The navigation pipeline combines sensing, synchronisation, reference preparation and position matching. Each stage has a defined role in producing the fix.
Millimetre-wave radar contributes to reference matching alongside thermal and inertial sensing.
The FPGA kernel synchronises sensor inputs, runs fusion and matching, and validates each fix within its frame cycle.
RECONN.EARTH performs SAR-to-optical and optical-to-thermal conversion and prepares reference tiles for the onboard cache.
TrackFusion validates position against reference imagery. Inertial sensing bridges the intervals between matches.
Deterministic latency at frame rate. L1 provides the fusion and matching cycle. L2 manages waypoint execution and fallback policy. The precise hardware/software boundary is an open architecture decision.
Reference services run centrally before flight. The onboard kernel processes live sensor data, while navigation services manage route execution.
| Layer | Inputs | Responsibilities | Outputs |
|---|---|---|---|
| L4 · Reference services | Source imagery and mission area | Conversion, tiling and caching | Reference imagery for L2 |
| L0 · Hardware abstraction | Sensors, autopilot and radio links | Drivers and interfaces | Sensor data and hardware connections |
| L1 · Fusion kernel | Sensor data and reference imagery | Synchronisation, fusion, matching and validation | Validated position fixes |
| L2 · Navigation services | Waypoints, references and position fixes | Route execution, drift monitoring and fallback | Navigation updates to the host autopilot |
The host autopilot retains flight control. The partner SDK and hardware interfaces define the vehicle integration.
Fitted at build or retrofitted. Your autopilot keeps flight control — Shoal-OS supplies the fix.
