Transcription

1

2

3

4

5

6

7 EYESAFE 1534-NM LASER RANGEFINDER TURNKEY EYESAFE LRF EAR 99: NOT ITAR CONTROLLED FEATURES Voxtel s turnkey eyesafe laser rangefinder (LRF) is a new class of highperformance, non-itar restricted 1534-nm rangefinder designed for long range and high accuracy range measurements in an extremely compact, lightweight, and low-power system. The LRF includes a smallformfactor eyesafe diodepumped solidstate (DPSS) laser, Voxtel s highly sensitive ROX InGaAs avalanche photodiode (APD) receiver, and custom amplification and pulse-processing circuits, which achieve industry s highest sensitivity. The combination of the state-of-the-art APD receiver, and the lowdivergence diffractionlimited DPSS laser pulses achieve extremely long standoff range with sub-150-mm range precision using a small-sized package. The LRF can deliver optimized performance over a wide temperature range, and under a variety of conditions including: direct sunlight, cover, night operation, and low visibility including fog, rain and snow. Each LRF is calibrated at the factory to provide optimal performance over a -45 C to 65 C temperature range. To provide ideal operation in variable conditions, a serial command set is used with a USB interface. This allows fast and easy control and dynamic configuration of the LRF. The controller can be flexibly configured for: timevariable-threshold (TVT) operation, to reduce false alarms due to nearfield scattering, timeover-threshold (TOT), to reduce amplitudedependent time-walk errors auto-calibration, to enable a userdefined falsealarm rate (FAR) in changing background optical radiation levels multi-pulse processing, to enhance range and resolution passive operation, to measure the pulse-repetition frequency (PRF) of external lasers. The LRF is powered using a lithium-ion polymer (LiPo) battery. More than 200 thousand range events are possible before battery recharging is necessary. The battery is charged using the micro-usb connector. Eyesafe: Class 1, 1534nm laser Long Range: 3 km (100 μj)/5 km (300 μj) Fine Range Precision: Better than 150mm single-shot or 50-mm multi-pulse Easy to operate: Factory calibrated and automated to optimize range performance from -45 C to 65 C Low Noise-Equivalent Input (NEI): As little as 35 photons Excellent beam quality: M 2 < 1.15 x DL, where DL is the diffraction limit Programmable Operating Modes: o Time-variable Threshold (TVT): Reduces false alarms due to nearfield scattering o Programmable Threshold: User-set or auto-calibrated to background flux o Enhanced Performance: Multi-pulse processing for extended range and increased precision o Range Walk Correction: Time-overthreshold (TOT) calibration reduces range errors due to pulse amplitude variation. o Passive PRF Decoding: Allows the frequency of other sensed lasers to be determined ORDERING INFORMATION FUKJ-KGAC: 100-J laser, 3-km range FUMJ-KGAC: 300-J laser, 5-km range CONTACT INFO VOXTEL INC NW SCHENDEL AVE #200 BEAVERTON, OR SALES@VOXTEL-INC.COM Voxtel Literature Turnkey Eyesafe LRF 26Sept2017. Voxtel makes no warranty or representation regarding its products specific application suitability and may make changes to the products described without notice.

8 SPECIFICATIONS Model FUKJ- KGAC FUMJ- KGAC Voxtel laser model number LAK0-EX0C LAK0-FX0C Voxtel APD photoreceiver model number RUC1-KIAC RUC1-KIAC Laser Pulse energy 100 J 300 J Measurement range 1 3 km 5 km Maximum measurement rate (multi-pulse) 10 Hz 10 Hz Minimum range distance 2 10 meters Range precision (single-shot/multi-shot) 3,4 150 mm / 50 mm Maximum number of targets 4 Minimum target separation 2 5 meters Transmitter Eye safety / classification Class 1 / 1M (EN : 2007) Laser type DPSS Operating wavelength 1534 nm Spectral line width (FWHM) < 0.02 nm Wavelength shift with temperature nm/+ C Beam quality (M 2 ) 1.15xDL Beam divergence, full angle (1/e 2 ) < 0.95 mrad < 0.70 mrad Pulse duration (ns) 4 ns 7 ns Receiver Receiver aperture area 20 mm x 18 mm Detector type InGaAs APD APD responsivity (M = 1) A/W APD gain (M) 1 20 Excess noise [F(M)] 6 keff < 0.18 Noise equivalent input (NEI) 35 photons 40 photons Boresight Aiming Laser Operating wavelength 650 nm Power 5 mw Eye safety Class IIIa Range (day/night) 30 meters/ 250 meters Electrical Micro-USB Data Interface Pin 1 +5VDC CMOS Pin 2 Data - (3.3 V CMOS) Pin 3 Data + (3.3 V CMOS) Pin 4 Floating as a USB device (not connected; slaved to host) Pin 5 Signal Ground Power Power source Rechargeable LiPO Battery During standby and ranging 80 mw Max power during battery recharge 1.7 W 2 W Mechanical Weight g g Operating Conditions Operating temperature -45 C to +65 C Operating humidity 90% Storage temperature -55 C to +85 C Water resistance (rating) Lifetime (MTTF) IP64 >50 million shots x 2.3-m 2 target; single-shot, 30% reflectivity 2 Less than 10X NEI 3 When calibrated with TOT 4 Pulse returns 10X the NEI and greater nm spectral response 6 Parameterization of McIntyre equation: F(M) = keff M + (1 - keff)(2-1/m)

9 DIMENSIONS SOFTWARE The LRF can be easily programmed using the simple serial communications command set over USB interface. Userprogrammable features include: Sample of Available Software Controlled Operating Configurations Automatic threshold setting for user-input FAR level Timevariable threshold (TVT) to reduce nearfield false alarms Multipulse processing for extended range and improved resolution Passive pulse-detection mode for external laser pulse repetition frequency measurements Time-over-threshold (TOT) range-walk correction The latest device drivers and firmware can be downloaded at voxtel-inc.com. To configure and operate the LRF, serial commands can be sent from a host processor. The available commands can be found in the Voxtel document LRF Software ICD: Modules, Kits, and Components. To configure and operate the LRF using a terminal emulator of a graphical user interface, see the Quick Start section of the Voxtel document LRF User Manual: Modules, Kits, and Components. LITHIUM-ION POLYMER (LIPO) BATTERY The LRF incorporates a 3.7VDC, 750 mah LiPo battery. The LiPo battery recharging function is controlled by the microprocessor in the LRF. The LRF incorporates an automatic power-down function, which turns the unit off if the LiPo battery voltage level drops below 2.9V. This feature protects the battery and electronics from damage. A bi-color LED mounted next to the micro-usb socket indicates the charging status and voltage level of the battery. Battery charging and operation states are automatically controlled by the LRF, depending on: user-selected mode, LiPo battery power level, and availability of recharging power through the micro-usb socket. Battery Charging and Status LED LiPo Battery Status LRF State Pin 1 Off NA Off 0V Flashing Red Low Battery (< 2.9V) Auto Off 0V Flashing Green Charging (< 3.3V) On 5V Steady Green >3.3V On 0V Steady Green Fully Charged (> 3.3V) On 5V 2-Hz Green Charging Off 5V Double-pulse Green Full Charge Off 5V

10 EYESAFE LASER RANGEFINDERLRF) OEM MODULE TURNKEY 1534-NM LASER RANGING MODULE FEATURES Voxtel s Laser Rangefinder (LRF) Original Equipment Manufacturer (OEM) Module allows system integrators to efficiently integrate an eyesafe laser ranging capability into a thermal or electro-optical system, weapons scope, or consumer product. The LRF OEM Module includes Voxtel s ROX InGaAs avalanche photodiode (APD) photoreceiver boresighted with a collimated near-diffraction-limited (DL) 1534-nm diode-pumped solid-state (DPSS) pulsed laser. This LRF OEM Module is the industry s most compact and powerefficient pulsed laser ranging solution, with a range of available laser pulse energies and receiver optical apertures that allow for longdistance ranging. The 21-mm-aperture option enables standoff ranges beyond: 5 km with the 100-J DPSS laser; 10-km with the 300-J DPSS laser; and 12 km with the 750-J DPSS laser. With multi-pulse processing, range is about twice as far. And, the 50-mm-aperture option enables standoff ranges about twice as far as the 21-mm option. The LRF OEM Module includes Voxtel s robust, low-noise, high-gain ROX APD photoreceiver that offers best-of-class sensitivity without the use of thermoelectric cooling, allowing for long-standoff range performance with less laser pulse energy and lower power. To allow optimal APD bias at all operating temperatures, the LRF OEM Module includes automatic APD bias temperature compensation that is calibrated at the factory. The APD photoreceiver is integrated with standard 21-mm-diam. or 50- mm-diam. optical apertures. Custom options are also available. The 17x magnification collimated lasers have excellent beam quality M 2 = 1.15 * DL, where DL is the diffraction limit which allows for the maximum pulse energy to be placed on the target even at long distances and in difficult atmospheric conditions. Turnkey: Integrates erbium-glass pulsed laser, high-performance InGaAs APD, pulse-processing electronics, and programmable interface Boresighted Optics: Receiver and transmitter optics boresighted at the factory Excellent Sensitivity: Low-excessnoise InGaAs APD Eyesafe: Class 1, 1534-nm laser High Precision: 150-mm singlepulse; 50-mm multi-pulse Near Diffraction-Limited Laser Beam Quality: M 2 < 1.15 x DL Ultra-low Noise Equivalent Input (NEI): as low as 35 photons Long Lifetime: > 50M shots OPTIONS Laser: 100 μj, 300 μj, or 750 μj Receiver Aperture: 21-mm or 50- mm-diam.; custom sizing available Transmitter Collimators: 17x standard; other magnification available upon request Auxiliary Board: Integrated AHRS with 9-axis IMU, Bluetooth lowenergy communications module, and 8-bit ADC CONTACT INFO VOXTEL INC NW SCHENDEL AVE #200 BEAVERTON, OR SALES@VOXTEL-INC.COM Voxtel Literature LRF OEM Module 11Oct2017. Voxtel makes no warranty or representation regarding its products specific application suitability and may make changes to the products described without notice.

11 The highly sensitive APD photoreceiver enables long-distance ranging using less laser pulse energy. The LRF OEM Module integrates pulsed DPSS micro-lasers with 17x-magnification collimating optics, providing low beam divergence. Easy to integrate and operate, each turnkey LRF OEM Module includes a simple UART interface controlled with a serial command software library that allows for flexible and dynamic operation. To enhance performance, various operating modes are provided, including time-variable-threshold (TVT) for reduced false-alarm rates (FARs), multipulse processing for extended range and improved range precision, automatic FAR determination and automatic threshold settings, background signal level compensation, time-over-threshold (TOT) range-walk compensation for more accurate range measurements over the entire standoff distance, and passive pulse-repetition-frequency sensing for remote laser detection and identification. An optional auxiliary board is also available. It includes an Integrated attitude and heading reference system (AHRS) module, an 8-bit pulse digitizer, and a Bluetooth low-energy communications module. ORDERING INFORMATION Base Unit With Aux Board With AHRS Calibrated Aux Board Module without Housing 100 J 21-mm dia. receiver aperture DUKL-KCBC DUKS-KCBC DUK7-KCBC 300 J 21-mm dia. receiver aperture DUML-KCBC DUMS-KCBC DUM7-KCBC 50-mm dia. receiver aperture DUML-KHBC DUMS-KHBC DUM7-KHBC 750 J 21-mm dia. receiver aperture DUNL-KCBC DUNS-KCBC DUN7-KCBC 50-mm dia. receiver aperture DUNL-KHBC DUNS-KHBC DUN7-KHBC Module Integrated with Mechanical Housing 100 J 21-mm dia. receiver aperture GUKL-KCBC GUKS-KCBC GUK7-KCBC 300 J 21-mm dia. receiver aperture GUML-KCBC GUMS-KCBC GUM7-KCBC 50-mm dia. receiver aperture GUML-KHBC GUMS-KHBC GUM7-KHBC 750 J 21-mm dia. receiver aperture GUNL-KCBC GUNS-KCBC GUN7-KCBC 50-mm dia. receiver aperture GUNL-KHBC GUNS-KHBC GUN7-KHBC

12 SPECIFICATIONS DUKL-KCBC DUML-KCBC DUML-KHBC DUNL-KCBC DUNL-KHBC Laser pulse energy 1,2 100 μj 300 μj 750 μj Aperture diameter 21 mm 21 mm 50 mm 21 mm 50 mm Range 3,4 5 km/5 km 8 km/10 km 11 km/19 km 10 km/12 km 13 km/23 km Singe-pulse range 4 3 km/3 km 6 km/6 km 9 km/11 km 8 km/8 km 12 km/20 km Extinction ratio (500 m/85%) 3 32 db 37 db 45 db 39 db 46 db Single-pulse extinction ratio (500 m/85%) 28 db 33 db 41 db 35 db 42 db Performance Specifications Maximum number of returns per pulse 10 Minimum target separation 5 5 m Range precision, single-/multi-pulse 5,6 150 mm / 50 mm Minimum range 10 m Transmitter Specifications Voxtel DPSS laser LAK0-EX0C LAM0-FX0C LAN0-FX0C Transmitter wavelength 1534 nm 1534 nm 1534 nm Transmitter pulse width 1 4 ns 7 ns 8 ns Transmitter peak power 1 25 kw 44 kw 95 kw Transmitter rep. frequency, max (multi-pulse) 10 Hz 10 Hz 5 Hz Transmitter beam diameter 4.25 mm 5.10 mm 6.78 mm Transmitter beam divergence, full angle (1/e 2 ) 0.71 mrad 0.47 mrad 0.35 mrad Transmitter beam quality (M²) 1.15 x DL 1.15 x DL 1.15 x DL Receiver Specifications Voxtel APD Photoreceiver RUC1-KIAC NEI 1 (quanta/energy) 35 photons / 4.515*10-18 J 40 photons/ 5.160*10-18 J 45 photons/ 5.805*10-18 J Dynamic range, total 70 db Dynamic range, linear 25 db APD Gain (M) 1 20 APD Responsivity (M = 1) A/W Electrical Specifications Input voltage, minimum/typical/max 3.3 VDC / 5 VDC / 5.5 VDC Standby power 200 mw Current during laser pump, avg./peak 1.5 ma at 100 ms / 2 ma at 10 ms Current during ranging 400 ma Power consumption, ranging 600 mw 800 mw 2000 mw Communication interface Serial commands over UART 3.3V CMOS Logic Mechanical Specifications Weight, all components 106 g 112 g 135 g 129 g 153 g Weight, including optional housing and 216 g 221 g 244 g 239 g 261 g mounting hardware Environmental Operating temperature -45 C to +65 C (custom to +75 C also available) Storage temperature -55 C to +85 C Lifetime (MTTF) 50 million shots 1 25 C nm 3 Multi-pulse (1 s) 4 2.3x2.3-m 2 target (10% reflective) / extended; extended targets are larger than beam width. 5 Signal > 10X NEI 6 When calibrated with TOT

13 AUXILLARY BOARD PRELIMINARY An optional auxiliary board includes an integrated AHRS module with 9-axis inertial measurement unit (IMU), 8- bit 200-MHz digitizer, and Bluetooth low-energy communications module. The AHRS module can be factorycalibrated. Attitude and Heading Determination To determine pointing direction and orientation (roll, pitch, and yaw), the auxiliary board incorporates an internal 9- axis IMU including accelerometer, magnetometer, and gyroscope axis (three-axis MEMS gyroscope, three-axis accelerometer, and three-axis compass) and integrated sensor fusion and motion processing. This constantcalibration technology polls individual sensors and integrates, fuses, and filters the sensor data with state-of-the-art Kalman filter algorithms, which allows users to determine the magnetic heading of the LRF (roll, pitch, and yaw) and the rate of the roll, pitch, and yaw of the LRF. The IMU provides attitude data in terms of Euler angles and quaternions. To estimate the current attitude (roll, pitch, heading) of the device, the sensor fusion processor uses a Kalman filter to integrate the output from: 1) the three-axis MEMS rate gyroscope, which detects rotation about the x-, y- and z- axes; 2) the three-axis accelerometer, which detects acceleration due to gravity or movement in the direction of the x-, y-, and z- axes; and 3) the three-axis magnetometer, which detects the magnitude of the local magnetic field in the x-, y-, and z- axes. Paired with GPS, the unit can be programmed to provide geo-referenced, real-world coordinate locations and, with motion sensing, it can attain very accurate heading and pointing positioning. The sensor fusion processor also provides built-in continuous calibration for each sensor, including hard- and soft-iron calibration for the magnetometer. The magnetometer calibration functionality minimizes the effect of ferrous metals (iron, iron alloys) and localized electromagnetic fields on the heading estimate. AHRS Specifications Heading repeatability (total error) 0.5 deg Heading noise (std. dev.) 0.17 deg Pitch repeatability (total error) 0.01 deg Pitch noise (std. dev) 0.15 deg Gyroscope Noise Sensitivity (125 deg/s full scale) 256 LSB/deg/s Total RMS noise (57-Hz bandwidth) 0.1 deg/s Output noise density deg/s/hz Max output data rate 2,000 Hz Accelerometer Sensitivity Sensitivity (2g full scale) 1024 LSB/g Zero-g offset temperature drift ±1 mg/k Output noise density 150 g/hz Total RMS noise, at 100 Hz 1.5 mg-rms Max output data rate 1,000 Hz Magnetometer Sensitivity Full scale range (x-, y- axes) ±1300 T Full scale range (z-axis) ±2500 T Sensitivity scale factor (x-, y- axes) 0.32 T/LSB Sensitivity scale factor (z-axis) 0.15 T/LSB Total RMS noise, at 20 Hz 0.3 T Maximum output data rate 300 Hz Bluetooth Low-energy Communications Module To connect to a wireless personal area network, the auxiliary board includes a Bluetooth low-energy (LE) communications module (Bluetooth LE or Bluetooth SMART). The module includes support for mobile operating systems, including ios, Android, and Windows, as well as macos, Linux, Windows 8 and Windows 10, which natively support Bluetooth LE. The certified 2.4-GHz module includes a Bluetooth 4.4-compliant software stack. For easy system integration without the need for a separate antenna, the module includes an integrated high-performance chip antenna that allows transmission ranges to 50 m. The module supports up to eight simultaneous Bluetooth connections. The Bluetooth interface can be used to command and receive data from the LRF using the serial commands available in the Voxtel document LRF Software ICD: Modules, Kits, and Components, which is shipped with the product and is available at voxtel-inc.com.

14 Processing and Ballistics The auxiliary board features an ARM Cortex M4 processor with FPU up to 38.4 MHz, with 32 kb RAM and 256 kb flash memory, which we can use to implement custom customer specific application code, install a software ballistics computer, or implement additional features into the module. Ancillary Sensor Support The auxiliary board provides an I2C interface that allows additional sensors and hardware to be connected to the LRF module. SOFTWARE CONTROL The LRF OEM Module can be easily programmed using the simple serial communications command set over a simple serial UART interface. User-programmable features include: time-variable threshold (TVT), used to reduce false alarms due to nearfield scattering, timeover-threshold (TOT) range-walk compensation, used to reduce amplitude-dependent timing errors autocalibration, used to set the threshold to achieve a userdefined FAR given ambient background optical radiation conditions multi-pulse processing, used to enhance range and resolution passive operation, used to measure the pulse-repetition frequency of external lasers. The available commands can be found in the Voxtel document: LRF Software ICD: Modules, Kits, and Components To configure and operate the LRF OEM Module using a terminal emulator of a graphical user interface, see the Quick Start section of the Voxtel document: LRF User Manual: Modules, Kits, and Components These are shipped with the product and are available at voxtel-inc.com. The tools on the website can be used to update device drivers and firmware. ELECTRICAL Block Diagram

15 Timing Diagrams Power-up to Range Timing Ranging Operation Timing Diagram Configuration for Triggering the Time-to-Digital Converter Using an External Electrical T0 To configure the LRF to receive an electronic T0 pulse, users can supply a maximum 1.8V pulse to the UFL connector located on the LRF System Board (see Mechanical Drawings, LRF System Board) using a 50--terminated cable. The external T0 control is enabled using software commands. Connector Pin Assignments LRF System Board User Interface (Hirose DF3-8P-2Ds) Pin Name In/Out Description Typ 1 NC NA No Connect NA 2 NC NA No Connect NA 3 LRF_ENABLE Input Active low enable. Pin pulled up to 5V with 100k resistor. Pull low to enable LRF power. 4 NC NA No Connect NA 5 GND Input System Ground Ground 6 TX Output UART Transmit 3.3V 7 RX Input UART Receiver 3.3V 8 5V Input System Power Input 5V ROX APD Photoreceiver Board Connector Out Description Typ UFL Analog Out Analog Output; AC coupled (15.8 nominal gain) - 3 VDC (into 50 ohms)

16 MECHANICAL DRAWINGS Without Housing (D Series) 21-mm receiver aperture models, 100-μJ, 300-μJ, and 750-μJ options (Models DUKL-KCBC, DUML-KCBC, and DUNL-KCBC) 50-mm receiver aperture models, 300-μJ and 750-μJ options (Models DUML-KHBC and DUNL-KHBC)

17 Integrated with Housing (G Series) 21-mm receiver aperture models 100-μJ, 300-μJ, and 750-μJ options (Models GUKL-KCBC, GUML-KCBC, and GUNL-KCBC) 50-mm receiver aperture models 300-μJ and 750-μJ options (Models GUML-KHBC and GUNL-KHBC)

18 LASER RANGEFINDER (LRF) SYSTEM- INTEGRATOR KIT INCLUDES INGAAS APD PHOTORECEIVER, 1534-NM DPSS LASER, TDC & CONTROL ELECTRONICS 1.5-MICRON LASER RANGEFINDER SYSTEM- INTEGRATOR KIT EAR 99: NOT ITAR CONTROLLED Voxtel s Laser-rangefinder (LRF) System-Integrator Kit gives system designers a turnkey laser-ranging solution for thermal, electro-optical, and optical scope integration. Each kit includes Voxtel s ROX avalanche photodiode (APD) photoreceiver which offers best-inclass sensitivity, enabling long-standoff range performance with less laser pulse energy. The ROX photoreceiver is paired with Voxtel s smallform-factor 1534-nm diode-pumped solid-state (DPSS) erbium-glass laser transmitter, programmable time-to-digital converter (TDC), and programmable controller board. The result is a compact, lightweight highly-reliable ranging module with excellent performance. Each Kit is factory calibrated. To provide optimal performance over a -50 C to +65 C temperature range, four operating modes are included: bias for best noise equivalent input (NEI) operation; bias for optimal sensitivity for a 10-Hz to 350-Hz false alarm rate (FAR); stable photoreceiver responsivity; and stable gain (M = 1). The Kit is easily programmed using commands from a flexible serial communications library, communicated over a simple serial UART interface. Other user-programmable features include: time-variable-threshold (TVT), used to reduce false alarms due to nearfield scattering, timeover-threshold (TOT) range walk correction, used to reduce amplitude-dependent range-walk errors autocalibration, used to set the threshold to achieve a userdefined FAR given ambient background optical radiation conditions multi-pulse processing, used to enhance range and resolution passive operation, used to measure the pulse-repetition frequency of external lasers. The LRF System-Integrator Kit can optionally include laser-collimating optics and photoreceiver optics. For integration with user provided lasers, kits are available without the lasers (APD photoreceiver and laser ranging control electronics only). Also available is an optional auxiliary board that includes an Integrated attitude and heading reference system (attitude and heading reference system, AHRS) module, with a 9-axis IMU, 8-bit 200-MHz digitizer, and Bluetooth lowenergy communications module. FEATURES Turnkey: Integrates DPSS erbiumglass laser, high-performance InGaAs APD, and programmable pulse-processing electronics Low Excess Noise: Impactionization engineered InGaAs APD Eyesafe: Class 1, 1534-nm laser High Precision: 150-mm singlepulse; 50-mm multi-pulse Near Diffraction-limited Laser Beam Quality: M 2 < 1.15 x diffraction limit OPTIONS Excellent NEI: as low as 35 photons Low Power: < 1 mw w/ LRF disabled Long Lifetime: > 50 million shots Integrated Optics: Receiver (f/1; 21-mm and 50-mm aperture) and laser collimator (17x magnification) Auxiliary Board: AHRS, 8-bit digitizer, and Bluetooth communications Turnkey LRF Modules: Available as original equipment manufacturer (OEM) modules or as robust electro-optical assemblies APD Photoreceiver and Laser Ranging Control Electronics: Available without laser and pointer CONTACT INFO VOXTEL INC NW SCHENDEL AVE #200 BEAVERTON, OR SALES@VOXTEL-INC.COM Voxtel Literature LRF System-Integrator Kit 26Sept2017. Voxtel makes no warranty or representation regarding its products specific application suitability and may make changes to the products described without notice.

19 SPECIFICATIONS LRF System-Integrator Kit EUKK-N00C EUMK-J00C EUMK-N00C EUNK-N00C Voxtel laser model number LAK0-EX0C LAM0-FX0C LAM0-FX0C LAN0-FX0C Voxtel APD photoreceiver model number RUC1-NIAC RUC1-JIAC RUC1-NIAC RUC1-NIAC Transmitter wavelength 1534 nm Laser pulse energy μj 300 μj 300 μj 750 μj Transmitter pulse spectral width 1 4 ns 7 ns 7 ns 8 ns Transmitter beam width (FWHM) 0.02 nm Wavelength shift nm/+ o C Transmitter beam diameter 250 m 300 mm 300 mm 450 mm Transmitter beam divergence, full angle (1/e 2 ) 12 mrad 8 mrad 8 mrad 6 mrad Transmitter beam quality (M²) 1.15 x DL APD collection aperture 200 μm 75 μm 200 μm 200 μm Noise equivalent input 45 photons 40 photons 45 photons 45 photons Total dynamic range 70 db Linear dynamic range 25 db APD gain range (M) 1 20 APD responsivity (M = 1) 1.1 A/W Number of returns per pulse, maximum 10 Target separation, minimum 2 5m Range precision (single-pulse/multi-pulse) 1,2,3 150 mm / 50 mm Minimum range 2 10 m Power consumption, LRF disabled < 1 mw Power consumption, standby 250 mw Power consumption, ranging mw 800 mw 800 mw 2000 mw Timing, power-on to standby 45 ms Timing, standby to range 180 ms Communications interface Serial commands, UART 3.3V CMOS Logic Analog signal (peak to peak) 150 mv Operating humidity (relative humidity) 90% Operating temperature -50 C to +65 C Storage temperature -55 C to +85 C Lifetime (MTTF) 50 million shots Weight Base Unit g 38.3 g 38.3 g 53.4 g Options With Integrated T0 Detector +0.2 g +0.2 g +0.2 g +0.2 g With Auxiliary Board +5.0 g +5.0 g +5.0 g +5.0 g With 17x Laser Beam Expander/Collimator g g g g With 21mm optics g g g g With 50mm optics g g g g Exclusions Without Laser & Laser Driver Board g g g g LRF System-Integrator Kit w/laser Collimator EUKK-N0BC EUMK-J0BC EUMK-N0BC EUNK-N0BC Laser collimator magnification 17x 17X 17X 17X Collimated beam divergence mrad 0.47 mrad 0.47 mrad 0.35 mrad LRF System-Integrator Kit w/laser Collimator & 21-mm Optics EUKK-NCBC EUMK-JCBC EUMK-NCBC EUNK-NCBC Receiver aperture 21 mm 21 mm 21 mm 21 mm Receiver f/number f/1 f/1 f/1 f/1 LRF System-Integrator Kit w/laser Collimator & 50-mm Optics EUKK-NHBC EUMK-JHBC EUMK-NHBC EUNK-NHBC Receiver aperture 50 mm 50 mm 50 mm 50 mm Receiver f/number f/1 f/1 f/1 f/ C 2 < 8X NEI 3 When calibrated with TOT 4 Operating at 1 Hz 5 Base Unit includes DPSS Laser, Laser Driver Board, ROX InGaAs APD Photoreceiver mounted on Socket Board, LRF System Board, and 2 Flex Ribbon Connector

20 ORDERING INFORMATION LRF System-Integrator Kits Laser Pulse Energy (Eyesafe DPSS Laser) No Laser Photoreceiver & Laser Ranging Control Electronics Only InGaAs APD Photoreceiver Pulse Width Additional Laser Options Optics Options Part Number without T0 Detector Part Number with T0 Detector Integrated with Laser 75 μm EUXK-J0XC μm EUXK-N0XC μm CA EUXK-K0XC μm EUXK-P0XC EUKK-N00C EUPK-N00C - EUKK-N0BC EUPK-N0BC with 17x laser collimator 21 mm EUKK-NCBC EUPK-NCBC 50 mm* EUKK-NHBC EUPK-NHBC 75 μm 7 ns - - EUMK-J00C EUQK-J00C - - EUMK-N00C EUQK-N00C 200 μm 7 ns - EUMK-N0BC EUQK-N0BC with 17x laser collimator 21 mm EUMK-NCBC EUQK-NCBC 50 mm* EUMK-NHBC EUQK-NHBC 250 μm CA 7 ns with 17x laser collimator - EUMK-K0BC EUQK-K0BC - - EUNK-N00C EURK-N00C - EUNK-N0BC EURK-N0BC with 17x laser collimator 21 mm EUNK-NCBC EURK-NCBC 50 mm* EUNK-NHBC EURK-NHBC 100 μj 200 μm 4 ns 300 μj * PRELIMINARY 750 μj 200 μm 8 ns Optional Photoreceiver Add-ons 62.5-core/125-clad (0.27 NA) FC/PC EXXX-NXQX Fiber pigtail for 200-m photoreceivers 105-core/125-clad (0.22 NA) FC/PC EXXX-NXRX 200-core (0.37 NA) FC/PC EXXX-NXTX Fiber pigtail for 75-m photoreceivers 200-core (0.37 NA) FC/PC EXXX-JXTX CONFIGURATION ELECTRICAL Block Diagram

21 Connector Pin Assignments LRF System Board User Interface (Hirose DF3-8P-2DS) Pin Name In/Out Description Min Typ Max 1 NC NA No Connect NA 2 NC NA No Connect NA 3 LRF_ENABLE Input Active low enable. Pin pulled up to 5V w/100 k resistor. Pull low to enable LRF power. 4 NC NA No Connect NA 5 GND Input System Ground Ground 6 TX Output UART Transmit 3.3V 7 RX Input UART Receiver 3.3V 8 5V Input System Power Input 5V APD Photoreceiver Board The functionality of the electrical connections to the APD photoreceiver can be found in the ROX Series InGaAs APD Photoreceivers datasheet and user manual. Pin Name In/Out Description Typ 1 VAPD Input APD bias voltage 2 GND Input Ground GND 3 NC Input High voltage isolation NA 4 GND Input Ground 5 AGND Input Analog ground GND 6 SIG- Output 1.8V full-swing complementary digital output signal from receiver 1.8V 7 AGND Input Analog ground 8 SIG+ Output 1.8V full-swing complementary digital output signal from receiver 1.8V 9 3.3V Input 3.3V digital supply 3.3V 10 GND Input Ground 11 VthSW Input Threshold voltage switch for TVT switches between VTh,hi and Vth, lo 12 NC NA No connect NA 13 VthL Input Threshold low voltage 14 GND Input Ground GND 15 VthH Input Threshold high voltage 16 uclk Input i2c clock for photoreceiver (two-wire interface) 17 AGND Input Analog ground 18 udata Input i2c data for photoreceiver (two-wire interface) 19 VCMOS2 Input 5V ROX photoreceiver supply 5VDC 20 START Input Receiver mode control UFL Connector Analog Output Analog Output 1.8 V Laser Driver Board For electrical connections to the laser driver board, see Voxtel s DPSS Laser Series datasheet.

22 Timing Diagrams Power-up to Range Timing Ranging Operation Timing Diagram Configuration for Triggering the Time-to-Digital Converter Using an External Electrical T0 To configure the LRF to receive an electronic T0 pulse, users can supply a maximum 1.8V pulse to the UFL connector located on the LRF system board (see Mechanical Drawings, LRF System Board) using a 50-ohm terminated cable. The external T0 pulse is enabled using software commands to configure the board. SOFTWARE CONTROL The LRF System-Integrator Kit can be easily programmed using the simple serial communications command set over a simple serial UART interface. User-programmable features include: time-variable threshold (TVT), used to reduce false alarms due to nearfield scattering, timeover-threshold (TOT) range-walk compensation, used to reduce amplitude-dependent timing errors autocalibration, used to set the threshold to achieve a userdefined FAR given ambient background optical radiation conditions multi-pulse processing, used to enhance range and resolution passive operation, used to measure the pulse-repetition frequency of external lasers. The available commands can be found in the Voxtel document: LRF Software ICD: Modules, Kits, and Components. To configure and operate the LRF using a terminal emulator of a graphic user interface, see the Quick Start section of the Voxtel document: LRF User Manual: Modules, Kits, and Components. These documents are shipped with the product and are available at voxtel-inc.com. The website can also be used to download software to update device drivers and firmware.

23 MECHANICAL DRAWINGS LRF System Board ROX APD Photoreceiver Board Ribbon Cable Laser and Laser Driver Boards See Voxtel datasheet: DPSS Laser Series.

24 DIODE-PUMPED SOLID-STATE (DPSS) 1534-NM PULSED MICRO-LASERS 1.5-MICRON SOLID-STATE PULSED LASERS EAR 99: NOT ITAR CONTROLLED FEATURES Eyesafe: Class-1/1M High Peak Power: to 115 kw Excellent Beam Quality: M 2 < 1.15 * DL (where DL is the diffraction limit) Narrow Pulse Width: 4 8 ns Long Lifetime: > 50 million shots Robust: Qualified for extreme military and automotive environments Wide Operating Temperature Rage: C * (high-operating-temp. options also available) with stable pulse energy and wavelength output Voxtel s high-peak-power lasers combine eyesafe-wavelength operation with high peak power, short pulse duration, and diffractionlimited beam quality to deliver unmatched size, weight, power, and cost (SWAP-C), range, and accuracy. Many of today s laser ranging products use near-infrared lasers that emit in the 905-nm to 1064-nm-wavelength spectral range. When used at the power levels needed by the application requirements, this spectral range is not eyesafe, and a tradeoff is made between safety and performance. In contrast, Voxtel s DPSS lasers operate at a 1534-nm wavelength. At this wavelength, eyesafe laser ranging systems can be easily configured without compromise to beam power or quality. This makes laser ranging applications safer for customers. The excellent beam quality and tight beam divergence of Voxtel s micro-lasers allow pulses with high photon flux density to be transmitted down range to targets, which enables long-distance and high-resolution ranging. The compact highly integrated laser transmitters are operational over a wide temperature range, robust to the environment, gun-shockhardened, and qualified for a lifetime exceeding 50 million shots. To operate the laser safely, easy-to-configure pulse driver electronics are optionally available. Options for integrated 17x collimating optics and T0 pulse detectors are also available to simplify system integration. MODELS 100 J (4-ns pulse length) 300 μj (7-ns pulse length) 750 μj (8-ns pulse length) OPTIONS T0 Pulse Detector Laser driver electronics Integrated 17x-magnification collimator (see below) CONTACT INFO VOXTEL INC NW SCHENDEL AVE #200 BEAVERTON, OR SALES@VOXTEL-INC.COM Voxtel Literature DPSS Laser Series 02Nov2017. Voxtel makes no warranty or representation regarding its products specific application suitability and may make changes to the products described without notice. 4

25 SPECIFICATIONS Model (bare laser; see Ordering Information for options) Optical Wavelength (center) nm +/ nm Spectral width (FWHM) < nm Temperature dependence nm/ C Pulse energy (minimum) 100 J 300 J 750 J Pulse width, typical (FWHM) 4 ns 7 ns 8 ns Peak power, typical 25 kw 44 kw 94 kw Pulse repetition frequency (max, multi-pulse mode) 10 Hz 10 Hz 5 Hz Laser delay time, typical 1 2 ms ms ms Pulse energy stability, typical 10% Beam diameter, typical 0.25 mm 0.3 mm 0.45 mm Beam divergence, typical, full angle (1/e 2 ) 12 mrad 8 mrad 6 mrad Beam quality, typical (M 2 ) 1.15 x DL 1.15 x DL 1.15 x DL Environmental Operating temperature -45 C to +65 C (to 75 C also available) Storage temperature -55 C to +85 C Shock 1500 G, 0.5 ms Vibration Hz / 20 G Lifetime, MTTF > 50 million shots Mechanical Dimensions 35.5 x 18.0 x 8.25 mm x 18.5 x 8.8 mm x 19.0 x 9.7 mm 3 Weight 8.6 g 7.3 g 17.5 g Electrical Anode (red wire) voltage, typical 2 3 V 2 3V V Cathode (black wire) voltage, typical GND GND GND Current, typical A A 20 A Power consumption, typical 600 mw 800 mw 2000 mw OPTIONS Bare Laser with T0 Detector Integrated into Laser Trigger pulse voltage and duration 3 V; 100 ns 3 V; 100 ns 3 V; 100 ns Dimensions 36.0 x 18.5 x 10.0 mm 3 Weight 7.5 g Bare Laser with 17X-Magnification Beam-Expanding/Collimating Optics Beam divergence, full angle (1/e 2 ) 0.71 mrad 0.47 mrad 0.35 mrad Beam diameter 4.25 mm 5.10 mm 6.78 mm Beam quality, typical (M 2 ) 1.15 x DL 1.15 x DL 1.15 x DL Dimensions (laser and collimator only) 67.0 x 26.0 x 25.0 mm x 26.0 x 25.0 mm x 26.0 x 25.0 mm 3 Weight (laser and collimator only) 60 g 63 g 76 g Bare Laser with Laser Pulse Driver [shipped with BNC cable for Laser Trigger and AC Wall Plug (USA) to 5 VDC Power Converter] Input voltage 5 V 5 V 5 V Input current (peak during lasing) 1 A 1 A 1 A Input current average (1 Hz rate) 0.1 A 0.1 A 0.1 A All values are at 25 C unless stated otherwise. ORDERING INFORMATION 1534-nm DPSS Laser Bare Laser Bare Laser w/t0 Detector Laser & Laser Driver Board Laser w/t0 Detector & Laser Driver Board 100-μJ LAK0-EX0C LAK0-EB0C LAKK-EX0C LAKK-EB0C 300-μJ LAM0-FX0C LAM0-FB0C LAMM-FX0C LAMM-FB0C 750-μJ LAN0-FX0C LAN0-FB0C LANN-FX0C LANN-FB0C 100-μJ with 17X Collimator LAK0-EXBC LAK0-EBBC LAKK-EXBC LAKK-EBBC 300-μJ with 17X Collimator LAM0-FXBC LAM0-FBBC LAMM-FXBC LAMM-FBBC 750-μJ with 17X Collimator LAN0-FXBC LAN0-FBBC LANN-FXBC LANN-FBBC Driver Board (standalone) & Connector For 100-μJ Laser For 300-μJ Laser For 750-μJ Laser Model Numbers WLKXX WLMXX WLNXX 25

26 PERFORMANCE (TYPICAL) LAK0-EX0C (100 J) Spectral Line Width (0.010 nm) at 35 o C (left) and Center Wavelength vs. Temperature (right) LAM0-FX0C (300 J) 26

27 MECHANICAL Bare DPSS Lasers 100 μj (LAK0-EX0C) 300 μj (LAM0-FX0C) 750 μj (LAN0-FX0C) DPSS Lasers with Integrated T0 Detectors 300 μj (LAM0-FB0C) 27

28 DPSS Lasers Integrated with 17x Collimating Optics 100-μJ DPSS Laser Integrated with 17x Collimating Optics (LAK0-EXBC) 300-μJ DPSS Laser Integrated with 17x Collimating Optics (LAM0-FXBC) 750-μJ DPSS Laser Integrated with 17x Collimating Optics (LAN0-FXBC) 28

29 Laser Driver Boards 100-μJ Laser Driver Board (WLKXX) 300-μJ Laser Driver Board (WLMXX) ELECTRICAL J4 Connector on Laser Driver Board Pin Name I/O Description Min Typical Max Units 1 PUSH_BUTTON Input Momentary switch input. Used to connect/disconnect battery (optional) V 2,4 VIN_USER Input User Supplied DC Power. Current draw is 1A during laser driver charging 2.7* ma 3 EN_LDD Input Laser driver capacitor charge enable. Enable high between ranges; low during ranging V 5 BATT_V Output Battery monitor. Tracks voltage on LiPO battery (optional) V 6, 8 GND Input Ground GND V 7 LASERGATE Input Laser trigger activates/terminates laser diode pump source (typ. 2.5 ms max) V 9 EN_CHRG Input Battery charger enable. Activates/terminates battery charging (optional) V 10 5V_OUT Output Output from DC boost circuit. Powers system board (optional) 3.3 5V 5 V 11 BATT_STAT0 Output Battery status indicator 0 (optional) V 12 BATT_STAT1 Output Battery status indicator 1 (optional) V Cable (Provided with Laser Driver Board) Connecting BNC (for Laser Trigger) and 5V Power Supply to J4 Connector on Laser Driver Board Pin Name Connected to Description Min Typical Max Units BNC 1 Laser Gate J4; Pin 7 Laser trigger activates/terminates laser diode pump source, typ. 2.5 ms max V Shield GND J4; Pin 6 Ground GND Power Pin BATT_V J4, Pin 2 Battery monitor. Tracks voltage on LiPO battery (optional) V Shield GND J4, Pin 8 Ground GND V 29

30 ROX TM INGAAS AVALANCHE PHOTODIODE (APD) PHOTORECEIVERS LASER RANGING AND LIDAR PHOTORECEIVERS The ROX TM series of laser-ranging photoreceivers which integrates Voxtel-proprietary high-performance InGaAs avalanche photodiodes (APDs), custom-designed CMOS application-specific integrated circuits (ASICs), high-voltage APD bias circuits, and programmable processing circuits provides flexible system integration and reliable performance, all in a small TO-8 package. To accommodate new applications and changing operating conditions, an embedded microcontroller allows quick configuration of the photoreceiver and optimization of performance as a function of ambient temperature without using thermoelectric cooling. Factory-calibrated settings automatically configure the detector for one of several modes programmed into the memory of each photoreceiver. For each operating temperature, these modes include: constant gain, optimal sensitivity, optimal noise equivalent input (NEI), and constant responsivity. To achieve the desired pulse-detection probability and false-alarm rate (FAR), the threshold voltage of the detector can be manually adjusted. To reduce false alarms caused by scattering, the threshold can be adjusted as a function of laser flight time using the timevariable threshold (TVT). The photoreceiver outputs a differential digital signal for both the rising edge and the falling edge of a pulse. This allows time-over-threshold (TOT) correction to be used where range-walk errors would otherwise result from variations in pulse amplitude. The analog output allows signals to be digitized and pulse processing to be performed. A range of APD diameters and immersion lens options are available. Fiberoptic pigtailing for the receiver is also available. EAR 99: NOT ITAR CONTROLLED FEATURES High-gain, Low-noise Photodetector: InGaAs APD Wide Spectral Response: nm Low Noise Equivalent Input (NEI): as low as 40 photons Large Total Dynamic Range: 70 db User-programmable: Variable threshold detection and time-variable threshold (TVT) Easy to Operate: Automated bias control, calibrated to optimize performance from -50 C to 85 C. Four Factory-calibrated Modes for Temperature-compensated Operation: stable gain (M = 1); optimal sensitivity; optimal NEI; and constant responsivity. Low System Power Consumption: 100 mw typical Long Lifetime: 85,000 hours MTTF Robust: Qualified for guns and other extreme environments Flexible Integration: Evaluation boards and laser ranging electronics available CONTACT INFO VOXTEL INC NW SCHENDEL AVE #200 BEAVERTON, OR SALES@VOXTEL-INC.COM Voxtel Literature ROX Series InGaAs Photoreceivers 19Sept2017. Voxtel makes no warranty or representation regarding its products specific application suitability and may make changes to the products described without notice.

31 Specifications Performance RUC1-JIAC RUC1-NIAC RUC1-KIAC Spectral response, nm 1700 nm Optical collection-area diameter 2 75 m 200 m 250 m 3 APD diameter 2 75 m 200 m 75m Noise equivalent input (NEI) 1,4,5,6 40 photons 45 photons 40 photons Photon equivalent sensitivity 4,6, photons 290 photons 245 photons Noise equivalent power 1,8,9,10, nw 0.45 nw 0.20 nw Range precision 1,4,9,12 50 mm 60 mm 50 mm Target pair resolution 1,12 5 meters 5 meters 5 meters Bandwidth 1 31 MHz 17 MHz 31 MHz APD gain (M) APD responsivity (M = 1) A/W 1.1 A/W 1.1 A/W APD excess noise (M = 10) 1,8, Maximum instantaneous optical power 1,9,14 6 MW/cm 2 Factory-calibrated Operating Modes 7,15 START Pulse Length Program Description μs ±10 μs M = μs ±10 μs Optimal gain for ~ Hz FAR (calibrated at 150-Hz FAR) μs ±10 μs Optimal gain to achieve best NEI at each temperature μs ±10 μs Not specified or custom configured 16 Digital Output 2 Comparator threshold useable range 0.45 V 1.0 V Time-variable threshold (TVT) decay time 2.6 s Dynamic range, linear 25 db Dynamic range, total 70 db Analog Output 1,2,8 Small signal responsivity 4494 kv/w 4494 kv/w 4494 kv/w Analog output gain 4.3 V/e- 4 V/e- 4.3 V/e- Analog output noise 1.07 mv RMS 1.7 mv RMS 1.07 mv RMS Analog output swing V V V Analog output dynamic range 7.4 bits 6.8 bits 7.4 bits Power Requirements Threshold Levels 2 Low-voltage circuits, 1.8 V APD supply 8.1 ma Low-voltage circuits, 5 V APD supply 1.5 ma High-voltage (HV) circuits, < 63 V APD supply 2.2 ma Power consumption, standby/ranging (HV off/hv on) 22 mw / 154 mw Environmental 1 Operational temperature range -50 C to +85 C Ordering Information APD Size Features Part Number Integrated pulse-detection ASIC and 75-μm APD RUC1-JIAC 75-μm Integrated 75-μm APD photoreceiver with 200-μm-core (0.37 NA) FC/PC fiber pigtail RUC1-JITC Photoreceiver with time-of-flight & control electronics EUXK-J0TC Integrated pulse-detection ASIC and 200-μm APD RUC1-NIAC Integrated 200-μm APD photoreceiver with 62.5-μm-core/125-μm-clad (0.27 NA) FC/PC fiber pigtail RUC1-NIQC 200-μm Integrated 200-μm APD photoreceiver 105-μm-core/125-μm-clad (0.22 NA) FC/PC fiber pigtail RUC1-NIRC Integrated 200-μm APD photoreceiver with 200-μm-core (0.37 NA) FC/PC fiber pigtail RUC1-NITC Photoreceiver with time-of-flight & control electronics EUXK-N0TC 250-μm CA Integrated pulse-detection ASIC and 250-μm-collection-area (CA) APD with immersion lens RUC1-KIAC Photoreceiver with time-of-flight & control electronics EUXK-K0TC 500 μm Integrated pulse-detection ASIC and 500-μm APD RUC1-PIAC Photoreceiver with time-of-flight & control electronics EUXK-P0TC NA Optional photoreceiver evaluation board (Photoreceiver sold separately) WRR0A 1 Sampled from manufacturing data (available upon request) 2 Based on eng. design analysis confirmed by experimental data 3 At input to hemispheric BK7 immersion (500 μm dia.) lens 4 4-ns pulse length 5 Optimal gain 6 60-Hz FAR, 50% PDE 7 Specifications are included w/cert. of Conformance w/each APD 8 Gain: M = nm spectral response C ns pulse length 12 5x NEI photon pulse amplitude 13 keff < 0.18 parameterization of McIntyre Equation: F(M) = keff M + (1 keff)(2 1/M) 14 Gain of M = 1 15 All parts temperature-compensated for performance over op. temp. range; beyond this range, analytical approximations are used to compensate photoreceiver for optimal performance 16 At high temp in constant responsivity mode dark counts may saturate the receiver

32 TYPICAL PERFORMANCE Pulse Sensitivity vs. Pulse Width APD OPTICAL MODEL Without Immersion Lens (RUC1-JIAC & RUC1-NIAC) With Immersion Lens (RUC1-KIAC) Collection Efficiency 250-μm Immersion-lensed APD (RUC1-KIAC) Collection efficiency as a function of APD center offset from optical axis is shown for various f-numbers including bare APD (i.e., with no hemisphere; labelled no HS in graph) for a 250-μm-collection-area immersion-lensed APD: 3

33 MECHANICAL Fiberoptic Pigtailed Models Parts shipped with PVC tight jacket 900 μm; 1m (+0.2m/-0.0.m); FC/PC termination connector. ELECTRICAL Block Diagram

34 Pinout The TO-8 package has 12 pins: six user-required inputs, a differential signal output pair, a bias monitor point for built-in test, a buffered analog output signal, and two calibration and servicing points. These last two pins can be used to custom-configure and calibrate the photoreceiver. INPUT 2 VCMOS2 Power supply input 3 VCMOS1 Power supply input 4 START User input +5 V TTL pulse 7 DATA Optional input +5 VDC Provides power to the microcontroller, EEPROM, APD bias controller, and related electronics. The APD receives the bias voltage only when VAPD (Pin 10) and VCMOS2 are applied. <1% ripple +1.8 VDC Provides power to the ASIC. <1% ripple 5 V TTL (otherwise left floating) The rising edge of this pulse initiates photoreceiver operation; the pulse width determines photoreceiver program mode. This command is used to update the APD bias using the factory calibration settings. This data line used by the microcontroller to communicate with other internal inter-integrated circuit (I 2 C) devices and related hardware is primarily used for factory configuration, calibration, or servicing. Except during in-field user calibration or remote servicing, this pin should be left floating. 8 Vth User input 0.4 to 1 V This user-supplied threshold voltage reference is used by the pulse-detection circuit to detect the threshold pulse. Generally, the level chosen is one that maximizes pulsedetection efficiency (PDE) and minimizes FAR. 10 VAPD User input +60 VDC This user-supplied high-voltage level is used by the APD bias controller to generate conditioned APD bias voltage. 11 Agnd User input GND Pin is not internally connected; may be used to provide external ground for analog and digital circuitry inside receiver. 12 CLK Optional input OUTPUT 1 SigMon Analog output 5 Sig(-) Signal output 6 Sig(+) Signal output 9 BiasMon Bias test point 5V TTL (otherwise left floating) 0 to +1.8 V 0 to +1.8 V This clock line for the microcontroller s I 2 C port is used: by the microcontroller inside the photoreceiver to communicate with other internal I 2 C devices; and at the factory for test and calibration. Except for custom photoreceiver programming, diagnostics, or operational built-in test, this pin should be left floating to ensure it remains accessible to the microcontroller. This analog signal output which is output from the transimpedance amplifier (TIA) maintains the receiver s full linear dynamic range and sensitivity; it is designed to drive a 50- load impedance and has a DC offset of ~100 mv. If not used in operations, this pin should be left floating. This signal output is the negative of the photoreceiver s differential digital output. When the amplified pulse-echo signal exceeds the user-supplied Vth threshold reference (Pin 8), this output transitions to a low state. An internal 500- resistor is in series with this output. This signal output complements the Sig(-) signal output (Pin 5). Normally, this pin is set to the low state, and upon pulse-echo detection it transitions to a high state, much like the internal 500- resistor in this series. Current-monitor test point; used for factory test and calibration. Except for diagnostics or built-in tests to verify the APD output or determine the APD gain, this pin should be left floating. Do not exceed 1.8 V <1% ripple I 2 C logic Assumes high impedance load Assumes high impedance load

35 ROX PHOTORECEIVER OPERATION Provisioning Power When V CMOS1, V CMOS2, and V APD are applied, the microcontroller starts its clock, enters the run state, measures the APD temperature, sets the APD gain to M = 1 (mode 1), then enters the sleep state. These biases may be applied to the chip in any order without risking any damage to the receiver. The photoreceiver is then ready to operate and will begin to detect pulses upon receipt of the range command. Signal Amplification and Pulse Detection The ROX receiver integrates a Voxtel-proprietary InGaAs APD sensitive over the 950-nm to 1700-nm spectral range with stable avalanche gain up to M = 20. For most conditions, the operational optimum is achieved at lower gain. The excess noise of the APD is characterized by McIntyre parameterization of k < The avalanche-multiplied signal from the APD is processed by a custom Voxtel-designed ASIC. The ASIC includes a two-stage resistive TIA that converts the APD s output current into an amplified voltage signal that is fed to a leading-edge pulse discriminator; the threshold voltage reference level, Vth, is user-supplied. To prevent false triggering from unwanted returns during the initial pulsetransmission period, a time-variable-threshold function is available. The Vth threshold bias includes an RC circuit, which allows for temporal decay of the threshold for about 2.6 μs following application of the threshold voltage. Upon detecting a signal, the pulse-detection circuit generates a differential output pulse [Sig(+) and Sig(-)] with a duration proportional to the pulse amplitude. Because a proportional logic signal is output for both the leading edge and the falling edge of the pulse-amplitude signal, time-over-threshold (TOT) correction is enabled. This allows correction for amplitude-dependent timing variation. Using the TOT duration, correction of range-walk errors is enabled over a 70-dB range of signal amplitudes. The buffered analog signal is also available as an output. The buffered output signal can be sampled or digitized for use in false-alarm rejection and signal processing. Time-variable Threshold (TVT) To reduce the susceptibility of triggering from foreground pulse returns, the ROX receiver can be configured for timevariable threshold via a factory-configured RC filter circuit in the photoreceiver. When the external value of Vth is changed from one value to another e.g., from a high voltage level, Vth,hi, to a low volage level, Vth,lo the internal threshold Vth() changes according to the RC time constant of 2.6 s (102-k resistor and 25.5-pF capacitor). The time constant changes the threshold as follows: V th () = Vth,hi - ( Vth,hi Vth,lo ) e-r C where Vth,hi is the initial threshold value, and Vth,lo is the final desired threshold value. APD Bias and Temperature Compensation WARNING: If the bias is held constant, changes in temperature will cause avalanche gain levels to vary. If the temperature of the APD is less than it was during calibration, higher overall avalanche gain will likely result. This can cause the APD to be biased above the avalanche breakdown voltage. For this reason, it is critical to start the device in a stable-gain mode (e.g., operating mode 1, where M = 1) and to command APD bias compensation regularly during operation. Otherwise, the sustained avalanche breakdown currents may damage the APD. APD gain changes with temperature. To avoid the complications associated with thermoelectric coolers (TECs), such as power draw and cost, the ROX series of photoreceivers uses a temperature-dependent bias-compensation scheme, where for each of the four factory-calibrated modes APD biases at temperatures throughout the operational range are factory-programmed in the photoreceiver. State-machine control including temperature sensing and gain compensation are performed using a Microchip PIC12F series microcontroller ( integrated in the TO-8 package. The APD bias is updated with the pulse-width-encoded START signal. Each time the START signal is sent, the photoreceiver measures the temperature and updates the APD bias for the selected operating mode. The APD bias controller generates a conditioned bias voltage for the APD using signals from the microcontroller to achieve the

36 desired avalanche gain using the most recent temperature measurement. Provided that the user-supplied bias (VAPD) is present at the appropriate input pin of the photoreceiver, the microcontroller sends a signal to the 10-bit digital-toanalog converter (DAC), which biases the input to the APD bias controller. The bias controller amplifies the input voltage from the DAC by a factor of 30 and applies it to the APD. The DAC provides a maximum APD bias voltage variation of 146 mv. to achieve stable operating and to avoid damage to the APD, the START command should be sent regularly during operation preferably before every measurement taken. The breakdown voltage of the APD changes about 33 mv/ C. Avalanche gain drops as temperature rises, and rises as temperature drops. Thus, updating the APD bias regularly with the factory temperature-calibrated APD bias settings allows stable photoreceiver operation. Due to temperature-dependent APD gain, if the START command is not used to calibrate the APD for the ambient temperature, the APD may be caused to be biased above the breakdown voltage, which will cause damage to the detector. This can occur, for instance, when the APD is calibrated last at a high operating temperature, and is not updated using the START command as the operating temperature drops. As the APD gain increases at colder temperatures, the APD can then enter into avalanche breakdown, which will damage the APD. Thus, periodic update of the calibration is required using the START command. PHOTORECEIVER OPERATING MODES Factory Calibration The microcontroller is configured at the factory with four user-selectable programs stored in a look-up table in the photoreceiver. The microcontroller uses the look-up table to determine the APD bias voltage for the user-selected operating mode. Each operating mode provides automatic temperature compensation of multiplication gain by adjusting the reverse bias on the APD. The microcontroller can also be user-programmed with custom startup sequences and operating schemes. The photoreceiver can be set to any of the factory-configured operating modes programmed in the microcontroller. To select the desired operating mode, the START signal to the APD is applied for the duration specific to the desired operating mode, and a pulse-width-encoded signal is sent to the microcontroller. Upon receipt of the START command, the microcontroller measures the temperature of the APD, and based on the user-provided pulse-widthencoded value uses the temperature reading to address the look-up table to determine the optimal APD bias for the selected operating mode. Constant Gain: APD gain decreases as temperature increases, and increases as temperature decreases. Thus, to maintain a constant gain, the APD bias must be adjusted as the operating temperature changes. The APD bias is calibrated at the factory so that at each specified temperature the bias necessary to achieve the specified gain is used to operate the detector. To minimize damage to the photoreceiver due to high laser pulse energies, a bias setting of M = 1 is recommended when first powering-on the photoreceiver. For most ROX receiver models, the bias conditions for M = 1 are included in the factory calibration as Mode 1. Optimal Sensitivity: Each ROX photoreceiver is calibrated at the factory by operating the photoreceiver without any optical signal that is, in the dark. At each temperature, an automatic optimization routine uses a digital counter to measure the false alarms present at a threshold that achieves a 50% probability of detecting an optical signal at the specified false-alarm rate. At each temperature, the bias that results in the best photon-equivalent sensitivity is stored in the photoreceiver memory. In general, when using this operating mode: At high temperatures, to reduce FAR contributions due to APD dark current, gain is reduced; at low temperature, to compensate for limited photoreceiver sensitivity resulting from ASIC noise (as opposed to noise from APD dark current), the APD gain is increased. The required FAR is generally application specific and can be estimated using the relationship FAR = (c*pfa)/ (2*R), where Pfa is the probability of a false alarm; C is the speed of light (3 x 10 8 m/s), and R is the maximum target range in meters (e.g., for a target Pfa of 0.25% at a maximum range of 2.5 km, the target FAR is 150 Hz). When in use, upon user command, the APD biases are updated for the current operating temperature. Using the factory-configured biases, when in use, the FAR contributions from background optical radiation (e.g., solar contribution) can be measured by operating the photoreceiver without any laser pulses, and the threshold can be adjusted to achieve the desired FAR in the presence of background radiation. This allows the ROX photoreceiver to be dynamically optimized for operational requirements. Optimal Noise Equivalent Input (NEI) / Optimal Noise Equivalent Power (NEP): In this mode of operation, to calibrate the photoreceiver, for each gain, the threshold is swept over its full voltage range without illumination. The plot of the

37 measured count rate at each bias, is fit to a cumulative distribution function (CDF) of a normal distribution. The photon count of the normal distribution that results in the best fit to the measured values, is the noise equivalent input (NEI). The NEI measured at each avalanche gain is calculated over the temperature range, and the gain values that result in the lowest NEI are stored in each ROX APD photoreceiver after factory calibration. Constant Responsivity (Normalized to the Gain that Results in the Best NEI at 25 C): The calibration for this operating mode is similar to those above. However, rather than optimizing the gain for each temperature, the APD gain that allows for the best NEI at 25 C is determined, and the APD gain is compensated at each operating temperature so that responsivity is constant over the operating temperature range. The constant responsivity mode reaches saturation at high and low operating temperatures, so the constant responsivity is achieved over a smaller temperature range than the specified receiver operating temperature range. Selecting Operating Modes The receiver is biased in the OFF condition when the power to the photoreceiver is removed. In this mode, the biases are removed from VCMOS1, VCMOS2, and V APD in any sequence. To protect the APD from large signals, V APD may also be powered off separately. For operation, the desired operating mode is selected by applying the START signal for the duration listed in the START Pulse Width column of the specifications table. Each mode requires 15 ms to set up before operation can resume. A brief description of each program mode follows: Mode 1: With the application of V CMOS1, V CMOS2, and V APD, the microcontroller starts its clock, enters the run state, measures the APD temperature, sets the APD gain to M = 1, then enters the sleep state. These biases may be applied to the chip in any order without risking any damage to the receiver. All Other Modes (i.e., 2 4): The APD bias is established within 15 ms of receiving the START signal. After receiving the START signal, the microcontroller digitizes the value from the temperature sensor using the internal 10-bit analog-todigital converter (ADC). This temperature measurement is used to address the look-up tables stored in the EEPROM for the selected operating mode. The contents of the look-up table are used to set the appropriate APD bias voltage for the measured temperature. Once the voltage is set, the microcontroller again enters a sleep state, wherein all digital switching, including the internal clock, are stopped to reduce digital noise coupling to the analog signal chain. With the microcontroller in the sleep state, the receiver operates in the current mode until the next START pulse is received. RANGE PRECISION Using the speed of light, lidar sensors calculate the distance of an object using the equation: Range = (Speed of light time of flight of laser pulse) 2. The range precision can be calculated similarly. For example, achieving a 2-cm range precision requires timestamps with resolution of about 133 ps. To maximize performance over a wide dynamic range, the photoreceiver is configured with a leading-edge pulsediscriminating detection circuit. The ASIC s comparator receives the input optical pulse, then when the leading edge of the pulse crosses the input threshold voltage value (Vth,int) generates a signal. In the absence of noise and amplitude variations, the leading-edge discriminator marks the arrival time of each analog pulse with precision and consistency. Electronic noise causes an uncertainty or jitter when the analog pulse crosses the discriminator threshold, which determines the range precision. In general, higher operating gain and larger signals result in better timing precision. PULSE-PAIR RESOLUTION Pulse-pair resolution is defined here as the minimum time between target returns that can be recorded. The ROX generates a minimum output pulse width of 7 nanoseconds, which in combination with the time-to-digital converter (TDC) limits the pulse-pair resolution to no better than about 0.5 meters. Voxtel designed the ROX photoreceiver to accommodate optical power levels varying over 70 db. In this range, the photoreceiver recovers from a pulse within 70 ns (about 10 meters), and is again ready to receive optical pulses. Over the linear part of the response when the analog signal is not saturated, about 20 db the pulse-pair resolution is better than 5 meters.

38 RANGE-PRECISION ENHANCEMENT USING TIME-OVER-THRESHOLD CORRECTION Range walk is the systematic dependence of the timing on the input pulse amplitude. With a leading-edge timing discriminator, smaller pulses produce an output from the discriminator later than larger pulses, leading to variable timing in response to variations in input pulse amplitudes. For scenarios in which a wide range of pulse amplitudes are received, range-walk errors due to signal strength can seriously degrade the timing accuracy. Thus, to ensure accurate range timing, range walk must be minimized or eliminated. To mitigate the effects of range walk, the ROX includes a time-over-threshold (TOT) feature, where the times of the pulse s leading-edge and falling-edge threshold crossings are used to compute the TOT. To calculate TOT, the time of the leading-edge event is subtracted from that of the falling-edge event; the resulting TOT is proportional to the pulse amplitude. To mitigate range-walk errors resulting from variations in pulse signal strength, TOT can be calibrated for the range of anticipated pulse amplitudes. Range-walk error and TOT at the output of the receiver is shown as a function of the input signal amplitude. The range walk (time walk) and TOT pulse width, calculated as a function of input signal level by measuring the rising and falling edges of the detected pulse and the resulting time walk from the absolute pulse arrival time (conversion gain can be used to convert to threshold voltage or analog voltage range) The precision of the range-walk compensation is shown. Precision of range-walk compensation: Shown is the error that results if a 100-ps TDC is used to record the rising and falling edges (conversion gain can be used to convert to threshold voltage or analog voltage range).

39 APD PHOTORECEIVER AND LASER RANGING CONTROL ELECTRONICS INCLUDES MICRON-SENSISTIVE INGAAS APD PHOTORECEIVER AND TIME- OF-FLIGHT & CONTROL ELECTRONICS EAR 99: NOT ITAR CONTROLLED Voxtel s APD Receiver and Laser Ranging Control Electronics gives system designers a turnkey laser-ranging solution for thermal, electrooptical, and optical scope integration. Included are Voxtel s ROX avalanche photodiode (APD) photoreceiver which offers best-inclass sensitivity, enabling long-standoff range performance with less laser pulse energy paired with Voxtel s programmable time-to-digital converter (TDC) and programmable controller board, which can be used to control a user-provided laser. The result is a compact, lightweight highly-reliable ranging module with excellent performance. Each is factory calibrated. To provide optimal performance over a -50 C to +85 C temperature range, four operating modes are included: bias for best noise equivalent input (NEI) operation; bias for optimal sensitivity for a 10-Hz to 350-Hz false alarm rate (FAR); stable photoreceiver responsivity; and stable gain (M = 1). Programming is made easily using commands from a flexible serial communications library, communicated over a simple serial UART interface. Other user-programmable features include: time-variable-threshold (TVT), used to reduce false alarms due to nearfield scattering, timeover-threshold (TOT) range walk correction, used to reduce amplitude-dependent range-walk errors autocalibration, used to set the threshold to achieve a userdefined FAR given ambient background optical radiation conditions multi-pulse processing, used to enhance range and resolution passive operation, used to measure the pulse-repetition frequency of external lasers. The APD Receiver with Laser Ranging Control Electronics can optionally include a Voxtel-provided diode-pumped solid-state (DPSS) laser or photoreceiver optics. Also available is an optional auxiliary board that includes an integrated attitude and heading reference system (AHRS) module, with a 9-axis IMU, 8-bit 200-MHz digitizer, and Bluetooth low-energy communications module. FEATURES Low Excess Noise: Impactionization engineered InGaAs APD Excellent NEI: as low as 35 photons Factory Calibration: Each receiver calibrated for optimal operation over the full temperature range Easily Configured: Software commands for single-pulse and multi-pulse operation, timevariable threshold, and automatic background compensation OPTIONS Turnkey Laser Rangefinder (LRF) Modules: Available as original equipment manufacturer (OEM) modules or as robust electrooptical assemblies System-Integrator Kits: Available with integrated DPSS laser Auxiliary Boards: Including AHRS, 8- bit digitizer, and Bluetooth communications CONTACT INFO VOXTEL INC NW SCHENDEL AVE #200 BEAVERTON, OR SALES@VOXTEL-INC.COM Voxtel Literature ROX Series InGaAs Photoreceivers 19Sept2017. Voxtel makes no warranty or representation regarding its products specific application suitability and may make changes to the products described without notice.

40 SPECIFICATIONS APD Receiver and Laser Ranging Control Electronics EUXK-N0XC EUXK-J0XC Voxtel APD photoreceiver model number RUC1-NIAC RUC1-JIAC APD collection aperture 200 μm 75 μm Noise equivalent input 45 photons 40 photons Total dynamic range 70 db Linear dynamic range 25 db APD gain range (M) 1 20 APD responsivity (M = 1) 1.1 A/W Number of returns per pulse, maximum 10 Target separation, minimum 1 5 m Range precision (single-pulse/multi-pulse) 17,2,3 150 mm / 50 mm Minimum range m Power consumption, LRF disabled < 1 mw Power consumption, standby 250 mw Power consumption, ranging mw 800 mw Timing, power-on to standby 45 ms Timing, standby to range 180 ms Communications interface Serial commands, UART 3.3V CMOS Logic Analog signal (peak to peak) 150 mv Weight (all components: ROX InGaAs APD Photoreceiver mounted on 18.9 Socket Board, LRF System Board, and 2 Flex Ribbon Connector) Operating humidity (relative humidity) 90% Operating temperature -50 C to +85 C Storage temperature -55 C to +100 C CONFIGURATION ELECTRICAL BLOCK DIAGRAM 1 < 8X NEI 2 25 C 3 When calibrated with TOT 4 Operating at 1 Hz

41 Connector Pin Assignments LRF System Board User Interface (Hirose DF3-8P-2DS) Pin Name In/Out Description Min Typ Max 1 NC NA No Connect NA 2 NC NA No Connect NA 3 LRF_ENABLE Input Active low enable. Pin pulled up to 5V with 100 k resistor. Pull low to enable LRF power. 4 NC NA No Connect NA 5 GND Input System Ground Ground 6 TX Output UART Transmit 3.3V 7 RX Input UART Receiver 3.3V 8 5V Input System Power Input 5V APD Photoreceiver Board The functionality of the electrical connections to the APD photoreceiver can be found on the ROX InGaAs APD Photoreceivers datasheet and user manual. Pin Name In/Out Description Typ 1 VAPD Input APD bias voltage 2 GND Input Ground GND 3 NC Input High voltage isolation NA 4 GND Input Ground 5 AGND Input Analog ground GND 6 SIG- Output 1.8V full-swing complementary digital output signal from receiver 1.8V 7 AGND Input Analog ground 8 SIG+ Output 1.8V full-swing complementary digital output signal from receiver 1.8V 9 3.3V Input 3.3V digital supply 3.3V 10 GND Input Ground 11 VthSW Input Threshold voltage switch for TVT switches between VTh,hi and Vth, lo 12 NC NA No connect NA 13 VthL Input Threshold low voltage 14 GND Input Ground GND 15 VthH Input Threshold high voltage 16 uclk Input i2c clock for photoreceiver (two-wire interface) 17 AGND Input Analog ground 18 udata Input i2c data for photoreceiver (two-wire interface) 19 VCMOS2 Input 5V ROX photoreceiver supply 5VDC 20 START Input Receiver mode control UFL Connector Analog Output Analog Output 1.8 V Laser Driver Board For electrical connections to the laser driver board, see Voxtel s DPSS Laser datasheet. 1

42 Timing Diagrams Power-up to Range Timing Ranging Operation Timing Diagram Configuration for Triggering the Time-to-Digital Converter Using an External Electrical T0 To configure the LRF to receive an electronic T0 pulse, users can supply a maximum 1.8V pulse to the UFL connector located on the LRF system board (see Mechanical Drawings, LRF System Board) using a 50-ohm terminated cable. The external T0 pulse is enabled using software commands to configure the board. SOFTWARE CONTROL The APD Receiver and Laser Ranging Control Electronics can be easily programmed using the simple serial communications command set over a simple serial UART interface. User-programmable features include: time-variable threshold (TVT), used to reduce false alarms due to nearfield scattering, timeover-threshold (TOT) range-walk compensation, used to reduce amplitude-dependent timing errors autocalibration, used to set the threshold to achieve a userdefined FAR given ambient background optical radiation conditions multi-pulse processing, used to enhance range and resolution passive operation, used to measure the pulse-repetition frequency of external lasers. The available commands can be found in the Voxtel document: LRF Software ICD: Modules, Kits, and Components. To configure and operate the LRF using a terminal emulator of a graphic user interface, see the Quick Start section of the Voxtel document: LRF User Manual: Modules, Kits, and Components. These documents are shipped with the product and are available at voxtel-inc.com. The website can also be used to download software to update device drivers and firmware.

43 MECHANICAL DRAWINGS LRF System Board ROX APD Photoreceiver Board Ribbon Cable 4

44 ROX APD PHOTORECEIVER EVALUATION BOARD The ROXTM APD Photoreceiver Evaluation Board a peripheral option designed for use with the ROX photoreceivers allows users to quickly evaluate the performance of the ROX photoreceivers. The evaluation board is delivered with an AC-to-DC power adaptor that provides all the power, control, and signal conditioning needed to operate the ROX photoreceiver, and with hardware that allows the board to be mounted on an optical table for evaluation. To select the photoreceiver operating mode, a simple dual-in-line plug (DIP) connector is used. To adjust the threshold voltage setting, a potentiometer is used. The evaluation board also accommodates time-variable threshold. SPECIFICATIONS Connector J4 J3 SMA connector 3-pin connector J2 SMA connector J6 SMA connector J800 Barrel-pin jack SW1-SW4 SW5 J7 Push-button switches Push-button switch Two-pin header R20 R35 R905 R906 Potentiometer Potentiometer Potentiometer Potentiometer Digital Output CMOS logic signal Digital pulse detection: center pin is ground; outer 2 pins are +/- signal, 3.3V LVDS Analog Output Buffered analog signal (50 load, 160 mv max signal) Analog Input T0 trigger; 5V logic Power +5V ±3% power board is shipped w/suitable power adapter Programming Activates individual photoreceiver operating modes. Enables setting of Vth,lo Enables optical T0 initiation of TVT when jumper is used to short Pin 2 and Pin 3 Enables electrical T0 initiation of TVT when jumper is used to short Pin 2 and Pin 3 Disables TVT function when jumper is removed Control Vth,lo control [set with SW5 enabled (pressed down)] Vth,hi control Factory pre-set do not use Factory pre-set do not use; controls the high voltage for the APD* * The ROX receiver contains an internal voltage regulator that sets the actual APD bias voltage. ORDERING INFORMATION Part Number WRR0A ROX APD Photoreceiver Evaluation Board

45