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Mars Exploration Rovers navigation results

The twin Mars Exploration Rovers, Spirit and Opportunity, were launched on June 10, 2003, and July 8, 2003, from Cape Canaveral, Florida. Spirit and Opportunity were targeted for landings at Gusev Crater (arrival on January 4, 2004) and Meridiani Planum (arrival on January 25, 2004). The primary navigation challenge was to deliver each spacecraft to the desired atmospheric entry interface point with sufficient accuracy such that each lander would touch down within a specified landing ellipse (about 70 km x 5 km) determined to be safe for landing and also judged to be scientifically interesting. In order to achieve landing within the target ellipse, precise control of the inertial entry flight path angle (FPA) at atmospheric entry was required. The maximum allowable errors in FPA following TCM-5 (trajectory correction maneuver #5) at Entry (E) -2 days were +/-0.12 deg(3 sigma) for Spirit and +/-0.14 deg(3 sigma) for Opportunity. Achieving these entry delivery accuracies necessitated significant improvements to the interplanetary navigation system used for MER. These improvements included new processes and software for orbit determination, propulsive maneuver design, and entry, descent, and landing (EDL) trajectory simulation. The actual achieved atmospheric entry accuracies for Spirit and Opportunity significantly exceeded the requirements. At the navigation data cutoff for the TCM-5 final design, the orbit determination FPA knowledge error was 0.028 deg(3 sigma) for Spirit and 0.035 deg(3 sigma) for Opportunity. Because of exceptionally accurate navigation performance, TCM-5 (E - 2 days) and TCM-6 (E - 4 hours) were canceled for both Spirit and Opportunity. The actual landing locations (determined from in-situ Doppler tracking between the MER rovers and the Mars Odyssey orbiter) differed from the target landing points by 10.1 km (downtrack) for Spirit and 24.6 km (downtrack) for Opportunity. The majority of the landing position offsets for both landers was primarily caused by variations in atmosphere and spacecraft aerodynamic modeling from what was predicted. The amount of the landing position offset caused by navigation-only errors was only 3.3 km (uptrack) for Spirit and 9.7 km (downtrack) for Opportunity.

Mars Exploration Rover (MER)

OTV Propulsion Issues

The statistical technology needs of aero-assist maneuvering, propulsion, and usage of cryogenic fluids were presented. Industry panels discussed the servicing of reusable space based vehicles and propulsion-vehicle interation.

Source record

Space systems propulsion technology

The following topics are presented in viewgraph form: (1) space systems propulsion technology vision; (2) orbit transfer and maneuvering propulsion; (3) modular/storable orbit transfer/maneuvering propulsion; (4) cryogenic orbital transfer vehicle (OTV) propulsion; (5) advanced propulsion; (6) high energy density matter; (7) nuclear propulsion; (8) space launch propulsion; (9) advanced launch development program technologies at the Astronautics Laboratory (AL); and (10) AL support to the National Aerospace Plane (NASP).

Hite, Dale

Evaluation of the use of on-board spacecraft energy storage for electric propulsion missions

On-board spacecraft energy storage represents an under utilized resource for some types of missions that also benefit from using relatively high specific impulse capability of electric propulsion. This resource can provide an appreciable fraction of the power required for operating the electric propulsion subsystem in some missions. The most probable mission requirement for utilization of this energy is that of geostationary satellites which have secondary batteries for operating at high power levels during eclipse. The study summarized in this report selected four examples of missions that could benefit from use of electric propulsion and on-board energy storage. Engineering analyses were performed to evaluate the mass saved and economic benefit expected when electric propulsion and on-board batteries perform some propulsion maneuvers that would conventionally be provided by chemical propulsion. For a given payload mass in geosynchronous orbit, use of electric propulsion in this manner typically provides a 10% reduction in spacecraft mass.

Poeschel, R. L.

Mission Design for the Innovative Interstellar Explorer Vision Mission

The Innovative Interstellar Explorer, studied under a NASA Vision Mission grant, examined sending a probe to a heliospheric distance of 200 Astronomical Units (AU) in a "reasonable" amount of time. Previous studies looked at the use of a near-Sun propulsive maneuver, solar sails, and fission reactor powered electric propulsion systems for propulsion. The Innovative Interstellar Explorer's mission design used a combination of a high-energy launch using current launch technology, a Jupiter gravity assist, and electric propulsion powered by advanced radioisotope power systems to reach 200 AU. Many direct and gravity assist trajectories at several power levels were considered in the development of the baseline trajectory, including single and double gravity assists utilizing the outer planets (Jupiter, Saturn, Uranus, and Neptune). A detailed spacecraft design study was completed followed by trajectory analyses to examine the performance of the spacecraft design options.

Fiehler, Douglas I.

Fuel optimal maneuver: Experimental testbeds

The objective of this paper is to conduct experiments in fuel optimal propulsive maneuvers of flexible spacecraft in order to verify and extend recently developed theory and apply it to various classes of spacecraft. Topics covered in viewgraph format include: impulse damping control by experimental verification; impulse damping of the SCOLE reflector and mast; fuel optimal control of rotating flexible beam; fuel optimal aerobrake maneuvers.

Meyer, John L.

Electric propulsion for communications satellites

Electric propulsion systems derive their low overall mass, relative to chemical propulsion systems, from an optimized mix of independently controlled power and mass flow rate. A significant reduction in mass can be secured by substituting electric propulsion for conventional hydrazine systems for all the major propulsion tasks of a communications satellite. Additional advantages for all electric propulsion maneuvers are precision location and higher pointing accuracy. Three auxiliary electric propulsion systems are now available for application on communications satellites: the electrically augmented hydrazine system, the Teflon pulsed plasma system, and the mercury ion thruster system. Primary electric propulsion will be available in the mid to late 1980s as a spin-off of NASA's program of interplanetary exploration.

Free, B. A.

An interplanetary targeting and orbit insertion maneuver design technique

The paper describes a tradeoff in selecting a planetary encounter aimpoint and a spacecraft propulsive maneuver strategy in the Pioneer Venus Orbiter Mission. The method uses parametric data spanning a region of acceptable targeting aimpoints in the delivery space and the geometric considerations. Real-time maneuver adjustments accounted for known attitude control errors, orbit determination updates, and late changes in a targeting specification.

Hintz, G. R.

Mars Sample Return Using Commercial Capabilities: ERV Trajectory and Capture Requirements

Mars Sample Return was presented as the highest priority planetary science mission of the next decade [1]. Lemke et al. [2] present a Mars Sample Return mission concept in which the sample is returned directly from the surface of Mars to an Earth orbit. The sample is recovered in Earth Orbit instead of being transferred between spacecraft in Mars Orbit. This paper provides the details of this sample recovery in Earth orbit and presents as such a sub-element of the overall Mars sample return concept given in [2]. We start from the assumption that a Mars Ascent Vehicle (MAV), initially landed on Mars using a modified SpaceX Dragon capsule, has successfully delivered the sample, already contained within an Earth Return Vehicle (ERV), to a parking orbit around Mars. From the parking orbit, the ERV imparts sufficient Delta-V to inject itself into an earthbound trajectory and to be captured into an Earth orbit eventually. We take into account launch window and Delta-V considerations as well as the additional constraint of increased safety margins imposed by planetary protection regulations. We focus on how to overcome two distinct challenges of the sample return that are driven by the issues of planetary protection: (1) the design of an ERV trajectory meeting all the requirements including the need to avoid contamination of Earth's atmosphere; (2) the concept of operations for retrieving the Martian samples in Earth orbit in a safe way. We present an approach to retrieve the samples through a rendezvous between the ERV and a second SpaceX Dragon capsule. The ERV executes a trajectory that brings it from low Mars orbit (LMO) to a Moon-trailing Earth orbit at high inclination with respect to the Earth-Moon plane. After a first burn at Trans-Earth Injection (TEI), the trajectory uses a second burn at perigee during an Earth flyby maneuver to capture the ERV in Earth orbit. The ERV then uses a non-propulsive Moon flyby to come to a near-circular Moon-trailing orbit. To perform the Earth Orbit Rendezvous (EOR), a second Dragon capsule is then launched from Earth and a similar lunar flyby is performed to rendezvous with the ERV. The requirements for rendezvous, close proximity operations and capture of the sample canister are described. A concept of operations for sample retrieval is presented along with design specifications of the ERV, the required modifications to the Dragon capsule, as well as the hardware, software, sensors, actuators, and capture mechanisms used. In our concept, a container is mounted to the front hatch of Dragon, capable of accommodating the sample canister and sealing it from the rest of the capsule. The sample canister is captured using a robotic arm with a magnetic grappling mechanism. Dragon then performs a propulsive maneuver to return to Earth for a controlled re-entry while the ERV (sans sample container) is left in the Moon trailing orbit. Contingency cases and related mitigation strategies are also discussed, including the advantages and disadvantages of performing the ERV rendezvous with a crew.

Faber, Nicolas F.

Trajectories and orbital maneuvers for the ISEE-3/ICE comet mission

The ISEE-3/ICE spacecraft, (launched in 1978), and expected to obtain the first measurements of comet Giacobinni-Zinner in September 1985, has undertaken a combination of propulsive maneuvers, lunar swing-bys, and solar perturbations to produce its present trajectory profile. ISEE-3 is a drum-shaped, spin-stabilized spacecraft equipped with a redundant pair of high-resolution sun sensors, a medium-gain S-band antenna, a hydrazine propulsion system and a science experiment payload. After being placed into a sun-earth libration halo orbit in late 1978, ISEE-3 was retargeted to the geomagnetotail in mid-1982 and became the first spacecraft to explore the geomagnetic tail between 80 and 237 earth radii in 1983. These types of maneuvers may prove important for future scientific missions planned as follow-ons to ISEE-3/ICE, such as a joint NASA/ISAS project spacecraft scheduled for Shuttle launch in 1991, and a possible encounter with two comets in 1996 anad 1998.

Farquhar, R.

Gossamer Technology to Deorbit LEO Non-Propulsion Fitted Satellite

Since 2004, CNES has decided to apply the end of life Code of Conduct rules to debris mitigation. Originally drawn up by the main European space agencies, it contains basic rules to be applied in space in order to limit the increase of orbital debris. In low Earth orbit, the rule is to limit in-orbit lifetime to 25 years after the end of the operational mission, or else to transfer to a graveyard orbit above 2000 km. In order to follow these instructions, a task force was set up in 2005 to find the best way to implement them on MICROSCOPE and CNES microsatellite family (MYRIADE). This 200-kg spacecraft should be launched in 2014 on a 790-km high circular orbit. Without targeted action, its natural re-entry would occur in 67 years. Two strategies to reduce this time period were compared: propulsive maneuvers at the end of the mission or the deployment of large surfaces to increase significantly the ballistic coefficient. At the end of the trade off, it was recommended: .. For the non-propulsive system fitted satellites, to use passive aerobraking by deployment of added surface, .. For satellites having propulsive subsystem in baseline for mission purposes, to keep sufficient propellant and implement specific maneuvers. The poster gives an overview of the process that led to the development of a deployable aerobraking wing using a lightweight aluminized Kapton membrane and an inflatable aluminum laminate boom. The main requirements; The trade off among various aerobraking solutions; The development plan. This technology presents a very attractive potential and it could be a first step in using of inflatable technology on spaces vehicles, before to deal with others more exigent applications.

Dupuy, C.

Phobos encounter trajectory and maneuver design

In February 1977, the Viking 1 Orbiter made repeated flybys of the Martian satellite Phobos at distances near 100 kilometers. These close encounters allowed a detailed scientific investigation of the nature and origin of Phobos. A sequence of three maneuvers was required to achieve the encounters. This paper presents the trajectory analysis performed to accommodate the scientific objectives and the spacecraft propulsive maneuver strategy used to achieve the desired trajectory while satisfying operational constraints. The actual maneuvers executed and the resultant Phobos encounter conditions are presented.

Diehl, R. E.

Liquid Oxygen/Liquid Methane Integrated Power and Propulsion

The proposed paper will cover ongoing work at the National Aeronautics and Space Administration (NASA) Johnson Space Center (JSC) on integrated power and propulsion for advanced human exploration. Specifically, it will present findings of the integrated design, testing, and operational challenges of a liquid oxygen / liquid methane (LOx/LCH4) propulsion brassboard and Solid Oxide Fuel Cell (SOFC) system. Human-Mars architectures point to an oxygen-methane economy utilizing common commodities, scavenged from the planetary atmosphere and soil via In-Situ Resource Utilization (ISRU), and common commodities across sub-systems. Due to the enormous mass gear-ratio required for human exploration beyond low-earth orbit, (for every 1 kg of payload landed on Mars, 226 kg will be required on Earth) increasing commonality between spacecraft subsystems such as power and propulsion can result in tremendous launch mass and volume savings. Historically, propulsion and fuel cell power subsystems have had little interaction outside of the generation (fuel cell) and consumption (propulsion) of electrical power. This was largely due to a mismatch in preferred commodities (hypergolics for propulsion; oxygen & hydrogen for fuel cells). Although this stove-piped approach benefits from simplicity in the design process, it means each subsystem has its own tanks, pressurization system, fluid feed system, etc. increasing overall spacecraft mass and volume. A liquid oxygen / liquid methane commodities architecture across propulsion and power subsystems would enable the use of common tankage and associated pressurization and commodity delivery hardware for both. Furthermore, a spacecraft utilizing integrated power and propulsion could use propellant residuals - propellant which could not be expelled from the tank near depletion due to hydrodynamic considerations caused by large flow demands of a rocket engine - to generate power after all propulsive maneuvers are complete thus utilizing previously wasted mass. Such is the case for human and robotic planetary landers. Although many potential benefits through integrated power & propulsion exist, integrated operations have yet to be successfully demonstrated and many challenges have already been identified the most obvious of which is the large temperature gradient. SOFC chemistry is exothermic with operating temperatures in excess of 1,000 K; however, any shared commodities will be undoubtedly stored at cryogenic temperatures (90-112 K) for mass efficiency reasons. Spacecraft packaging will drive these two subsystems in close proximity thus heat leak into the commodity tankage must be minimized and/or mitigated. Furthermore, commodities must be gasified prior to consumption by the SOFC. Excess heat generated by the SOFC could be used to perform this phase change; however, this has yet to be demonstrated. A further identified challenge is the ability of the SOFC to handle the sudden power spikes created by the propulsion system. A power accumulator (battery) will likely be necessary to handle these sudden demands while the SOFC thermally adjusts. JSC's current SOFC test system consists of a 1 kW fuel cell designed by Delphi. The fuel cell is currently undergoing characterization testing at the NASA JSC Energy Systems Test Area (ESTA) after which a Steam Methane Reformer (SMR) will be integrated and the combined system tested in closed-loop. The propulsion brassboard is approximately the size of what could be flown on a sounding rocket. It consists of one 100 lbf thrust "main" engine developed for NASA by Aerojet and two 10 lbf thrusters to simulate a reaction control system developed at NASA JSC. This system is also under development and initial testing at ESTA. After initial testing, combined testing will occur which will provide data on the fuel cell's ability to sufficiently handle the power spikes created by the propulsion system. These two systems will also be modeled using General-Use Nodal Network Solver (GUNNS) software. Once anchored with test data, this model will be used to extrapolate onto other firing profiles and used to size the power accumulator.

Banker, Brian

Cassini Maneuver Performance Assessment and Execution-Error Modeling Through 2015

In its twelfth year touring Saturn, the Cassini spacecraft continues to gather valuable scientific data about the planet and its moons. Cassini has executed a total of 331 propulsive maneuvers through January 23, 2016. With more than 30 maneuvers planned through July 2017 before the mission ends in September 2017, a dwindling propellant supply has become a chief concern. This manuscript will report on the analysis of Cassini maneuvers performed through December 30, 2015 and recommend execution-error models for the remainder of the mission. Maneuver performance assessment techniques and execution-error model development methods will also be outlined.

Wagner, Sean V.

Cassini Maneuver Performance Assessment and Execution-Error Modeling Through 2015

In its twelfth year touring Saturn, the Cassini spacecraft continues to gather valuable scientific data about the planet and its moons. Cassini has executed a total of 331 propulsive maneuvers through January 23, 2016. With more than 30 maneuvers planned through July 2017 before the mission ends in September 2017, a dwindling propellant supply has become a chief concern. This manuscript will report on the analysis of Cassini maneuvers performed through December 30, 2015 and recommend execution-error models for the remainder of the mission. Maneuver performance assessment techniques and execution-error model development methods will also be outlined.

Wagner, Sean V.

Aerocapture as an Enabling Technology for Planetary Missions

Aerocapture is an atmospheric maneuver where aerodynamic forces are used to transfer a spacecraft from a hypersonic orbit to a targeted capture orbit. Aerocapture provides large mass benefits over all-propulsive maneuvers that are typically used to enter capture orbits, as the aerodynamic forces of the vehicle in an atmosphere slow down the vehicle rather than using propellant. Additionally, aerocapture is a quick maneuver where the spacecraft enters the target orbit after a short transit through the atmosphere versus similar aero-assist maneuvers like aerobraking, where the vehicle enters the desired orbit incrementally from a highly elliptical orbit and usually takes a time period of the order of months.

Soumyo Dutta

Optimization of aeroassisted orbital transfer - Current status

This paper presents the theory of optimal aeroassisted orbital transfer, with special consideration given to the transfer about a central body with an atmosphere, with propulsive maneuvers in space modeled as instantaneous changes in the velocity vector. It is shown that there are four potentially optimal transfer modes, two aeroassisted and two all-propulsive, for each point in the two-dimensional transfer space. Aeroassisted orbital transfer introduces a strong coupling between the trajectory design and the vehicle design; a trajectory that minimizes fuel mass without attention to heating may require the vehicle to have a heavy thermal protection system. It is emphasized that, if aeroassisted transfer is to be preferred to all-propulsive transfer, it must offer a reduction in fuel mass greater than the increase in thermal protection mass.

Mease, K. D.

Overview of Proposed ISRU Technology Development

ISRU involves any hardware or operation that harnesses and utilizes in-situ resources (natural and discarded) to create products and services for robotic and human exploration: Assessment of physical, mineral chemical, and volatile water resources, terrain, geology, and environment (orbital and local). Production of replacement parts, complex products, machines, and integrated systems from feedstock derived from one or more processed resources. Civil engineering, infrastructure emplacement, and structure construction using materials produced from in situ resources. Radiation shields, landing pads, roads, berms, habitats, etc. Generation and storage of electrical, thermal, and chemical energy with in situ derived materials. Solar arrays, thermal wadis, chemical batteries, etc. ISRU is a disruptive capability: Enables more affordable exploration than todays paradigm. Allows more sustainable architectures to be developed. Understand the ripple effect in the other Exploration Elements: MAV: propellant selection, higher rendezvous altitude (higher DV capable with ISRU propellants). EDL: significantly reduces required landed mass. Life Support: reduce amount of ECLSS closure, reduce trash mass carried through propulsive maneuvers. Power: ISRU drives electrical requirements, reactant and regeneration for fuel cells for landers, rovers, and habitat backup. Every Exploration Element except ISRU has some flight heritage (power, propulsion, habitats, landers, life support, etc.) ISRU will require a flight demonstration mission on Mars before it will be included in the critical path. Mission needs to be concluded at least 10 years before first human landed mission to ensure lessons learned can be incorporated into final design. ISRU Formulation team has generated a (still incomplete) list of over 75 technical questions on more than 40 components and subsystems that need to be answered before the right ISRU system will be ready for this flight demo.

Mars exploration