2 JAXA-RR Japan Aerospace Exploration Agency, JAXA Clear Air Turbulence, CAT Laser Diode, LD µm 3,000 m 1km 0.5 m/s 1σ CAT 10,00

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1 Flight Test Evaluation of a Helicopter Airborne Lidar Naoki MATAYOSHI* 1, Kimio ASAKA* 1, Yoshinori OKUNO,* 1, Tomoya MATSUDA* 2, Masashi FURUTA* 2, Toshiyuki ANDO* 2 and Shumpei KAMEYAMA* 2 ABSTRACT Japan Aerospace Exploration Agency (JAXA) and Mitsubishi Electric Corporation (MELCO) have conducted the flight test evaluation of a prototype helicopter airborne lidar (light detection and ranging) sensor which aims to measure three-axis components of airspeed and detect atmospheric turbulence ahead of a helicopter. The prototype 1.5 µm all-fiber pulsed coherent Doppler lidar produced by MELCO was installed in JAXA s MuPAL-ε research helicopter and several flights were carried out to evaluate the accuracy of real-time airspeed calculation using lidar outputs and the format of a real-time pilot display. The lidar successfully measured three-axis airspeed components accurately even in low-airspeed flight regimes including hovering, backwards and sideways flight, and its capability as a helicopter airspeed sensor was proven. A number of technical challenges such as extension of detection range were found for atmospheric turbulence detection. These results will be utilized to establish the specifications of next-generation practical airborne lidars. Keywords: Lidar, Atmospheric Turbulence, Helicopter, Flight Testing, Laser JAXA JAXA MuPAL-ε received 27 January, 2005 Air Safety Technology Center, Institute of Space Technology and Aeronautics Mitsubishi Electric Corporation

2 2 JAXA-RR Japan Aerospace Exploration Agency, JAXA Clear Air Turbulence, CAT Laser Diode, LD µm 3,000 m 1km 0.5 m/s 1σ CAT 10,000 m km JAXA Coast Guard m Thales Avionics Continuous Wave, CW DALHEC 2004 ONERA

3 /06/ B 96/06/ B 94/11/ B 2 93/08/ B 90/08/ L /05/ B /09/16 SA 330 J 85/09/11 SA 360 C 2

4 4 JAXA-RR JAXA JAXA MuPAL-ε JAXA MuPAL-ε 1/10 JAXA CAT 1.5 µm CW JAXA PC 5m 100 mmφ 20 4 khz 20 AD FFT SN RS 232 C SN N 1/2 N 30 m 75 m 75 m 2km 30 m 38 m/s 30 m SN 200 m SN 1,000 4,000 SN 4Hz 1Hz m/s 1 45 m 10

5 µm 200 ns 30 m 500 ns 75 m 4 khz 10 W 0.01 W 200 ns 0.02 W 500 ns 38 m/s 2,000 m 500 ns

6 6 JAXA-RR m m 10 m 30 1, m

7 m

8 Japan Aerospace Exploration Agency 8 宇宙航空研究開発機構研究開発報告図 3.2 光学部をポッドに取り付けるためのワイヤロープ式防振器図 3.3 図 3.4 JAXA-RR 機器搭載用ラックとワイヤロープ式防振器の取付状況ライダ光学部左と振動計測用ダミー右図 3.5 振動計測用ダミーへの加速度計の取付状況

9 9 3m m MuPAL-ε MuPAL-ε DGPS/INS Differential Global Positioning System/Inertial Navigation System GPS X SN 5dB Hz Hz DGPS/INS DGPS/INS

10 10 JAXA-RR

11 11 MuPAL-ε SN 4Hz 10 Hz SN 200 m 6 7 SN SN 5dB 1 SN 0 m/s 2 SN 4.5

12 12 JAXA-RR * * 47 ml 0.3 µm Met One 227 B 120 m 240 m 30 m , m/s SN m 120 m 1 30 m SN m/s 1.21 m/s 10 Hz 4Hz 4 Hz

13 SN m m m m m 5.2 1

14 14 JAXA-RR m m m m m SN 2.1 SN SN 5.6

16 16 JAXA-RR m m SN 2 SN SN 4 SN 5 7 SN m SN 5dB 5.5 MuPAL-ε 0.1 m/s m/s m/s 20 m/s 30 m/s 5.6 SN m

17 17 DGPS/INS X 3m 20 m X m 2 Z m X Y m 30 m/s 3 7 X Z X Z Y m Y Z Z m/s Z 5 10 m/s m 120 m 3 X m/s, Y Z m/s 1 m/s

18 18 JAXA-RR /2

19 /2

20 20 JAXA-RR MuPAL-ε m/s 1 m/s 1 4Hz 300 m 1 2km 5.10 JAXA MuPAL-ε

21 , 29, pp , K. Asaka, S. Kameyama, T. Ando, Y. Hirano, H. Inokuchi, and T. Inagaki, A 1.5 µm all-fiber pulsed airborne Doppler lidar system, in the Proceeding of JSASS 17th International sessions in 41st Aircraft Symposium, pp , R. Targ, B. C. Steakley, J. G. Hawley, L. L. Ames, P. Forney, D. Swanson, R. Stone, R. G. Otto, V. Zarifis, P. Brockman, R. S. Calloway, S. H. Klein, and P. A. Robinson, Coherent lidar airborne wind sensor II: flight-test results at 2 snd 10 µm, Appl. Opt. 35, pp , S. Hannon, and J. Thomson, Aircraft wake vortex detection and measurement with pulsed solid-state coherent laser radar, J. Mod. Opt. 41, pp , R. G. Frehlich, S. M. Hannon, and S. W. Henderson, Performance of a 2-micron coherent Doppler lidar for wind measurements, J. Atmos. Oceanic Technol. 11, pp , S. M. Hannon, S. W. Henderson, J. A. Thomson, and P. Gatt, Autonomous lidar wind field sensor: performance predictions, in Proc. SPIE 2832, pp , NAL TM-779, JAXA RM , Thales Avionics and ONERA, A 1.5 µm LIDAR demonstrator of low airspeed measurement for civil helicopter, the 30th European Rotorcraft Forum, Marseilles, France, September MuPAL-ε NAL TM-764, 2002.

& Vol.5 No (Oct. 2015) TV 1,2,a) , Augmented TV TV AR Augmented Reality 3DCG TV Estimation of TV Screen Position and Ro

& Vol.5 No (Oct. 2015) TV 1,2,a) , Augmented TV TV AR Augmented Reality 3DCG TV Estimation of TV Screen Position and Ro TV 1,2,a) 1 2 2015 1 26, 2015 5 21 Augmented TV TV AR Augmented Reality 3DCG TV Estimation of TV Screen Position and Rotation Using Mobile Device Hiroyuki Kawakita 1,2,a) Toshio Nakagawa 1 Makoto Sato