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AUTOMATED TRAJECTORY GENERATION and GUIDANCE for a NEW LAUNCH VEHICLE FLIGHT PHASES a Di

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AUTOMATED TRAJECTORY GENERATION and GUIDANCE for a NEW LAUNCH VEHICLE FLIGHT PHASES a Di AUTOMATED TRAJECTORY GENERATION AND GUIDANCE FOR A NEW LAUNCH VEHICLE FLIGHT PHASES _______________________________________ A Dissertation presented to the Faculty of the Graduate School at the University of Missouri-Columbia _______________________________________________________ In Partial Fulfillment of the Requirements for the Degree Doctor of Philosophy _____________________________________________________ by KENNETH HORNEMAN Dr. Craig Kluever, Dissertation Advisor JULY 2010 The undersigned, appointed by the dean of the Graduate School, have examined the dissertation entitled AUTOMATED TRAJECTORY GENERATION AND GUIDANCE FOR A NEW LAUNCH VEHICLE FLIGHT PHASES presented by Kenneth Horneman, a candidate for the degree of doctor of philosophy, and hereby certify that, in their opinion, it is worthy of acceptance. Professor Craig Kluever Professor Noah Manring Professor Frank Feng Professor Roger Fales Professor Carmen Chicone DEDICATION I would like to dedicate this research to all the dear friends and family who have supported me over the years. One does not achieve something as significant as a doctoral degree without the love, encouragement, patience and support of many people. In particular, I would like to dedicate this to my parents and my brother and his wife (and my niece and niece/nephew to be) who are stuck with me for the long run (you’re one degree behind now, Robert, so you better get cracking.) I won’t try to list all the people who have been there for me, but you know who you are and how much you’ve helped me become the man I am. I thank you all and hope that you all will have joy and success in your life. ACKNOWLEDGEMENTS I would like to thank Dr. Craig Kluever, my advisor, for his support over the years and his assistance with the research presented here. I would also like to thank my co- workers at Barron Associates, Inc., Dave Neal and Shelly Su, for their inspiration, perspiration, patience and assistance during the course of this work. This would not have been possible without them. Thanks also to Dr. John Schierman for allowing me to apply my research to our projects, and thus continue my research while working full-time. I would also like to acknowledge the Missouri Space Grant Consortium and Air Force Research Lab Summer Scholars program for their support of my research. ii TABLE OF CONTENTS ACKNOWLEDGEMENTS................................................................................................ ii LIST OF FIGURES ........................................................................................................... vi LIST OF TABLES.............................................................................................................. x Chapter 1. Introduction................................................................................................. 1 1.1. Motivation........................................................................................................... 1 1.2. Contribution ........................................................................................................ 4 1.3. Outline................................................................................................................. 5 Chapter 2. Descent Guidance Problem Description ..................................................... 7 Chapter 3. Literature Search....................................................................................... 13 3.1. Terminal Area Energy Management................................................................. 13 3.2. Approach and Landing...................................................................................... 15 3.3. Other Flight Phases........................................................................................... 16 Chapter 4. TAEM and A&L Guidance....................................................................... 18 4.1. Taem Specific Motivation and Background ..................................................... 18 4.2. System Models.................................................................................................. 19 4.3. Trajectory Planning Algorithms ....................................................................... 20 4.4. TAEM Trajectory Planner ................................................................................ 25 4.5. TAEM Results Overview.................................................................................. 34 4.6. Nominal Trajectories ........................................................................................ 34 4.7. Off-nominal Initial Conditions ......................................................................... 38 Chapter 5. LOER Guidance........................................................................................ 46 iii 5.1. Motivation for LOER........................................................................................ 46 5.2. Shortcomings of the Current TAEM Approach................................................ 49 5.3. LOER Guidance................................................................................................ 52 5.4. Flight Phase Overview...................................................................................... 54 5.5. LOER Integrated Trajectories........................................................................... 57 5.6. Forward Path Integration Along Equilibrium Glide-slope ............................... 58 5.7. Forward Path Linear Tracking Law.................................................................. 62 5.8. Equilibrium Glide-slope and Cubic Dynamic Pressure Reference................... 64 5.9. Backwards Integrated Approach and Landing Trajectory................................ 66 5.10. Range Control ............................................................................................... 68 5.11. Algorithm Procedures ................................................................................... 72 5.12. Iterative Solution Procedure ......................................................................... 76 5.13. Engineering Considerations.......................................................................... 80 5.14. Sustained Acquisition Turns......................................................................... 80 5.15. Minimum HAC radius .................................................................................. 83 5.16. Minimum HAC Center ................................................................................. 87 5.17. Trajectory Updating...................................................................................... 89 5.18. Effects of Altitude Dependent Wind Profiles ............................................... 92 5.19. Constrained Angle-of-Attack Commands..................................................... 97 5.20. Delayed Lateral Guidance........................................................................... 102 5.21. Run Time Improvements in LOER Algorithm ........................................... 103 Chapter 6. Results and Testing with LOER ............................................................. 106 6.1. Nominal Results.............................................................................................. 107 iv 6.2. Test Suite ........................................................................................................ 112 6.3. Footprint Analysis........................................................................................... 115 6.4. Multiple Vehicle Testing ................................................................................ 121 Chapter 7. Conclusions and Future Work ................................................................ 123 References....................................................................................................................... 126 VITA............................................................................................................................... 129 v LIST OF FIGURES Figure 1: Schematic of A&L Trajectory Profile............................................................... 21 Figure 2: Shuttle TAEM Ground Track and Guidance Phases........................................ 27 Figure 3: Logic for TAEM Trajectory Planning Algorithm ............................................. 32 Figure 4: Nominal Trajectory ........................................................................................... 35 Figure 5: Nominal Trajectory: a) Alt vs E/W, b) Alt vs X on SGS, c)Alt vs X for Pullup/Flare, d) Flight-Path-Angle vs X........................................................................... 37 Figure 6: Nominal Trajectory with Touchdown Point Shift: a) Altitude vs X, b) Flight- Path-Angle vs. X............................................................................................................... 38 Figure 7: Direct HAC Trajectory...................................................................................... 39 Figure 8: Headwind Case a) Without, and b) With Guidance Knowledge....................... 41 Figure 9: Landing with Opposite Azimuth ....................................................................... 42 Figure 10: Trajectories with Position Dispersions: a) Overhead HAC, b) Direct HAC... 42 Figure 11. Comparison of a) Orbital and b) Rocket-back Entry Flight Conditions ......... 48 Figure 12: Comparison of Initial Conditions for Guidance Routines in Literature.......... 49 Figure 13. Dynamic Pressure Tracking for TAEM Initial Conditions ............................. 51 Figure 14.
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