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The gyroscopic instruments commonly used in instrument flying in the United States are the turn indicator, the directional gyro, the gyromagnetic compass, the gyroscopic horizon, and the automatic pilot. These instruments are described. Performance data and the method of testing in the laboratory are given for the turn indicator, the directional gyro, and the gyroscopic horizon. Apparatus for driving the instruments is discussed.
Msti2 is a small, 164 kg (362 lb), 3-axis stabilized, low-Earth-orbiting satellite whose mission is missile booster tracking. The spacecraft is actuated by 3 reaction wheels and 12 hot gas thrusters. It carries enough fuel for a projected life of 6 months. The sensor complement consists of a Horizon Sensor, a Sun Sensor, low-rate gyros, and a high rate gyro for despin. The total pointing control error allocation is 6 mRad (.34 Deg), and this is while tracking a target on the Earth's surface. This paper describes the Attitude Control System (ACS) algorithms which include the following: attitude acquisition (despin, Sun and Earth acquisition), attitude determination, attitude control, and linear stability analysis.
The Miniature Sensor Technology Integration (MSTI) 2 Spacecraft is a small 3-axis stabilized spacecraft designed to track mid-range missiles and estimate their state vectors. In order to accurately estimate the target state vector, the MSTI 2 spacecraft must have highly accurate knowledge of its own attitude. Errors in its attitude knowledge arise primarily from the errors in its Attitude Control System (ACS) sensors. The ACS sensors on the spacecraft include a scanning Earth Sensor (ES), a Sun Sensor (SS), and two 2-axis gyros. The On-Orbit Alignment (OOA) generated an error map of the ES and estimated the biases of the SS and the misalignment of the gyros. This paper discusses some of the error sources, and the techniques used to reduce the effects of these errors. The payload carried by the MSTI2 spacecraft is a high fidelity camera, which was aimed at the target using gimballed mirrors. By aiming it at a celestial target, the payload was used as a high-accuracy single-axis attitude reference. This attitude reference was compared to the attitude reference of the ACS sensors, and the errors were attributed to the ACS sensors.
Following suggestion that substorm breakup might be caused by an interchange or ballooning instability, several magnetohydrodynamic (MHD) and gyro-kinetic stability analysis have been performed for plasma sheet magnetic field geometries. However, the stochastic ion dynamics in the highly stressed, thin high-beta near earth plasma sheet violate the locality requirements of MHD and the invarience of the magnetic moment, mu, required by gyro-kinetic theories. In this paper we develop a new linear Vlasov kinetic theory (for low frequency modes omega less than omega(sub b), omega(sub b) being the bounce frequency) which includes the dynamics of stochastic ions.
The multibody dynamics of the Space Station is studied as affected by the suntracking motions of the photovotaic arrays. Dynamic responses are simulated for the Station being controlled by control moment gyros (CMGs). Controllability is shown to be a function of flight orientation, stage (inertial properties, CP-CG offset) and the suntracking dynamics. For certain combinations of these parameters, the aerodynamic, inertial disturbances and motor torques from alpha joint(s) arising from near-perfect suntracking are too large for the control moment gyro system to control. However, by imposing slight restrictions on the dynamics of the suntracking, CMGs are able to provide Station attitude stability with excellent pointing performance and an excellent microgravity environment.
In this paper, a Kalman filter formulation for attitude estimation is derived using the Modified Rodrigues Parameters. The extended Kalman filter uses a gyro-based model for attitude propagation. Two solutions are developed for the sensitivity matrix in the Kalman filter. One is based upon an additive error approach, and the other is based upon a multiplicative error approach. It is shown that the two solutions are in fact equivalent. The Kalman filter is then used to estimate the attitude of a simulated spacecraft. Results indicate that then new algorithm produces accurate attitude estimates by determining actual gyro biases.
Earth Observing System (EOS) spacecraft will take measurements of the Earth's clouds, oceans, atmosphere, land, and radiation balance. These EOS spacecraft are part of the National Aeronautics and Space Administration's Mission to Planet Earth, and consist of several series of satellites, with each series specializing in a particular class of observations. This paper focuses on the EOS AM-1 spacecraft, which is the first of three satellites constituting the EOS AM series (morning equatorial crossing) and the initial spacecraft of the EOS program. EOS AM-1 has a stringent onboard attitude knowledge requirement, of 36/41/44 arc seconds (3 sigma) in yaw/roll/pitch, respectively. During normal mission operations, attitude is determined onboard using an extended Kalman sequential filter via measurements from two charge coupled device (CCD) star trackers, one Fine Sun Sensor, and an Inertial Rate Unit. The attitude determination error analysis system (ADEAS) was used to model the spacecraft and mission profile, and in a worst case scenario with only one star tracker in operation, the attitude uncertainty was 9.7/ll.5/12.2 arc seconds (3 sigma) in yaw/roll/pitch. The quoted result assumed the spacecraft was in nominal attitude, using only the 1-rotation per orbit motion of the spacecraft about the pitch axis for calibration of the gyro biases. Deviations from the nominal attitude would show greater attitude uncertainties, unless calibration maneuvers which roll and/or yaw the spacecraft have been performed. This permits computation of the gyro misalignments, and the attitude knowledge requirement would remain satisfied.
The cost and complexity of large satellite space missions continue to escalate. To reduce costs, more attention is being directed toward small lightweight satellites where future demand is expected to grow dramatically. Specifically, micromechanical inertial systems and microstrip global positioning system (GPS) antennas incorporating flip-chip bonding, application specific integrated circuits (ASIC) and MCM technologies will be required. Traditional microsatellite pointing systems do not employ active control. Many systems allow the satellite to point coarsely using gravity gradient, then attempt to maintain the image on the focal plane with fast-steering mirrors. Draper's approach is to actively control the line of sight pointing by utilizing on-board attitude determination with micromechanical inertial sensors and reaction wheel control actuators. Draper has developed commercial and tactical-grade micromechanical inertial sensors, The small size, low weight, and low cost of these gyroscopes and accelerometers enable systems previously impractical because of size and cost. Evolving micromechanical inertial sensors can be applied to closed-loop, active control of small satellites for micro-radian precision-pointing missions. An inertial reference feedback control loop can be used to determine attitude and line of sight jitter to provide error information to the controller for correction. At low frequencies, the error signal is provided by GPS. At higher frequencies, feedback is provided by the micromechanical gyros. This blending of sensors provides wide-band sensing from dc to operational frequencies. First order simulation has shown that the performance of existing micromechanical gyros, with integrated GPS, is feasible for a pointing mission of 10 micro-radians of jitter stability and approximately 1 milli-radian absolute error, for a satellite with 1 meter antenna separation. Improved performance micromechanical sensors currently under development will be suitable for a range of micro-nano-satellite applications.
The Chandra X-ray Observatory (CXO, formerly AXAF) is the third of the four NASA great observatories. It was launched from Kennedy Space Flight Center on 23 July 1999 aboard the Space Shuttle Columbia and was successfully inserted in a 330 x 72,000 km orbit by the Inertial Upper Stage (IUS). Through a series of five Integral Propulsion System burns, CXO was placed in a 10,000 x 139,000 km orbit. After initial on-orbit checkout, Chandra's first light images were unveiled to the public on 26 August, 1999. The CXO Pointing Control and Aspect Determination (PCAD) subsystem is designed to perform attitude control and determination functions in support of transfer orbit operations and on-orbit science mission. After a brief description of the PCAD subsystem, the paper highlights the PCAD activities during the transfer orbit and initial on-orbit operations. These activities include: CXO/IUS separation, attitude and gyro bias estimation with earth sensor and sun sensor, attitude control and disturbance torque estimation for delta-v burns, momentum build-up due to gravity gradient and solar pressure, momentum unloading with thrusters, attitude initialization with star measurements, gyro alignment calibration, maneuvering and transition to normal pointing, and PCAD pointing and stability performance.
The aspect determination system of the Chandra X-ray Observatory plays a key role in realizing the full potential of Chandra's X-ray optics and detectors. We review the performance of the spacecraft hardware components and sub-systems, which provide information for both real time control of the attitude and attitude stability of the Chandra Observatory and also for more accurate post-facto attitude reconstruction. These flight components are comprised of the aspect camera (star tracker) and inertial reference units (gyros), plus the fiducial lights and fiducial transfer optics which provide an alignment null reference system for the science instruments and X-ray optics, together with associated thermal and structural components. Key performance measures will be presented for aspect camera focal plane data, gyro performance both during stable pointing and during maneuvers, alignment stability and mechanism repeatability.
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.
This paper extends Farrenkopf's analysis of a single-axis spacecraft attitude estimator using gyro and angle sensor data to include the angle output white noise of a rate-integrating gyro. Analytic expressions are derived for the steady-state pre-update and post-update angle and drift bias variances and for the state update equations. It is shown that only part of the state update resulting from the angle sensor measurement is propagated to future times.
STS-109 crew Commander Scott D. Altman is seen during a prelaunch interview. He answers questions about his inspiration to become an astronaut and his career path. He gives details on the mission's goals and significance, which are all related to maintenance of the Hubble Space Telescope (HST). After the Columbia Orbiter's rendezvous with the HST, extravehicular activities (EVA) will be focused on several important tasks which include: (1) installing the Advanced Camera for Surveys; (2) installing a cooling system on NICMOS (Near Infrared Camera Multi-Object Spectrometer); (3) repairing the reaction wheel assembly; (4) installing additional solar arrays; (5) augmenting the power control unit; (6) working on the HST's gyros. The reaction wheel assembly task, a late addition to the mission, may necessitate the abandonment of one or more of the other tasks, such as the gyro work.
Systems using inertia wheels are evaluated in this report to determine their suitability for precise attitude control of a satellite and to select superior system configurations. Various possible inertia wheel system configurations are first discussed in a general manner. Three of these systems which appear more promising than the others are analyzed in detail, using the Orbiting Astronomical Observatory as an example. The three systems differ from each other only by the method of damping, which is provided by either a rate gyro, an error-rate network, or a tachometer in series with a high-pass filter. An analytical investigation which consists of a generalized linear analysis, a nonlinear analysis using the switching-time method, and an analog computer study shows that all three systems are theoretically capable of producing adequate response and also of maintaining the required pointing accuracy for the Orbiting Astronomical Observatory of plus or minus 0.1 second of arc. Practical considerations and an experimental investigation show, however, that the system which uses an error-rate network to provide damping is superior to the other two systems. The system which uses a rate gyro is shown to be inferior because the threshold level causes a significant amount of limit-cycle operation, and the system which uses a tachometer with a filter is shown to be inferior because a device with the required dynamic range of operation does not appear to be available. The experimental laboratory apparatus used to investigate the dynamic performance of the systems is described, and experimental results are included to show that under laboratory conditions with relatively large extraneous disturbances, a dynamic tracking error of less than plus or minus 0.5 second of arc was obtained.
With the cancellation of the Hubble Space Telescope (HST) Servicing Mission 4 (SM4), the HST Project will face numerous challenges to keep the Telescope operating during the remainder of the decade. As part of the SM4, the HST Project had planned to install various upgrades to the Telescope including the installation of new batteries and new rate integrating gyros. Without these upgrades, reliability analysis indicates that the spacecraft will lose the capability to conduct science operations later this decade. The HST team will be severely challenged to maximize the Telescope's remaining operational lifetime, while still trying to maximize - its science output and quality. Two of the biggest areas of concern are the age and condition of the batteries and gyros. Together they offer the largest potential extension in Telescope lifetime and present the biggest challenges to the HST team. The six Ni-H batteries on HST are the original batteries from launch. With fourteen years of operational life, these batteries have collectively lasted longer than any other comparable mission. Yet as with all batteries, their capacity has been declining. Engineers are examining various methods to prolong the life of these mission critical batteries, and retard the rate of degradation. This paper will focus on these and other efforts to prolong the life of the HST, thus enabling it to remain a world-class observatory for as long as possible.
This paper describes an approach based on using both bias momentum and multiple control moment gyros for controlling the attitude of statically unstable thrust-levitated vehicles in hover or slow translation. The stabilization approach described in this paper uses these internal angular momentum transfer devices for stability, augmented by thrust vectoring for trim and other outer loop control functions, including CMG stabilization/ desaturation under persistent external disturbances. Simulation results show the feasibility of (1) improved vehicle performance beyond bias momentum assisted vector thrusting control, and (2) using control moment gyros to significantly reduce the external torque required from the vector thrusting machinery.
When flying in a turn or pulling out of a dive, the airscrew exerts a gyroscopic moment on the aircraft, In the case of airscrews with three or more blades, arranged symmetrically, the value of the gyroscopic moment is J(sub x) omega(sub x) omega(sub y), where J(sub x) denotes the axial moment of inertia about the axis of rotation of the airscrew, omega(sub x) the angular upeed of the airscrew about its axis, and omega (sub Y) the rotary speed of the whole aircraft about an axis parallel to the plane of the airscrew (e.g., when pulling up, the transverse axis of the aircraft). The gyroscopic moment then tends to rotate the aircraft about an axis perpendicular to those of the two angular speeds and, in the came of airscrews with three or more blades, is constant during a revolution of the airscrew. With two-bladed airscrews, on the contrary, although the calculate gyroscopic moment represents the mean value in time, it fluctuates about this value with a frequency equal to twice the revolutions per minute. In addition, pulsating moments likewise occur about the other two axes. This fact is known from the theory of the asymmetrical gyro; the calculations that have been carried out for the determination of the various gyroscopic moments, however, mostly require an exact knowledge of the gyro theory. The problem will therefore be approached in another manner based on quite elementary considerations. The considerations are of importance, not only in connection with the gyroscopic moments exerted by the two-bladed airscrew on the aircraft, but also with the stressing of the blades of airscrews with an arbitrary number of blades.
The James Webb Space Telescope (JWST) builds upon the successful flight experience of the Chandra Xray Telescope by incorporating an additional LOS pointing servo to meet the more stringent pointing requirements. The LOS pointing servo, referred to in JWST as the Fine Guidance Control System (FGCS), will utilize a Fine Guidance Sensor (FGS) as the sensor, and a Fine Steering Mirror (FSM) as the actuator. The FSM is a part of the Optical Telescope Element (OTE) and is in the optical path between the tertiary mirror and the instrument focal plane, while the FGS is part of the Integrated Science Instrument Module (ISIM). The basic Chandra spacecraft bus attitude control and determination architecture, utilizing gyros, star trackers/aspect camera, and reaction wheels, is retained for JWST. This system has achieved pointing stability of better than 0.5 arcseconds. To reach the JWST requirements of milli-arcsecond pointing stability with this ACS hardware, the local FGCS loop is added to the optical path. The FGCS bandwidth is about 2.0 Hz and will therefore attenuate much of the spacecraft ACS induced low frequency jitter. In order to attenuate the higher frequency (greatet than 2.0 Hz) disturbances associated with reaction wheel static and dynamic imbalances, as well as bearing run-out, JWST will employ a two-stage passive vibration isolation system consisting of (1) 7.0 Hz reaction wheel isolators between each reaction wheel and the spacecraft bus, and (2) a 1.0 Hz tower isolator between the spacecraft bus and the Optical Telescope Element (OTE). In order to sense and measure the LOS, the FGS behaves much like an autonomous star tracker that has a very small field of view and uses the optics of the telescope. It performs the functions of acquisition, identification and tracking of stars in its 2.5 x 2.5 arcminute field of view (FOV), and provides the centroid and magnitude of the selected star for use in LOS control. However, since only a single star is being tracked at any time within the FGS FOV there is only tip and tilt information; rotation about the FGS LOS will not be sensed. The FGCS uses the FSM to move the guide star within the FGS FOV and place the centroid of the guide star at any desired position within the FGS focal plane. Using this architecture allows the FGCS to correct the low frequency LOS jitter that is induced by the spacecraft ACS in pitch and yaw, and achieve the milli-arcsecond pointing stability required by JWST. The less stringent ISIM FOV roll performance will be provided solely by the ACS, using the spacecraft gyros and star trackers. Since the FSM is in the optical path, the pointing stabilrty of a science object in any of the instruments will be similar to that of the guide star LOS.