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At least 505 records · Page 28
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Planned LMSS propagation experiment using ACTS: Preliminary antenna pointing results during mobile operations

An overview and a status description of the planned LMSS mobile K band experiment with ACTS is presented. As a precursor to the ACTS mobile measurements at 20.185 GHz, measurements at 19.77 GHz employing the Olympus satellite were originally planned. However, because of the demise of Olympus in June of 1991, the efforts described here are focused towards the ACTS measurements. In particular, we describe the design and testing results of a gyro controlled mobile-antenna pointing system. Preliminary pointing measurements during mobile operations indicate that the present system is suitable for measurements employing a 15 cm aperture (beamwidth at approximately 7 deg) receiving antenna operating with ACTS in the high gain transponder mode. This should enable measurements with pattern losses smaller than plus or minus 1 dB over more than 95 percent of the driving distance. Measurements with the present mount system employing a 60 cm aperture (beamwidth at approximately 1.7 deg) results in pattern losses smaller than plus or minus 3 dB for 70 percent of the driving distance. Acceptable propagation measurements may still be made with this system by employing developed software to flag out bad data points due to extreme pointing errors. The receiver system including associated computer control software has been designed and assembled. Plans are underway to integrate the antenna mount with the receiver on the University of Texas mobile receiving van and repeat the pointing tests on highways employing a recently designed radome system.

Rowland, John R.↗
NASA NTRS1993

The star identification, pointing and tracking system of UVSTAR, an attached payload instrument system for the Shuttle Hitchhiker-M platform

We describe an algorithm for star identification and pointing/tracking of a spaceborne electro-optical system and simulation analyses to test the algorithm. The algorithm will be implemented in the guiding system of UVSTAR, a spectrographic telescope for observations of astronomical and planetary sources operating in the 500-1250 A waveband at approximately 1 A resolution. The experiment is an attached payload and will fly as a Hitchhiker-M payload on the Shuttle. UVSTAR includes capabilities for independent target acquisition and tracking. The spectrograph package has internal gimbals that allow angular movement of plus or minus 3 deg from the central position. Rotation about the azimuth axis (parallel to the Shuttle z axis) and elevation axis (parallel to the Shuttle x axis) will actively position the field of view to center the target of interest in the fields of the spectrographs. The algorithm is based on an on-board catalog of stars. To identify star fields, the algorithm compares the positions of stars recorded by the guiding imager to positions computed from the on-board catalog. When the field has been identified, its position within the guiding imager field of view can be used to compute the pointing corrections necessary to point to a target of interest. In tracking mode, the software uses the past history to predict the quasi-periodic attitude control motions of the shuttle and sends pointing commands to cancel the motion and stabilize UVSTAR on the target. The guiding imager (guider) will have an 80-mm focal length and f/1.4 optics giving a field of view of 6 deg x 4.5 deg using a 385 x 288 pixel intensified CCD. It will be capable of providing high accuracy (better than 2 arc-sec) attitude determination from coarse (6 deg x 4.5 deg) initial knowledge of the pointing direction; and of pointing toward the target. It will also be capable of tracking at the same high accuracy with a processing time of less than a few hundredths of a second.

Decarlo, Francesco↗
NASA NTRS1994

ATLAS solar pointing operations

The ATLAS-series of Spacelab missions are comprised of a diverse group of scientific instruments including instruments for studying the sun and how the sun's energy changes across an eleven-year solar cycle. The ATLAS solar instruments are located on one or more pallets in the Orbiter payload bay and use the Orbiter as a pointing platform for their examinations of the sun. One of the ATLAS instruments contained a sun sensor which allowed scientists and engineers on the ground to see the pointing error of the sun with respect to the instrument and correct for the error based upon the information coming from the ATLAS 1 and ATLAS 2 missions with particular attention given to identifying the sources of pointing discrepancies of the solar instruments and to describe the crew and ground controller procedures that were developed to correct for these discrepancies. The Orbiter pointing behavior from the ATLAS 1 and ATLAS 2 flights presented in this paper can be applied to future flights which use the Orbiter as a pointing platform.

Tyler, C. A.↗
NASA NTRS1993

Annular suspension and pointing system with controlled DC electromagnets

The Annular Suspension and Pointing System (ASPS) developed by the Flight System division of Sperry Corporation is a six-degree of freedom payload pointing system designed for use with the space shuttle. This magnetic suspension and pointing system provides precise controlled pointing in six-degrees of freedom, isolation of payload-carrier disturbances, and end mount controlled pointing. Those are great advantages over the traditional mechanical joints for space applications. In this design, we first analyzed the assumed model of the single degree ASPS bearing actuator and obtained the plant dynamics equations. By linearizing the plant dynamics equations, we designed the cascade and feedback compensators such that a stable and satisfied result was obtained. The specified feedback compensator was computer simulated with the nonlinearized plant dynamics equations. The results indicated that an unstable output occurred. In other words, the designed feedback compensator failed. The failure of the design is due to the Taylor's series expansion not converging.

Vu, Josephine Lynn↗
NASA NTRS1994

Modeling the two-point correlation of the vector stream function

A new model for the two-point vector stream function correlation has been developed using tensor invariant arguments and evaluated by the comparison of model predictions with DNS data for incompressible homogeneous turbulent shear flow. This two-point vector stream function model correlation can then be used to calculate the two-point velocity correlation function and other quantities useful in turbulence modeling. The model assumes that the two-point vector stream function correlation can be written in terms of the separation vector and a new tensor function that depends only on the magnitude of the separation vector. The model has a single free model coefficient, which has been chosen by comparison with the DNS data. The relative error of the model predictions of the two-point vector stream function correlation is only a few percent for a broad range of the model coefficient. Predictions of the derivatives of this correlation, which are of interest in turbulence modeling, may not be this accurate.

Oberlack, M.↗
NASA NTRS1994

Gamma-ray observations of Ophiuchus with EGRET: The diffuse emission and point sources

Observations of the Ophiuchus region made with the Energetic Gamma-Ray Experiment Telescope (EGRET) on the Compton Gamma Ray Observatory (CGRO) during the first 2 1/2 years of operation show the diffuse emission from the interstellar gas in Ophiuchus as well as variable emission from two point sources. The gamma-ray emission is modeled in terms of cosmic-ray interactions with atomic and molecular hydrogen in Ophiuchus and with low-energy photons along the line of sight. The model also includes the flux from the two point sources and an isotropic diffuse contribution. The cosmic-ray density is assumed to be uniform. The derived ratio of molecular hydrogen column density to integrated CO intensity is (1.1 +/- 0.2) x 10(exp 20) H-mols/sq cm (K km/s)(exp -1). At the sensitivity and resolution of the gamma-ray data, no variation of this ratio over the modeled region is discernible, nor are any regions of enhanced cosmic-ray density apparent. The model was fitted to seven narrow energy bands to obtain the energy depedence of the gamma-ray production function and the spectra of the point sources. The derived production function is in good agreement with theoretical calculations and the local cosmic-ray electron and proton spectra. The positions of the point sources were determined from maximum likelihood analysis of the gamma-ray emission observed in excess of the diffuse model. We identify one point source with the quasar PKS 1622-253, which has an average flux, E greater than 100 MeV, of (2.5 +/- 0.5) x 10(exp -7) photons/sq cm/s and photon spectral index -1.9 +/- 0.3. The other source, denoted GRO J1631-27, has not yet been identified at other wavelengths. Its average flux, E greater than 100 MeV, is (1.1 +/- 0.4) x 10(exp -7) photons/sq cm/s; however, its spectral index is poorly determined. The spectral index and intensity of the isotropic contribution to the model agree well with the extragalactic diffuse emission derived from the SAS 2 data.

Hunter, S. D.↗
NASA NTRS1995

The point spread function of the soft X-ray telescope aboard Yohkoh

The point spread function of the SXT telescope aboard Yohkoh has been measured in flight configuration in three different X-ray lines at White Sands Missile Range. We have fitted these data with an elliptical generalization of the Moffat function. Our fitting method consists of chi squared minimization in Fourier space, especially designed for matching of sharply peaked functions. We find excellent fits with a reduced chi squared of order unity or less for single exposure point spread functions over most of the CCD. Near the edges of the CCD the fits are less accurate due to vignetting. From fitting results with summation of multiple exposures we find a systematic error in the fitting function of the order of 3% near the peak of the point spread function, which is close to the photon noise for typical SXT images in orbit. We find that the full width to half maximum and fitting parameters vary significantly with CCD location. However, we also find that point spread functions measured at the same location are consistent to one another within the limit determined by photon noise. A 'best' analytical fit to the PSF as function of position on the CCD is derived for use in SXT image enhancemnent routines. As an aside result we have found that SXT can determine the location of point sources to about a quarter of a 2.54 arc sec pixel.

Martens, Petrus C.↗
NASA NTRS1996

Ka-band monopulse antenna-pointing systems analysis and simulation

NASA 's Deep Space Network (DSN) has been using both 70-m and 34-m reflector antennas to communicate with spacecraft at S-band (2.3 GHz) and X-band (8.45 GHz). To improve the quality of telecommunication and to meet future mission requirements, JPL has been developing 34-m Ka-band (32-GHz) beam waveguide antennas. Presently, antenna pointing operates in either the open-loop mode with blind pointing using navigation predicts or the closed-loop mode with conical scan (conscan). Pointing accuracy under normal conscan operating conditions is in the neighborhood of 5 mdeg. This is acceptable at S- and X-bands, but not enough at Ka-band. Due to the narrow beamwidth at Ka-band, it is important to improve pointing accuracy significantly (approximately 2 mdeg). Monopulse antenna tracking is one scheme being developed to meet the stringent pointing-accuracy requirement at Ka-band. Other advantages of monopulse tracking include low sensitivity to signal amplitude fluctuations as well as single-pulse processing for acquisition and tracking. This article presents system modeling, signal processing, simulation, and implementation of Ka-band monopulse tracking feed for antennas in NASA/DSN ground stations.

Lo, V. Y.↗
NASA NTRS1996

New Antenna Deployment, Pointing and Supporting Mechanism

On ITALSAT Flight 2, the Italian telecommunications satellite, the two L-Ka antennas (Tx and Rx) use two large deployable reflectors (2000-mm diameter), whose deployment and fine pointing functions are accomplished by means of an innovative mechanism concept. The Antenna Deployment & Pointing Mechanism and Supporting Structure (ADPMSS) is based on a new configuration solution, where the reflector and mechanisms are conceived as an integrated, self-contained assembly. This approach is different from the traditional configuration solution. Typically, a rigid arm is used to deploy and then support the reflector in the operating position, and an Antenna Pointing Mechanism (APM) is normally interposed between the reflector and the arm for steering operation. The main characteristics of the ADPMSS are: combined implementation of deployment, pointing, and reflector support; optimum integration of active components and interface matching with the satellite platform; structural link distribution to avoid hyperstatic connections; very light weight and; high performance in terms of deployment torque margin and pointing range/accuracy. After having successfully been subjected to all component-level qualification and system-level acceptance tests, two flight ADPMSS mechanisms (one for each antenna) are now integrated on ITALSAT F2 and are ready for launch. This paper deals with the design concept, development, and testing program performed to qualify the ADPMSS mechanism.

Costabile, V.↗
NASA NTRS1996

Ka-Band Monopulse Antenna-Pointing Systems Analysis and Simulation

NASA's Deep Space Network (DSN) has been using both 70-m and 34-m reflector antennas to communicate with spacecraft at S-band (2.3 GHz) and X-band (8.45 GHz). To improve the quality of telecommunication and to meet future mission requirements, JPL has been developing 34-m Ka-band (32-GHz) beamwave guide antennas. Presently, antenna pointing operates in either the open-loop mode with blind pointing using navigation predicts or the closed-loop mode with conical scan (conscan). Pointing accuracy under normal conscan operating conditions is in the neighborhood of 5 mdeg. This is acceptable at S- and X-bands, but not enough at Ka-band. Due to the narrow beamwidth at Ka-band, it is important to improve pointing accuracy significantly (approx. 2 mdeg). Monopulse antenna tracking is one scheme being developed to meet the stringent pointing-accuracy requirement at Ka-band. Other advantages of monopulse tracking include low sensitivity to signal amplitude fluctuations as well as single-pulse processing for acquisition and tracking. This article presents system modeling, signal processing, simulation, and implementation of Ka-band monopulse tracking feed for antennas in NASA/DSN ground stations.

Lo, V. Y.↗
NASA NTRS1998

Non-Gimbaled Antenna Pointing: Summary of Results and Analysis

There is considerable interest at this time in developing small satellites for quick-turnaround missions to investigate near-earth phenomena from space. One problem to be solved in mission planning is the means of communication between the control infrastructure in the ground segment and the satellite in the space segment. A nominal small-satellite mission design often includes an omni-directional or similar wide-pattern antenna on the satellite and a dedicated ground station for telemetry, tracking, and command support. These terminals typically provide up to 15 minutes of coverage during an orbit that is within the visibility of the ground station; however, not all orbits will pass over the ground station so that coverage gaps will exist in the data flow. To overcome this general limitation on data transmission for low-earth orbiting satellites, the Space Network (SN), operated by the National Aeronautics and Space Administration, (NASA) has been designed to transmit data to and from user satellites through the Tracking and Data Relay Satellites (TDRS) in geostationary orbit and interfacing to the White Sands Complex (WSC) in New Mexico for the data's ground entry point. The advantage of the SN over a fixed ground station is that all low-earth-satellite orbits will be within the visibility area of at least one TDRS within the SN for a large part of the orbit and the potential exists to establish a communications link if the user satellite can point an antenna in the direction of any one of the relay satellites. Within NASA, there is considerable interest in seeing that small satellite developers are aware of the advantages to the SN and that designs to include the SN are part of the satellite design. Small satellite users have not often considered using the SN because of: (1) The 26-dB link penalty differential between direct broadcast to a ground station and transmission through a TDRS to the ground; (2) The class of satellite is too small to support high-gain antennas and associated attitude control and drive electronics; (3) The class of satellites is severely weight and power limited; (4) There are perceived problems in scheduling communications for this class of user on the SN. This report addresses the potential for SN access using non-gimbaled, i.e. fixed-pointed, antennas in the design of the small satellite using modest transmission power to achieve the necessary space-to-ground transmissions. The advantage of using the SN is in the reduction of mission costs arising from using the SN infrastructure instead of a dedicated, proprietary ground station using a similar type of communications package. From the simulations and analysis presented, we will show that a modest satellite configuration can be used with the space network to achieve the data transmission goals of a number of users and thereby rival the performance achieved with proprietary ground stations. In this study, we will concentrate on the return data link (from the user satellite through a TDRS to the ground data entry point). The forward command link (from the ground data entry point through a TDRS to the user satellite) will usually be a lower data rate service and the data volume will also be considerably lower than the return link's requirement. Therefore, we assume that if the return link requirements are satisfied, then the forward link requirements can also be satisfied.

Horan, Stephen↗
NASA NTRS1999

Flight Performance of the Balloon Gondola Solar Pointing System

The NASA Solar Pointing System (SPS) has made two operational flights since its test flight in April of 1997. This pointing device was conceived and designed to provide ultra-low power gondola pointing primarily for directing gondola-fixed solar panels toward the sun. While typically consuming less than 5 watts, the system is capable of suspending and pointing up to 3400 kg, The SPS has logged over 25 days of mostly continuous operation. The performance data, including power consumption and pointing accuracy for these two successful flights is presented and analyzed. The data is compared to predictions and test flight data Suggestions for further developments and applications including Ultra-Long Duration Balloon (ULDB) are discussed.

Simpson, Joel↗
NASA NTRS2000

ICESat Spacecraft Pointing Support Study Grant

The Geodetic Laser Altimeter System (GLAS) mission is designed to measure changes in the elevations of the polar ice sheets. The ICESat satellite will carry the GLAS altimeter, and will have a nominal orbit altitude of 600 km and orbit inclination of 94deg. The groundtrack repeat period is 182 days and will be maintained to less than 1 km at the equator via routine orbit adjustments. Science requirements for the GLAS mission demand that the laser altimeter be pointed to within 50 meters of a predetermined reference groundtrack. As the actual ICESat groundtrack drifts away from the reference groundtrack, the attitude must be controlled such that the altimeter boresight is pointed, crosstrack, at the reference groundtrack. This orientation may be described by a rotation, theta, about the instantaneous geodetic local horizontal direction vector, which lies in the orbit plane and is oriented in the direction of motion of the satellite. The attitude is further complicated by requirements related to thermal and power considerations for various instruments, spacecraft components, and solar array orientation. In order to keep battery temperatures within the specified operating range, and maintain near normal pointing of the solar array with respect to the sunline direction vector as the orbit precesses relative to the sun, the satellite will be oriented in one of four fixed yaw modes. Each of these yaw modes depends upon the angle between the orbit plane and the sunline direction vector; this angle is designated Beta'. Table 1 shows the satellite yaw angle, Psi, for a given Beta' range. The angle Psi represents a rotation about the satellite z-axis, which points in the geodetic nadir direction; for Psi = 0deg the satellite x-axis points in the direction of motion.

Source record↗
NASA NTRS2001

A Non-Linear Approach to Spacecraft Formation Control in the Vicinity of a Collinear Libration Point

An expanding interest in mission design strategies that exploit libration point regions, demands the continued development of enhanced, efficient, control algorithms for station-keeping and formation maintenance. Linear control strategies have been developed for station-keeping. However, their region of stability is bounded by the assumptions required for linearizing the governing equations of motion. For example, reference [I] discusses the development of a linear control design for maintaining a halo orbit about the Earth-Moon L2 libration point. Trial runs indicated the trajectory was unstable for starting points exceeding 45,000 km from the L2 point. Also, there was significant growth in the control effort required to maintain the orbit as the nominal radius increased. This result is a consequence of the increased influence of the system non-linearities, as the trajectory deviated from the linearization point, L2. As an alternative, this paper presents the development of a non-linear control strategy, based on a Hamiltonian formulation of the equations of motion. The control strategy is applied to the problem of formation maintenance, rather than simple station

Luquette, Richard J.↗
NASA NTRS2003

Touch and gravitropic set-point angle interact to modulate gravitropic growth in roots

Plant roots must sense and respond to a variety of environmental stimuli as they grow through the soil. Touch and gravity represent two of the mechanical signals that roots must integrate to elicit the appropriate root growth patterns and root system architecture. Obstacles such as rocks will impede the general downwardly directed gravitropic growth of the root system and so these soil features must be sensed and this information processed for an appropriate alteration in gravitropic growth to allow the root to avoid the obstruction. We show that primary and lateral roots of Arabidopsis do appear to sense and respond to mechanical barriers placed in their path of growth in a qualitatively similar fashion. Both types of roots exhibited a differential growth response upon contacting the obstacle that directed the main axis of elongation parallel to the barrier. This growth habit was maintained until the obstacle was circumvented, at which point normal gravitropic growth was resumed. Thus, the gravitational set-point angle of the primary and lateral roots prior to encountering the barrier were 95 degrees and 136 degrees respectively and after growing off the end of the obstacle identical set-point angles were reinstated. However, whilst tracking across the barrier, quantitative differences in response were observed between these two classes of roots. The root tip of the primary root maintained an angle of 136 degrees to the horizontal as it traversed the barrier whereas the lateral roots adopted an angle of 154 degrees. Thus, this root tip angle appeared dependent on the gravitropic set-point angle of the root type with the difference in tracking angle quantitatively reflecting differences in initial set-point angle. Concave and convex barriers were also used to analyze the response of the root to tracking along a continuously varying surface. The roots maintained the a fairly fixed angle to gravity on the curved surface implying a constant resetting of this tip angle/tracking response as the curve of the surface changed. We propose that the interaction of touch and gravity sensing/response systems combine to strictly control the tropic growth of the root. Such signal integration is likely a critical part of growth control in the stimulus-rich environment of the soil. c2003 COSPAR. Published by Elsevier Ltd. All rights reserved.

NASA Discipline Plant Biology↗
NASA NTRS2007

Break Point Distribution on Chromosome 3 of Human Epithelial Cells exposed to Gamma Rays, Neutrons and Fe Ions

Most of the reported studies of break point distribution on the damaged chromosomes from radiation exposure were carried out with the G-banding technique or determined based on the relative length of the broken chromosomal fragments. However, these techniques lack the accuracy in comparison with the later developed multicolor banding in situ hybridization (mBAND) technique that is generally used for analysis of intrachromosomal aberrations such as inversions. Using mBAND, we studied chromosome aberrations in human epithelial cells exposed in vitro to both low or high dose rate gamma rays in Houston, low dose rate secondary neutrons at Los Alamos National Laboratory and high dose rate 600 MeV/u Fe ions at NASA Space Radiation Laboratory. Detailed analysis of the inversion type revealed that all of the three radiation types induced a low incidence of simple inversions. Half of the inversions observed after neutron or Fe ion exposure, and the majority of inversions in gamma-irradiated samples were accompanied by other types of intrachromosomal aberrations. In addition, neutrons and Fe ions induced a significant fraction of inversions that involved complex rearrangements of both inter- and intrachromosome exchanges. We further compared the distribution of break point on chromosome 3 for the three radiation types. The break points were found to be randomly distributed on chromosome 3 after neutrons or Fe ions exposure, whereas non-random distribution with clustering break points was observed for gamma-rays. The break point distribution may serve as a potential fingerprint of high-LET radiation exposure.

Hada, M.↗
NASA NTRS2007

Pointing History Engine for the Spitzer Space Telescope

The Pointing History Engine (PHE) is a computer program that provides mathematical transformations needed to reconstruct, from downlinked telemetry data, the attitude of the Spitzer Space Telescope (formerly known as the Space Infrared Telescope Facility) as a function of time. The PHE also serves as an example for development of similar pointing reconstruction software for future space telescopes. The transformations implemented in the PHE take account of the unique geometry of the Spitzer telescope-pointing chain, including all data on relative alignments of components, and all information available from attitude-determination instruments. The PHE makes it possible to coordinate attitude data with observational data acquired at the same time, so that any observed astronomical object can be located for future reference and re-observation. The PHE is implemented as a subroutine used in conjunction with telemetry-formatting services of the Mission Image Processing Laboratory of NASA s Jet Propulsion Laboratory to generate the Boresight Pointing History File (BPHF). The BPHF is an archival database designed to serve as Spitzer s primary astronomical reference documenting where the telescope was pointed at any time during its mission.

Bayard, David↗
NASA NTRS2010

Solar Array Disturbances to Spacecraft Pointing During the Lunar Reconnaissance Orbiter (LRO) Mission

The Lunar Reconnaissance Orbiter (LRO), the first spacecraft to support NASA s return to the Moon, launched on June 18, 2009 from the Cape Canaveral Air Force Station aboard an Atlas V launch vehicle. It was initially inserted into a direct trans-lunar trajectory to the Moon. After a five day transit to the Moon, LRO was inserted into the Lunar orbit and successfully lowered to a low altitude elliptical polar orbit for spacecraft commissioning. Successful commissioning was completed in October 2009 when LRO was placed in its near circular mission orbit with an approximate altitude of 50km. LRO will spend at least one year orbiting the Moon, collecting lunar environment science and mapping data, utilizing a suite of seven instruments to enable future human exploration. The objective is to provide key science data necessary to facilitate human return to the Moon as well as identification of opportunities for future science missions. LRO's instrument suite will provide the high resolution imaging data with sub-meter accuracy, highly accurate lunar cartographic maps, mineralogy mapping, amongst other science data of interest. LRO employs a 3-axis stabilized attitude control system (ACS) whose primary control mode, the "Observing Mode", provides Lunar nadir, off-nadir, and inertial fine pointing for the science data collection and instrument calibration. This controller combines the capability of fine pointing with on-demand large angle full-sky attitude reorientation. It provides simplicity of spacecraft operation as well as additional flexibility for science data collection. A conventional suite of ACS components is employed in the Observing Mode to meet the pointing and control objectives. Actuation is provided by a set of four reaction wheels developed in-house at NASA Goddard Space Flight Center (GSFC). Attitude feedback is provided by a six state Kalman filter which utilizes two SELEX Galileo Star Trackers for attitude updates, and a single Honeywell Miniature Inertial Measurement Unit (MIMU) to provide body rates for attitude propagation. Rate is computed by differentiating accumulated angle provided by the MIMU. The Observing Mode controller is required to maintain fine pointing while a large fully-articulated solar array (SA) maintains its panel normal to the solar incidence. This paper describes the disturbances to the attitude control resulting from the SA articulation. Observing Mode performance in the presence of this disturbance was assessed while the spacecraft was in an initial elliptical low altitude orbit during the commissioning phase, which started about two weeks after launch and lasted for 90 days. LRO demonstrated excellent pointing performance during Observing Mode nadir and inertial attitude target operations during this phase. Transient LRO attitude errors observed during commissioning resulted primarily from three sources, Diviner instrument calibrations, RW zero crossings, and SA articulation. Even during times of considerable disturbance from SA articulation, the attitude errors were maintained below the statistical attitude error requirement level of 15 arc-sec (3 sigma).

Calhoun, Philip↗