Engineering topics
Publications and source records attributed to Thurman, S. W..
A new concept is proposed herein for small spacecraft that use a rough landing approach to enable a substantial reduction in delivery system complexity relative to previous soft landing systems.
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The primary objective of the Mars Pathfinder mission was to demonstrate an innovative, low-cost and reliable method for placing a science payload on the surface of Mars. This paper describes the results of an effort to access the spacecraft performance during Entry, Descent and Landing.
The analysis and design of attitude control systems for spacecraft employing pulse-operated (on-off) thrusters is usually accomplished through a combination of modeling approximations and empirical techniques. In this paper a new thruster pulse-modulation scheme for pointing and tracking applications is developed from nonlinear control theory.
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The theoretical aspects of an orbit determination filter that incorporates ground-system error sources as model parameters for use in interplanetary navigation are presented in this article. This filter, which is derived from sequential filtering theory, allows a systematic treatment of errors in calibrations of transmission media, station locations, and earth orientation models associated with ground-based radio metric data, in addition to the modeling of the spacecraft dynamics. The discussion includes a mathematical description of the filter and an analytical comparison of its characteristics with more traditional filtering techniques used in this application. The analysis in this article shows that this filter has the potential to generate navigation products of substantially greater accuracy than more traditional filtering procedures.
...This paper presents results from a demonstration of a new sequential filter model and data reduction technique, dubbed the enhanced filter, performed with radio tracking data obtained from the Galileo spacecraft.
The application of high-accuracy S/S-band (2.1 GHz uplink/2.3 GHz dowlink) ranging to orbit determination with relatively short data arcs is investigated for the approach phase of each of the Galileo spacecraft's two Earth encounters (8 December 1990 and 8 December 1992).
Doppler and ranging measurements between spacecraft can be obtained only when the ratio of the total received signal power to noise power density at the receiving spacecraft is sufficiently large that reliable signal detection can be achieved within a reasonable time period.
Doppler shift measurements derived from closed-loop radio tracking of distant spacecraft by ground stations of the Deep Space Network (DSN) are one of the principal means used for interplanetary navigation. This paper describes an investigation of the navigation accuracy that can be achieved with two-way coherent X-band (7.2 to 8.4 GHz) Doppler phase and frequency data; both theoretical and practical aspects of the two Doppler formulations are addressed. A new filtering strategy is also proposed, which differs from current approaches in that most of the ground system calibration errors affecting the Doppler data are represented as filter parameters, in addition to the spacecraft trajectory parameters. Error covariance computations for application of the proposed filter to a navigation scenario derived from the Mars Observer mission are provided, in order to assess the performance that might be obtained in practice. The results indicate that with a phase formulation of the Doppler data and the new filter, navigation accuracies of 15 km at Mars (0.05 microrad in an angular sense) are possible with the DSN's present X-band Doppler tracking system.
This article describes an error covariance analysis based on a Mars Observer mission scenario; the study was performed to establish the navigation performance that can potentially be achieved in a demonstration of precision two-way X-band (8.4-GHz) Doppler and ranging with the Mars Observer spacecraft planned for next year, and to evaluate the sensitivity of the predicted performance to variations in ground system error modeling assumptions. Orbit determination error statistics computed for a 182-day Doppler and ranging data arc predicted Mars approach orbit determination accuracies of about 0.45 micro-rad in an angular sense, using a conservative ground system error model as a baseline. When less-conservative error model assumptions were employed, it was found that orbit determination accuracies of 0.19 to 0.30 micro-rad could be obtained; the level of accuracy of the assumed Mars ephemeris is about 0.11 micro-rad. In comparison, Doppler-only performance with the baseline error model was predicted to be about 1.30 to 1.51 micro-rad, although it was found that when improved station location accuracies and Global Positioning System-based tropospheric calibration accuracies were assumed, accuracies of 0.44 to 0.52 micro-rad were predicted. In the Doppler plus ranging cases, the results were relatively insensitive to variations in ranging system and station delay calibration uncertainties of a few meters and tropospheric zenith delay calibration uncertainties of a few centimeters.
The application of precision two-way ranging to orbit determination with relatively short data arcs is investigated for the Galileo spacecraft's approach to its first Earth encounter (December 8, 1990). Analysis of previous S-band (2.3-GHz) ranging data acquired from Galileo indicated that under good signal conditions submeter precision and 10-m ranging accuracy were achieved. It is shown that ranging data of sufficient accuracy, when acquired from multiple stations, can sense the geocentric angular position of a distant spacecraft. A range data filtering technique, in which explicit modeling of range measurement bias parameters for each station pass is utilized, is shown to largely remove the systematic ground system calibration errors and transmission media effects from the Galileo range measurements, which would otherwise corrupt the angle-finding capabilities of the data. The accuracy of the Galileo orbit solutions obtained with S-band Doppler and precision ranging were found to be consistent with simple theoretical calculations, which predicted that angular accuracies of 0.26-0.34 microrad were achievable. In addition, the navigation accuracy achieved with precision ranging was marginally better than that obtained using delta-differenced one-way range (delta DOR), the principal data type that was previously used to obtain spacecraft angular position measurements operationally.
A survey of earth-based and in situ radiometric data types and results from a number of studies investigating potential radio navigation performance for spacecraft approaching/orbiting Mars and for landed spacecraft and rovers on the surface of Mars are presented. The performance of Doppler, ranging and interferometry earth-based data types involving single or multiple spacecraft is addressed. This evaluation is conducted with that of in situ data types, such as Doppler and ranging measurements between two spacecraft near Mars, or between a spacecraft and one or more surface radio beacons.
An approximate six-parameter analytic model for Earth-based differential range measurements is presented and is used to derive a representative analytic approximation for differenced Doppler measurements. The analytical models are tasked to investigate the ability of these data types to estimate spacecraft geocentric angular motion, Deep Space Network station oscillator (clock/frequency) offsets, and signal-path calibration errors over a period of a few days, in the presence of systematic station location and transmission media calibration errors. Quantitative results indicate that a few differenced Doppler plus ranging passes yield angular position estimates with a precision on the order of 0.1 to 0.4 micro-rad, and angular rate precision on the order of 10 to 25 x 10(exp -12) rad/sec, assuming no a priori information on the coordinate parameters. Sensitivity analyses suggest that troposphere zenith delay calibration error is the dominant systematic error source in most of the tracking scenarios investigated; as expected, the differenced Doppler data were found to be much more sensitive to troposphere calibration errors than differenced range. By comparison, results computed using wideband and narrowband (delta) VLBI under similar circumstances yielded angular precisions of 0.07 to 0.4 micro-rad, and angular rate precisions of 0.5 to 1.0 x 10(exp -12) rad/sec.
An error covariance analysis methodology is used to investigate different weighting schemes for two-way (coherent) Doppler data in the presence of transmission-media and observing-platform calibration errors. The analysis focuses on orbit-determination performance in the interplanetary cruise phase of deep-space missions. Analytical models for the Doppler observable and for transmission-media and observing-platform calibration errors are presented, drawn primarily from previous work. Previously published analytical models were improved upon by the following: (1) considering the effects of errors in the calibration of radio signal propagation through the troposphere and ionosphere as well as station-location errors; (2) modelling the spacecraft state transition matrix using a more accurate piecewise-linear approximation to represent the evolution of the spacecraft trajectory; and (3) incorporating Doppler data weighting functions that are functions of elevation angle, which reduce the sensitivity of the estimated spacecraft trajectory to troposphere and ionosphere calibration errors. The analysis is motivated by the need to develop suitable weighting functions for two-way Doppler data acquired at 8.4 GHz (X-band) and 32 GHz (Ka-band). This weighting is likely to be different from that in the weighting functions currently in use; the current functions were constructed originally for use with 2.3 GHz (S-band) Doppler data, which are affected much more strongly by the ionosphere than are the higher frequency data.
The use of X-band frequencies in ground-spacecraft and spacecraft-ground telecommunication links for current and future robotic interplanetary missions makes it possible to perform ranging measurements of greater accuracy than previously obtained. It is shown that ranging data of sufficient accuracy, when acquired from multiple stations, can sense the geocentric angular position of a distant spacecraft. The application of high-accuracy S/X-band and X-band ranging to orbit determination with relatively short data arcs is investigated in planetary approach and encounter scenarios. Actual trajectory solutions for the Ulysses spacecraft constructed from S/X-band ranging and Doppler data are presented; error covariance calculations are used to predict the performance of X-band ranging and Doppler data. The Ulysses trajectory solutions indicate that the aim point for the spacecraft's February 1992 Jupiter encounter was predicted to a geocentric accuracy of 0.20 to 0.23/microrad. Explicit modeling of range bias parameters for each station pass is shown to largely remove systematic ground system calibration errors and transmission media effects from the Ulysses range measurements, which would otherwise corrupt the angle finding capabilities of the data. The Ulysses solutions were found to be reasonably consistent with the theoretical results, which suggest that angular accuracies of 0.08 to 0.1/microrad are achievable with X-band ranging.
Future Mars exploration missions, both robotic and piloted, may utilize Earth to Mars transfer trajectories that are significantly different from one another, depending upon the type of mission being flown and the time period during which the flight takes place. The use of new or emerging technologies for future missions to Mars, such as aerobraking and nuclear rocket propulsion, may yield navigation requirements that are much more stringent than those of past robotic missions, and are very difficult to meet for some trajectories. This article explores the interdependencies between the properties of direct Earth to Mars trajectories and the Mars approach navigation accuracy that can be achieved using different radio metric data types, such as ranging measurements between an approaching spacecraft and Mars orbiting relay satellites, or Earth based measurements such as coherent Doppler and very long baseline interferometry. The trajectory characteristics affecting navigation performance are identified, and the variations in accuracy that might be experienced over the range of different Mars approach trajectories are discussed. The results predict that three sigma periapsis altitude navigation uncertainties of 2 to 10 km can be achieved when a Mars orbiting satellite is used as a navigation aid.
Future Mars exploration missions, both robotic and piloted, may utilize Earth to Mars transfer trajectories that are significantly different from one another, depending upon the type of mission being flown and the time period during which the flight takes place. The use of new or emerging technologies for future missions to Mars, such as aerobraking and nuclear rocket propulsion, may yield navigation requirements that are much more stringent than those of past robotic missions, and are very difficult to meet for some trajectories. This article explores the interdependencies between the properties of direct Earth to Mars trajectories and the Mars approach navigation accuracy that can be achieved using different radio metric data types, such as ranging measurements between an approaching spacecraft and Mars orbiting relay satellites, or Earth based measurements such as coherent Doppler and very long baseline interferometry. The trajectory characteristics affecting navigation performance are identified, and the variations in accuracy that might be experienced over the range of different Mars approach trajectories are discussed. The results predict that three sigma periapsis altitude navigation uncertainties of 2 to 10 km can be achieved when a Mars orbiting satellite is used as a navigation aid.