-- NRL Presentation --
Rendezvous, Proximity Operations & Capture
for ATV and HTV
May 22-23, 2002
Aeroscience and Flight Mechanics Division
GN&C Design and Analysis Branch
Big Picture
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ATV/HTV
– Endorse Certificate of Flight Readiness (Safety first)
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Vehicle Integration/Compatibility with ISS
Assessment of mission success
Flight Aspects
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Principal role
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Interface and negotiate with International Partners on behalf of ISSP
Independent Assessment of GNC/Flight Systems/Mission Design and ISS
Interfaces from perspective of requirements, limitations and capabilities
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Analysis
Analysis
Analysis
Analysis
of GNC sensors, effectors and algorithms
and review FDIR requirements, design and capabilities
of trajectory requirements, design and safety through simulation
and review of verification methods, coverage and limitations
Integration with ISS
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EG Education
May 22-23, 2002
Rendezvous, Proximity Operations, Capture/Docking/Separation, Departure
Emphasis on Demonstration mission -- first flight
Contingencies
Analysis of vehicle control for docking/capture performance (nominal and contingencies)
Analysis and review of monitoring requirements, design, capabilities and options through
simulation and prototyping
Analysis and review of command and control requirements, options and capabilities
Development, analysis, and review of ICD, IRD and SSD requirements and verification
Formal Reviews (Safety, PDRs, CDRs...)
Page 2
Rendezvous Proximity Operations & Capture
RPOC Customers and Interfaces
SAFETY
VERIF
NE
ISS
Avionics
Launch
Package
Team
OD
OM
OB
OPS
CREW
CB
DM/DO
ER/DX Russian
IPT
ESA
EADS
Controls
Navigation
Guidance
FDIR
Simulation
and Modeling
Trajectory
Systems Engineering
Flight Systems
Visualization
Logistics
RSCE
RSCE*
NASDA
USOS
GNC
COMM
C&DH
OD
EV
EV
EG Education
May 22-23, 2002
ROBOTICS
Mission
Integration
S/W
CSA
MHI
MELCO
*Russian Vehicles
OM
Page 3
Rendezvous Proximity Operations & Capture
Docking and Berthing
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V Bar
Approach
Rendezvous & Proximity Operations Nav
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Relative GPS
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Laser Reflectors
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ISS-to-Vehicle Communication link
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Russian ARD at their ports
Docking
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APAS -- Androgynous Peripheral Attachment System
 Shuttle/PMA
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Probe & Cone
 Soyuz
 Progress
 ATV
Robotic capture & berthing
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CBM -- Common Berthing Mechanism
 HTV
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External attachment sites
 External payload sites, truss S2 & P2
 JEM Exposed Facility
-V Bar
Approach
P
A
C
Robotic
Capture
Box
Soyuz, Progress,
& ATV
A
P
P
HTV
Soyuz & Progress
A = APAS
P = Probe & Cone
+R Bar Approach
C = CBM
External Payload Sites
EG Education
May 22-23, 2002
Page 4
Rendezvous Proximity Operations & Capture
Automated Transfer Vehicle (ATV)
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Automated Transfer Vehicle from the European Space Agency (EADS-LV)
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No people; cargo only
Performs automated rendezvous and docking to Service Module - same port as Progress
Delivers propellant, water, gas, pressurized cargo … departs with waste
Performs ISS reboost, debris avoidance maneuvers, and attitude control while attached
Launch vehicle is the Ariane 5 (French; launched from French Guyana)
First flight is planned for September ‘04
Annual launches with six month stay at ISS
Navigation sensor suite include:
• GPS receivers on ATV and in ISS Service Module (position, velocity) - requires ISSto-ATV communication link for transfer of ISS data to ATV
• Laser (range, range rate) - Telegoniometer
• Vision sensor (range, range rate, angle, angle rate) - Videometer
Attitude sensor suite include:
• Gyroscopes (attitude rate)
• Earth sensors (angles)
• Horizon sensors (angles)
Automated activities include:
• Software moding - preset activities applicable to specific flight phases
• Preset maneuver computation
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•
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EG Education
May 22-23, 2002
Flight maneuver computation including Collision Avoidance Maneuvers - accomplished by
preset activities included in multiple software modes
Fault Detection, Isolation and Recovery
Abort recognition and execution
Response to a limited number of ISS Crew commands - e.g., Hold, Retreat, Resume,
Escape, Abort
Page 5
Rendezvous Proximity Operations & Capture
ATV the movie
EG Education
May 22-23, 2002
Page 6
Rendezvous Proximity Operations & Capture
ATV Description (1)
Pre-homing
Station keeping
• Prox. Link acquisition
• R-GPS convergence
• Homing maneuvers computation
• GNC parameters checked by ground
• GO for homing by ATV-CC
+ 1 orbit for contingencies
Approach Ellipsoid
Keep Out Sphere
X = - 250 m, Z = 0 m
S4
V
(X = - 3500 m, Z = -100 m)
30 km
S2
S3
Final
Approach
Closing
~40 min
Pre-homing
Homing
40 min
1/2 revolution
> 20 min
R
S1
> 10 min
< 65 min
S0
S-1/2
Escape
Free drift
Sun pointing attitude - Maneuvers performed with ACS (4 PDE)
Navigation sensors in hot stand-by redundancy
EG Education
May 22-23, 2002
Page 7
Propulsion : ACS - 2 PDE
Rendezvous Proximity Operations & Capture
ATV Description (2)
Videometer
based
navigation
with relative
attitude
Videometer based navigation
(Telegoniometer
based monitoring)
Telegoniometer based monitoring
Keep Out Sphere
-12 m
2-3’
V
S41 S4
20’
10’
S3
Hold - Retreat - Resume (between S3 and S4) capabilities on external
commands
Escape
R
EG Education
May 22-23, 2002
- 250 m
-20 m
Local Vertical Local Horizontal attitude
Position and attitude control performed with ACS (4 PDE)
All sensors in hot stand-by redundancy
Page 8
Rendezvous Proximity Operations & Capture
ATV Description (3)
Docking (0 m)
S41 (12 m)
S4 (20 m)
S3 (250 m) 1 km
S2 (3.5 km)
ATV
Primary
GNC
sensors
Dissimilar
GNC
sensors
Monitoring
by MSU
ATVCC
Gyros + Star Tracker
VDM w/Att
VDM
R-GPS
Gyros
Telegoniometer
Accelerometers + DGPS
Telegoniometer + Gyros
Accelerometers + Gyros
Telemetry data
Telemetry data + KURS data
ISS
crew
EG Education
May 22-23, 2002
Visual aids for video monitoring
Target pattern for video monitoring
Page 9
Rendezvous Proximity Operations & Capture
S0
HII Transfer Vehicle (HTV)
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HII Transfer Vehicle from the National Space Development Agency of Japan
(MELCO/MHI)
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No people; cargo only
Performs automated rendezvous to berthing box…is captured with SSRMS and
attached to CBM at Node 2 Nadir
Delivers pressurized cargo (experiment payloads, consumables, water, etc,.) and
unpressurized cargo (experiment payloads, batteries) … departs with waste
Launch vehicle is the HII-A (Japanese; launched from Tanegashima, Japan)
First flight is planned for November ‘05
Biannual launches with a two week stay at ISS
Navigation sensor suite include:
• GPS receivers on HTV and in ISS Japanese Experiment Module (position, velocity)
- requires ISS-to-HTV communication link for transfer of ISS data to HTV
• Laser (range, range rate) - Rendezvous Sensor
• Accelerometers (acceleration)
Attitude sensor suite include:
• Gyroscopes (attitude rate)
• Earth sensors (angles)
Automated activities include:
• Software moding - preset activities applicable to specific flight phases
• Preset maneuver computation
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•
•
•
EG Education
May 22-23, 2002
Flight maneuver computation including Collision Avoidance Maneuvers - accomplished by
preset activities included in multiple software modes
Fault Detection, Isolation and Recovery
Abort recognition and execution
Response to a limited number of ISS Crew commands - e.g., Hold, Retreat, Resume, Abort,
Emergency separation from SSRMS, HTV thruster re-activation
Page 10
Rendezvous Proximity Operations & Capture
HTV the movie
EG Education
May 22-23, 2002
Page 11
Rendezvous Proximity Operations & Capture
HTV Description (1)
Rendezvous Phase
ISS
AI
Yaw around
attitude is
availab le
AI Station
Keep ing
CM2 M3 PCM2 MC 3
CAM de mo is plann ed
for the de mon stration
flight.
PM2
Orb it Altitude 3 50 - 4 60km
10km (TBD)
HAM2
Phase Ad justing
CM1
PCM1
MC2
MC1
PM1'
Phase Ad justing
M2 HAM1
M1
PM1
300 km
Y aw around attitu de
is available, excep t
at CAM d emo.
: Automatic event
: Commanding event
: ISS state vector upload(CMD)
Maneuver sequence go (CMD)
•
0.5rev
T1
~0.5rev
1rev
(PCM2) (CMD)
0.5rev 1rev
~1.5rev
~0.5rev
24.5 - 52.5rev
PM2 M2 HAM1 PCM1
200 km
15min38s
40.5 rev - 71.5 rev
0.5rev
~ 1 rev used
5 - 8rev
Sensors
– GPS
MC3
A1 HAM2 CM2 CM1 M3 PCM2
– Earth sensor
180deg yaw
(CMD)
+/-90deg yaw around for
– around
Gyros
out of plane maneuver
EG Education
May 22-23, 2002
Injection
to Orbit
MC2
+/-90deg yaw around for
out of plane maneuver
(PCM1) (CMD)
Page 12
MC1
1rev
PM1' M1
TIME
4.6rev
PM1
Core system check out
Redundancy checkout
ACU CAM string checkout (CMD)
HTV
separati on
EVENT
Core system ini tial
check out(CMD)
Rendezvous Proximity Operations & Capture
HTV Description (2)
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Sensors used
– Relative GPS
– Earth Sensor
– Gyros
– RVS (laser)
– Independent R&RR using COMM
EG Education
May 22-23, 2002
Page 13
Rendezvous Proximity Operations & Capture
SAFETY OVERVIEW
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System, operations and safety requirements for Rendezvous, Proximity Operations, and
Capture (RPOC) are specified in key bilateral/trilateral documents (e.g., vehicle Segment
Specification, ISS to vehicle Interface Requirements Document)
All safety critical functions are two-failure tolerant for catastrophic hazard
All maneuvers which take vehicle trajectory into ISS “controlled” space require ground
control center “GO” authorization and are initiated from default “hold” points
A Collision Avoidance Maneuver (CAM) can be commanded at any time by any of the
following: a) service vehicle’s Fault Detection, Isolation & Recovery (FDIR) system; b) appropriate ground
control center; and c) ISS crew
•
A monitoring capability, which allows for abort/contingency actions, is available for ISS crew
to supervise automatic approach (visual, independent range/range rate data, vehicle GNC
data, vehicle FDIR data); ISS crew intervention includes a small number of additional
commands to control actions of service vehicle (vehicle dependent)
EG Education
May 22-23, 2002
Page 14
Rendezvous Proximity Operations & Capture
Operations Concept
Keep-out Sphere
(200m radius)
4km
V-Bar
2km
3 Sigma Dispersion
R-Bar
3 km radius
spherical comm
coverage
Out of plane minor axis of AE is 2km
EG Education
May 22-23, 2002
Page 15
Rendezvous Proximity Operations & Capture
Operations Concept
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Approach Ellipsoid (AE)
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Approach Initiation (AI) Maneuver
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3 Sigma targeting must stay outside of the KOS
Space-to-space communications must be established before AI is performed
If the space-to-space link is lost the vehicle automatically aborts
Transition of operational authority to the MCC-H 90min prior to AI
Keep-out Sphere (KOS)
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4Km X 2km X 2km centered on the ISS CG
All 3 sigma trajectories must stay out prior to the AI maneuver
Crew visibility is required in all lighting conditions within 1 km
200M radius sphere around the ISS
Within 200m, vehicle must be within a predefined approach corridor
All pre-AI coast trajectories must stay out of AE for at least 24 hours
Day of Rendezvous operations (free flight & attached) must fit within 10 hour crew
work day
Aborts within KOS start with establishing an opening rate
On departure, vehicle must exit AE within 90 min of separation on a trajectory that will
not re-enter AE
EG Education
May 22-23, 2002
Page 16
Rendezvous Proximity Operations & Capture
CREW COMMAND & ABORT DESIGN
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Crew Hardware Button commands for time critical functions
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Vehicle self-monitoring abort
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EG Education
May 22-23, 2002
Collision Avoidance Maneuver (CAM)
Vehicle Hold
Vehicle Retreat
HTV emergency separation in case of failed SSRMS
HTV emergency control system activation in case of failed capture
two-string system failure
communication loss
Independent avionics for CAM
CAM independent of navigation solutions
Abort inside the KOS starts with an opening rate
Page 17
Rendezvous Proximity Operations & Capture
FLIGHT DEMONSTRATION REQUIREMENTS
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The test program shall demonstrate and verify a readiness of the RPOC system
including service vehicle, ISS systems, combined vehicle/ISS systems, and the
system support facilities which will be used for a safe RPOC at the ISS
All safety-critical functions shall be flight demonstrated:
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In a region that is not hazardous to the ISS
Prior to when they are needed for ISS safety
The technique used by the service vehicle shall be approved by the ISSP
Functions to be demonstrated, as a minimum, include:
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EG Education
May 22-23, 2002
Establishment of the communications link
Command/Data telemetry transfer
Functionality of GNC systems
Collision Avoidance Maneuver
Approach, including maintaining the required approach corridor and stationkeeping
Emergency termination of approach
Capture within predetermined kinematic parameters
Complete mechanical mating and establishment of required interfaces
Unmating and back-off
Functionality of Service Vehicle ground support personnel and equipment
Functionality of visual monitoring techniques and systems by ISS crew
Page 18
Rendezvous Proximity Operations & Capture
RPOC Tools
Shuttle
Soyuz
Operational Vehicles
Progress
CRV
HTV
Vehicles in Development
AERCam
ATV
X-38
Tech. Demonstrators
ISS
Proposed Future Vehicles
Environment
Current, Planned,
and Generic Robotic Systems
• Targeting
Algorithms
• Guidance Algorithms
• Navigation Algorithms
• Control Algorithms
• Mission & Vehicle Manager Capabilities
• Sensors (Gyro, Accel., GPS, Laser, etc.)
• Effectors (Jets, Momentum Gyros, etc.)
• Propellant Systems (blow-down, slosh, etc.)
GPS
• Hardware-in-the-loop
Communication Systems Crew-in-the-loop
- Multi Body
• Solar Array Tracking
- Rigid Body
- Flex Body
• FDIR Logic
- Orbital
- Robotics
• Abort Logic
- Multi-Vehicle
- Contact
• Direct and Remote Piloting Capabilities
Sim Control, Monitor & Fault Insertion Visualization
Kinematics & Dynamics
• Crew Interfaces
- Collision Detect
• Generic Systems (e.g. perfect nav & effector) - Communications
Generic Vehicles and Systems
EG Education
May 22-23,
GNC
and2002Flight Systems
Page 19
Crew Displays
- Monte-Carlo
- Optimization
Mechanism - Math Libraries
Models - Multi-Process
Rendezvous Proximity Operations &
Capture
- Multi-Computer
Docking/Berthing Support Tools
BACKUP CHARTS
EG Education
May 22-23, 2002
Page 20
Rendezvous Proximity Operations & Capture
ISS
EG Education
May 22-23, 2002
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ISS configuration complex & dynamic
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ISS needs about 56,000 kg supplies/year
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Six candidate ports for service vehicles, 3 US segment, 3
Russian segment. External sites.
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Docking to APAS and P&C, capture and berthing to CBMs (to
be discussed)
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ISS resources available to service vehicles dependent on
attached port, negotiable
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ISS orbit characteristics
altitude = 350 (275) to 460 km
inclination = 51.6 degrees
eccentricity < 0.003 (0.01)
attitude = -20 to +15 degrees (pitch)
Page 21
Rendezvous Proximity Operations & Capture
Overview of Vehicles
Vehicle
(Mass@407 km)
Payload
(407 km; 51.6º)
Shuttle
16,420 kg
Soyuz-TM
480 kg
Progress-M1
2,230 kg
ATV
7,500 kg
HTV
6,000 kg
CRV
Cargo
Types
• Crew Rotation
• Pressurized
• Unpressurized
• Water, gas
Available
Date
• Available
• Crew Rotation
• Pressurized
• Available
• Pressurized
• Unpressurized
• Propellant
• Gas, Water
• 1999
• Pressurized
• Propellant
• 2004
• Pressurized
• Unpressurized
• 2005
• Crew Return
•?
TBD kg
EG Education
May 22-23, 2002
Page 22
Rendezvous Proximity Operations & Capture
Shuttle (MPLM)
NASA
9,900
3
3 9,900
Shuttle (ULC)
NASA
9,900
3
3 700
Shuttle (2x Hab) NASA
10,100
3
3 5,200
Shuttle (Hab/ICC) NASA
9,400
3
3 5,200
Progress M
RSA
2,350
1,800
Progress M1
RSA
2,230
1,800
Progress M1+
RSA
TBD
1,800
Soyuz-TM
RSA
480
3
3 480
HTV (Press)
NASDA
7,000
7,000
HTV (Mixed)
NASDA
6,000
6,000
ATV
ESA
7,500
5,500
CRV
NASA
TBD
7 TBD
Note: All performance measured to 407 Km
Note: Each Shuttle flight rotates 3 ISS crew
Note: Spacehab estimates based on advertised projections
Waste Water (Kg)
Recoverable Cargo
(Kg)
Nonrecoverable
Cargo (Kg)
Deliver Propellant
(Kg)
Gas (Kg)
Water (Kg)
Unpressurized Cargo
(Kg)
Delivers Racks/ISPRs
(Up to # of Racks)
Pressurized (Kg)
Crew Return
(Crewmembers)
Crew Delivery
(Crewmembers)
Maximum Payload
Delivered (Kg)
Agency
Overview of Vehicles (continued)
16
~400 TBD
NA
10,000
75
11,500 ~400 TBD
NA
12,700
75
4 450*
~400 TBD
NA
5,200
75
4 5,400 ~400 TBD
NA
5,200
75
420
40 1,100 1,600
400
40 1,950 1,600
210
40 TBD 1,600
200
20
12
300
7,000
300
8 1,500 300
6,000
300
840 100 4,860 6,500
840
TBD
* If unpressurized cargo is loaded on the exterior of the Spacehab module this mass must be reduced in the pressurized module
EG Education
May 22-23, 2002
Page 23
Rendezvous Proximity Operations & Capture
Tools – Simulation/Graphics Environment
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Extensive use of Trick operating system for simulation environment
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Model and object based architecture hosting a collection of models and objects
allowing multiple simulations with many common models (3, 6, N-DOF
simulations)
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Strongly data driven - Can largely define systems and events and modify events
through inputs
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Trick runs on multiple platforms and operating systems
•
Main platforms: Sun (Solaris 5.8/SunOS 8.0), SGI (IRIX 6.5), PC (RedHat 7.1)
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Special support for: Macintosh (OS X), Power PC604 (IRIX GCC/VxWorks), Night-Hawk
(Power UX), IBM (AIX), Alpha (True64), PC (Solaris)
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Extensive use for H/W-in-the-loop and Human-in-the-loop simulations throughout
JSC
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Extensive use at JSC for many vehicle simulations - ATV, HTV, CRV, ICDS, On-orbit
SES, Sprint, SAFER, AERCam, Russian Vehicles
VRTool, VR Lab Graphics (DOUG) and Enigma based graphics
EG Education
May 22-23, 2002
Page 24
Rendezvous Proximity Operations & Capture
ATV/HTV Simulations – Hardware/Software
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Hardware-in-the-loop Closed-Loop Relative GPS Simulation
– Two Force 5 GPS receivers (currently only one purchased)
– Plan to use GPS signal generator & RPOC GPS models
– Use same methodology/software as developed for AERCam and X-38
Simulations for Integrated Monitoring Development and Evaluation
– Real-time
– High fidelity graphics
– Crew Interfaces
– Laptop display capabilities
Combined ISS, SSRMS, HTV Simulation for Capture Analysis
– ISS GNC System
– SSRMS - FSW, Robotics Work Station, Hardware model, boom and joint
flex, LEE model
– HTV GNC and Flight Systems
– Crew Monitoring/Commanding capability
– Real-Time for crew interface
– Operators Console for test operation and failure insertion
EG Education
May 22-23, 2002
Page 25
Rendezvous Proximity Operations & Capture
ATV/HTV Simulation Summary
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Simulate All Phases ATV and HTV Near ISS
– End part of phasing to proximity operation to capture
– Separation and departure
– Aborts and re-rendezvous
Use Simulations for:
– GNC performance analysis
– Docking/SSRMS capture analysis
– Monitoring development
– FDIR analysis
– Safety evaluation
– ISS integration
– Independent Verification
Batch Simulations, Avionics-in-the-loop, Human-in-the-loop
EG Education
May 22-23, 2002
Page 26
Rendezvous Proximity Operations & Capture
ATV/HTV Simulation Capabilities
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Full, Single String, Rendezvous/Proximity Operations GNC for All Phases
– Targeting and Guidance used by ATV and HTV and generic
– Absolute state navigation
• GPS, INS, Generic
– Relative state navigation
• Relative GPS, laser, vision system, generic
– Attitude navigation
• Gyro, earth sensor, star tracker, relative attitude, generic
– Controls used by ATV and HTV, phase plane, generic
– Sensors/Effectors used by ATV, HTV and generic
Numerous Flight System Models (comm, C&DH, docking mech. etc.)
Limited multiple string instantiation for FDIR analysis
Partial ATV and HTV FDIR capabilities
ISS model (GNC, array rotation, collision model, etc.)
Full SSRMS model (dynamics, controls, FSW, crew interface, etc.)
EG Education
May 22-23, 2002
Page 27
Rendezvous Proximity Operations & Capture