M42 Technologies is proposing to continue development of a RF based crosslink with relative navigation and time transfer capabilities to enable autonomous precision formation flying (PFF) of spacecraft as small as nanosatellites (1 to 10 kg). The solution consists of a multi-channel software defined radio (SDR), and innovative signaling and processing to enable CubeSat scaled spacecraft to measure positions with centimeter to sub-millimeter-level precision positioning (Technical Area (TA) 5.4.4) thereby providing new capabilities such as autonomous rendezvous and docking (AR&D), and precision formation flying (PFF) both for human and robotic exploration missions. In addition, this proposed solution provides for inter-satellite nanosecond-level time transfer capability (TA 5.4.1) improving absolute navigation.This proposed effort will build on the demonstrated results of the Phase I SBIR, and will focus on improving performance, developing and delivering a prototype CubeSat-scaled radiometric SDR-based navigation solution that with autonomous position, navigation and time (PNT) capabilities.