esa sp-323 December 1991

Spacecraft guidance, navigation and control systems

Proceedings of the First International Conference organised by the 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 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, 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 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,

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,

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, , 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 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 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