TELKOM
NIKA Indonesia
n
Journal of
Electrical En
gineering
Vol.12, No.6, Jun
e
201
4, pp. 4825 ~ 4
8
3
2
DOI: 10.115
9
1
/telkomni
ka.
v
12i6.436
6
4825
Re
cei
v
ed
Jan
uary 3, 2014;
Re
vised Ma
rch 16, 2014; A
c
cepted Ma
rch 29, 2014
Design of an Optical Emitting System for Scannerless
Imaging LIDAR Based on ZEMAX
M. R. Anjum
1
, Wang Xiao
w
e
i
1
, Khanz
a
da T. J. S
2
, M. A. Shaheen
1
1
Beijin
g Institute of
T
e
chnol
og
y, Beij
in
g, Chin
a, 1000
81
2
Mehran U
n
ive
r
sit
y
of Eng
i
ne
erin
g & T
e
c
hnolog
y Jams
horo,
Sindh 7
6
0
62, Pakistan
*Corres
p
o
ndi
n
g
author, em
ail
:
engr.riz
w
a
n@
iub.e
du.pk
A
b
st
r
a
ct
Optical em
itting
system
is an
e
ssential part
of scanner
less
im
ag
ing
LIDA
R. It plays
an
im
portant
role in d
e
cre
a
s
ing the d
i
ver
genc
e ang
le a
nd ho
m
oge
ni
z
i
ng the be
a
m
spot w
h
ich ha
ve an i
m
mens
e
influence
on the light
signal
back from
the target. This res
earch
work pr
oposes the
des
ign of the syste
m
usin
g Z
E
MAX mo
de
l also
det
ermine th
e inc
l
udes sh
ap
i
ng and
z
o
o
m
i
ng
features of
desi
gn
mod
e
l. In th
e
shaping system
feature we
used two
cylindrical lenses
whose acc
u
rat
e
pos
itions
have been s
o
lved by
using the theor
ies
of
m
a
trix
optics
and Gauss optics. The
cam curv
e of
a
three-gr
oup z
oom
system with
(2x-7x)
z
o
o
m
r
a
tios
has
bee
n
draw
n. T
h
e
si
mu
lati
on r
e
su
lt
s verify the
av
aila
bi
lity that th
e b
e
a
m
fro
m
t
h
e
laser d
i
od
e me
ets the requir
e
me
nts a
fter optical e
m
iss
i
o
n
from syste
m
.
Ke
y
w
ords
:
LI
DAR, optical em
itting system
,
optical design,
Matlab, ZEMAX
Copy
right
©
2014 In
stitu
t
e o
f
Ad
van
ced
En
g
i
n
eerin
g and
Scien
ce. All
rig
h
t
s reser
ve
d
.
1. Introduc
tion
Imaging LIDA
R are hi
gh an
gular a
nd ha
s range resolu
tion It can get the high re
solution
3D imag
e wh
ich contain
s
the dista
n
ce a
nd inten
s
it
y informatio
n. Therefo
r
e, it is suitable fo
r the
developm
ent
of the
mi
ssil
e
gui
dan
ce,
aircraft
navig
ation, terrain
survey, und
e
r
wate
r dete
c
tion
and related
a
pplication [1-4]. Imaging LI
DAR i
s
divi
de
d into two typ
e
s: sca
nne
r a
nd sca
nne
rle
ss.
Comp
ared to
the sca
n
i
m
aging
LIDA
R, the
sc
an
nerle
ss ima
g
i
ng LIDA
R,
whi
c
h i
s
without
scann
er mirror, n
o
t only i
s
m
o
re
sta
b
l
e
, but al
so
h
a
s
a hi
ghe
r i
m
age
upd
ate
rate
s
and
a
lager
field angle of
view [5-8].
Ho
wever a miniaturi
z
e
d
scann
erle
ss
i
m
aging LIDA
R
with semi
con
d
u
c
tor
la
ser unit
need
s a
unifo
rm la
se
r spot
as it
s sou
r
ce
. A solution
should
be fou
n
d
to bal
an
ce t
he la
rge
bea
m
diverge
n
ce a
l
ong
with the
different an
gles
of two
axes of
semi
con
d
u
c
tor la
ser [9], an
d
for
improvin
g the
sign
al-to
-
noi
se ratio. Wh
e
n
the la
s
e
r
returns bac
k
,
the LIDAR
s
hould take a better
use
of the
so
urce en
ergy. This
re
sea
r
ch
wo
rk i
s
h
e
lpf
u
l to the en
gi
neeri
ng a
ppli
c
ation
of ima
g
ing
lase
r ra
dar.
Radi
ation ch
ara
c
teri
stic o
f
laser diod
e
f
eature
s
carri
es
due to
its small
si
ze, light
quality, low t
h
re
shol
d, low co
st, these
prop
ertie
s
th
e la
ser diod
e play an
im
portant
role
in the
informatio
n time, esp
e
ci
al
ly in the field
of comm
unication LI
DAR. Th
e lase
r dio
de
has
unbal
an
ced
active region
and the
bea
m ha
s the la
rge
and
different dive
rge
n
c
e a
ngle
s
al
on
g
hori
z
ontal
an
d vertical ax
es
(the fa
r-fi
e
ld di
ve
rge
n
c
e
angl
es in
the
slo
w
-axi
s a
nd fa
st-a
xis
dire
ction
s
are
abo
ut 1
0
d
e
g
ree
s
an
d 3
0
degre
e
s,
re
spectively) [10
,
11],
[18-20].
This effect is
s
h
ow
n
in
F
i
gu
r
e
1
.
Figure 1. Rad
i
ation Pattern
of a Semicon
ducto
r Dio
d
e
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ISSN: 23
02-4
046
TELKOM
NI
KA
Vol. 12, No. 6, June 20
14: 4825 – 4
832
4826
Whe
r
e
ω
ു
ു
ു
ു
,
are the half length
s
of th
e active regi
on in the parallel and pe
rpen
dicula
r
dire
ction
s
,
ߐ
ു
,
are the h
a
lf far-field di
vergen
ce a
n
g
les in the p
a
rallel a
nd p
e
rpe
ndi
cula
r
dire
ction
s
re
spectively. For optical
de
sig
n
, we ju
st
co
nce
r
n th
e wa
velength (905
nm) a
nd the
far-
field dive
rgen
ce
angl
es
(2
5
deg
re
es alo
n
g
X axi
s
and
10 d
e
g
r
ee
s
al
ong Y
axis)
of PGAS1S12
H
,
the la
se
r di
od
e of Pe
rkinEl
mer In
c,
und
er
ob
servat
io
n for this work.
With o
u
r suppo
rt
circuit, the
pea
k po
we
r
of this dio
de
can
be u
p
to
100
W,
by usi
ng the n
on-seque
ntial mo
de of ZEMAX to
simulate
the
radi
ation
of the dio
de.
The b
eam
spot ra
diation
pattern
a
s
sho
w
n
in Fi
g. 2
represent
s the better view
of visibility or observation
.
(Dete
c
to
r si
ze: 20mm x 20mm. Distan
ce
: 50mm)
Figure 2. Inco
here
n
t Irradi
a
t
ion of the Diode
This
re
sea
r
ch
pape
r i
s
o
r
g
anized a
s
foll
ow
s. Sectio
n
2 presents
o
u
r p
r
op
osed
sha
p
ing
system d
e
si
g
n
of LIDAR
with t
heoreti
c
al
analysi
s
an
d
discu
ssio
n
. The zoom
sy
stem de
sig
n
and
simulatio
n
re
sult are p
r
e
s
e
n
ted in se
ctio
n 3. Section 4
con
c
lud
e
s th
e article.
2.
Shaping Sy
s
t
em De
sign
The sh
apin
g
systems of
semic
ond
uctor lase
r are
often taken
into cylindri
c
al len
s
,
asp
heri
c
al
le
ns
and
mi
cro-p
r
ism
stack [12
-
1
4
]. T
he b
e
st
ch
oi
ce
whi
c
h
m
eets th
e a
c
t
ual
requi
rem
ent of our re
se
a
r
ch i
s
the orthogon
al
cylindri
c
al len
s
e
s
system. In
orde
r to get a
rotational
symmetry bea
m, the ratio of the focal len
g
th of two cylindri
c
al len
s
e
s
sh
ould b
e
larg
e
r
than the ratio
of the two far-fiel
d
divergen
ce angl
es (whi
ch is se
t to be the r
a
tio of 2.5).
The
para
m
eters o
f
two cylindri
c
al lenses, whi
c
h are
used for ou
r simul
a
tion, are sho
w
n in Table 1.
Table 1. The
Paramete
rs o
f
Two Cylind
r
i
c
al Le
nses /
mm
Aperture
Object Focal Len
gth
Radius of Curvat
ure
Back Focal Length
Center
Thickness
25.4 25
12.92
17.09
12
25.4 75
38.76
72.89
3.2
The two cyli
ndri
c
al le
nse
s
collimate t
he sl
ow
-axis and fa
st-axi
s, re
sp
ectivel
y
. This is
s
h
ow
n
in
F
i
gu
r
e
3
,
w
h
er
e
ߐ
ു
,
are th
e h
a
lf far-field
di
vergen
ce
an
gles i
n
the p
a
rallel
(Y axi
s
)
and p
e
rpen
d
i
cula
r (X
axis)
dire
ction
s
re
spe
c
tively
1
d
,
3
d
are th
e first an
d the
seco
nd le
ns
distan
ce
s fro
m
diod
e a
n
d
2
d
,
4
d
a
r
e
th
e
s
pec
ific
d
i
s
t
an
c
e
s
fr
om th
e
two
le
ns
es
. If we
co
ns
id
er
the two direct
ions h
a
ve the
same
spot
si
ze
an
d divergen
ce an
gle
s
on the dotte
d line, the laser
spot shoul
d b
e
circle.
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TELKOM
NIKA
ISSN:
2302-4
046
De
sign of an
Optical Em
itting Syst
em
fo
r Scan
nerl
e
ss Im
aging LIDAR… (M. R.
Anjum
)
4827
Figure 3. Sch
e
matic of Sha
p
ing System
To determi
ne
the position
s
of two len
s
e
s
, a
single
geometri
cal
optics
c
ann
ot get the strict
results, however the
method
with
mat
r
ix optics and
Gauss opti
c
s
w
ill get the better results.
With
combi
nation
s
of q parame
t
er of Gauss beam, it
is
easy for the
matrix optics to describe
the
transmitting p
r
ocedu
re of the beam in th
e air and o
p
tical sy
stem
s [15].
The q pa
ram
e
ter is defin
e
d
as:
2
11
(z
)
(
)
(
z
)
i
qR
z
(1)
Whe
r
e
,
(z
)
R
,
(z)
are
the wavele
ngth of the lase
r bea
m, the radiu
s
of curvatu
r
e
of
equip
h
a
s
e
su
rface
at a
sp
ecific di
stance an
d th
e
spot si
ze
at a
spe
c
ific
dista
n
ce
re
sp
ectiv
e
ly.
The tran
smi
s
sion
matrix
T
of a
beam,
whi
c
h i
s
f
r
om
the
sou
r
ce t
o
the ta
rg
et throu
gh th
e e
n
tire
medium, is d
e
fined a
s
:
A
B
T
CD
(2)
So as
we
k
n
ow that:
1(
x
,
y
)
2(
x
,
y
)
1(
x
,
y
)
Aq
B
q
Cq
D
(3)
Whe
r
e
1(
x
,
y
)
q
,
2(
x
,
y
)
q
are th
e q
pa
ramete
rs of the
be
a
m
at the
be
gi
nning
an
d th
e q
pa
ramete
r of
the
beam
a
t
the targ
et
re
spe
c
tively. The i
ndex
(x, y)
rep
r
e
s
ent
s the
dif
f
erent di
re
cti
on.
Substituting
Equation (1) i
n
Equati
on (3
) then we
can
get an equati
on:
24
2
1(
x
,
y
)
1(
x
,
y
)
2
2(
x
,
y
)
2
1(
x
,
y
)
24
2
1
(
x,
y
)
1
(
x,
y
)
2(
x
,
y
)
42
1(
x
,
y
)
1(
x
,
y
)
1(
x
,
y
)
(A
B
/
R
)
(
)
(A
D
B
C
)
(A
B
/
R
)
(
)
(A
B
/
R
)
(C
D
/
R
)
B
n
B
R
BD
(4)
Whe
r
e (1, 2)
rep
r
e
s
ent the lase
r bea
m at the be
ginnin
g
and the end, respectively.
݊
is
refra
c
tive in
d
e
x of the
me
dium
(in th
e
air).
The
p
r
o
c
ess i
s
com
p
u
t
ed by M
a
tlab
. It is
req
u
ire
d
to
dra
w
the
tran
smissio
n
cu
rves of Gau
s
s beam in the
two dire
ction
s
, X (fast-axi
s
) an
d Y (slo
w-
axis). The
co
mputation p
r
o
c
e
ss h
a
s two parts:
a)
Determine th
e position
s
where the si
ze
s of
beam lo
st of the two
dire
ction
s
are
the
bigge
st, so th
e diverge
n
ce angle
s
are the smalle
st re
spe
c
tively.
b)
Fine a
d
just t
he po
sition
s t
o
ma
ke the t
r
ansmi
ssion
curves in two
dire
ction
s
sh
ould
be nea
rly parallel, so the b
eam sp
ot will be nea
rly circle in a large
range.
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046
TELKOM
NI
KA
Vol. 12, No. 6, June 20
14: 4825 – 4
832
4828
The tran
smi
ssi
on
cu
rve
has d
r
a
w
n t
he tw
o
part
s
, the
re
sult
sh
own in
Figure 4
corre
s
p
ondin
g
to Table
2.
The dive
rge
n
c
e a
ngle
s
of t
he fast
-axis a
nd sl
ow-axis
are 0.0
635
m
r
ad
and 0.06
22 m
r
ad. The
s
e
re
sults a
r
e ba
sed on an id
ea
l situation
.
Figure 4. The
Tran
smi
ssio
n
Curve
s
of Different Axis
Table 2. The
Beam in Two
Dire
ction
s
Pa
ramete
rs
Direction
position of lens (mm)
size
of w
a
ist (m
m)
position of w
a
ist
(m)
Divergence angl
e (mrad
)
fast
（）
X
17.429
9.067
-25.065
0.0635
slow
（）
Y
74.010
9.259
-65.998
0.0622
The pa
ramet
e
rs p
a
sse
d
to the system
and t
he po
si
tions of two
cylindri
c
al le
n
s
e
s
are
pro
c
e
ss into
ZEMAX.The model and the simul
a
tion
of beam spo
t
are sho
w
n i
n
Figure 5 a
nd
Figure 6 re
sp
ectively.
Figure 5. The
Model of Shaping System
(a)
(b)
Figure 6. Inco
here
n
t Irradi
a
t
ion of the Diode after Sha
p
ing (Dete
c
to
r si
ze: 20mm
x 20mm);
(a) 1
00mm di
stan
ce, (b) 2
00mm di
stan
ce
3.
Zoom Sy
ste
m
Design
Usually the emission fro
m
optical sy
stem
of the scann
erle
ss imaging LI
DAR ca
nnot
cover th
e targets u
n
iforml
y, if it has a
singl
e sh
apin
g
system. T
h
e beam
sh
ou
ld be in
cre
a
sed
and it a
d
ju
sted for the a
d
apting of
different
situatio
ns
e.g. the
same ta
rget i
s
at the diffe
rent
dist
an
ce
s o
r
two targets
a
r
e the
same
distan
ce but
the
carry
different sizes.
T
h
ree
group
s are
Evaluation Warning : The document was created with Spire.PDF for Python.
TELKOM
NIKA
ISSN:
2302-4
046
De
sign of an
Optical Em
itting Syst
em
fo
r Scan
nerl
e
ss Im
aging LIDAR… (M. R.
Anjum
)
4829
cho
s
e
n
as th
e structu
r
e o
f
zoom syste
m
such
that fixed grou
p, zoom group a
nd com
pen
sa
tion
grou
p [16-17]
. As sho
w
n i
n
Figure
7, whe
r
e
1
d
is the distan
ce b
e
twee
n zo
om g
r
oup
and fixe
d
grou
p before
zoomin
g,
'
1
d
after zoomin
g,
2
d
are the dist
ances bet
we
en com
pen
sa
ting grou
p
and fixed gro
up befo
r
e an
d after re
sp
e
c
tively.
Zoom
ratio dep
end
s on the m
o
vements of t
h
e
zoom g
r
o
up a
nd the com
p
e
n
satio
n
gro
u
p
to realize b
e
am zoo
m
.
Figure 7. The
Structure Ch
art of
Thre
e Grou
ps Z
oom
System
To draw th
e
cam
cu
rves it is criti
c
al
to
kee
p
the
optical
syste
m
duri
ng the
desi
gn
pro
c
e
ss. T
h
e
cam
cu
rves,
however
it is determi
ned
by the focal
l
ength of the t
h
ree
group
s.
In
orde
r to make the system
reali
z
ed. Th
e focal len
g
ths
sho
u
ld con
s
id
er for the follo
wing rule
s:
a)
Long
er than
15mm. It
will
be difficult to
pro
c
e
s
s the
l
ens, if
its fo
cal len
g
ths a
r
e
too
s
h
ort.
b)
The sp
ace
b
e
twee
n
two grou
ps which
is
affecte
d
by the fo
cal
l
ength
s
sho
u
l
d
be
longe
r than 5
mm or the group
s ca
n’t be
installed tog
e
ther.
These rule
s are im
pleme
n
t
ed by the ai
ded d
e
sig
n
u
s
ing M
a
tlab. It is req
u
ire
d
the focal lengt
hs
of fixed grou
p, zoom g
r
ou
p and compe
n
satio
n
gro
u
p
as 89m
m, -29mm, -120
mm, resp
ecti
vely
and dete
r
min
e
the zoom
ratio is 2x-7x as nee
ded t
hen the re
sul
t
ant cam curves are
sho
w
n in
Figure 8, the related d
a
ta a
r
e sh
own in T
able 3
.
Figure 8. The
Cam Cu
rve
s
of the Zoom System
Table 3. The
Space from F
i
xed Grou
p at Different Zoo
m
Ratio
Zoom ratio
2x 3x
4x 5x
6X
7x
݀
ଵ
/mm
103.01
124.52
146.03
167.54
189.05
210.55
݀
ଶ
/mm
153.13
91.75
61.60
42.65
30.37
21.69
It is requi
red
the model
s for thre
e different zo
o
m
rati
os a
s
shown
in Figure 9. An ideal
parall
e
l beam
is expand
ed
by the zoom
system
by ge
tting the different width
s
value.
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TELKOM
NI
KA
Vol. 12, No. 6, June 20
14: 4825 – 4
832
4830
(a) 2x
(b) 4x
(c
) 7x
Figure 9. The
Zoom Syste
m
with Differe
nt Ratios
4.
Resul
t
s of O
v
erall S
y
ste
m
The two p
a
rt
s of th
e emi
s
sion
optical
sys
tem have
b
een
desi
gne
d
and
asse
mbl
ed a
s
it
is sh
own in Figure 1
0
. The
whol
e length
of the system
is sho
r
ter tha
n
300mm
.
Figure 10. Th
e Emissi
on O
p
tical System
Simulation i
s
perfo
rme
d
by usin
g ZE
MAX and a
se
rie
s
of result
s of in
coherent
irra
diation
are presented
in Figu
re
11.
The
Fi
gu
re
11(a) is th
e la
ser be
a
m
witho
u
t b
e
ing
expand
ed by
the zo
om sy
stem an
d it g
i
ves mo
re
uni
form an
d exp
ende
d bea
m
after 2x, 4x, 7
x
zoom. T
he irradiation
unifo
rmity is calcul
ated a
fter im
p
o
rting the
bea
m data into M
a
tlab an
d the
n
the ratio of specified mini
mum
illuminance to average
illuminance called uni
f
ormity of laser
diode
witho
u
t any opti
c
al
system
s, the
beam
after sha
p
ing syst
em
an
d
the
beam after
t
h
e
overall sy
ste
m
are 3.181
6
,
3.2583 and
4.9390 respe
c
tively. So one can see tha
t
the beam spo
t
at the target become
s
more uniform, which
h
a
s a g
r
eat benefit for the signal p
r
oce
s
sing.
(a)
without zo
om system
(b) 2x zoom
(c
) 4x
zoo
m
(d) 7x zoom
Figure 11. Incoherent Irra
di
ati
on of Laser Beam (Dete
c
tor si
ze: 100
mm x 100mm
.
Distan
ce:
500mm
)
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TELKOM
NIKA
ISSN:
2302-4
046
De
sign of an
Optical Em
itting Syst
em
fo
r Scan
nerl
e
ss Im
aging LIDAR… (M. R.
Anjum
)
4831
In orde
r to ge
t the actual di
vergen
ce
ang
le, when th
e zoom
ratio i
s
4x, the beam
spot at
3m dista
n
ce are p
r
e
s
ente
d
in Figure 1
2
. The sp
ot sizes at 0.5
m
and 3m di
stan
ce a
r
e a
bout
40mm and
70mm so the
divergence angle i
s
ab
out
6 mrad then the beam
si
ze
will
cover
the
targets
uniformly at hundre
d
s of meters
distan
ce.
(a) at 0.5m di
stan
ce
(b) at 3m di
st
ance
Figure 12. Incoherent Irra
di
ation of Beam at 4x (Dete
c
tor
size: 100
mm x 100mm
.
)
5. Conclu
sion
This
pap
er
p
r
esents an
o
p
tical e
m
itting sy
stem fo
r scan
nerl
e
ss imagin
g
LI
DAR. It
deploy
s the shapin
g
syste
m
from the m
a
trix opt
ics a
nd Gau
s
s opt
ics. Fu
rthe
rm
ore the u
n
iform
lase
r bea
m and adj
usta
bl
e zoo
m
syst
em ha
s bee
n determi
ned
. The simulat
i
on re
sult
s h
a
ve
verified the p
r
acti
cal value
s
in variou
s
cru
c
ia
l
situati
ons. We hav
e pre
s
ente
d
the theoreti
c
al
spe
c
ification
of optical de
sign,
which p
r
ovide
s
a po
ssi
bility for widely use
d
scanne
rle
ss fiel
ds
sy
st
em d
e
sig
n
.
Referen
ces
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Mole
bn
y, Vas
y
l
,
Gar
y
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e
rmanb, OveStei
n
vallc.
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ser ra
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ear
ly
history to n
e
w
trends
. Proc.
of SPIE. 2010; 783
5: 783
50
2-1.
[2]
Marino RM, Steph
ens T
,
Hatch RE, et al.
A comp
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g laser
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usin
g Geiger-
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ys: system
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e
200
3. Internati
ona
l Soci
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r Optics an
d
Photon
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[3]
Richmo
nd, R
i
c
hard
D, Steph
en C
Cai
n
.
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[4]
Gleckler, Anthony
D.
Mu
ltipl
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be i
m
agi
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I
L) ap
plic
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F
l
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ouse
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