Interferometric Vision-Based Navigation (iVisNav) is a novel optoelectronic sensor for autonomous proximity operations. iVisNav employs laser emitting structured beacons and precisely characterizes six degrees of freedom relative motion rates by measuring changes in the phase of the transmitted laser pulses. iVisNav's embedded package must efficiently process high frequency dynamics for robust sensing and estimation. A new embedded system for least squares-based rate estimation is developed in this paper. The resulting system is capable of interfacing with the photonics and implement the estimation algorithm in a field-programmable gate array. The embedded package is shown to be a hardware/software co-design handling estimation procedure using finite precision arithmetic for high-speed computation. The accuracy of the finite precision FPGA hardware design is compared with the floating-point software evaluation of the algorithm on MATLAB to benchmark its performance and statistical consistency with the error measures. Implementation results demonstrate the utility of FPGA computing capabilities for high-speed proximity navigation using iVisNav.

翻译：iVisnav使用激光发射结构信标,精确地描述六度自由相对运动率,测量传输激光脉冲阶段的变化。iVisnav的嵌入软件包必须高效地处理高频动态,以便进行可靠的遥感和估计。本文将开发一个新的基于最小正方位估计率的嵌入系统。由此产生的系统能够与光子接口,并在现场可编程门阵列中实施估算算法。嵌入软件包是一个硬件/软件共同设计估计程序,使用有限精度算法进行高速计算。定数精度FPGA硬件设计精度与MATLAB算法的浮点软件评价相比较,以衡量其性能和统计与误差计量的一致程度。执行结果显示FPGA计算能力对使用iVisnav高速近距离导航的实用性能。