An approximate solution of the equations of motion for arbitrary rotating spacecraft
Approximate analytical solution for motion of arbitrary rotating spacecraft with variable disturbance functions
ROTATING BODY↗
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Docking mechanism for spacecraft
A system is presented for docking a space vehicle to a space station where a connecting tunnel for in-flight transfer of personnel is required. Cooperable coupling mechanisms include docking rings on the space vehicle and space station. The space station is provided with a tunnel structure, a retraction mechanism, and a docking ring. The vehicle coupling mechanism is designed to capture the station coupling mechanism, arrest relative spacecraft motions while limiting loads to acceptable levels, and then realign the spacecraft for final docking and tunnel interconnection. The docking ring of the space vehicle coupling mechanism is supported by linear attentuator actuator devices, each of which is controlled by a control system which receives loading information signals and attenuator stroke information signals from each device and supplies output signals for controlling its linear actuation to attenuate impact loading or to realign the spacecraft for final docking and tunnel interconnection. The retraction mechanism is used to draw the spacecraft together after initial contact and coupling. Tunnel trunnions, cooperative with the latches on the space vehicle constitute the primary structural tie between the spacecraft in final docked configuration.
Lange, Gregory A.↗
On space-based SETI
Space-based antenna systems for the search of signals from extra-terrestrial intelligence are discussed. Independent studies of the ecliptic solar-sailing transfer problem from the geosynchronous departure orbit to Sun-Earth collinear transterrestrial liberation point were conducted. They were based on a relatively simple mathematical model describing attitude-controlled spacecraft motion in the ecliptic plane as governed by solar and terrestrial gravitational attraction together with the solar radiation pressure. The resulting equations of motion were integrated numerically for a relevant range of values of spacecraft area-to-mass ratio and for an appropriate spacecraft attitude-control law known to lead to Earth escape. Experimentation with varying initial conditions in the departure orbit, and with attitude-control law modification after having achieved Earth escape, established the feasibility of component deployment by means of solar sailing. Details are presented.
Stuiver, Willem↗
Simplified model of statistically stationary spacecraft rotation and associated induced gravity environments
A stochastic model of spacecraft motion was developed based on the assumption that the net torque vector due to crew activity and rocket thruster firings is a statistically stationary Gaussian vector process. The process had zero ensemble mean value, and the components of the torque vector were mutually stochastically independent. The linearized rigid-body equations of motion were used to derive the autospectral density functions of the components of the spacecraft rotation vector. The cross-spectral density functions of the components of the rotation vector vanish for all frequencies so that the components of rotation were mutually stochastically independent. The autospectral and cross-spectral density functions of the induced gravity environment imparted to scientific apparatus rigidly attached to the spacecraft were calculated from the rotation rate spectral density functions via linearized inertial frame to body-fixed principal axis frame transformation formulae. The induced gravity process was a Gaussian one with zero mean value. Transformation formulae were used to rotate the principal axis body-fixed frame to which the rotation rate and induced gravity vector were referred to a body-fixed frame in which the components of the induced gravity vector were stochastically independent. Rice's theory of exceedances was used to calculate expected exceedance rates of the components of the rotation and induced gravity vector processes.
Fichtl, G. H.↗
Interactions between rigid-body and flexible-body motions in maneuvering spacecraft
The present consideration of the significant interactions between rigid-body and flexible-body motions in maneuvering spacecraft proceeds by distinguishing between the two types of motion on the basis of a tracking coordinate system which coincides with the rigid-body component of the motion, as well as by maintaining the motion relative to the tracking coordinate as orthogonal to the rigid-body motion. The elastic motion is excited by the rigid-body motion via Coriolis terms, angular acceleration terms, and centrifugal terms. These interactions are illustrated for spacecraft undergoing bidirectional elastic motions via the dynamics of constantly rotating free-free beams subject to combined bending and longitudinal vibration.
Silverberg, Larry M.↗
Large Angle Transient Dynamics (LATDYN) demonstration problem manual
LATDYN is a computer code for modeling the Large Angle Transient Dynamics of structures. The objective in developing the code was to investigate new techniques for analyzing flexible deformation and control/structure interaction problems associated with large angular motions of spacecraft. Such motions may consist of pointing the entire spacecraft or articulation of individual components, events which occur frequently during construction, operation, and maintenance of large spacecraft. This type of analysis is beyond the routine capability of conventional analytical tools without simplifying assumptions. In some instances, the motion may be sufficiently slow and the spacecraft (or component) sufficiently rigid to simplify the analysis of dynamics and controls by making pseudo-static and/or rigid body assumptions. LATDYN introduces a new approach to the problem by combining finite element structural analysis, multi-body dynamics, and control system analysis in a single tool. It includes a new type of finite element that can deform and rotate through large angles at the same time, and which can be connected to other finite elements either rigidly or through mechanical joints. LATDYN also provides symbolic capabilities for modeling control systems which are interfaced directly with the finite element structural model. Thus, the nonlinear equations representing the structural model are integrated along with the equations representing sensors, processing, and controls as a coupled system.
Wu, Shih-Chin↗
Link calibrations for the TDRSS orbiting VLBI experiment
The first successful interferometric observations of extragalactic radio sources using an orbiting antenna as one of the observing stations were achieved in July and August 1986 using the TDRSS. The technical obstacles to maintaining phase coherence between the orbiting antenna and the ground stations are reviewed, with an emphasis on the effects of spacecraft motion. An analysis of the interferometric delay and phase reveals the signature of errors in the spacecraft ephemeris. Various calibration schemes are discussed, including the use of a ground beacon at White Sands to calibrate the communications link between White Sands and the TDRSE satellite. Using all available calibrations, coherence of 84 percent was achieved for 700-sec integrations.
Edwards, C. D.↗
A Prognostics Framework Development for Swarm Satellite Formations
Prognostics is the science of predicting the failure(s) of a component or a system and understanding how the performance will change in the event of a failure or degradation mechanism. With accurate predictions of possible failures, autonomous mitigative actions can be taken to correct/repair any issues or alert human operators of a failure threshold exceedance requiring condition-based maintenance. Although there is extensive research on failure predictions for a component or a system, there are significantly more opportunities to foray into failure predictions and prognostics for a system of systems such as an airspace consisting of multiple aircraft, a fleet of unmanned aerial vehicles, and a swarm of intelligent satellite systems. Failure prediction and mitigation are particularly important in autonomous systems such as satellite swarm systems that need effective resource management and minimal human interactions. Based on NASA's decadal survey, there is a clear need to prioritize the development of satellite swarm technology for studies of space physics and Earth science. The science community will propose future missions that return in-situ measurements from a 3-D (three-dimensional) volume of space, with relative spacecraft motion and inter-satellite baselines controlled according to the mission objectives. For such multi-spacecraft missions, it is required that ground operations resources do not scale with the number of satellites, thus compromising the swarm or leading to inefficiencies in resource allocation. Swarms of tens or hundreds of small satellites will require autonomy in attitude control, navigation and failure. Although significant research has been conducted in the areas of autonomous formation flying algorithms, less attention has been given to the development of resilient systems robust to failures.The focus of this research paper is the integration of model-based prognostics into the swarm dynamics control and decision-making algorithms. We simulate swarm management strategies for a subsystem failure to demonstrate the importance of failure predictions by comparing two cases: (i) no health information is provided to the system and utilized in the decision-making process and (2) system health information is obtained using prognostics and employed by the control system. One example scenario presented is for the GPS (Global Positioning System) system of an individual satellite to perform off-nominally due to increasing estimated error. In this scenario, the keep-out zone for that satellite would become more conservative, thereby decreasing the risk of collision. This is achieved via tuning the individual artificial repulsive functions assigned to each satellite.This paper is structured as follows. First we provide an overview of current swarm technology development, where we specifically use the term swarm to define multiple satellites flying in formation in similar orbits, with cross-link communication and station-keeping capabilities. Second, we give an introduction to the Swarm Orbital Dynamics Advisor (SODA), a tool that accepts high-level configuration commands and provides the orbital maneuvers required to achieve the prescribed formation configuration. Third, we provide the details of the model-based prognostics algorithm implementation in SODA. Finally, we present different case studies for potential component/subsystem failures and the swarm responses based with and without failure prediction information.
prognostics↗
An approximate solution of the equations of motion for arbitrary rotating spacecraft
Approximate solution of motion equations for arbitrary rotating spacecraft
APPROXIMATION METHOD↗
Deriving the velocity distribution of meteoroids from the measured meteoroid impact directionality on the various LDEF surfaces
Because of spacecraft motion, a much higher flux of meteoroids is expected to strike the leading (apex) surface of a spacecraft than is expected to strike the trailing (antapex) surface. The ratio of fluxes (apex to antapex) depends on the velocity distribution of meteoroids entering the Earth's atmosphere. The ratio ranges from 5.7 to 9.2 at constant meteoroid mass for the three velocity distributions examined. The velocity of impact is also greater, on average, on the apex surface than on the antapex surface, and the impacts tend to be more normal to the surface. This means that the meteoroids that make a crater of a given diameter are less massive than those that strike the antapex surface. These effects further increase the apex-antapex abundance ratio at constant crater diameter compared to that at constant mass. For craters 100 microns in diameter on 6061 T6 aluminum on the Long Duration Exposure Facility, the ratios obtained on various surfaces are given in tabular form.
Zook, Herbert A.↗
LDEF microenvironments, observed and predicted
A computer model for prediction of atomic oxygen exposure of spacecraft in low earth orbit, referred to as the primary atomic oxygen model, was originally described at the First Long Duration Exposure Facility (LDEF) Post-Retrieval Symposium. The primary atomic oxygen model accounts for variations in orbit parameters, the condition of the atmosphere, and for the orientation of exposed surfaces relative to the direction of spacecraft motion. The use of the primary atomic oxygen model to define average atomic oxygen exposure conditions for a spacecraft is discussed and a second microenvironments computer model is described that accounts for shadowing and scattering of atomic oxygen by complex surface protrusions and indentations. Comparisons of observed and predicted erosion of fluorinated ethylene propylene (FEP) thermal control blankets using the models are presented. Experimental and theoretical results are in excellent agreement. Work is in progress to expand modeling capability to include ultraviolet radiation exposure and to obtain more detailed information on reflecting and scattering characteristics of material surfaces.
Bourassa, R. J.↗
Time determination for spacecraft users of the Navstar Global Positioning System /GPS/
Global Positioning System (GPS) navigation is performed by time measurements. A description is presented of a two body model of spacecraft motion. Orbit determination is the process of inferring the position, velocity, and clock offset of the user from measurements made of the user motion in the Newtonian coordinate system. To illustrate the effect of clock errors and the accuracy with which the user spacecraft time and orbit may be determined, a low-earth-orbit spacecraft (Seasat) as tracked by six Phase I GPS space vehicles is considered. The obtained results indicate that in the absence of unmodeled dynamic parameter errors clock biases may be determined to the nanosecond level. There is, however, a high correlation between the clock bias and the uncertainty in the gravitational parameter GM, i.e., the product of the universal gravitational constant and the total mass of the earth. It is, therefore, not possible to determine clock bias to better than 25 nanosecond accuracy in the presence of a gravitational error of one part per million.
Grenchik, T. J.↗
Simulation of large motions of nonuniform beams in orbit. II - The unrestrained beam
An algorithm is developed for the numerical simulation of large motions of an unrestrained, nonuniform beam in orbit. Explicit provisions are made for the accommodation of general, physically significant initial conditions and for the specification of control forces in practical terms. The evaluation of certain constants that appear in the equations of motion is considered, the finite element method being used for this purpose. The importance of initial conditions in the study of spacecraft motions is stressed.
Kane, T. R.↗
Precise Image-Based Motion Estimation for Autonomous Small Body Exploration
We have developed and tested a software algorithm that enables onboard autonomous motion estimation near small bodies using descent camera imagery and laser altimetry. Through simulation and testing, we have shown that visual feature tracking can decrease uncertainty in spacecraft motion to a level that makes landing on small, irregularly shaped, bodies feasible. Possible future work will include qualification of the algorithm as a flight experiment for the Deep Space 4/Champollion comet lander mission currently under study at the Jet Propulsion Laboratory.
Johnson, Andrew Edie↗
Modeling Attitude Dynamics in Simulink: A Study of the Rotational and Translational Motion of a Spacecraft Given Torques and Impulses Generated by RMS Hand Controllers
In order to study and control the attitude of a spacecraft, it is necessary to understand the natural motion of a body in orbit. Assuming a spacecraft to be a rigid body, dynamics describes the complete motion of the vehicle by the translational and rotational motion of the body. The Simulink Attitude Analysis Model applies the equations of rigid body motion to the study of a spacecraft?s attitude in orbit. Using a TCP/IP connection, Matlab reads the values of the Remote Manipulator System (RMS) hand controllers and passes them to Simulink as specified torque and impulse profiles. Simulink then uses the governing kinematic and dynamic equations of a rigid body in low earth orbit (LE0) to plot the attitude response of a spacecraft for five seconds given known applied torques and impulses, and constant principal moments of inertia.
Mauldin, Rebecca H.↗
A quasi-inertial attitude mode for orbiting spacecraft.
A method is presented for achieving quasi-inertial orientation of an orbiting spacecraft with minimal control effort. Spacecraft motion is a small-amplitude oscillation about the orbit normal with one principal axis held in the orbital plane. The nominal orientation of this axis is arbitrary, so that any spacecraft axis normal to it may be pointed arbitrarily on the celestial sphere and remain within a small neighborhood of the nominal orientation. Oscillation amplitude can be chosen to minimize control requirements for maintaining the mode and may range up to 18.8 deg depending on spacecraft inertia. The quasi-inertial mode would be an efficient means for maintaining a nominal solar orientation for NASA's Skylab configuration if the control-moment-gyros fail in the primary attitude control system. This approach, which utilizes the backup reaction thrust system, affords a substantial reduction in propellant requirements compared to that for a true solar inertial attitude hold.
Elrod, B. D.↗
Trajectories in Close Proximity to Asteroids
Spacecraft motion in close proximity to irregularly shaped, rotating bodies such as asteroids presents a unique dynamical environment as compared to most space missions. There are several fundamental novelties in this environment that spacecraft must deal with. These include the possibility of orbital instabilities that can act over very short time spans (on the order of hours for some systems), possible non-uniform rotation of the central gravity field, divergence of traditional gravity field representations when close to the asteroid surface, dominance of perturbing forces, an extremely large asteroid model parameter space that must be prepared for in the absence of reliable information, and the possibility of employing new and novel trajectory control techniques such as hovering and repeated landings on the asteroid surface. An overview of how these novelties impact the space of feasible close proximity operations and how different asteroid model properties will affect their implementation is given. In so doing, four fundamental types of close proximity operations will be defined. Listed in order of increasing technical difficulty these are: (1) close, stable orbits; (2) low-altitude flyovers; (3) landing trajectories; and (4) hovering trajectories. The feasibility and difficulty of implementing these operations will vary as a function of the asteroid shape, size, density, and rotation properties, and as a function of the spacecraft navigation capability. Additional information is contained in the original extended abstract.
Scheeres, D. J.↗
Model of spacecraft atomic oxygen and solar exposure microenvironments
Computer models of environmental conditions in Earth orbit are needed for the following reasons: (1) derivation of material performance parameters from orbital test data, (2) evaluation of spacecraft hardware designs, (3) prediction of material service life, and (4) scheduling spacecraft maintenance. To meet these needs, Boeing has developed programs for modeling atomic oxygen (AO) and solar radiation exposures. The model allows determination of AO and solar ultraviolet (UV) radiation exposures for spacecraft surfaces (1) in arbitrary orientations with respect to the direction of spacecraft motion, (2) overall ranges of solar conditions, and (3) for any mission duration. The models have been successfully applied to prediction of experiment environments on the Long Duration Exposure Facility (LDEF) and for analysis of selected hardware designs for deployment on other spacecraft. The work on these models has been reported at previous LDEF conferences. Since publication of these reports, a revision has been made to the AO calculation for LDEF, and further work has been done on the microenvironments model for solar exposure.
Bourassa, R. J.↗