Engineering topics
Hsu, Oscar
Publications and source records attributed to Hsu, Oscar.
Performance Improvements for the Lunar Reconnaissance Orbiter Gyroless Extended Kalman Filter
In late 2017, the laser intensity monitor (LIM) current began to decline on the Lunar Reconnaissance Orbiter (LRO) miniature inertial measurement unit (MIMU). The MIMU was powered off in March 2018 and has only been used during extended eclipses, a pre-eclipse orbit phasing maneuver, and critical momentum unloads. Science slews were suspended, and the onboard extended Kalman filter (EKF) was disabled. A coarse rate was estimated through star tracker quaternion differentiation, and attitude was provided directly from a single star tracker. A complementary filter, combining the differentiated quaternions with the integrated acceleration derived from the attitude control torque, was developed, tested, and uploaded to the spacecraft in December 2018. The EKF has been enabled, using the complementary filter rate in place of the MIMU and science slews are now being performed. This paper presents an overview of the complementary filter rate estimation and EKF changes, fault detection updates without the MIMU, and inflight performance improvements.
Testing of the Lunar Reconnaissance Orbiter Attitude Control System Re-Design Without a Gyro
The Lunar Reconnaissance Orbiter (LRO) was launched in 2009 and, with itsseven science instruments, has made numerous contributions to our understandingof the moon. LRO is in an elliptical, polar lunar orbit and nominally maintainsa nadir orientation. There are frequent slews off nadir to observe various sciencetargets. LRO attitude control system (ACS) has two star trackers and a gyro forattitude estimation in an extended Kalman filter (EKF) and four reaction wheelsused in a proportional-integral-derivative (PID) controller. LRO is equipped withthrusters for orbit adjustments and momentum management. In early 2018, thegyro was powered off following a fairly rapid decline in the laser intensity on theX axis. Without the gyro, the EKF has been disabled. Attitude is provided by asingle star tracker and a coarse rate estimate is computed by a back differencingof the star tracker quaternions. Slews have also been disabled. A new rate estimationapproach makes use of a complementary filter, combining the quaterniondifferentiated rates and the integrated PID limited control torque (with reactionwheel drag and feedforward torque removed). The filtered rate estimate replacesthe MIMU rate in the EKF, resulting in minimal flight software changes. The paperwill cover the preparation and testing of the new gyroless algorithm, both inground simulations and inflight.
In-Flight Verification and Validation of Colloid Microthruster Performance
Colloid Micronewton Thrusters (CMNTs) use an electrospray to provide precision spacecraft position and pointing control. They were demonstrated in space for the first time as part of NASA’s Space Technology 7 (ST7) payload hosted by the European Space Agency’s (ESA’s) LISA Pathfinder (LPF) technology demonstration mission in January, 2016. CMNTs were the actuator in the disturbance reduction system (DRS) that provided drag-free operation of the LPF spacecraft, which will be necessary for future gravity wave observatories such as ESA’s Laser Interferometer Space Antenna (LISA) mission, currently in Phase A and scheduled for launch in 2034. The CMNT technology met performance requirements operating at 5-30 µN of thrust with 0.1 µN resolution and ≤0.1 µN/ÖHz thrust noise to deliver the required nanometer-level precision spacecraft control measured by the gravitational reference sensor (GRS) in the ESA LISA Technology Package (LTP). The performance of seven of the eight CMNTs in flight was consistent with ground test results, and as a system, all eight thrusters met mission-level performance requirements. The colloid microthruster performance model of thrust and thrust noise as a function of operational parameters (i.e. beam current, voltage, temperature, etc.) was validated in flight over a wide range of conditions. A model and simulation of the thruster control algorithm was developed and validated with flight data to predict thrust noise. This capability is important for future missions because it relates directly to the acceleration noise on the test masses, which provide the gravity wave measurements. The CMNT thruster model data and validation with LISA Pathfinder/ST7-DRS flight experiments are presented in this paper.
ST7 Disturbance Reduction System (DRS) Colloid Micronewton Thruster Performance and Control Algorithm Model Simulation Validation in Flight
Colloid Micronewton Thrusters (CMNT) were flight demonstrated for the first time on the ST7Disturbance Reduction System (DRS) payload on the European Space Agency (ESA) Laser Interferometer Space Antenna (LISA) Pathfinder spacecraft for attitude and drag-free spacecraft control. LISA Pathfinder was a technology demonstration mission for ESA’s LISA gravitational wave observatory, currently in Phase A with a launch date of 2034. The DRS included the Integrated Avionics Unit (IAU), eight Colloid Micronewton Thrusters (CMNT), Dynamic Control Software (DCS) and Flight Software (FSW). The CMNT technology met performance requirements operating at 5-30 µN of thrust with ≤0.1 µN resolution and ≤0.1 µN/Hz thrust noise to deliver the required nanometer-level precision spacecraft control measured by the gravitational reference sensor (GRS) in the ESA LISA Technology Package (LTP). The performance of seven of the CMNT in flight was consistent with ground test results. The colloid thruster performance model of thrust and thrust noise as a function of operational parameters (i.e. beam current, voltage, temperature, etc.) was validated in flight over a wide range of conditions. A model and simulation of the thruster control algorithm was developed and validated with flight data to predict thrust noise. This capability is important because it is considered to be a significant source of position noise on the spacecraft and, therefore, the acceleration noise on the test masses, which provide the gravity wave measurements. The CMNT thruster model data and validation with LISA Pathfinder/ST7-DRS flight experiments are discussed in this paper.
Colloid Microthruster Flight Performance Results from Space Technology 7 Disturbance Reduction System
Space Technology 7 Disturbance Reduction System (ST7-DRS) is a NASA technology demonstration payload as part of the ESA LISA Pathfinder (LPF) mission, which launched on December 3, 2015. The ST7-DRS payload includes colloid microthrusters as part of a drag-free dynamic control system (DCS) hosted on an integrated avionics unit (IAU) with spacecraft attitude and test mass position provided by the LPF spacecraft computer and the highly sensitive gravitational reference sensor (GRS) as part of the LISA Technology Package (LTP). The objective of the DRS was to validate two technologies: colloid micro-Newton thrusters (CMNT) to provide low-noise control capability of the spacecraft, and drag-free flight control. The CMNT were developed by Busek Co., Inc., in a partnership with NASA Jet Propulsion Laboratory (JPL), and the DCS algorithms and flight software were developed at NASA Goddard Space Flight Center (GSFC). ST7-DRS demonstrated drag-free operation with 10nmHz level precision spacecraft position control along the primary axis of the LTP using eight CMNTs that provided 5-30 N each with 0.1 N precision. The DCS and CMNTs performed as required and as expected from ground test results, meeting all Level 1 requirements based on on-orbit data and analysis. DRS microthrusters operated for 2400 hours in flight during commissioning activities, a 90-day experiment and the extended mission. This mission represents the first validated demonstration of electrospray thrusters in space, providing precision spacecraft control and drag-free operation in a flight environment with applications to future gravitational wave observatories like LISA.
Dynamic Control System Mode Performance of the Space Technology-7 Disturbance Reduction System
No abstract available
Dynamic Control System Mode Performance of the Space Technology-7 Disturbance Reduction System
The Space Technology-7 (ST-7) Disturbance Reduction System (DRS) is an experiment package aboard the European Space Agency (ESA) LISA Pathfinder spacecraft, launched on December 3, 2015. DRS consists of three primary components: Colloidal MicroNewton Thrusters (CMNTs), an Integrated Avionics Unit (IAU), and flight-software implementing the Command and Data Handling (C&DH) and Dynamic Control System (DCS) algorithms. The CMNTs were designed to provide thrust from 5 to 30 micro Newton, with thrust controllability and resolution of 0.1 micro Newton and thrust noise of 0.1 micro Newton/(square root of (Hz)) in the measurement band from 1-30 mHz. The IAU hosts the C&DH and DCS flight software, as well as interfaces with both the CMNT electronics and the LISA Pathfinder spacecraft. When in control, the DCS uses star tracker attitude data and capacitive or optically-measured position and attitude information from LISA Pathfinder and the LISA Technology Package (LTP) to control the attitude and position of the spacecraft and the two test masses inside the LTP. After completion of the nominal ESA LISA Pathfinder mission, the DRS experiment was commissioned followed by its nominal mission. DRS operations extended over the next five months, interspersed with station keeping, anomaly resolution, and periods where control was handed back to LISA Pathfinder for them to conduct further experiments. The primary DRS mission ended on December 6, 2016, with the experiment meeting all of its Level 1 requirements. The DCS, developed at the NASA Goddard Space Flight Center, consists of five spacecraft control modes and six test mass control modes, combined into six 'DRS Mission Modes'. Attitude Control and Zero-G were primarily used to control the spacecraft during initial handover and during many of the CMNT characterization experiments. The other Mission Modes, Drag Free Low Force, 18-DOF Transitional, and 18-DOF, were used to provide drag-free control of the spacecraft about the test masses. This paper will discuss the performance of these DCS spacecraft and test mass control modes. Flight data will be shown from each mode throughout the mission, both from nominal operations and during various flight experiments. The DCS team also made some changes to controller, filter, and limit parameters during operations; the motivation and results of these changes will be shown and discussed.
Drag-Free Performance of the ST7 Disturbance Reduction System Flight Experiment on the LISA Pathfinder
The Space Technology-7 Disturbance Reduction System (DRS) is an experiment package aboard the European Space Agency (ESA) LISA Pathfinder spacecraft. LISA Pathfinder launched from Kourou, French Guiana on December 3, 2015. The DRS is tasked to validate two specific technologies: colloidal micro-Newton thrusters (CMNT) to provide low-noise control capability of the spacecraft, and drag-free control flight. This validation is performed using highly sensitive drag-free sensors, which are provided by the LISA Technology Package of the European Space Agency. The Disturbance Reduction System is required to maintain the spacecrafts position with respect to a free-floating test mass to better than 10nmHz, along its sensitive axis (axis in optical metrology). It also has a goal of limiting the residual accelerations of any of the two test masses to below 30 (1 + [f3 mHz]) fmsHz, over the frequency range of 1 to 30 mHz.This paper briefly describes the design and the expected on-orbit performance of the control system for the two modes wherein the drag-free performance requirements are verified. The on-orbit performance of these modes are then compared to the requirements, as well as to the expected performance, and discussed.
Precision Pointing for the Wide-Field Infrared Survey Telescope (WFIRST)
The Wide-Field Infrared Survey Telescope (WFIRST) mission, scheduled for a mid-2020's launch, is currently in its definition phase. The mission is designed to investigate essential questions in the areas of dark energy, exoplanets, and infrared astrophysics. WFIRST will use a 2.4-meter primary telescope (same size as the Hubble Space Telescope's primary mirror) and two instruments: the Wide Field Instrument (WFI) and the Coronagraph Instrument (CGI). In order to ad-dress the critical science requirements, the WFIRST mission will conduct large-scale surveys of the infrared sky, requiring both agility and precision pointing (11.6 milli-arcsec stability, 14 milli-arcsec jitter). This paper describes some of the challenges this mission profile presents to the GNC subsystem, and some of the design elements chosen to accommodate those challenges. The high-galactic-latitude survey is characterized by 3-minute observations separated by slews ranging from 0.025 deg to 0.8 deg. The need for observation efficiency drives the slew and settle process to be as rapid as possible. A description of the shaped slew profile chosen to minimize excitation of structural oscillation, and the handoff from star tracker-gyro control to fine guidance sensor control is detailed. Also presented is the fine guidance sensor (FGS), which is integral with the primary instrument (WFI). The FGS is capable of tracking up to 18 guide stars, enabling robust FGS acquisition and precision pointing. To avoid excitation of observatory structural jitter, reaction wheel speeds are operationally maintained within set limits. In addition, the wheel balance law is designed to maintain 1-Hz separation between the wheel speeds to avoid reinforcing jitter excitation at any particular frequency. The wheel balance law and operational implications are described. Finally, the candidate GNC hardware suite needed to meet the requirements of the mission is presented.
Dynamic Control System Performance during Commissioning of the Space Technology 7-Disturbance Reduction System Experiment of LISA Pathfinder
The Space Technology-7 Disturbance Reduction System (DRS) launched aboard the European Space Agencys LISA Pathfinder spacecraft on December 3, 2015, after more than a decade in development. DRS consists of three prima-ry components: an Integrated Avionics Unit (IAU), Colloidal MicroNewton Thrusters, and Dynamic Control System (DCS) algorithms implemented on the IAU. During the portions of the mission in which the DRS was under control, the DCS was responsible for controlling the spacecraft and the free-floating test masses that were part of the LISA Test Package. The commissioning period was originally divided into two periods: before propulsion separation and after pro-pulsion separation. A recommissioning period was added after an anomaly oc-curred in the thruster system. The paper will describe the activities used to com-mission DRS, present results from the commissioning of the DCS and the re-commissioning activities performed after the thruster anomaly.
Dynamic Control System Performance during Commissioning of the Space Technology 7-Disturbance Reduction System Experiment of LISA Pathfinder
The Space Technology-7 Disturbance Reduction System (DRS) launched aboard the European Space Agency's LISA Pathfinder spacecraft on December 3, 2015, after more than a decade in development. DRS consists of three primary components: an Integrated Avionics Unit (IAU), Colloidal MicroNewton Thrusters, and Dynamic Control System (DCS) algorithms implemented on the IAU. During the portions of the mission in which the DRS was under control, the DCS was responsible for controlling the spacecraft and the free-floating test masses that were part of the LISA Test Package. The commissioning period was originally divided into two periods: before propulsion separation and after propulsion separation. A recommissioning period was added after an anomaly occurred in the thruster system. The paper will describe the activities used to commission DRS, present results from the commissioning of the DCS and the recommissioning activities per-formed after the thruster anomaly.
Launch and Commissioning of the Lunar Reconnaissance Orbiter (LRO)
The Lunar Reconnaissance Orbiter (LRO) launched on June 18, 2009 from the Cape Canaveral Air Force Station. LRO, designed, built, and operated by the National Aeronautics and Space Administration (NASA) Goddard Space Flight Center in Greenbelt, MD, is gathering crucial data on the lunar environment that will help astronauts prepare for long-duration lunar expeditions. To date, the Guidance, Navigation and Control (GN&C) subsystem has operated nominally and met all requirements. However, during the early phase of the mission, the GN&C Team encountered some anomalies. For example, during the Solar Array and High Gain Antenna deployments, one of the safing action points tripped, which was not expected. Also, the spacecraft transitioned to its safe hold mode, SunSafe, due to encountering an end of file for an ephemeris table. During the five-day lunar acquisition, one of the star trackers triggered the spacecraft to transition into a safe hold configuration, the cause of which was determined. These events offered invaluable insight to better understand the performance of the system they designed. An overview of the GN&C subsystem will be followed by a mission timeline. Then, interesting flight performance as well as anomalies encountered by the GN&C Team will be discussed in chronological order.
Integration and Testing of the Lunar Reconnaissance Orbiter Attitude Control System
Throughout the Lunar Reconnaissance Orbiter (LRO) Integration and Testing (I&T) phase of the project, the Attitude Control System (ACS) team completed numerous tests on each hardware component in ever more flight like environments. The ACS utilizes a select group of attitude sensors and actuators. This paper chronicles the evolutionary steps taken to verify each component was constantly ready for flight as well as providing invaluable trending experience with the actual hardware. The paper includes a discussion of each ACS hardware component, lessons learned of the various stages of I&T, a discussion of the challenges that are unique to the LRO project, as well as a discussion of work for future missions to consider as part of their I&T plan. LRO ACS sensors were carefully installed, tested, and maintained over the 18 month I&T and prelaunch timeline. Care was taken with the optics of the Adcole Coarse Sun Sensors (CSS) to ensure their critical role in the Safe Hold mode was fulfilled. The use of new CSS stimulators provided the means of testing each CSS sensor independently, in ambient and vacuum conditions as well as over a wide range of thermal temperatures. Extreme bright light sources were also used to test the CSS in ambient conditions. The integration of the two SELEX Galileo Star Trackers was carefully planned and executed. Optical ground support equipment was designed and used often to check the performance of the star trackers throughout I&T in ambient and thermal/vacuum conditions. A late discovery of potential contamination of the star tracker light shades is discussed in this paper. This paper reviews how each time the spacecraft was at a new location and orientation, the Honeywell Miniature Inertial Measurement Unit (MIMU) was checked for data output validity. This gyro compassing test was performed at several key testing points in the timeline as well as several times while LRO was on the launch pad. Sensor alignment tests were completed several times to ensure that hardware remained on a rigid platform.
A Multibody Slosh Analysis for the Lunar Reconnaissance Orbiter
The Lunar Reconnaissance Orbiter (LRO) undergoes a series of thruster maneuvers to attain lunar orbit. The first of the series of lunar orbit insertion (LOI) maneuvers is crucial to the success of the mission. Therefore, it is important to characterize the disturbances acting on the spacecraft during this phase of the mission. This paper focuses on the internal disturbance force caused by fuel slosh and its impact on attitude control. During the first LOI maneuver (LOI-1), approximately 50% of the total fuel mass is used or roughly 25% of the spacecraft s wet mass, during the 38-minute burn. The forces imparted on the spacecraft from the fuel are dependent on the fill level of the two fuel tanks. During LOI-1, the fill level in both tanks varies greatly and thus so does the disturbance level caused by the fuel. It is therefore necessary to account for the time-varying mass properties of the spacecraft and the effects of the varying fuel levels during the entire 38-minute maneuver. Two simulations are developed in Mathworks s Simulink to analyze the fuel slosh effect. The first model, a baseline model, is a rigid body dynamics model where the fuel slosh is not modeled. The second is a multibody model, developed using a multibody dynamics toolbox, where each of the two fuel tanks and the remaining spacecraft body are treated as separate rigid bodies. The simulations are executed in a piece-wise fashion to account for the time-varying mass properties, and to accommodate the multibody toolbox. Disturbances caused by fuel slosh during both lunar and mission orbit insertions will be analyzed through simulation of different dynamics models. Results of the analysis will show the effects of the slosh disturbance on the spacecraft s attitude.