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Guidance, Navigation and Control of World's 79 JSTS Vol. 27, No. 1 2. Tsuda,Y., Saiki,S., Mimasu,Y., Funase,R., “Sun-Earth Based Spin Axis Determination for Interplanetary Missions and Its Application to IKAROS”, 2011 AIAA/AAS Astrodynamics Specialist Conference, AAS11-448, Girdwood, Alaska, GUIDANCE, NAVIGATION AND CONTROL OF 2011.8.2. WORLD’S FIRST SOLAR POWER SAIL IKAROS 3. Tsuda,Y., ”An Attitude Control Strategy for Spinner Solar Sail”, 17th IFAC Symposium on Automatic Control in Aerospace, WE-P02, 2007.6.25-29 Toulouse 1 2 3 1 4. Saiki, T., Nakaya, K., Yamamoto, T., Tsuda, Y., Mori, O., Kawaguchi, J., “Development of a Small-spin-axis Controller Yuichi TSUDA , Tomohiro YAMAGUCHI , Hitoshi IKEDA , Yuya MIMASU , 1 1 1 and Its Application to a Solar Sail Subpayload Satellite”, Transaction of the Japan Society for Aeronautical and Spae Takanao SAIKI , Hiroshi TAKEUCHI , Masaki NAKAMIYA Sciences, Space Technology Japan, Vol. 7, pp.25-32, 2009. 5. Saiki, T., Tsuda, Y., Funase, R., Mimasu, Y., Shirasawa, Y., IKAROS Demonstration Team, “Attitude Operation 1Japan Aerospace Exploration Agency, Sagamihara, Kanagawa, Japan Results of Solar Sail Demonstrator IKAROS”, 28th International Symposium on Space Technology and Science, ISTS 2The Graduate University for Advanced Studies, Sagamihara, Kanagawa, Japan ISTS-o-4-11v, Okinawa, Japan, 2011. 3 6. Yamamoto, T., Mori, O., Shida, M. and Kawaguchi, J., “Development of Gas-Liquid Equilibrium Thruster for the Small Satellite,” 25th Japan Aerospace Exploration Agency, Tsukuba, Ibaraki, Japan International Symposium on Space Technology and Science, 2006-k-32, Kanazawa, June 4-11, 2006. 7. Yamamoto,T., Mori,O., Sawada,H. and Funase,R., “System Safety Activity for IKAROS Spacecraft,” 61st International Astronautical Abstract Congress, IAC-10.D5.1.10, Prague, Sep.27-Oct.1, 2010. This paper summarizes the guidance, navigation and control of the world’s first solar power sail 8. Funase, R., Shirasawa, Y., Mimasu, Y., Mori, O., Tsuda, Y., Saiki, T., Kawaguchi, J., "On-orbit Verification of Fuel-Free Attitude IKAROS. During the 1.5 years of its interplanetary flight, IKAROS has carried out the guidance, Control System for Spinning Solar Sail Utilizing Solar Radiation Pressure", Advances in Space Research, Vol.48, Issue 11, pp.1740-1746, 2 2011. navigation and control experiments using the large solar radiation force generated by its 200 m solar 9. Mori,O., Sawada,H., Hanaoka,F., Kawaguchi,J., Shirasawa,Y., Sugita,M., Miyazaki,Y., Sakamoto,H. and Funase,R., "Development of sail. Since solar radiation pressure is the main controllable force for a solar sail, its modeling is the key Deployment System for Small Size Solar Sail Mission," Transactions of Japan Society for Aeronautical and Space Sciences, Space factor for a successful guidance. A precise solar radiation pressure modeling for this spinning solar sail Technology Japan, Vol. 7, No. ists26, pp. Pd_87-Pd_94 (2009). has been performed in order to support the navigation and guidance using the large membrane. Due to 10. Sawada, H., Mori, O., Okuizumi, N., Shirasawa, Y., Miyazaki, Y., Natori, M., Matunaga ,S., Furuya, H. and Sakamoto, H., "Mission the complexity of the sail surface and shape, the refinement of the SRP model is done after the Report on The Solar Power Sail Deployment Demonstration of IKAROS," 12th AIAA Gossamer Systems Forum, AIAA 2011-1887, Denver, USA (2011). deployment in space with radiometric measurements. This solar sail navigation is also supported by the 11. Shirasawa, Y., Mori, O., Miyazaki, Y., Sakamoto, H., Hasome, M., Okuizumi, N., Sawada, H., Furuya, H., Matsunaga, S., Natori, M. precise delta-DOR (Differential One-way Range) measurements. These in-flight demonstrations with and Kawaguchi, J., "Analysis of Membrane Dynamics using Multi-Particle Model for Solar Sail Demonstrator IKAROS," 12th AIAA IKAROS enable the future deep space exploration with solar sailing technique. Gossamer Systems Forum, AIAA 2011-1890, Denver, USA (2011). 12. Miyazaki, Y., Shirasawa Y., Mori, O., Sawada, H., Okuizumi, M., Sakamoto, H., Matunaga, S., Furuya, H. and Natori, M., 1. Introduction "Conserving Finite Element Dynamics of Gossamer Structure and Its Application to Spinning Solar Sail IKAROS," 52nd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, AIAA 2011-2181, Denver, USA (2011). Japan Aerospace Exploration Agency (JAXA) launched the solar sail demonstration spacecraft 13. Tsuda, Y., Saiki, T., Mimasu, Y., Yamaguchi, T., Ikeda, H., Nakamiya, M., Takeuchi, H. and IKAROS Demonstration “IKAROS” (Fig.1) on May 21, 2010. IKAROS was launched together with JAXA’s Venus climate Team, “Modeling of Solar Radiation Pressure Effect for Trajectory Guidance of Spinner Solar Sailer IKAROS”, 28th orbiter “AKATSUKI (Planet-C)” as an interplanetary piggy-back payload. The launch vehicle was H2A International Symposium on Space Technology and Science, ISTS ISTS-o-4-10v, Okinawa, Japan, 2011.6.11. and was launched from Tanegashima space center. 14. Tsuda,Y., Saiki,T., Mimasu,Y., Funase,R., “Modeling of Attitude Dynamics for IKAROS Solar Sail Demonstrator”, AAS/AIAA Space Flight Mechanics Meeting, AAS11-112, 2011.2.14, New Orleans 15. Tsuda, Y., Saiki, T., Funase, R., Shirasawa, Y., Mimasu, Y., “Shape Parameters Estimation of IKAROS Solar Sail JAXA has been proposing a concept of “Solar Power Sail” for future deep space exploration (Ref.1, 2). Using In-Flight Attitude Determination Data”, 12th AIAA Gossamer Systems Forum, 53-GSF-5-2, Apr.11,2011, Denver It combines the concept of solar sail (photon propulsion) with a larger power generation by flexible 16. Funase,R., Mimasu,Y., Chishiki,Y., Shirasawa,Y., Tsuda,Y., Saiki,T. and Kawaguchi,J., "Modeling and On-orbit Performance solar cells attached on the sail membrane. IKAROS is a precursor mission to demonstrate key Evaluation of Propellant-free Attitude Control System for Spinning Solar Sail via Optical Parameter Switching", Advances in the technologies requisite for the solar power sail concept, which are (1) deployment of large sail in space, Astronautical Sciences, Vol.142 (Also Proceedings of the AAS/AIAA Astrodynamics Specialist Conference, Girdwood, Alaaska, USA, (2) solar power generation by means of thin film solar cells attached on the sail, (3) confirming the July31 - August4 2011), pp.1737-1754, 2012. acceleration by solar radiation pressure acting on the sail and (4) demonstration of the interplanetary ⓒ Japanese Rocket Society 80 Fig. 1. A picture of IKAROS taken by DCAM (deployable camera) on June, 14, 2010, five days after the successful sail depoloyment. guidance and navigation of the solar sail spacecraft. IKAROS successfully deployed a 20 m span sail on June 9, and is now performing an interplanetary solar-sailing mission taking advantage of the Earth-Venus leg of the interplanetary trajectory (Ref.3). The spacecraft mass is 307kg and is equipped with a rectangular solar sail which weights 16kg with the minimum thickness of 7.5um. The solar sail is deployed and kept extended by centrifugal force due to the spacecraft spinning. Thus it does not have any rigid member to support the extension of the sail, enabling to realize very light and simple sail support mechanism. The deployment process was measured and recorded by several onboard equipments, such as cameras, attitude sensors and some surface sensor on the sail (Ref.3). In this paper, a navigation and guidance technique for the solar sail is demonstrated with the IKAROS flight data. Section 2 describes the trajectory and attitude design concepts of the IKAROS spacecraft. Many constraints for the mission design are explained. In Section 3, three topics of the flight data analysis for the navigation and the guidance are described. Firstly, the solar sail acceleration is evaluated from the radiometric tracking data considering the attitude error due to the solar sail flexibility. Secondly, the guidance test is performed using the SRP force by changing the attitude. The navigation tests using the delta-DOR measurements are described afterwards. Finally, conclusions are given in Section 4. 2. Mission Design 2.1. Trajectory plan IKAROS was launched as one of the piggy back payloads of H-IIA flight #17, whose main payload was JAXA’s Venus explorer AKATSUKI (Planet-C). Hence the trajectory design of IKAROS was tightly 81 JSTS Vol. 27, No. 1 Fig. 1. A picture of IKAROS taken by DCAM (deployable camera) on June, 14, 2010, five days after the successful sail depoloyment. Fig. 2. IKAROS trajectory toward Venus. Left figure is drawn in J2000EQ inertial frame. Right guidance and navigation of the solar sail spacecraft. figure is drawn in Sun-Earth fixed frame. IKAROS successfully deployed a 20 m span sail on June 9, and is now performing an interplanetary constrained by the primary payload, which was targeted to Venus. It was to take about solar-sailing mission taking advantage of the Earth-Venus leg of the interplanetary trajectory (Ref.3). six months to reach and fly by the planet, after which it was to continue its path by The spacecraft mass is 307kg and is equipped with a rectangular solar sail which weights 16kg with the orbiting the Sun while solar-sailing. The original ballistic trajectory injected by the minimum thickness of 7.5um. The solar sail is deployed and kept extended by centrifugal force due to launch vehicle was such that it exactly intercepted Venus (i.e. a typical Hohmann the spacecraft spinning. Thus it does not have any rigid member to support the extension of the sail, transfer). IKAROS attempted to escape from this Venus intercepting trajectory by means enabling to realize very light and simple sail support mechanism. The deployment process was of solar sailing (Fig. 2). measured and recorded by several onboard equipments, such as cameras, attitude sensors and some surface sensor on the sail (Ref.3). Although the trajectory was optimized exclusively for AKATUSKI, the Venus transfer orbit is quite beneficial for IKAROS, because (1) it is an interplanetary trajectory, in In this paper, a navigation and guidance technique for the solar sail is demonstrated with the IKAROS which the only major perturbation source is solar radiation pressure, thus pure solar flight data.
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