Current autonomous rendezvous and docking (AR&D) capability in low Earth orbit (LEO) is constrained by sensor and effector mass, power, and accuracy limits. To this end, NASA Johnson Space Center has developed a GPS receiver, called DRAGON (Dual RF Astrodynamic GPS Orbital Navigator), specifically to address the sensor constraints. The proposed innovation includes creating a small, low-cost, and versatile technology demonstrator to validate and increase the technology readiness level of DRAGON and other state-of-the-art miniaturized sensors and effectors in an on-orbit AR&D operational scenario. For Phase 1, a demonstration platform will be developed that utilizes two picosatellites in LEO, and relative GPS as the primary sensor. These satellites will be launched as a single unit from the SSPL (Space Shuttle Payload Launcher) on STS 127, then separate and transmit DRAGON GPS data. The picosatellite technology demonstrator will be at a TRL of 7 at the end of Phase 1. For Phase 2, the demonstration platform will be further developed to further validate DRAGON, and validate IMU sensors, a 1st generation reaction control system, a 1st generation guidance navigation and control system, communication links, and an undocking mechanism.