My first thought was to rotate the laser range finder (LRF) in a plane that id parallel to the ground and make measurements of the range as a function of rotation angle to build a low budget LADAR system. I looked at the data sheet and the max sample rate was 12 Hz so the system would have to rotate very slowly to get a reasonably good picture from the LADAR. You would not have to rotate the system through the entire circle if you only need it for guidance because you only need to get a picture of where you are going not where you have been, in this case 12 Hz may be fast enough.