NASA-Unique
Automated Rendezvous & Capture (AR&C) Element
JSC - DM / Don Pearson
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2nd Generation RLV Program
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
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
Goals
Safety - Improve Safety to 1 to 10,000 Loss of CrewCost - Reduce NASA’s Mission Price to $1,000/lb
Goals
Safety - Improve Safety to 1 to 10,000 Loss of CrewCost - Reduce NASA’s Mission Price to $1,000/lb
5854
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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 Industry-led 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, R-
POP
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– 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
Solutions (cont)
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Risk Reduction Approach
FY02 FY03 FY04 FY05
Requirements, surveys, test bed preps
NASA-led & Industry-led NRA AR&C task consolidation
FY07
• SLI SRD input• AR&C Lessons Learned• Tool assessment• Technology
assessment • Preferred algorithms• Preferred sensors• Glare reduction• Situational awareness
• Flight testable AR&C system @ TRL-6
Technology Development
Prototype Development
High Program Risk
Low ProgramRisk
FY06
Launch Vehicle Integration & Flight Test
1/1/03 6/1/06
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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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Current DRMs focus on ISS
Not optimizing for a particular mission (cont)
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 ManagementTri Nguyen, ManagerDon Pearson, Deputy
Requirements Integration & Systems
EngineeringDon Pearson, Chief Systems
Engineer
SensorsTerry Hill, Lead
EG SensorsJanet Bell, Lead
EV SensorsJim Lamoreux, Lead
GN&C AlgorithmsScott Merkle, LeadAl DuPont, Backup
VisualizationLui Wang, Lead
Docking & Capture Systems
James Lewis, Lead
AR&C Working Group• MSFC• JPL• GSFC• ARC
• NRL• AFRL• DARPA
AR&CTechnical Management Team• Lockheed Martin• Boeing• Orbital Sciences
WBS 1.0
WBS 5.0WBS 4.0
WBS 3.0
WBS 2.0
WBS 6.0
DART program (MSFC)
Orbital Express program (DARPA)
• TA-1 team
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AR&C Schedule
Task Name
AR&C Technology Risk Reduction
Planning & Reqmts Development
Initial planning & budget approval
First inter-agency WG mtg
Input 1st AR&C draft reqmts to Level 2 SRD
2nd & subsequent drafts of SRD
AR&C Source Eval Board - NRA 8-30
Proposal eval
Complete presentation of findings to JSC Integ Panel
Complete preps of briefing for MSFC SEB
Cycle 2 negotiations
Sign contracts & begin final negotiations
Cycle 2 contract awards
Consolidation of in-house & industry AR&C tasks
Document AR&C Lessons Learned
AR&C TRD development
AR&C tool surveys & reqmts
2nd interagency WG mtg
Support SLI SRR & TIR
Technology development & risk reduction
Technology analyses & tests
SE&I tool development
Initial planned downselection point
Second planned downselection point
Prototype h/w & s/w development
AR&C technologies ready for flt test vehicle integration
05/22
04/23
05/14
08/26
09/26
10/22
09/26
09/24
06/01
Q1 Q2 Q3 Q4 Q1 Q2 Q3 Q4 Q1 Q2 Q3 Q4 Q1 Q2 Q3 Q4 Q1 Q2 Q3 Q4 Q1 Q2 Q3 Q4 Q1 Q2 Q3 Q4 Q1 Q22002 2003 2004 2005 2006 2007 2008 2009
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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
Vehicle comm system
Ground control Situational Awareness
Mission Planning
AR&C System
Target Vehicle situational awarenessTargetsReflectorsCameras
AR&C System
Target Vehicle (Cooperative)
Propulsion & maneuvering
systems
Mission Manager(Including
Replanning & IVHM)
Docking mechanisms (ES)
RLV
AR&C System
Advanced GN&C System (EG)
Continuous GuidanceAdvanced NavigationAdaptive Control
Target Vehicle (Un-Cooperative)No AR&C Aids
Rendezvous sensors (EG/EV) (200km-1km)
GPSRadarStar TrackerLaser
Prox ops sensors (EG/EV) (< 1km)
LaserImagingRadar
Display & Visualization (ER/EG)
EG/C. Scott Merkle
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2006
AR&C Requirements & Systems Engineering
Navigation Sensors
Advanced GN&CAlgorithms
remaining FY02 2003 2004 2005
Lightweight Docking System
LEGEND Decision Point
Strategic Program Objective
System Perf. Analysis/Trades
Integrated Ground Demo of Proto-type H/W & S/W
Sensor Trades (in-house, NRA)
Hardware in Loop tests
Earlier R&T
Ref MissionAnalysis
Breadboards
Architecture Inputs
TRL4 TRL
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TRL2/3
TRL3/4
TRL4
TRL6
TRL3
TRL3
X-cutting Working Group Basic Requirements & Design Ref Missions defined
Re
qts
Flo
w
Do
wn
TRL4
Gap Tech IntegrationSystem Level Design
Grnd based system test
TRL5
TRL6
Feedback
Down Select
TRL6
Proto-type sys Design & test
Proto-type sys Design & test
Milestones Selections Integrated Ground TestsRequirements
Systems Engineering
Eng. Models
Prime algorithms
Down Select
Crew & Ground Visualization Approach Perf.
Analysis/Trades
TRL3 Prototypes
TRL4
Grnd based system tests
TRL5
TRL6
Proto-Flt sys Design & test
In-house + NRA prototypes
Consolidation of in-house & NRA tasks
Integration & documentation