This paper presents experiments using a time of flight (ToF) camera modified to use 525 nm green laser illumination to capture amplitude and depth images of an underwater scene. Experiments in object imaging and ranging were conducted in both clear and turbid water. 3D imaging using flood illumination was successfully performed in clear water and in some turbid water conditions. Ranging using collimated laser beams was performed in turbid water. Several major error sources were observed, including low illumination levels, fixed pattern noise, and backscatter contribution to the phase measurement. To attempt to address these concerns, multiple lasers were used to improve illumination levels and spatial frequency domain filtering was performed to mitigate fixed pattern noise. Additionally, experiments with using multiple modulation frequencies suggested that there may be potential for discriminating backscatter from object reflection.
Simple, low-cost, rangefinders using parallel beams and a single camera are often used for underwater ranging, but they have limited performance in turbid operating environments such as those associated with coastlines and harbors. A new approach to parallel beam ranging is described which incorporates a combination of simple receiver optics and image processing to significantly reduce the effects of scatter, thereby extending and improving performance. The technique is demonstrated using commercial-off-the-shelf (COTS) cameras and experimental results are presented comparing the new approach to the traditional parallel beam rangefinder. Improvements of multiple attenuation lengths are reported.
This paper investigates a total variation (TV) regularization image processing algorithm to restore underwater range images taken with a modified commercial time-of-flight (ToF) camera. The ToF camera illuminator was modified to support 532 nm flood illumination for underwater operation. This approach can produce highresolution amplitude and range images while rejecting a significant amount of ambient light. However, scattering due to the water turbidity adversely impacts image quality by introducing high amounts of image noise and image blurring that affect both the amplitude and range images. The TV regularization algorithm is applied to experimental images taken in a small test tank in the presence of a scattering agent to simulate a range of practical turbidities. Algorithm details are provided, and baseline and processed images are presented. The processed images demonstrate image restoration that retains the downrange edge features of the object being imaged is possible for a range of practical turbidities.
The performance of lidar systems used for high resolution ranging and imaging in coastal water environments is primarily limited by optical scattering. Understanding how scattering effects the optical phasefront of laser light has the potential to improve the performance of these systems. In this paper, light is transmitted through a scattering underwater environment, and the transmitted light is then encoded with optical phase. This encoding allows us to understand the optical phase distribution of the transmitted light. Specifically, we demonstrate through a combination of theory, simulation, and experiment that we can determine the statistics of the optical phase distribution of light by measuring the spatial intensity distribution of the encoded optical return. These results advance our understanding of the relationship between optical phase and scattering, as well as inform the performance enhancements and limitations associated with this spatial discrimination, optical signal processing approach.
Axicon spatial coherence filtering is presented as a method to improve underwater optical ranging. In underwater environments, light detection and ranging (lidar) is often limited by scattering from particulate matter. Previous work suggests that scattered light and object-reflected light have different spatial phase distributions. This work exploits this difference in spatial phase, using an axicon to optically separate light with different degrees of spatial coherence. The performance of the lidar system with and without the axicon filter is compared. Axicon spatial coherence filtering demonstrates the ability to suppress multipath backscatter and forward scatter, leading to improvements in range accuracy
Spatial optical coherence filtering is investigated as a means of reducing the amount of scattered light collected by an underwater laser system in turbid water. This approach exploits differences in coherence between unscattered and scattered laser light as a means of discrimination against scattered light prior to opto-electronic detection. An all optical filter is designed and tested that uses an axicon and a mask to pass the coherent, unscattered light while blocking the incoherent, scattered light. Experiments are performed in a laboratory water test tank to measure the effectiveness of the filter in reducing scattered light collection. The results obtained using the axicon filter are compared to those obtained using no filtering and using a conventional spatial filter. The axicon filter is shown to reduce the contribution of scattered light relative to either other test case.
A mixed numerical and analytical technique is presented to investigate orbital angular momentum (OAM) beam scattering in turbid water for underwater lidar applications. Electromagnetic simulations are used to generate single-scattering phase functions (SSPFs) that predict the angular scattering distribution for a single particle illuminated by either a Gaussian beam or an OAM beam. These SSPFs are used in array theory and radiative transfer calculations to predict the net volumetric scattering functions (VSFs) and transmittance for multiparticle scattering in a three-dimensional space for both Gaussian and OAM beams. Simulation results show that the VSFs (and therefore the transmittance) of Gaussian and OAM beams are nearly identical, with a slight dependence on OAM charge. Laboratory water tank transmission experiments are performed to verify the simulated predictions. The experimental results are in excellent agreement with the simulation predictions.
This paper derives system performance for a chaotically modulated laser rangefinder operating in turbid water, both as a function of rangefinder parameters and as a function of water and target characteristics. An ocean impulse response simulator is used to calculate signal-to-noise-ratios and target detection performance at a variety of water turbidities and target ranges. The use of a digital filter chain is demonstrated, and its effect on system performance is considered. The use of an optical backscatter-removal filter is proposed, and its potential effect on system performance is considered.
A mixed numerical and analytical technique is presented to investigate OAM beam scattering in turbid water. Single particle scattering from an OAM beam in an underwater environment is computed numerically using COMSOL Multiphysics Modeling Software to generate single scattering functions. The array theorem extends this single scattering function to multiple scatters in a three dimensional space. Simulations predict that OAM illumination reduces forward scattering in low turbidity environments compared to scattering from Gaussian beams. In high turbidity water, scattering results from OAM beams and Gaussian beam converge. Experimental results are presented that are consistent with predictions from simulation.
For vortex fiber multiplexing to reach practical commercial viability, simple silicon photonic interfaces with vortex fiber will be required. These interfaces must support multiplexing. Toward this goal, an efficient singlefed multimode Forked Grating Coupler (FGC) for coupling two different optical vortex OAM charges to or from the TE0 and TE1 rectangular waveguide modes has been developed. A simple, apodized device implemented with e-beam lithography and a conventional dual-etch processing on SOI wafer exhibits low crosstalk and reasonable mode match. Advanced designs using this concept are expected to further improve performance.
The forked grating coupler (FGC) is a novel low-profile device compatible with silicon photonics that is capable of sensitive detection or efficient radiation of Optical Vortex (OV) light beams conveying orbital optical angular momentum (OAM). The FGC device combines the idea of a Bragg coupler with the forked hologram to create an integrated optics device that can selectively and efficiently couple selected optical vortex modes at near-normal incidence into planar confined dielectric waveguide modes of a photonic IC. FGCs retain many of the advantages of Bragg couplers, including convenience of placement and fabrication, reasonable bandwidth, small size, and CMOS process compatibility. In this work, prototype designs of FGC structures for 1550 nm wavelength have been developed for implementation on silicon on insulator (SOI) substrate. Fully vectorial three-dimensional (3D) electromagnetic simulation has allowed performance to be optimized over a range of structural parameters. Results have been evaluated against optical performance metrics including overall efficiency, mode match efficiency, and crosstalk between OV modes. Candidate FGC devices have been fabricated on SOI with e-beam lithography and tested optically. Tolerance to etch depth error has been evaluated.
We present a novel chaotic lidar system designed for underwater impulse response measurements. The system uses two recently introduced, low-cost, commercially available 462 nm multimode InGaN laser diodes, which are synchronized by a bi-directional optical link. This synchronization results in a noise-like chaotic intensity modulation with over 1 GHz bandwidth and strong modulation depth. An advantage of this approach is its simple transmitter architecture, which uses no electrical signal generator, electro-optic modulator, or optical frequency doubler.
This work demonstrates a new statistical approach towards backscatter “clutter” rejection for continuous-wave underwater lidar systems: independent component analysis. Independent component analysis is a statistical signal processing technique which can separate a return of interest from clutter in a statistical domain. After highlighting the statistical processing concepts, we demonstrate that underwater lidar target and backscatter returns have very different distributions, facilitating their separation in a statistical domain. Example profiles are provided showing the results of this separation, and ranging experiment results are presented. In the ranging experiment, performance is compared to a more conventional frequency-domain filtering approach. Target tracking is maintained to 14.5 attenuation lengths in the laboratory test tank environment, a 2.5 attenuation length improvement over the baseline.
KEYWORDS: Backscatter, Modulation, Ranging, Signal attenuation, Ocean optics, Signal detection, Scattering, Digital signal processing, Receivers, Signal processing
The performance of a frequency-modulated continuous-wave (FMCW) hybrid lidar-radar system will be presented in the context of an underwater optical ranging application. In adapting this technique from the radar community, a laser is intensity-modulated with a linear frequency ramp. A custom wideband laser source modulated by a new wideband digital synthesizer board is used to transmit an 800 MHz wide chirp into the underwater channel. The transmitted signal is mixed with a reference copy to obtain a “beat” signal representing the distance to the desired object. The expected form of the return signal is derived for turbid waters, a highly scattering environment, indicating that FMCW can detect both the desired object and the volumetric center of the backscatter “clutter” signal. This result is verified using both laboratory experiments and a realistic simulation model of the underwater optical channel. Ranging performance is explored as a function of both object position and water turbidity. Experimental and simulated results are in good agreement and performance out to ten attenuation lengths is reported, equivalent to 100 meters in open ocean or 5 meters in a turbid harbor condition.
This paper explores the use of a recently developed chaotic lidar sensor to perform impulse response measurements underwater. The sensor’s measured system impulse response, which approximates a thumbtack function with a 1 ns peak width, is used with an ocean impulse response simulator to predict the chaotic lidar’s expected performance underwater. A calibration routine is developed to compensate for the finite resolution and sidelobes in the sensor’s system impulse response, improving the accuracy of the simulated chaotic lidar results. In an example application of water turbidity measurement, the extinction coefficient of water, c, is extracted from simulated chaotic lidar impulse responses with an average error of 0.03/m over a range of turbidities from c=0.1/m to c=0.3/m. Simulations are also presented to demonstrate that the chaotic lidar sensor impulse response can simultaneously detect multiple reflective elements and the volumetric backscatter response with a 1 ns temporal resolution. Laboratory water tank measurements are performed to validate the simulation approach, and the experimental chaotic lidar measurements are in reasonable agreement with the simulated results.
We introduce an open-source fiber laser and amplifier design toolbox written in Matlab. A graphical user in-terface provides access to analysis functions for both core- and cladding-pumped, erbium- and ytterbium-dopedber lasers and amplifiers. These functions use a combination of analytical calculations and numerical simulation to predict performance and generate output plots. The finite-difference time-domain (FDTD) numerical simu-lator used implements a Lax-Wendro approach that is second-order accurate in both time and space for fast convergence. The simulator solves general active fiber wave propagation and rate equations, allowing modeling of other dopants, other system configurations, and dynamic signals. The toolbox calculations show good agreement with published results and with our own experiments.
In this paper simulation and experimental results are presented for two hybrid lidar-radar modulation techniques for underwater laser ranging. Both approaches use a combination of multi-frequency and single frequency modulation with the goal of simultaneously providing good range accuracy, unambiguous range, and backscatter suppression. The first approach uses a combination of dual and single frequency modulation. The performance is explored as a function of increasing average frequency while keeping the difference frequency of the dual tones constant. The second approach uses a combination of a stepped multi-tone modulation called frequency domain reflectometry (FDR) and single frequency modulation. The FDR technique is shown to allow simultaneous detection of the range of both the volumetric center of the backscattered “clutter” signal and the desired object. Experimental and simulated results are in good agreement for both techniques and performance out to ten attenuations lengths is reported.
The expected increase in space and terrestrial services that include two-way fixed, SATCOM, CATV and mobile wireless services require expanding the system capacity. This expansion has created an opportunity for the utilization of the demonstrated photonic transport systems in wireless networks. System demonstrations and architectural developments have been proposed for distribution of communication services over fiber. Termed Fiber Radio and Hybrid Fiber Wireless, these systems offer the potential to improve services and reduce base station costs through increased bandwidth and ease of installation.
We have developed and demonstrated DWDM broadband photonic transport systems able to meet the requirements for IS-95 Personal Communications Services operating at 1.9 GHz and Broadband Wireless Internet operating over the band of 2.5 to 2.7 GHz. Each DWDM channel operates from 1 to 3 GHz transporting services up to 80 Km.
Solutions are being sought for low cost transmitters to meet DWDM SATCOM system requirements include extending the transmission distance to over 100 Km with a bandwidth that exceeds multiple octaves. These new requirements put high performance demands on the optical components. We have developed high performance transmitters based on electro-absorption modulated lasers (EML) that can meet SATCOM requirements. We have shown that the EML is capable of providing the required CNR of 32 dB for satellite transmission in the band of 950 to 2150 MHz over a 100 Km distance.
In addition, we are investigating a new modulation technique, Microwave Photonic Vector Modulation (MPVM), which has the potential for wideband transmission in DWDM systems.
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