Modular ladar sensor

A three dimensional imaging system and ladar platform, said ladar platform having a ladar sensor within an electronic enclosure, a first electrical connector mounted to the electronic enclosure and adapted to mate with a second electrical connector within said ladar platform, the ladar platform having a front panel, the front panel with a front panel opening therein, the ladar sensor operating through the front panel opening and having a field of view, the ladar sensor having;

• a retention feature adapted to engage with a mating feature on the ladar platform,
• a laser transmitter with a modulated laser light output and a diffusing optic adapted to illuminate a scene in the field of view of the ladar sensor module;
• a zero range reference circuit having a zero range reference output adapted to signal the initiation of the modulated laser light output;
• a clock driver circuit having a clock output, and having a temperature stabilized frequency reference;
• a two dimensional array of light sensitive detectors positioned at a focal plane of a light collecting and focusing system, each of said light sensitive detectors with an output producing an electrical response signal from a reflected portion of said modulated laser light output;
• and
• a readout integrated circuit with a plurality of unit cell electrical circuits, each of said unit cell electrical circuits having
• an input connected to one of the light sensitive detector outputs,
• an electrical response signal demodulator, and
• a range measuring circuit connected to an output of the electrical response signal demodulator, and the range measuring circuit further connected to the zero range reference output, and the range measuring circuit connected to the clock output and having a range output;
• said two dimensional array of light sensitive detectors electrically connected to said readout integrated circuit through a plurality of metallic bumps.

A motor vehicle connected to a ladar sensor through a cable, the ladar sensor with a field of view and having a first electrical connector and contained within a housing, and said motor vehicle having a second electrical connector at a terminus of said cable, the second electrical connector adapted to mate with the first electrical connector, a digital processor adapted to perform analysis of a scene in the field of view, and to identify an object within said scene, and to command a positioning system to maneuver with respect to the object, and said ladar sensor further comprising:

• a laser transmitter with modulated laser light output and a diffusing optic for illuminating a scene in the field of view of the ladar sensor;
• a zero range reference circuit having a zero range reference output adapted to signal the initiation of the modulated laser light output;
• a clock driver circuit having a clock output, and having a temperature stabilized frequency reference;
• a two dimensional array of light sensitive detectors positioned at a focal plane of a light collecting and focusing system, each of said light sensitive detectors having an output producing an electrical response signal from a reflected portion of said modulated laser light output;
• a readout integrated circuit with a plurality of unit cell electrical circuits, each of said unit cell electrical circuits having
• an input connected to one of said light sensitive detector outputs,
• an electrical response signal demodulator, and
• a range measuring circuit connected to an output of said electrical response signal demodulator, and said range measuring circuit further connected to the zero range reference output, and the range measuring circuit connected to the clock output and having a range output;
• said two dimensional array of light sensitive detectors electrically connected to said readout integrated circuit through a plurality of metallic bumps;
• and
• a communications port having an input connected to the range output of each unit cell and adapted to transmit the range output of each unit cell through said cable to said motor vehicle.