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Coherent Doppler Lidar for Precision Navigation of Spacecrafts
A fiber-based coherent Doppler lidar, utilizing an FMCW technique, has been developed and its capabilities demonstrated through two successful helicopter flight test campaigns. This Doppler lidar is expected to play a critical role in future planetary exploration missions because of its ability in providing the necessary data for soft landing on the planetary bodies and for landing missions requiring precision navigation to the designated location on the ground. Compared with radars, the Doppler lidar can provide significantly higher precision velocity and altitude data at a much higher rate without concerns for measurement ambiguity or target clutter. Future work calls for testing the Doppler lidar onboard a rocket-powered free-flyer platform operating in a closed-loop with the vehicle s guidance, navigation, and control (GN&C) unit.
An airborne Doppler Lidar
A pulsed CO2 Doppler Lidar, developed for airborne measurements of atmospheric wind fields, is described. In-flight tests show that the device can be successfully utilized in the detection and measurement of mountain-wave turbulence and wind shear, and in the generation of time histories of wind-field variations in smooth flight. This Lidar is in the process of being configured for measurement of the atmospheric flow fields surrounding severe convective storms.
Observations of Oklahoma severe thunderstorms using airborne Doppler lidar
The NASA airborne Doppler lidar was successfully employed in obtaining detailed views of the horizontal wind fields near a complex of severe multicell thunderstorms in central Oklahoma on June 30, 1981. Despite uncertainties caused by inertial navigation errors, clear pictures of the relative reflectivity distributions, horizontal wind velocity, and velocity spectral width near the cloud base were obtained. The presence of numerous gust front vortices along the leading edge of the advancing storm outflow were noted which correspond to inflections in the shape of the gust front arcus cloud formation. Explanations for the observed vortical circulations and calculated vorticities are given.
Doppler Lidar for Wind Measurements on Venus
NASA Langley Research Center has a long history of developing 2-micron laser transmitter for wind sensing. With support from NASA Laser Risk Reduction Program (LRRP) and Instrument Incubator Program (IIP), NASA Langley Research Center has developed a state-of-the-art compact lidar transceiver for a pulsed coherent Doppler lidar system for wind measurement. The transmitter portion of the transceiver employs the high-pulse-energy, Ho:Tm:LuLiF, partially conductively cooled laser technology developed at NASA Langley. The transceiver is capable of 250 mJ pulses at 10 Hz. It is very similar to the technology envisioned for coherent Doppler lidar wind measurements from Earth and Mars orbit. The transceiver is coupled to the large optics and data acquisition system in the NASA Langley VALIDAR mobile trailer. The large optics consists of a 15-cm off-axis beam expanding telescope, and a full-hemispheric scanner. Vertical and horizontal vector winds are measured, as well as relative backscatter. The data acquisition system employs frequency domain velocity estimation and pulse accumulation. It permits real-time display of the processed winds and archival of all data. This lidar system was recently deployed at Howard University facility in Beltsville, Mary-land, along with other wind lidar systems. Coherent Doppler wind lidar ground-based wind measurements and comparisons with other sensors will be presented. A simulation and data product for wind measurement at Venus will be presented.
Coherent Doppler Lidar Data Products from Space-Based Platforms
Coherent Doppler lidar is a promising technique for the global measurements of winds using a space-based platform. Doppler lidar produces estimates of the radial component of the velocity vector averaged over the resolution volume of the measurement. Profiles of the horizontal vector winds are produced by scanning the lidar beam or stepping the lidar beam through a sequence of different angles (step-stare). The first design for space-based measurements proposed a conical scan which requires a high power laser to produce acceptable signal levels for every laser pulse. Performance is improved by fixing the laser beam and accumulating the signal from many lidar pulses for each range-gate. This also improves the spatial averaging of the wind estimates and reduces the threshold signal energy required for a good estimate. Coherent Doppler lidar performance for space-based operation is determined using computer simulations and including the wind variability over the measurement volume as well as the variations of the atmospheric aerosol backscatter.
ARMing the Edge: Designing Edge Computing–Capable Machine Learning Algorithms to Target ARM Doppler Lidar Processing
Abstract There is a need for long-term observations of cloud and precipitation fall speeds in validating and improving rainfall forecasts from climate models. To this end, the U.S. Department of Energy Atmospheric Radiation Measurement (ARM) user facility Southern Great Plains (SGP) site at Lamont, Oklahoma, hosts five ARM Doppler lidars that can measure cloud and aerosol properties. In particular, the ARM Doppler lidars record Doppler spectra that contain information about the fall speeds of cloud and precipitation particles. However, due to bandwidth and storage constraints, the Doppler spectra are not routinely stored. This calls for the automation of cloud and rain detection in ARM Doppler lidar data so that the spectral data in clouds can be selectively saved and further analyzed. During the ARMing the Edge field experiment, a Waggle node capable of performing machine learning applications in situ was deployed at the ARM SGP site for this purpose. In this paper, we develop and test four algorithms for the Waggle node to automatically classify ARM Doppler lidar data. We demonstrate that supervised learning using a ResNet50-based classifier will classify 97.6% of the clear-air images and 94.7% of cloudy images correctly, outperforming traditional peak detection methods. We also show that a convolutional autoencoder paired with k -means clustering identifies 10 clusters in the ARM Doppler lidar data. Three clusters correspond to mostly clear conditions with scattered high clouds, and seven others correspond to cloudy conditions with varying cloud-base heights.
Doppler Lidar (DL) Instrument Handbook
The Doppler lidar (DL) is an active remote sensing instrument that provides range- and time-resolved measurements of radial velocity and attenuated backscatter. The principle of operation is similar to radar in that pulses of energy are transmitted into the atmosphere; the energy scattered back to the transceiver is collected and measured as a time-resolved signal. From the time delay between each outgoing transmitted pulse and the backscattered signal, the distance to the scatterer is inferred. The radial or line-of-sight velocity of the scatterers is determined from the Doppler frequency shift of the backscattered radiation. The DL uses a heterodyne detection technique in which the return signal is mixed with a reference laser beam (i.e., local oscillator) of known frequency. An onboard signal processing computer then determines the Doppler frequency shift from the spectra of the heterodyne signal. The energy content of the Doppler spectra can also be used to determine attenuated backscatter.
Development of a Coherent Doppler Lidar for Precision Maneuvering and Landing of Space Vehicles
A coherent Doppler lidar has been developed to address NASA’s need for a high-performance, compact, and cost-effective velocity and altitude sensor onboard its landing vehicles. Future robotic and manned missions to planetary bodies require precise ground-relative velocity vector and altitude data to execute complex descent maneuvers and safe, soft landing at a pre-designated site. This lidar sensor, referred to as a Navigation Doppler Lidar, meets the required performance of landing missions while complying with vehicle size, mass, and power constraints. Operating from over five kilometers altitude, the lidar obtains velocity and range precision measurements with 2 cm/sec and 2 meters, respectively, dominated by the vehicle motion. After a series of flight tests onboard helicopters and rocket-powered free-flyer vehicles, the Navigation Doppler Lidar is now being ruggedized for future missions to various destinations in the solar system.
SPNDL: A concept for a small satellite Doppler lidar wind sounder
Given current resources and the technical challenges in developing a full coverage space-based Doppler lidar wind measuring system such as LAWS (Laser Atmospheric Wind Sounder), it is not likely that the science community will have data streams with which to work before the end of this decade. Currently, a 'fast track' demonstration mission is being seriously considered by several U.S. agencies. Such a mission would have as its primary objectives the demonstration of coherent Doppler lidar technology in space and the delivery of wind observations for science algorithm evaluation and development. However, for such a mission to be achieved at modest costs and within a short time frame, deviations from the full system design are required. Simulation models have been developed over the last decade to aide in the design of Doppler lidar missions and to provide simulated data for use in wind computation algorithm development. SWA has used both models to examine some options that might be cost-effective for a demonstration mission. Over the past few months, Simpson Weather Associates has been studying SPNDL (Spinning Platform with a Non-rotating telescope Doppler Lidar), a new concept for Doppler lidar wind observations from space. Science and Technology Corporation has an interest in participating in an engineering and shuttle accommodation study for SPNDL.
Ground-based Doppler lidar of increased laser instability: Conception and design
Pulsed CO2 Doppler lidars are effective tools for ground-based atmospheric wind sensing, but the high cost of the lidar transceivers, mainly due to the required high frequency stability (better than 10(exp -9) or 100 KHz), prevents their wide use in meteorology. The best approach to overcome this problem is to develop Doppler lidars that are effective at increased laser instability. This work is based on the results of a new scheme for Doppler lidar detection by the use of frequency synthesis, in a wide fluctuation bandwidth of laser instabilities, is described. A ground-based system, using this approach, is under development in the Institute of Electronics - Bulgarian Academy of Science (BAS).
Doppler Lidar Motion-Correction (DLMC) Value-Added Product Report
The U.S. Department of Energy Atmospheric Radiation Measurement (ARM) second ARM Mobile Facility (AMF2) Doppler lidar (S/N 0319-160) was deployed on the German ice breaker Polarstern during the Multidisciplinary Drifting Observatory for the Study of Arctic Climate (MOSAiC) campaign during 2019-2020 (see Figure 1). This was the first deployment of the new AMF2 Doppler lidar, as well as the first ship-based deployment of a Doppler lidar (DL) by ARM. In contrast to land-based deployments, the lidar’s heading (a.k.a. home point) and tilt are constantly changing, and lidar’s radial velocity measurements are impacted by the ship’s motion. Since the beam directions are reported relative to the instrument’s frame of reference, derivation of higher-order data products such as wind speed and direction require that the lidar’s attitude and translational velocity be properly accounted for. The Doppler Lidar Motion-Correction (DLMC) Value-Added-Product (VAP) was developed specifically for ship-based deployments of the Doppler lidar. This VAP combines raw uncorrected data from the DL and simultaneous measurements from the ARM Navigation system (NAV) (Walton 2019) to transform the beam angles from the lidar coordinate system to an Earth-fixed coordinate system. The VAP also removes the contribution of the lidar’s platform velocity from the radial velocity measurements. This report documents the methods used by the DLMC to perform these corrections.
Design and Development of a Scanning Airborne Direct Detection Doppler Lidar System
In the fall of 2005 we began developing an airborne scanning direct detection molecular Doppler lidar. The instrument is being built as part of the Tropospheric Wind Lidar Technology Experiment (TWiLiTE), a three year project selected by the NASA Earth Sun Technology Office under the Instrument Incubator Program. The TWiLiTE project is a collaboration involving scientists and engineers from NASA Goddard Space Flight Center, NOAA ESRL, Utah State University Space Dynamics Lab, Michigan Aerospace Corporation and Sigma Space Corporation. The TWiLiTE instrument will leverage significant research and development investments made by NASA Goddard and it's partners in the past several years in key lidar technologies and sub-systems (lasers, telescopes, scanning systems, detectors and receivers) required to enable spaceborne global wind lidar measurement. These sub-systems will be integrated into a complete molecular direct detection Doppler wind lidar system designed for autonomous operation on a high altitude aircraft, such as the NASA WB57. The WB57 flies at an altitude of 18 km and from this vantage point the nadir viewing Doppler lidar will be able to profile winds through the full troposphere. The TWiLiTE integrated airborne Doppler lidar instrument will be the first demonstration of a airborne scanning direct detection Doppler lidar and will serve as a critical milestone on the path to a future spaceborne tropospheric wind system. In addition to being a technology testbed for space based tropospheric wind lidar, when completed the TWiLiTE high altitude airborne lidar will be used for studying mesoscale dynamics and storm research (e.g. winter storms, hurricanes) and could be used for calibration and validation of satellite based wind systems such as ESA's Aeolus Atmospheric Dynamics Mission. The TWiLiTE Doppler lidar will have the capability to profile winds in clear air from the aircraft altitude of 18 km to the surface with 250 m vertical resolution and < 2mls velocity accuracy.
A study of atmospheric optical scattering parameters at 1.5 and 2 micron region for solid state Doppler lidar applications
The increasing interest in the development of an eye-safe, solid state, Doppler lidar for avionic applications has created the need for a quantitative evaluation of atmospheric effects on performance. Theoretical calculations were completed for optical scattering parameters to be compared with the field measurements. Computer codes were developed for the required calculations and designed to be interactive and user friendly in order to support comparison with experimental results and, thus, provide the basis for evaluation of eye-safe Doppler lidar over a wide range of atmospheric conditions and geographical locations. A holmium Doppler lidar operating at 2.09 microns was constructed for atmospheric backscattering, attenuation, and wind velocity measurements. Theoretical calculations and field studies were performed for backscatter coefficients. The selected wavelengths correspond to Er:glass, Tm:YAG, and Tm,Ho:YAG solid state lasers that are suitable for use in an eye-safe Doppler lidar system.
Design and Calibration of Autonomous Coherent Doppler Lidar for Space Missions
Developed a new algorithm for the simulation of three dimensional homogeneous turbulent velocity fields. For typical atmospheric conditions it is impossible to produce a simulated velocity field that simultaneously satisfy a given spatial correlation and the corresponding spatial spectrum because of spectral aliasing. The new algorithms produce a turbulent velocity field which has accurate spatial correlations which is required for performance predictions from space-based systems. Developed a new algorithm for extracting the spatial statistics of the atmospheric velocity field using coherent Doppler lidar. The performance of the algorithm was compared with past methods and the new algorithm produces useful results for space-based data, which was not possible before. Developed new methods for verification of the errors in ground-based and space-based Doppler lidar wind measurements. These new methods do not require independent in situ data. This is an important issue for the verification of space-based Doppler lidar measurements of the global wind field. The performance of the new algorithm was compared with past results for both space-based and ground-based operation. The new algorithm has the best performance and is the only algorithm that performed satisfactory for spacebased operation. The performance of coherent Doppler lidar for a space missions with various scanning geometries was determined using computer simulation which contained the effects of random instrumental velocity errors, wind shear, wind variability along the range-gate and from shot-to-shot, and random variations in atmospheric aerosol backscatter over the measurement volume. The bias in the velocity estimates was small and the accuracy in the is typically less than 0.5 m/s for high signal conditions. For a large number of shot per velocity estimate, the threshold signal level for acceptable estimates is proportional to the number of shots to the minus one half power. This agrees with previous results determined for ground-based measurements. The use of multi-element optical detectors for autonomous operation of coherent Doppler lidar was shown to be a very promising technique. Optimal detector geometries were determined by computer simulation of performance: for ground-based testing with a fixed calibration target and for space-based operation using the random surface returns. The effects of refractive turbulence on ground-based calibration of coherent Doppler lidar was determined by computer simulations and compared with theoretical predictions. New techniques were required to correctly predict performance for the focused beam geometry commonly used for verification of space-based operation. An improved velocity estimator was evaluated for space-based applications were signal shot measurements are used to produce vector wind measurements. This permits more accurate measurements when the signal level is not known a priori or not available from multiple shot measurements. The average Doppler lidar signal spectrum including the effects of velocity turbulence was derived and calculated. This permits new estimation algorithms for turbulence based on spectral estimates. In situ atmospheric measurements were conducted and analyzed using an instrumented kite-platform. This work helps provide the required in situ data for verification of Doppler lidar velocity statistics.
Coherent Doppler lidar signal covariance including wind shear and wind turbulence
The performance of coherent Doppler lidar is determined by the statistics of the coherent Doppler signal. The derivation and calculation of the covariance of the Doppler lidar signal is presented for random atmospheric wind fields with wind shear. The random component is described by a Kolmogorov turbulence spectrum. The signal parameters are clarified for a general coherent Doppler lidar system. There are two distinct physical regimes: one where the transmitted pulse determines the signal statistics and the other where the wind field dominates the signal statistics. The Doppler shift of the signal is identified in terms of the wind field and system parameters.
TRACER CLAMPS2 Doppler Lidar VAD Data
These files contain 24 hour periods of data collected from the CLAMPS2 Halo Streamline XR+ Doppler lidar. The Doppler lidar conducts regular conical scans at a set elevation angle. These data are then passed through a typical VAD algorithm to retrieve horizontal wind speed and direction profiles. These data were collected during the TRACER project.
TRACER SPARC Doppler Lidar VAD Data
These files contain 24 hour periods of data collected from the SPARC Halo Streamline XR Doppler lidar. The Doppler lidar conducts regular conical scans at a set elevation angle. These data are then passed through a typical VAD algorithm to retrieve horizontal wind speed and direction profiles. These data were collected during the TRACER project.