The objectives and design of the inertial reference unit for the Lunar Orbiter
Objectives and design of inertial reference unit for lunar orbiter
GUIDANCE SYSTEM↗
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Performance evaluation system for inertial navigation equipment
Testing system studies inertial characteristics of gyroscopic devices. System consisting of instrument support package, dynamic test table, torque control electronics, and real-time computer evaluates performance of prototype gyroscopic strapdown units in inertial-grade attitude-reference systems. System is applicable to commercial aircraft.
Mc Kern, R. A.↗
Science observations with the IUE using the one-gyro mode
The International Ultraviolet Explorer (IUE) attitude control system originally included an inertial reference package containing six gyroscopes for three axis stabilization. The science instrument includes a prime and redundant Field Error Sensor (FES) camera for target acquisition and offset guiding. Since launch, four of the six gyroscopes have failed. The current attitude control system utilizes the remaining two gyros and a Fine Sun Sensor (FSS) for three axis stabilization. When the next gyro fails, a new attitude control system will be uplinked which will rely on the remaining gyro and the FSS for general three axis stabilization. In addition to the FSS, the FES cameras will be required to assist in maintaining fine attitude control during target acquisition. This has required thoroughly determining the characteristics of the FES cameras and the spectrograph aperture plate as well as devising new target acquisition procedures. The results of this work are presented.
Imhoff, C.↗
Science observations with the IUE using the one-gyro mode
The International Ultraviolet Explorer (IUE) attitude control system originally included an inertial reference package containing six gyroscopes for three axis stabilization. The science instrument includes a prime and redundant Field Error Sensor (FES) camera for target acquisition and offset guiding. Since launch, four of the six gyroscopes have failed. The current attitude control system utilizes the remaining two gyros and a Fine Sun Sensor (FSS) for three axis stabilization. When the next gyro fails, a new attitude control system will be uplinked, which will relay on the remaining gyro and the FSS for general three axis stabilization. In addition to the FSS, the FES cameras will be required to assist in maintaining fine attitude control during target acquisition. This has required thoroughly determining the characteristics of the FES cameras and the spectrograph aperture plate as well as devising new target acquisition procedures. The results of this work are presented.
Imhoff, C.↗
An introduction to analytic platforms for inertial guidance
Analytic platform inertial navigation system using single axis reference and pendulous integrating gyro accelerometer measuring devices
MEASURING APPARATUS↗
Attitude control system conceptual design for the GOES-N spacecraft series
The attitude determination sensing and processing of the system are considered, and inertial reference units, star trackers, and beacons and landmarks are discussed as well as an extended Kalman filter and expected attitude-determination performance. The baseline controller is overviewed, and a spacecraft motion compensation (SMC) algorithm, disturbance environment, and SMC performance expectations are covered. Detailed simulation results are presented, and emphasis is placed on dynamic models, attitude estimation and control, and SMC disturbance accommmodation. It is shown that the attitude control system employing gyro/star tracker sensing and active three-axis control with reaction wheels is capable of maintaining attitude errors of 1.7 microrad or less on all axes in the absence of attitude disturbances, and that the sensor line-of-sight pointing errors can be reduced to 0.1 microrad by SMC.
Markley, F. L.↗
Precise time and time interval (PTTI), an overview
Present applications of precise time and frequency (T/F) technology can be grouped as follows: (1) Communications systems which require T/F for time division multiplexing and for using spread spectrum techniques. (2) Navigation systems which need T/F for position fixing using a timed signal. (3) Scientific-Metrological applications which use T/F as the most precisely reproducible standard of measurement. (4) Astronomical-Space applications which cover a variety of the most demanding applications such as pulsar research, Very Long Baseline Interferometry (VLBI) and laser/radar ranging. In particular, pulsar time-of-arrival measurements require submicrosecond precision over a period of one-half year referred to an extraterrestrial inertial system, and constitute the most stringent requirements for uniform timekeeping to date.
Winkler, G. M. R.↗
Five years in the life of an inertial system operating in orbit
The paper describes the in-orbit performance of the gyroscopes and strapdown attitude reference system for the OAO-C (Copernicus) satellite, launched on Aug. 21, 1972. In order to fulfill NASA requirements, the inertial system had to: (1) operate for at least one year in orbit without failure, (2) maintain an inertial reference with an uncertainty of 50 microradians or less for at least one hour, and (3) control attitude changes with an accuracy of at least 30 parts per million. During the orbit period, the inertial system has demonstrated a capability for maintaining an inertial reference that is significantly better than these performance goals.
Harris, R. A.↗
Investigating Low-Altitude Constellations of Ad-Hoc Lunar PNT System for Distributed Spacecraft Autonomy
In this study, we examine a low-altitude Lunar Position, Navigation, and Timing (LPNT) constellations and the localization performance of Centralized Extended Kalman Filter (CEKF) and Decentralized Extended Kalman Filter (DEKF) algorithms. The primary investigation involves a 100-node swarm operating at a 100 km altitude, in contrast to previous studies that examined a 21-node asset in a frozen-orbit at 5,500 km. The autonomous operation of large-scale swarm is based on two-way Inter-Satellite Link (ISL) measurements, which involve pseudoranges and relative velocities among swarm nodes. We perform a numerical assessment of the two filtering approaches, utilizing ‘fully sampled’ measurements from all available assets as well as ‘two ISL’ measurements where each spacecraft is restricted to only two antennas. This research includes an analysis of CEKF under 2-ISL constraints and evaluates the performance of DEKF in a 100-node swarm, which has not been explored in previous studies. In addition, we examine the impact of increasing the sampling frequency for DEKF, showing that the update cycle can be shortened from a 10-minute interval. A novel approach for ‘2-ISL limited’ DEKF will also be introduced, using a matching formulation that exhaustively enumerates all potential matches. This study provides valuable insights into large-scale distributed swarm operations, considering various filter configurations, sampling frequencies, matching strategies, and scalability of CEKF and DEKF for low-altitude LPNT applications. The Lunar PNT technology plays a key role in providing reliable and robust navigation services on the Moon's surface and the South pole, where the primary Lunar missions are planned. To support upcoming Lunar missions, including small satellites from NASA's Commercial Lunar Payload Services program, the Lunar PNT system must be adaptable to smaller platforms like CubeSats. Driven by the growing involvement of public and private exploration partnerships, the traditional low Earth orbit missions are shifting to beyond geosynchronous orbit [1]. These upcoming missions aim to foster a sustainable and innovative exploration program, in collaboration with commercial and international partners, to facilitate human expansion throughout the solar system and return new knowledge and opportunities to Earth [2]. As part of this trend, there are increasing efforts to utilize science missions in Lunar orbit to develop a non-dedicated and ad-hoc PNT network system. Two traditional approaches, the Deep Space Network (DSN) and the weak signal Global Positioning System (GPS), are established deep-space navigation technologies for missions beyond the geosynchronous orbit. Beginning in 1958, the DSN was developed to communicate with the Explorer 1 spacecraft based on the use of radiometric tracking in spacecraft navigation [3]. The DSN is capable of providing nearly unfettered coverage to spacecraft beyond low-Earth orbit (LEO), however, increased space mission volume has created concerns about future expectations of DSN usage for spacecraft navigation [4]. For cislunar mission applications, the position accuracy using DSN achieves 100 m (3σ) with at least three geometrically diverse ground stations when using radiometric tracking alone [5]. The DSN's dependence on Earth-based ground stations restricts its operational capabilities to periods of Earth visibility. This limitation, coupled with its poor localization performance, renders the DSN unsuitable for future lunar missions that demand continuous tracking and precise positioning. To satisfy the increasing requirements of DSN in Lunar applications, spacecrafts are also required to improve their onboard antenna power and efficiency of the transmission. However, there is an important aggregate cost trade between adding capabilities to every spacecraft and adding to a capacity on the ground that serves multiple spacecraft [6]. A weak GPS system can provide PNT service while the user spacecraft is bound to the Moon, leveraging a single, steerable high gain antenna with the relatively narrow beam which includes all the sources in its field of view [7]. However, the higher the altitude the receiver is above the GPS constellations, the poorer and the weaker are the relative geometry and the received signal powers, respectively, leading to a significant navigation accuracy reduction [8]. The transmitted power becomes weaker with increasing distance from the Earth as well as signals tracked from one of the side lobes of the GPS antenna pattern. As a results, the number of visible satellites and relative geometric condition of the GPS satellites at very high altitude drops dramatically and reduces the navigation solution accuracy. Therefore, the weak GPS system is also not an ideal way to provide PNT service to upcoming Lunar missions when considering its limited geometric condition and the recued navigation accuracy. Another navigation approach on the Moon is being developed, similar to the Global Navigation Satellite System (GNSS) on Earth, aiming to offer navigation service with continuous 24/7 coverage across the entire Lunar surface. For example, lunar communications relay and navigation systems (LCRNS) by NASA and Lunar navigation satellite systems (LNSS) by JAXA are designed to serve as dedicated Position, Navigation, and Timing (PNT) systems for the Moon. However, designing a dedicated LNSS and PNT service involves additional challenges, which are unique to the lunar environment, including limited payload capacity for the CubeSat platform, i.e., the size, weight, and power (SWaP) of the onboard clock, limited lunar ground monitoring stations, and limited financial investment as compared to the legacy Earth-GPS [9]. NASA’s focus on utilizing CubeSat platforms on the Moon leads to an alternative Lunar navigation platform that leverages the existing Lunar science and exploration assets. The small satellites used in Lunar missions can be used to create a low-cost, autonomous, ad-hoc, and on-demand mission-centric Lunar PNT swarm capable of providing PNT services to these low-cost lunar missions [10]. As upcoming Lunar missions will often operate at low-altitude about 30 km to 100 km for scientific observations and mapping purposes, the low-altitude orbital constellations could be employed to create an ad-hoc Lunar PNT system. However, several issues must be addressed, such as the instability of these orbits, which often require maintenance or are only suitable for short-duration missions, operating for fewer than 90 days. Additionally, at an altitude of 100 km, the satellites have a limited period during which they are above the horizon and capable of providing PNT service to users. The implementation of a non-dedicated, ad-hoc Lunar navigation constellation facilitates on-demand PNT services. A preliminary study of ad-hoc Lunar PNT system was conducted using 21 spacecraft in 5,5000 km altitude frozen orbits to test its feasibility and a basic performance of orbital asset localization among ad-hoc Lunar constellations in small satellites format [10]. These swarm assets are designed for autonomous localization with minimal Earth interaction, reducing dependency on bandwidth and ground resources. The design in [10] demonstrated the feasibility of a decentralized PNT approach, specifically employing a DEKF approach for state estimation, which helps minimize onboard operating costs. The DEKF method distributes computation across individual satellites, which lightens the computational load while maintaining accuracy in orbit ephemeris and clock offsets, similar to centralized systems [11]. In a follow-on study [12], each spacecraft was limited to 2 communications antennae, forcing the selection of measurements and scheduling spacecraft activities to perform the measurements. A matching algorithm is implemented to select the best measurements and schedule position estimation updates. The decentralized localization performance is also investigated with increasing levels of network degradation for swarm assets considering the impact of intermittent and permanent communication failure, to demonstrate the robustness and fidelity of the decentralized Lunar PNT service [13]. This study confirmed that the ad-hoc PNT constellations in frozen orbit are highly robust and resilient to communication failures. However, unlike frozen orbit swarm assets, the low-altitude satellites have a limited ground view at an altitude of 100 km, where the ad-hoc Lunar constellation consists of 98 low-altitude satellites, evenly distributed across seven circular polar orbital planes, alongside two satellites in a frozen orbit at an altitude of 5,500 km (Figure 1). Therefore, the number of satellites visible to ground users is significantly limited in low-altitude orbit constellations. As each visibility of a spacecraft remains intact for only a few ticks before it moves out of the field of view, the ground user encounters challenges in maintaining continuous navigation service, resulting in sparse availability and provision of Lunar PNT system. Consequently, service availability is primarily restricted to the Lunar South Pole region (Figure 2). Given these limitations and concerns, the localization performance of low-altitude swarm assets will be assessed in this study. We focus on the investigation of the localization performance of low-altitude swarm assets and ground users near the Lunar South Pole. The overall flow of the Lunar PNT simulation incorporates the DEKF approach of asset localization and the weighted least-squares approach in user localization (Figure 3). The autonomous Lunar PNT simulation is primarily implemented in MATLAB, where the DEKF based on the matching scheduler is implemented with Google’s OR-tools as a model builder and Gurobi optimization tool as a backend solver. The General Mission Analysis Tool (GMAT) is utilized to generate ephemeris data for swarm assets, and accounts for satellite orbital details, mass, and perturbations like solar radiation pressure and drag coefficients. Each ephemeris dataset is produced in the Moon International Celestial Reference Frame (ICRF) inertial coordinate system. For state estimation, the distributed swarm assets rely on two-way Inter-Satellite Link (ISL) measurements, which involve tracking pseudoranges and relative velocities between visible satellites and anchor nodes during each observation. Numerical evaluations of the decentralized localization process are conducted to demonstrate the feasibility of the low-altitude PNT system in providing reliable navigation services. The main approach involves using DEKF and CEKF to localize 100 satellites in low-altitude constellations, where the CEKF is implemented to serve as a baseline for comparing the performance of distributed algorithms. In both cases, we evaluate ‘fully sampled’ measurements from all available assets, and ‘two ISL’ measurements when spacecraft are constrained to have only two antennas. We test four estimation techniques: CEKF fully sampled, CEKF two ISL, DEKF fully sampled, and DEKF two ISL filters. As the DEKF update cycle is comprised of network setup, communication, and computations, a global broadcast network and 2-way ISL network setup will take from 4 to 6 minutes as maximum [12]. In this simulation, the DEKF update cycle is set to 10 minutes, including a 4-minute latency for obtaining and computing the actual measurement updates. We experiment an increased update cycle to demonstrate the feasibility and evaluate the impact on localization performance using various tuning values for measurement noise covariances (Figures 4 and 5). By comparing centralized and decentralized approaches using a matching algorithm, we analyze the influence of cross-correlation factors in the covariance matrix, assuming 100% reliability of all assets and measurements. The increased frequency and the adjustments of tuning parameters reveal distinct error patterns between the two scenarios. The localization accuracy of the swarm assets and ground users is assessed by taking the median error across 100 assets and one ground user (84.9°S, 137.5°E) over 7-day simulation period (Table 1). Since the user localization accuracy is significantly affected by the performance of the swarm assets, it is crucial to maintain high localization accuracy within the swarm. This study will continue to explore decentralized filtering for autonomous LPNT operations, with further investigation of an 'iterative' matching approach which enumerates every valid matching pair, planned for the following month.
Yeji Kim↗
Improved gravity field and station-coordinate estimates from laser tracking data
Knowledge of the long-wavelength features of the geopotential and the geocentric coordinates of satellite-tracking stations is significantly improved by the use of precision satellite tracking with lasers. Tracking data on nine satellites are combined with terrestrial gravimetry to obtain a spherical-harmonics representation of the geopotential complete through degree and order 24. Laser tracking data are used to determine the coordinates of tracking stations. This coordinate system is referred to an inertial reference frame by use of camera observations and observations of deep-space probes. Resulting geodetic parameters provide better satellite ephemerides and a reference for analyzing satellite-to-sea-surface altimetry.
Gaposchkin, E. M.↗
In-Flight Characterization of the Electromagnetic Environment Inside an Airliner
In 1995, the NASA Langley Research Center conducted a series of experimental measurements that characterized the electromagnetic environment (EME) inside a Boeing 757 airliner while in flight, Measurements were made of the electromagnetic energy coupled into a commercially configured aircraft as it was flown in close proximity to ground-based radio frequency (RF) transmitters operating at approximately 26, 173. and 430 MHz. The goal of this experiment was to collect data for the verification of analytical predictions of the internal aircraft response to an external stimulus. This paper describes the experiment, presents the data collected by it, and discusses techniques used to compute both the magnitude of the electric field illuminating the aircraft and its direction of propagation relative to a coordinate system fixed to the aircraft. The latter is determined from Global Positioning System (GPS) and aircraft Inertial Reference Unit (IRU) data. The paper concludes with an examination of the shielding effectiveness of the test aircraft. as determined by comparison of' the measured internal EME and computed external EME.
Moeller, Karl J.↗
Re-Entry Simulation and Landing Area for YES2
The REST simulator includes many parameters: a) Inertial <-> Fix to Earth reference system; b) Geodetic <-> Geocentric coordinates; c) Rotational velocity of the Atmosphere; d) Effect of the rotation of the Earth; e) Bulge effect of the Earth; f) Spherical harmonic expansion for the Earth s gravitational potential, J2 (zonal); g) Heat flux, temperature in the wall; h) Drag coefficient for different regimes; i) Flow regime status; j) Density model NRLMSISE-00; k) Wind model HWM-93; l) G2S atmospheric model with the latest meteorological conditions and m) Landing area (Monte Carlo Simulations)
Calzada, Silvia↗
Entry reaction control system propellant analysis. Flight control integration
The effects of winds, sideslip angle feedback, and the data reference (air or inertial) on the Reaction Control System (RCS) propellant requirements during entry were investigated. It was determined that in the presence of a 3 sigma crosswind an addition 188 pounds of RCS propellant was required for entry control which is within the present 200 pound allotment for winds. The absence of air data information does result in slightly higher RCS propellant demands.
Devall, O. R.↗
Inflight redesign of the IUE attitude control system
The one- and two-gyro system designs of the International Ultraviolet Explorer (IUE) attitude control system (ACS) are examined. The inertial reference assembly that provides the primary attitude reference for IUE consists of six rate sensors which are single-axis rate integrating gyros. The gyros operate in a pulse rebalanced mode that produces an output pulse for 0.01 arcsec of motion about the input axis. The functions of the fine error sensor, fine sun sensor (FSS), the IUE reaction wheels, the onboard computer, and the hold/slew algorithm are described. The use of the hold/slew algorithm to compute the control voltage for the ACS based on the Kalman filter is studied. A two-gyro system was incorporated into IUE following gyro failure. The procedures for establishing attitude control with the two-gyro design based on the FSS is analyzed. The performance of the two-gyro system is evaluated; it is observed that the pitch and yaw gyro control is 0.24 arcsec and the control is sufficient to permit extended periods of observation.
Femiano, M. D.↗
A stabilized large-aperture far-infrared telescope gondola
Description of a recently developed balloon-borne 1-m far-infrared telescope designed to carry out astronomical observations and to map radiation from selected areas of the sky. The telescope optical system consists of a conventional Cassegrain arrangement with an f/2 aluminum primary mirror, spherically figured, which feeds a pyrex secondary mirror to produce an f/13.8 beam at the focal plane with a scale of 15.2 arc sec/mm. Three focal planes are provided. The infrared detectors consist of an array of four gallium-doped germanium bolometers fitted within a two-liter helium dewar. An altitude-azimuth mount design is used for attitude control, with the pointing objectives being achieved in two steps. The azimuth control system is capable of operation in a position mode, in which the sensing element is a servo-driven null magnetometer always pointed north, and in an inertial mode, in which the gyro is uncaged and becomes the azimuth reference. The elevation system also operates in both position and inertial modes. An auxiliary position control, powered by an independent battery and controlled by a separate tone command system, is provided in case of a primary system difficulty.
Hazen, N. L.↗
A multi-element vortex lattice method for calculating the geometry and effects of a helicopter rotor wake in forward flight
A method is described for the analysis of the unsteady, incompressible potential flow associated with a helicopter rotor and it's wake in forward flight. This method is particularly useful in low advance ratio flight due to the major contribution, in the near field, of the deformed wake. The rotor geometry is prescribed and the unsteady wake geometry is computed from the local flow perturbation velocities. The wake is modeled as a full vortex lattice. The rotor geometry is arbitrary and several rotor blades can be represented. The unsteady airloads on the rotor blades are computed in the presence of the deformed rotor wake by a time-stepping technique. Solution for the load distribution on the blade surfaces is found by prescribing boundary conditions in a reference system which rotates with the blade tips. Transformation tensors are used to describe the contribution of the wake in the inertial system to the rotor in the rotating reference system. The effects of blade cyclic pitch variation are computed using a rotation tensor. The deformation of the wake is computed in the inertial frame. The wake is started impulsively from rest, allowing a natural convection of the wake with time.
Berry, John D.↗
In-orbit performance of the OAO inertial reference unit
The Inertial Reference Unit (IRU) used in NASA's Orbiting Astronomical Observatory uses three single degree of freedom, floated, rate-integrating gyros operated in binary, pulse-restrained torque loops to provide an inertial attitude reference for the spacecraft's attitude control system. The drift rates observed on these inertial grade gyros during the 1 1/2 year of in-orbit operation have remained within a band of 16 arcsec per hour peak-to-peak. When the effects of known disturbances are considered, the standard deviation of drift rate appears to approach one arcsec per hour. Included in this paper are a brief description of the OAO and IRU, a summary of the data reduction programs used to calibrate the IRU in orbit, and some thoughts on how gyros with good long-term drift stability could be applied to future spacecraft such as the Large Space Telescope and Earth Observatory Satellite.
Harris, R. A.↗
Inertial storage for satellites
A new system is being developed that performs satellite attitude control, attitude reference, and energy storage utilizing inertia wheels. The baseline approach consists of two counter rotating flywheels suspended in specially designed magnetic bearings, spin axis motor/generators, and a control system. The control system regulates the magnetic bearings and spin axis motor/generators and interacts with other satellite subsystems (photovoltaic array, star trackers, Sun sensors, magnetic torquers, etc.) to perform the three functions. Existing satellites utilize separate subsystems to perform attitude control, provide attitude reference, and store energy. These functions are currently performed using reaction or momentum wheels, gyros, batteries, and devices that provide an absolute reference (Sun sensors and star trackers). A Combined Attitude, Reference, and Energy Storage (CARES) system based on high energy density inertial energy storage wheels (flywheels) has potential advantages over existing technologies. Even when used only for energy storage, this system offers the potential for substantial improvements in life, energy efficiency, and weight over existing battery technologies. Utilizing this same device for both attitude control and attitude reference would result in significant additional savings in overall satellite weight and complexity.
Eisenhaure, D.↗