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Interferometric Vision-Based Navigation (iVisNav) is a novel optoelectronicsensor for autonomous proximity operations. iVisNav employs laser emittingstructured beacons and precisely characterizes six degrees of freedom relativemotion rates by measuring changes in the phase of the transmitted laser pulses.iVisNav's embedded package must efficiently process high frequency dynamics forrobust sensing and estimation. A new embedded system for least squares-basedrate estimation is developed in this paper. The resulting system is capable ofinterfacing with the photonics and implement the estimation algorithm in afield-programmable gate array. The embedded package is shown to be ahardware/software co-design handling estimation procedure using finiteprecision arithmetic for high-speed computation. The accuracy of the finiteprecision FPGA hardware design is compared with the floating-point softwareevaluation of the algorithm on MATLAB to benchmark its performance andstatistical consistency with the error measures. Implementation resultsdemonstrate the utility of FPGA computing capabilities for high-speed proximitynavigation using iVisNav.

An FPGA framework for Interferometric Vision-Based Navigation (iVisNav)