
Heterodyne laser return with AM receiver
Reduce complexity and bandwidth, improve resolution and sensitivity
10 MHz BW for nanosecond accuracy

Example: Simulated return through obscuration

Obscuration
Return Target
Return

Detected Laser Return Processed Sensor Output

Unclassified Sandia is a multiprogram laboratory operated by Sandia Corporation, a Lockheed Martin Company,
for the United States Department of Energy under contract DE-AC04-94AL85000.
 Scannerless Range Imaging

Sin(w)

Intensity

Time
tJ 1/w
tT Range Encoded
Image
Pulse Launch
Unclassified Sandia is a multiprogram laboratory operated by Sandia Corporation, a Lockheed Martin Company,
for the United States Department of Energy under contract DE-AC04-94AL85000.
 Example: M60 tank at 250m in daylight

Intensity

Phase

Unclassified Sandia is a multiprogram laboratory operated by Sandia Corporation, a Lockheed Martin Company,
for the United States Department of Energy under contract DE-AC04-94AL85000.
 Laser Dynamic Range Imager

Motivation: Structural Dynamics of ISS

Assembly, control, and operation of large,
flexible ISS structure requires validated
structural models
High density of structural modes

Limited instrumentation for on-orbit validation

Supplement with non-contact measurement

Image vibration motion with LADAR sensor

Secondary applications: Inspection, proximity
operations navigation

Unclassified Sandia is a multiprogram laboratory operated by Sandia Corporation, a Lockheed Martin Company,
for the United States Department of Energy under contract DE-AC04-94AL85000.
 LDRI Mission Requirements
Image natural mode frequency and amplitude
Induce vibration with Shuttle thruster firing
Replace Intensified Video Camera Illuminator
Weight 4.4 lbs, Size 5(w)x3.5(h)x9(l) inches
Eye safe laser illumination, 40 degree field of view
Dynamic range accuracy of 0.1 inch, frequencies to
7 Hz

ITVC/LDRI Assembly
Unclassified Sandia is a multiprogram laboratory operated by Sandia Corporation, a Lockheed Martin Company,
for the United States Department of Energy under contract DE-AC04-94AL85000.
 On-Orbit Images

Intensity Intensity

Hi-Frequency Range Absolute Surface Rendering

Unclassified Sandia is a multiprogram laboratory operated by Sandia Corporation, a Lockheed Martin Company,
for the United States Department of Energy under contract DE-AC04-94AL85000.
 Solar Array Measurements

IntensityTwo Transverse SAW Cross-Sections Range

4
Planar Relief (Inches Away

Bus Tab Toward Observer

3
Bus Tab Away from Observer
from Observer)

2
1
0
-1 0 50 100 150

-2
-3
Uncalibrated Units (Upper Right to Lower Left)

Unclassified Sandia is a multiprogram laboratory operated by Sandia Corporation, a Lockheed Martin Company,
for the United States Department of Energy under contract DE-AC04-94AL85000.
 ISS Range Movie

Grayscale cycles every 107 cm of range

Unclassified Sandia is a multiprogram laboratory operated by Sandia Corporation, a Lockheed Martin Company,
for the United States Department of Energy under contract DE-AC04-94AL85000.
 On-Orbit Vibration Data

Unclassified Sandia is a multiprogram laboratory operated by Sandia Corporation, a Lockheed Martin Company,
for the United States Department of Energy under contract DE-AC04-94AL85000.
 On-Orbit Vibration Data

Unclassified Sandia is a multiprogram laboratory operated by Sandia Corporation, a Lockheed Martin Company,
for the United States Department of Energy under contract DE-AC04-94AL85000.
 LDRI Summary

Developed a space qualified LADAR

5 lbs, Size ~ 10x5x4 inches
0.1 inch range resolution, 640x480 pixels
Eye safe laser illumination, 40 degree field of view
Capturing 30 fps for vibration data to 7.5 Hz

Flown on STS 97
Measured vibration amplitudes of 0.1 inches

Demonstrated inspection/characterization of structures

Funded by JSC engineering division and

HEDS Shuttle upgrades office.
Unclassified Sandia is a multiprogram laboratory operated by Sandia Corporation, a Lockheed Martin Company,
for the United States Department of Energy under contract DE-AC04-94AL85000.
 AR&C Concept
Acquisition of target vehicle
Target: 1km range, 3m diameter, non-cooperative
Sensor: 10nm SBW, 10cm aperture, 400ns gate
Worst case Radiometry: at edge of 20 deg FOV, 5% albedo

ET TA2 D 2T R cos( v ) cos( H )

ER
R2
Require 500 photons per pixel for reliable detection
Required laser energy is 10mJ per pulse
Solar background drives required laser energy to 80mJ/pulse

Unclassified Sandia is a multiprogram laboratory operated by Sandia Corporation, a Lockheed Martin Company,
for the United States Department of Energy under contract DE-AC04-94AL85000.
 AR&C Concept
Rendezvous
Continuous updates on range, bearing, and 6 DOF rates
Bearing resolution improves with decreasing range
5 arc min at 250m
Sub-meter range accuracy
Update rates to 30 Hz

Docking
Increase FOV to 90 deg
Determine 6 DOF orientation from 3D image
Extract features and correlate with known features
Correlated current 3D image with reference model
100 pixels across target at 10m separation, sub-cm range
accuracy, 0.2 deg rotational accuracy

Unclassified Sandia is a multiprogram laboratory operated by Sandia Corporation, a Lockheed Martin Company,
for the United States Department of Energy under contract DE-AC04-94AL85000.
 Required LDRI development
Daylight Illuminator
Q-SW doubled YAG laser
Electronics Upgrade
Processor and digital interface
Digital camera
Autonomous Algorithms
Sandia Micro Laser
Range, bearing, and rates
Orientation
Issues
Specular surfaces
Motion artifacts

Unclassified Sandia is a multiprogram laboratory operated by Sandia Corporation, a Lockheed Martin Company,
for the United States Department of Energy under contract DE-AC04-94AL85000.
 Future LADAR Technology
Current Issues
Motion distortion
Eye safety & stealth
Required laser energy
Complexity and cost
Multiple returns

Solution:
Miniaturize receiver to focal plane array chip
New algorithms utilizing multiple frequencies

Unclassified Sandia is a multiprogram laboratory operated by Sandia Corporation, a Lockheed Martin Company,
for the United States Department of Energy under contract DE-AC04-94AL85000.
 Near-term Flash LADAR

Completed prototype
Size: 7x10x10 inches, 15 lbs
Electronics

4 cameras Optical block

Top down view

Unclassified Sandia is a multiprogram laboratory operated by Sandia Corporation, a Lockheed Martin Company,
for the United States Department of Energy under contract DE-AC04-94AL85000.
 Micro LADAR
Focal plane array of detectors
Instant 2 frequency sampling by parallel mixers
Range and passive image sensor
Bond visible, NIR, or IR detectors

Detector

Unclassified Sandia is a multiprogram laboratory operated by Sandia Corporation, a Lockheed Martin Company,
for the United States Department of Energy under contract DE-AC04-94AL85000.
 Micro LADAR
2x128 Prototype
Objective: Develop IC detector array
for instantaneous range imaging
Sandia Technology: Sample laser
return with selected frequencies
Increase resolution by 10x
Eliminate threshold detection
Reduce false returns
Enhance sensitivity & dynamic range

FPA Impact Status:

Instantaneous imaging Freeze motion 2x128 prototype fabricated by JPL
Integrated FPA Low-cost and compact with NASA & DARPA funding
Enhanced sensitivity Long Range ( >2km) Alternate Sandia approach 1x128 array
IR operation Eye-safety and stealth
Demonstrated basic function (TRL 3)
Dual IR & 3D Enhanced ATR capability
Foliage penetration Enhanced operability

Unclassified Sandia is a multiprogram laboratory operated by Sandia Corporation, a Lockheed Martin Company,
for the United States Department of Energy under contract DE-AC04-94AL85000.
 FPA Sensor
Laser return sampled
instantly with parallel
mixers
Hybrid array architecture
for operation in IR and
dual mode passive and
active imaging
Store heterodyne product
in pixel for readout
Single pulse (flash)
imaging avoids motion
artifact
Currently at TRL 3
8x16 FPA Prototype

Unclassified Sandia is a multiprogram laboratory operated by Sandia Corporation, a Lockheed Martin Company,
for the United States Department of Energy under contract DE-AC04-94AL85000.
 First Device Testing
Measure laser response 2x128 Prototype
Sweep laser time of flight
Detected modulation indicates
basic operation
Gating working at 1 ms

1.780

Capacitor output (V)

1.770

1.760

1.750

1.740

1.730

1.720
400.00 500.00 600.00 700.00 800.00 900.00 1000.00
Laser delay (ns)

Typical timing and output Range sweep at 3 MHz modulation

Unclassified Sandia is a multiprogram laboratory operated by Sandia Corporation, a Lockheed Martin Company,
for the United States Department of Energy under contract DE-AC04-94AL85000.
 Micro LADAR AR&C Impact
Single pulse illumination no motion artifact
Near IR operation for eye safety on manned
mission
Reduce size and complexity
System dominated by laser size

Background rejection
Reduce laser energy
Enable CW diode laser illumination

Unclassified Sandia is a multiprogram laboratory operated by Sandia Corporation, a Lockheed Martin Company,
for the United States Department of Energy under contract DE-AC04-94AL85000.