What is MARCO?
The Mutually-Autonomous Rendezvous Computational Optimizer is vehicle subsystem package that identifies, approaches, and autonomously docks with targets. MARCO was initially intended to operate on small satellites in Low-Earth orbit; however with minor alterations to the code and hardware, MARCO will operate anything from autonomous drones to submersibles to self-driving cars.
Physically, MARCO is a compact array of cameras, processors, LiDAR, GPS and magnetometer chips, and docking hardware.
From a software perspective, MARCO is comprised of two major modules:
The Computer Vision module ingests data from the cameras & LiDAR and outputs angular and distance-to-target data.
The Computational Optimization module receives input from the CV module and the navigation instruments, computes craft position, attitude, velocity, and acceleration relative to the target, stores and revises an optimized approach trajectory, and outputs commands to the navigation system of the MARCO craft.
Functionally, MARCO is a self-contained subsystem that interfaces with the avionics or propulsion-related electronics of a vehicle. The MARCO processor commands the vehicle's motion via the vehicle's normal navigation computer during approach and docking procedures.
What is Polo?
"Polo" is a general moniker for the dock or docking surface that the MARCO craft has been commanded to dock with. Ideally, the Polo craft will have most of the same hardware on board the MARCO craft, however with a little bit of open-loop support the Polo craft could also be an unpowered object like a box, cargo container, landing pad, or charging station.
Each Polo target surface has an associated .polo file which provides critical information to MARCO for docking procedures. The polo file is supplied to MARCO either during mission outset commanding or by the polo craft once an RF link is established between MARCO and Polo.
The minimum requirements for a fixed-position and attitude polo dock are a MARCO-recognized docking surface and a docking mechanism that is compatible with the chosen MARCO craft, with a .polo file and GPS coordinates supplied externally prior to docking.
The requirements for a mobile polo dock are a docking surface/mechanism, magnetometer, GPS, and some form of attitude stabilization.
Physically, MARCO is a compact array of cameras, processors, LiDAR, GPS and magnetometer chips, and docking hardware.
From a software perspective, MARCO is comprised of two major modules:
The Computer Vision module ingests data from the cameras & LiDAR and outputs angular and distance-to-target data.
The Computational Optimization module receives input from the CV module and the navigation instruments, computes craft position, attitude, velocity, and acceleration relative to the target, stores and revises an optimized approach trajectory, and outputs commands to the navigation system of the MARCO craft.
Functionally, MARCO is a self-contained subsystem that interfaces with the avionics or propulsion-related electronics of a vehicle. The MARCO processor commands the vehicle's motion via the vehicle's normal navigation computer during approach and docking procedures.
What is Polo?
"Polo" is a general moniker for the dock or docking surface that the MARCO craft has been commanded to dock with. Ideally, the Polo craft will have most of the same hardware on board the MARCO craft, however with a little bit of open-loop support the Polo craft could also be an unpowered object like a box, cargo container, landing pad, or charging station.
Each Polo target surface has an associated .polo file which provides critical information to MARCO for docking procedures. The polo file is supplied to MARCO either during mission outset commanding or by the polo craft once an RF link is established between MARCO and Polo.
The minimum requirements for a fixed-position and attitude polo dock are a MARCO-recognized docking surface and a docking mechanism that is compatible with the chosen MARCO craft, with a .polo file and GPS coordinates supplied externally prior to docking.
The requirements for a mobile polo dock are a docking surface/mechanism, magnetometer, GPS, and some form of attitude stabilization.
