Performance degradation detection in hybrid detection and ranging system

A Hybrid Detection and Ranging (HyDAR) system configured for detecting signals with multiple wavelengths, the system comprising:

• a laser light source providing laser light signals;
• an aperture window;
• one or more steering mechanisms configured to perform:
• directing the laser light signals toward the aperture window,
• receiving first return light signals formed based on at least a portion of the laser light signals provided by the laser light source,
• receiving second return light signals formed from light provided by one or more light sources external to the HyDAR system;
• a multimodal sensor including a Light Detection and Ranging (LiDAR) sensor and an image sensor,
• the LiDAR sensor being configured to detect the first return light signals to obtain one or more frames of point cloud data, and
• the image sensor being configured to detect the second return light signals to obtain one or more frames of image data, wherein the point cloud data and the image data are at least partially time-and-space synchronized at hardware-level of the HyDAR system;
• and
• a controller configured to perform:
• detecting one or more degradation factors affecting performance of the HyDAR system,
• in response to detecting the one or more degradation factors, causing adjustment of a device configuration or an operational condition of the HyDAR system to remove or reduce effects of the degradation factors.