Real-Time Walk Error Compensation Method Using Echo Signal Magnitude Measurement in ToF Laser Scanners.

The rapid advancement of mobile laser scanner technology used for terrain mapping, among other things, imposes increasing requirements for scanning frequency and distance measurement accuracy. To meet these requirements, rangefinder modules are expected to operate with high echo signal dynamics and to allow accurate distance measurement even based on single-laser-pulse echo detection. Such performance can be potentially achieved using pulsed time-of-flight (ToF) laser rangefinders (LRF). In conventional ToF modules, however, the STOP signal (for time counter interruption) is generated using a straightforward fixed-threshold comparator method. Unfortunately, it corresponds to the so-called walk error, i.e., the dependence of the measured time of flight on the magnitude of the echo signal. In most ranging applications, however, the LRF detection channel can be exposed to an extremely large span of received echo power levels, which depend on the distance measured, type of target surface, atmospheric transmission, etc. Thus, the walk error is an inseparable element of the conventional ToF technique and creates a fundamental limit for its precision. This article presents a novel method of walk error compensation in real time. By using our authorial electronic circuit for measuring the magnitude of the echo signal, it is possible to effectively compensate for the walk error even when the echo signal brings the detection channel amplifiers into saturation. In addition, the paper presents a laboratory method for calibrating the walk error compensation curve.

Morphological and Optical Characterization of Colored Nanotubular Anodic Titanium Oxide Made in an Ethanol-Based Electrolyte.

In this paper, the possibility of color controlling anodic titanium oxide by changing anodizing conditions of titanium in an ethanol-based electrolyte is demonstrated. Colored anodic titanium oxide was fabricated in an ethanol-based electrolyte containing 0.3 M ammonium fluoride and various amounts of deionized water (2, 3.5, 5, or 10 vol%), at voltages that varied from 30 to 60 V and at a constant anodization temperature of 20 °C. Morphological characterization of oxide layers was established with the use of a scanning electron microscope. Optical characterization was determined by measuring diffusion reflectance and calculating theoretical colors. The resulting anodic oxides in all tested conditions had nanotubular morphology and a thickness of up to hundreds of nanometers. For electrolytes with 3.5, 5, and 10 vol% water content, the anodic oxide layer thickness increased with the applied potential increase. The anodic titanium oxide nanotube diameters and the oxide thickness of samples produced in an electrolyte with 2 vol% water content were independent of applied voltage and remained constant within the error range of all tested potentials. Moreover, the color of anodic titanium oxide produced in an electrolyte with 2 vol% of water was blue and was independent from applied voltage, while the color of samples from other electrolyte compositions changed with applied voltage. For samples produced in selected conditions, iridescence was observed. It was proposed that the observed structural color of anodic titanium oxide results from the synergy effect of nanotube diameter and oxide thickness.

Methods of Precise Distance Measurements for Laser Rangefinders with Digital Acquisition of Signals.

The article presents methods of long range distance measurements using pulsed lasers and the Time of Flight principle. Various algorithms of laser distance measurements with digital acquisition of echo pulses (acquisition of a signal's full waveform) are presented. The main focus of work is concentrated on the method of distance measurements developed by the authors. With this method, during laboratory trials, a total measurement error of one centimeter was achieved using a 905 nm pulsed laser diode and pulse width of 39 ns. The maximum range of measurements with such high precision is limited only by a signal to noise ratio, duration of measurements and atmospheric conditions. All algorithms were implemented in a laser rangefinder module developed by the authors. Simulations and laboratory experiments were conducted and algorithm's accuracy and precision were tested for various SNR conditions and changing distances.

Distinguishing Drones from Birds in a UAV Searching Laser Scanner Based on Echo Depolarization Measurement.

Widespread availability of drones is associated with many new fascinating possibilities, which were reserved in the past for few. Unfortunately, this technology also has many negative consequences related to illegal activities (surveillance, smuggling). For this reason, particularly sensitive areas should be equipped with sensors capable of detecting the presence of even miniature drones from as far away as possible. A few techniques currently exist in this field; however, all have significant drawbacks. This study addresses a novel approach for small (<5 kg) drones detection technique based on a laser scanning and a method to discriminate UAVs from birds. The latter challenge is fundamental in minimizing the false alarm rate in each drone monitoring equipment. The paper describes the developed sensor and its performance in terms of drone vs. bird discrimination. The idea is based on simple cross-polarization ratio analysis of the optical echo received as a result of laser backscattering on the detected object. The obtained experimental results show that the proposed method does not always guarantee 100 percent discrimination efficiency, but provides certain confidence level distribution. Nevertheless, due to the hardware simplicity, this approach seems to be a valuable addition to the developed anti-drone laser scanner.

Freeform Mirror Design for Novel Laser Warning Receivers and Laser Angle of Incidence Sensors.

In this paper, we present a novel configuration of an optical angle-of-incidence (AOI) sensor based on the application of a freeform mirror. The main challenge in designing this mirror was to provide a strictly linear transformation between AOI and the spatial position of the spot created on the linear detector array. Another two goals of this paper were to minimize stray light issues (improve the dynamic range) and create an intermediate focus and lateral shift in the detector position with respect to the plane of incidence. From an optical point of view, the designed mirror can thus be understood as the composition of three components: a high-numerical-aperture (NA) fully achromatic f-theta lens in one cross-section and a perfectly focusing lens, combined with a deviating prism in the second (orthogonal) cross-section. In comparison to the standard "shade" methods, the proposed approach allows a constant angular resolution to be maintained over the entire field of view. The mirror was designed on the basis of fundamental geometrical rules by numerically solving differential problems using an innovative scheme based on the minimization of the specific merit function. The proposed method was practically applied to design a freeform mirror for a 90°/120° field-of-view sensor, showing a satisfactory performance.