JPL LASER MAPPER (LAMP) POC Bob Bunker (Task Manager) Jet Propulsion Laboratory Inter-Agency AR&C Working Group Meeting May , 2002 Naval Research Laboratory

MTP Quarterly Review – April 25, 2002 RLB - 2 LAMP Quad Chart Task Manager: Bob Bunker, JPL Sec 340/346 (818) , Participants: JPL; MIT Lincoln Lab; NASA GSFC; MSFC; var. commercial firms Facilities: JPL Bldg 161, 198&199 labs; Bldg 103 assembly fac. URL: lamp-lib Overall objectives Develop & demonstrate low power, low mass, high- reliability target locator/ topographic mapper -LAMP allows precise & safe autonomous rendezvous, docking & landing maneuvers -Enables/enhances Mars & other missions -Proto-Flight Unit delivery concludes task Near-term Objectives Complete testing of Concept Demonstration Unit (CDU) Initiate fabrication of Brass Board Unit (BBU) Complete PDR Initiate long lead procurements for EDU and FDU

MTP Quarterly Review – April 25, 2002 RLB - 3 LAMP System – Description Two boxes: Optical Head Assembly and Electronic Assembly Mechanically-scanned single beam Two ranging systems: –Pulsed time-of-flight (long range—5 km-60 m) 1064 nm –Amplitude-modulated continuous wave (120 m-1 m) 1550 nm Shared scan and compression optics, processing and I/O electronics, power converters, etc. Local processor controls optical head, processes measurements, and performs I/O operations Mongoose processor (R3000 architecture) running at 12 MHz

MTP Quarterly Review – April 25, 2002 RLB - 4 LAMP (Functional Overview) Scanning Laser System Characteristics (Hardware) –Range (time of flight—pulsed system; phase offset—continuous wave system) –Azimuth & Elevation (measured from scan mirror) –Measurement Time (internal electronics counter) –Measurements made at 10 KHz –Unit provides processing capability (12 MHz R3000, 128 Mbytes) –Power Consumption < 25 Watts –Mass < 4 Kg LAMP Rendezvous Software (LRS) –Controls Scan (tracks Sample Canister—measurements around object) –Monitors System Health –Provides very accurate Range & Bearing 2 Hz from 5 km to 1 m –Controls LAMP, provides processing sub-system resources

MTP Quarterly Review – April 25, 2002 RLB - 5 LAMP Capabilities Key Characteristics Operating range: max 5 km with retroreflectors (OS target) Accuracy: 50 cm or better at R> 2 km; 2.5 cm for R≤10 m Beam divergence: 1.7 mrad Pointing knowledge: 0.2 mrad or better Data rate: 10,000 points/sec [laser pulse rate] -4 (or 5) parameters: time, range, azimuth, elevation, (intensity) Frame size and rate, max.: 10 x 10 deg in 1 sec. Intensity date: 2 bits (perhaps increasing to 8 bits) Note: LASER POWER LEVELS Class IIIB: NOT EYESAFE Key Characteristics Operating range: max 5 km with retroreflectors (OS target) Accuracy: 50 cm or better at R> 2 km; 2.5 cm for R≤10 m Beam divergence: 1.7 mrad Pointing knowledge: 0.2 mrad or better Data rate: 10,000 points/sec [laser pulse rate] -4 (or 5) parameters: time, range, azimuth, elevation, (intensity) Frame size and rate, max.: 10 x 10 deg in 1 sec. Intensity date: 2 bits (perhaps increasing to 8 bits) Note: LASER POWER LEVELS Class IIIB: NOT EYESAFE

MTP Quarterly Review – April 25, 2002 RLB - 6 Concept Demonstration Unit (CDU) Optical Head AssemblyLaser Electronics

MTP Quarterly Review – April 25, 2002 RLB - 7 LAMP Milestones FY02 Complete CDU component fabrication and deliveriesMarch ’022 Complete CDU fabrication, start I&TApril ’02 Complete CDU I&T, deliver to s/w developmentJune ’02 Complete BBU fabricationJuly ’02 Complete BBU I&T, deliver to s/w developmentAugust’02 FY’03 Critical Design Review of LAMP sensor September’02 Complete design modifications for EDU September ’02 Initiate EDU PWB fabricationOctober ‘02 Start EDU board stuffing; parts kittingDecember ‘02 EDU completionMarch ’03 FDU completionOctober ‘03 FY02 Complete CDU component fabrication and deliveriesMarch ’022 Complete CDU fabrication, start I&TApril ’02 Complete CDU I&T, deliver to s/w developmentJune ’02 Complete BBU fabricationJuly ’02 Complete BBU I&T, deliver to s/w developmentAugust’02 FY’03 Critical Design Review of LAMP sensor September’02 Complete design modifications for EDU September ’02 Initiate EDU PWB fabricationOctober ‘02 Start EDU board stuffing; parts kittingDecember ‘02 EDU completionMarch ’03 FDU completionOctober ‘03

MTP Quarterly Review – April 25, 2002 RLB - 8 LAMP BACKUPS

MTP Quarterly Review – April 25, 2002 RLB - 9 LAMP Functional Block Diagram

MTP Quarterly Review – April 25, 2002 RLB - 10 Diagnostic ACQUIRE single object MSR Software Commands Ready AcquireTrack Standby Set TRACK DIAGNOSTIC SET p =v lost track READY STANDBY report done done Standby - low power Acquire - 10x10 degree scan Track - track target, 5km - 1m Ready - ready to scan Set - modify system params: Diagnostic - report health when target location unknown fault monitors, retrieve scan Features: - automatic track windowing 1/2, 1, 2, 4, 6, 10 degree - automatically chooses correct lasing system based on range - automatically chooses correct algorithm base on range - reports: position, rate, time Instrument health, faults

MTP Quarterly Review – April 25, 2002 RLB - 11 LRS – Functional Characteristics Standby: LAMPOS running (ARS). Ready: LRS running and taking commands. Acquire: –scan entire FOV (10x10 deg) to detect target return(s) [may be modified to accommodate narrower beam] –Compute range and bearing angles of target(s) –Verify that the target is present and automatically move to Track TRACK: –given a target position estimate, scan a small area of the FOV to update target range, bearing angles, and 2 Hz –Tracking at distance uses centroiding (object size < 4 mrad) –Near range tracking utilizes object knowledge to estimate measurements –Continually follows target while in field of regard (up to max rotational rates)

MTP Quarterly Review – April 25, 2002 RLB - 12 Two OS Target Algorithms Scan Line Extent Algorithm - For use at less than 20 meters - Independent position estimate from each scan line - Position estimates are combined using regression. - Meets 8mm (1 sigma) error requirements Centroid Algorithm - For use at 20 meters to 5 km - Independent position estimate from each scan window. - Combined estimates meet ?? error requirements.

MTP Quarterly Review – April 25, 2002 RLB - 13 LAMP Estimate Reports z y x Linear regression OS measurement (centroid or scan line center estimate) 3DOF report: _____ _ t Report time Report can be angle angle range, include velocity estimate; error estimate; or regression “fit” term note: a modified report can include orientation information based on a non-OS target