Resonant scanner for 3d mapping

A method for three-dimensional (3D) mapping, the method comprising:

• providing a resonant scanner that comprises:
• a laser detection and ranging (LADAR) laser and sensor,
• a scanner platform, wherein the LADAR laser and sensor are mounted on the scanner platform,
• a pivot, wherein the scanner platform is mounted on the pivot,
• a spring, a position sensor, and an actuator,
• wherein the spring, the position sensor, and the actuator are each connected to the scanner platform, and
• a controller, wherein the controller is connected to the position sensor and the actuator in a feedback loop configuration;
• resonating with the spring the scanner platform about the pivot;
• determining with the position sensor the tilt position and resonance rate of the scanner platform;
• applying torque with the actuator to the scanner platform;
• and
• controlling with the controller the resonance of the scanner platform.

A resonant scanner for three-dimensional (3D) mapping, the resonant scanner comprising:

• a laser detection and ranging (LADAR) laser means and sensor means;
• a scanner platform means, wherein the LADAR laser means and sensor means are mounted on the scanner platform means;
• a pivot means, wherein the scanner platform means is mounted on the pivot means;
• a spring means, wherein the spring means is connected to the scanner platform means and causes the scanner platform means to resonate about the pivot means;
• a position sensor means, wherein the position sensor means is attached to the scanner platform means in order to determine the tilt position and resonance rate of the scanner platform means;
• an actuator means, wherein the actuator means is attached to the scanner platform means and applies torque to the scanner platform means;
• and
• a controller means, wherein the controller means is connected to the position sensor means and the actuator means in a feedback loop configuration and is used to control the resonance of the scanner platform means.