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Transcript of ATV Rendezvous Mission 1: Jules Verne Brian Rishikof Odyssey Space Research 281-488-7953 March 24,...
ATV RendezvousMission 1: Jules Verne
Brian RishikofOdyssey Space Research
281-488-7953March 24, 2004
Brian Rishikof Odyssey Space Research 2
Outline
• ATV (Automated Transfer Vehicle) Program
• ATV Vehicle
• ATV Trajectory and GN&C
• Demonstration
• ATV (Automated Transfer Vehicle) Program
• ATV Vehicle
• ATV Trajectory and GN&C
• Demonstration
Brian Rishikof Odyssey Space Research 3
ATV Program• ESA (European Space Agency)
– ISS Partner
• EADS (European Aeronautic Defence & Space)– Flight Segment Prime Contractor
• CNES (Centre National D’Etudes Spatiales)– Operations Prime Contractor
• RSC- E (Rocket and Space Corporation - Energia)– ESA Integration Sub-contractor
• NASA (National Aeronautics & Space Administration)– Prime ISS Integrator
• RASA (Russian Aviation and Space Agency)– Integrator
Brian Rishikof Odyssey Space Research 4
ATV International
ATV-CCToulouse
Les Mureaux (Paris)
MCC-HHouston
Korolev(Moscow)
ESTECNoordwijk
(Amsterdam)
MCC-MMoscow
Brian Rishikof Odyssey Space Research 5
ITAR
• International Traffic in Arms Regulations– ATV has been
designated as a “defense article”
– Subject to Export Control restrictions
– Complicates support
• Perils of International cooperation
Brian Rishikof Odyssey Space Research 6
ATV Mission
• Dock to ISS Service Module aft • Deliver Cargo
– Russian Water– Fuel– Gases– Other
• ISS Propulsion– Reboost– Attitude control – Debris avoidance
Brian Rishikof Odyssey Space Research 7
Jules Verne - Launch Date
MAY 2005
Brian Rishikof Odyssey Space Research 8
Vehicle Configuration
Length 9794 mm
Largest Diameter 4480 mm
Solar array span 22281 mm
Mass budget
S/C dry mass 5320 kg
Cargo Carrier dry mass 5150 kg
Total mass (105%) 10990 kg
Air /Consumables 2094 kg
Total ATV mass 13084 kg
Air /Consumables 5150 kg
Total Cargo capacity 7667 kg
Total Mass at Launch 20770 kg
Waste downmass 6500 kg
*400 km, 51.6 deg inclination
Brian Rishikof Odyssey Space Research 9
Vehicle Comparison
ATV Progress M1 Apollo CSM
Length 10.3 m 7.4 m 11.03 m
Max Diam. 4.51 m 2.70 m 3.90 m
Launch Mass 20750 kg 7150 kg 30329 kg
Press. Volume 14 m3 6.6 m3 6.17 m3
Engine Thrust 1960 N 2942 N 97860 N
Brian Rishikof Odyssey Space Research 10
Vehicle Systems
Propulsion (Pressure fed liquid bi-prop)
Main (OCS) 4 x 490 N thrusters
ACS 28 x 220 N thrusters
PropellantMonomethyl hydrazine fuel + Nitrogen Tetroxide oxidizer
Pressurization He pressurant at 31.4 MPa
Communication
To Ground S-band via TDRS, Artemis
Space-to-Space S-band to ISS-RS
Navigation GPS
Power
Solar Arrays 3.8 kW - 6 months in orbit
BatteriesRechargeable and non-
rechargeable
Brian Rishikof Odyssey Space Research 11
Communication
ISS
TDRS
ATV-CC MCC-M
White Sands
MCC-H
ATV-CC
<->MCC
-M
IGS
ISS-USOS <-> MCC-H
ARTEMIS
ATV-ISS prox link
ATV
GPS
ARTEMIS MCF
Russian Ground Stations
ISS
-USOS <
-> MCC
-H
ATV <
-> ATV
-CC
ATV <
-> ATV
-CC
ISS-RS <
-> MCC
-M
ATV <
-> ATV
-CC
ATV <
-> ATV
-CC
COL-CC
ATV-CC
<-> MCC-H
MCC-H <
-> MCC-M
ATV <-> ATV
-CC
REDU EET
CVI
DaSS
Brian Rishikof Odyssey Space Research 12
Rendezvous Safety Rqmnts
• “1 Fail Op”
• “2 Fail Safe”
• 24 hour safe free-drift trajectory
• Approach Ellipsoid– 2 km x 2 km x 4 km
• Keep Out Sphere (KOS)– 200 m sphere
Brian Rishikof Odyssey Space Research 13
Rendezvous Constraints
• Russian Ground Station Visibility• ISS attitude and array feathering limits
– ATV/ISS: Communication– ATV/ISS: Common GPS satellites and visibility– ISS: Power– ISS configuration dependent
• Lighting for visual monitoring
• Lighting for sensors• Power
Brian Rishikof Odyssey Space Research 14
ATV Trajectory (1/2)
MC ATV-CC computes Mid-Course transfers dVMC11 and dVMC12
S-4 ATV-CC computes dV3 and dV4
S-3 ground computes dV5 and dV6
S-2 reference point; half orbit after dV6
S-1 point where 1st correction (trim) maneuver is initiated; 1 orbit after S-2
S-1/2 phasing targeted point; 1 orbit after S-1
AI3.5 km
V-Bar
R-BarS1 S0
S2
AEKOS
S-1 S-2
S-3
S-4
MC
S-1/2
Phase 1Phase 2Phase 3Phase 4Phase 5Phase 6
Fixed Initial Drift
~ 3 hours
Variable Phasing Duration
49 - 97 hours
Fixed Phasing Duration
~ 7.3 hours
CAM test 1
>10 min
>20 min
0.5 rev
dV1
dV2dVMC11
dVMC12
dV3
dV4
dV5
dV6
S-S Comm
Brian Rishikof Odyssey Space Research 15
ATV Trajectory (2/2)
V-Bar
R-Bar
~5 km
AI3.5 km
250 m
45 min
40 min
Directional Space-to-SpaceComm Range (~30km)
S1 S0
S2
S3
S3
S4
20m
S-1/2
S41
12m
Decision Point
Transition to VDM
Transition to VDM Relative Attitude
Crew Visual Assessment
Start RGPS Navigation
Absolute GPS Navigation
AEKOS
>20 min >10 min
Omni-directional Space-to-SpaceComm Range (~3km)
Brian Rishikof Odyssey Space Research 16
ATV Navigation
• 2x GPS receivers/antennas– AGPS
– RGPS
• 3x 2-axis accelerometers
• 4x 2-axis gyros
• KURS– Range + range rate
• 2x Videometers– Range (range rate) & LOS
– relative attitude
• 2x Telegoniometers– Range (range rate) & LOS
10 cm 1 m 10 m 100 m 1 km 10 km 100 km
DO
CK
ING AGPS
RGPSKURSTGMVDMVDM+ Rel AttUSOS CamerasSM Camera
SENSORSPRIME MONITORING
Brian Rishikof Odyssey Space Research 17
ATV Control• “Yaw Steering”
– For power and communication
• “Earth Pointing”– Early phasing– LVLH (0,0,0)– Pointing sensors at ISS
• Relative Attitude– Measurements start at 30 m– Transition occurs at 20 m V
S41
S4a
S4b
Brian Rishikof Odyssey Space Research 18
ATV Control
• Phasing– Earth Pointed OCS major maneuvers
– Otherwise Yaw steering
• Rendezvous– ACS maneuvers
– Yaw steering attitude
• Final Approach– Earth Pointed
(LVLH 0,0,0)
– Relative Attitude (0,0,0)
– Simultaneous control of CG and docking probe tip
Brian Rishikof Odyssey Space Research 19
ATV Guidance
Brian Rishikof Odyssey Space Research 20
Safety
• Tiered Approach– Ground and Crew as additional controls
– Crew “in the loop” just prior to docking
System/Subsystem FDIR
Trajectory Monitoring
Coarse State Monitoring
PRIMARY FLIGHT Systems
BACKUP FLIGHT Systems
Brian Rishikof Odyssey Space Research 21
Contingencies
• ABORT (CAM)– Backup H/W & S/W
• ESCAPE– Nominal H/W & S/W
• Also, during Final Approach– HOLD
– RETREAT
• Vehicle/Crew/Ground commands
ABORT
ABORT
?
Brian Rishikof Odyssey Space Research 22
Decision Point
• Distance at which momentum will overcome any propulsive reaction and result in contact– After this point, assumption
is continuing is safer than executing “large” maneuver
• “Decision” made by crew on-board ISS– ATV-CC communication
lags result in earlier “ground” decision point
Brian Rishikof Odyssey Space Research 23
Crew Monitoring• No “Piloting”• Prescribed reactionon
threshold detection by visual means
• Single operator with all “critical” information and command access
• Visual target on ATV– Active illumination Camera
on ISS– Prime– Backup (to be installed via
EVA)
Brian Rishikof Odyssey Space Research 24
Demonstration
ATV isShow Safe!
Brian Rishikof Odyssey Space Research 25
Demonstration Mission
• Philosophy– Demonstrate safety critical
elements that cannot be fully tested on ground
– Demonstrate safety critical elements before they are relied upon during flight for safety
Brian Rishikof Odyssey Space Research 26
Demonstration Plan
• Currently 3 day mission rendezvous mission• Progressively test and evaluate• Achieve incremental milestones
– Demonstrate sensors as they come online (prime and monitoring)
– Demonstrate communication and critical commanding– Demonstrate integrated vehicle GN&C performance– Demonstrate ALL contingency actions
• After ALL demonstration objectives/criteria satisfied Proceed to Docking attempt– Nominal rendezvous profile
Brian Rishikof Odyssey Space Research 27
ATV: For Fun!
• http://esamultimedia.esa.int/docs/atv_model/ATV_2002_Intro.htm
BUILD YOUR OWN!
BUILD YOUR OWN!
Brian Rishikof Odyssey Space Research 28
Acknowledgments
• Jean-François Clervoy/ESA• Douglas Yazell/Honeywell• AIAA Houston• NASA-JSC-EG• NASA ATV Team
• Congratulationsto ATV Team
Brian Rishikof Odyssey Space Research 29
The End