POINTING ERROR CORRECTION FOR MEMS LASER COMMUNICATION SYSTEMS
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1 POINTING ERROR CORRECTION FOR MEMS LASER COMMUNICATION SYSTEMS Baris Cagdaser, Brian S. Leibowitz, Matt Last, Krishna Ramanathan, Bernhard E. Boser, Kristofer S.J. Pister Berkeley Sensor and Actuator Center 497 Cory Hall, University of California, Berkeley CA USA ABSTRACT We propose the use of free-space optical communication for information transmission between small airplanes <m wing span. The transmitter directs a focused laser beam (~ mrad full-width-half-max, FWHM) to the receiver using a 2 degree-of-freedom (DOF) MEMS mirror for pointing. Gyroscopes are used to monitor and compensate for short-term motion of the transmitter. Periodic dithering corrects gyroscope drift and tracks the motion of the receiver. A DOF prototype with commercially available mirrors and gyroscopes shows that the proposed algorithms use less than 4 percent of the available communication bandwidth. KEY WORDS Free space optical communication, gyroscope drift, system architecture.. INTRODUCTION Highly directional laser beams are promising candidates for high-bit rate, interference free, and low power free-space communication. Platforms hosting the optical transceiver determine some important specifications of the system. Sending video images from unmanned micro air vehicles (µav) flying more than 5 km away from the nearest receiver is our main goal. Data rate of the link is > Mbps. Limited resources on the small airplane require minimization of extra power consumption for the benefit of flight range and duration. Fig : Artists conception of information relayed from µav to µav to ground station. Host vehicle dimensions also limit the maximum payload, and require a compact and light transceiver design. We propose the use of MicroElectroMechanical Systems (MEMS) based optical transceivers for solving both the power and the payload challenges. Main components of the MEMS transceiver are a laser beam with a steering device, a receiver and a control system employing gyroscopes for maintaining a high accuracy pointing, Fig. 2. The steering device is a 2 degree-of-freedom (DOF) mirror with a diameter < mm. Devices are designed in Silicon-on-Insulator (SOI) technology to achieve stiff and flat mirrors with resonance frequencies above khz []. Size of the transmitter, signal strength requirement for the receiver and an eye safe operation translate into a FWHM beam divergence of mrad [2]. Opposite end 2 Receiver LOS () 2 DOF MEMS mirrors and transmitters, (2) Gyroscopes, (3) CMOS receiver, (4) Lens Fig. 2: Main components of a MEMS optical transceiver. For continuous illumination of the opposite end the control system must adjust the laser pointing direction in response to motion of the transmitter and receiver. The motion of the receiver requires only slow updates, except when the transmitter and receiver are very close. In the transmitter, however, even small motion, especially in the elevation and azimuth angles, requires fast correction. Since the transmitter is mounted on a small airplane in the target application, vibrations from the engine or air turbulence produce an error spectrum with significant energy up to 200 Hz. 4 3 Beam heading
2 Assuming there is a link acquired between two µavs, position of the opposite end relative to the center of the transmitted beam provides useful information for detecting the misalignment. The system periodically dithers the transmit direction. Losing the link as a result of dithering indicates the direction of misalignment, and provides a rough estimation of its value. A correction following each detection keeps pointing errors bounded. Periodic application of the dithering method uses some fraction of the time available for the data transfer. As a result of this, we cannot frequently apply dithering and it is effective only for errors growing slowly. For high frequency components of the error spectrum, gyroscope stabilization provides the necessary rejection. Two MEMS gyroscopes [3] incorporated into the controller detect undesired vibrations coupling to azimuth and elevation angles. The controller compensates the mirror position according to the gyroscope measurements. Intersatellite communication systems encounter a similar pointing accuracy requirement. Designs proposed for these systems employ optical antennas with diameters as large as 20 inches [4]. Optical systems with such dimensions need 2 DOF low bandwidth gimbal assemblies for providing the necessary steering, Fig. 3. For rejecting high frequency platform vibrations, they also incorporate gyroscope controlled fast steering mirrors (FSM) into their optical path. Compared to this case, our design has smaller dimensions and power consumption. the beam heading can maintain the link. Dithering, which corrects slowly growing errors, can provide updates needed for tracking the target. Platform vibrations, however, need a correction which is effective at higher frequencies. A conventional solution for this problem is stabilizing the steering device by using gyroscopes. Following sections describe how these two methods are used simultaneously. 2. GYROSCOPE The MEMS transceiver is directly mounted on the host platform. Due to the mechanical coupling, beam steering devices observe the same vibrations as the airplane. Thanks to the amplification of beam width over the distance between the two ends, translational vibrations are not fatal. At 5 km away from the source, a mrad laser beam illuminates an area with a diameter of 5 m. Rotational disturbances, however, directly couple to the steering angle and must be kept smaller than a fraction of the FWHM divergence to avoid an interruption. Platform jitter on a µav can reach up to /- 90 mrad (/- 5 deg). s Gyroscope Errors Gyroscope Disturbance 2 4 Opposite end - MEMS 2 DOF Mirror Desired Position T, LOS 6 3 () 2 DOF Gimbals, (2) Fast steering mirror, (3) Tracking senor, (4) Gyroscopes, (5) Lens, (6) Transmitter Fig 3: Main components of an intersatellite optical communication transceiver. In the following sections details of pointing stabilization in the MEMS system are explained. 5 Laser Beam Transceiver Line of sight Fig. 4: Block diagram of a MEMS optical transceiver. Gyroscopes in the controller measure vibration rate around azimuth and elevation angles. Fig. 4 shows block diagram of the stabilization system for one axis. Since the signal is rotation rate, an integration is necessary for an indirect angular measurement. The system subtracts measured disturbances from the steering angle in order to minimize the effects of platform jitter. The gyroscope output has inherent noise and drift on top of the desired rate signal. Integration causes accumulation of these errors in the beam heading. 2. POINTING STABILIZATION Maintaining the laser link is essential for reliable communication. Two major disturbances in pointing are the motion of the µavs and the vehicle vibration. The first one is a low frequency variation and slowly updating Drift consists of low frequency fluctuations in the sensor offset, and its spectrum has /f characteristics. Hence, low frequency drift has a stronger influence on the steering angle. Drift of the gyroscope used in experiments is shown in Fig. 5. The stabilization system can not reject gyroscope originated errors due to the lack of having closed loop control. The beam heading must be
3 corrected with respect to an external reference. Dithering, which takes the opposite end as a reference, is effective in canceling the gyroscope drift accumulating in the beam heading Gyroscope output, [deg/s] 2.2 DITHERING Fig. 5: Zero input drift of the gyroscope used in tests. Output is sampled at khz and high frequency noise filtered by a 5 th order butterworth filter with Hz cutoff frequency. Using the beam axis as a reference for the error detection requires the link to be already established between the two ends. Dithering is applicable as long as the target is illuminated by the beam. For the sake of simplicity, in the rest of the paper, beam intensity profile is assumed to be flat within the beam divergence and zero otherwise. Diameter of the illuminated region at the target end of the link is proportional to the distance between the two ends. Gyroscope related errors, however, accumulate in the form of undesired angles being added to the beam heading. Therefore, effects of these errors are independent of the distance. The system can maintain communication as long as the pointing is achieved with an error smaller than the beam width. The first phase in a dithering cycle is determining the direction of misalignment. A DOF problem is used for explaining details. As shown in Fig. 6, the laser beam has a divergence of θ beam. Pointing error, θ error, is in the clockwise (cw) direction from the symmetry axis of the laser. This would be the case when the system is experiencing errors steering the beam in the counter clockwise (ccw) direction. In order to find the position of the target, beam heading is increased by θ dither in one of the directions. θ dither determines margins of the region in which correction is necessary. The system applies correction when the target is closer than θ dither to either one of the ends. For instance, in the presence of an error shown in Fig. 6, communication will be interrupted when θ dither in the ccw direction is added to the beam heading. This case is illustrated in Fig. 7.a. Following the interruption, the opposite end broadcasts a signal lost warning. Receiving the warning leads the transmitter to decide on the location of the target, which is in the range [ (θ beam - θ dither), θ beam ]. If no interruption is reported in the first step, then θ dither is added to beam heading in the other direction. An interruption observed in the second step identifies the target location as being in [- θ beam, (-θ beam θ dither )]. Not receiving a signal lost message in either of these steps indicates that the alignment is within [-(θ beam -θ dither ), (θ beam -θ dither )], and no correction is applied. CCW Dithering Signal Lost Intensity q error q dither Intensity q dither -q dither (a) [rad] Beam axis after correction CW Correction Correction needed when the target object is in these regions Fig. 6: A possible scenario for the misalignment. Target is also showed in a simplified intensity plot. (b) q corr Fig. 7: a) Target end during ccw dithering. b) Target end after the correction.
4 In any dithering cycle, if an error is determined, a correction of θ corr is added to the beam heading, in a way that it provides a better pointing, Fig. 7.b. Whenever the system decides to make a correction, the same angle θ corr is applied. As a consequence of this, there is a residual alignment error after the dithering. every 40 ms and each cycle took.5 ms, less than 4 % of the communication bandwidth. The time spent on each dithering cycle was mainly determined by the fastest clock that could be run by Simulink. A dithering angle of 200 µrad with a correction of 50 µrad was used. Considering that the link is active before dithering starts, we may assume the initial error is distributed over (-θ beam, θ beam ). Using θ corr, a transfer function from initial error to residual error can be derived, and distribution of the residual error after the dithering can be calculated. Assuming a uniform distribution for θ error, distribution of the residual error, θ res, and the transfer function from θ error to the θ res are shown in Fig. 8. As a results of the dithering, pointing errors become more concentrated around the beam axis, and eliminated at the ends. q error -q corr q corr q res -q corr Distribution of q res Fig. 9: Cambridge technologies scanner and British Aerospace gyroscope. As seen in Fig. 0.a, without dithering gyroscope related errors became large enough to interrupt the link within 0.3 sec. The main error was a gyroscope output offset that was not completely cancelled. Fig. 0.b shows the received power in the same system when dithering was active. Received Power -( -q corr ) 3. PROTOTYPE SYSTEM Distribution of q error Fig. 8:Initial and residual error distributions and the transfer function from θ error to θ res. A proof-of-concept DOF prototype system was implemented by using a commercially available galvanometric scanner (Cambridge Technologies) and gyroscope (a vibrating structure gyroscope (VSG) of British Aerospace). During the design, MATLAB and Simulink were used for simulations. Setup was directly controlled from simulation models by using the real-time capabilities of Simulink. Fig. 9 shows the scanner and the gyroscope. Received Power Link lost in.3 sec (a) Signal Lost Signal Lost In the tests presented here, no vibration was applied to the steering device. Therefore, system experienced only gyroscope noise and drift. The laser source had a divergence (θ beam ) of 200 µrad. Dithering was applied at (b) Fig. 0: a) No dithering applied. b)the same experiment with dithering.
5 The dithering algorithm was shown to successfully keep the pointing error bounded and maintain the received signal strength above the minimum necessary for communication. 4. CONCLUSION A MEMS free-space laser communication system, which can be fit in a few cubic centimeters, was proposed and the link maintenance problem was addressed. Use of gyroscope stabilization became essential due to the high frequency platform vibrations. However, drift of the gyroscope signal and low frequency target tracking required a second correction method. The dithering method was developed for keeping both gyroscope and motion related errors bounded. As a proof-of-concept we built a DOF prototype system. Results showed that periodic application of dithering can maintain the link in the presence of a gyroscope drift. 5. ACKNOWLEDGEMENT This research is funded by DARPA and the John and Fannie Hertz Foundation. REFERENCES [] V. Milanovic, M. Last, and K.S.J. Pister, Torsional micromirrors with lateral actuators, Transducers 0- Eurosensors XV conference, Munich, Germany, 200. [2] B. Leibowitz, B.E. Boser, and K.S.J. Pister, CMOS 'smart pixel' for free-space optical communication, Proceedings of the SPIE - The International Society for Optical Engineering, 4306A (Electronic Imaging '0), San Jose, CA, USA, 200. [3] X. Jiang, J.I. Seeger, M. Kraft, and B.E Boser, A monolithic surface micromachined Z-axis gyroscope with digital output: Digest of Technical Papers 2000 Symposium on VLSI Circuits, Honolulu, HI, USA, 2000, 6-9. [4] K.J. Held, J.D. Barry, Precision pointing and tracking between satellite-borne optical systems, Optical Engineering, 27 (4), 988,
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