this document is the property of eads launch vehicles. it shall not be communicated to third parties...

This document is the property of EADS LAUNCH VEHICLES. It shall not be communicated to third parties without prior written agreement .Its contents shall not be disclosed. - EADS LAUNCH VEHICLES - 2001

RTA MSG 200123-1

LAUNCH VEHICLESSystems, Design & Tests Directorate

Vincent SAILLOUR MSG Conference 2001

23-1


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Generic Toolbox for Interoperable SystemsGTI6 - Agenda

Background GTI6 Architecture GTI6 Applications ATV Spacecraft Validation ATV Group Training & Mission

Rehearsal Conclusions and perspectives


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GTI6 - Background

EADS LAUNCH VEHICLES is prime contractor or industrial architect for large and complex systems such as: ARIANE 4 & 5 Launchers, French submarine nuclear missiles, Automatic Transfer Vehicle (ATV),...

Simulation paradigms apply at all steps of these systems lifecycle: requirement, design, development, AIT, qualification, mission rehearsal, training,...

EADS-LV business is geographically distributed

Several R&D on how Distributed Simulation Technology could support our activities: DIS-RVM (ESA-ESTEC TRP), EDISON, DSE (European Union ESPRIT-IST programs)

www.GTI6.com


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GTI6 Architecture

Engineeringteam

GTI6operator

SIMSimulationFramework

SRGSurrogate

MWMiddleware (HLA RTI)

GWGroupware

SYNSynchronisation

NWNetwork

Management

SPVSupervisor

SECSecurity

VRVirtual Reality

SimulationFacilities


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NW

SEC

SPV

SYN

MW

GW

SIM

VR

SRG

Systemvalidation

Missiontraining

Controlcommand

Engineering

Components

Application

GTI6 Applications - Components


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Automatic Transfer Vehicle (ATV)

Three main missions:– Deliver a payload– Reboost the station– Take away the waste

ESA project–1st launch April 2004 –PFM +9 FM up to 2013

Main characteristics–Total mass ~ 20t –Payload ~7t


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ATV Flight Phases


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Approach corridor

Waitingpoints S2S3Vbar

Final Translation

Closing Homing

S1

RbarAll figures are indicative only, and shall not be used without verification

KOZ Approach ellipsoid

S4S5[40] [250m] [2500 meters]

ATV Rendez Vous Approach


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Vbar

Rbar

Approach Corridor w.r.t Docking Port

KOZKeep Out Zone

S3S4

S5[250 m][40 m]

S3 : ATV waits for authorization to enter KOZ

S4 : Acquisition of relative attitude of ATV

S5 : Docking port

Waiting Points

Possible Trajectory

[200 m]

10 o

Figure not drawn to scale

ATV Rendez Vous Corridor


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Parameter Specified setRelative longitudinal closing velocity 0.05 - 0.10 m/sRelative lateral velocity < 0.02 m/sAngular rate < 0.05 °/s (roll)

< 0.05 °/s (pitch)< 0.05 °/s (yaw)

Roll misalignment < 2.0 °Angular misalignment of longitudinal axes < 1.0 ° (pitch)

< 1.0 ° (yaw)Misalignment of docking frame centres < 0.10 m

The docking tolerances are expressed at 1st contact between the head of the ATV probe and the ISS drogue

Source : SL/V n°2157and SSP 50129 03/03/97 IRD International Space Station to ATV

ATV Docking Tolerances


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Spacecraft Validation with ‘Hardware-In-the-Loop’

Real spacecraft, integrated in France

Real motion systemfor space proximity operations, in Germany

Close-loop & real-time

flight simulationof the spacecraft


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Close loop test

ATVtrajectory

RVS mounted on EPOS

Thrustercommands

2

4

7

FSF

FTC

RVS

EPOS3

1

5

6

GNCcalculations

EPOScommand EPOS

movement

RVSmovement

RVSmeasurement


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EPOSEPOS

Command / Control

ATV-FSFATV-FSF

Command / Control

ATV-FSFATV-FSF

FTCFTC

SimulatorsSimulators

GPSGPS PDEPDE

Front-endsFront-ends

Chaser Chaser Motion Motion DeviceDevice

EPOSEPOS

Illumination Illumination SystemSystem

Target Target Motion Motion DeviceDevice

ReflectorsReflectors

ATVATV ISSISS

RVSRVS

Ethernet

MIL-1553

SpeechVision

Gesture

Centralized Simulation Facility


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EPOSEPOS

Command / Control

ATV-FSFATV-FSF

Command / Control

ATV-FSFATV-FSF

FTCFTC

SimulatorsSimulators

GPSGPS PDEPDE

Front-endsFront-ends

Chaser Chaser Motion Motion DeviceDevice

EPOSEPOS

Illumination Illumination SystemSystem

Target Target Motion Motion DeviceDevice

ReflectorsReflectors

ATVATV ISSISS

RVSRVS

Ethernet

MIL-1553

France

Ethernet

MIL-1553

RVSsurrogate

EPOSsurrogate

FTCsurrogate

FSFsurrogate

EDISONkernel

SpeechVisionGesture

SpeechVisionGesture

EDISONoperator

Distributed Simulation FacilityGermany


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Lessons learned: Technical Feasibility

The end-to-end delay induced by the distribution is around 50ms:

20 ms for the WAN due to ATM high quality 10 ms transfer time for a typical 450 bytes long user data running on a 500 Kbps VPN 20 ms for the middleware (RTI+surrogate)

If necessary, this delay could be compensated by Dead Reckoning algorithm.

Globally EDISON is in line with the expectations and can be used for ATV validation process


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Spacecraft simulator, in France

Astronaut training center, in Germany

Interactive & real-time training

on remote simulators

Ground Control Center, in Italy

Space station simulation, in the Netherlands

Astronaut & Ground Controllers Training


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Objective: To evaluate possibility to perform mission rehearsal when several distributed sites are involved and their correct interactions are critical for mission rehearsal

Scenario: Implement the interactions between all ground control segments (SSCC-Houston

and MCC-Moscow, ATV-CC-Toulouse) involved in mission operations and the ISS crew

Both ISS Crew and ATV controllers can remotely control ATV using a similar human interface as Soyuz and Progress (joysticks and GUI) which is, however, not any more in line with the current ATV baseline

During the final approach several contingency situations (RVS failure, Space-Ground TV-downlink failure) will be introduced by the master training instructor using FM GUI to check operators skill to work together in such situations

ATV Group Training & Mission Rehearsal


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Run OT1: Reference case with only initial test of manual mode at 250 m from the ISS by both ATV-CC and Crew

Run OT2: ATV RVS failure at 15 m. from ISS RVS failure not detected by ATV FDIR subsystem ATV-CC operators detect the failure using telemetry data ATV-CC switches ATV GNC to Manual Control Mode ISS crew continues approach in manual mode and docks ATV to ISS

Run OT3: TV link shut-down at 15 m. from ISS MCC issues a command to ATV-CC to stop the approach and maintain station

keeping in manual mode until crew takes over the control ATV-CC switches ATV GNC to Manual Control Mode and controls it by means of

TM ISS crew resumes the approach in manual mode and docks ATV to ISS

Mission Rehearsal & Training :

Tasks actually performed


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Mission Rehearsal & Training : The HLA Federation

FederationM anager

O n-boardcosmonaut

A TVteleoperation

3D sticksG U I, 3D graphics and H U D

A TVcontroller

recoveryprocedures

keyboardG U I, 2D -3D graphics

contingencysituations

R TI R TI R TI R TI

R TI

A TVmodel

ISSmodel

A TV -C Cmodel

M C Cmodel

W A N (ISD N or A TM )

Simulation supervision

Control

Introduction ofcontingencies

A TV +ISSmonitoring

M CCcontroller


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Run OT1 demonstrates that ATV maneuverability and controllability in the manual mode are acceptable: both in case when ATV was controlled from ground and from onboard

the ISS; latency compensation was sufficient Smooth transition from automatic mode to manual and back is ensured

by the ATV GNC subsystem Run OT2 additionally demonstrates effectiveness of cooperative work of

different groups of operators Ground controllers have quickly detected the RVS failure ISS crew completed the approach in the manual control mode

Run OT3 additionally demonstrates effectiveness of implementation of the HLA ownership transfer functionality between different control posts


Results


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Human operators controlling ATV did not notice any differences as compared with a centralised configuration. The ATV is manually controllable all over its Final Translation reference trajectory

Distributed simulation using HLA provides a good opportunity for remote control of vehicles: e.g. even during the last 3-4 months before the flight when they are not any more authorised to travel, the astronauts could receive an adequate training on ATV control and monitoring its approach from a remote locations (USA, Russia,…)

Distributed simulation using HLA appears to be a good solution for interactions such as “trainee - instructor” and “crew - ground controllers”

From the cost point of view, implementation of a distributed simulation system could help save considerable budget by reducing amount of hard- and software to be exchanged between partners


Lessons learned


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GTI6: Conclusions and perspectives

EADS-LV started to experiment distributed simulation technology 6 years ago according to its military activities

As this technology can also benefit to civil activities EADS-LV conducts several projects sponsored by ESA-ESTEC (e.g. DIS-RVM), European Communities (e.g. EDISON, DSE) and French RNRT (e.g. @IRS) to further experiment and evaluate distributed simulation technology

The practical experience gained has been progressively capitalized in what we call GTI-6 which has started to be operationally deployed for EADS-LV programs, and is also becoming available outside EADS Group

www.GTI6.com


RTA MSG 200123-23

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