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Stochastic saturating systems optimal control computation, considering attitude control and tracking system design by elliptical differential equation of dynamic programming
This report describes the process of crew procedures development used in the Apollo Program. The two major categories, Systems Procedures and Flight Procedures, are defined, as are the forms of documentation required. A description is provided of the operation of the procedures change control process, which includes the roles of man-in-the-loop simulations and the Crew Procedures Change Board. Brief discussions of significant aspects of the attitude control, computer, electrical power, environmental control, and propulsion subsystems procedures development are presented. Flight procedures are subdivided by mission phase: launch and translunar injection, rendezvous, lunar descent and ascent, and entry. Procedures used for each mission phase are summarized.
The potential cost advantages offered by advanced strapdown inertial technology in future commercial short-haul aircraft are summarized. The initial procurement cost and six year cost-of-ownership, which includes spares and direct maintenance cost were calculated for kinematic and inertial navigation systems such that traditional and strapdown mechanization costs could be compared. Cost results for the inertial navigation systems showed that initial costs and the cost of ownership for traditional triple redundant gimbaled inertial navigators are three times the cost of the equivalent skewed redundant strapdown inertial navigator. The net cost advantage for the strapdown kinematic system is directly attributable to the reduction in sensor count for strapdown. The strapdown kinematic system has the added advantage of providing a fail-operational inertial navigation capability for no additional cost due to the use of inertial grade sensors and attitude reference computers.
The pointing control system of the Space Telescope, which provides target-to-target maneuvering capability and precision pointing on the target star (with 0.007-arcsec stability and 0.01-arcsec accuracy), is described. Spacecraft attitude control is undertaken by onboard computer processing of attitude and rate sensor data that generates reaction wheel torque commands. The Space Telescope Operations Control Center communicates with the Space Telescope via the synchronous altitude tracking and data relay satellite system, and determines vehicle attitude more precisely by means of sun sensors, magnetometers and fixed-head star trackers. Such disturbance torques as those of gravity gradients and aerodynamics act on the Space Telescope, causing the speeds of the four reaction wheels to increase. In order to prevent the wheels from reaching a speed-saturated condition, a momentum control system is provided for the management of reaction wheel speed buildup. Attention is given to development testing and control hardware investigations and improvements.
The Space Telescope, a long life, high performance spacecraft deployed by the Space Shuttle, will carry five scientific instruments on its first mission. Its pointing control system will permit target-to-target maneuvering and precision pointing on a target star to support scientific objectives. Spacecraft attitude control is achieved by onboard computer processing of attitude and rate sensor data to generate reaction wheel torque commands. A momentum management control system is provided to desaturate the reaction wheels. This paper discusses the pointing control system and the control hardware investigations and improvements leading to system design.
Tests showed that bipolar chips in the attitude control computer of the Galileo spacecraft would likely cause catastrophic mission failure due to single particle upset. This paper describes the design and testing of CMOS replacements which are speed compatible with the bipolar parts and are immune to upset by 165-MeV krypton ions.
The Space Telescope (ST), carrying five astronomy instruments, is a long-life spacecraft designed to achieve and maintain ultrafine stabilization jitter performance. The rms jitter specification for pointing performance is 7 marcsec (1sigma) during periods of scientific observation. Spacecraft attitude control is achieved by onboard computer processing of attitude and rate sensor data to generate reaction-wheel torque commands. The ST Antenna Pointing System is used to position a high-gain antenna for relaying science and engineering data from the spacecraft to the ground station.
The Voyager 2 technology had to be stretched significantly to confront the challenges posed by the environment of Neptune. Little was known about Neptune's characteristics because of its great distance from the sun; and its reduced light levels required longer exposure time. Thus, it was necessary to reduce the spacecraft limit cycle; this was made more difficult by the trajectory selected, which caused high spacecraft-to-target rates (these rates dictated the use of image motion compensation). Another challenge faced by Voyager 2 was the need to perform all the required image motion compensation with a limited quantity of attitude control computer and command computer memory, together with a limited quantity of tape recorder resources. This made necessary a new concept of real-time image motion compensation.
One solution for providing a truly independent power source is to package, within the critical subsystem element, a primary battery that can remain dormant for time periods as long as the mission life, which can be 10-15 years, maximum. When primary power from the spacecraft solar array/battery system is interrupted, the backup battery system, which is connected through a diode to the power input line, would automatically support the load to avoid a power interruption to the critical load for a time period long enough to ensure that ground control could access the satellite and correct the anomaly by sending appropriate commands to the spacecraft. Critical subsystems identified for the application are telemetry and command circuits, volatile computer memory, attitude control circuits, and some critical payloads. Due to volume packaging and weight restrictions that exist on most spacecraft, coupled with the long storage periods required, lithium cell technology was selected for the backup power source. Because of the high energy density (200-400 Wh/kg), long shelf life, and load capability, soluble cathode primary lithium technology was chosen. The most important lithium cell properties that require detail characterization for this application are capacity loss, shelf life, and the voltage delay mechanism. These are functions of storage time and temperature. During storage, a passive film builds up on the lithium electrode. The film protects the lithium electrode from progressive capacity decay but requires time to break down when a load is applied. This phenomenon results in a depressed voltage during the period of film breakdown which can last from fractions of a second to minutes.
While every JPL spacecraft requires some unique mission specific fault protection, there are many requirements which are common to all spacecraft configurations. These consist of protecting command and data processing & attitude control computers, protection against communication loss with the spacecraft, ensuring that safe external and internal temperature levels are maintained, and recovery from power overloads. Additionally, most JPL spacecraft are equipped with a general-purpose 'Safe Mode' response algorithm which configures the spacecraft to a lower power state which is safe and predictable so that diagnosis of more complex faults can be addressed by the Operations Team. This paper details the generic application of fault protection techniques which are implemented into most JPL spacecraft designs.
The command-and-data-handling (C&DH) software of the Wilkinson Microwave Anisotropy Probe (WMAP) spacecraft functions as the sole interface between (1) the spacecraft and its instrument subsystem and (2) ground operations equipment. This software includes a command-decoding and -distribution system, a telemetry/data-handling system, and a data-storage-and-playback system. This software performs onboard processing of attitude sensor data and generates commands for attitude-control actuators in a closed-loop fashion. It also processes stored commands and monitors health and safety functions for the spacecraft and its instrument subsystems. The basic functionality of this software is the same of that of the older C&DH software of the Rossi X-Ray Timing Explorer (RXTE) spacecraft, the main difference being the addition of the attitude-control functionality. Previously, the C&DH and attitude-control computations were performed by different processors because a single RXTE processor did not have enough processing power. The WMAP spacecraft includes a more-powerful processor capable of performing both computations.
A low-cost beamformer phased array antenna has been developed for expendable launch vehicles, rockets, and missiles. It utilizes a conformal array antenna of ring or individual radiators (design varies depending on application) that is designed to be fed by the recently developed hybrid electrical/mechanical (vendor-supplied) phased array beamformer. The combination of these new array antennas and the hybrid beamformer results in a conformal phased array antenna that has significantly higher gain than traditional omni antennas, and costs an order of magnitude or more less than traditional phased array designs. Existing omnidirectional antennas for sounding rockets, missiles, and expendable launch vehicles (ELVs) do not have sufficient gain to support the required communication data rates via the space network. Missiles and smaller ELVs are often stabilized in flight by a fast (i.e. 4 Hz) roll rate. This fast roll rate, combined with vehicle attitude changes, greatly increases the complexity of the high-gain antenna beam-tracking problem. Phased arrays for larger ELVs with roll control are prohibitively expensive. Prior techniques involved a traditional fully electronic phased array solution, combined with highly complex and very fast inertial measurement unit phased array beamformers. The functional operation of this phased array is substantially different from traditional phased arrays in that it uses a hybrid electrical/mechanical beamformer that creates the relative time delays for steering the antenna beam via a small physical movement of variable delay lines. This movement is controlled via an innovative antenna control unit that accesses an internal measurement unit for vehicle attitude information, computes a beam-pointing angle to the target, then points the beam via a stepper motor controller. The stepper motor on the beamformer controls the beamformer variable delay lines that apply the appropriate time delays to the individual array elements to properly steer the beam. The array of phased ring radiators is unique in that it provides improved gain for a small rocket or missile that uses spin stabilization for stability. The antenna pattern created is symmetric about the roll axis (like an omnidirectional wraparound), and is thus capable of providing continuous coverage that is compatible with very fast spinning rockets. For larger ELVs with roll control, a linear array of elements can be used for the 1D scanned beamformer and phased array, or a 2D scanned beamformer can be used with an NxN element array.
A simulation of the Skylab attitude and pointing control system (APCS) is outlined and discussed. Implementation is via a large hybrid computer and includes those factors affecting system momentum management, propellant consumption, and overall vehicle performance. The important features of the flight system are discussed; the mathematical models necessary for this treatment are outlined; and the decisions involved in implementation are discussed. A brief summary of the goals and capabilities of this tool is also included.
Computing mission operation support includes orbit determination, attitude processing, maneuver computation, resource scheduling, etc. The large-scale third-generation distributed computer network discussed is capable of fulfilling these dynamic requirements. It is shown that distribution of resources and control leads to increased reliability, and exhibits potential for incremental growth. Through functional specialization, a distributed system may be tuned to very specific operational requirements. Fundamental to the approach is the notion of process-to-process communication, which is effected through a high-bandwidth communications network. Both resource-sharing and load-sharing may be realized in the system.
A program installed in the ATSOCC on-line computer operates with attitude sensor data to produce a smoothed real-time orbit estimate. This estimate is obtained from a Kalman filter which enables the estimate to be maintained in the absence of T/M data. The results are described of analytical and numerical investigations into the sensitivity of Control Center output to the position errors resulting from the real-time estimation. The results of the numerical investigation, which used several segments of ATS-6 data gathered during the Sensor Data Acquisition run on August 19, 1974, show that the implemented system can achieve absolute position determination with an error of about 100 km, implying pointing errors of less than 0.2 deg in latitude and longitude. This compares very favorably with ATS-6 specifications of approximately 0.5 deg in latitude-longitude.
Computer program for continuous attitude determination for spin stabilized OGO-C satellite after malfunction of attitude control system, calculating angle between high rate data periods
Computer program for determining attitude of orbiting vehicle using Kalman filter
Digital computer simulation of solar pressure effect on spacecraft attitude control after gas system depletion