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Solar and Magnetic Attitude Determination for Small Spacecraft

During the Phase B development of the NASA New Millennium Program (NMP) Earth Orbiter-1 (EO-1) spacecraft, detailed analyses were performed for on-board attitude determination using the Sun and the Earth's magnetic field. This work utilized the TRMM 'Contingency Mode' as a starting point but concentrated on implementation for a small spacecraft without a high performance mechanical gyro package. The analyses and simulations performed demonstrate a geographic dependence due to diurnal variations in the Earth magnetic field with respect to the Sun synchronous, nearly polar orbit. Sensitivity to uncompensated residual magnetic fields of the spacecraft and field modeling errors is shown to be the most significant obstacle for maximizing performance. Performance has been evaluated with a number of inertial reference units and various mounting orientations for the two-axis Fine Sun Sensors. Attitude determination accuracy using the six state Kalman Filter executing at 2 Hz is approximately 0.2 deg, 3-sigma, per axis. Although EO-1 was subsequently driven to a stellar-based attitude determination system as a result of tighter pointing requirements, solar/magnetic attitude determination is demonstrated to be applicable to a range of small spacecraft with medium precision pointing requirements.

Woodham, Kurt↗

XMOS XC-2 Development Board for Mechanical Control and Data Collection

The scanning microwave limb sounder (SMLS) will use technological improvements in low-noise mixers to provide precise data on the Earth s atmospheric composition with high spatial resolution. This project focuses on the design and implementation of a realtime control system needed for airborne engineering tests of the SMLS. The system must coordinate the actuation of optical components using four motors with encoder readback, while collecting synchronized telemetric data from a GPS receiver and 3-axis gyrometric system. A graphical user interface for testing the control system was also designed using Python. Although the system could have been implemented with an FPGA(fieldprogrammable gate array)-based setup, a processor development kit manufactured by XMOS was chosen. The XMOS architecture allows parallel execution of multiple tasks on separate threads, making it ideal for this application. It is easily programmed using XC (a subset of C). The necessary communication interfaces were implemented in software, including Ethernet, with significant cost and time reduction compared to an FPGA-based approach. A simple approach to control the chopper, calibration mirror, and gimbal for the airborne SMLS was needed. The XMOS board allows for multiple threads and real-time data acquisition. The XC-2 development kit is an attractive choice for synchronized, real-time, event-driven applications. The XMOS is based on the transputer microprocessor architecture developed for parallel computing, which is being revamped in this new platform. The XMOS device has multiple cores capable of running parallel applications on separate threads. The threads communicate with each other via user-defined channels capable of transmitting data within the device. XMOS provides a C-based development environment using XC, which eliminates the need for custom tool kits associated with FPGA programming. The XC-2 has four cores and necessary hardware for Ethernet I/O.

Jarnot, Robert F.↗

Methodology and Results of the Near-Earth Object (NEO) Human Space Flight (HSF) Accessible Targets Study (NHATS)

Near-Earth Asteroids (NEAs) have been identified by the current administration as potential destinations for human explorers during the mid-2020s. While the close proximity of these objects' orbits to Earth's orbit creates a risk of highly damaging or catastrophic impacts, it also makes some of these objects particularly accessible to spacecraft departing Earth, and this presents unique opportunities for solar system science and humanity's first ventures beyond cislunar space. Planning such ambitious missions first requires the selection of potentially accessible targets from the growing population of nearly 7,800 NEAs. To accomplish this, NASA is conducting the Near-Earth Object (NEO) Human Space Flight (HSF) Accessible Targets Study (NHATS). Phase I of the NHATS was executed during September of 2010, and Phase II was completed by early March of 2011. The study is ongoing because previously undetected NEAs are being discovered constantly, which has motivated an effort to automate the analysis algorithms in order to provide continuous monitoring of NEA accessibility. The NHATS analysis process consists of a trajectory filter and a minimum maximum estimated size criterion. The trajectory filter employs the method of embedded trajectory grids to compute all possible ballistic round-trip mission trajectories to every NEA in the Jet Propulsion Laboratory (JPL) Small-Body Database (SBDB) and stores all solutions that satisfy the trajectory filter criteria. An NEA must offer at least one qualifying trajectory solution to pass the trajectory filter. The Phase II NHATS filter criteria were purposely chosen to be highly inclusive, requiring Earth departure date between January 1st, 2015 and December 31st, 2040, total round-trip flight time <= 450 days, stay time at the NEA >= 8 days, Earth departure C(sub 3) energy <= 60 km(exp 2)/s(exp 2), total mission delta-v <= 12 km/s (including an Earth departure maneuver from a 400 km altitude circular parking orbit), and a maximum atmospheric re-entry speed of 12 km/s. After determining which NEAs offer at least one trajectory solution meeting the criteria, the estimated size constraint is then imposed whereby those NEAs may only be considered NHATS- qualifying NEAs if their maximum estimated size is >= 30 m. This corresponds to an absolute magnitude H <= 26.5 with an assumed albedo p = 0:05. The following is a brief high-level summary of the Phase II study results. Of the 7,665 NEAs in the SBDB as of February 3rd, 2011, 765 NEAs passed the trajectory filter and yielded a total of 79,157,604 trajectory solutions. The trajectory solutions for each NEA are post-processed into Pork Chop Contour (PCC) plots which show total mission delta-v as a function of Earth departure date and total mission duration. Although the PCC plots necessarily compress a very multi-dimensional design space into a two-dimensional plot, they permit rapid assessment of the breadth and quality of an NEA's available Earth departure season and clearly indicate the regions of the trajectory design space which warrant further analysis and optimization. The PCC plot for the NEA with the greatest number of NHATS-qualifying trajectory solutions, 2000 SG-344, is shown. Of the 765 NEAs which passed the Phase II trajectory filter, a total of 590 NEAs also satisfied the further constraint of maximum estimated size >= 30 m. The distributions of osculating heliocentric orbital semi-major axis (a), eccentricity (e), and inclination (i), for those 590 NEAs are shown. Note that the semi-latus rectum used is equal to alpha (1-e(exp 2)). To further our understanding of round-trip trajectory accessibility dynamics, it is instructive to examine the distribution of the NHATS-Qualifying NEAs according to orbit classification. NEAs are grouped into four orbit families: Atiras (aphelion < 0.983 AU), Atens (aphelion > 0.983 AU, alpha < 1.0 AU), Apollos (perihelion < 1.017 AU, alpha > 1.0 AU), and Amors (1.017 < perihelion < 1.3 AU). Of the 765 NEAhich satisfied the NHATS trajectory criteria, none are Atiras, 193 are Atens (31% of known Atens), 456 are Apollos (11% of known Apollos), and 116 are Amors (4% of known Amors). While Apollos comprise 60% of the NEAs which pass the NHATS trajectory filter and Atens comprise only 25%, the percentages according to orbit family are perhaps more relevant. Note that only 11% of known Apollos passed the trajectory filter while 31% of known Atens passed. These simple statistics alone strongly suggest that Aten orbits possess features which tend to enhance their round-trip trajectory accessibility as compared to Apollos or Amors. This is significant because Atens' orbits cause them to spend considerable time in Earth's daytime sky, making them difficult to discover and track using ground-based observing assets. In this paper we will detail the NHATS analysis algorithms, present and analyze all NHATS results to date, and discuss aspects of HSF mission architecture design for future NEA missions.

Barbee, Brent↗

Proposal Drafted for Allocating Space-to-Space Frequencies in the GPS Spectrum Bands

Radionavigation Satellite Service (RNSS) systems such as the U.S. Global Positioning System (GPS) and the Russian Global Navigation Satellite System (GLONASS) are primarily being used today in the space-to-Earth direction (i.e., from GPS satellite to Earth user) for a broad range of applications such as geological surveying; aircraft, automobile, and maritime navigation; hiking and mountain climbing; and precision farming and mining. However, these navigation systems are being used increasingly in space. Beginning with the launch of the TOPEX/Poseidon remote-sensing mission in 1992, over 90 GPS receivers have flown onboard spacecraft for such applications as real-time spacecraft navigation, three-axis attitude control, precise time synchronization, precision orbit determination, and atmospheric profiling. In addition to use onboard many science spacecraft, GPS has been used or is planned to be used onboard the shuttles, the International Space Station, the International Space Station Emergency Crew Return Vehicle, and many commercial satellite systems such as Orbcomm, Globalstar, and Teledesic. From a frequency spectrum standpoint, however, one important difference between the space and terrestrial uses of GPS is that it is being used in space with no interference protection. This is because there is no frequency allocation for the space-to-space use of GPS (i.e., from GPS satellite to user spacecraft) in the International Telecommunications Union (ITU) regulatory table of frequency allocations. If another space-based or groundbased radio system interferes with a spaceborne GPS user, the spaceborne user presently has no recourse other than to accept the interference. Consequently, for the past year and a half, the NASA Glenn Research Center at Lewis Field and other Government agencies have been working within ITU toward obtaining a GPS space-to-space allocation at the next World Radio Conference in the year 2000 (WRC 2000). Numerous interference studies have been conducted in support of a primary space-tospace allocation in the 1215- to 1260-MHz and 1559- to 1610-MHz RNSS bands. Most of these studies and analyses were performed by Glenn and submitted as U.S. input documents to the international Working Party 8D meetings in Geneva, Switzerland. In the structure of the ITU, Working Party 8D is responsible for frequency spectrum issues in the RNSS and the mobile satellite service (MSS). The full texts of the studies are available from the ITU web site under Working Party 8D contributions. Note that because spaceborne RNSS receivers operate in a receive-only mode with navigation signals already being broadcast toward the Earth, the addition of a space-tospace allocation will not result in interference with other systems. A space-based RNSS receiver, however, could experience interference from systems of other services, including intraservice interference from other RNSS systems. The interference scenarios examined in the studies can be inferred from the following frequency allocation charts. In these charts, services labeled in all capital letters (e.g., "ARNS") have primary status, whereas those labeled with sentence-style capitalization (e.g., "Amateur radio") have secondary status (i.e., a service with secondary status cannot claim interference protection from or cause harmful interference to a service with primary status). Charts showing the ITU frequency allocations in the 960 to 1350 MHZ range and the 1525-1660 MHZ range are discussed and presented.

Spence, Rodney L.↗

Coordinate systems

Jovian coordinate systems are different from those employed in the case of the earth. Latitude and longitude coordinates are usually established relative to some solid surface. Because Jupiter does not have a solid surface (at least none which is visible through the clouds), arbitrary, but convenient, coordinate grids have been prescribed. A spin equator is made out from observations of cloud motion, and the direction of the planetary spin axis is, therefore, determined with relatively good accuracy. The problem in establishing a Jupiter longitude system is that the mean rotation period of the clouds is a function of latitude. The solution selected was to define two separate longitude grids. A third longitude system became necessary with the detection of radio signals which gave evidence for a rotating planetary magnetic field. Attention is also given to orbital phase angle and longitude conventions for satellites, and two latitude systems for Jupiter

Dessler, A. J.↗

Optimal low-thrust, three-burn orbit transfers with large plane changes

Optimal low-thrust, three-burn solutions have been obtained for orbit transfers between a 28.5-degree inclined low earth orbit and a series of 63.4-degree inclined circular orbits as well as a series of 63.4-degree inclined elliptical orbits with twelve hour periods. Solutions have also been obtained for orbit transfers between 97-degree inclined orbits and a 57-degree inclined low earth orbit. Thrust to weight ratios as low as 0.02 were considered. A hybrid nonlinear programming method was used to obtain the solutions. Analysis of the optimal steering during various burns reveals a natural division of the steering strategies into two categories based on whether a burn results in a change predominantly in semi-major axis or orbit plane. The similarity of these optimal steering strategies to previously obtained simple near-optimal steering strategies is discussed.

Zondervan, K. P.↗

Wide-Field High-Performance Geosynchronous Imaging

The NASA Mission to Planet Earth (MTPE) Program and the National Oceanographic and Atmospheric Administration (NOAA) are sponsoring the Advanced Geosynchronous Studies (AGS) to develop technologies and system concepts for Earth observation from geosynchronous orbit. This series of studies is intended to benefit both MTPE science and the NOAA GOES Program. Within the AGS program, advanced imager trade studies have investigated two candidate concepts for near-term advanced geosynchronous imagers. One concept uses a scan mirror to direct the line of sight from a 3-axis stabilized platform. Another eliminates the need for a scan mirror by using an agile spacecraft bus to scan the entire instrument. The purpose of this paper is to discuss the optical design trades and system issues encountered in evaluating the two scanning approaches.

Wood, H. John↗

The Effect of Rotating a Faraday Disc Perpendicular to an Applied Magnetic Field Theory and Experiment

A magnetohydrodynamic model that examines the effect of rotating an electrically conducting cylinder with a uniform external magnetic field applied orthogonal to its axis is presented. Noting a simple geometry, it can be classified as a fundamental dynamo problem. For the case of an infinitely long cylinder, an analytical solution is obtained and analyzed in detail. A semi-analytical model was developed that considers a finite cylinder. Experimental data from a spinning brass wheel in the presence of Earth's magnetic field were compared to the proposed theory and found to fit well.

Mazuruk, Konstantin↗

Design and Implementation of a Mechanical Control System for the Scanning Microwave Limb Sounder

The Scanning Microwave Limb Sounder (SMLS) will use technological improvements in low noise mixers to provide precise data on the Earth's atmospheric composition with high spatial resolution. This project focuses on the design and implementation of a real time control system needed for airborne engineering tests of the SMLS. The system must coordinate the actuation of optical components using four motors with encoder readback, while collecting synchronized telemetric data from a GPS receiver and 3-axis gyrometric system. A graphical user interface for testing the control system was also designed using Python. Although the system could have been implemented with a FPGA-based setup, we chose to use a low cost processor development kit manufactured by XMOS. The XMOS architecture allows parallel execution of multiple tasks on separate threads-making it ideal for this application and is easily programmed using XC (a subset of C). The necessary communication interfaces were implemented in software, including Ethernet, with significant cost and time reduction compared to an FPGA-based approach. For these reasons, the XMOS technology is an attractive, cost effective, alternative to FPGA-based technologies for this design and similar rapid prototyping projects.

Mars Science Laboratory Robotics↗

The Global Precipitation Measurement (GPM) Spacecraft Power System Design and Orbital Performance

The Global Precipitation Measurement (GPM) spacecraft was jointly developed by National Aeronautics and Space Administration (NASA) and Japan Aerospace Exploration Agency (JAXA). It is a Low Earth Orbit (LEO) spacecraft launched on February 27, 2014. The spacecraft is in a circular 400 Km altitude, 65 degrees inclination nadir pointing orbit with a three year basic mission life. The solar array consists of two sun tracking wings with cable wraps. The panels are populated with triple junction cells of nominal 29.5% efficiency. One axis is canted by 52 degrees to provide power to the spacecraft at high beta angles. The power system is a Direct Energy Transfer (DET) system designed to support 1950 Watts orbit average power. The batteries use SONY 18650HC cells and consist of three 8s x 84p batteries operated in parallel as a single battery. The paper describes the power system design details, its performance to date and the lithium ion battery model that was developed for use in the energy balance analysis and is being used to predict the on-orbit health of the battery.

Power System Design and Orbital Performance↗

Performance comparison of earth and space storable bipropellant systems in interplanetary missions

The paper evaluates and compares the performance of earth-storable and space-storable liquid bipropellant propulsion systems in high-energy planetary mission applications, including specifically Saturn and Mercury orbiters, as well as asteroid and comet rendezvous missions. The discussion covers a brief review of the status of space-storable propulsion technology, along with an illustrative propulsion module design for a three-axis stabilized outer planet and cometary mission spacecraft of the Mariner class. The results take revised Shuttle/Upper Stage performance projections into account. It is shown that in some of the missions the performance improvement achievable in the ballistic transfer mode with space-storable spacecraft propulsion can provide a possible alternative to the use of solar-electric propulsion.

Meissinger, H. F.↗

Exploration of the asteroids

A mission to an earth-crossing asteroid would be useful to avert a threatened collision, to utilize its resources, or for scientific investigations. Realizable launch opportunities to 1943 Anteros occur about every two years, and the 1987 and 1990 opportunities are being extensively studied. The mission craft would carry remote sensing instruments and obtain the shape, size, surface structure, rotation rate, axis of rotation and color differences of the asteroid. The chemical composition of the surface and the gravitational field would be studied. Although a free fall landing on the surface is feasible, a soft landing that takes account of the asteroid's gravity and rotation is desirable. In situ experiments would be accomplished with the aid of a penetrator fired from a tube on the mother spacecraft with the penetrator carrying an accelerometer, alpha-scattering device, water detector, magnetometer and seismometer.

French, J. R., Jr.↗

TRMM On-Orbit Performance Reassessed After Control Change

The Tropical Rainfall Measuring Mission (TRMM) spacecraft, a joint mission between the U.S. and Japan, launched onboard an H-I1 rocket on November 27, 1997, and transitioned in August, 2001, from an average operating altitude of 350 kilometers to 402.5 kilometers. Due to problems using the Earth Sensor Assembly (ESA) at the higher altitude, TRMM switched to a backup attitude control mode. Prior to the orbit boost TRMM controlled pitch and roll to the local vertical using ESA measurements while using gyro data to propagate yaw attitude between yaw updates from the Sun sensors. After the orbit boost, a Kalman filter used 3-axis gyro data with Sun sensor and magnetometers to estimate onboard attitude. While originally intended to meet a degraded attitude accuracy of 0.7 degrees, the new control mode met the original 0.2 degree attitude accuracy requirement after improving onboard ephemeris prediction and adjusting the magnetometer calibration onboard. Independent roll attitude checks using a science instrument, the Precipitation Radar (PR) which was built in Japan, provided a novel insight into the pointing performance. The PR data helped identify the pointing errors after the orbit boost, track the performance improvements, and show subtle effects from ephemeris errors and gyro bias errors. It also helped identify average bias trends throughout the mission. Roll errors tracked by the PR from sample orbits pre-boost and post-boost are shown in Figure 1. Prior to the orbit boost, the largest attitude errors were due to occasional interference in the ESA. These errors were sometime larger than 0.2 degrees in pitch and roll, but usually less, as estimated from a comprehensive review of the attitude excursions using gyro data. Sudden jumps in the onboard roll show up as spikes in the reported attitude since the control responds within tens of seconds to null the pointing error. The PR estimated roll tracks well with an estimate of the roll history propagated using gyro data. After the orbit boost, the attitude errors shown by the PR roll have a smooth sine-wave type signal because of the way that attitude errors propagate with the use of gyro data. Yaw errors couple at orbit period to roll with 1/4 orbit lag. By tracking the amplitude, phase, and bias of the sinusoidal PR roll error signal, it was shown that the average pitch rotation axis tends to be offset from orbit normal in a direction perpendicular to the Sun direction, as shown in Figure 2 for a 200 day period following the orbit boost. This is a result of the higher accuracy and stability of the Sun sensor measurements relative to the magnetometer measurements used in the Kalman filter. In November, 2001 a magnetometer calibration adjustment was uploaded which improved the pointing performance, keeping the roll and yaw amplitudes within about 0.1 degrees.

Bilanow, Stephen↗

Maintaining Aura's Orbit Requirements Under New Maneuver Operations

The Earth Observing System (EOS) Afternoon Constellation consists of five member missions (GCOM-W1, Aqua, CALIPSO, CloudSat, and Aura), each of which maintain a frozen, sun-synchronous orbit with a 16-day repeating ground track that follows the Worldwide Reference System-2 (WRS-2). Under nominal science operations for Aura, the propulsion system is oriented such that the resultant thrust vector is aligned 13.493 degrees away from the velocity vector along the yaw axis. When performing orbit maintenance maneuvers, the spacecraft performs a yaw slew to align the thrust vector in the appropriate direction. A new Drag Make Up (DMU) maneuver operations scheme has been implemented for Aura alleviating the need for the 13.493 degree yaw slew. The focus of this investigation is to assess the impact that no-slew DMU maneuver operations will have on Auras Mean Local Time (MLT) which drives the required along track separation between Aura and the constellation members, as well as Auras frozen orbit properties, eccentricity and argument of perigee. Seven maneuver strategies were analyzed to determine the best operational approach. A mirror pole strategy, with maneuvers alternating at the North and South poles, was implemented operationally to minimize impact to the MLT. Additional analysis determined that the mirror pole strategy could be further modified to include frozen orbit maneuvers and thus maintain both MLT and the frozen orbit properties under no-slew operations

aura↗

Maintaining Aura's Orbit Requirements While Performing Orbit Maintenance Maneuvers Containing an Orbit Normal Delta-V Component

The Earth Observing System (EOS) Afternoon Constellation consists of five member missions (GCOM-W1, Aqua, CALIPSO, CloudSat, and Aura), each of which maintain a frozen, sun-synchronous orbit with a 16-day repeating ground track that follows the Worldwide Reference System-2 (WRS-2). Under nominal science operations for Aura, the propulsion system is oriented such that the resultant thrust vector is aligned 13.493 degrees away from the velocity vector along the yaw axis. When performing orbit maintenance maneuvers, the spacecraft performs a yaw slew to align the thrust vector in the appropriate direction. A new Drag Make Up (DMU) maneuver operations scheme has been implemented for Aura alleviating the need for the 13.493 degree yaw slew. The focus of this investigation is to assess the impact that no-slew DMU maneuver operations will have on Aura's Mean Local Time (MLT) which drives the required along track separation between Aura and the constellation members, as well as Aura's frozen orbit properties, eccentricity and argument of perigee. Seven maneuver strategies were analyzed to determine the best operational approach. A mirror pole strategy, with maneuvers alternating at the North and South poles, was implemented operationally to minimize impact to the MLT. Additional analysis determined that the mirror pole strategy could be further modified to include frozen orbit maneuvers and thus maintain both MLT and the frozen orbit properties under noslew operations.

Aqua↗

Precision orbit analyses in support of the Seasat altimeter experiment

It is noted that major improvements have been made in the Goddard Space Flight Center (GSFC) geodynamic models for Seasat. It is pointed out that the dominant error source in Seasat ephemeris computation is currently the uncertainty in modeling the earth's gravity field. Attention is also given to significant errors arising from atmospheric drag and solar radiation pressure modeling. It is noted that a comparison of GSFC and Naval Surface Weapons Center (NSWC) Seasat ephemerides indicate the presence of an unexplained difference of about 4 m in the location of the center of mass along the Z axis. This difference is consistent with that obtained with earlier geoid and station coordinated comparisons performed by other investigators. It is expected that future combinations of Seasat and GEOS-3 altimeter data, together with laser and Unified S-Band tracking data, will ultimately produce a gravity field which allows computations of a global Seasat ephemeris with an rms radial accuracy of about 50 cm.

Marsh, J. G.↗

The moments of inertia of Mars

The mean moment of inertia of Mars is, at present, very poorly constrained. The generally accepted value of 0.365 M(R-squared) is obtained by assuming that the observed second degree gravity field can be decomposed into a hydrostatic oblate spheroid and a nonhydrostatic prolate spheroid with an equatorial axis of symmetry. An alternative decomposition is advocated in the present analysis. If the nonhydrostatic component is a maximally triaxial ellipsoid (intermediate moment exactly midway between greatest and least), the hydrostatic component is consistent with a mean moment of 0.345 M(R-squared). The plausibility of this decomposition is supported by statistical arguments and comparison with the earth, moon and Venus.

Bills, Bruce G.↗

Three-dimensional structure of coronal mass ejections

The 3D structure of coronal mass ejections (CMEs) are examined on the basis of numerical solutions of the MHD equations. The numerical solution in a meridional plane centered over the region of newly emerged flux has features similar to those computed in previous 2D simulations. The CME is found to be shaped more like an arcade with an axis parallel to the Equator than like a bubble. This characteristic arcade shape occurs both in the density distribution in meridional and azimuthal planes and in the integrated white-light brightness in meridional and polar views. Examination of the brightness change due to the CME shows that the CME in a meridional projection as viewed from the earth has the same loop shape even if the CME originates almost directly in front of or behind the sun.

Steinolfson, R. S.↗