A method implemented in a processing unit controlling a surveying instrument is provided. The method comprises obtaining a first set of data from optical tracking of a target with the surveying instrument, and identifying from the first set of data a dependence over time of at least one parameter representative of movements of the target. The method further comprises receiving a second set of data from a sensor unit via a communication channel, the second set of data including information about the at least one parameter over time, and determining whether a movement pattern for the optically tracked target as defined by the dependence over time of the at least one parameter is the same as, or deviates by a predetermined interval from, a movement pattern as defined by the dependence over time of the at least one parameter obtained from the second set of data.

A lidar for generating a cyclically optimal Pulse Position Modulated (PPM) waveform includes: a memory for storing a list of prime numbers; a processor for obtaining a list of prime numbers up to a predetermined maximum code length; selecting a largest prime number p* that is less than or equal to a ratio of a timing system bandwidth to the predetermined pulse repetition frequency (PRF), from the list of the prime numbers; constructing a list of pulse indices, m=0: p*−1 for the cyclically optimal PPM waveform; calculating a list of pulse modulations, dJs=mod(m.sup.2, p*)−(p*−1)/2, wherein dJs are modulation values; calculating a list of nominal pulse timings T, as T=m×ceil(T.sub.PRI/Δj), where Δj is a predetermined modulation resolution, and T.sub.PRI is the reciprocal of the PRF; calculating pulse timings t.sup.0 of the cyclically optimal PPM waveform as t.sup.0=Δj×(T+dJs); and generating the cyclically optimal PPM waveform from the pulse timings t.sup.0.

A lidar for generating a cyclically optimal Pulse Position Modulated (PPM) waveform includes: a memory for storing a list of prime numbers; a processor for obtaining a list of prime numbers up to a predetermined maximum code length; selecting a largest prime number p* that is less than or equal to a ratio of a timing system bandwidth to the predetermined pulse repetition frequency (PRF), from the list of the prime numbers; constructing a list of pulse indices, m=0: p*−1 for the cyclically optimal PPM waveform; calculating a list of pulse modulations, dJs=mod(m.sup.2, p*)−(p*−1)/2, wherein dJs are modulation values; calculating a list of nominal pulse timings T, as T=m×ceil(T.sub.PRI/Δj), where Δj is a predetermined modulation resolution, and T.sub.PRI is the reciprocal of the PRF; calculating pulse timings t.sup.0 of the cyclically optimal PPM waveform as t.sup.0=Δj×(T+dJs); and generating the cyclically optimal PPM waveform from the pulse timings t.sup.0.

A laser radar device includes: a modulator (8) for causing a transmission seed light beam to branch, and giving different offset frequencies to a plurality of the transmission seed light beams having branched, and then modulating the plurality of transmission seed light beams into pulsed light beams and outputting the pulsed light beams, or for modulating the transmission seed light beam into a pulsed light beam, causing the pulsed light beam to branch, and giving the different offset frequencies to a plurality of the pulsed light beams having branched, and then outputting the plurality of pulsed light beams; a band pass filter (14) in which a frequency band including frequencies of signal components included in a plurality of beat signals detected by an optical heterodyne receiver (13) is set as a pass band and a frequency band not including the frequencies of the signal components is set as a cutoff band; and an ADC (15) for sampling the beat signals passing through the band pass filter (14) at a sampling frequency.

A Light Detection and Ranging (LIDAR) system integrated in a vehicle includes a LIDAR transmitter configured to transmit laser beams into a field of view, the field of view having a center of projection, and the LIDAR transmitter including a laser to generate the laser beams transmitted into the field of view. The LIDAR system further includes a LIDAR receiver including at least one photodetector configured to receive a reflected light beam and generate electrical signals based on the reflected light beam. The LIDAR system further includes a controller configured to receive feedback information and modify a center of projection of the field of view in a vertical direction based on the feedback information.

A Light Detection and Ranging (LIDAR) system integrated in a vehicle includes a LIDAR transmitter configured to transmit laser beams into a field of view, the field of view having a center of projection, and the LIDAR transmitter including a laser to generate the laser beams transmitted into the field of view. The LIDAR system further includes a LIDAR receiver including at least one photodetector configured to receive a reflected light beam and generate electrical signals based on the reflected light beam. The LIDAR system further includes a controller configured to receive feedback information and modify a center of projection of the field of view in a vertical direction based on the feedback information.

The invention provides a sensing system (1000), e.g. for agricultural application, comprising a radiation generator (100), a sensing apparatus (200), and a control system (300) functionally coupled to the radiation generator (100) and the sensing apparatus (200), wherein the sensing system (1000) has one or more time-of-flight sensing modes of operation, wherein the generator (100) is configured to generate a pulse of radiation (111) in the one or more time-of-flight sensing modes of operation, and wherein the sensing apparatus (200) is configured to sense wavelength dependent spectral intensities of radiation received by the sensing apparatus (200) as a function of time in the one or more time-of-flight sensing modes, to provide a sensing system signal; wherein the sensing system signal is indicative of the wavelength dependent spectral intensity distribution of the received radiation as a function of time in the one or more time-of-flight sensing modes.

The invention provides a sensing system (1000), e.g. for agricultural application, comprising a radiation generator (100), a sensing apparatus (200), and a control system (300) functionally coupled to the radiation generator (100) and the sensing apparatus (200), wherein the sensing system (1000) has one or more time-of-flight sensing modes of operation, wherein the generator (100) is configured to generate a pulse of radiation (111) in the one or more time-of-flight sensing modes of operation, and wherein the sensing apparatus (200) is configured to sense wavelength dependent spectral intensities of radiation received by the sensing apparatus (200) as a function of time in the one or more time-of-flight sensing modes, to provide a sensing system signal; wherein the sensing system signal is indicative of the wavelength dependent spectral intensity distribution of the received radiation as a function of time in the one or more time-of-flight sensing modes.

Compact optical sources and methods for producing short and ultrashort optical pulses are described. A semiconductor laser or LED may be driven with a bipolar waveform to generate optical pulses with FWHM durations as short as approximately 85 ps having suppressed tail emission. The pulsed optical sources may be used for fluorescent lifetime analysis of biological samples and time-of-flight imaging, among other applications.

Compact optical sources and methods for producing short and ultrashort optical pulses are described. A semiconductor laser or LED may be driven with a bipolar waveform to generate optical pulses with FWHM durations as short as approximately 85 ps having suppressed tail emission. The pulsed optical sources may be used for fluorescent lifetime analysis of biological samples and time-of-flight imaging, among other applications.