-- nrl presentation -- rendezvous, proximity operations & capture for atv and htv aeroscience...

-- NRL Presentation --

Rendezvous, Proximity Operations & Capturefor ATV and HTV

Aeroscience and Flight Mechanics DivisionGN&C Design and Analysis Branch

May 22-23, 2002

Rendezvous Proximity Operations & Capture

EG EducationMay 22-23, 2002

Big Picture

• ATV/HTV– Endorse Certificate of Flight Readiness (Safety first)

• Vehicle Integration/Compatibility with ISS• Assessment of mission success• Flight Aspects

– Rendezvous, Proximity Operations, Capture/Docking/Separation, Departure– Emphasis on Demonstration mission -- first flight– Contingencies

– Principal role • Interface and negotiate with International Partners on behalf of ISSP• Independent Assessment of GNC/Flight Systems/Mission Design and ISS

Interfaces from perspective of requirements, limitations and capabilities– Analysis of GNC sensors, effectors and algorithms– Analysis and review FDIR requirements, design and capabilities– Analysis of trajectory requirements, design and safety through simulation– Analysis and review of verification methods, coverage and limitations

• Integration with ISS– Analysis of vehicle control for docking/capture performance (nominal and contingencies)– Analysis and review of monitoring requirements, design, capabilities and options through

simulation and prototyping– Analysis and review of command and control requirements, options and capabilities– Development, analysis, and review of ICD, IRD and SSD requirements and verification– Formal Reviews (Safety, PDRs, CDRs...)



RPOC Customers and Interfaces

ESA

MissionIntegration

VERIF

SAFETY

OPS

EADS

RSCE

C&DHCOMM

ISSAvionics

S/W

CREW

LaunchPackage

Team

USOSGNC MHI

MELCO

NASDA

*Russian Vehicles

RSCE*

RussianIPT

ROBOTICS

CSA

OD OM

CB

ER/DX

NE

OB

DM/DO

OD

EVEV OM

TrajectorySystems EngineeringFlight SystemsVisualizationLogistics

ControlsNavigationGuidanceFDIRSimulation and Modeling



Robotic Capture

Box

Docking and Berthing

• Rendezvous & Proximity Operations Nav– Relative GPS– Laser Reflectors– ISS-to-Vehicle Communication link– Russian ARD at their ports

• Docking– APAS -- Androgynous Peripheral Attachment System

Shuttle/PMA– Probe & Cone

Soyuz Progress ATV

• Robotic capture & berthing– CBM -- Common Berthing Mechanism

HTV– External attachment sites

External payload sites, truss S2 & P2 JEM Exposed Facility

A = APAS

P = Probe & Cone

C = CBM

A

A

C

P P

P

+R Bar Approach

V Bar Approach

-V Bar Approach

Soyuz & Progress

Soyuz, Progress, & ATV

HTV

External Payload Sites



Automated Transfer Vehicle (ATV)

• Automated Transfer Vehicle from the European Space Agency (EADS-LV)– No people; cargo only

– Performs automated rendezvous and docking to Service Module - same port as Progress– Delivers propellant, water, gas, pressurized cargo … departs with waste– Performs ISS reboost, debris avoidance maneuvers, and attitude control while attached– Launch vehicle is the Ariane 5 (French; launched from French Guyana)– First flight is planned for September ‘04– Annual launches with six month stay at ISS– Navigation sensor suite include:

• GPS receivers on ATV and in ISS Service Module (position, velocity) - requires ISS-to-ATV communication link for transfer of ISS data to ATV

• Laser (range, range rate) - Telegoniometer• Vision sensor (range, range rate, angle, angle rate) - Videometer

– Attitude sensor suite include:• Gyroscopes (attitude rate)• Earth sensors (angles)• Horizon sensors (angles)

– Automated activities include:• Software moding - preset activities applicable to specific flight phases• Preset maneuver computation

– Flight maneuver computation including Collision Avoidance Maneuvers - accomplished by preset activities included in multiple software modes

• Fault Detection, Isolation and Recovery• Abort recognition and execution• Response to a limited number of ISS Crew commands - e.g., Hold, Retreat, Resume,

Escape, Abort



ATV the movie



S4 S2

S1

S3

S-1/2

Approach Ellipsoid

Keep Out Sphere

X = - 250 m, Z = 0 m (X = - 3500 m, Z = -100 m)

S0

> 10 min< 65 min

Station keeping + 1 orbit for contingencies

30 km

Pre-homing

• Prox. Link acquisition• R-GPS convergence• Homing maneuvers computation• GNC parameters checked by ground• GO for homing by ATV-CC

> 20

FinalApproach

min

Closing

40 min

Homing

1/2 revolution

Pre-homing

~40 min

Sun pointing attitude - Maneuvers performed with ACS (4 PDE)Navigation sensors in hot stand-by redundancy

Escape

Free driftPropulsion : ACS - 2 PDE

R

V

ATV Description (1)



R

S3

- 250 m

Keep Out Sphere

S41

-12 m

20’ 10’2-3’

V

Videometer based navigation

Videometer based

navigationwith relative

attitude(Telegoniometer

based monitoring)Telegoniometer based monitoring

EscapeLocal Vertical Local Horizontal attitude

Position and attitude control performed with ACS (4 PDE)All sensors in hot stand-by redundancy

Hold - Retreat - Resume (between S3 and S4) capabilities on external commands

ATV Description (2)

S4

-20 m



Gyros + Star Tracker

VDM w/Att VDM R-GPS

S41 (12 m) S3 (250 m) S01 kmDocking (0 m)

ATV

Primary GNC sensors

Gyros

Telegoniometer Accelerometers + GPS

Dissimilar GNC sensors

S4 (20 m)

Monitoring by MSU

Telegoniometer + Gyros

Telemetry data + KURS data

ISScrew

Visual aids for video monitoring

Target pattern for video monitoring

ATV-CC

Telemetry data

S2 (3.5 km)

Accelerometers + Gyros

ATV Description (3)



HII Transfer Vehicle (HTV)

• HII Transfer Vehicle from the National Space Development Agency of Japan (MELCO/MHI)

– No people; cargo only

– Performs automated rendezvous to berthing box…is captured with SSRMS and attached to CBM at Node 2 Nadir

– Delivers pressurized cargo (experiment payloads, consumables, water, etc,.) and unpressurized cargo (experiment payloads, batteries) … departs with waste

– Launch vehicle is the HII-A (Japanese; launched from Tanegashima, Japan)– First flight is planned for November ‘05– Biannual launches with a two week stay at ISS– Navigation sensor suite include:

• GPS receivers on HTV and in ISS Japanese Experiment Module (position, velocity) - requires ISS-to-HTV communication link for transfer of ISS data to HTV

• Laser (range, range rate) - Rendezvous Sensor• Accelerometers (acceleration)

– Attitude sensor suite include:• Gyroscopes (attitude rate)• Earth sensors (angles)

– Automated activities include:• Software moding - preset activities applicable to specific flight phases

• Preset maneuver computation– Flight maneuver computation including Collision Avoidance Maneuvers - accomplished by preset

activities included in multiple software modes

• Fault Detection, Isolation and Recovery• Abort recognition and execution• Response to a limited number of ISS Crew commands - e.g., Hold, Retreat, Resume, Abort,

Emergency separation from SSRMS, HTV thruster re-activation



HTV the movie



HTV Description (1)

• Sensors used

– GPS

– Earth sensor

– Gyros

Yaw around attitude is available

PM2

Rendezvous Phase

Orbit Altitude 350 - 460km

PM1

Injection to Orbit

10km(TBD)CM2

AI

Yaw around attitude is available, except at CAM demo.

HAM1

HAM2

Phase Adjusting

PCM1Phase Adjusting

PM1'

300km

200km

HAM1 PM1

Core system check outRedundancy checkout ACU CAM string checkout 　(CMD)

CM2HAM2

4.6rev

HTV separation

PM1'PCM1PM2A1

AI Station Keeping

+/-90deg yaw around for out of plane maneuver (PCM1) (CMD)

24.5 - 52.5rev~0.5rev

5 - 8rev1rev

0.5rev~1.5rev

~1 rev

40.5 rev - 71.5 rev

: Automatic event: Commanding event: ISS state vector upload(CMD) Maneuver sequence go (CMD)

Core system initial check out(CMD)

T1

0.5rev

180deg yaw around (CMD)

~0.5rev

CM1 EVENT

TIME

15min38s

+/-90deg yaw around for out of plane maneuver (PCM2) (CMD)

MC3PCM2

MC3 MC2 MC1

MC2 MC1CM1

ISS

M1

1rev

M1

M2

M3

PCM2M3

1rev

M2

0.5rev

CAM demo is planned for the demonstration flight.



HTV Description (2)

• Sensors used– Relative GPS– Earth Sensor– Gyros– RVS (laser)– Independent R&RR using COMM

4. Drift-in(DI)Maneuver

AI

2. AI Maneuver(CMD)

5. Drift-out(DO)Maneuver

4.

3.

2.1.

Z

X

3. MCManeuver 1

8. R-barInjection

5.

7.

RI

2.6Km

1/4 rev

7. MCManeuver 3

6.

0.14rev

8.

-17km

1/6 rev

6. MCManeuver 2

90min

ISS

1. Integrated Operation Start

RVS Operate

Orientation Light on (CMD)Strobe Light on (CMD)

Abort type PA setting (CMD)

AI-90minAI+0minAI+105min

Abort Command issued by Crew (as required)

1/4 rev1/6 rev1/6 rev

105min (approx.)

Abort type Large CAM setting (CMD)

AE

-2km

: Automatic event: Commanding event

Proximity Operation Phase - Relative Approach -

EVENT

TIME

ElapsedTime

Orbit Altitude 350 - 460 km

Solar array power supply stop (CMD)

AE

-1km

Almanac data transfer to GCC CPU (CMD)AI maneuver time setting (CMD)RVS on and standby (CMD)HTV Separation Plane Driver power on (CMD)



SAFETY OVERVIEW

• System, operations and safety requirements for Rendezvous, Proximity Operations, and Capture (RPOC) are specified in key bilateral/trilateral documents (e.g., vehicle Segment

Specification, ISS to vehicle Interface Requirements Document)

• All safety critical functions are two-failure tolerant for catastrophic hazard

• All maneuvers which take vehicle trajectory into ISS “controlled” space require ground control center “GO” authorization and are initiated from default “hold” points

• A Collision Avoidance Maneuver (CAM) can be commanded at any time by any of the following: a) service vehicle’s Fault Detection, Isolation & Recovery (FDIR) system; b) appropriate ground control center; and c) ISS crew

• A monitoring capability, which allows for abort/contingency actions, is available for ISS crew to supervise automatic approach (visual, independent range/range rate data, vehicle GNC data, vehicle FDIR data); ISS crew intervention includes a small number of additional commands to control actions of service vehicle (vehicle dependent)



Operations Concept

V-Bar

R-Bar

4km

Keep-out Sphere(200m radius)

2km

3 Sigma Dispersion

Out of plane minor axis of AE is 2km

3 km radiusspherical commcoverage



Operations Concept

Approach Ellipsoid (AE) 4Km X 2km X 2km centered on the ISS CG All 3 sigma trajectories must stay out prior to the AI maneuver Crew visibility is required in all lighting conditions within 1 km

Approach Initiation (AI) Maneuver 3 Sigma targeting must stay outside of the KOS Space-to-space communications must be established before AI is performed If the space-to-space link is lost the vehicle automatically aborts Transition of operational authority to the MCC-H 90min prior to AI

Keep-out Sphere (KOS) 200M radius sphere around the ISS Within 200m, vehicle must be within a predefined approach corridor

All pre-AI coast trajectories must stay out of AE for at least 24 hours Day of Rendezvous operations (free flight & attached) must fit within 10 hour crew

work day Aborts within KOS start with establishing an opening rate On departure, vehicle must exit AE within 90 min of separation on a trajectory that

will not re-enter AE



CREW COMMAND & ABORT DESIGN

• Crew Hardware Button commands for time critical functions– Collision Avoidance Maneuver (CAM)– Vehicle Hold– Vehicle Retreat– HTV emergency separation in case of failed SSRMS– HTV emergency control system activation in case of failed capture

• Vehicle self-monitoring abort– two-string system failure– communication loss

• Independent avionics for CAM

• CAM independent of navigation solutions

• Abort inside the KOS starts with an opening rate



FLIGHT DEMONSTRATION REQUIREMENTS

• The test program shall demonstrate and verify a readiness of the RPOC system including service vehicle, ISS systems, combined vehicle/ISS systems, and the system support facilities which will be used for a safe RPOC at the ISS

• All safety-critical functions shall be flight demonstrated:• In a region that is not hazardous to the ISS• Prior to when they are needed for ISS safety

• The technique used by the service vehicle shall be approved by the ISSP• Functions to be demonstrated, as a minimum, include:

• Establishment of the communications link• Command/Data telemetry transfer• Functionality of GNC systems• Collision Avoidance Maneuver• Approach, including maintaining the required approach corridor and stationkeeping• Emergency termination of approach• Capture within predetermined kinematic parameters• Complete mechanical mating and establishment of required interfaces• Unmating and back-off• Functionality of Service Vehicle ground support personnel and equipment• Functionality of visual monitoring techniques and systems by ISS crew



Environment

Shuttle

ATVHTV

CRV

ProgressSoyuz

AERCamX-38

Operational Vehicles

Vehicles in Development

Tech. Demonstrators ISS

Proposed Future Vehicles

Generic Vehicles and Systems

GNC and Flight Systems

Current, Planned, and Generic Robotic Systems

Docking/Berthing

MechanismModels

Crew-in-the-loop

Support Tools

- Collision Detect- Communications- Monte-Carlo- Optimization- Math Libraries- Multi-Process- Multi-Computer

- Multi Body- Rigid Body- Flex Body- Orbital- Robotics- Multi-Vehicle- Contact

Kinematics & DynamicsVisualization

Crew Displays

Sim Control, Monitor & Fault Insertion

Hardware-in-the-loop GPS

• Targeting Algorithms• Guidance Algorithms• Navigation Algorithms• Control Algorithms• Mission & Vehicle Manager Capabilities• Sensors (Gyro, Accel., GPS, Laser, etc.)• Effectors (Jets, Momentum Gyros, etc.)• Propellant Systems (blow-down, slosh, etc.)• Communication Systems• Solar Array Tracking• FDIR Logic• Abort Logic• Direct and Remote Piloting Capabilities• Crew Interfaces• Generic Systems (e.g. perfect nav & effector)

RPOC Tools



BACKUP CHARTS



ISS

• ISS configuration complex & dynamic

• ISS needs about 56,000 kg supplies/year

• Six candidate ports for service vehicles, 3 US segment, 3 Russian segment. External sites.

• Docking to APAS and P&C, capture and berthing to CBMs (to be discussed)

• ISS resources available to service vehicles dependent on attached port, negotiable

• ISS orbit characteristicsaltitude = 350 (275) to 460 kminclination = 51.6 degreeseccentricity < 0.003 (0.01)attitude = -20 to +15 degrees (pitch)



Overview of Vehicles

Vehicle(Mass@407 km)

Payload(407 km; 51.6º)

CargoTypes

• Crew Rotation• Pressurized• Unpressurized• Water, gas

• Crew Rotation• Pressurized

• Pressurized• Unpressurized• Propellant• Gas, Water

• Crew Return

Shuttle

Soyuz-TM

Progress-M1

ATV

HTV

CRV

16,420 kg

480 kg

2,230 kg

7,500 kg

6,000 kg

TBD kg

• Pressurized• Propellant

• Pressurized• Unpressurized

AvailableDate

• Available

• Available

• 1999

• 2004

• 2005

• ?



Overview of Vehicles (continued)

Ag

en

cy

Ma

xim

um

Pa

ylo

ad

D

eliv

ere

d (

Kg

)

Cre

w D

eliv

ery

(C

rew

me

mb

ers

)

Cre

w R

etu

rn

(Cre

wm

em

be

rs)

Pre

ss

uri

zed

(K

g)

De

live

rs R

ac

ks

/ISP

Rs

(U

p t

o #

of

Ra

ck

s)

Un

pre

ss

uri

zed

Ca

rgo

(K

g)

Wa

ter

(Kg

)

Ga

s (

Kg

)

De

live

r P

rop

ella

nt

(Kg

)

No

nre

co

ve

rab

le

Ca

rgo

(K

g)

Re

co

ve

rab

le C

arg

o

(Kg

)

Wa

ste

Wa

ter

(Kg

)

Shuttle (MPLM) NASA 9,900 3 3 9,900 16 ~400 TBD NA 10,000 75Shuttle (ULC) NASA 9,900 3 3 700 11,500 ~400 TBD NA 12,700 75Shuttle (2x Hab) NASA 10,100 3 3 5,200 4 450* ~400 TBD NA 5,200 75Shuttle (Hab/ICC) NASA 9,400 3 3 5,200 4 5,400 ~400 TBD NA 5,200 75Progress M RSA 2,350 1,800 420 40 1,100 1,600 400Progress M1 RSA 2,230 1,800 40 1,950 1,600Progress M1+ RSA TBD 1,800 210 40 TBD 1,600 200Soyuz-TM RSA 480 3 3 480 20HTV (Press) NASDA 7,000 7,000 12 300 7,000 300HTV (Mixed) NASDA 6,000 6,000 8 1,500 300 6,000 300ATV ESA 7,500 5,500 840 100 4,860 6,500 840CRV NASA TBD 7 TBD TBDNote: All performance measured to 407 KmNote: Each Shuttle flight rotates 3 ISS crewNote: Spacehab estimates based on advertised projections* If unpressurized cargo is loaded on the exterior of the Spacehab module this mass must be reduced in the pressurized module



Tools – Simulation/Graphics Environment

• Extensive use of Trick operating system for simulation environment

– Model and object based architecture hosting a collection of models and objects allowing multiple simulations with many common models (3, 6, N-DOF simulations)

– Strongly data driven - Can largely define systems and events and modify events through inputs

– Trick runs on multiple platforms and operating systems• Main platforms: Sun (Solaris 5.8/SunOS 8.0), SGI (IRIX 6.5), PC (RedHat 7.1)

• Special support for: Macintosh (OS X), Power PC604 (IRIX GCC/VxWorks), Night-Hawk (Power UX), IBM (AIX), Alpha (True64), PC (Solaris)

– Extensive use for H/W-in-the-loop and Human-in-the-loop simulations throughout JSC

– Extensive use at JSC for many vehicle simulations - ATV, HTV, CRV, ICDS, On-orbit SES, Sprint, SAFER, AERCam, Russian Vehicles

• VRTool, VR Lab Graphics (DOUG) and Enigma based graphics



ATV/HTV Simulations – Hardware/Software

• Hardware-in-the-loop Closed-Loop Relative GPS Simulation

– Two Force 5 GPS receivers (currently only one purchased)

– Plan to use GPS signal generator & RPOC GPS models

– Use same methodology/software as developed for AERCam and X-38

• Simulations for Integrated Monitoring Development and Evaluation

– Real-time

– High fidelity graphics

– Crew Interfaces

– Laptop display capabilities

• Combined ISS, SSRMS, HTV Simulation for Capture Analysis

– ISS GNC System

– SSRMS - FSW, Robotics Work Station, Hardware model, boom and joint flex, LEE model

– HTV GNC and Flight Systems

– Crew Monitoring/Commanding capability

– Real-Time for crew interface

– Operators Console for test operation and failure insertion



ATV/HTV Simulation Summary

• Simulate All Phases ATV and HTV Near ISS

– End part of phasing to proximity operation to capture

– Separation and departure

– Aborts and re-rendezvous

• Use Simulations for:

– GNC performance analysis

– Docking/SSRMS capture analysis

– Monitoring development

– FDIR analysis

– Safety evaluation

– ISS integration

– Independent Verification

• Batch Simulations, Avionics-in-the-loop, Human-in-the-loop



ATV/HTV Simulation Capabilities

• Full, Single String, Rendezvous/Proximity Operations GNC for All Phases

– Targeting and Guidance used by ATV and HTV and generic

– Absolute state navigation

• GPS, INS, Generic

– Relative state navigation

• Relative GPS, laser, vision system, generic

– Attitude navigation

• Gyro, earth sensor, star tracker, relative attitude, generic

– Controls used by ATV and HTV, phase plane, generic

– Sensors/Effectors used by ATV, HTV and generic

• Numerous Flight System Models (comm, C&DH, docking mech. etc.)

• Limited multiple string instantiation for FDIR analysis

• Partial ATV and HTV FDIR capabilities

• ISS model (GNC, array rotation, collision model, etc.)

• Full SSRMS model (dynamics, controls, FSW, crew interface, etc.)

-- nrl presentation -- rendezvous, proximity operations & capture for atv and htv aeroscience...

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