Abstract: Described herein are systems and methods that may efficiently detect multi-return light signals. A light detection and ranging system, such as a LIDAR system, may fire a laser beam that may hit multiple objects with a different distance in one line, causing multi-return light signals to be received by the system. Multi-return detectors may be able to analyze the peak magnitude of a plurality of peaks in the return signals and determine a multitude of peaks, such as the first peak, the last peak and the maximum peak. One embodiment to detect the multi-return light signals may be a multi-return recursive matched filter detector. This detector comprises a matched filter, peak detector, centroid calculation and a zeroing out function. Other embodiments may be based on a maximum finder that algorithmically selects the highest magnitude peaks from samples of the return signal and buffers for regions of interests peaks.

Abstract: Methods and systems for performing three dimensional LIDAR measurements with an integrated LIDAR measurement device are described herein. In one aspect, a Gallium Nitride (GaN) based illumination driver integrated circuit (IC), an illumination source, and a return signal receiver IC are mounted to a common substrate. The illumination driver IC provides a pulse of electrical power to the illumination source in response to a pulse trigger signal received from the return signal receiver IC. In another aspect, the GaN based illumination driver IC controls the amplitude, ramp rate, and duration of the pulse of electrical power based on command signals communicated from the return signal receiver IC to the illumination driver IC. In a further aspect, illumination driver IC reduces the amount of electrical power consumed by the illumination driver IC during periods of time when the illumination driver IC is not providing electrical power to the illumination source.

Abstract: Methods and systems for performing three dimensional LIDAR measurements with an integrated LIDAR measurement device are described herein. In one aspect, a return signal receiver generates a pulse trigger signal that triggers the generation of a pulse of illumination light and data acquisition of a return signal, and also triggers the time of flight calculation by time to digital conversion. In addition, the return signal receiver also estimates the width and peak amplitude of each return pulse, and samples each return pulse waveform individually over a sampling window that includes the peak amplitude of each return pulse waveform. In a further aspect, the time of flight associated with each return pulse is estimated based on a coarse timing estimate and a fine timing estimate. In another aspect, the time of flight is measured from the measured pulse due to internal optical crosstalk and a valid return pulse.

Abstract: A plurality of beams of illumination light are emitted from a LIDAR device over a range of angles and scanned about an axis of rotation. The range of angles includes the axis of rotation. Intermediate electronics boards provide mechanical support and electrical connectivity between a rotating electronics board and various elements of a light emission and collection engine. One or more of the optical elements of the collection optics, the illumination optics, or both, is constructed from one or more materials that absorb light outside of a predetermined wavelength range. An overmolded lens is fixedly coupled to one or more of the light detecting elements to collect incoming light over a larger range of angles. A lens element is disposed in the light path between a light emitting element and the illumination optics to flatten the intensity distribution of light emitted from the light emitting element to reduce peak intensity.

Abstract: Methods and systems for performing three-dimensional (3-D) LIDAR measurements with multiple illumination beams scanned over a 3-D environment are described herein. In one aspect, illumination light from each LIDAR measurement channel is emitted to the surrounding environment in a different direction by a beam scanning device. The beam scanning device also directs each amount of return measurement light onto a corresponding photodetector. In some embodiments, a beam scanning device includes a scanning mirror rotated in an oscillatory manner about an axis of rotation by an actuator in accordance with command signals generated by a master controller. In some embodiments, the light source and photodetector associated with each LIDAR measurement channel are moved in two dimensions relative to beam shaping optics employed to collimate light emitted from the light source. The relative motion causes the illumination beams to sweep over a range of the 3-D environment under measurement.

Abstract: Methods and systems for performing three dimensional LIDAR measurements with an integrated LIDAR measurement device are described herein. In one aspect, a Gallium Nitride (GaN) based illumination driver integrated circuit (IC), an illumination source, and a return signal receiver IC are mounted to a common substrate. The illumination driver IC provides a pulse of electrical power to the illumination source in response to a pulse trigger signal received from the return signal receiver IC. In another aspect, the GaN based illumination driver IC controls the amplitude, ramp rate, and duration of the pulse of electrical power based on command signals communicated from the return signal receiver IC to the illumination driver IC. In a further aspect, illumination driver IC reduces the amount of electrical power consumed by the illumination driver IC during periods of time when the illumination driver IC is not providing electrical power to the illumination source.

Abstract: Methods and systems for performing multiple pulse LIDAR measurements are presented herein. In one aspect, each LIDAR measurement beam illuminates a location in a three dimensional environment with a sequence of multiple pulses of illumination light. Light reflected from the location is detected by a photosensitive detector of the LIDAR system during a measurement window having a duration that is greater than or equal to the time of flight of light from the LIDAR system out to the programmed range of the LIDAR system, and back. The pulses in a measurement pulse sequence can vary in magnitude and duration. Furthermore, the delay between pulses and the number of pulses in each measurement pulse sequence can also be varied. In some embodiments, the multi-pulse illumination beam is encoded and the return measurement pulse sequence is decoded to distinguish the measurement pulse sequence from exogenous signals.

Abstract: LIDAR measurement systems employing a multiple channel, GaN based illumination driver integrated circuit (IC) are described herein. In one aspect, the multiple channel, GaN based illumination driver IC selectively couples each illumination source associated with each measurement channel to a source of electrical power to generate a measurement pulse of illumination light. In one aspect, each pulse trigger signal associated with each measurement channel is received on a separate node of the IC. In another aspect, additional control signals are received on separate nodes of the IC and communicated to all of the measurement channels. In another aspect, the multiple channel, GaN based illumination driver IC includes a power regulation module that supplies regulated voltage to various elements of each measurement channel only when any pulse trigger signal is in a state that triggers the firing of an illumination pulse.

Abstract: Methods and systems for performing three dimensional LIDAR measurements with an integrated LIDAR measurement device are described herein. In one aspect, a return signal receiver generates a pulse trigger signal that triggers the generation of a pulse of illumination light and data acquisition of a return signal, and also triggers the time of flight calculation by time to digital conversion. In addition, the return signal receiver also estimates the width and peak amplitude of each return pulse, and samples each return pulse waveform individually over a sampling window that includes the peak amplitude of each return pulse waveform. In a further aspect, the time of flight associated with each return pulse is estimated based on a coarse timing estimate and a fine timing estimate. In another aspect, the time of flight is measured from the measured pulse due to internal optical crosstalk and a valid return pulse.

Abstract: A plurality of beams of illumination light are emitted from a LIDAR device over a range of angles and scanned about an axis of rotation. The range of angles includes the axis of rotation. Intermediate electronics boards provide mechanical support and electrical connectivity between a rotating electronics board and various elements of a light emission and collection engine. One or more of the optical elements of the collection optics, the illumination optics, or both, is constructed from one or more materials that absorb light outside of a predetermined wavelength range. An overmolded lens is fixedly coupled to one or more of the light detecting elements to collect incoming light over a larger range of angles. A lens element is disposed in the light path between a light emitting element and the illumination optics to flatten the intensity distribution of light emitted from the light emitting element to reduce peak intensity.

Abstract: Methods and systems for performing three-dimensional (3-D) LIDAR measurements with multiple illumination beams scanned over a 3-D environment are described herein. In one aspect, illumination light from each LIDAR measurement channel is emitted to the surrounding environment in a different direction by a beam scanning device. The beam scanning device also directs each amount of return measurement light onto a corresponding photodetector. In some embodiments, a beam scanning device includes a scanning mirror rotated in an oscillatory manner about an axis of rotation by an actuator in accordance with command signals generated by a master controller. In some embodiments, the light source and photodetector associated with each LIDAR measurement channel are moved in two dimensions relative to beam shaping optics employed to collimate light emitted from the light source. The relative motion causes the illumination beams to sweep over a range of the 3-D environment under measurement.

Abstract: Methods and systems for performing three-dimensional (3-D) LIDAR measurements with multiple illumination beams scanned over a 3-D environment are described herein. In one aspect, illumination light from each LIDAR measurement channel is emitted to the surrounding environment in a different direction by a beam scanning device. The beam scanning device also directs each amount of return measurement light onto a corresponding photodetector. In some embodiments, a beam scanning device includes a scanning mirror rotated in an oscillatory manner about an axis of rotation by an actuator in accordance with command signals generated by a master controller. In some embodiments, the light source and photodetector associated with each LIDAR measurement channel are moved in two dimensions relative to beam shaping optics employed to collimate light emitted from the light source. The relative motion causes the illumination beams to sweep over a range of the 3-D environment under measurement.

Abstract: Methods and systems for performing three dimensional LIDAR measurements with an integrated LIDAR measurement device are described herein. In one aspect, a Gallium Nitride (GaN) based illumination driver integrated circuit (IC), an illumination source, and a return signal receiver IC are mounted to a common substrate. The illumination driver IC provides a pulse of electrical power to the illumination source in response to a pulse trigger signal received from the return signal receiver IC. In another aspect, the GaN based illumination driver IC controls the amplitude, ramp rate, and duration of the pulse of electrical power based on command signals communicated from the return signal receiver IC to the illumination driver IC. In a further aspect, illumination driver IC reduces the amount of electrical power consumed by the illumination driver IC during periods of time when the illumination driver IC is not providing electrical power to the illumination source.

Abstract: Methods and systems for performing three dimensional LIDAR measurements with an integrated LIDAR measurement device are described herein. In one aspect, a Gallium Nitride (GaN) based illumination driver integrated circuit (IC), an illumination source, and a return signal receiver IC are mounted to a common substrate. The illumination driver IC provides a pulse of electrical power to the illumination source in response to a pulse trigger signal received from the return signal receiver IC. In another aspect, the GaN based illumination driver IC controls the amplitude, ramp rate, and duration of the pulse of electrical power based on command signals communicated from the return signal receiver IC to the illumination driver IC. In a further aspect, illumination driver IC reduces the amount of electrical power consumed by the illumination driver IC during periods of time when the illumination driver IC is not providing electrical power to the illumination source.

Abstract: Methods and systems for performing three dimensional LIDAR measurements with a highly integrated LIDAR measurement device are described herein. In one aspect, the illumination source, detector, and illumination drive are integrated onto a single printed circuit board. In addition, in some embodiments, the associated control and signal conditioning electronics are also integrated onto the common printed circuit board. Furthermore, in some embodiments, the illumination drive and the illumination source are integrated onto a common Gallium Nitride substrate that is independently packaged and attached to the printed circuit board. In another aspect, the illumination light emitted from the illumination source and the return light directed toward the detector share a common optical path within the integrated LIDAR measurement device. In some embodiments, the return light is separated from the illumination light by a beam splitter.

Abstract: Methods and systems for performing three dimensional LIDAR measurements with multiple illumination beams scanned over a three dimensional environment are described herein. In one aspect, illumination light from each LIDAR measurement channel is emitted to the surrounding environment in a different direction by a beam scanning device. The beam scanning device also directs each amount of return measurement light onto a corresponding photodetector. In some embodiments, a beam scanning device includes a scanning mirror rotated in an oscillatory manner about an axis of rotation by an actuator in accordance with command signals generated by a master controller. In some embodiments, the light source and photodetector associated with each LIDAR measurement channel are moved in two dimensions relative to beam shaping optics employed to collimate light emitted from the light source. The relative motion causes the illumination beams to sweep over a range of the three dimensional environment under measurement.

Abstract: Methods and systems for performing three dimensional LIDAR measurements with an integrated LIDAR measurement device are described herein. In one aspect, a Gallium Nitride (GaN) based illumination driver integrated circuit (IC), an illumination source, and a return signal receiver IC are mounted to a common substrate. The illumination driver IC provides a pulse of electrical power to the illumination source in response to a pulse trigger signal received from the return signal receiver IC. In another aspect, the GaN based illumination driver IC controls the amplitude, ramp rate, and duration of the pulse of electrical power based on command signals communicated from the return signal receiver IC to the illumination driver IC. In a further aspect, illumination driver IC reduces the amount of electrical power consumed by the illumination driver IC during periods of time when the illumination driver IC is not providing electrical power to the illumination source.

Abstract: Methods and systems for performing three dimensional LIDAR measurements with multiple illumination beams scanned over a three dimensional environment by one or more optical phase modulation devices are described herein. In one aspect, illumination light from each LIDAR measurement channel is emitted to the surrounding environment in a different direction by an optical phase modulation device. The optical phase modulation device also directs each amount of return measurement light onto a corresponding photodetector. The illumination pulse output of each LIDAR measurement channel is synchronized with commanded changes of state of each corresponding optical phase modulation device. In some embodiments, each optical phase modulation device is associated with a single LIDAR measurement channel. In some embodiments, multiple LIDAR measurement channels are associated with a single modulation device. In some embodiments, a one dimensional optical phase modulation device is employed.

Abstract: Described herein are systems and methods that may efficiently detect multi-return light signals. A light detection and ranging system, such as a LIDAR system, may fire a laser beam that may hit multiple objects with a different distance in one line, causing multi-return light signals to be received by the system. Multi-return detectors may be able to analyze the peak magnitude of a plurality of peaks in the return signals and determine a multitude of peaks, such as the first peak, the last peak and the maximum peak. One embodiment to detect the multi-return light signals may be a multi-return recursive matched filter detector. This detector comprises a matched filter, peak detector, centroid calculation and a zeroing out function. Other embodiments may be based on a maximum finder that algorithmically selects the highest magnitude peaks from samples of the return signal and buffers for regions of interests peaks.

Abstract: A LiDAR-based 3-D point cloud measuring system includes a base, a housing, a plurality of photon transmitters and photon detectors contained within the housing, a rotary motor that rotates the housing about the base, and a communication component that allows transmission of signals generated by the photon detectors to external components. In several versions of the invention, the system includes a vertically oriented motherboard, thin circuit boards such as ceramic hybrids for selectively mounting emitters and detectors, a conjoined D-shaped lens array, and preferred firing sequences.