Direct Detection Time of Flight Lidar Sensor System Design and A Vortex Tracking Algorithm for a Doppler Lidar

Laser radars or lidar’s have been used extensively to remotely study winds within the atmospheric boundary layer and atmospheric transport. Lidar sensors have become an important tool within the meteorology and the wind energy community. For example, Doppler lidars are used frequently in wind resource assessment, wind turbine control as well as in atmospheric science research. A Time of Flight based (ToF) direct detection lidar sensor is used in vehicles to navigate through complex and dynamic environments autonomously. These optical sensors are used to map the environment around the car accurately for perception and localization tasks that help achieve complete autonomy.

This thesis begins with a detailed discussion on the fundamentals of a Doppler lidar system. The laser signal flow path to and from the target, the optics of the system and the core signal processing algorithms used to extract velocity information, were studied to get closer to the hardware of a Doppler lidar sensor. A Doppler lidar simulator was built to study the existing signal processing algorithms to detect and estimate doppler frequency, and radial velocity information. Understanding the sensor and its processing at the hardware level is necessary to develop new algorithms to detect and track specific flow structures in the atmosphere. For example, the aircraft vortices have been a topic of extensive research and doppler lidars have proved to be a valuable sensor to detect and track these coherent flow structures. Using the lidar simulator a physics based doppler lidar vortex algorithm is tested on simulated data to track a pair of counter rotating aircraft vortices.



At a system level the major components of a time of flight lidar is very similar to a Doppler lidar. The fundamental physics of operation is however different. While doppler lidars are used for radial velocity measurement, ToF sensors as the name suggests provides precise depth measurements by measuring time of flight between the transmitted and the received pulses. The second part of this dissertation begins to explore the details of ToF lidar system. A system level design, to build a ToF direct detection lidar system is presented. Different lidar sensor modalities that are currently used with sensors in the market today for automotive applications were evaluated and a 2D MEMS based scanning lidar system was designed using off-the shelf components.

Finally, a range of experiments and tests were completed to evaluate the performance of each sub-component of the lidar sensor prototype. A major portion of the testing was done to align the optics of the system and to ensure maximum field of view overlap for the bi-static laser sensor. As a laser range finder, the system demonstrated capabilities to detect hard targets as far as 32 meters. Time to digital converter (TDC) and an analog to digital converter (ADC) was used for providing accurate timing solutions for the lidar prototype. A Matlab lidar model was built and used to perform trade-off studies that helped choosing components to suit the sensor design specifications.

The size, weight and cost of these lidar sensors are still very high and thus making it harder for automotive manufacturers to integrate these sensors into their vehicles. Ongoing research in this field is determined to find a solution that guarantees very high performance in real time and lower its cost over the next decade as components get cheaper and can be seamlessly integrated with cars to improve on-road safety.