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The structure and symbology of the HAL/S programming language are described; this language is to be used among the flight software for the space shuttle project. The data declaration, input/output statements, and replace statements are also discussed.
HAL/S is a programming language developed to satisfy the flight software requirements for the space shuttle program. The user's guide explains pertinent language operating procedures and described the various HAL/S facilities for manipulating integer, scalar, vector, and matrix data types.
A detailed model of the IOP was developed and used to evaluate IOP performance and its effect of flight software performance. A redesign of FIOMCNTL, the MSC control program, is recommended.
The role of high-level languages in the preparation of real time flight software is discussed.
Procedures and techniques are discussed for retrieving payloads that are inertially or local vertical/local horizontal (LVLH) stabilized. Selection of the retrieval profile to be used depends on several factors: (1) control authority of the payload, (2) payload sensitivity to primary reaction control system (PRCS) plumes, (3) whether the payload is inertially or LVLH stabilized, (4) location of the grapple fixture, and (5) orbiter propellant consumption. The general retrieval profiles recommended are a V-bar approach for payloads that are LVLH or gravity-gradient stabilized, and the V-bar approach with one or two phase flyaround for inertially stabilized payloads. Once the general type of profile has been selected, the detailed retrieval profile and timeline should consider the various guidelines, groundrules, and constraints associated with a particular payload or flight. Reaction control system (RCS) propellant requirements for the recommended profiles range from 200 to 1500 pounds, depending on such factors as braking techniques, flyaround maneuvers (if necessary), and stationkeeping operations. The time required to perform a retrieval (starting from 1000 feet) varies from 20 to 130 minutes, depending on the complexity of the profile. The goals of this project are to develop a profile which ensures mission success; to make the retrieval profiles simple; and to keep the pilot workload to a minimum by making use of the automatic features of the orbiter flight software whenever possible.
This paper presents an overview of an automated optical navigation (AON) system, a lower-cost, faster, earth-based stepping stone to onboard systems. AON provides estimation (orbit determination) and maneuver subsystems which are automatically linked to provide the fast response required by the Galileo mission, AON's first user. A real-time interactive executive schedules the subsystems to run concurrently or sequentially and enables interactive computer-graphics displays designed to speed evaluation and certification of navigation solutions. A compact trajectory integrator provides a favorable combination of speed and accuracy. Resident on a low-cost minicomputer and coded primarily in HAL/S, the NASA standard language for flight software, AON approaches a prototype for autonomous onboard navigation systems of the future.
The simulator was designed to provide real time simulation capability for all phases of the Shuttle Transportation System orbital missions including prelaunch, ascent, onorbit operations, deorbit, entry, approach/landing, and rollout. Full mission continuity is provided in transition between these mission phases. Dual fixed and motion base crew stations, instructor/operator stations, and computer systems allow parallel, simultaneous crew training with either complex capable of being individually integrated with the mission control center. This integrated training capability allows flight control personnel training in the air/ground interface areas of tracking, telemetry (vehicle systems monitoring), uplink command control, and communications. With the exception of the simulated Data Processing System, which utilizes actual flight computers and associated flight software, all orbiter onboard systems are functionally simulated with extensive simulated malfunction capabilities. Additionally, crew out-the-window visual scenes, and aural cues are rigorously simulated.
The development responsibilities of SEPAC include: accelerator systems, diagnostic systems, power systems, dedicated experiment processor, interface unit, control panel, and all flight software. The operations of SEPAC, including automated experiments under DEP command control and SEPAC manual operations, are outlined. A diagram of the system configuration is presented.
The formal HAL/S language specification is documented with particular referral to the essentials of HAL/S syntax and semantics. The language is intended to satisfy virtually all of the flight software requirements of NASA programs. To achieve this, HAL/S incorporates a wide range of features, including applications oriented data types and organizations, real time control mechanisms, and constructs for systems programming tasks.
An advanced system integrated self-test has been developed to provide dynamic checkout of all critical subsystems and hardware/software interfaces of the Space Shuttle during pre-launch ground testing. The system modifies hardware sensor data to represent a real flight scenario. This modified data then drives the flight software. The system was sucessfully utilized for three phases of Space Shuttle testing, and will be expanded for use as a maintenance tool.
Real-time simulations have been essential in the flight-test program of the highly maneuverable aircraft technology (HiMAT) remotely piloted research vehicle at the Dryden Flight Research Facility of NASA Ames Research Center. The HiMAT project makes extensive use of simulations in design, development, and qualification for flight, pilot training, and flight planning. Four distinct simulations, each with varying amounts of hardware in the loop, were developed for the HiMAT project. The use of simulations has been the key to flight qualification of the HiMAT vehicle. Specifically, they are useful in detecting anomalous behavior of the flight software and hardware at the various stages of development, verification, and validation.
An engineering model Ion Auxiliary Propulsion System (IAPS) 8-cm thruster (S/N 905) has completed a life test at NASA Lewis Research Center. The mercury ion thruster successfully completed and exceeded the test goals of 2557 on/off cycles and 7057 hr of operation at full thrust. The final 1200 cycles and 3600 hr of the life test were conducted using an engineering model of the IAPS power electronics unit (PEU) and breadboard digital controller and interface unit (DCIU). This portion of the test is described in this paper with a charted history of thruster operating parameters and off-normal events. Performance and operating characteristics were constant throughout the test with only minor variations. The engineering model power electronics unit operated without malfunction; the flight software in the digital controller and interface unit was exercised and verified. Post-test inspection of the thruster revealed facility enhanced accelerator grid erosion but overall the thruster was in good condition. It was concluded that the thruster performance was not drastically degraded by time or cycles. Additional cyclic testing is currently under consideration.
The flight problems experienced with the reusable Space Shuttle Orbiter have decreased during subsequent flights of each vehicle. By comparison to first flights of previous vehicles, the problems encountered on the initial flight of each new vehicle entering the fleet decreased. This improvement in turn has reduced the turnaround time between flights significantly and thus greatly enhanced the increased Space Shuttle launch frequency. The reusable manned space vehicle concept necessitated the development of a flight problem recognition and resolution system which would enable a thorough and timely vehicle turnaround flow. Flight evaluation, testing, and repair of manned spacecraft to enhance reliability and to ensure mission success is a unique activity. Real-time recognition of the flight problem, prompt isolation of the cause, and timely implementation of the corrective action are the keys to maintaining an operational fleet. Examples of flight problems that have been encountered as well as the corrective actions implemented during the first 24 Space Shuttle missions are presented. The corrective actions taken to preclude problem recurrence include modifications of hardware designs, manufacturing processes, flight software, test methods, and operational procedures.
The technical aspects of the spacecraft for the Mars Observer mission are discussed. The spacecraft development focuses on using existing flight subsystem designs and production techniques to offer a low-cost, reliable, production-type spacecraft. The scientific objectives of the mission and the scientific payloads of the spacecraft are considered. The spacecraft system and its performance are discussed. The subsystems are described in detail, including attitude and articulation control, electrical power supply, propulsion, structure, thermal control, command and data handling, telecommunications, mechanics, and flight software.
An engineering model Ion Auxiliary Propulsion System (IAPS) 8-cm thruster (S/N 905) has completed a life test at NASA Lewis Research Center. The mercury ion thruster successfully completed and exceeded the test goals of 2557 on/off cycles and 7057 hr of operation at full thrust. The final 1200 cycles and 3600 hr of the life test were conducted using an engineering model of the IAPS power electronics unit (PEU) and breadboard digital controller and interface unit (DCIU). This portion of the test is described in this paper with a charted history of thruster operating parameters and off-normal events. Performance and operating characteristics were constant throughout the test with only minor variations. The engineering model power electronics unit operated without malfunction; the flight software in the digital controller and interface unit was exercised and verified. Post-test inspection of the thruster revealed facility enhanced accelerator grid erosion but overall the thruster was in good condition. It was concluded that the thruster performance was not drastically degraded by time or cycles. Additional cyclic testing is currently under consideration.
A new guidance, steering, and control concept is described and evaluated for the Third Phase of an asymmetrical configuration of the Advanced Launch System (ALS). The study also includes the consideration of trajectory shaping issues and trajectory design as well as the development of angular rate, angular acceleration, angle of attack, and dynamic pressure estimators. The Third Phase guidance, steering and control system is based on controlling the acceleration-direction of the vehicle after an initial launch maneuver. Unlike traditional concepts, the alignment of the estimated and commanded acceleration-directions is unimpaired by an add-on load relief. Instead, the acceleration-direction steering-control system features a control override that limits the product of estimated dynamic pressure and estimated angle of attack. When this product is not being limited, control is based exclusively on the commanded acceleration-direction without load relief. During limiting, control is based on nulling the error between the limited angle of attack and the estimated angle of attack. This limiting feature provides full freedom to the acceleration-direction steering and control to shape the trajectory within the limit, and also gives full priority to the limiting of angle of attack when necessary. The flight software concepts were analyzed on the basis of their effects on pitch plane motion.
Realtime simulation and hardware-in-the-loop testing is being used extensively in all phases of the design, development, and testing of the attitude control system (ACS) for the new Hughes HS601 satellite bus. Realtime, hardware-in-the-loop simulation, integrated with traditional analysis and pure simulation activities is shown to provide a highly efficient and productive overall development program. Implementation of high fidelity simulations of the satellite dynamics and control system algorithms, capable of real-time execution (using applied Dynamics International's System 100), provides a tool which is capable of being integrated with the critical flight microprocessor to create a mixed simulation test (MST). The MST creates a highly accurate, detailed simulated on-orbit test environment, capable of open and closed loop ACS testing, in which the ACS design can be validated. The MST is shown to provide a valuable extension of traditional test methods. A description of the MST configuration is presented, including the spacecraft dynamics simulation model, sensor and actuator emulators, and the test support system. Overall system performance parameters are presented. MST applications are discussed; supporting ACS design, developing on-orbit system performance predictions, flight software development and qualification testing (augmenting the traditional software-based testing), mission planning, and a cost-effective subsystem-level acceptance test. The MST is shown to provide an ideal tool in which the ACS designer can fly the spacecraft on the ground.
Ultra network is a recently installed very high speed graphic hardware at NASA Langley Research Center. The Ultra Network interfaced to Voyager through its HSX channel is capable of transmitting up to 800 million bits of information per second. It is capable of displaying fifteen to twenty frames of precomputed images of size 1024 x 2368 with 24 bits of color information per pixel per second. Modeling and rendering techniques are being developed in computer graphics and implemented on Ultra hardware. A ray tracer is being developed for use at the Flight Software and Graphic branch. Changes were made to make the ray tracer compatible with Voyager.