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TECHNOLOGY EXPERIENCE INNOVATION SOLUTIONS

Eyesafe Laser Rangefinders & 3D Imaging Lidar Sensors and Components

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Our eyesafe laser ranging and lidar imaging products efficiently capture accurate geospatially referenced 3D images of scenes, over long ranges and in adverse conditions—revolutionizing the way people, instruments and vehicles interact with each other and their environments.

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T A B L E O F C ON T E N T STable of Contents ....................................................................................................................................................................................... 3

Contact Information .......................................................................................................................................................................... 3 Core Advantage .......................................................................................................................................................................................... 4

Laser Ranging and Laser Imaging Innovation .................................................................................................................................... 4 Eyesafe Rangefinding, 3D Scanned Lidar, and Flash Lidar Imaging ................................................................................................... 4 Vertical Integration ........................................................................................................................................................................... 4

Products, Services & Other Applications of the Technology ..................................................................................................................... 4 High‐Gain, Low‐Excess‐Noise SWIR APDs ......................................................................................................................................... 4 InGaAs APD Arrays ............................................................................................................................................................................ 4 Single‐photon APD Detector (SPAD) Imagers ................................................................................................................................... 4 APD Photoreceivers .......................................................................................................................................................................... 5 CMOS Amplification and Signal‐processing ASICs ............................................................................................................................. 5 Q‐switched Pulsed 1535‐nm Lasers .................................................................................................................................................. 5 Eyesafe Laser Rangefinders ............................................................................................................................................................... 5 Flash Lidar, and Dual‐mode Laser Focal Plane Arrays (FPAs) and Imagers ....................................................................................... 5 Time‐to‐Digital Converters (TDCs) .................................................................................................................................................... 5

Customers & Markets ................................................................................................................................................................................ 6 Automotive ....................................................................................................................................................................................... 6 Construction and Excavation ............................................................................................................................................................ 6 Mapping ............................................................................................................................................................................................ 6 Asset Management ........................................................................................................................................................................... 6

Facilities ..................................................................................................................................................................................................57

Contact Information Voxtel Opto

15985 NW Schendel Avenue Beaverton, OR 97006 USA

+1 971 223 5646 | www.voxtel‐inc.com

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DatasheetsEyesafe 1534-nm LRFs......................................................................................................................................................................7

Eyesafe LRF Modules for Original Equipment Manufacturers........................................................................................................16 LRF System-Integrator Kits............................................................................................................................................................26DPSS 1534-nm Pulsed Micro-Lasers...............................................................................................................................................33 ROX™ InGaAs APD Photoreceivers.................................................................................................................................................41

Narrow-Profile Eyesafe LRF Modules for Original Equipment Manufacturers...............................................................................10

C O R E A D V AN T AG EOur custom miniature pulsed eyesafe lasers, highly sensitive short wavelength infrared (SWIR) photoreceivers, and ultra‐precise integrated circuits, allow us to integrate cost‐effective, small‐sized, lightweight, low‐power laser ranging and lidar imaging sensors with unsurpassed performance.

Laser Ranging and Laser Imaging Innovation

For almost two decades, VoxtelOpto has maintained focus on innovating technologies for eyesafe laser ranging and lidar imaging. Today, no other company has the experience, in‐house technological expertise, end‐to‐end component design and system engineering, electro‐optical manufacturing capabilities, and application domain knowledge.

Our technologies include the highest‐performance near infrared (NIR) and SWIR avalanche photodiode (APD) detectors and detector arrays in the world, novel ultra‐miniature eyesafe q‐switched lasers, and custom pulse‐processing and time‐to‐digital‐converter (TDC) integrated circuits (ICs). Our custom APD photoreceivers are industry’s most sensitive. This allows us to obtain range images, at long distances, or over wider field of view, with less laser power, in all‐weather conditions. The combination of highly sensitive detectors and high‐peak‐power eyesafe lasers, combined with our custom ICs, and electro‐optical packaging expertise, allow cost‐effective, compact laser ranging sensors to be built.

Our ability to identify and bring new technologies to market quickly and reliably makes VoxtelOpto one of the top laser‐imaging‐technology companies in the world. By balancing stability and flexibility, we continue to earn our strong reputation as quick, nimble problem solvers and expert product developers. We successfully navigate our customer’s complex multi‐dimensional imaging needs with a proven record of delivering robust, compact, and cost‐effective solutions.

Eyesafe Rangefinding, 3D Scanned Lidar, and Flash Lidar Imaging

Systems that transmit laser beams through open air can be hazardous to the eye. At an eye‐sensitive wavelength, even a low‐power visible laser can be focused into an extremely small spot on the retina, resulting in localized burning and permanent damage. Unlike most other laser ranging and 3D lidar systems, ours use lasers that meet the stringent emission requirements for Class‐1 lasers, by operating in the eyesafe SWIR range at 1535 nm. At this wavelength, the maximum permissible eye exposure is as much as a million times greater than in the NIR spectral region. This allows us to use higher photon flux densities to obtain images faster and at longer ranges, in much smaller, lighter packages. And, because light scatters less at this spectrum, our products are less susceptible to fog, rain, snow and other degraded visual conditions—directly translating into safety for our users.

Vertical Integration

We maintain vertical technology integration with a breadth of custom component technologies, including InGaAs APD detectors, APD detector arrays, silicon single‐photon APD detector (SPAD) arrays, CMOS and bi‐CMOS pulse‐processing and picosecond‐scale accurate timing circuits, ultra‐miniature q‐switched eyesafe lasers, and complex opto‐mechanical and opto‐electronic system engineering.

These in‐house capabilities allow us to rapidly innovate and integrate cost‐effective, small‐sized laser ranging and 3D lidar imaging systems that have unsurpassed performance, giving integrators the ability to design and deliver superior products.

P RODU C T S , S E R V I C E S & O T H E R A P P L I C A T I O N S O F T H E T E C HNO LOG YHigh‐Gain, Low‐Excess‐Noise SWIR APDs

Unlike common APDs, which have noisy avalanche gain, our custom‐engineered, industry‐leading advanced InGaAs APDs offer extremely low dark current and half the excess noise, providing superior range and false‐alarm performance. Sensitive over the 900 – 1700‐nm spectrum, including the eyesafe spectral region beyond 1300 nm, our high‐gain, low‐excess‐noise APDs can enable sensitivities approaching a single photon.

InGaAs APD Arrays

Our APD arrays—which can be offered in formats up to 1K x 1K—use backside illumination to achieve low capacitance, high speed and low dark noise.

Single‐photon APD Detector (SPAD) Imagers

Our emerging series of large‐format visible and near‐infrared digital SPAD imagers, integrate our leading ASIC amplification and readout circuits, with highly efficient, low‐noise SPADs in dense large‐format imaging arrays. Our SPAD technology has the world’s highest detection efficiency at the lowest dark‐count rates. Our emerging line of near‐infrared‐sensitive and back‐illuminated SPADs are designed to serve near‐infrared lidar and low‐light‐level imaging applications.

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APD Photoreceivers

Our APD photoreceivers—that integrate our high‐gain APDs and low‐noise ASICs—provide state‐of‐the‐art sensitivity enabling laser‐pulse‐energy requirements to be reduced by a factor of at least 30 compared to PIN photodiode receivers, and at least 5 compared to competitor APD photoreceivers. To achieve the stable gain required for the highest‐sensitivity imaging capabilities of our APD photoreceiverss—especially at higher temperature operation, where impact ionization would otherwise decrease, leading to unstable gain witnessed as noise—temperature is monitored thousands of times per second and APD bias is optimized by a microcontroller.

CMOS Amplification and Signal‐processing ASICs

Our ASICs are directly bonded to single elements for range finding and scanned lidar applications, or are configured as two‐dimensional multiplexed readout integrated circuits (ROICs) ROICs for hybridized flash lidar focal plane arrays. Our integrated‐circuit design team achieves low‐noise, high‐speed (e.g., GHz‐rate) detector signal processing, densely integrated analog and digital circuit functions, TDCs and analog‐to‐digital converters (ADCs) on a single full‐custom CMOS integrated circuit. This unique capability offers tremendous leverage in many applications, including highly sensitive active imaging and lidar, where performance demands integral design of the detector and ROIC.

Q‐switched Pulsed 1535‐nm Lasers

To engender eyesafe laser ranging and imaging applications, we developed our high‐peak‐power diode‐pumped solid‐state (DPSS) laser transmitters with approximately 5‐ns pulses, offered in models with pulse energies ranging from 10 μJ to 1 mJ and pulse rates ranging from 1 Hz to 500 kHz. These lasers are qualified to MIL‐STD‐883, MIL‐STD‐810, and MIL‐STD‐202.

Eyesafe Laser Rangefinders

Answering the previously unmet need for a cost‐effective eyesafe LRFs, small and lightweight enough for handheld or unmanned vehicle integration, with a capability to range to long distances, our ROX™ series of micro laser rangefinder (μLRF) has established a new class of rangefinder that offers eyesafe operation and high performance in a small, lightweight package that includes an integrated attitude and heading reference sensing (AHRS), allowing accurate geospatially referenced range data.

Flash Lidar, and Dual‐mode Laser Focal Plane Arrays (FPAs) and Imagers

Leveraging our ROIC design experience, we have developed a series of sophisticated dual‐mode FPAs that, in each pixel, include: time‐of‐flight and partial‐ or full‐waveform sampling for flash lidar applications, or passive imaging and active laser pulse detection

Time‐to‐Digital Converters (TDCs)

Our broad portfolio of TDCs—from a single channel to as many as 1,024 signal channels—can record pulse arrival times with accuracies to 10 picoseconds and below.

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C U S T OME R S & MA R K E T SOur customer‐focused innovation and expertise allow superior‐performance products to be built that locate, map and manage assets, perform autonomous navigation, and offer automobile driver assistance and collision avoidance.

Automotive

Emerging markets for driver‐assistance and autonomous‐automobile navigation systems are being enabled by the small‐package, low‐power, high‐performance 3D imaging of our eyesafe lasers and detectors. Advanced driver‐assistance systems—such as adaptive cruise control and parking and collision‐avoidance systems, as well as other active driver‐assistance systems—provide a more comfortable driving experience, prevent crashes, and reduce the severity of accidents when they do occur. Equipped with our lidar technologies, tomorrow’s advanced driver‐assistance systems will lead a new era a self‐driving platoons of cars that provide significant benefits to society by minimizing safety hazards, reducing fuel consumption, increasing lane capacity, and decreasing traffic delays. Today, the inefficiency of human‐driven vehicles leads to considerable congestion, which costs Americans 4.8B hours of time, 1.9B gallons of wasted fuel, and $101B in combined delay and fuel costs. Within the decade, automobile platooning systems are planned, wherein automated cars train behind piloted cars—increasing highway lane capacity by up to 500%, with each 10% reduction in infrastructure investment resulting in savings of $7.5B per year.

In the next few years, autonomous taxis and delivery vehicles will benefit from our eyesafe lidar imagers, reducing urban traffic and increasing safety.

Construction and Excavation

In a typical large construction project, tracking onsite resources and monitoring the status of construction activity consumes as much as 1% of the budget. Our eyesafe 3D‐imaging solutions simplify resource tracking and site monitoring by enabling the creation of accurate, real‐time 3D real‐life representations (maps, models) of construction sites and interior spaces—including all contents—for assessment and evaluation. This also makes it practicable to monitor and assess hazardous environments where human intervention would be impossible. Compared to current practices, our solutions provide the timely knowledge of project status faster, with less cost and without impacting existing operations.

Drawn as Built: As‐built drawing is a key factor for management of modern complex facilities. As‐built surveys using 3D laser scanning technologies provide users with detailed point clouds that enable 3D modeling for diverse tasks including building reconstruction, plant layout and enhanced data presentation with augmented reality.

Mapping

VoxtelOpto’s products enable lidar to be one of the quickest and most accurate methods to produce an accurate digital elevation map (DEM) for engineering surveys of roads, forests, flood plains, and other terrain or assets. Specialized 3D rendering software extracts and enhances detailed surface‐elevation models from lidar data for applied analysis.

Corridor Mapping: Our accurate, geo‐registered 3D lidar images enable global lidar surveys that aid considerably in

constructing and/or improving primary and secondary roadways.

Flood‐Risk Mapping: Using a lidar‐derived DEM, hydrologists can predict flood extents and plan mitigation and remediation strategies. Airborne laser mapping can be a fast, reliable, cost‐effective method to obtain 3D data suitable for creating DEMs.

Oil & Gas Exploration Surveys: The oil‐and‐gas industry relies on rapid delivery of time‐sensitive data relating the x‐, y ‐, and z‐ positions of terrain data for exploration programs. Typically, surveys for the oil‐and‐gas industry are conducted using either a fixed‐wing or helicopter‐mounted lidar system, based on the size, terrain, and vegetation coverage of the project area.

Powerline Transmission or Pipeline‐corridor Planning: Lidar technology lends itself particularly well to transmission‐line surveys, especially if the data‐acquisition system is mounted in a helicopter.

Coastal‐zone Mapping: Traditional photogrammetry is sometimes difficult to use in areas of limited contrast and featureless terrain, such as beaches and various littoral zones.

Asset Management

Our 3D‐imaging technologies address the unmet needs of a vast array of markets:

Real Estate Development: Traditional ground surveying for real‐estate development is time consuming and labor intensive.

Forestry: Foresters and natural‐resource managers require easier methods to obtain accurate data of tree height and density, as well as the terrain and topography beneath tree canopy.

Urban Modeling: In urban environments, conventional modeling techniques are plagued by shadowing. Many applications—including telecommunications, wireless communications, law enforcement, and disaster planning—require accurate digital models of urban environments. Using the proper operational parameters, our lidar systems can accurately map urban environments without shadowing.

Wetlands and Other Restricted‐access Areas: Environmentally sensitive areas, such as wetlands, wildlife reserves, and protected forest areas—as well as hazardous areas, such as toxic‐waste sites or industrial‐waste dumps—are difficult to map using conventional ground or photogrammetric techniques.

Security and Change Detection: VoxtelOpto’s eyesafe 3D imaging solutions enable the creation of plans that model every object in a space—including desks, chairs, stairs, and doors. The maps are geo‐located—that is, the real‐world positions of each area of the building and its contents are known—which allows for built‐in real‐time monitoring and change detection in robotic tools.

Misc: Other miscellaneous LIDAR applications include: property assessment, where county‐wide mapping programs are being supported by LIDAR; airport exclusion zones, where landing and takeoff zones are mapped with LIDAR to detect obstructions that rise above regulatory height restrictions.

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1534-NM LASER RANGEFINDER TURNKEY LRF

Voxtel’s turnkey 1534-nm laser rangefinder (LRF) is a new class of

high‑performance, non-ITAR restricted rangefinder designed for long

range and high accuracy range measurements in an extremely

compact, lightweight, and low-power system. The LRF includes a

small‑form‑factor 1534-nm diode‑pumped solid‑state (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 low‑divergence

diffraction‑limited DPSS laser pulses achieves 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: time-variable-

threshold (TVT) operation, to reduce false alarms due to nearfield

scattering time‑over-threshold (TOT), to reduce amplitude-

dependent time-walk errors auto-calibration, to enable a

user‑defined false‑alarm 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 200,000 range events are possible before battery recharging is

necessary. The battery is charged using the micro-USB connector.

Voxtel Literature Turnkey LRF 20Mar2019 ©. Voxtel makes no warranty or

representation regarding its products’ specific application suitability and may

make changes to the products described without notice.

EAR 99: NOT ITAR CONTROLLED

FEATURES

• Long Range: 3 km (100 µJ)/5 km (300 µJ)

• Fine Range Precision: Better than

150‑mm 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: M2 < 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-over-

threshold (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-μJ laser, 3-km range

• FUMJ-KGAC: 300-μJ laser, 5-km range

CONTACT INFO

VOXTEL INC.

15985 NW SCHENDEL AVE #200

BEAVERTON, OR 97006

971-223-5642

WWW.VOXTEL-INC.COM

[email protected]

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http://www.voxtel-inc.com/

mailto:[email protected]

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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 μJ 300 μJ

Measurement range1 3 km 5 km

Maximum measurement rate (multi-pulse) 10 Hz 10 Hz

Minimum range distance2 10 meters

Range precision (single-shot/multi-shot)3,4 150 mm / 50 mm

Maximum number of targets 4

Minimum target separation2 5 meters

Transmitter

Eye safety / classification Class 1 (EN 60825-1: 2007)

Laser type DPSS

Operating wavelength 1534 nm

Spectral line width (FWHM) < 0.02 nm

Wavelength shift with temperature +0.014 nm/+°C

Beam quality (M2) 1.15 x DL

Beam divergence, full angle (1/e2) < 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)5 1.1 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 3R

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 206.2 g 212.5 g

Operating Conditions

Operating temperature -45 °C to +65 °C

Operating humidity 90%

Storage temperature -55 °C to +85 °C

Water resistance (rating) IP64

Lifetime (MTTF) >50 million shots

1 2.3 x 2.3-m2 target; single-shot, 30% reflectivity 2 Less than 10X NEI 3 When calibrated with TOT 4 Pulse returns 10X the NEI and greater 5 1534-nm spectral response 6 Parameterization of McIntyre equation: F(M) = keff M + (1 - keff)(2 - 1/M)

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DIMENSIONS

SOFTWARE

The LRF can be easily programmed using the simple serial communications command set over USB interface. User-

programmable features include:

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

Sample of Available Software Controlled Operating Configurations

Automatic threshold setting for user-input FAR level

Time‑variable 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

http://voxtel-inc.com/files/LRF-Software-ICD.pdf

http://voxtel-inc.com/files/LRF-User-Manual.pdf

Equipment described herein is subject to US export regulations and may require a license prior to export. Diversion contrary to US law is prohibited. Specifications are subject to change without notice. Accession number 1811183-00.

Voxtel Literature Narrow-Profile LRF OEM Module 9July2020 ©. Voxtel makes no warranty or representation regarding its products’ specific application suitability and may make changes to the products described without notice.

NARROW-PROFILE EYESAFE

LASER RANGEFINDER (LRF)

OEM MODULE

TURNKEY 1534-NM

LASER RANGING

MODULE

Voxtel’s Narrow-Profile 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 Narrow-Profile 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 Narrow-Profile LRF OEM Module is the industry’s most compact

and power-efficient pulsed laser ranging solution. The 21-mm aperture

enables standoff ranges out to 6 km with a 48-kW DPSS laser. With multi-

pulse processing, range is approximately twice as far.

The Narrow-Profile 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 Narrow-Profile

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.

optical apertures. Custom receiver options are also available. The 17x

magnification collimated lasers have excellent beam quality—M2 <

1.15 x DL, where DL is the diffraction limit, which allows for maximum

pulse energy to be placed on the target—even at long distances and

in difficult atmospheric conditions.

FEATURES

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-excess-

noise InGaAs APD

Eyesafe: Class 1, 1534-nm laser

High Accuracy: 500-mm single-

pulse; 100-mm multi-pulse

Near Diffraction-Limited Laser

Beam Quality: M2 < 1.15 x DL

Ultra-low Noise Equivalent Input

(NEI): as low as 45 photons

Long Lifetime: > 50M shots

OPTIONS

Laser: 48 kW

Receiver Aperture: 21 mm

Transmitter Collimators: 17x

standard; other magnification

available upon request

Pitch Plate for fine pointing

adjustment

Auxiliary Board: Integrated AHRS

with 9-axis IMU, Bluetooth low-

energy communications module,

and 8-bit ADC

CONTACT INFO

VOXTEL INC.


BEAVERTON, OR 97006

971-223-5642

WWW.VOXTEL-INC.COM

[email protected]

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The highly sensitive APD photoreceiver enables long-distance ranging using less laser pulse energy. The Narrow-Profile

LRF OEM Module integrates pulsed DPSS micro-lasers with 17x-magnification collimating optics, providing low beam

divergence.

Easy to integrate and operate, each turnkey Narrow-Profile 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), multi-pulse 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. An optional pitch plate

allows fine adjustment of the Narrow-Profile LRF OEM Module for aligning to a target for ranging.

ORDERING INFORMATION & SPECIFICATOINS

Narrow-Profile Laser

Rangefinder OEM Module

Narrow-Profile Laser Rangefinder

OEM Module with Pitch Plate

48-kW laser, 21-mm dia. receiver aperture DUMQ-NCBC DUMU-NCBC

Laser peak power (typical)1,2 48kW

Aperture diameter 21 mm

Multi-pulse range3,4,5 11 km

Singe-pulse range4,6 6 km

Multi-pulse extinction ratio (500 m/85%)3,7 37 dB

Single-pulse extinction ratio (500 m/85%)7 33 dB

Performance Specifications

Maximum number of returns per pulse8 20

Minimum target separation7 5 m

Range accuracy, single-/multi-pulse9 500 mm / 100 mm

Minimum range10 20 m

Transmitter Specifications

Voxtel DPSS laser LAM0-FX0C

Transmitter wavelength 1534 nm

Transmitter pulse width1 7 ns

Transmitter rep. frequency, max (multi-pulse) 10 Hz

Transmitter beam diameter11 5.10 mm

Transmitter beam divergence, full angle (1/e2) 11 0.5 mrad

Transmitter beam quality (M²) 1.15 x DL

Receiver Specifications

NEI1 (quanta/energy) 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)6 1.1 A/W

Electrical Specifications

Input voltage, typical/max 5 VDC / 5.5 VDC

Standby power 200 mW

Max current draw during range request 1.8 A

Power consumption, 1-Hz continuous ranging1 700 mW

1 25 °C 2 1534 nm 3 30% reflective extended target (larger than beam area), multi-pulse

processing time 1.1 – 1.5 seconds. 4 90% probability of detection, < 2% false alarm probability (single

pulse), < 60 mW/cm2 ambient solar background 5 Preliminary data

6 30% reflective 3.3 x 3.3 m2 target 7 Target return level ≤ 10x NEI 8 Max including one T0 pulse 9 When calibrated with time-over-threshold (1 σ) 10 10 m possible with lower-energy laser models 11 Measured through the beam expander

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Communication interface Serial commands over UART 3.3V CMOS logic

Mechanical Specifications

Weight, all components 175 g 145 g

Environmental

Operating temperature12 -45 °C to +65 °C 1


Lifetime (MTTF) 50 million shots 12 Custom to +75° C also available upon request

AUXILLARY BOARD

An optional auxiliary board includes an integrated AHRS module with 9-axis inertial measurement unit (IMU), and

Bluetooth low-energy communications module. The AHRS module can be factory-calibrated.

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 constant-calibration 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.

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 0.014 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 μg/√Hz

Total RMS noise, at 100 Hz 1.5 mg-rms


Magnetometer Sensitivity

Full scale range (x-, y- axes) ±1300 μT

Full scale range (z-axis) ±2500 μT

Sensitivity scale factor (x-, y- axes) 0.32 μT/LSB

Sensitivity scale factor (z-axis) 0.15 μT/LSB

Total RMS noise, at 20 Hz 0.3 μT

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.

13

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.

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, time-over-threshold (TOT) range-walk compensation, used to reduce amplitude-dependent timing errors

autocalibration, used to set the threshold to achieve a user-defined 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

14

Timing Diagrams LRF Single-Pulse-Range Cycle

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 DC pulse to the UFL connector

located on the LRF System Board (see Mechanical Drawings, LRF System Board) using a 50-Ω-terminated cable. The

external T0 control is enabled using software commands.

Connector Pin Assignments LRF System Board User Interface- P1 Connector (Hirose DF3-8P-2Ds)

ROX APD Photoreceiver Board Connector Out Description Typ

UFL Analog Out Analog Output; AC coupled (15.8 nominal gain) - 3 VDC (into 50 ohms)

Pin Name In/Out Description Typ

1 LRF_RANGE Input Initiates a range measurement when a rising edge is detected on

this pin.

3.3V

2 LASERGATE Output Laser gate signal to the laser diode driver board. This can be

monitored or actively driven.

3.3V

3 LRF_ENABLE Input Active low enable. Pin pulled down to ground.

Pulled high to disable 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

15

MECHANICAL DRAWINGS

Narrow-Profile Laser Rangefinder OEM Module 48-kW, 21-mm-aperture module (model DUMQ-NCBC)

48-kW, 21-mm aperture module with pitch plate (model DUMU-NCBC)

Equipment described herein is subject to US export regulations and may require a license prior to export. Diversion contrary to US law is prohibited. Specifications are subject to change without notice. Accession number 1811183-00.

Voxtel Literature DTS-LRF-0001_REV01 07July2020 ©. Voxtel makes no warranty or representation regarding its products’ specific application suitability and may make changes to the products described without notice.

EYESAFE

LASER RANGEFINDER (LRF)

OEM MODULE

TURNKEY 1534-NM

LASER RANGING

MODULE

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 power-

efficient pulsed laser ranging solution, with a range of available laser

pulse energies and receiver optical apertures that allow for long-

distance ranging. The 21-mm-aperture option enables standoff

ranges beyond: 5 km with the 30-kW DPSS laser; 10 km with the 50-kW

DPSS laser; and 12 km with the 120-kW 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 receiver options are also

available. The 17x magnification collimated lasers have excellent

beam quality— M2 < 1.15 x 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.

FEATURES

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-excess-

noise InGaAs APD


High Accuracy: 500-mm single-


Near Diffraction-Limited Laser

Beam Quality: M2 < 1.15 x DL

Ultra-low Noise Equivalent Input

(NEI): as low as 45 photons

Long Lifetime: > 50M shots

OPTIONS

Laser: 30 kW, 50 kW, or 120 kW

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 low-

energy communications module,

and 8-bit ADC

CONTACT INFO

VOXTEL INC.


BEAVERTON, OR 97006

971-223-5642

WWW.VOXTEL-INC.COM

[email protected]

16

17

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), multi-

pulse 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 LRF OEM Module

Base Unit

without Housing

LRF OEM Module

with Integrated

Aluminum Housing

LRF OEM Module

With Aux Board

Without Housing

30 kW Laser

21-mm dia. receiver aperture DUKL-NCBC DUKT-NCBC DUKS-NCBC

50 kW Laser

21-mm dia. receiver aperture DUML-NCBC DUMT-NCBC DUMS-NCBC

50-mm dia. receiver aperture DUQL-NHBC DUQT-NHBC DUQS-NHBC

120 kW Laser

21-mm dia. receiver aperture DUNL-NCBC DUNT-NCBC DUNS-NCBC

50-mm dia. receiver aperture DUNL-NHBC DUNT-NHBC DUNS-NHBC

18

SPECIFICATIONS

DUKL-NCBC DUML-NCBC DUQL-NHBC DUNL-NCBC DUNL-NHBC

Laser peak power (typical)1,2 30 kW 50 kW 120 kW

Aperture diameter 21 mm 21 mm 50 mm 21 mm 50 mm

Multi-pulse range3,4,5 7km 11 km 18 km 12 km 21 km

Singe-pulse range4,6 4 km 6 km 10 km 9 km 12 km

Multi-pulse extinction ratio (500 m/85%)3,7 32 dB 37 dB 42 dB 39 dB 46 dB

Single-pulse extinction ratio (500 m/85%)7 28 dB 33 dB 41 dB 35 dB 42 dB

Performance Specifications

Maximum number of returns per pulse8 20

Minimum target separation7 5 m

Range accuracy, single-/multi-pulse9 500 mm / 100 mm

Minimum range10 20 m

Transmitter Specifications

Voxtel DPSS laser LAK0-E00C LAM0-FX0C LAMM-FB0C LAN0-F00C

Transmitter wavelength 1534 nm 1534 nm 1534 nm

Transmitter pulse width1 4 ns 7 ns 5 ns

Transmitter rep. frequency, max (multi-pulse)11 10 Hz 10 Hz 10 Hz5

Transmitter beam diameter 4.25 mm 5.10 mm 6.78 mm

Transmitter beam divergence, full angle (1/e2) 0.7 mrad 0.5 mrad 0.4 mrad

Transmitter beam quality (M²) 1.15 x DL 1.15 x DL 1.15 x DL

Receiver Specifications

NEI1 (quanta/energy) 45 photons/ 5.805*10-18 J



APD Gain (M) 1 – 20

APD Responsivity (M = 1)6 1.1 A/W

Electrical Specifications

Input voltage, typical/max 5 VDC / 5.5 VDC

Standby power 200 mW

Max current draw during range request 1.8 A

Power consumption, 1-Hz continuous ranging1 700 mW 900 mW 1400 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

mounting hardware

216 g 221 g 244 g 239 g 261 g

Environmental

Operating temperature12 -45 °C to +65 °C


Lifetime (MTTF) 50 million shots

1 25 °C 2 1534 nm 3 30% reflective extended target (larger than beam area), multi-pulse processing time 1.1 – 1.5 seconds. 4 90% probability of detection, < 2% false alarm probability (single pulse), < 60 mW/cm2 ambient solar background 5 Preliminary data 6 30% reflective 3.3 x 3.3 m2 target 7 Target return level ≤ 10x NEI 8 Max including one T0 pulse 9 When calibrated with time-over-threshold (1 σ) 10 10 m possible with lower-energy laser models 11 Heat sinking required for 120-kW LRF 12 Custom to +75° C also available upon request

19

AUXILLARY BOARD

An optional auxiliary board includes an integrated AHRS module with 9-axis inertial measurement unit (IMU), and

Bluetooth low-energy communications module. The AHRS module can be factory-calibrated.

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 constant-calibration 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.

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 0.014 deg/s/√Hz


Accelerometer Sensitivity

Sensitivity (2g full scale) 1024 LSB/g

Zero-g offset temperature drift ±1 mg/K

Output noise density 150 μg/√Hz

Total RMS noise, at 100 Hz 1.5 mg-rms


Magnetometer Sensitivity

Full scale range (x-, y- axes) ±1300 μT

Full scale range (z-axis) ±2500 μT

Sensitivity scale factor (x-, y- axes) 0.32 μT/LSB

Sensitivity scale factor (z-axis) 0.15 μT/LSB

Total RMS noise, at 20 Hz 0.3 μT

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.

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.

20

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.






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

21

Timing Diagrams LRF Single-Pulse-Range Cycle

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 DC pulse to the UFL connector

located on the LRF System Board (see Mechanical Drawings, LRF System Board) using a 50-Ω-terminated cable. The

external T0 control is enabled using software commands.

Connector Pin Assignments LRF System Board User Interface- P1 Connector (Hirose DF3-8P-2Ds)

ROX APD Photoreceiver Board Connector Out Description Typ

UFL Analog Out Analog Output; AC coupled (15.8 nominal gain) - 3 VDC (into 50 ohms)


1 LRF_RANGE Input Initiates a range measurement when a rising edge is detected on

this pin.

3.3V

2 LASERGATE Output Laser gate signal to the laser diode driver board. This can be

monitored or actively driven.

3.3V

3 LRF_ENABLE Input Active low enable. Pin pulled up to 5V with 100kΩ resistor.

Pull low to enable LRF power.






22

MECHANICAL DRAWINGS

OEM Module Base Unit (Without Housing) 21-mm receiver aperture models

30-kW, 21-mm (model DUKL-NCBC)

50-kW, 21-mm (model DUML-NCBC)

23

120-kW, 21-mm (model DUNL-NCBC)

50-mm receiver aperture models 50-kW, 50-mm (model DUQL-NHBC)

120-kW, 50-mm (model DUNL-NHBC)

24

LRF Module (With Integrated Aluminum Housing) 21-mm receiver aperture models

30-kW, 21-mm (model DUKT-NCBC)

50-kW, 21-mm (model DUMT-NCBC)

120-kW, 21-mm (model DUNT-NCBC)

25

50-mm receiver aperture models 50-kW, 50-mm (model DUQT-NHBC)

120-kW, 50-mm (model DUNT-NHBC)

Voxtel Literature LRF System Integrator Kit 12Apr2019 ©. Voxtel makes no warranty or representation regarding its products’ specific application suitability and may make changes to the products described without notice.

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

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-in-

class sensitivity enabling long-standoff range performance with less

laser pulse energy. The ROX photoreceiver is paired with Voxtel’s small-

form-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,

time-over-threshold (TOT) range walk correction, used to reduce

amplitude-dependent range-walk errors autocalibration, used to set

the threshold to achieve a user-defined FAR given ambient

background optical radiation conditions multi-pulse processing,

used to enhance range and resolution passive operation, used to


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 and a Bluetooth low-energy

communications module.


FEATURES Turnkey: Integrates DPSS erbium-

glass laser, high-performance

InGaAs APD, and programmable

pulse-processing electronics

Low Excess Noise: Impact-

ionization engineered InGaAs APD


High Precision: 500-mm single-


Near Diffraction-limited Laser

Beam Quality:

M2 < 1.15 x diffraction limit

Excellent NEI: as low as 45 photons

Low Power: < 1 mW w/ LRF disabled

Long Lifetime: > 50 million shots

OPTIONS Integrated Optics: Receiver (f/1;

21-mm and 50-mm aperture) and

laser collimator (17x magnification)

Auxiliary Board: AHRS 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.


BEAVERTON, OR 97006

971-223-5642

WWW.VOXTEL-INC.COM

[email protected]

26

27

SPECIFICATIONS

LRF System-Integrator Kit without T0 detector EUKK-N00C EUMK-J00C EUMK-N00C EUNK-N00C

Voxtel laser model number LAK0-E00C LAM0-F00C LAM0-F00C LAN0-F00C

Voxtel APD photoreceiver model number RUC1-NIAC RUC1-JIAC RUC1-NIAC RUC1-NIAC

Transmitter wavelength 1534 nm

Laser peak power (typical)1,2 29 kW 48 kW 48 kW 115 kW

Transmitter pulse spectral width1 4 ns 7 ns 7 ns 5 ns

Transmitter beam width (FWHM) 0.02 nm

Wavelength shift1 +0.014 nm/+oC

Transmitter beam diameter 250 μm 300 μm 300 μm 450 μm

Transmitter beam divergence, full angle (1/e2) 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 input1 45 photons 45 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 20

Target separation, minimum3 5 m

Range accuracy (single-pulse/multi-pulse) 1,3 ,4 500 mm / 100 mm

Minimum range5 20 m

Power consumption, LRF disabled < 1 mW

Power consumption, standby 250 mW

Power consumption, 1-Hz continuous ranging1 700 mW 900 mW 900 mW 1400 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 temperature6 -50 °C to +65 °C


Lifetime (MTTF) 50 million shots

Weight

Base Unit7 37.2 g 38.3 g 38.3 g 53.4 g

Options (See Ordering Information for part numbers)

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 +51.3 g +55.6 g +55.6 g +58.1 g

With 21 mm Optics +46.8 g +46.8 g +46.8 g +46.8 g

With 50 mm Optics +61.0 g +61.0 g +61.0 g +61.0 g

Exclusions (See Ordering Information for part numbers)

Without Laser & Laser Driver Board -18.3 g -19.4 g -19.4 g -34.5 g

With Laser Collimating Optics

Laser collimator magnification 17x 17X 17X 17X

Collimated beam divergence 0. 7 mrad 0.5 mrad 0.5 mrad 0.4 mrad

With 21-mm Receiving Optical Mechanical Module

With 50-mm Receiving Optical Mechanical Module

1 25 °C 2 1534 nm 3 Target return level <= 10x NEI 4 When calibrated with time-over-threshold (1 σ) 5 10 m possible with lower-energy laser models

6 Custom to +75° C also available upon request 7 Base Unit includes DPSS Laser, Laser Driver Board, ROX InGaAs APD

Photoreceiver mounted on Socket Board, LRF System Board, and 2” Flex Ribbon Connector

Receiver aperture 21 mm 21 mm 21 mm 21 mm

Receiver f/number f/1 f/1 f/1 f/1

Receiver aperture 50 mm 50 mm 50 mm 50 mm

Receiver f/number f/1 f/1 f/1 f/1

28

ORDERING INFORMATION

LRF System-Integrator Kits

Laser Pulse Energy (Eyesafe DPSS Laser)

Pulse Width

InGaAs APD Photo-

receiver

Laser Collimator

Module Options

Receiver Optics Module Options

Part Number

Without T0 Detector With T0 Detector

Integrated with Laser Without Aux

Board With Aux

Board Without Aux

Board With Aux

Board

No Laser—Photoreceiver & Laser

Ranging Control Electronics Only

NA

75 µm

None None

EU0K-J00C EU0S-J00C

NA NA200 µm EU0K-N00C EU0S-N00C

250 µm CA EU0K-K00C EU0S-K00C 500 µm EU0K-P00C EU0S-P00C

100 µJ 4 ns

75 µm

None

None EUKK-J00C EUKS-J00C EUPK-J00C EUPS-J00C Fiber pigtail 62.5-core/125-clad

(0.27 NA) FC/PC EUKK-JQ0C EUKS-JQ0C EUPK-JQ0C EUPS-JQ0C

Fiber pigtail 105-core/125-clad

(0.22 NA) FC/PC EUKK-JR0C EUKS-JR0C EUPK-JR0C EUPS-JR0C

Fiber pigtail 200-core (0.37 NA)

FC/PC EUKK-JT0C EUKS-JT0C EUPK-JT0C EUPS-JT0C

with 17x laser

collimator

None EUKK-J0BC EUKS-J0BC EUPK-J0BC EUPS-J0BC 21 mm EUKK-JCBC EUKS-JCBC EUPK-JCBC EUPS-JCBC 50 mm* EUKK-JHBC EUKS-JHBC EUPK-JHBC EUPS-JHBC

200 µm

None

None EUKK-N00C EUKS-N00C EUPK-N00C EUPS-N00C

Fiber pigtail 62.5-core/125-clad

(0.27 NA) FC/PC EUKK-NQ0C EUKS-NQ0C EUPK-NQ0C EUPS-NQ0C


(0.22 NA) FC/PC EUKK-NR0C EUKS-NR0C EUPK -NR0C EUPS -NR0C


FC/PC EUKK-NT0C EUKS-NT0C EUPK-NT0C EUPS-NT0C

with 17x laser

collimator

None EUKK-N0BC EUKS-N0BC EUPK-N0BC EUPS-N0BC 21 mm EUKK-NCBC EUKS-NCBC EUPK-NCBC EUPS-NCBC 50 mm* EUKK-NHBC EUKS-NHBC EUPK-NHBC EUPS-NHBC

300 µJ 4 ns

75 µm

None

None EUMK-J00C EUMS-J00C EUQK-J00C EUQS-J00C Fiber pigtail 62.5-core/125-clad

(0.27 NA) FC/PC EUMK-JQ0C EUMS-JQ0C EUQK-JQ0C EUQS-JQ0C


(0.22 NA) FC/PC EUMK-JR0C EUMS-JR0C EUQK-JR0C EUQS-JR0C


FC/PC EUMK-JT0C EUMS-JT0C EUQK-JT0C EUQS-JT0C

with 17x laser

collimator

None EUMK-J0BC EUMS-J0BC EUQK-J0BC EUQS-J0BC 21 mm EUMK-JCBC EUMS-JCBC EUQK-JCBC EUQS-JCBC 50 mm* EUMK-JHBC EUMS-JHBC EUQK-JHBC EUQS-JHBC

200 µm

None

None EUMK-N00C EUMS-N00C EUQK-N00C EUQS-N00C Fiber pigtail 62.5-core/125-clad

(0.27 NA) FC/PC EUMK-NQ0C EUMS-NQ0C EUQK-NQ0C EUQS-NQ0C


(0.22 NA) FC/PC EUMK-NR0C EUMS-NR0C EUQK-NR0C EUQS-NR0C


FC/PC EUMK-NT0C EUMS-NT0C EUQK-NT0C EUQS-NT0C

with 17x laser

collimator

None EUMK-N0BC EUMS-N0BC EUQK-N0BC EUQS-N0BC 21 mm EUMK-NCBC EUMS-NCBC EUQK-NCBC EUQS-NCBC 50 mm* EUMK-NHBC EUMS-NHBC EUQK-NHBC EUQS-NHBC

750 µJ 8 ns 200 µm

None None EUNK-N00C EUNS-N00C EURK-N00C EURS-N00C

with 17x laser

collimator

None EUNK-N0BC EUNS-N0BC EURK-N0BC EURS-N0BC 21 mm EUNK-NCBC EUNS-NCBC EURK-NCBC EURS-NCBC 50 mm* EUNK-NHBC EUNS-NHBC EURK-NHBC EURS-NHBC

* PRELIMINARY

29

CONFIGURATION

ELECTRICAL Block Diagram

Connector Pin Assignments

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.


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


15 VthH Input Threshold high voltage

16 uCLK Input i2c clock for photoreceiver (two-wire interface)


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

30

LRF System Board User Interface (Hirose DF3-8P-2DS)

Laser Driver Board For electrical connections to the laser driver board, see Voxtel’s DPSS Laser Series datasheet.

Timing Diagrams

Power-up to Range Timing

Ranging Operation Timing Diagram—LRF Single-Pulse Range Cycle

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.

Pin Name In/Out Description Min Typ Max

1 LRF_RANGE Input Initiates range measurement when rising edge is detected on this pin. 3.3V

2 LASERGATE Output Laser gate signal to laser-diode driver board. Can be monitored or

actively driven.

3.3V

3 LRF_ENABLE Input Active low enable. Pin pull up to 5V w/100 kΩ resistor. Pull low to enable LRF power.






31

SOFTWARE CONTROL

The LRF System-Integrator Kit can be easily programmed using the simple serial communications command set over

a simple serial UART interface.






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.

MECHANICAL DRAWINGS

LRF System Board

ROX APD Photoreceiver Board

32

Ribbon Cable

Laser and Laser Driver Boards See Voxtel datasheet: DPSS Laser Series.

Voxtel Literature DTS-ML-0001_REV01 2 May 2019©. Voxtel makes no warranty or representation regarding its products’ specific application suitability and may make changes to the products described without notice.

DIODE-PUMPED SOLID-STATE (DPSS)

1534-NM PULSED MICRO-LASERS

1.5-MICRON

SOLID-STATE

PULSED LASERS

Voxtel’s high-peak-power lasers combine eyesafe-wavelength

operation with high peak power, short pulse duration, and diffraction-

limited 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-shock-

hardened, and qualified for a lifetime exceeding 50 million shots. To

operate the laser safely, easy-to-configure pulse-driver electronics are

available optionally. To simplify system integration, integrated 17x

collimating optics and T0 pulse detectors are also available optionally.


FEATURES Eyesafe: Class-1

Typical Peak Power: to 120 kW

Excellent Beam Quality: M2 < 1.15 * DL (where DL is the diffraction limit)

Narrow Pulse Width: 4 – 7 ns

Long Lifetime: > 50 million shots

Robust: Qualified for extreme military

and automotive environments

Wide Operating Temperature Rage: -

45 – 65 °C* (high-operating-temp.

options also available) with stable

pulse energy and wavelength output

MODELS 30 kW (4-ns pulse length)

50 kW (7-ns pulse length)

120 kW (5-ns pulse length)

OPTIONS T0 Pulse Detector

Laser driver/system electronics

Integrated 17x-magnification

collimator (see below)

CONTACT INFO VOXTEL INC.

15985 NW SCHENDEL AVE #200 BEAVERTON, OR 97006

971-223-5642 WWW.VOXTEL-INC.COM [email protected]

33

34

SPECIFICATIONS Model (bare laser; see Ordering Information for options) LAK0‐E00C LAM0‐F00C LAN0‐F00C

Optical

Wavelength (center) 1534 nm +/- 0.25 nm

Spectral width (FWHM) < 0.015 nm

Temperature dependence +0.03 nm/°C

Pulse width, typical (FWHM) 4 ns 7 ns 5 ns

Peak power, typical 30 kW 50 kW 120 kW

Pulse repetition frequency (max, multi-pulse mode) 10 Hz 10 Hz 10 Hz

Laser delay time, typical 1 – 2 ms 1.5 – 2.5 ms 1.8 – 3.5 ms

Pulse energy stability, typical 10%

Beam diameter, typical 0.200 mm 0.300 mm 0.400 mm

Beam divergence, typical, full angle (1/e2) 12 mrad 8 mrad 6 mrad

Beam quality, typical (M2) (x diffraction limit) 1.15 1.15 1.15

Environmental

Operating temperature1 2 -45 °C to +65 °C

Storage temperature1 -55 °C to +85 °C

Shock 1500 G, 0.5 ms

Vibration 20 – 2000 Hz / 20 G

Lifetime, MTTF > 50 million shots

Mechanical

Dimensions 35.5 x 18.0 x 8.25 mm3 36.0 x 18.5 x 8.8 mm3 46.5 x 19.0 x 9.7 mm3

Weight 8.6 g 7.3 g 17.5 g

Electrical

Anode (red wire) voltage, typical 2 – 3 V 2 – 3V 3 – 3.5 V

Cathode (black wire) voltage, typical GND GND GND

Current, typical 7.125 – 7.875 A 14.250 – 15.750 A 18.0 – 20.0 A

Power consumption, typical 700 mW 900 mW 1400 mW 1 Dry N2 purged environment 2 Custom to +75° C also available upon request

OPTIONS Bare Laser with T0 Detector Integrated into Laser LAK0-EB0C LAM0-FB0C LAN0-FB0C

Trigger pulse voltage and duration 2 V; 100 ns 2 V; 100 ns 2 V; 100 ns

Dimensions 35.5 x 18.0 x 8.25 mm3 36.0 x 18.5 x 10.0 mm3 46.5 x 19 x 9.7 mm3

Weight 8.62 g

Bare Laser with 17X-Magnification Beam-Expanding/Collimating Optics Beam divergence, full angle (1/e2) 0.7 mrad 0.5 mrad 0.4 mrad

Beam diameter 4.25 mm 5.10 mm 6.78 mm

Beam quality, typical (M2) 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 mm3 76.0 x 26.0 x 25.0 mm3 86.0 x 26.0 x 25.0 mm3

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

& U.FL Connector

Laser & Laser Driver

Board

Laser w/T0 Detector &

Laser Driver Board

30 kW LAK0-E00C LAK0-EB0C LAKK-E00C LAKK-EB0C

50 kW LAM0-F00C LAM0-FB0C LAMM-F00C LAMM-FB0C

120 kW LAN0-F00C LAN0-FB0C LANN-F00C LANN-FB0C

30 kW laser with 17X Collimator LAK0-E0BC LAK0-EBBC LAKK-E0BC LAKK-EBBC

50 kW laser with 17X Collimator LAM0-F0BC LAM0-FBBC LAMM-F0BC LAMM-FBBC

120 kW laser with 17X Collimator LAN0-F0BC LAN0-FBBC LANN-F0BC LANN-FBBC

35

PERFORMANCE (TYPICAL)

Spectral Line Width (0.010 nm) at 35 °C (left) and Center Wavelength vs. Temperature (right)

LAK0-E00C (30-kW Laser)

LAM0-F00C (50-kW laser)

36

MECHANICAL

Bare DPSS Lasers

30-kW DPSS Laser (LAK0-E00C)

50-kW DPSS Laser (LAM0-F00C)

120-kW DPSS Laser (LAN0-F00C)

37

DPSS Lasers with Integrated T0 Detectors

50-kW DPSS Laser with T0 (LAM0-FB0C)

T0 External Integrated Detector Lid

OPTIONAL: 3-Pin Datamate Connector Harness Assembly—Available on Any Laser

38

DPSS Lasers Integrated with 17x Collimating Optics

30-kW DPSS Laser Integrated with 17x Collimating Optics (LAK0-E0BC)

50-kW DPSS Laser Integrated with 17x Collimating Optics (LAM0-F0BC)

120-kW DPSS Laser Integrated with 17x Collimating Optics (LAN0-F0BC)

39

Laser Driver Boards

30-kW Laser Driver Board (WLK00)

50-kW Laser Driver Board (WLM00)

(Option) 3-Pin Datamate Connector Harness Assembly—Available on any Driver Board

40

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). 3.3 3.3 5 V

2,4 VIN_USER Input User Supplied DC Power. Current draw is 1A during laser driver charging 2.7* 5 5.5 ma

3 EN_LDD Input Laser driver capacitor charge enable.

Enable high between ranges; low during ranging. 3.3 3.3 5 V

5 BATT_V Output Battery monitor. Tracks voltage on LiPO battery (optional) 2.7 3.7 4.2 V

6, 8 GND Input Ground GND V

7 LASERGATE Input Laser trigger activates/terminates laser diode pump source (typ. 2.5 ms max) 3.3 3.3 5 V

9 EN_CHRG Input Battery charger enable. Activates/terminates battery charging (optional) 3.3 3.3 5 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) 2.9 3.3 5 V

12 BATT_STAT1 Output Battery status indicator 1 (optional) 2.9 3.3 5 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 3.3 3.3 5 V

Shield GND J4; Pin 6 Ground GND

Power

Pin BATT_V J4, Pin 2 Battery monitor. Tracks voltage on LiPO battery (optional) 2.7 3.7 4.2 V

Shield GND J4, Pin 8 Ground GND V

U.FL Cable (Provided with 50 kW Laser with External T0 Detector Lid) for T0 Electrical Output Pin Name Description Min Typical Max Units

Center

Pin SIGNAL External T0 Detector Signal 1.1 2.5 3.5 V

Shield GND Ground GND V

ROXTM INGAAS AVALANCHE

PHOTODIODE (APD)

PHOTORECEIVERS

LASER RANGING

AND LIDAR

PHOTORECEIVERS

The ROXTM 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 time-

variable 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.


FEATURES High-gain, Low-noise Photodetector:

InGaAs APD

Wide Spectral Response: 950 – 1700 nm

High Bandwidth: Greater than 250 MHz

Low Noise Equivalent Input (NEI): as low

as 45 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: 154

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.


BEAVERTON, OR 97006

971-223-5642

WWW.VOXTEL-INC.COM

[email protected]

Voxtel Literature ROX Series InGaAs Photoreceivers 12Apr2019 ©. Voxtel makes no warranty or representation regarding its products’ specific application suitability and may make changes to the products described without notice.

41

42

Specifications Performance RUC1-JIAC RUC1-NIAC RUC1-KIAC

Spectral response,1 λ 950 nm – 1700 nm

Optical collection-area diameter2 75 μm 200 μm 250 μm3

APD diameter2 75 μm 200 μm 75 μm

Noise equivalent input (NEI)1,4,5,6,7 45 photons 45 photons 45 photons

Photon equivalent sensitivity4,8 245 photons 290 photons 245 photons

Noise equivalent power1,6,7,9 0.20 nW 0.45 nW 0.20 nW

Range precision1,4,6,10 50 mm 60 mm 50 mm

Target pair resolution1,10 5 meters 5 meters 5 meters

Bandwidth1,11 275 MHz 257 MHz 275 MHz

Cuton frequency11 4.74 kHz 4.66 kHz 4.52 kHz

APD gain (M)1 1 – 20 1 – 20 1 – 20

APD responsivity (M = 1)6 1.1 A/W 1.1 A/W 1.1 A/W

APD excess noise (M = 10)1,12,13 3.50 3.50 3.50

Maximum instantaneous optical power1,6,14 6 MW/cm2

Factory-calibrated Operating Modes15,16

START Pulse Length Program Description

1 125 µs ±10 µs M = 1

2 150 µs ±10 µs Optimal gain for ~10 – 350-Hz FAR (calibrated at 150-Hz FAR)

3 200 µs ±10 µs Optimal gain to achieve best NEI at each temperature

4 175 µs ±10 µs Not specified or custom configured17

Digital Output2

Comparator threshold useable range 0.45 V – 1.0 V

Time-variable threshold (TVT) decay time 2.6 μs



Analog Output1,2,4,12,18

Max small signal responsivity19 8,620 kV/W 8,620 kV/W 8,620 kV/W

Analog output noise 1.07 mV RMS 1.37 mV RMS 1.07 mV RMS

Analog output swing 0.186 V 0.186 V 0.186 V

Analog output dynamic range 7.4 bits 7.1 bits 7.4 bits

Power Requirements—Threshold Levels2

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

Environmental1

Operational temperature range -50 °C to +85 °C

1 Sampled from manufacturing data (available upon request)

2 Based on eng. design analysis supported by experimental data

3 At input to hemispheric BK7 immersion (500 µm dia.) lens

4 4-ns pulse length 5 Optimal gain 6 1534-nm spectral response 7 25 °C 8 60-Hz FAR, 50% PDE

9 20-ns pulse length 10 5x NEI photon pulse amplitude 11 Bandwidth over which conversion gain is

greater than 200 kV/W (at M = 10) 12 Gain: M = 10 13 keff < 0.18 parameterization of McIntyre

Equation: F(M) = keff M + (1 – keff)(2 – 1/M) 14 Gain of M = 1 15 Specifications are included w/Cert. of

Conformance w/each APD

16 All parts temperature-compensated for performance over op. temp. range; beyond this range, analytical approximations are used to compensate photoreceiver for optimal performance

17 At high temp in constant responsivity mode dark counts may saturate the receiver

18 50Ω load 19 Gain of M = 20 is assumed

43

Typical Performance—Pulse Sensitivity vs. Pulse Width

Conversion Gain (M = 10) Transfer Function—Comparison of ROX Photoreceiver to an APD with a MAX3658

Transimpedance Amplifier

44

Ordering Information

Standalone/Integrated Receivers In addition to the standalone TO-8 packages*, the ROX InGaAs APD Photoreceivers are available integrated

with fiber or integrated with time-of-flight (TOF) and control electronics. These options are also available

without receiver integration—as standalone support components.

TO-8 Packaged APD Receiver* Plus:

APD Size -

(Standalone)

62.5/125 µm (0.27 NA) Fiber

Coupling†

105/125 µm (0.22 NA) Fiber

Coupling‡

200 µm (0.37 NA) Fiber

Coupling§

Shipped with TOF & Control Electronics‖

75 µm RUC1-JIAC - - - EU0K-J00C

200 µm RUC1-NIAC RUC1-NIQC RUC1-NIRC RUC1-NITC EU0K-N00C

250 µm CA¶ RUC1-KIAC - - RUC1-KITC EU0K-K00C

500 µm RUC1-PIAC - - - EU0K-P00C

* includes integrated pulse-detection ASIC & APD size indicated † 62.5-µm-core/125-µm-clad (0.27 NA) FC/PC fiber pigtail ‡ 105-µm-core/125-µm-clad (0.22 NA) FC/PC fiber pigtail § 200-µm-core (0.37 NA) FC/PC fiber pigtail

‖ TO-8 packaged APD receiver* is mounted to a socket board with time-of-flight and control electronics. For unintegrated

¶ 250-µm collection area immersion-lensed APD

Standalone Support Components (TO-8 Packaged APD Receiver Not Included) These standalone support components are intended for use with the above standalone ROX InGaAs APD

photoreceivers; photoreceivers are not included.

Standalone Support Component (TO-8 Packaged APD Receiver Not Included)) Part Number

Photoreceiver evaluation board WRR0A

Photoreceiver socket board with Time-of-flight & control electronics** EU0K-X00C

** This is equivalent to the TOF & Control Electronics option above (see Standalone/Integrated Receivers‖) without the TO-8 Packaged APD Receiver above (see Standalone/Integrated Receivers*).

APD OPTICAL MODEL

Without Immersion Lens (RUC1-JIAC, RUC1-NIAC, RUC1-PIAC)

With Immersion Lens (RUC1-KIAC)

45

Collection Efficiency—With 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:

MECHANICAL

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

46

ELECTRICAL

Block Diagram

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 +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

3 VCMOS1 Power supply input

+1.8 VDC Provides power to the ASIC. <1% ripple

4 START User input +5 V TTLpulse

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.

7 μDATA Optional input 5 V TTL (otherwise left

floating)

This data line—used by the microcontroller to communicate with other internal inter-integrated circuit (I2C) devices and related hardware—is used primarily 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 pulse-detection efficiency (PDE) and minimizes FAR.

Do not exceed

1.8 V

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.

<1% ripple

11 Agnd User input GND Used to provide external ground for analog and digital circuitry inside receiver. Use 50Ω termination at input to next stage amplifier or

oscilloscope.

12 μCLK Optional input 5V TTL (otherwise left

floating)

This clock line for the microcontroller’s I2C port is used: by the microcontroller inside the photoreceiver to communicate with other internal I2C 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.

I2C logic

OUTPUT 1 SigMon Analog

output 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-Ω load impedance and has a DC offset of ~100 mV. If not used in operations, this pin should be left floating.

5 Sig(-) Signal output 0 to +1.8 V

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-Ω resistor is in series with this output.

Assumes high impedance

load

6 Sig(+) Signal output 0 to +1.8 V

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-Ω resistor in this series.

Assumes high impedance

load

9 BiasMon Bias test point 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.

47

ROX PHOTORECEIVER OPERATION

Provisioning Power When VCMOS1, VCMOS2, and VAPD 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 < 0.18. 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 pulse-

transmission 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 up to 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 time-

variable 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

voltage level, Vth,lo—the internal threshold Vth(τ) changes according to the RC time constant of 2.6 μs (102-kΩ resistor

and 25.5-pF capacitor). The time constant changes the threshold as follows:

Vth (τ) = Vth,hi- (Vth,hi – Vth,lo)·e-τ⁄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

(www.microchip.com) 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

48

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-to-

analog 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 custom-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-width-

encoded 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 108 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

49

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 VAPD in any sequence. To protect the APD from large signals, VAPD 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 VCMOS1, VCMOS2, and VAPD, 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-to-

digital 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 pulse-

discriminating 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 up to 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.

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

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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 measured digital output pulse width (time over threshold) plotted as a function of input signal pulse amplitude. The plot shows values corrected using a bilinear approximation and using a calibrated look-up table. Here, the bilinear equations are y = -0.234x – 15.79 for TOT values below 27 ns, and y = -0.035x – 9.11

for TOT values higher than 27 ns.

51

APD PHOTORECEIVER AND LASER RANGING CONTROL

ELECTRONICS

INCLUDES 0.9-1.7-MICRON-SENSISTIVE INGAAS APD PHOTORECEIVER AND TIME-

OF-FLIGHT & CONTROL ELECTRONICS

Voxtel’s APD Receiver and Laser Ranging Control Electronics gives

system designers a turnkey laser-ranging solution for thermal, electro-

optical, and optical scope integration. Included are Voxtel’s ROX™

avalanche photodiode (APD) photoreceiver—which offers best-in-

class 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,

time-over-threshold (TOT) range walk correction, used to reduce

amplitude-dependent range-walk errors autocalibration, used to set

the threshold to achieve a user-defined FAR given ambient

background optical radiation conditions multi-pulse processing,

used to enhance range and resolution passive operation, used to


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 and a Bluetooth low-energy

communications module.

Voxtel Literature ROX Series InGaAs Photoreceivers 12Apr2019 ©. Voxtel makes no warranty or representation regarding its products’ specific application suitability and may make changes to the products described without notice.


FEATURES Low Excess Noise: Impact-

ionization engineered InGaAs APD

Excellent NEI: as low as 45 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, time-

variable threshold, and automatic

background compensation

OPTIONS Turnkey Laser Rangefinder (LRF)

Modules: Available as original

equipment manufacturer (OEM)

modules or as robust electro-

optical assemblies

System-Integrator Kits: Available

with integrated DPSS laser

Auxiliary Boards: Including AHRS

and Bluetooth communications

CONTACT INFO

VOXTEL INC.


BEAVERTON, OR 97006

971-223-5642

WWW.VOXTEL-INC.COM

[email protected]

52

SPECIFICATIONS

APD Receiver and Laser Ranging Control Electronics EU0K-N00C EU0K-J00C

Voxtel APD photoreceiver model number RUC1-NIAC RUC1-JIAC

APD collection aperture 200 µm 75 µm

Noise equivalent input1 45 photons 45 photons

Total dynamic range 70 dB

Linear dynamic range 25 dB

APD gain range (M) 1 – 20

APD responsivity2 (M = 1) 1.1 A/W

Number of returns per pulse, maximum3 20

Target separation, minimum4 5 m

Range precision (single-pulse/multi-pulse)5,6 500 mm / 100 mm

Minimum range7 20 m

Power consumption, LRF disabled < 1 mW

Power consumption, standby 250 mW

Power consumption, 1-Hz continuous ranging8 800 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 max 3 V

Weight (all components: ROX InGaAs APD Photoreceiver mounted on Socket Board, LRF System Board, and 2” Flex Ribbon Connector)

18.9 g

Operating humidity (relative humidity) 90%

Operating temperature -50 °C to +85 °C


1 Multi-pulse (1 s) 2 30% reflective 3.3 x 3.3 m2 target 3 Max including 1 T0 pulse 4 Target return level <= 10x NEI

5 90% probability of detection, < 2% false alarm probability (single

pulse), < 60 mW/cm2 ambient solar background 6 When calibrated with time-over-threshold (1 σ) 7 10 m is possible with lower energy laser models 8 25 °C

CONFIGURATION

ELECTRICAL BLOCK DIAGRAM

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Connector Pin Assignments

LRF System Board User Interface (Hirose DF3-8P-2DS)

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.


1 VAPD Input APD bias voltage


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


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


15 VthH Input Threshold high voltage

16 uCLK Input i2c clock for photoreceiver (two-wire interface)


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.

Pin Name In/Out Description Min Typ Max

1 LRF_RANGE Input Initiates a range measurement when a rising edge is

detected on this pin. 3.3 V

2 LASERGATE Output Laser gate signal to the laser diode driver board. This can

be monitored or actively driven. 3.3 V

3 LRF_ENABLE Input Active low enable. Pin pulled up to 5V with 100 kΩ resistor.

Pull low to enable LRF power.






54

Timing Diagrams

Power-up to Range Timing

Ranging Operation Timing Diagram—LRF Single-Pulse Range Cycle

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.






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.

55

MECHANICAL DRAWINGS

LRF System Board

ROX APD Photoreceiver Board

Ribbon Cable

56

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

Digital Output

J4 SMA connector CMOS logic signal

J3 3-pin connector Digital pulse detection: center pin is ground; outer 2 pins are +/- signal, 3.3V LVDS

Analog Output

J2 SMA connector Buffered analog signal (50Ωload, 160 mV max signal)

Analog Input

J6 SMA connector T0 trigger; 5V logic

Power

J800 Barrel-pin jack +5V ±3% power board is shipped w/suitable power adapter

Programming

SW1-SW4 Push-button switches Activates individual photoreceiver operating modes.

SW5 Push-button switch Enables setting of Vth,lo

J7 Two-pin header Enables optical T0 initiation of TVT when jumper is used to short Pin 2 and Pin 3

Enables external electrical T0 when Pin 1 is connected to Pin 2

Disables TVT function when jumper is removed

Control

R20 Potentiometer Vth,lo control [set with SW5 enabled (pressed down)]

R35 Potentiometer Vth,hi control

R905 Potentiometer Factory pre-set—do not use

R906 Potentiometer 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

ROX™ APD Photoreceiver Evaluation Board WRR0A

Page | 7

Facilities

VoxtelOpto’s corporate headquarters are located in our 18,000‐sq.‐ft. facility in Beaverton, Oregon with research labs in both Corvallis and Eugene, Oregon. Our cross‐functional group of scientists, engineers and management professionals—over 80% of whom hold advanced degrees—includes device‐design experts, process‐development engineers, integrated circuit designers, systems engineers, and test and integration experts.

15985 NW Schendel Ave., Beaverton, OR 97006 | phone: (971) 223‐5642 | web: voxtel‐inc.com

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