NASA-Unique
Automated Rendezvous &
Capture (AR&C) Element
JSC - DM / Don Pearson
2nd Generation RLV Program
Goals
Safety - Improve Safety to 1 to 10,000 Loss of Crew
Cost - Reduce NASA’s Mission Price to $1,000/lb
Objectives
• Converged Set of Government and
Commercial Requirements
• Integrated with Rigorous Systems
Engineering Processes
• Architecture Definitions and Designs
• Risk Reduction Activities
• Knowledge Base for
Informed Decisions
• Competition
2
5854
2GRLV
• Implementing the Space Launch
Initiative near term activities
• Decision to proceed with Full
Scale Engineering Development
is now planned for the end of
Fiscal Year 2006
• Includes NASA-led and Industryled activities
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Technology Areas
•
•
•
•
•
•
•
•
•
•
TA-1 Architectures
– Boeing, Lockheed, Orbital Sciences
TA-2 Airframe
– Airframe, tanks, TPS
TA-3 Vehicle Subsystems
– Avionics, Power, Actuators
TA-4 Operations
– Propellant densification, Advanced Checkout & Control
Systems
TA-5 Integrated Vehicle Health Management System (IVHM)
TA-6 Upper Stages
TA-7 Flight Mechanics
TA-8 Propulsion
TA-9 NASA – Unique (see next page)
TA-10 Flight Demonstrations
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NASA Unique Project (TA-9)
•
Project Organization Structure & Project Implementation Plan
– TA-9 Project Manager: JSC – EA / Dave Leestma
•
Developing systems necessary to meet unique government
mission requirements such as
– TA 9.1 – Environmental Control
– TA 9.2 – Crew Health
– TA 9.3 – EVA
– TA 9.4 – Crew Escape
– TA 9.5 – Mission Planning & Operations
– TA 9.6 – Communications
– TA 9.7 – Robotics
– TA 9.8 – Automated Rendezvous and Capture (see next page)
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NASA Research Announcement
(NRA) 8-30 Cycle II
2.1.8 Advanced Automated Rendezvous and Capture Systems, TA-9.8
Offeror should propose technologies leading to integrated systems that will
facilitate and simplify the automated rendezvous and capture mission phases
and operations while reducing overall system life cycle schedule and cost and
increasing system/operations safety and reliability. Concepts supporting
rendezvous with both cooperative targets (including ISS) and disabled targets
should be proposed. Human-rating and on-board operator enhancements will
also be considered. The offeror should propose technologies and tools that will
allow for minimum flight to flight reconfiguration and testing as well as
mission/vehicle evaluation. The offeror should address the development of
integrated system level design and operations requirements to meet the SLI
objectives of cost, mission success and safety. Additionally the proposals
should include plans for early integrated-system ground based testing in
relevant environments as well as on orbit component demonstrations, and
follow-on full scale integrated flight demonstrations on existing, planned, or new
vehicles. Specifically, proposals are sought to solve the following technology
gaps:
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NRA 8-30 Cycle II (cont)
Rendezvous and capture relative navigation sensors: A single navigation sensor
providing range and bearing information to a target at ranges up to 50km and down
through docking is desired. Precision determination of relative position and attitude,
along with rates is necessary for the final approach and docking.
GN&C algorithms for rendezvous and capture: New algorithms of the automated
rendezvous system shall provide a capability for autonomous navigation, maneuver
planning, and execution. Software algorithms shall support nominal and contingency
situations. Automated capture requires precision control of the vehicle’s relative position
and attitude prior to and during capture operations.
Lightweight docking and berthing systems: Systems shall be lightweight, robust, and
support final mating with a variety of space vehicles.
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Solutions
• Everyone has a potential solution, or something adaptable.
– JSC has essentially an “automate-able” system
• GPS coming online, star tracker / radar / relative navigation
• targeting, semi-automated flight control
• TCS (laser). R-POP guidance (flies pilot through V-bar and
down glideslope)
• Shuttle performs attitude control automatically, but lacks
relative attitude control automation
– MSFC has their unique AR&C capability, for the DART mission
• GPS + AVGS
• targeting
– DARPA has its unique Orbital Express capability
• GPS + AVO suite (cameras, lidar / IR, AVGS)
• targeting, nav schemes closely related to Shuttle algorithms, RPOP
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Solutions (cont)
– JPL has its proposed capabilities
• CNES ’07 demonstration mission
• Mars Sample Return
– AFRL XSS-11
• NRA solicitiation has surfaced additional contributions that can be
beneficial
• Our goal:
Survey the field.
Select the best / most adaptable solutions to meet
SLI Program and DRM requirements
Build what we need
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Risk Reduction Approach
1/1/03
High
Program
Risk
FY02
Requirements,
surveys, test
bed preps
NASA-led &
Industry-led
NRA AR&C
task
consolidation
FY03
6/1/06
FY04
FY05
FY06
FY07
• SLI SRD input
• AR&C Lessons Learned
• Tool assessment
• Technology assessment
• Preferred algorithms
• Preferred sensors
Technology
• Glare reduction
Development
• Situational awareness
Prototype
Development
Low
Program
Risk
• Flight testable AR&C
system @ TRL-6
Launch Vehicle
Integration &
Flight Test
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Technical Content
•
FY02 effort will focus on
– Surveys of existing tools, sensors, & algorithms
• InterAgency Working Group
• Looking beyond JSC at potential solutions, seek collaborative efforts
– Lessons learned from previous rendezvous experiences
– AR&C requirements development
• System Requirements Doc (SRD)
• System Requirements Review (SRR) at end of year.
– Test bed preparations
•
Consolidation of NASA-led tasks with those awarded to industry under the NRA
will occur at the end of the Fiscal Year.
•
Coordinate with SLI architecture teams – ensure technology efforts consistent
with spacecraft concepts.
•
Technology development (pending results of the existing technology
assessments) will be started on FY-03.
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Not optimizing for a
particular mission (cont)

Current DRMs focus on ISS
 ISS solution can be easy: HIGHLY COOPERATIVE TARGET
Gemini / Apollo : transponders to 400 nmi
 Comm links
 GPS on both vehicles
 AVGS can be “docking sensor”, with straightforward automation of current
Shuttle software.
 alternatively: adaptation of other cooperative nav/comm systems (NRL,
Intel Auto)
 need to support departure, circumnavigation
 ISS Program prefers not to mount additional components on ISS


Shuttle experience indicates that other missions “will happen”
 HST servicing: COOPERATIVE TARGET
 Solar Max, Westar/Palapa, Syncom IV-4, Intelsat UNCOOPERATIVE

The need will exist to rendezvous under these conditions.
 Probable impacts:



Longer range relative navigation,
changing aspect angles( target imaging)
unique capture mechanisms and use of crewed chaser vehicles
 Inter-Agency interest in this technology
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Summary
Our goal is to reuse as much as possible, and provide the most
flexibility in our capability.
If historic trends are any indication,
we’ll be flying with it for 50 + years to come...
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BACKUP DISCUSSION CHARTS
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Technical Risk Reduction:
The problems
• Besides the sensors / algorithms / docking hardware selections,
what have been the problems in the past that present risks to
the future for rendezvous?
#1: MATING! That touching thing...
STS-13 (41-C) Solar Max (MMU)
STS-51A Westar / Palapa (MMU)
STS-51I Syncom IV (grab bar)
STS-49 Intelsat (bar)
Who’s demonstrating technology reduction for MATING in next 5 years?
#2: Jet Failures
#3: Spacecraft unmodeled accelerations (venting...)
#4: Flight Software (FSW) algorithm bugs
#5: Prime navigation sensors
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AR&C Risk
• 2GRLV Program risk NU021, Rank=3, RE=20 (High) states
"Given performance, reliability, and cost of current domestic
technology for automated rendezvous and capture systems, the
possibility exists that Level 1 requirements for safety, cost, and
alternate access will not be met."
– Context: TA-9.8, specifically rendezvous and capture integration, relative
navigation sensors, GN&C algorithms, and lightweight docking and berthing
systems
• Details on task level risks (pending AR&C funding approval)
will be identified. The risk mitigation plans & task
implementation plans will address the areas of
–
–
–
–
Guidance, Navigation & Control
Sensors
Docking and capture
Integration with SLI GN&C architecture concept
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AR&C Organization
Element Management
AR&C Working Group
• MSFC
• NRL
• JPL
• AFRL
• GSFC
• DARPA
• ARC
AR&C
Technical Management Team
• Lockheed Martin
• TA-1 team
• Boeing
• Orbital Sciences
Tri Nguyen, Manager
Don Pearson, Deputy
WBS 1.0
Requirements
Integration & Systems
Engineering
DART program
(MSFC)
Don Pearson, Chief Systems
Engineer
WBS 2.0
Orbital Express program (DARPA)
Sensors
Terry Hill, Lead
WBS 3.0
EG Sensors
Janet Bell, Lead
EV Sensors
Jim Lamoreux, Lead
GN&C Algorithms
Visualization
Scott Merkle, Lead
Al DuPont, Backup
Lui Wang, Lead
WBS 4.0
WBS 5.0
Docking & Capture
Systems
James Lewis, Lead
WBS 6.0
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AR&C Schedule
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TA9.8 Recent Accomplishments
• Completed AR&C Project Implementation Plan
–
–
–
–
Project goals
high level milestones
management structure
work breakdown structure
• Initiated Inter-agency AR&C Working Group
activities
– DOD (NRL, DARPA, AFRL)
– NASA (JSC, MSFC, GSFC, ARC, JPL)
note: our SLI AR&C interests are just a single element of numerous Govt programs and
institutional initiatives.
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AR&C Overview
AR&C System
Ground control
Situational Awareness
Mission Planning
Vehicle
comm
system
Target Vehicle (Cooperative)
Target Vehicle
(Un-Cooperative)
AR&C System
Target Vehicle situational awareness
Targets
Reflectors
Cameras
Prox ops sensors (EG/EV)
(< 1km)
No AR&C Aids
Docking
mechanisms (ES)
Rendezvous sensors
(EG/EV) (200km-1km)
GPS
Radar
Star Tracker
Laser
Laser
Imaging
Radar
Advanced GN&C System (EG)
AR&C System
Propulsion &
maneuvering
systems
Continuous Guidance
Advanced Navigation
Adaptive Control
Display & Visualization
(ER/EG)
Mission Manager
(Including
Replanning &
IVHM)
RLV
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EG/C. Scott Merkle
Earlier R&T
Milestones
remaining FY02
2003
Requirements
AR&C
X-cutting Working Group
Requirements & Basic Requirements &
Design Ref Missions defined
Systems
Engineering
2004
Integrated Ground Tests
Selections
Ref Mission
Analysis
TRL
3
TRL
6
TRL
2/3
Sensor Trades (in-house,
NRA)
Consolidation of inhouse & NRA tasks
Advanced GN&C
Algorithms
Integration &
documentation
Down Select
Breadboards
Navigation
Sensors
Architecture
Inputs
TRL
4
Systems
Engineering
Eng. Models
TRL
3/4
Proto-type sys
Design & test
TRL
4
TRL
6
Hardware in Loop
tests
Down Select
In-house + NRA
prototypes
Prime algorithms
TRL
6
Feedback
Lightweight
Docking System System Perf. Analysis/Trades
Crew & Ground
Visualization
Approach Perf.
Analysis/Trades
TRL
3
TRL
3
Gap Tech Integration
System Level Design
Prototypes
2006
2005
TRL
4
TRL
4
Grnd based
system test
Grnd based
system tests
TRL Proto-type sys TRL
6
5 Design & test
TRL
5
Proto-Flt sys
Design & test
Integrated Ground
Demo of Prototype H/W & S/W
TRL
6
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LEGEND
Decision
Point
Strategic Program Objective