US 12,117,527 B2
LADAR sensor for landing, docking and approach
Patrick Gilliland, Santa Barbara, CA (US); Robert W Koseluk, Santa Barbara, CA (US); Steve Penniman, Goleta, CA (US); Brad Short, Goleta, CA (US); Joseph Spagnolia, Ventura, CA (US); and Roger Stettner, Santa Barbara, CA (US)
Assigned to Continental Autonomous Mobility US, LLC, Auburn Hills, MI (US)
Filed by Continental Advanced Lidar Solutions US, LLC, Carpinteria, CA (US)
Filed on Jun. 26, 2020, as Appl. No. 16/912,786.
Application 16/912,786 is a continuation of application No. 15/848,253, filed on Dec. 20, 2017, granted, now 10,732,283.
Application 15/848,253 is a continuation of application No. 14/619,405, filed on Feb. 11, 2015, granted, now 9,880,281, issued on Jan. 30, 2018.
Application 14/619,405 is a continuation of application No. 13/447,717, filed on Apr. 16, 2012, granted, now 8,976,340, issued on Mar. 10, 2015.
Claims priority of provisional application 61/475,955, filed on Apr. 15, 2011.
Prior Publication US 2021/0080585 A1, Mar. 18, 2021
Int. Cl. G01C 3/08 (2006.01); B64D 39/00 (2006.01); B64D 47/00 (2006.01); B64G 1/64 (2006.01); G01S 7/481 (2006.01); G01S 7/486 (2020.01); G01S 7/4863 (2020.01); G01S 17/18 (2020.01); G01S 17/88 (2006.01); G01S 17/89 (2020.01)
CPC G01S 17/88 (2013.01) [B64D 39/00 (2013.01); B64D 47/00 (2013.01); B64G 1/646 (2013.01); G01S 7/481 (2013.01); G01S 7/4863 (2013.01); G01S 7/4868 (2013.01); G01S 17/18 (2020.01); G01S 17/89 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A ladar sensor configured to mount on a vehicle comprising:
a pulsed laser transmitter defining an optical axis and configured to produce a pulsed laser light output beam in response to an initiation command;
a digital controller adapted to produce the initiation command and transmit the initiation command to said pulsed laser transmitter;
transmit optics adapted to illuminate a field of view of said ladar sensor;
receive optics sighted along the optical axis and adapted to collect and condition an optical signal consisting of pulsed laser light reflected from the field of view;
at least one optical detector disposed to intercept said collected and conditioned optical signal from said receive optics, said detector configured to convert said optical signal into an electrical signal and transmit the electrical signal through an electrical output;
a detector bias voltage control circuit adapted to supply a bias voltage to said detector;
at least one unit cell electrical circuit disposed on a readout integrated circuit, said unit cell electrical circuit having an input connected to an electrical output of said detector, said unit cell electrical circuit having an amplifier connected to amplify said electrical output signal, and said unit cell electrical circuit providing a pixel output;
at least one unit cell timing circuit, and said unit cell timing circuit connected to a unit cell pixel output, and said unit cell timing circuit initiated by a master start signal derived from the transmitted laser pulse, and said unit cell timing circuit having an output indicating the time of flight of said laser pulse;
a readout circuit adapted to read out the output of said unit cell electrical circuit and unit cell timing circuit; and
a mirror adapted to steer said laser light output beam in azimuth angle and in elevation angle.