Remotely controlled or tele-operated robots are playing an increasing role in military, law enforcement and industrial operations. In order for a remote operator to rapidly and efficiently control an unmanned vehicle (UV), the operator must be able to view the robot surroundings as if they were actually present at the location of the robot. The current limiting factor to providing this level of presence is the visual display utilized by the operator, which for portability, size and weight is optimally a head-worn display (HWD). When in addition local situational awareness of the operator must be maximized, the HWD should be of the optical see-through (OST) type. The ideal requirements for the OST-HWD for UV-control include: a large binocular display field-of-view, methods to prevent development of cyber sickness and appropriate brightness for use in all relevant lighting conditions. Limitations of current OST-HWDs are reviewed, and a new type of OST-HWD is described, which offers significant advantages for remote control of UVs. An initial prototype has been constructed, and its performance is quantified. The prototype provides a large display FOV, large eye box, and high brightness. It uses low-cost COTS components. When the operator of the unmanned vehicle must use their hands for other purposes, a hands-free control interface for both the display and robot is highly desirable. An implementation of a hands-free control interface based on eye tracking is described.
A portable differential image motion sensor (DIMS) has been developed and field demonstrated to measure the
atmospheric coherence diameter, or Fried parameter, r0, both at daytime and at night. The hardware design was
developed using system requirements and performance analysis. A graphical user interface (GUI) and software were
developed to automatically measure r0 from collected imagery data. The DIMS system uses a short wave infrared
(SWIR) camera, IR telescope with custom environmental enclosure, a rack-mount computer accessed remotely through a
laptop, and an equatorial mount and tripod for accurate pointing at a selected star. The system is two-man portable. The
sensor continuously measures r0 from star imagery during clear weather at any time of day or night, with an update rate
of 10 minutes. A continuously nutating optical wedge moves the star image in a circle allowing automatic background
subtraction. Data output is provided at the SWIR 1.6 μm wavelength and scaled to 0.55 μm and pointing at zenith. Valid
r0 measurements range is from 1 cm to 20 cm (in the visible waveband). The r0 measurements over time were performed
at daytime at sea level in San Diego. The largest values of r0 were observed near and after the sunset. This approach
provides a straight-forward path to sea-based seeing measurements with an addition of a stabilized platform.
A concept of a Hybrid Wavefront-based Stochastic Parallel Gradient Decent (WSPGD) Adaptive Optics
(AO) system for correcting the combined effects of Beacon Anisoplanatism and Thermal Blooming is
introduced. This system integrates a conventional phase conjugate (PC) AO system with a WSPGD AO
system. It uses on-axis wavefront measurements of a laser return from an extended beacon to generate
initial deformable mirror (DM) commands. Since high frequency phase components are removed from the
wavefront of a laser return by a low-pass filter effect of an extended beacon, the system also uses off-axis
wavefront measurements to provide feedback for a multi-dithering beam control algorithm in order to
generate additional DM commands that account for those missing high frequency phase components.
Performance of the Hybrid WSPGD AO system was evaluated in simulation using a wave optics code.
Numerical analysis was performed for two tactical scenarios that included ranges of L = 2 km and L = 20
km, ratio of aperture diameter to Fried parameter, D/r0, of up to 15, ratio of beam spot size at the target to
isoplanatic angle, θB/θ0, of up to 40, and general distortion number characterizing the strength of Thermal
Blooming, Nd = 50, 75, and 100. A line-of-sight in the corrected beam was stabilized using a target-plane
tracker. The simulation results reveal that the Hybrid WSPGD AO system can efficiently correct the effects
of Beacon Anisoplanatism and Thermal Blooming, providing improved compensation of Thermal
Blooming in the presence of strong turbulence. Simulation results also indicate that the Hybrid WSPGD
AO system outperforms a conventional PC AO system, increasing the Strehl ratio by up to 300% in less
than 50 iterations. A follow-on laboratory demonstration performed under a separate program confirmed
our theoretical predictions.
For a non-cooperative target, a laser beacon is created by illuminating the target with a beacon beam. When a beacon
beam propagates though deep turbulence, turbulence spreads the beam. A conventional phase conjugate adaptive optics
(AO) system is not efficient in the presence of Beacon Anisoplanatism when the beacon beam spot size at the target
includes many isoplanatic patch sizes. We introduce a concept of the wavefront-based stochastic parallel gradient decent
(WSPGD) AO system, which uses an off-axis wavefront sensor to provide feedback for the beam control algorithm. This
concept is based on the finding that the phase aberrations of laser return from the target contain information about beam
spot size at the target, and that correction of a limited number of low-order Zernike modes increases on-axis intensity
and power in the bucket at the target. We evaluated the WSPGD AO system performance in simulation for two tactical
engagement scenarios in the presence of strong turbulence. We found that that the WSPGD AO system can efficiently
compensate the effects of strong turbulence including Beacon Anisoplanatism, even when the beam spot size at the
target includes up to 20 isoplanatic patch sizes and the isoplanatic angle is by a factor of 2.6 less than the diffraction
limit. The Strehl ratio gain for this scenario is 1.6 - 2.5, and the maximum Strehl ratio is achieved after 15-20 iterations.
A laboratory demonstration performed under a separate program confirmed our theoretical predictions.
KEYWORDS: Point spread functions, Turbulence, Stars, Atmospheric propagation, Sensors, Telescopes, Atmospheric optics, Scintillation, Atmospheric sensing, Signal to noise ratio
Turbulence inner scale affects scintillation in laser projection and laser communication systems especially in strong
scintillation regime. Analytical and numerical models are used for performance analysis and design of these systems.
Turbulence inner scale is critically important to anchor theoretical predictions to an experiment. However, the inner scale
is usually not measured in the experiments along extended atmospheric paths. Commercial scintillometer commonly
operates over the range of a few hundreds meters and requires an optical transmitter and receiver at different ends of the
propagation path. We introduced a concept for turbulence inner scale sensor, which is based on phase related
phenomenon and can operate along arbitrary atmospheric paths including the strong scintillation regime both during
daytime and nighttime. We evaluated the feasibility of this approach. We developed an analytical model for a tilt-corrected
point spread function (PSF) of a distant source that enables turbulence inner scale sensor determination from
optical measurements, evaluated the PSF sensitivity to the inner scale variations for ground-to-ground and space-to-ground
engagement scenarios, designed and built a sensor breadboard prototype Finally, for the first time we performed
turbulence inner scale measurements along space-to-ground propagation paths by imaging stars. We found that the
turbulence inner scale on space-to-ground paths is in the range from 1 cm to 3 cm, whereas it is in the range from 0.2 cm
to 1.2 cm near the ground. Thus, initial inner scale measurements by imaging stars revealed that turbulence inner scale
on extended elevated paths exceeds that value near the ground.
A laboratory demonstration of two novel tactical beam control methods for correcting the effects of strong turbulence
including Beacon Anisoplanatism, and the combined effects of Beacon Anisoplanatism and Thermal Blooming,
respectively, were performed in SAIC's Tactical Beam Control Test-Bed. Both systems were tested with ratio of
aperture diameter to Fried parameter, D/r0, of up to 7, and ratio of beam spot size at the target to isoplanatic angle, θB/θo,
of up to 10. The first method was implemented in a Wavefront-based Stochastic Parallel Gradient Decent (WSPGD)
adaptive optics (AO) system, which uses an off-axis wavefront sensor (WFS) to provide feedback for a multi-dithering
beam control algorithm. The second method was implemented in a Hybrid WSPGD AO system, which incorporates the
WSPGD AO system with a conventional Phase Conjugate (PC) AO system. The Hybrid system uses an on-axis WFS to
generate initial deformable mirror commands and an off-axis WFS to generate additional commands that account for the
high frequency phase components removed from the wavefront of a laser return by Beacon Anisoplanatism. We
developed a low speed PC-based WSPGD controller, implemented designs of the WSPGD and Hybrid WSPGD AO
systems in SAIC's Test-Bed, and tested both AO systems in static and dynamic turbulence over a wide range of
turbulence conditions. A target-plane tracker was used to stabilize the line-of-sight in the AO corrected beam. Test
results show that the WSPGD AO system efficiently compensates the effects of Beacon Anisoplanatism for both static
and dynamic turbulence, providing a mean performance gain of 1.8 averaged over multiple turbulent realizations. We
also found in testing that the Hybrid WSPGD system efficiently compensates for Beacon Anisoplanatism in the presence
of Thermal Blooming - providing improved compensation for both Thermal Blooming and turbulence. In the presence
of strong Beacon Anisoplanatism with θB/θo of up to 10, the maximum performance gain is 4.9 and the mean
performance gain for multiple turbulence realizations is 2.1.
We investigated the spatial structure of atmospheric turbulence at Maui Space Surveillance Site (MSSS) using a 3.6 m telescope and a spatial filtering receiver. This receiver simultaneously records four star images on one camera frame. The star images are formed through pupil masks representing aperture diameters of 0.1 m, 0.5m, 1.5 m, and 3.6 m. We determined the camera orientation for each data set by moving the telescope at a given angle in azimuth and elevation. We calculated the horizontal and vertical components of the image centroid and evaluated the statistics of the horizontal and vertical wavefront tilt as a function of the aperture diameter and seeing conditions. We found several evidences of anisotropy of turbulence at MSSS. On four nights we observed that the variance of on-axis horizontal tilt exceeded the variance of the vertical tilt by a factor of 1.3-3.3. We believe that this is due to anisotropy of large-scale turbulence, where the horizontal scale of the turbulent inhomogeneities exceeds their vertical scale. The estimates of the horizontal and vertical turbulence outer scale confirmed this conclusion. In addition, in several data sets the horizontal image spot diameter of the long-exposure star image exceeded the vertical image spot diameter. We also found that large apertures are more likely to have higher anisotropy coefficient values than small apertures. This is because the contribution of small-scale isotropic turbulence to the image centroid reduces with increasing telescope diameter. In the case of isotropic turbulence, the power spectral densities (PSDs) of wavefront tilt are consistent with theoretical models. The telescope vibration modes were observed at 20 Hz. In the case of anisotropic turbulence, the PSDs of the horizontal tilt component have lower slope in the high frequency range, and difference between PSDs for large and small apertures is reduced. The anisotropy of turbulence and atmospheric tilt may affect the design and performance analysis of both active and passive optical systems.
We discussed the energy flux conservation law and noted that for all turbulence realizations atmospheric turbulence causes exclusively internal redistribution of laser irradiance inside the laser beam, whereas total energy flux stays the same. We proposed to use an energy flux preserving system architecture in laser communication systems. This architecture reduces the effect of turbulence-induced scintillation on the bit error-rate (BER) to zero and allows us to achieve free-space performance in the presence of strong turbulence using a low power laser. We performed two field demonstrations of the scintillation-free laser communication (SFLC) system using a static retro-reflector. In these demonstrations a BER<10-10 was routinely measured at 0.5 km range in daytime sea-level turbulence using a 10 mW laser. We discussed an implementation of the SFLC system and benefits provided by this system. We concluded that for any practical application, the benefit provided by SFLC, namely, its ability to achieve an exceptionally low bit-error-rate (BER) using a low power laser, should be compared with the system cost and complexity.
The tracking algorithm is presented that reduces the influence of the camera motion on the tracking performance. The algorithm uses a change detector. The target motion is described by parameterized optical flow. The flow parameters are estimated using Kalman filtering. The algorithm allows us to estimate the target motion without any bias associated with the camera motion. The effects of thermal blooming on high-energy laser beacon for air-to-ground directed energy system are evaluated. The laser fluence at the target and power in the bucket are evaluated for various tactical engagement scenarios and different atmospheric conditions. The critical laser power that can be efficiently transmitted through the atmosphere is evaluated. Two techniques for mitigating the effects of thermal blooming including a method based on pointing of a high energy beam "downwind" to correct for the thermal blooming tilt and focusing a high energy beam beyond the target range are evaluated. We found that the power in the bucket at the target at the optical axis of a high energy beam for tactical directed energy system increases about one order of magnitude due to correction of the thermal blooming tilt.
Laser communication has an enormous potential to provide a secure, jam-resistant, low detection probability and high-bandwidth means of communmication to support multimedia, imagery, video, mapping and other command and control functions in battlefield environments. In this paper, we discuss the development of a complete numerical model for free-space laser - PamCom model. We examine results obtained in the preliminary study that validate the feasibility of a selected approach. We review the estimates for atmospheric transmission for various lasercom links at 1.55 μm, analysze spatial-temporal statistics of the scintillation mititigation techniques. In addition, we review results for the link performance analysis including the SNR and BER calculations and examine predictions for the irradiance probability density function (PDF) from various models. Finally, we discuss the composition and top level architecture of the Pam Com model, which will be usable for a wide variety of scenarios, involving terminals on aricrafts, satellites, and the ground, and will be designed for use in DoD and commercial lasercom system design, test, and evaluation.
We investigated an edge response of an extended object in a turbulent atmosphere using imagery data acquired with a double-waveband passive imaging system operating in the visible IR wavebands and an actively illuminated optical sensor. We made two findings. We found that the edge response of an extended object is independent of an exposure time, and an atmospheric tilt does not contribute to the image blur of an extended object. In addition, we found that turbulence-induced image blur for an extended object reduces, not increases, with the imager diameter. Therefore, one can reduce the turbulence-induced image blur for an extended object reduces, not increases, with the imager diameter. Therefore, one can reduce the turbulence-induced blur by increasing aperture diameter of an imaging lens. Both findings contradict the predictions of the conventional imaging theory, suggesting that the conventional theory is not applicable to extended anisoplanatic objects. We provided physical interpretation for the results obtained. In addition, we discussed the mitigation techniques that allow us to reduce both turbulence-induced image blur and edge waviness in optical images.
A megawatt-class high energy laser aboard a Navy ship could provide effective self defense against modern anti-ship missiles. The free electron laser is a candidate for use in this mission, and has several advantages over chemical lasers, which have been previously considered. One obvious advantage is wavelength tune-ability of teh FEL-allowing tuning of the laser wavelength to an atmospheric spectral window of minimum absorption. This study reports on analysis performed to select optimum wavelengths for a ship-based FEL in consideration of atmospheric effects. We examine atmospheric absorption, scattering, trubulence, and thermal blooming, and compare their relative importance in optimizing power in the bucket on target for representative scenarios. We also examine the issue of thermal blooming caused by atmospheric aerosol absorption, and examine the relative absorption of open-ocean vs continental aerosols. We find excellent propagation results at 1.625 and 1.047 microns.
A dual-band imaging system with variable aperture diameter was constructed and horizontal and vertical atmospheric tilt components were measured on a 1-km near-the-ground horizontal path using discrete and extended visible and JR sources. The spatial and temporal tilt statistics were estimated from the recorded data. Tilt structure function, which also characterizes v ariance of the p ointing error caused by anisoplanatism of t he track point to the aim point in the 1 aser projection system, for small angular separation decreases inverse proportionally to the aperture diameter D1 . The tilt structure function is insensitive to sensor vibration. For a point ahead angle of 0.45 mrad the daytime rms pointing enor caused by tilt anisoplanatism is 12 prad for D= 6 cm, and it is 5 prad for D= 40 cm. The tilt power spectral density agrees well with theory. Jt has the "-2/3" power slope, and the ratio of the two knee frequencies is equal to the inverse ratio of the aperture diameters. The tilt temporal conelation increases with the aperture diameter. The temporal conelation scale is 0.25 sec for D=6 cm and it is 1 sec for D= 40 cm. The C measurements made with discrete JR sources and an optical imager agree well with the measurements made with a scintillometer. The structure function for the lateral (Y) tilt exceeds that for the longitudinal (X) tilt, which is inconsistent with the theoretical prediction. We believe that heat-induced turbulence from the JR sources and a wind component parallel to the optical path degraded the measurements of the vertical tilt. Three mitigation techniques were considered including an increase of the aperture diameter, integration of the image edge over the edge angular extent, and averaging of multiple frames. A multi-frame averaging technique is known to be efficient for mitigation of the effects of turbulence induced scintillation and laser speckle. We found that by averaging multiple image frames one can mitigate the effects of tilt anisoplanatism as well. We also found that the edge response for a multi frame averaged image and a single frame image is the same. This allows us to conclude that a multi frame averaging technique for an extended object does not affect the system angular resolution.
The e ffects o f a tmospheric turbulence o n the g round—to-space p ropagation p ath a nd P oisson sh ot n oise o n a n a ctive laser-based imaging system for high-resolution imaging of Geosynchronous (GEO) satellites are investigated using a wave-optics simulation code. The phase and scintillation statistics in tilt corrected and uncorrected beams are examined at the top ofthe atmosphere and at the satellite. The effects of intensity and phase variations in the illuminating beams on the fringe visibility and spatial frequency of the interference pattern formed by the illuminating beams at the satellite are investigated. The Fourier phase variance caused by Poisson shot noise and turbulence on the uplink path is evaluated. We found that tilt correction reduces the scintillation in the laser beam at the satellite. In the Fourier telescopy system the scintillation variance at the edge of the beam is reduced by a factor of up to 3 for a tilt corrected beam. Long-range propagation in free space reduces scintillation in the illuminating beam. The scintillation variance in the Fourier telescopy system on the optical axis at the satellite is reduced by 26% to 36 %, as compared to that at the top of the atmosphere. The latter is due to diffraction of the laser beam in free space and enhancement of the spatial coherence of the beam described by the Van Cittert-Zernike theorem. The intensity spatial correlation scale in the scintillation pattern exceeds the satellite dimensions. This leads to a so-called residual turbulent scintillation effect, when the scintillation in the illuminating beam modulates the total reflected energy flux. As a result, an arbitrarily large receiver on the ground cannot average the received signal variations. This degrades the Fourier telescopy system performance. Also intensity and phase variations in the illuminating beams degrade the interference pattern formed at the satellite. The turbulence effect on the fringe visibility is stronger at high spatial frequencies. Intensity variations in the illuminating beams degrade the fringe visibility the most. Poisson shot noise and scintillation on the uplink path strongly impacts the Fourier phase of the object. In the turbulent atmosphere the Fourier phase variance increases by a factor of 1 .5-3, as compared to that in free space. The increase of the phase variance is caused by a non-linear interaction between the two statistically independent noise sources. For the nominal signal level and number of averaged pulses the Fourier phase variance is less than 0.1, or ()L I20)2 . This suggests that the Fourier telescopy method is feasible.
The agility and speed with which directed energy can be retargeted and delivered to the target makes a laser weapon highly desirable in tactical battlefield environments. A directed energy system can effectively damage and possibly destroy relatively soft targets on the ground. In order to accurately point a high-energy beam at the target, the directed energy system must be able to acquire and track targets of interest in highly cluttered environments, under different weather, smoke, and camouflage conditions and in the presence of turbulence and thermal blooming. To meet these requirements, we proposed a concept of a multi spectral tracker, which integrates three sensors: SAR radar, a passive MWIR optical tracker, and a range-gated laser illuminated tracker. In this paper we evaluated the feasibility of the integrated optical tracker and arrived to the following conclusions: a) the contrast enhancement by mapping the original pixel distribution to the desired one enhances the target identification capability, b) a reduction of the divergence of the illuminating beam reduces rms pointing error of a laser tracker, c) a clutter removal algorithm based on active contours is capable of capturing targets in highly cluttered environments, d) the daytime rms pointing error caused by anisoplanatism of the track point to the aim point is comparable to the diffraction-limited beam spot size, f) the peak intensity shift from the optical axis caused by thermal blooming at 5 km range for the air-to-ground engagement scenario is on the order of 8 μrad, and it is 10 μrad at 10 km range, and e) the thermal blooming reduces the peak average power in a 2 cm bucket at 5 km range by a factor of 8, and it reduces the peak average power in the bucket at 10 km range by a factor of 22.
We investigated the effect of strong turbulence on wavefront sensing and compensation by using an adaptive optics (AO) system for non-cooperative targets. We found that for a non-cooperative target in high scintillation environments beacon anisoplanatism degrades the AO system performance, in addition to the scintillation and branch points. In deep turbulence, a beacon wave from an extended beacon samples different turbulent inhomogeneities and acquires different phase aberrations than a beacon wave from a point reference source. This corrupts the optical field of the beacon wave and degrades the AO performance. To mitigate the effects of beacon anisoplanatism we introduced two approaches. The first method is based on an optimization of the aperture diameter of the illuminating beam to reduce the spot size of the beacon. We found that this approach provides a modest Strehl ratio gain for some range of turbulent conditions. The second method includes an estimate of the Green's function for propagation through turbulence from the phase measurements made with an extended beacon, and the use of the Green's function estimate in the beam control system. We plan to evaluate this method in the future work.
Fourier Telescopy is an active laser-based imaging method for high-resolution imaging of dim objects in Geosynchronous (GEO) orbit. The Geo Light Imaging National Testbed will be buit to demonstrate new powerful imaging capability. Several processes including laser speckle, atmospheric turbulence on the downlink and 1-km horizontal path, as well as Poisson shot noise can contribute to the measurement error of the Fourier phase of the object and thus degrade the reconstructed image. We investigated the impact of three processes including laser speckle, turbulence, and Poisson shot noise on the measurement error of the Fourier phase. We introduced the concept of power-in-the-bucket receiver and applied this concept to the receiver in the Fourier telescopy system. We found that the power-in-the-bucket receiver cancels the effects of turbulence on the horizontal path on the Fourier telescopy system. We evaluated variance of the real and imaginary parts of the triple product, as well as variance of the Fourier phase of the object by using a numercal simulation code. The twelfth moment of the optcal filed was calculated in the resenceof laser speckle, atmospheric turbulence, and Poisson shot noise. Simulation results confirmed that Fourier telescopy system is immune to the efects of turbulence on the horizontal path. It also showed that the effect of turbulence on the downlink path on the triple product is small. Laser speckle contributes strongly to the variations of the real part of the triple product and weakly to the imaginary part. Statistical properties of the triple product depend on the noise source. Poisson shot noise and laser speckle poduce the main contribution to the variance of the triple product and measurement error of the object Fourier pase. Phase variance reduces with increasing the number of heliostats, number of pulses, fringe visibility, and fringe signal-to-noise ratio. For 40 heliostat receivers, 100 averaged pulses, and all considered fringe SNRs and fringe visibilities the phase variance caused by Poisson noise, laser speckle, and turbulence on the downlink path is significantly less than 0.36, which corresponds to the phase measurement accuracy of 1/10 of the wave.
We investigate a speckle sensitivity of the receiver in the Fourier telescopy imaging system that has been proposed for high-resolution imaging of Geostationary (GEO) satellites using laser illumination. A theory and numerical results are presented for a speckle bias of the triple-product, which is used in a phase-closure-procedure to remove turbulence- induced low frequency phase distortions on the uplink propagation path. We show that in the far zone of the object and far zone of the turbulence coherence scale, atmospheric turbulence degrades spatial coherence of a reflected field and increases speckle averaging by the receiver. This reduces speckle bias of the phase-closure triple-product by several orders of magnitude and thus reduces speckle sensitivity of the receiver. The Van Cittert-Zernike theorem generalized to randomly inhomogeneous medium is presented and applied to interpretation of the results obtained. Two competing processes, diffraction of the illuminated beam on the satellite and turbulence-induced wavefront distortions of a speckle field in the atmosphere determine the size of the spatial coherence scale at the receiver. On one hand, the coherence scale of a speckle field increases with the distance due to diffraction on the satellite. On the other hand, it decreases due to turbulence-induced wavefront distortions. For the propagation scenario corresponding to a GEO satellite, the second process predominates. Coherence degradation of a speckle field caused by turbulence reduces speckle sensitivity of the receiver in the Fourier telescopy system. Experimental data that validate the generalized Van Cittert Zernike theorem in the turbulent atmosphere are reviewed.
We investigate the effects of turbulence on pupil-plane speckle imaging system that has been proposed to provide high-resolution images of a low Earth orbit (LEO) satellite using laser illumination. We present a theory and numerical results for the normalized speckle covariance for one- dimensional object in the turbulent atmosphere and demonstrate that turbulence-induced anisoplanatism and scintillation degrades this characteristic. The effect of anisoplanatism is associated with the finite size of a satellite. Due to a finite satellite dimension, optical waves arrive at the receiver from different directions determined by the angular size of the satellite and sample different turbulence. The resulting phase difference degrades the normalized speckle covariance. This effect is similar to the degradation of the performance of adaptive optics system caused by turbulence-induced anisoplanatism when a reference beacon is separated from the target at some distance. Scintillation on the downlink path also degrades the normalized speckle covariance. It causes the dc- and ac- components of the speckle correlation to exceed their values in a free space when the separation between the observation points is smaller than the spatial correlation scale of the scintillation. At the same time, both components are decreased for large separations when scintillation is uncorrelated. This reduces the normalized speckle covariance and can degrade the performance of a pupil-plane speckle imaging system. The effect of scintillation on the dc- and ac-components of the speckle correlation is similar to the enhanced backscatter phenomenon, in which the average power of the laser return in the strictly backward direction in the turbulent atmosphere exceeds its value in free space. For a small object, the effect of scintillation on the speckle covariance predominates. The speckle statistics for the space-to-ground scenario differ from that for the horizontal path.
We have experimentally validated the concept of a differential image motion (DIM) lidar for measuring vertical profiles of the refractive index structure characteristic C by building a hard-target analog of the DIM lidar and testing it against a conventional scintillometer on a 300 m horizontal path, throughout a range of turbulent conditions. The test results supported the concept and confirmed that the structure characteristic C can be accurately measured with this method. Analysis of the effect of scintillation on DIM lidar has been performed. It is shown that the lidar has a scintillation resistant capability. Turbulence and lidar calculations were performed. These calculations confirmed that the DIM lidar is practical.
A theoretical model for the edge image waviness effect is developed for the ground-to-ground scenario and validated y use IR imagery data collected at the White Sands Missile Range. It is shown that angle-of-arrival (AA) angular anisoplanatism causes the phenomenon of edge image waviness and that the AA correlation scale, not the isoplanatic angle, characterizes the edge image waviness scale. The latter scale is determined by the angular size of the imager and a normalized turbulence outer scale, and it does not depend on the strength of turbulence along the path. Spherical divergence of the light waves increases AA correlation. A procedure for estimating the atmospheric and camera-noise components of the edge image motion is developed, and implemented. A technique for mitigation of the edge image waviness that relies on averaging the effects of AA anisoplanatism on the image is experimentally validated. The edge waviness is reduced by a factor of 2-3. The time history and temporal power spectrum of the edge motion are obtained. These data confirm that the observed edge motion is caused by turbulence.
We report preliminary results of wavefront tilt measurements for the star Polaris at the Starfire Optical Range 3.5 m telescope at Kirtland AFB in Albuquerque, NM. We measured full aperture gradient tilt by using five pupil masks representing aperture diameters from 0.1m to 3.5m. Two optical configurations were exploited. In the first configuration, five images of Polaris were recorded simultaneously on one camera frame. The telescope was operated in its normal sidereal pointing mode. In the second configuration, pupil masks were changed sequentially. Additional measurements were collected with the telescope bolted to attempt to mitigate the effects of mont jitter. The coordinate system of the tilt measurement was rotated so that the cross-correlation coefficient between X- and Y-axis tilt components is equal to zero. Several interesting results were obtained. We observed anisotropy of the statistics of wavefront tilt. The observed one-axis tilt variances are unequal and the horizontal tilt variance is consistently greater than the vertical one. We believe these effects dare due to anisotropy of the large evidence of the effects of non-Kolmogorov turbulence on wavefront tilt. The measured tilt variance vs. aperture diameter curve has a knee beyond which the tilt variance no longer decreases for larger diameters. In the low and high frequency range the tilt power spectra obey the f-2/3 and f-11/3 power law, respectively. The tilt temporal correlation scale for the 3.5m aperture is on the order of 0.4 sec.
We have experimentally demonstrated for the first time a method for sensing wavefront tilt with a laser guide star (LGS). The tilt components of wavefronts were measured synchronously from the LGS using a telescope with 0.75 m effective aperture and from Polaris using a 1.5 m telescope. The Rayleigh guide star was formed at the altitude of 6 km and at a corresponding range of 10.5 km by projecting a focused beam at Polaris from the full aperture at the 1.5 m telescope. Both telescope mounts were unpowered and bottled down in place allowing us to substantially reduce the telescope vibration. The maximum value of the measured cross-correlation coefficient between the tilt for Polaris and the LGS is 0.71. The variations of the measured cross- correlation coefficient in the range from 0.22 to 0.71 are caused by turbulence at altitudes above 6 km, which was not sampled by the laser beacon, but affected the tilt for Polaris. It is also caused by the cone effect for turbulence below 6 km, residual mount jitter of the telescopes, and variations of the S/N. The experimental results support our concept of sensing atmospheric tilt by observing a LGS with an auxiliary telescope and indicate that this method is a possible solution for the tip-tilt problem.
We have observed experimental evidence of the effects of non-Kolmogorov turbulence (NKT) on wavefront tilt. In addition, we have observed the anisotropy of the horizontal and vertical tilt components caused by the anisotropy of turbulence near the telescope. We developed an experimental method, which allowed us to eliminate telescope vibration and isolate the atmospheric tilt from the star Polaris. The spatial and temporal statistics of the wavefront tilt were determined by using aperture masks having diameters in the range from 0.1 m up to 3.5 m. The measured dependencies of the tilt variance on the aperture diameter deviate from the prediction based on the Kolmogorov model. These dependencies have a knee, where the tilt variance approaches a constant level determined by NKT. Anisotropy was observed when comparing the X and Y components of wavefront tilt. On average the horizontal outer scale of turbulence estimated from the tilt statistics is larger than the vertical one by a factor of 2-3. Local topographical features and the telescope dome affect the outer scale with the result that the outer scale measured at the 1 .5 m telescope is smaller than that at the 3 .5 m telescope. The tilt power spectra have a ç2/3 andf"3 behavior in the intermediate and high frequency range, respectively, which is predicted by the Kolmogorov model. In the low frequency range, the spectra do not obey the prediction of existing theoretical models. In this range the power spectra of the horizontal tilt exceed that for vertical tilt as a consequence of anisotropy of turbulence. The tilt temporal correlation scale increases with increasing aperture size. For the large apertures the tilt correlation scale is ofthe order of a few seconds.
Two techniques for mitigation of turbulent degradation effects are presented. Both techniques do not require sensing and compensating for the wavefront aberrations. The first method is based on the fact that the coherence radius of a focused beam in a wide range of turbulent conditions does not depend on the strength of turbulence and coincides with a diffractive diameter of the beam. In this regime the coherence scale of the beam increase with increasing distance and decreasing the aperture size. This permits us to mitigate the coherence degradation of the beam. It is the coherence radius to the effective beam size.THe experimental data, which support the theoretical predictions are presented. The second method relates to the phenomenon called regular change of the mean wavefront curvature caused by turbulence. This method use a systems with a variable image plane, which position is adjusted in accordance with variations of the strength of turbulence. Both methods permit us to increase the Strehl ratio of an imaging system without sensing and compensating for wavefront aberrations. A combination of the two techniques can also be exploited.
The effect of non-Kolmogorov stratospheric turbulence on star image motion is for the first time experimentally investigated with a ground-based telescope. A new approach permitting isolation of star image motion induced solely by atmospheric turbulence is employed. In this technique Polaris image wander is recorded with the telescope bolted in place to minimize uncontrolled telescope motion. High resolution temporal and spatial statistics of wave-front tilt are obtained. The dependencies of tilt variance, tilt power spectra, and tilt temporal correlation on telescope diameter are investigated for five apertures in the range 0.1-1.5 m. The experimental data show the dependence of tilt variance on telescope diameter does not follow the predictions of the Kolmogorov and von Karman models. The graph of the measured dependence has a “knee” which can be explained only by assuming a non-Kolmogorov stratospheric turbulence effect. The difference between tilt components in different axes indicates anisotropy in stratospheric turbulent inhomogeneities. The slopes of the measured tilt power spectra, approximately -1 in the low frequency range and -8/3 in the high frequency range, do not agree with theoretical predictions. The measured tilt temporal correlation scale is in the range 0.1-1.0 s, and the behavior of the correlation coefficients indicates the effect of large scale inhomogeneities not predicted by the conventional model. Uncontrolled telescope motion is manifested as a “bump” in the tilt power spectra in the range 70-90 Hz, but this makes an insignificant contribution to Polaris jitter variance.
A new approach for the experimental study of tilt angular anisoplanatism is developed. This method uses measurements of the random motion of a moon edge image to assess wavefront tilt. This technique provides a wide, continuous range of angular separations which are not available in observations of binary stars. It is determined that the brightness of the moon is sufficient to make observations with a high resolution imaging system. Statistical properties of the tilt angular correlation and tilt averaging function are experimentally investigated. It is shown that tilt angular correlation scale increases from 40 arcsec to 118 arcsec by increasing telescope diameter, indicating that the concept of isoplanatic angle is not applicable to tilt-related phenomena.
A method for measuring full aperture tilt with a laser guide star (LGS) is described. The method uses a single monochromatic LGS formed by a laser beam transmitted through the main telescope and two arrays of small auxiliary telescopes separated from the main telescope in transverse directions. To achieve the Strehl ratio required for practical adaptive optics (AO) systems, the method uses an averaging of the LGS image over the position of the auxiliary telescope in the telescope array and over position of a subaperture within the auxiliary telescope, along with integration over FOV of the receiver and over time. I show that the contribution of the down propagation path can be considerably reduced by increasing the number of auxiliary telescopes and the number of subapertures, as well as by time integration. With this method Strehl ratio equal to 0.7 can be achieved for various seeing conditions, telescope diameter, and wavelength, including a visible waveband.
The two techniques for sensing full aperture tilt with a laser guide star (LGS) are described. The first technique exploits a full aperture beam transmitting through the main optical train. The two auxiliary telescopes, which are separated from the transmitter in transverse directions, are used to measure a laser beacon image motion. The contribution of the down propagation path to the tilt that is measured with an auxiliary telescope is eliminated by averaging LGS image over a laser beacon angular extent. Such averaging requires FOV of the receiver which greatly exceeds the tilt angular correlation scale. A second method exploits a small aperture beam transmitted from behind a portion of a primary mirror of the main telescope. A laser beacon image motion is measured simultaneously with the main and auxiliary telescopes. A full aperture tilt is determined by subtracting the tilt measured with the main telescope from that measured with an auxiliary one. This method does not require transmitting laser irradiance through the main optical train, and it might be used for the mesospheric sodium layer. A scheme for measuring uncontrolled motion of the main telescope is also considered.
A full aperture tilt sensing technique which does not require transmitting laser irradiance through the main optical train is described. This technique is based on measurements of differential motion of the images of the two laser guide stars (LGSs) formed in the atmospheric sodium layer by the two parallel collimated laser beams separated at a distance equal to the telescope diameter. It is shown that a one-axis wavefront tilt component might be determined by measuring the LGS's differential motions simultaneously with the main telescope and with an auxiliary telescope. To sense two tilt components, four laser beam and two auxiliary telescopes are needed. A tilt angular anisoplanatism is studied, and parameter of the tilt measurement scheme are estimated.
We have investigated the feasibility of building an innovative optical remote sensing instrument to monitor the vertical profile of the refractive index structure characteristic Cn2. There is currently no active optical remote sensing instrument which is capable of doing this. Calculations have been performed for a system designed specifically to resolve a site survey question at the South Pole, where recent balloon soundings suggest that excellent astronomical seeing conditions could be obtained by mounting telescopes above a thin layer of atmospheric refractive turbulence near the surface. The new sensor considered here is essentially an imaging lidar which measures range- dependent laser beam wander, from which the vertical profile of Cn2 can be derived. Calculations based on atmospheric characteristics and preliminary design parameters have been carried out for a practical system based on commercially available components. Design parameters include the choice of operating wavelength, elevation angle, transmitter and receiver diameters, and image scale. The calculations indicate that it is feasible to develop an optical remote sensor for monitoring vertical profiles of Cn2 at the South Pole.
A single-ended, non-Doppler, laser wind sensor has been developed to measure path-integrated cross winds by viewing a distant target through a large telescope and observing the motion of a laser speckle pattern. The speed of the moving speckle pattern is determined by a cross-correlation between the signals from two detectors in the telescope focal plane. A prototype laser wind sensor was developed and tested. Results are shown for a laboratory test in a wind tunnel and for an outdoor test in a non-homogeneous wind field. Practical applications of the sensor are discussed, and possible modifications to measure two- or three-dimensional wind fields are described.
There is currently no active, single-ended optical technique for remotely sensing the refractive index structure characteristic Cn2 in the turbulent atmosphere. A capability to remotely measure Cn2 is needed in several areas. In astronomy, the vertical profile Cn2(h) is required in order to understand and improve the performance of adaptive optics systems, and measurements of Cn2 in arbitrary directions above fixed points on the ground would be useful in site surveys. Researchers in basic atmospheric physics need an optical technique because it would be sensitive to temperature fluctuations only and not water vapor fluctuations, unlike the radar and acoustic sounders which are currently used. Understanding laser beam degradation, for communications, power beaming, or weapon system development, also requires a knowledge of Cn2. An optical remote sensor for Cn2 could also be used for horizontal, path-averaged measurements, to infer fluxes of heat and momentum over land or sea surfaces. We have recently proposed three different lidar-type techniques for remote sensing of Cn2, based on the following phenomena: enhanced backscattering, residual turbulent scintillation, and image distortion. Each of these techniques is reviewed here in terms of its advantages and disadvantages for various applications, and some considerations for practical systems are also discussed.
A joint effect of the non-Kolmogorov stratospheric and Kolmogorov tropospheric turbulence on star image motion is studied, and the theoretical predictions are compared with measured data. It is shown that for a large telescope the stratosphere can produce a considerable effect on star image motion. The stratospheric component of a wavefront tilt, similar to the tropospheric one, is wavelength independent, and that permits us to sense the tilt at visible wavelengths for compensation at near infrared wavelengths. The techniques which permit us to single out the contribution of the stratosphere to star image motion, and to exclude the effect of uncontrolled telescope motion on the measured data are described. An analysis of the stratospheric effect on the phase fluctuations power spectrum of a starlight is performed, and it is shown that this effect possibly should be taken into account for interpretation of the interferometric stellar data.
We introduce a model for the power spectrum of stratospheric turbulence that is based on data from in situ measurements and on results of the theory of saturated internal gravity waves. We then study the effect of that stratospheric turbulence has on the scintillation, the coherence of starlight, and on the degradation of star image. It is shown that because the stratospheric phase structure function is approximately quadratic over distance comparable with the aperture of a large telescope, stratospheric turbulence does not significantly degrade short-exposure images of star but does degrade long-exposure ones. The influence of stratosphere on star image degradation is more important in the IR than in the visible range because of the specific dependence of the stratospheric coherence radius on the light wavelength. Star image motion and blurring are determined by different characteristics of the atmosphere and cannot be explained solely on the basis of Kolmogorov model. The modified astronomical imaging theory predicts greater improvement in resolution due to tilt removal than a conventional theory.
A technique for measuring a full aperture tilt (FAT) with a laser guide star (LGS) is proposed. It is shown that information about a FAT is lost in a conventional LGS scheme because of the reciprocity of propagation paths. As a consequence neither the conventional LGS scheme nor its modifications with the receiver coaxial with the transmitter can be used to sense the FAT. A bistatic scheme that permits us to overcome the above difficulty is considered. This scheme permits us to single out the tilt component corresponding to the transmitting beam which is highly correlated with the FAT for a natural star. The tilt component corresponding to the reflected wave can be averaged out by averaging a LGS image motion over its angular extent. Such an averaging, however, does not affect the tilt component corresponding to the transmitting beam. This tilt conservation effect occurs due to the fact that a random motion of the transmitting beam causes a displacement of the LGS as a whole. The accuracy of measuring a FAT with a LGS is determined and the requirements for the measurement scheme are discussed.
A new remote sensing technique is described here for monitoring the vertical distribution of the intensity of atmospheric turbulence. The technique has several applications, including improving the performance of adaptive optics systems, prediction of laser beam degradation on long distance propagation paths, and site surveys for astronomy. The physical phenomenon underlying this method is caused by phase fluctuations, and as a result, this method does not saturate with increasing refractive index structure characteristic Cn2 or with distance, and it is not affected by variations in the inner scale of turbulence. This method permits us to measure both the vertical profile of Cn2 and an anizotropy coefficient of the atmospheric turbulence. Estimates of expected measured quantities are obtained, and they show that the proposed technique could be realized with existing optical systems.
The theory of a new lidar technique which exploits the residual turbulent scintillation (RTS) effect in order to remotely sense the structure parameter Cn2 has recently been reported. In this paper, we describe the design considerations for a demonstration experiment. The primary objective of the demonstration is to collect and analyze a set of data which will demonstrate the RTS effect in the real atmosphere and relate it to Cn2. The second objective is to obtain detailed performance parameters which will permit us to design future RTS systems for routine Cn2 profiling. The demonstration will require a transmitter based on a pulsed visible-light laser with a clean beam profile, and a receiver based on a gated imaging system with a digital readout. The receiver aperture must be large in order to collect as much light as possible. Specific design considerations are developed here for a demonstration based on an existing laser used in conjunction with the 1.5-meter telescope at the Starfire Optical Range in Albuquerque, New Mexico, and its associated optics and data recording equipment.
A new volume-scanning crossed-path lidar technique for studying atmospheric intermittency in the surface and boundary layers is proposed. This technique provides a spatial resolution of 25 m and a temporal resolution of several seconds, and it permits us to study turbulent structures and processes in the atmospheric surface and boundary layers by performing a volumetric mapping of the optical refractive index structure parameter field. Unlike radar and acoustic sounders, this technique is not affected by humidity fluctuations. Lidar performance estimates show that the proposed technique is practical.
A new approach to the statistical analysis of fluctuating, photon-limited signals that permits us to accumulate and process the lidar returns without averaging of the reflected energy fluctuations is developed. This approach requires recording the photocounts for each pulse in a series of pulses and then determining photocount statistics. Based on the semiclassical theory of photodetection and Mandel's formula, a relationship has been obtained between the time-space cross correlation function and the cross spectrum of the lidar returns and corresponding photocount statistics. It is shown that the relative uncertainties of measuring the cross correlation or the cross spectrum of the lidar returns is determined by the general number of photocounts, but not by their mean value. A fast-scanning lidar system, which is based on a new photocounting analysis approach, is described for 3D wind field mapping in the atmosphere at altitudes up to 5 km. A program for the experimental verification of the new approach is presented.
A theory for a new laser guide star technique is developed. This technique, for the first time, permits the sensing of a full-aperture tilt of the atmospheric wave front distortions using a laser guide star, eliminating one of the fundamental limitations of adaptive optics. By using a detailed analysis of the laser guide star image jitter for a conventional scheme and for its possible modifications, it is shown that, because of reciprocity of propagation paths, a conventional laser beacon is unable to sense a full aperture tilt and can be only used to measure the higher-order wavefront distortions. The full aperture tilt can be measured with a divergent beam if its effective size at a laser beacon altitude coincides with the radius of a receiving telescope. Estimates of the modified laser guide star image jitter rms, signal-to-noise ratio, and the mean square deviation between the instantaneous tilts for the modified laser beacon and a natural star are obtained, and it is shown that the proposed technique is practical.
A new remote sensing technique is proposed for determining the turbulent parameters of the atmosphere using a single-ended lidar system. This technique is based on the enhanced backscattering effect and is insensitive to the scattering volume averaging effect on the intensity fluctuations of the reflected wave and the sounding beam. The corresponding measurements are independent of the turbulent scintillation spectrum and that permits the use of high power pulsed lasers with a relatively low repetition rate for determining the refractive index structure characteristic Cn2, its vertical profile Cn2(h) and inner scale of turbulence lo in the atmosphere. A theory of the method is developed, and the conditions are obtained for observing the backscattering amplification effect in the atmosphere with a laser beam scattered by aerosol. The signal-to-noise ratio and the sensitivity of the measured quantities to the inner scale of turbulence lo variations are estimated. A planned demonstration of this technique in the boundary layer of the atmosphere with an eyesafe lidar which has been developed at Georgia Tech is discussed.
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