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For acquisition of narrow-beam free-space optical (FSO) terminals, a GlobalPositioning System (GPS) is typically required for coarse localization of theterminal. However, the GPS signal may be shadowed, or may not be present atall, especially in rough or unnameable terrains. In this study, we propose alidar-assisted acquisition of an unmanned aerial vehicle (UAV) for FSOcommunications in a poor GPS environment. Such an acquisition system consistsof a lidar subsystem and an FSO acquisition subsystem: The lidar subsystem isused for coarse acquisition of the UAV, whereas, the FSO subsystem is utilizedfor fine acquisition to obtain the UAV's accurate position. This studyinvestigates the optimal allocation of energy between the lidar and FSOsubsystems to minimize the acquisition time. Here, we minimize the averageacquisition time, and maximize the cumulative distribution function ofacquisition time for a fixed threshold. We learn that an optimal value of theenergy allocation factor exists that provides the best performance for theproposed acquisition system.

Lidar-Assisted Acquisition of Mobile Airborne FSO Terminals in a GPS-Denied Environment