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At least 127 records · Page 7
All sourcesNASA NTRSDOE OSTI
NASA NTRS2008

Multi-Sensor Testing for Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Lab

The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as AR&D). The crewed missions may also perform rendezvous and docking operations and may require different levels of automation and/or autonomy, and must provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success ofthe Exploration Program. NASA has the responsibility to determine whether the Crew Exploration Vehicle (CEV) contractor-proposed relative navigation sensor suite will meet the requirements. The relatively low technology readiness level of AR&D relative navigation sensors has been carried as one of the CEV Project's top risks. The AR&D Sensor Technology Project seeks to reduce the risk by the testing and analysis of selected relative navigation sensor technologies through hardware-in-the-Ioop testing and simulation. These activities will provide the CEV Project information to assess the relative navigation sensors maturity as well as demonstrate test methods and capabilities. The first year of this project focused on a series of "pathfinder" testing tasks to develop the test plans, test facility requirements, trajectories, math model architecture, simulation platform, and processes that will be used to evaluate the Contractor-proposed sensors. Four candidate sensors were used in the first phase of the testing. The second phase of testing used four sensors simultaneously: two Marshall Space Flight Center (MSFC) Advanced Video Guidance Sensors (AVGS), a laser-based video sensor that uses retroreflectors attached to the target vehicle, and two commercial laser range finders. The multi-sensor testing was conducted at MSFC's Flight Robotics Laboratory (FRL) using the FRL's 6-DOF gantry system, called the Dynamic Overhead Target System (DOTS). The target vehicle for "docking" in the laboratory was a mockup that was representative of the proposed CEV docking system, with added retroreflectors for the AVGS.' The multi-sensor test configuration used 35 open-loop test trajectories covering three major objectives: (l) sensor characterization trajectories designed to test a wide range of performance parameters; (2) CEV-specific trajectories designed to test performance during CEV-like approach and departure profiles; and (3) sensor characterization tests designed for evaluating sensor performance under more extreme conditions as might be induced during a spacecraft failure or during contingency situations. This paper describes the test development, test facility, test preparations, test execution, and test results of the multisensor series oftrajectories

Brewster, Linda L.↗
NASA NTRS2011

Orion Handling Qualities During ISS Rendezvous and Docking

The Orion spacecraft was designed to rendezvous with multiple vehicles in low earth orbit (LEO) and beyond. To perform the required rendezvous and docking task, Orion must provide enough control authority to perform coarse translational maneuvers while maintaining precision to perform the delicate docking corrections. While Orion has autonomous docking capabilities, it is expected that final approach and docking operations with the International Space Station (ISS) will initially be performed in a manual mode. A series of evaluations was conducted by NASA and Lockheed Martin at the Johnson Space Center to determine the handling qualities (HQ) of the Orion spacecraft during different docking and rendezvous conditions using the Cooper-Harper scale. This paper will address the specifics of the handling qualities methodology, vehicle configuration, scenarios flown, data collection tools, and subject ratings and comments. The initial Orion HQ assessment examined Orion docking to the ISS. This scenario demonstrates the Translational Hand Controller (THC) handling qualities of Orion. During this initial assessment, two different scenarios were evaluated. The first was a nominal docking approach to a stable ISS, with Orion initializing with relative position dispersions and a closing rate of approximately 0.1 ft/sec. The second docking scenario was identical to the first, except the attitude motion of the ISS was modeled to simulate a stress case ( 1 degree deadband per axis and 0.01 deg/sec rate deadband per axis). For both scenarios, subjects started each run on final approach at a docking port-to-port range of 20 ft. Subjects used the THC in pulse mode with cues from the docking camera image, window views, and range and range rate data displayed on the Orion display units. As in the actual design, the attitude of the Orion vehicle was held by the automated flight control system at 0.5 degree deadband per axis. Several error sources were modeled including Reaction Control System (RCS) jet angular and position misalignment, RCS thrust magnitude uncertainty, RCS jet force direction uncertainty due to self plume impingement, and Orion center of mass uncertainty.

Hart, Jeremy J.↗
NASA NTRS2011

A Summary of the Rendezvous, Proximity Operations, Docking, and Undocking (RPODU) Lessons Learned from the Defense Advanced Research Project Agency (DARPA) Orbital Express (OE) Demonstration System Mission

The Guidance, Navigation, and Control (GN&C) Technical Discipline Team (TDT) sponsored Dr. J. Russell Carpenter, a Navigation and Rendezvous Subject Matter Expert (SME) from NASA's Goddard Space Flight Center (GSFC), to provide support to the Defense Advanced Research Project Agency (DARPA) Orbital Express (OE) rendezvous and docking flight test that was conducted in 2007. When that DARPA OE mission was completed, Mr. Neil Dennehy, NASA Technical Fellow for GN&C, requested Dr. Carpenter document his findings (lessons learned) and recommendations for future rendezvous missions resulting from his OE support experience. This report captures lessons specifically from anomalies that occurred during one of OE's unmated operations.

Dennehy, Cornelius J.↗
NASA NTRS2012

Trajectory Control of Rendezvous with Maneuver Target Spacecraft

In this paper, a nonlinear trajectory control algorithm of rendezvous with maneuvering target spacecraft is presented. The disturbance forces on the chaser and target spacecraft and the thrust forces on the chaser spacecraft are considered in the analysis. The control algorithm developed in this paper uses the relative distance and relative velocity between the target and chaser spacecraft as the inputs. A general formula of reference relative trajectory of the chaser spacecraft to the target spacecraft is developed and applied to four different proximity maneuvers, which are in-track circling, cross-track circling, in-track spiral rendezvous and cross-track spiral rendezvous. The closed-loop differential equations of the proximity relative motion with the control algorithm are derived. It is proven in the paper that the tracking errors between the commanded relative trajectory and the actual relative trajectory are bounded within a constant region determined by the control gains. The prediction of the tracking errors is obtained. Design examples are provided to show the implementation of the control algorithm. The simulation results show that the actual relative trajectory tracks the commanded relative trajectory tightly. The predicted tracking errors match those calculated in the simulation results. The control algorithm developed in this paper can also be applied to interception of maneuver target spacecraft and relative trajectory control of spacecraft formation flying.

Zhou, Zhinqiang↗
NASA NTRS2014

A Ground Testbed to Advance US Capability in Autonomous Rendezvous and Docking Project

This project will advance the Autonomous Rendezvous and Docking (AR&D) GNC system by testing it on hardware, particularly in a flight processor, with a goal of testing it in IPAS with the Waypoint L2 AR&D scenario. The entire Agency supports development of a Commodity for Autonomous Rendezvous and Docking (CARD) as outlined in the Agency-wide Community of Practice whitepaper entitled: "A Strategy for the U.S. to Develop and Maintain a Mainstream Capability for Automated/Autonomous Rendezvous and Docking in Low Earth Orbit and Beyond". The whitepaper establishes that 1) the US is in a continual state of AR&D point-designs and therefore there is no US "off-the-shelf" AR&D capability in existence today, 2) the US has fallen behind our foreign counterparts particularly in the autonomy of AR&D systems, 3) development of an AR&D commodity is a national need that would benefit NASA, our commercial partners, and DoD, and 4) an initial estimate indicates that the development of a standardized AR&D capability could save the US approximately $60M for each AR&D project and cut each project's AR&D flight system implementation time in half.

D'Souza, Chris↗
NASA NTRS2011

Mars Sample Return - Launch and Detection Strategies for Orbital Rendezvous

This study sets forth conceptual mission design strategies for the ascent and rendezvous phase of the proposed NASA/ESA joint Mars Sample Return Campaign. The current notional mission architecture calls for the launch of an acquisition/cache rover in 2018, an orbiter with an Earth return vehicle in 2022, and a fetch rover and ascent vehicle in 2024. Strategies are presented to launch the sample into a coplanar orbit with the Orbiter which facilitate robust optical detection, orbit determination, and rendezvous. Repeating ground track orbits exist at 457 and 572 km which provide multiple launch opportunities with similar geometries for detection and rendezvous.

Orbiter's trans-Earth injection (TEI):↗
NASA NTRS2011

Mars Sample Return: Launch and Detection Strategies for Orbital Rendezvous

This study sets forth conceptual mission design strategies for the ascent and rendezvous phase of the proposed NASA/ESA joint Mars Sample Return Campaign. The current notional mission architecture calls for the launch of an acquisition/ caching rover in 2018, an Earth return orbiter in 2022, and a fetch rover with ascent vehicle in 2024. Strategies are presented to launch the sample into a nearly coplanar orbit with the Orbiter which would facilitate robust optical detection, orbit determination, and rendezvous. Repeating ground track orbits existat 457 and 572 km which would provide multiple launch opportunities with similar geometries for detection and rendezvous.

transfer scenario↗
NASA NTRS2015

Imaging Flash Lidar for Safe Landing on Solar System Bodies and Spacecraft Rendezvous and Docking

NASA has been pursuing flash lidar technology for autonomous, safe landing on solar system bodies and for automated rendezvous and docking. During the final stages of the landing from about 1 kilometer to 500 meters above the ground, the flash lidar can generate 3-Dimensional images of the terrain to identify hazardous features such as craters, rocks, and steep slopes. The onboard flight computer can then use the 3-D map of terrain to guide the vehicle to a safe location. As an automated rendezvous and docking sensor, the flash lidar can provide relative range, velocity, and bearing from an approaching spacecraft to another spacecraft or a space station. NASA Langley Research Center has developed and demonstrated a flash lidar sensor system capable of generating 16,000 pixels range images with 7 centimeters precision, at 20 Hertz frame rate, from a maximum slant range of 1800 m from the target area. This paper describes the lidar instrument and presents the results of recent flight tests onboard a rocket-propelled free-flyer vehicle (Morpheus) built by NASA Johnson Space Center. The flights were conducted at a simulated lunar terrain site, consisting of realistic hazard features and designated landing areas, built at NASA Kennedy Space Center specifically for this demonstration test. This paper also provides an overview of the plan for continued advancement of the flash lidar technology aimed at enhancing its performance to meet both landing and automated rendezvous and docking applications.

Amzajerdian, Farzin↗
NASA NTRS2017

Using Information from Rendezvous Missions For Best-Case Appraisals of Impact Damage to Planet Earth Caused By Natural Objects

The Asteroid Threat Assessment Project (ATAP), a part of NASAs Planetary Defense Coordination Office (PDCO) has the responsibility to appraise the range of surface damage by potential asteroid impacts on land or water. If a threat is realized, the project will provide appraisals to officials empowered to make decisions on potential mitigation actions. This paper describes a scenario for assessment of surface damage when characterization of an asteroid had been accomplished by a rendezvous mission that would be conducted by the international planetary defense community. It is shown that the combination of data from ground and in-situ measurements on an asteroid provides knowledge that can be used to pin-point its impact location and predict the level of devastation it would cause. The hypothetical asteroid 2017 PDC with a size of 160 to 290 m in diameter to be discussed at the PDC 2017 meeting is used as an example. In order of importance for appraising potential damage, information required is: (1) where will the surface impact occur? (2) What is the mass, shape and size of the asteroid and what is its entry state (speed and entry angle) at the 100 km atmospheric pierce point? And (3) is the asteroid a monolith or a rubble pile? If it is a rubble pile, what is its sub and interior structure? Item (1) is of first order importance to determine levels of devastation (loss of life and infrastructure damage) because it varies strongly on the impact location. Items (2) and (3) are used as input for ATAPs simulations to define the level of surface hazards: winds, overpressure, thermal exposure; all created by the deposition of energy during the objects atmospheric flight, and/or cratering. Topics presented in this paper include: (i) The devastation predicted by 2017 PDCs impact based on initial observations using ATAPs risk assessment capability, (ii) How information corresponding to items (1) to (3) could be obtained from a rendezvous mission, and (iii) How information from a rendezvous mission could be used, along with that from ground observations and data from the literature, could provide input for an new risk analysis capability that is emerging from ATAPs research. It is concluded that this approach would result in appraisal with the least uncertainty possible (herein called the best-case) using simulation capabilities that are currently available or will be in the future.

Arnold, James O.↗
NASA NTRS2017

Using Information from Rendezvous Missions For Best-Case Appraisals of Impact Damage to Planet Earth Caused By Natural Objects

The Asteroid Threat Assessment Project (ATAP), a part of NASAs Planetary Defense Coordination Office (PDCO) has the responsibility to appraise the range of surface damage by potential asteroid impacts on land or water. If a threat is realized, the project will provide appraisals to officials empowered to make decisions on potential mitigation actions. This paper describes a scenario for assessment of surface damage when characterization of an asteroid had been accomplished by a rendezvous mission that would be conducted by the international planetary defense community. It is shown that the combination of data from ground and in-situ measurements on an asteroid provides knowledge that can be used to pin-point its impact location and predict the level of devastation it would cause. The hypothetical asteroid 2017 PDC with a size of 160 to 290 m in diameter to be discussed at the PDC 2017 meeting is used as an example. In order of importance for appraising potential damage, information required is: (1) where will the surface impact occur? (2) What is the mass, shape and size of the asteroid and what is its entry state (speed and entry angle) at the 100 km atmospheric pierce point? And (3) is the asteroid a monolith or a rubble pile? If it is a rubble pile, what is its sub and interior structure? Item (1) is of first order importance to determine levels of devastation (loss of life and infrastructure damage) because it varies strongly on the impact location. Items (2) and (3) are used as input for ATAPs simulations to define the level of surface hazards: winds, overpressure, thermal exposure; all created by the deposition of energy during the objects atmospheric flight, andor cratering. Topics presented in this paper include: (i) The devastation predicted by 2017 PDCs impact based on initial observations using ATAPs risk assessment capability, (ii) How information corresponding to items (1) to (3) could be obtained from a rendezvous mission, and (iii) How information from a rendezvous mission could be used, along with that from ground observations and data from the literature, could provide input for an new risk analysis capability that is emerging from ATAPs research. It is concluded that this approach would result in appraisal with the least uncertainty possible (herein called the best-case) using simulation capabilities that are currently available or will be in the future.

Arnold, J. O.↗
NASA NTRS2009

Introduction To Space Shuttle Rendezvous Guidance, Navigation, and Control

The Rendezvous Intro continues to be used for training and reference purposes almost 17 years after it was first published. While this document does not address Orion rendezvous, some Orion personnel are using it as a reference for rendezvous GNC and trajectory concepts. This edition contains corrections that have been identified since the 3rd edition was published in 2000. In addition, new material has been added that was developed by the author in the 1990s and early part of the first decade of the 21st century. While some of this material is perhaps too detailed for an introduction, it is of value and the author wanted to make it available to JSC personnel. The sections on Lambert targeting guidance have been significantly expanded.

John L Goodman↗
NASA NTRSDate not supplied

An Orbit Determination Comparison Study and Demonstration for Rendezvous and Docking in a Near Rectilinear Halo Orbit from the Lunar Surface

For the upcoming NASA Artemis III mission and those that follow, both the Human Landing System (HLS) and Orion programs are invested in understanding the impacts of ground tracking performance in supporting rendezvous and docking in a Near Rectilinear Halo Orbit (NRHO). Several critical questions must be answered to ensure mission success and crew safety and an assortment of analysis tools are being incorporated to address them. Two of these tools, LINCOV and MONTE, are currently providing program decision making results through HLS Insight, HLS NASA-collaborations, and Orion/Gateway cross-program analysis. To ensure consistency in the orbit determination performance, a comparison trade-study is performed using a low-lunar orbit to NRHO rendezvous scenario anticipated for the upcoming Artemis missions. An overview of the two analysis tools is provided along with a detailed step-by-step evaluation of the core capabilities and models related to the orbit determination process. This incremental comparison effort reveals both tools produce consistent solutions for the criteria investigated. Given the confidence in the orbit determination process and solutions generated, these results are then applied to demonstrate an integrated, closed-loop system performance where the HLS lander ascends from the lunar surface and successfully inserts into the NRHO relative to the Orion spacecraft in preparation for the final rendezvous and docking phase.

Linear Covariance Analysis↗
NASA NTRS1962

Optimum Interplanetary Rendezvous Trajectories With Powerlimited Vehicles

The optimum-thrust equations for both variable and constant thrust are presented. These thrust programs are used to generate rendezvous trajectories from the Earth to Mars for various flight times and launch dates during the years 1968-71. The manner in which the propulsion requirements vary with flight time and launch date are considered, and a comparison of vehicle performance using the variable- and constant-thrust programs is presented. The optimization of the pro- pulsion system parameters is discussed, and the existence of optimum launch dates is interpreted in terms of certain transversality conditions derivable from the calculus of variations. A brief comparison of the advanced propulsion vehicle and the ballistic vehicle propulsion requirements is made for Earth-Mars rendezvous trajectories. An appendix considering the analytical basis for this work is included.

INTERPLANETARY TRAJECTORY↗
NASA NTRS1962

Study of an Automatic System for Control of the Terminal Phase of Satellite Rendezvous

An analytical and simulation study has been conducted of an automatic system for control of the terminal phase of rendezvous between two space vehicles. The basic system employs switching and thrust orientation criteria based upon relative-motion parameters first to establish a collision course and then to reduce the range and range rate to zero, simultaneously. In addition, a technique has been devised by which the system effects control based upon the total amount of fuel available for this phase of the space mission. The onboard equipment assumed for the intercepting vehicle includes a special-purpose computer, an attitude-control system, a single main rocket engine with, multi-start capabilities, and sensors capable of measuring range, line-of sight angles, and the time derivatives of these quantities. Techniques are developed. for employing control with either modulated thrust or on-off thrust at a constant level. The results of an analog simulation study of the automatic control system in which a six-degree-of freedom vehicle is assumed are presented for various initial conditions at the beginning of the terminal phase. The results of the study indicate that the automatic system can effectively control the terminal phase of rendezvous over a wide range of initial conditions and control-system requirements and, in addition, can utilize the available fuel in a very efficient manner.

RENDEZVOUS↗
NASA NTRS2003

Description of the rendezvous experiment designed for 2007 Mars Premier mission

The Mars Premier mission that was to be flown in 2007 by CNES in cooperation with NASA/JPL included a rendezvous experiment to be performed in Mars orbit to validate key technologies applicable to a Sample Return mission. The experiment goal was to demonstrate the capability to detect and track a sample canister at long range and validate terminal rendezvous strategies including a capture.

Rendezvous Mars Premier↗
NASA NTRSDate not supplied

An Orbit Determination Comparison Study and Demonstration for Rendezvous and Docking in a Near Rectilinear Halo Orbit from the Lunar Surface

For the upcoming NASA Artemis III mission and those that follow, both the Human Landing System (HLS) and Orion programs are invested in understanding the impacts of ground tracking performance in supporting rendezvous and docking in a Near Rectilinear Halo Orbit (NRHO). Several critical questions must be answered to ensure mission success and crew safety and an assortment of analysis tools are being incorporated to address them. Two of these tools, LINCOV and MONTE, are currently providing program decision making results through HLS Insight, HLS NASA-collaborations, and Orion/Gateway cross-program analysis. To ensure consistency in the orbit determination performance, a comparison trade-study is performed using a low-lunar orbit to NRHO rendezvous scenario anticipated for the upcoming Artemis missions. An overview of the two analysis tools is provided along with a detailed step-by-step evaluation of the core capabilities and models related to the orbit determination process. This incremental comparison effort reveals both tools produce consistent solutions for the criteria investigated to within 0.3\% difference in the absolute position state estimate at key decision making epochs with all errors sources activated.

orbit determination↗