Cost reduction from multi-mission sequencing software
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This paper describes the architecture of the JPL multi-mission sequencing system and the sequence automation process, discusses the cost savings associated with both of these changes.
This paper describes the architecture of the JPL multi-mission sequencing system and demonstrates many of the benefits of the core/adaptation format of the sequencing software.
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The paper will then propose extending this multi-mission philosophy to skeleton timeline development, science sequencing, and spacecraft sequencing. Finally, the paper will investigate a multi-mission approach to MOS development.
The Standard Power Regulator Unit (SPRU) which forms the central building block of the Modular Power Subsystem (MPS) for the Multi-mission Modular Spacecraft (MMS) is described. A functional description of the SPRU is presented, detailing key design features, operational characteristics, and internal redundancy as well as giving block and schematic diagrams for all major subassemblies. The description of a qualification test program consisting of ten sequences ranging from a physical examination of the unit to calculating vibration and sine sweep of power on shock tests is presented. The results showed that some significant anomalies were encountered but no catastrophic failures were indicated, although several power module failures were found due to overvoltage malfunctions of the solar array stimulator.
Mission operations are presented for comet rendezvous and outer planet exploration NEP spacecraft employing in-core thermionic reactors for electric power generation. The selected reference missions are the Comet Halley rendezvous and a Jupiter orbiter at 5.9 planet radii, the orbit of the moon Io. The characteristics of the baseline multi-mission NEP spacecraft are presented and its performance in other outer planet missions, such as Saturn and Uranus orbiters and a Neptune flyby, are discussed. Candidate mission operations are defined from spacecraft assembly to mission completion. Pre-launch operations are identified. Shuttle launch and subsequent injection to earth escape by the Centaur D-1T are discussed, as well as power plant startup and the heliocentric mission phases. The sequence and type of operations are basically identical for all missions investigated.
Since Mariner, NASA-JPL planetary missions have been supported by ground software to plan and design remote sensing science observations. The software used by the science and sequence designers to plan and design observations has evolved with mission and technological advances. The original program, PEGASIS (Mariners 4, 6, and 7), was re-engineered as POGASIS (Mariner 9, Viking, and Mariner 10), and again later as POINTER (Voyager and Galileo). Each of these programs were developed under technological, political, and fiscal constraints which limited their adaptability to other missions and spacecraft designs. Implementation of a multi-mission tool, SEQ POINTER, under the auspices of the JPL Multimission Operations Systems Office (MOSO) is in progress. This version has been designed to address the limitations experienced on previous versions as they were being adapted to a new mission and spacecraft. The tool has been modularly designed with subroutine interface structures to support interchangeable celestial body and spacecraft definition models. The computational and graphics modules have also been designed to interface with data collected from previous spacecraft, or on-going observations, which describe the surface of each target body. These enhancements make SEQ POINTER a candidate for low-cost mission usage, when a remote sensing science observation design capability is required. The current and planned capabilities of the tool will be discussed. The presentation will also include a 5-10 minute video presentation demonstrating the capabilities of a proto-Cassini Project version that was adapted to test the tool. The work described in this abstract was performed by the Jet Propulsion Laboratory, California Institute of Technology, under contract to the National Aeronautics and Space Administration.
A key component of JPL's strategy to make space missions faster, better and cheaper is the Advanced Multi-Mission Operations System (AMMOS), a ground software intensive system currently in use and in further development. AMMOS intends to eliminate the cost of re-engineering a ground system for each new JPL mission. This paper discusses SEQ-REVIEW, a component of AMMOS that was designed to facilitate and automate the task of reviewing and checking spacecraft sequences. SEQ-REVIEW is a smart browser for inspecting files created by other sequence generation tools in the AMMOS system. It can parse sequence-related files according to a computer-readable version of a 'Software Interface Specification' (SIS), which is a standard document for defining file formats. It lets users display one or several linked files and check simple constraints using a Basic-like 'Little Language'. SEQ-REVIEW represents the first application of the Quality Function Development (QFD) method to sequence software development at JPL. The paper will show how the requirements for SEQ-REVIEW were defined and converted into a design based on object-oriented principles. The process starts with interviews of potential users, a small but diverse group that spans multiple disciplines and 'cultures'. It continues with the development of QFD matrices that related product functions and characteristics to user-demanded qualities. These matrices are then turned into a formal Software Requirements Document (SRD). The process concludes with the design phase, in which the CRC (Class, Responsibility, Collaboration) approach was used to convert requirements into a blueprint for the final product.
Japan's Institute of Space and Astronautical Science (ISAS) launched Nozomi, its first mission to the planet Mars using the newly developed M-V launch vehicle on July 3, 1998. Scientific objectives of the mission are to study the structure and dynamics of the Martian upper atmosphere and its interaction with the solar wind. Nozomi is a cooperative mission between ISAS and the National Aeronautics and Space Administration (NASA). The NASA contribution includes navigation and tracking services provided by the Jet Propulsion Laboratory (JPL). The spacecraft also serves as an engineering demonstration of basic technology for planetary exploration. One of the new technologies was a unique trajectory, developed by ISAS, which used solar gravitational perturbations at the weak stability boundary as an aid to achieve an Earth-Mars transfer orbit. This trajectory saves approximately 120 m/s of Delta V compared to direct hyperbolic insertion and is considered an enabling technology for the mission. Nozomi was the first spacecraft to employ this trajectory and provided on-orbit validation of the technique. The trajectory was achieved by initially placing the spacecraft in a highly elliptical cis-lunar phasing orbit. Six maneuvers were performed during this period to correct injection errors and target an outbound lunar swingby in September 1998. The gravity assist from the lunar swingby raised apogee to the vicinity of the weak stability boundary. After three more targeting maneuvers, Nozomi performed an inbound lunar swingby followed immediately by a powered Earth swingby in late December 1998. A 420 m/s Trans Mars Insertion (TMI) burn at the final Earth periapsis was intended to place the spacecraft on a heliocentric trajectory leading to Mars orbit insertion in October 1999. Orbit determination for Nozomi is performed in parallel by both ISAS and the Multi-Mission Navigation (MMNAV) group at JPL. This was an advantage for the mission because each group would generate solutions based on data collected from their respective tracking networks. Spacecraft events, such as sequence uplinks and maneuvers, were generally scheduled during passes at the Usuda tracking station in Japan. As a result, maneuver design and reconstruction was derived from MMNAV solutions based on JPL tracking data obtained immediately prior to or following maneuvers. Data was also exchanged between ISAS and MMNAV so orbit determination could be performed on joint data sets in support of critical targeting late in the cis-lunar phase. In this paper, information regarding the MMNAV orbit determination effort for the first six months of the mission is presented. The spacecraft trajectory is characterized first, followed by a discussion of the orbit determination estimation procedure and models. Results from selected orbit solutions are presented and compared against reconstructed trajectories. One area of emphasis in this paper is orbit determination in the vicinity of the weak stability boundary. Precise navigation was necessary to target the second lunar swingby and the powered Earth swingby. Delivery accuracy of 150 m was required for these critical encounters, but a number of factors contributed to the general degradation of orbit determination accuracy. This included the fact that the spacecraft was at apogee, at a range of 1.7 million km and moving at less than I km/sec perpendicular to the line of sight. Nozomi was also close to zero degrees declination where there are known limitations on orbit determination performance. Finally, S-band tracking data was acquired through the Nozomi backup low gain antenna. This antenna is offset from the axis of this spin stabilized spacecraft and superimposed large signatures in the Doppler and range data. These difficulties were overcome by combining long data arcs, spanning several maneuvers, with a high fidelity solar pressure model. The model included a physically accurate representation of the spacecraft structure and a high time resolution orientation model. Observation modeling included the removal of the spin induced Doppler bias, spin signature and per pass correction of range calibration errors applied for data leading up to critical events. As a result, all orbit determination goals were met. A second area of emphasis in this paper is the JPL tracking and orbit determination effort in support of the TMI maneuver. TMI occurred out of contact with ground stations and the JPL Goldstone tracking complex had the first pass following the bum. As a result, MMNAV had the responsibility to make a rapid assessment of the maneuver performance. MMNAV made the determination that a 100 m/s under bum had occurred and promptly informed ISAS via voice lines. ISAS immediately began preparations for a correction maneuver (TMIc), which had to be performed during the next Usuda pass. The near real time assessment by MMNAV provided accurate antenna frequency and pointing updates for the spacecraft acquisition at Usuda and the close coordination between the two agencies enabled the design and successful execution of the TMc maneuver. Propellant consumption during the correction burn dictated that the mission be redesigned. ISAS developed a new plan which adds 3 full solar orbits, two Earth swingbys and one lunar swingby with arrival at Mars in January 2004. The final Mars orbit will still enable the mission to achieve all of its science objectives.
In the past Science Planning for space missions has been comprised of using ad-hoc software toolscollected or reconstructed from previous missions, tools used by other groups who often speak a different 'technical' language or even 'the backs of envelopes'. In addition to the tools being rough, the work done with these tools often has had to be redone or at least re-entered when it came time to determine actual observations. Science Opportunity Analyzer (SOA), a Java-based application, has been built for scientists to enable them to identify/analyze observation opportunities and then, to create corresponding observation designs.
In order to minimize the cost of developing sequences of commands for small, low cost missions, a cost effective set of uplink tools used in conjunction with an appropriate ground system architecture (including a multi-mission operations facility) must be utilized.
For many years the diverse scientific community that supports JPL's wide variety ofinterplanetary space missions has needed a tool in order to plan and develop their experiments. The tool needs to be easily adapted to various mission types and portable to the user community. The Science Opportunity Analyzer, SOA, now in its third year of development, is intended to meet this need. SOA is a java-based application that is designed to enable scientists to identify and analyze opportunities for science observations from spacecraft. It differs from other planning tools in that it does not require an in-depth knowledge of the spacecraft command system or operation modes to begin high level planning. Users can, however, develop increasingly detailed levels of design. SOA consists of six major functions: Opportunity Search, Visualization, Observation Design, Constraint Checking, Data Output and Communications. Opportunity Search is a GUI driven interface to existing search engines that can be used to identify times when a spacecraft is in a specific geometrical relationship with other bodies in the solar system. This function can be used for advanced mission planning as well as for making last minute adjustments to mission sequences in response to trajectory modifications. Visualization is a key aspect of SOA. The user can view observation opportunities in either a 3D representation or as a 2D map projection. The user is given extensive flexibility to customize what is displayed in the view. Observation Design allows the user to orient the spacecraft and visualize the projection of the instrument field of view for that orientation using the same views as Opportunity Search. Constraint Checking is provided to validate various geometrical and physical aspects of an observation design. The user has the ability to easily create custom rules or to use official project-generated flight rules. This capability may also allow scientists to easily impact the cost to science if flight rule changes occur. Data Output generates information based on the spacecraft's trajectory, opportunity search results or based on a created observation. The data can be viewed either in tabular format or as a graph. Finally, SOA is unique in that it is designed to be able to communicate with a variety of existing planning and sequencing tools. From the very beginning SOA was designed with the user in mind. Extensive surveys of the potential user community were conducted in order to develop the software requirements. Throughout the development period, close ties have been maintained with the science community to insure that the tool maintains its user focus. Although development is still in its early stages, SOA is already developing a user community on the Cassini project, which is depending on this tool for their science planning. There are other tools at JPL that do various pieces of what SOA can do; however, there is no other tool which combines all these functions and presents them to the user in such a convenient, cohesive, and easy to use fashion.