esa sp-323 December 1991
Spacecraft guidance, navigation and control systems
Proceedings of the First International Conference organised by the European Space Agency and held at ESTEC, Noordwijk, The Netherlands, on 4 - 7 June 1991
UNiVERSiTATSBIBLIOTHEK HANNOVER
TECHNISCHE INFORMATIONSBI3LIOTHEK
european space agency / agence spatiale europeenne UB/TIB Hannover 89 CEDEX France 8-10, rue Mario-Nikis, 75738 PARIS 15, 123 416 213 Ill
CONTENTS
Opening Session
Chairman: I. Braga, ESTEC, Noordwijk, The Netherlands
Opening address xxV M. Le Fevre, Director, ESTEC, Noordwijk, The Netherlands
Keynote address: Creating the future of GN&C xxvii J.R. Wertz, President, Microcosm Inc., Torrance, CA, USA
After-dinner speech: Evolution of space xxxi Professor Sir H. Bondi, former Director General of ESRO
Session 1: Missions I
Chairman: D.N. Soo, ESTEC, Noordwijk, The Netherlands
Design aspects of the attitude control system for the SOHO spacecraft 3 T.D. Wood & CD. James, BAe Space Systems Ltd.,Filton, Bristol, UK
Polar Platform AOCS 9 P. Riant, Matra Marconi Space France, Toulouse, France
15 GNC subsystem design and performance simulation for the Columbus Free-Flyer D. Ulrich, A. Woelker & R. Hartmann, Domier GmbH, Fridrichshafen, FRG
23 Attitude and articulation control for CRAF/Cassini
C.E. Bell, D.E. Bernard & R.D. Rasmussen, JPL, Pasadena, CA, USA
33 New AOCS Concepts for ARTEMIS and DRS T. Duhamel & A. Benoit, Matra Espace, Toulouse, France
Session 2: Rendezvous and Docking Systems
Chairman: W. Fehse, ESTEC, Noordwijk, The Netherlands
43 Development of GNC system for rendezvous: major results of the pre-development programme J.M. Pairot & C. Pauvert, Matra Espace, Toulouse France W. Fehse & A. Tobias, ESA/ESTEC, Noordwijk, The Netherlands
A. Getzschmann & J. Sommer, MBB/ERNO, Bremen, FRG
55 RVD misskai . • Guidance, navigation and control strategy in a proximity range for autonomous Agency, Tsukuba. Japan Y. Wakabayashi, I. Kawtmo & H. Suzuki, National Space Development Kamakura, Japan N. Yoshida, H. Miyazaki & T. Kanbe, Mitsubishi Electric Corp., iv TABLE OF CONTENTS
Adaptive guidance techniques for Hermes rendezvous 61 E. Desplats & C. Champetier, Matra Espace, Toulouse, France
On-board assistant for GNC monitoring during rendezvous operations 67 A. de Saint-Vincent, P. Caloud & M. Frezet, Matra Espace, Toulouse, France M. Le Du, CNES, Paris, France
73 Control of free-flying space robot for capturing manoeuvre K. Machida, T. Iwata & Y. Toda, ETL, M1TI, Japan N. Kubota, K. Ioi, T. Katsuragawa, N. Muroi & K. Ogimoto, Kawasaki Heavy Industries Ltd., Japan
GPS differential navigation techniques for CARINA re-entry and spacecraft rendezvous operations 79 G. Barresi, L. Caporicci & C. Soddu, Italspazio, Rome, Italy
Session 3: High Accuracy
Chairman: F. Tolivar, Jet Propulsion Laboratories, Pasadena, CA, USA
89 The precision segmented reflectors: moderate mission figure control subsystem G. Sevaston, K. Lau, W. Breckenridge, B. Levine, N. Nerheim, S. Sirlin & H. Kadogawa, JPL, CIT, Pasadena, CA, USA D. Redding, Charles Stark Draper Laboratory
97 The attitude and orbit control system on the Aristoteles satellite P. Peyrot, Matra Espace, Vdlizy, France
control 103 Active suspension ground test facility for large flexible structure dynamics and investigations Th. Lange & C. Schlegel, DLR, Oberpfaffenhofen, FRG
actuators 109 Active damping by a local force feedback with piezoelectric A. Preumont, J. P. Dufour & C. Malekian, Free University of Brussels, Belgium
117 The multi-disciplinary approach for future very high pointing accuracy AOCS W.J. Alldridge, BAe, Filton, Bristol, UK
Session 4: Re-Entry/Launchers
Chairman: J. de la Fontaine, ESTEC, Noordwijk, The Netherlands
125 AOCS scenarios for low cost re-entry capsules H. Sondermann, Dornier GmbH, Friedrichshafen, FRG
131 Guidance and control for re-entry vehicles W. Buhl, MBB/Deutsche Aerospace, Ottobrunn, FRG D. Paris, ESA/ESTEC, Noordwijk, The Netherlands
for 137 Trajectory optimisation and guidance strategies re-entry Matra Toulouse, France S. Jallade, T. Duhamel & C. Champetier, Espace,
145 vehicle and the of GPS navigation for HOPE The orbital re-entry experiment flight experiment Centre, T. Izumi, I. Kawano & Y. Takizawa, NASDA/Tsukuba Space Japan Industries Systems, Japan K. Masuda, T. Mori & K. Kito, Mitsubishi Heavy Ltd., Nagoya Aerospace TABLE OF CONTENTS v
Session 4: Re-Entry/Launchers (continued)
Attitude and orbit control algorithms for multiple payload launchers 151 H. Strauch & H. Klotz, MBB/ERNO, Bremen, FRG A. Lopez-y-Diaz, Aerospatiale, Les Mureaux, France
157 Falke: winged re-entry vehicle flight control K.D. Relotius & G. Netter, MBB/ERNO, Bremen, FRG
Session 5: Attitude Measurement
Chairman: K. Ninomiya, Institute of Space & Astronautical Science, Sagamihara Kanagawa, Japan
165 Development and test of the Astro-SPAS attitude measurement and control system A. Boinghoff, E. Briidetie, N. Gradmann, G. Eisner, L. Kaffer & H. Widmann, MBB/Deutsche Aerospace, Mttnchen, FRG
173 Development of the MAXUS-1 ARCS using fibre-optic gyros B. Eissfeller. G. Schmitt & A. Lissner, Kayser-Tlirede GmbH, Miinchen, FRG
Attitude measurement and star line of sight: from on-ground experiment to flight results 179 0. Vandermarcq, CNES, Toulouse, France
189 Low cost spacecraft attitude sensors M. Leese, A.K. Ward, S. Pctice & S. Heyhoe, Satellites International Ltd., Newbury, UK
195 Autonomous star identification and spacecraft attitude determination with CCD star trackers T.E. Strihverda, H.L. Fisher, C.C. Kiigus & L.J. Frank, The Johns Hopkins University, Laurel, MD, USA
Session 6: Rendezvous and Docking Implementation
Chairman: A. Tobias, ESTEC, Noordwijk, The Netherlands
203 Verification tests of a prototype RVD GNC on-board software C. Pauvert & T. Tailhades, Matra Espace, Toulouse, France U. Soppa, F. Kruse & R. Gloerfeld, MBB/ERNO, Bremen, FRG T.v. Overbeek & F. Ankersen, ESA/ESTEC, Noordwijk, The Netherlands
of the Columbus Free Safety strategy and implementation for the rendezvous Flyer 213 with the Space Station Freedom A. Kolkmeier, Dornier GmbH, Friedrichshafen, FRG W. Schnetzer, MBB/ERNO, Bremen, FRG
verification 219 Use of the docking dynamics test facility for rendezvous and docking final approach P. Noirault & J. Pairot, Matra Espace, Toulouse, France
225 Autonomous capture experiment of free flying target on the ground simulator H. Shimoji & M. Inoue, Mitsubishi Electric Corp., Hyogo, Japan and Astronautical Science, K. Ninomiya, I. Nakatani & J. Kawaguchi, Institute of Space Kanagawa, Japan vi TABLE OF CONTENTS
Session 6: Rendezvous Implementation (continued)
Mission and vehicle management and FDIR functions for GNC systems for rendezvous operations 231 U. Soppa & J. Sommer, MBB/ERNO, Bremen, FRG A. Tobias & M. Panicucci, ESA/ESTEC, Noordwijk, The Netherlands L. Olivier-Martin, Matra Espace, Toulouse, France
Ariane Transfer Vehicle (ATV) GNC Concepts 237 E. Fyfe & D. Salt, BAE, Stevenage, UK C. Bonnal & F. Theiller, Aerospatiale, Les Mureaux, France
Session 7: Hermes
Chairman: P. Marchal, Centre National d'Etudes Spatiales, Toulouse, France
Hermes guidance, navigation and control system for rendezvous phases 245 G. Brondino & J. Legenne, CNES, Toulouse, France
Management of navigation means failure in Hermes space vehicle 257 M. C. Capdevielle & T. Abensur, Aerospatiale, Les Mureaux, France
Hermes navigation and orbital guidance 261 P. Riant & M. Frezet, Matra Espace, Toulouse France
Objective propcllant consumption and thruster activations for the attitude control of the Hermes-Columbus composite 271 J.Magne, C. Billant-Guillaumin & J.M. Seguin, Aerospatiale, Les Mureaux, France
Design of Hermes manual control modes 277 K. Janschek, E. Lehrl & W. Oesterlin, MBB Deutsche Aerospace, Miinchen, FRG
Robust control of an aerodynamically unstable launcher with bending modes 287 S. Besset & P. Delpy, Aerospatiale, Les Mureaux, France
Session 8: Verification
Chairman: K. Reinel, Deutsche Forschungsanstalt far Luft-und Raumfahrt ev., Oberpfaffenhofen, Germany
Description and simulation results of the Italsat AOCS advanced flight simulator 295 G. Lenzo, R.L. Minciotti & M. Sasso, Telespazio, Rome, Italy
Architectural design of a test environment for AOCS applications 305 C. Marscholik, Dornier, Friedrichshafen, FRG U. Schwan, GAUSS GmbH, Salem, FRG
Full MACS controller-based self test module for spacecraft units and related testing facilities 311 G. Borghi, M. Mancini, Officino Galileo, Firenze, Italy P. Brazzale, ESA/ESTEC, Noordwijk, The Netherlands M. Brunamonti & S. Tosi, Protech, Firenze, Italy TABLE OF CONTENTS vii
Session 8: Verification (continued)
A fibre optic implementation of MACS bus 315 D.J. Morris & M.J. Baker, BAe, UK F. v. Fischer-Treuenfeld & H.G. Sparringa, Domier, Friedrichshafen, FRG P. Brazzale, ESA/ESTEC, Noordwijk, The Netherlands
Test system for fine attitude control systems of astronomy satellites 321 K. Fujiwara, T. Kdwahara & T. Saitoh, NEC Aerospace System Ltd., Yokohama, Japan K. Ninomiya, Institute ofSpace and Astronautical Science, Sagamihara, Japan
Advanced identification techniques applied to validation of satellite attitude and orbit control systems 327 R. Marley, VEGA Space Systems Engineering Ltd., Harpenden, UK
Session 9: Navigation
Chairman: B. Davies, Royal Aerospace Establishment, Famborough, United Kingdom
Autonomous GPS/INS navigation experiment for Space Transfer Vehicle (STV) 335 T.N. Upadhyay & S. Cotterill, Mayflower Communications Company Inc., Reading, MA, USA A. W. Deaton, NASA Marshall SFC, AL, USA
Near earth orbit determination using magnetometers 345 I.Y. Bar-Itzhack & G. Shorshi, Israel Institute of Technology, Haifa, Israel
The Columbus Free-Flyer GNC high precision GPS navigation in space 351 R. Hartmann, Dornier GmbH, Friedrichshafen, FRG G. Peuker, SEL-ALCATEL, Stuttgart, FRG
Application of GPS for Hermes rendezvous navigation 359 B.A.C. Ambrosius, E.T. Hesper, R.J. Snijders & K.F. Wakker, Delft University of Technology, Delft, The Netherlands
Session 9.1: Gimballed Wheels
Cliairman: A. Robinson, ESA/ESTEC, Noordwijk, The Netherlands
Double gimballed momentum wheel design for small satellites 369 M. Shamma & T. Michaelis, Fairchild Space Company, Germantown, MD, USA
A double gimballed magnetic bearing momentum wheel for high pointing accuracy and vibration sensitive space applications 393 U.J. Bichler, Teldix GmbH, Heidelberg, FRG
Session 10: Software/Algorithms
Clrairman: H. Raynaud, Canadian Space Agency, Ottawa, Canada
Design and development of the SAX AOCS control software 401 S. Kampen & J. Kouwen, Fokker Space and Systems, Amsterdam, The Netherlands viii TABLE OF CONTENTS
Session 10: Software/Algorithms (continued)
Experiences with ADA in ISO AOCS 407 P.G. Beerthuizen & M.J.A. Oort, Fokker Space & Systems BV, Amsterdam, The Netherlands
Software to support attitude measurement system design 413 C. Rogers & R. Lowes, BAe, Stevenage, UK
Object oriented hardware simulation of spacecraft control algorithms 419 A. T. Sund, ESA/ESTEC, Noordwijk, The Netherlands I. Halvorsen & Q. R$dseth, SINTEF Automatic Control B. Foss, Norwegian Institute of Technology B. Polle, Matra Espace
Mode management and run-time linking with ADA in real time 431 R. Gerlich, Dornier GmbH, Friedrichshafen, FRG
Session 11: FDIR
Cliairman: M. Weinberger, ESA/ESTEC, Noordwijk, Tlie Netherlands
Distributed health management systems for GNC applications 439 J. Wald, G. Hadden & J. Schoess, Honeywell Inc., Minneapolis, MN, USA
Advanced fault tolerant AOCS computer for rendezvous and docking missions 447 A. T. Sund, ESA/ESTEC, Noordwijk, The Netherlands J. Tailhades, Matra Espace, France P. Linden, SAAB Space, Sweden
Fault detection isolation and recovery within the AOCS of SAX 455 A.M. Selig, SRON, Utrecht, The Netherlands L. Karsten, Fokker Space & Systems BV, Amsterdam, Tlie Netherlands
Attitude and orbit control system of the VSOP mission spacecraft Muses-B 461 K. Ninomiya & T. Hashimoto, Institute of Space and Astronautical Science, Kanagawa, Japan T. Kuril & N. Ogura, NEC Corporation, Japan
Object oriented simulation in diagnosis and recovery from faults in spacecraft subsystems: an experimental application to the Olympus AOCS 467 R.S. Thompson, VEGA Space Systems Engineering Ltd, Harpenden, UK P.L Silvestrin, ESA/ESTEC, Noordwijk, The Netherlands
Session 12: Analysis
Cliairman: C. Arduini, Centro Ricerche Aerospatiale, Rome, Italy
Control strategies for space systems 475 S. Stomelli, ESA/ESTEC, Noordwijk, Vie Netherlands J. Ramakrishnan, Dynamics Engineering Co., Inc., Palm Harbor, FA, USA H. Rajiyah, GE Corporate Research, Schenectady, NY, USA A. Silva, Agusta S.P.A., Milan, Italy TABLE OF CONTENTS IX
Session 12: Analysis (continued)
Modern control techniques for spacecraft AOC/GNC systems 483 C. Champetier & E. Desplats, Matra Espace, Toulouse, France P. Pelipenko, CNES, Toulouse, France
Spacecraft attitude control using magnetic torquers and gas jets 491 R. Prigge, H. Klotz & H. Strauch, MBB/ERNO, Bremen, FRG
Trajectory control of orbiting two link flexible manipulator system 497 F. Karray, V.J. Modi & J.K. Chan, University of British Columbia, Vancouver, Canada
503 Performance of an attitude and rate improved estimator for an earth observation satellite S. Fritz, Matra Espace, Velizy, France
On the nonlinear adaptive control of flexible spacecraft 509 G. Georgiou & D. Normand-Cyrot, CNRS-ESE, Gif-sur-Yvette, France S. Di Gennaro, Universita degli Studi, L'Aquila, Italy S. Monaco, Universitd di Roma 'La Sapienza', Rome, Italy
Session 13: In-orbit Experience
Chairman: D. Wilson, ESA/ESTEC, Noordwijk, The Netherlands
In-flight performance of the ROSAT attitude measurement and control system 517 W. Schrempp, E. Bruderle & L. Kaffer, MBB/Deutsche Aerospace, Miinchen, FRG
Eutelsat II attitude and orbit control experience 527 S.A. Glynn & L.R. Pattinson, Eutelsat, Paris, France
535 In-orbit microvibration tests on SPOT-1 satellite: experiment principle and results A. C. de Gaujac, D. Monteil & C. Bousquet, CNES, Toulouse & Matra Marconi Space, Toulouse, France
539 OTS-2 end-of-life dynamics tests L.v. Holtz & A.G. Bird, ESA/ESTEC, Noordwijk, The Netherlands IT. Mitchell, VEGA Space Systems Engineering Ltd., Harpenden, UK
545 Some aspects of the attitude and orbit control subsystem of the Olympus spacecraft P. Wadey, P.E. Miles & R.K. Lowes, BAe, Stevenage, UK
— 551 The ROSAT star tracker flight experience D. Purll, Sira Ltd., Chislehurst, UK N. Gradmann, MBB, Ottobrunn, FRG M. Bollner, DLR, Oberpfaffenhofen, FRG TABLE OF CONTENTS X
Session 14: Missions II
Chairman: L. Dest, Intelsat, Washington, DC, USA
559 Autonomous and advanced GNC techniques for the interplanetary Rosetta mission C. Champetier, Matra Espace, Toulouse, France J. Serrano, GMV, Madrid, Spain J. de Lafontaine, ESA/ESTEC, Noordwijk, The Netherlands
571 The attitude control design concepts in the DRTM satellites L. Mazzini, A. Ritorto & E. Astin, Alenia Spazio, Rome, Italy
579 Control of large earth observation spacecraft from SPOT-1 to PPF-1 B. Polle, Matra Espace, Velizy, France
remote satellite 585 On the dynamics and control of the first Brazilian sensing 7. Milagre da Fonseca & J.F. Ribeiro, INPE, Brazil
589 The dynamics of the Cluster spacecraft CA. Stephenson, BAe, Filton, Bristol, UK
Poster Session
597 Star trackers and sun sensors for a modern attitude control system S. ThUrey, ESA/ESTEC, Noordwijk, The Netherlands U. Schmidt & G. Kulterer, MBB Deutsche Aerospace, Milnchen, FRG
601 Development of a hybrid docking dynamics simulator M. Inoue, Mitsubishi Electric Corporation, Amagasaki, Japan J. Nakagawa & N. Arima, Mitsubishi Electric Corporation, Kamakura, Japan
the CT-601 solid-state star tracker 607 A new generation stellar attitude sensor: LP. McQuerry, D.d. Wagner, M.L. Sullivan, R.A. Deters & M.A. Radovich, Ball Electro-Optics, Boulder, CO, USA
615 Keyword index