Multimodal Agile Ranging and Velocimetry INstrument

We propose to implement two new sensing modalities comprising the Multimodal Agile Ranging and Velocimetry INstrument (MARVIN) using a novel acousto-optic Structured Light Imaging Module (SLIM) previously developed under the NASA PIDDP program for planetary rover navigation and geomorphology.nbsp;Based on an acousto-optic illumination engine, SLIM consumes only 10-20W of power, weighs less than a kilogram, could fit in a shirt pocket, and uses space-proven components without moving parts to rapidly generate and precisely control laser illumination patterns.nbsp;Through modifications of SLIM hardware and algorithms, MARVIN enables triangulation-based wide-field active 3D imaging of nearby scenes with mm-scale resolution at distances up to 10m even in the presence of full sunlight, as well as multi-beam time-of-flight (ToF) cm-resolution ranging and Doppler velocimetry at distances of hundreds of meters, or potentially even further. nbsp;MARVIN can switch between the two modes simply by moving a lens.nbsp;MARVIN computes each range point in parallel and independently, is robust across a wide range of ambient lighting, textures, and albedos, and is computationally simple, increasing rover autonomy, even in low light, and reducing traverse and science operation down-times. nbsp;MARVINrsquo;s low-SWaP and agility also benefit EDL, station keeping, terrain mapping, and proximity operations. nbsp;MARVIN could be used as a faster, more robust, high-precision primary range sensor for exploration of the Solar System, including Mars, the Moon, Ocean Worlds, and asteroids.The Phase I effort included feasibility and benefit studies, simulations and algorithm development, noise and performance analysis, a proof-of-concept lab demonstrationnbsp;of many-beam MARVIN ranging, and an optomechanical design, bringing MARVIN to TRL3. nbsp;The Phase II effort aims to advance this design, develop requisite electronics, implement a MARVIN prototype, and test it on the mast of a JPL rover, advancing MARVIN from TRL3 to TRL4.