Johnson Space Center Future in Space Operations (FISO) Copernicus Trajectory Design and Optimization System Jerry Condon Johnson Space Center / EG5 [email protected] 281-483-8173 1 Johnson Space Center What is ? Johnson Space Center What is Copernicus? • The Copernicus Trajectory Design and Optimization System represents a new and comprehensive approach to performing mission design, trajectory analysis and optimization. • Copernicus brings together the state-of- the-art in trajectory optimization techniques, visualization, an easy to use “Out of many trajectory optimization GUI, a library of key algorithms, and a programs I have used throughout the distributed (batch) processing capability years within and outside of NASA, into an integrated package. Copernicus is the only program that effectively combines the state-of-the-art • Stimulates the creativity of the user to optimization algorithms with a 3-D design and solve innovative trajectories. visualization environment, enabling the user to see the trajectories graphically • It’s a “one stop shopping” tool for as the problems are being solved.” interplanetary mission and trajectory Dr. Min Qu design optimization and analysis. Senior Analyst Analytical Mechanics Associates, Inc. 3 Johnson Space Center Features • Multiple spacecraft and multiple propulsion systems within a single mission • Extensive range of missions • From simple to complex problems • Extremely powerful, yet highly “The Copernicus software suite is usable a well-built and user-friendly tool that can handle many tough • Evolutionary and expandable mission design problems. … We highly recommend Copernicus • Innovative modular design using to any mission designers.” trajectory “building blocks” George H. Born Director, Colorado Center for Astrodynamics Research 4 Johnson Space Center Levels of Fidelity • Low fidelity High fidelity [within the same tool] • Scans/trade studies Detailed mission design • Impulsive Δv Optimized finite burn maneuvers • Circular planet orbits Real ephemeris (SPICE) • Evolutionary (DE) Gradient-based (SNOPT,…) • Patched conic model High fidelity force model 5 Johnson Space Center Innovative modular design using trajectory “building blocks” Single points (states) Impulsive + Coast arc t0 tf t0 tf Single points + impulsive maneuvers Finite burn maneuver t0 tf t0 tf Coast arc Impulsive + Finite Burn maneuvers t0 tf t0 tf Copernicus Building Blocks: Trajectory Segments 6 Johnson Space Center Building Blocks: Segments DV Seg 1 (Coast) Initial Condition Seg 3 (Coast) State continuity constraint Seg 2 (Low Thrust Flyby Seg 4 (Coast) Body 1 Finite Burn) Constraint Body 2 • Multiple spacecraft and propulsion systems. Body 3 • Can inherit information from other segments. • Optimization variables and constraints Final constraint • Forward and backward propagation. Seg 5 (High Thrust • Many classes of problems can be modeled with Finite Burn) the segment concept. • There are many ways to solve the same Controls (Optimization Variables) + problem. Constraints + Objective Function = Optimization Problem 7 Johnson Space Center Reusability • Fundamental building blocks can be combined and reused as needed • Allows solution of new problems in the future • Reduces development time for new mission designs. + = 8 Johnson Space Copernicus Distribution Center ARC GSFC JSC JPL, KSC, LaRC MSFC University of Washington Space MSNW Exploration Andrews Space Engineering CSNR RIT OAI P&W ARC UC Boulder Iowa State SAIC GRC APL Innovative Orbital Naval Design Lockheed-Martin GSFC Postgraduate Aerojet Analytical Mechanics School Zero-Point Frontiers LaRC Associates Boeing Edwards AFB JPL General Dynamics Mississippi State Ga. Tech Aerospace MSFC SpaceWorks Enterprises Corporation UA-Tucson UT-Austin JSC Ad Astra Jacobs Odyssey KSC 9 9 Johnson Space Center Development Johnson Space Development History Center 2001 2002 2003 2004 2005 2006 2007 2008 2009 2010 2011 2012 2013 UT Prototypes Text based Segment architecture Non-interactive 2-D graphics Parameter optimization Impulsive/finite burns 11 Johnson Space Development History Center 2001 2002 2003 2004 2005 2006 2007 2008 2009 2010 2011 2012 2013 NASA/UT Co-Development GUI added Developed OpenGL API (OpenFrames) for interactive 3-D graphics SPICE integration added Optimally controlled finite burn segments Release 1.0 (March 2006) 12 Johnson Space Development History Center 2001 2002 2003 2004 2005 2006 2007 2008 2009 2010 2011 2012 2013 NASA Development Comprehensive interface Constellation/Orion Projects [2006-2010] Substantial internal “engine” improvements NASA In-Space Propulsion Technology Version Control Program [2010-2011] Regression Testing of Updates Documentation Training Videos Release 3.1 (June 2012) Accreditation Currently working on Release 3.2 13 Johnson Space Copernicus Architecture Center Main Program Copernicus Libraries GUI User Inputs Mission Design Design Modifications Toolkit Library Numerical Feedback Celestial Mechanics Routines SPICE Interface Math Utilities Coordinate Transformations Binary File I/O Gravity Models Engine Trajectory Segments Optimization Visualization Integration Batch Library Aid in Problem Set-Up Control Algorithms Distributed Processing Trajectory Solution Feedback Engine Models Automated Copernicus Runs “Real” Trajectory Insights Production Data Output 14 Johnson Space Center Scalable and Cross-Platform Copernicus can be scaled from a single desktop or laptop computer using the Graphical User Interface (GUI) and visualization tools, to computer clusters where no user interaction or graphical feedback are required. Laptop Desktop Cluster 15 Johnson Space Accredited Center Copernicus completed the NASA/HQ requested Verification, Validation, and Accreditation process 16 Johnson Space Center In Action Johnson Space Start of Problem Solution Center Johnson Space User Adjustment Center 19 Johnson Space Iteration Process Center 20 Johnson Space Converged Solution Center 21 Johnson Space LCROSS Mission Center LRO/LCROSS Design Case Study “Copernicus is an extremely valuable tool used by the LCROSS trajectory team to optimize the LCROSS trajectory. LCROSS has a very complicated orbit that is difficult to optimize using standard off the shelf tools. … Copernicus has been an invaluable tool for the LCROSS trajectory team.” Steve Cooley LCROSS Trajectory Design Lead 22 Johnson Space Constellation Program Center • Architecture evaluation • Trade studies (TLI, LOI, TEI) • Lunar Capability Concept Review (LCCR) • Copernicus changed the way we look at mission design Lunar Free Return Trajectory 23 Johnson Space Orion Project (Lunar Missions) Center • Copernicus used extensively for Orion vehicle design and performance • Databases developed to characterize Orion lunar missions over the entire planned operational lifetime. • Millions of optimized TEI-2 trajectories using Copernicus on a computing cluster. TEI-3 TEI-1 Three-Burn Trans-Earth Injection Maneuver Sequence 24 Johnson Space Abort Analysis Center Multiple trajectories/spacecraft Mission specific targeting Orbit period Batch processing 50%: 0.29 days 25%: 2.9 days post partially failed LOI coasting Nominal trajectory Fly-by return Nominal trajectory Direct return Direct return Moon-centered view Earth-centered view 9 Johnson Space In Space Propulsion Technology Project Center ISP Reference Mission 28: Earth-Moon low thrust “Copernicus has been an asset to NASA’s In-Space Propulsion project. Copernicus is used routinely for mission trades and to establish requirements and quantify benefits of advanced technology.” John Dankanich Lead Systems Engineer Gray Research (NASA/GRC) 26 Johnson Space VASIMR Center “Our project has made extensive use of this excellent tool to design many of our most interesting mission scenarios. As the development of high power in-space electric propulsion matures, this sophisticated program can open and examine unique operational scenarios with both constant and variable specific impulse.” Franklin Chang Diaz Chairman and CEO Ad Astra Rocket Company 27 Johnson Space Center Ongoing Explorations Studies Low thrust transfer to a lunar distant retrograde orbit 2009 HC Transfer in 2025 Round trip to L1 and L2 Halo Orbits 28 Johnson Space Quantum Vacuum Thruster Center Mission to Mars Mars Arrival Earth to 1000 AU Mars Position at Spacecraft mass = 90 t Spacecraft mass = 90 t Start of Transit time = 2-6 years Transit time = 75 days Trajectory 1000 AU LEO Spiral Earth to Proxima Centauri Interstellar Note: Voyager 1, launched in September, 1977 (36 years ago) is currently around 125 AU away Spacecraft mass = 90 t Transit time = 30-123 years Proxima Centauri 29 Johnson Space Center Asteroid Tour Mission Design GTOC-4: 32-Asteroid Intercept with Final Rendezvous (10 years) GTOC-5: 15-Asteroid Rendezvous- Intercept (15 years) 30 Johnson Space Halo Orbit Transfers Center ISP Reference Mission 31: Earth-Sun Libration Point Transfer Options to Earth-Moon L2 Halo Orbit 2 days 3 days 4 days 1 day 5 days L2 6 days Direct Earth Moon L2 Halo 2 days 1 day 3 days 6 days 5 days 7 days 4 days 8 days Flyby Earth Moon Flyby L2 L2 Halo 30 days 20 days 40 days 10 days 5 days 90 days 50 days Moon’sDirect and Flyby Transfers to Earth- L2 Halo OrbitMoon L1 and L2 Libration Points 1 Low Energy Moon day 31 Flyby To Sun (Manifold) 60 days Earth 80 days 70 days Johnson Space Weak Stability Boundary Center 2 days 3 days 4 days 1 day Lunar Capture Mission 5 days L2 6 days Direct Earth Moon L2 Halo 2 days 1 day 3 days 6 days 5 days 7 days 4 days 8 days Flyby Earth Moon Flyby