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Computer program for solving attitude error equations related to gimballed platform is described. Program generates matrix elements of attitude error equations when initial matrices and trigonometric identities have been defined. Program is written for IBM 360 computer.
An approach is presented for attitude determination of a three axis stabilized spacecraft. The employment of two independent vectors is described whose components with respect to two reference coordinate axes can be known. Such two coordinate axes are right-handed three mutually orthogonal axes systems of which one is fixed in the spacecraft and the other has known orientation in space. The relationship between the two systems are then expressed as mathematical equations with the use of the two reference vectors. By computing the derived equations, the attitude of the spacecraft can be obtained.
The thermoelectric outer-planet spacecraft (TOPS) attitude propulsion subsystem effort is summarized. It includes the tradeoff rationale that went into the selection of anhydrous hydrazine as the propellant, and a brief description of three types of 0.445-N (100-mlbf) thrusters that were purchased for in-house evaluation. A discussion is also included of the 0.2224-N (50-mlbf)-developed thrusters and their integration with a portable, completely enclosed, propulsion module that was designed and developed to support the TOPS single-axis attitude control tests in the celestarium.
An oscillation in the OGO-3 roll control channel, resulting from the EP-5 and EP-6 boom motion coupling into the control channel and causing loss of attitude control, is investigated. The study includes (1) an analysis of the OGO-3 and OGO-2 flight data to determine the nature and extent of the roll oscillation phenomena, (2) design analysis of the complete attitude control subsystem (ACS) to evolve changes which would prevent recurrences of the coupled ACS boom oscillation observed on OGO-3, and (3) analog simulations to verify the performance of the design changes selected. Portions of OGO-3 and OGO-2 flight data are illustrated and the major flexible body oscillation are identified. A model of the major flexible appendage dynamics is developed and is shown analytically and through analog simulations to reproduce the OGO-3 oscillation phenomena. The design changes which were found necessary are: a reversal delay logic for the roll reaction wheels, widening of the solar array dead zone from 0.5 to 1.0 deg, and modification of the OPEP control loop to include a filter and stabilizing feedback loops.
A common problem for experimental space physicists is the determination of the attitude matrix T which transforms vectors between representations in X and X' coordinate systems according to (vector V sub X) = (T sub XX')(vector V sub X'). A straightforward, simple, and efficient solution for the transformation matrix is a double-cross transformation. It is calculated from any two directions A and B, which are vectors normalized to unit length and are known in both X and X' coordinates. The B direction need be known only well enough to define the plane in which vectors A and B lie. The problem of the intersection of two cones as applicable to attitude solutions is also discussed.
The techniques are described that were used to determine the trajectories and orientations of three sounding rockets instrumented to study the aurora. The radar plot board data were fitted to a near earth expansion of the force of gravity to determine the trajectory. Only onboard magnetometer data were used to determine the attitude of the payload with respect to the earth's magnetic field. Computer programs in the FORTRAN language are available which generate the trajectory and attitude parameters.
The attitude algorithms applied to strapdown inertial platforms are discussed. A review of six attitude transformation algorithms and the realizations of these algorithms by digital differential analyzers are presented. The number of digital differential analyzers for each algorithm is either smaller than or equal to that obtained by others.
During the design and evaluation of a reaction control system (RCS), it is desirable to have a digital computer program simulating vehicle dynamics, disturbance torques, control torques, and RCS logic. The thruster attitude control simulation (TACS) is just such a computer program. The TACS is a relatively sophisticated digital computer program that includes all the major parameters involved in the attitude control of a vehicle using an RCS for control. It includes the effects of gravity gradient torques and HEAO-C aerodynamic torques so that realistic runs can be made in the areas of fuel consumption and engine actuation rates. Also, the program is general enough that any engine configuration and logic scheme can be implemented in a reasonable amount of time. The results of the application of the TACS in the HEAO-C study are included.
The portable hydrazine attitude propulsion module is described that was designed and developed to support the attitude control pitch axis simulation tests performed on an air bearing table for the thermoelectric outer planet spacecraft program. The propulsion module was a self-contained, liquid hydrazine propulsion system from which the exhausted gases were generated within the catalyst bed of either of two nominal 0.22-N opposing thrusters. The module, which was designed for convenient assembly onto and removal from an air bearing table, was tested to establish its operational safety. This test history and the very conservative design of the module enabled it to be man-rated for operation in the presence of personnel. The report briefly summarizes the system operations during air bearing table tests, presents a detailed description of the propulsion module hardware, and discussing the system evolution.
The initial design and fabrication efforts for a radar attitude sensing system (RASS) are covered. The design and fabrication of the RASS system is being undertaken in two phases, 1B1 and 1B2. The RASS system as configured under phase 1B1 contains the solid state transmitter and local oscillator, the antenna system, the receiving system, and the altitude electronics. RASS employs a pseudo-random coded cw signal and receiver correlation techniques to measure range. The antenna is a planar, phased array, monopulse type, whose beam is electronically steerable using diode phase shifters. The beam steering computer and attitude sensing circuitry are to be included in Phase 1B2 of the program.
The thermoelectric outer planet spacecraft (TOPS) attitude propulsion subsystem (APS) effort is discussed. It includes the tradeoff rationale that went into the selection of an anhydrous hydrazine baseline system, followed by a discussion of the 0.22 N thruster and its integration into a portable, self-contained propulsion module that was designed, developed, and man rated to support the TOPS single-axis attitude control tests. The results of a cold-start feasibility demonstration with a modified thruster are presented. A description of three types of 0.44 thrusters that were procured for in-house evaluation is included along with the results of the test program. This is followed by a description of the APS feed system components, their evaluations, and a discussion of an evaluation of elastomeric material for valve seat seals. A list of new technology items which will be of value for application to future systems of this type is included.
A spacecraft magnetic attitude acquisition system is reported that is capable of automatically despinning a satellite from arbitrarily high rates around any axis and provides terminal orientation that makes capture by conventional fine control attitude control systems routine. The system consists of a 3-axis magnetometer, a set of 3 orthogonal magnets, and appropriate control logic. A well-configured system results in despin times of the order of 5 orbits per rpm for spacecraft in low earth orbits. Following despin, terminal orientation is achieved after another one to three orbits, depending on the capture range of the associated fine control system.
The flight performance of the Mariner 71 attitude control subsystem is discussed. Each phase of the mission is delineated and the attitude control subsystem is evaluated within the observed operational environment. Performance anomalies are introduced and discussed within the context of general performance. Problems such as the sun sensor interface incompatibility, gas valve leaks, and scan platform dynamic coupling effects are given analytical considerations.
The ITOS with an improved attitude control system is described. A Hall generator brushless dc torque motor will replace the brush dc torque motor on ITOS-I and ITOS-A (NOAA-1). The four attitude horizon sensors will be replaced with two CO2 sensors for better horizon definition. An earth horizon splitting technique will be used to keep the earth facing side of the satellite toward earth even if the desired circular orbit is not achieved. The external appearance of the pitch control subsystem differs from TIROS-M (ITOS-1) and ITOS-A (NOAA-1) in that two instead of one pitch control electronics (PCE) boxes are used. Two instead of four horizon sensors will be used and one instead of two mirrors will be used for sensor scanning. The brushless motor will eliminate the requirement for brushes, strain gages and the telemetry for the brush wear. A single rotating flywheel, supported by a single bearing provides the gyroscopic stability and the required momentum interchange to keep one side of the satellite facing the earth. Magnetic torquing against the earth's magnetic field eliminates the requirement for expendable propellants which would limit satellite life in orbit.
A system for sensing the attitude of a spacecraft includes a pair of optical scanners having a relatively narrow field of view rotating about the spacecraft x-y plane. The spacecraft rotates about its z axis at a relatively high angular velocity while one scanner rotates at low velocity, whereby a panoramic sweep of the entire celestial sphere is derived from the scanner. In the alternative, the scanner rotates at a relatively high angular velocity about the x-y plane while the spacecraft rotates at an extremely low rate or at zero angular velocity relative to its z axis to provide a rotating horizon scan. The positions of the scanners about the x-y plane are read out to assist in a determination of attitude. While the satellite is spinning at a relatively high angular velocity, the angular positions of the bodies detected by the scanners are determined relative to the sun by providing a sun detector having a field of view different from the scanners.
A description of the attitude control support being supplied for the Explorer 50 mission is given. Included in the document are descriptions of the computer programs being used to support attitude determination, prediction, and control for the mission and descriptions of the operating procedures that will be used to accomplish mission objectives.
A method is presented for achieving quasi-inertial orientation of an orbiting spacecraft with minimal control effort. Spacecraft motion is a small-amplitude oscillation about the orbit normal with one principal axis held in the orbital plane. The nominal orientation of this axis is arbitrary, so that any spacecraft axis normal to it may be pointed arbitrarily on the celestial sphere and remain within a small neighborhood of the nominal orientation. Oscillation amplitude can be chosen to minimize control requirements for maintaining the mode and may range up to 18.8 deg depending on spacecraft inertia. The quasi-inertial mode would be an efficient means for maintaining a nominal solar orientation for NASA's Skylab configuration if the control-moment-gyros fail in the primary attitude control system. This approach, which utilizes the backup reaction thrust system, affords a substantial reduction in propellant requirements compared to that for a true solar inertial attitude hold.
An original technique for determining the optimal magnetic torque strategy for control of the attitude of spin stabilized spacecraft is presented. By employing Lagrange multipliers and the Calculus of Variations, optimal control equations are derived which define minimum time and minimum energy attitude maneuvers. Computer program algorithms to numerically solve these optimal control equations are also described. The performance of this technique is compared with a commonly employed planning method.