SLOW-JAMS: SLAM using Low-Power LiDAR and JAM Systems

Identification and Significance of the Innovation The US Space Force has identified a need to keep the space environment safe for US assets, requiring the ability to clear debris and derelict satellites in GPS-denied environments. Navigating orbital mechanics is a delicate dance during final approach and capture of a resident space object (RSO), especially in a GPS-denied environment. Simultaneous localization and mapping (SLAM) techniques are standard for small air vehicles to navigate with high precision. To provide OSAM spacecraft with low-power, high-precision mapping capabilities in a GPS-denied environment for this complex RPO dance, Integral and Open Systems (IOS) proposes to provide SLOW-JAMS: SLAM using Low-Power LiDAR and Jervis Autonomy Module (JAM™) System. SLOW-JAMS is a SLAM subsystem that is powered by a field-programmable gate array (FPGA) enabling a solution more energy- and resource-efficient than competitive technology. This approach will be augmented by Rhea Space Activity’s JAM™ which provides spacecraft with flight proven navigation software capabilities, including AutoNav navigation and Virtual Machine Language (VML) sequencing. SLOW-JAMS leverages the following technical capabilities: FPGA Platform Efficiency: SLOW-JAMS implements FPGA platform technology with a visual SLAM accelerator to improve energy- and resource-efficiency, up to 31 and 71 times, respectively, compared to competitor CPU-based platforms for real-time processing. GPS-Denied Navigation: JAM™ leverages AutoNav flight software and VML advanced onboard sequencing capabilities, which has flown on 15 deep space missions, enabling SLOW JAMS with optical navigation capabilities for a GPS-denied environment. ORB-SLAM Algorithms: Oriented-FAST and Rotated-BRIEF (ORB) is the most widely adopted visual SLAM approach because of its efficiency and robustness. ORB-SLAM will be integrated with sensor data including visuals, LiDAR, and inertial measurement units.