JPL AUTONOMOUS RENDEZVOUSOVERVIEW

Rob Bailey

Jet Propulsion Laboratory

Inter-Agency AR&C Working Group Meeting

May 22 - 23, 2002

Naval Research Laboratory

IAWG ARC 5/22/2002 RWB - 2

A Brief History

Date Event• 2000: MSR 2003 – 2005 Baseline: LAMP and Radio Direction Finder• 2000: MCO/MPL Failures, MSR 2003-2005 cancelled• 3/2001: Risk adverse JPL starts an MSR Technology Development to

feed forward to MSR – $40M allocated for CNES ’07 demo, single string, LAMP/RDF, C&DH, autonomy, SW

• 7/2001: LMA wins XSS-11• 8/2001: MPSET Review of MSR rendezvous concept leads to addition of

long and short range optical cameras for functional sensing redundancy with LAMP and RDF

• 10/2001: SSC/JPL wins New Millenium ST6, LAMP dedicated to ST6• 10/2001: Initial CNES demo estimates come in at $100+M (dual string,

C&DH, autonomy, SW, 4 different sensors)• 12/2001: JPL funding pressure forces CNES rendezvous demo cost cap

of $10M• 5/2002: New CNES demo concept: visible cameras + UHF Beacon,

no CPU, no FSW, single string, Cost cap ~$19M; XSS-11/ST6 is viewed as complimentary demo (sensor+SW+autonomy); DARPA OE viewed as complimentary demo (SW+autonomy)

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CNES Rendezvous Demo

Concept Overview

• Autonomy– Only inside 2km - Spacecraft execution of ground planned sequence

• Software– JPL ground software determines maneuver sequence and pre-

computes orbit maneuver matrices– CNES Orbiter onboard software uses uplinked matrices to compute

trajectory initiation and correction maneuvers

• Sensors (all JPL developed)– NAC – Narrow Angle Camera (Visible, 10m..3000km)– WAC – Wide Angle Camera (Visible, 1m..2km)– OS UHF Beacon (2km..1000km)

• Requires concurrent reception of OS signal by CNES Orbiter and 2nd Mars Orbiter

• CNES mission contains other primary science– Before and during rendezvous demo

• NetLanders (Seismic, atmospheric, etc)

• NEIGE (Netlander Ionosphere and Geodesy Experiment)

– After rendezvous demo - TBD Orbital Science

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CNES Rendezvous Demo

Sensor Capability

7000km 3000km 1000km 10km 2km 10m 1m

OS

Optical Search and Intermediate Phase Terminal Phase

UHF Beacon Search andIntermediate Phase

NAC theoretical

limit, assumes OS not moving

in camera FOV

WAC theoretical

limit, assumes OS not moving

in camera FOV

DRAWING NOT TO SCALE

Angles Only

Range Capability

Angles Only

NAC

WAC

UHF Beacon

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CNES Rendezvous Demo

Terminal Phase Autonomy Concept

Mission Design System

Navigation Analysis System Nav Event Planning Data: picture frequency,

maneuver schedule, nominal maneuver

magnitudes

Sequence Analysis and Development System

Nav Data/Matrix File

Control Limit File

Ephemeris File

Maneuver File

Sequence File

Rendezvous Nav System

AOCS Tracking Sub-System

Sequencing Engine

AOCS Tracking System

Commands

Picture Data

Non-Grav Data

Edited/Compressed Picture Data

Camera Sub-System

Ephemeris Offsets

Ground System

Flight System

JPL SW

JPL Design / CNES

Implementation

Downlink Data

JPL Generated Data

JPL/CNES Shared

CNES FSW

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CNES Rendezvous Demo

Terminal Phase Autonomy Concept (cont)

• Contents of Nav/Data Matrix File

ID Name Size Occurrence/Frequency

M1 Covariance 6x6 Associated with every Nav picture time

M2 Observable Data Partials

3x6 Associated with every Nav picture time

M3 K-Matrix 6x6 Associated with every maneuver time

M4 State-Transition-Matrix

6x6 Frequency 1/10mins, may be rev-cyclic

M5 STM-Time-Derivative 6x6 Frequency 1/10mins, may be rev-cyclic

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CNES Rendezvous Demo

Mission Design

(CNESÕ07 demonstration will be in Òreverse orderÓ)

Search Phase(MSR and Premier

A few weeks to a few months,Ranges of 500 to 3500km)

Intermediate Phase(MSR and Premier:

1 or more weeks)

MSR: 1-2kmPremier: 100-200m

Terminal andCapture Phases

(MSR:a few days,Premier: a few days,

Several times)

Example ÒFootballÓ Orbit 4x2 km

MSR-Style Approach Rendezvous and CaptureScenario(drawing not to scale)

5-500km

MSR:A few 100 km.Premier: 1-2 km

Recovery ShipÕs Orbit

Sample CanisterOrbit

A Few Ballistic ”Hops”,Autonomously ControlledTo slow, and safely close on the OS

IntermediateCaptureStationTerminal

Station

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CNES Rendezvous Demo

Project Schedule

• Concept Review 09-2002• Preliminary Mission & System Review 03-2003• System Requirements Review 06-2003• Preliminary Design Review 01-2003• Confirmation Review 01-2004• Structural/Thermal Model to CNES 09-2004• Engineering Model to CNES 03-2005• Critical Design Review 04-2005• Flight Model to CNES 01-2006• Launch 09-2007• Mars Orbit Insertion 08-2008• End of Rendezvous Mission 09-2009