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