Engineering topics

Hashmall, Joseph A.

Publications and source records attributed to Hashmall, Joseph A..

16 records

NASA NTRS2011

High Gain Antenna Calibration on Three Spacecraft

This paper describes the alignment calibration of spacecraft High Gain Antennas (HGAs) for three missions. For two of the missions (the Lunar Reconnaissance Orbiter and the Solar Dynamics Observatory) the calibration was performed on orbit. For the third mission (the Global Precipitation Measurement core satellite) ground simulation of the calibration was performed in a calibration feasibility study. These three satellites provide a range of calibration situations-Lunar orbit transmitting to a ground antenna for LRO, geosynchronous orbit transmitting to a ground antenna fer SDO, and low Earth orbit transmitting to TDRS satellites for GPM The calibration results depend strongly on the quality and quantity of calibration data. With insufficient data the calibration Junction may give erroneous solutions. Manual intervention in the calibration allowed reliable parameters to be generated for all three missions.

Hashmall, Joseph A.↗

NASA NTRS2011

On-Orbit Solar Dynamics Observatory (SDO) Star Tracker Warm Pixel Analysis

This paper describes the process of identification and analysis of warm pixels in two autonomous star trackers on the Solar Dynamics Observatory (SDO) mission. A brief description of the mission orbit and attitude regimes is discussed and pertinent star tracker hardware specifications are given. Warm pixels are defined and the Quality Index parameter is introduced, which can be explained qualitatively as a manifestation of a possible warm pixel event. A description of the algorithm used to identify warm pixel candidates is given. Finally, analysis of dumps of on-orbit star tracker charge coupled devices (CCD) images is presented and an operational plan going forward is discussed. SDO, launched on February 11, 2010, is operated from the NASA Goddard Space Flight Center (GSFC). SDO is in a geosynchronous orbit with a 28.5 inclination. The nominal mission attitude points the spacecraft X-axis at the Sun, with the spacecraft Z-axis roughly aligned with the Solar North Pole. The spacecraft Y-axis completes the triad. In attitude, SDO moves approximately 0.04 per hour, mostly about the spacecraft Z-axis. The SDO star trackers, manufactured by Galileo Avionica, project the images of stars in their 16.4deg x 16.4deg fields-of-view onto CCD detectors consisting of 512 x 512 pixels. The trackers autonomously identify the star patterns and provide an attitude estimate. Each unit is able to track up to 9 stars. Additionally, each tracker calculates a parameter called the Quality Index, which is a measure of the quality of the attitude solution. Each pixel in the CCD measures the intensity of light and a warns pixel is defined as having a measurement consistently and significantly higher than the mean background intensity level. A warns pixel should also have lower intensity than a pixel containing a star image and will not move across the field of view as the attitude changes (as would a dim star image). It should be noted that the maximum error introduced in the star tracker attitude solution during suspected warm pixel corruptions is within the specified 36 attitude error budget requirement of [35, 70, 70] arcseconds. Thus, the star trackers provided attitude accuracy within the specification for SDO. The star tracker images are intentionally defocused so each star image is detected in more than one CCD pixel. The position of each star is calculated as an intensity-weighted average of the illuminated pixels. The exact method of finding the positions is proprietary to the tracker manufacturer. When a warm pixel happens to be in the vicinity of a star, it can corrupt the calculation of the position of that particular star, thereby corrupting the estimate of the attitude.

Felikson, Denis↗

NASA NTRS2010

A General Closed-Form Solution for the Lunar Reconnaissance Orbiter (LRO) Antenna Pointing System

The National Aeronautics and Space Administration s (NASA) Lunar Reconnaissance Orbiter (LRO) launched on June 18, 2009 from the Cape Canaveral Air Force Station aboard an Atlas V launch vehicle into a direct insertion trajectory to the Moon LRO, designed, built, and operated by the NASA Goddard Space Flight Center in Greenbelt, MD, is gathering crucial data on the lunar environment that will help astronauts prepare for long-duration lunar expeditions. During the mission s nominal life of one year its six instruments and one technology demonstrator will find safe landing site, locate potential resources, characterize the radiation environment and test new technology. To date, LRO has been operating well within the bounds of its requirements and has been collecting excellent science data images taken from the LRO Camera Narrow Angle Camera (LROC NAC) of the Apollo landing sites have appeared on cable news networks. A significant amount of information on LRO s science instruments is provided at the LRO mission webpage. LRO s Attitude Control System (ACS), in addition to controlling the orientation of the spacecraft is also responsible for pointing the High Gain Antenna (HGA). A dual-axis (or double-gimbaled) antenna, deployed on a meter-long boom, is required to point at a selected Earth ground station. Due to signal loss over the distance from the Moon to Earth, pointing precision for the antenna system is very tight. Since the HGA has to be deployed in spaceflight, its exact geometry relative to the spacecraft body is uncertain. In addition, thermal distortions and mechanical errors/tolerances must be characterized and removed to realize the greatest gain from the antenna system. These reasons necessitate the need for an in-flight calibration. Once in orbit around the moon, a series of attitude maneuvers was conducted to provide data needed to determine optimal parameters to load onboard, which would account for the environmental and mechanical errors at any antenna orientation. The nominal geometry for the HGA involves an outer gimbal axis that is exactly perpendicular to the inner gimbal axis, and a target direction that is exactly perpendicular to the outer gimbal axis. For this nominal geometry, closed-form solutions of the desired gimbal angles are simple to get for a desired target direction specified in the spacecraft body fame. If the gimbal axes and the antenna boresight are slightly misaligned, the nominal closed-form solution is not sufficiently accurate for computing the gimbal angles needed to point at a target. In this situation, either a general closed-form solution has to be developed for a mechanism with general geometries, or a correction scheme has to be applied to the nominal closed-form solutions. The latter has been adopted for Solar Dynamics Observatory (SDO) as can be seen in Reference 1, and the former has been used for LRO. The advantage of the general closed-form solution is the use of a small number of parameters for the correction of nominal solutions, especially in the regions near singularities. Singularities here refer to cases when the nominal closed-form solutions have two or more solutions. Algorithm complexity, however, is the disadvantage of the general closed-form solution.

Shah, Neerav↗

NASA NTRS2009

Use of Fuzzycones for Sun-Only Attitude Determination: THEMIS Becomes ARTEMIS

In order for two THEMIS probes to successfully transition to ARTEMIS it will be necessary to determine attitudes with moderate accuracy using Sun sensor data only. To accomplish this requirement, an implementation of the Fuzzycones maximum likelihood algorithm was developed. The effect of different measurement uncertainty models on Fuzzycones attitude accuracy was investigated and a bin-transition technique was introduced to improve attitude accuracy using data with uniform error distributions. The algorithm was tested with THEMIS data and in simulations. The analysis results show that the attitude requirements can be met using Fuzzycones and data containing two bin-transitions.

Hashmall, Joseph A.↗

NASA NTRS2007

Solar Dynamics Observatory High Gain Antenna Handover Planning

The Solar Dynamics Observatory (SDO) is planned to launch in early 2009 as a mission to study the solar variability and its impact on Earth. To best satisfy its science goal, SDO will fly in a geosynchronous orbit with an inclination of approximately 29 deg. The spacecraft attitude is designed so that the science instruments point directly at the Sun with high accuracy. One of SDO's principal requirements is to obtain long periods of uninterrupted observations. The observations have an extremely high data volume so SDO must be in continuous contact with the ground during the observation periods. To maintain this contact, SDO is equipped with a pair of high gain antennas (HGAs) transmitting to a pair of ground antennas at the SDO ground station (SDOGS) located in White Sands, New Mexico. Either HGA can transmit to either SDOGS antenna. Neither HGA can be powered down. During a portion of each year, each of the HGA beams will intersect with the SDO body for a portion of the orbit. The original SDO antenna contact plan used each HGA for the half of each year during which its beam would not intersect the spacecraft. No data would be lost except, possibly, when switching from one antenna to another. After this plan was adopted, further analysis showed that daily handovers would be necessary for significant periods of the year. This unexpected need for extensive handovers necessitated that a handover design be developed to minimize the impact on the mission. This antenna handover design was developed and successfully tested with simulated data using the slew rate limits from preliminary jitter analysis. Subsequent analysis provided significant revision of allowed rates requiring modification of the handover plans.

Hashmall, Joseph A.↗

NASA NTRS2007

Solar Dynamics Observatory High Gain Antenna Handover Planning

The Solar Dynamics Observatory (SDO) is planned to launch in early 2009 as a mission to study the solar variability and its impact on Earth. To best satisfy its science goal, SDO will fly in a geosynchronous orbit with an inclination of approximately 29 deg. The spacecraft attitude is designed so that the science instruments point directly at the Sun with high accuracy. One of SDO s principal requirements is to obtain long periods of uninterrupted observations. The observations have an extremely high data volume so SDO must be in continuous contact with the ground during the observation periods. To maintain this contact, SDO is equipped with a pair of high gain antennas (HGAs) transmitting to a pair of ground antennas at the SDO ground station (SDOGS) located in White Sands, New Mexico. Either HGA can transmit to either SDOGS antenna. Neither HGA can be powered down. During a portion of each year, each of the HGA beams will intersect with the SDO body for a portion of the orbit. The original SDO antenna contact plan used each HGA for the half of each year during which its beam would not intersect the spacecraft. No data would be lost except, possibly, when switching from one antenna to another. After this plan was adopted, further analysis showed that daily handovers would be necessary for significant periods of the year. This unexpected need for extensive handovers necessitated that a handover design be developed to minimize the impact on the mission. This antenna handover design was developed and successfully tested with simulated data using the slew rate limits from preliminary jitter analysis. Subsequent analysis provided significant revision of allowed rates requiring modification of the handover plans.

Hashmall, Joseph A.↗

NASA NTRS2006

Accommodating Sensor Uncertainty in the Cones Method: Polycones and Fuzzycones

The "cones method" is an analytical algorithm to combine a pair of angle observations into a common vector. Two new algorithms have been developed to optimize the "cones method" solutions when more than two observation angles are available and when estimates of measurement uncertainties can be made. The polycones algorithm consists of determining a simple weighted average of the solution vectors over all possible pairs of measurements with the weights determined from the measurement uncertainty. The Fuzzycones method finds the vector of maximum probability. Both of these methods have been implemented and tested and both reduce errors in computed vector positions.

Hashmall, Joseph A.↗

NASA NTRS2006

Calibration of Gimbaled Platforms: The Solar Dynamics Observatory High Gain Antennas

Simple parameterization of gimbaled platform pointing produces a complete set of 13 calibration parameters-9 misalignment angles, 2 scale factors and 2 biases. By modifying the parameter representation, redundancy can be eliminated and a minimum set of 9 independent parameters defined. These consist of 5 misalignment angles, 2 scale factors, and 2 biases. Of these, only 4 misalignment angles and 2 biases are significant for the Solar Dynamics Observatory (SDO) High Gain Antennas (HGAs). An algorithm to determine these parameters after launch has been developed and tested with simulated SDO data. The algorithm consists of a direct minimization of the root-sum-square of the differences between expected power and measured power. The results show that sufficient parameter accuracy can be attained even when time-dependent thermal distortions are present, if measurements from a pattern of intentional offset pointing positions is included.

Hashmall, Joseph A.↗

NASA NTRS2005

Attitude Sensor Pseudonoise

Even assuming perfect attitude sensors and gyros, sensor measurements on a vibrating spacecraft have apparent errors. These apparent sensor errors, referred to as pseudonoise, arise because gyro and sensor measurements are performed at discrete times. This paper explains the concept of pseudonoise, quantifies its behavior, and discusses the effect of vibrations that are nearly commensurate with measurement periods. Although pseudonoise does not usually affect attitude determination it does affect sensor performance evaluation. Attitude rates are usually computed from differences between pairs of accumulated angle measurements at different times and are considered constant in the periods between measurements. Propagation using these rates does not reproduce exact instantaneous spacecraft attitudes except at the gyro measurement times. Exact sensor measurements will therefore be inconsistent with estimates based on the propagated attitude. This inconsistency produces pseudonoise. The characteristics of pseudonoise were determined using a simple, one-dimensional model of spacecraft vibration. The statistical properties of the deviations of measurements from model truth were determined using this model and a range of different periods of sensor and rate measurements. This analysis indicates that the magnitude of pseudonoise depends on the ratio of the spacecraft vibration period to the time between gyro measurements and can be as much as twice the amplitude of the vibration. In cases where the vibration period and gyro or sensor measurement period are nearly commensurate, unexpected changes in pseudonoise occur.

Hashmall, Joseph A.↗

NASA NTRS2004

An Algorithm for Converting Static Earth Sensor Measurements into Earth Observation Vectors

An algorithm has been developed that converts penetration angles reported by Static Earth Sensors (SESs) into Earth observation vectors. This algorithm allows compensation for variation in the horizon height including that caused by Earth oblateness. It also allows pitch and roll to be computed using any number (greater than 1) of simultaneous sensor penetration angles simplifying processing during periods of Sun and Moon interference. The algorithm computes body frame unit vectors through each SES cluster. It also computes GCI vectors from the spacecraft to the position on the Earth's limb where each cluster detects the Earth's limb. These body frame vectors are used as sensor observation vectors and the GCI vectors are used as reference vectors in an attitude solution. The attitude, with the unobservable yaw discarded, is iteratively refined to provide the Earth observation vector solution.

Harman, R.↗

NASA NTRS2004

Compensation for Time-Dependent Star Tracker Thermal Deformation on the Aqua Spacecraft

Analysis of attitude sensor data from the Aqua mission showed small but systematic differences between batch least-squares and extended Kalman filter attitudes. These differences were also found to be correlated with star tracker residuals, gyro bias estimates, and star tracker baseplate temperatures. This paper describes the analysis that shows that these correlations are all consistent with a single cause: time-dependent thermal deformation of star tracker alignments. These varying alignments can be separated into relative and common components. The relative misalignments can be determined and compensated for. The common misalignments can only be determined in special cases.

Hashmall, Joseph A.↗

NASA NTRS2003

Star Identification Using a Triplet Algorithm

The stars observed by onboard star trackers must be identified in order for the star tracker information to be used for attitude determination. Star identification associates the observed stars in the body frame with catalog stars, the positions of which in an inertial frame are well known. If the attitude is approximately known (from less accurate sensors) identification is relatively simple, but if there is no prior attitude knowledge (the Lost in Space problem) star identification is quite difficult. A new, reliable, and accurate star identification algorithm has been developed for use in a batch, ground-based attitude determination system. The identification algorithm uses input from one or more star trackers, each of which can observe three or more stars simultaneously. If observations are available at different times, rate data is used to relate them. The algorithm includes the following steps that are automatically performed: 1) Observations are examined to determine the optimal set of simultaneous star observations in a single tracker. 2) The selected optimal observations are identified using a triplet match. 3) The identified stars in the selected tracker at the selected time are used to compute an attitude at that time. 4) The rate data is refined by determination of biases that minimize the dispersion of repeated observations of the same stars. 5) The refined rate data is used to propagate the attitude to the times of each star observation. 6) The attitude at each time is used to associate all stars observed at that time, in each tracker, with catalog stars. The overall algorithm is very dependable at producing accurate star identification with no initial attitude input.

Hashmall, Joseph A.↗

NASA NTRS2002

New Attitude Sensor Alignment Calibration Algorithms

Accurate spacecraft attitudes may only be obtained if the primary attitude sensors are well calibrated. Launch shock, relaxation of gravitational stresses and similar effects often produce large enough alignment shifts so that on-orbit alignment calibration is necessary if attitude accuracy requirements are to be met. A variety of attitude sensor alignment algorithms have been developed to meet the need for on-orbit calibration. Two new algorithms are presented here: ALICAL and ALIQUEST. Each of these has advantages in particular circumstances. ALICAL is an attitude independent algorithm that uses near simultaneous measurements from two or more sensors to produce accurate sensor alignments. For each set of simultaneous observations the attitude is overdetermined. The information content of the extra degrees of freedom can be combined over numerous sets to provide the sensor alignments. ALIQUEST is an attitude dependent algorithm that combines sensor and attitude data into a loss function that has the same mathematical form as the Wahba problem. Alignments can then be determined using any of the algorithms (such as the QUEST quaternion estimator) that have been developed to solve the Wahba problem for attitude. Results from the use of these methods on active missions are presented.

Hashmall, Joseph A.↗

NASA NTRS2000

On-Orbit Calibration of Satellite Gyroscopes

In order to maneuver satellites accurately from one attitude to another, onboard rate sensing gyroscopes usually must be calibrated after launch. Several algorithms have been used to determine gyro biases, misalignments, and scale factors. This paper describes algorithms that have been used in the past, discusses their advantages and limitations, and describes a new algorithm and the gyro calibration results obtained using this new algorithm. The new algorithm has significant operational advantages in addition to being at least as accurate as other algorithms.

Hashmall, Joseph A.↗

NASA NTRS1999

On-Orbit Performance of the TRMM Mission Mode

This paper presents an overview of the Tropical Rainfall Measuring Mission (TRMM) Attitude Control System along with detailed in-flight performance results of the TRMM Mission mode. The TRMM spacecraft is an Earth-pointed, zero momentum bias satellite launched on November 27, 1997 from Tanegashima Space Center, Japan. TRMM is a joint mission between NASA and the National Space Development Agency of Japan designed to monitor and study tropical rainfall and the associated release of energy. Prior to calibration, the spacecraft attitude showed larger Sun sensor yaw updates than expected. This was traced to not just sensor misalignment but also to a misalignment between the two heads within each Sun sensor. In order to avoid alteration of the flight software, Sun sensor transfer function coefficients were determined to minimize the error due to head misalignment. This paper describes the design, on-orbit checkout, calibration and performance of the TRMM Mission Mode with respect to the mission level requirements.

Robertson, Brent↗

NASA NTRS1998

Empirical correction for earth sensor horizon radiance variation

A major limitation on the use of infrared horizon sensors for attitude determination is the variability of the height of the infrared Earth horizon. This variation includes a climatological component and a stochastic component of approximately equal importance. The climatological component shows regular variation with season and latitude. Models based on historical measurements have been used to compensate for these systematic changes. The stochastic component is analogous to tropospheric weather. It can cause extreme, localized changes that for a period of days, overwhelm the climatological variation. An algorithm has been developed to compensate partially for the climatological variation of horizon height and at least to mitigate the stochastic variation. This method uses attitude and horizon sensor data from spacecraft to update a horizon height history as a function of latitude. For spacecraft that depend on horizon sensors for their attitudes (such as the Total Ozone Mapping Spectrometer-Earth Probe-TOMS-EP) a batch least squares attitude determination system is used. It is assumed that minimizing the average sensor residual throughout a full orbit of data results in attitudes that are nearly independent of local horizon height variations. The method depends on the additional assumption that the mean horizon height over all latitudes is approximately independent of season. Using these assumptions, the method yields the latitude dependent portion of local horizon height variations. This paper describes the algorithm used to generate an empirical horizon height. Ideally, an international horizon height database could be established that would rapidly merge data from various spacecraft to provide timely corrections that could be used by all.

Hashmall, Joseph A.↗