formation flying and rendezvous and docking simulator for ... · september 2004 formation flying...

September 2004

www.gmv.com

Formation Flying and Rendezvous and Docking Simulator for Exploration Missions

(FAMOS-V2)

Galder Bengoa, F. Alonso, D. García, M. Graziano (GMV S.A.)Dr. Guillermo Ortega (ESA/ESTEC)

2nd ESA Workshop on Astrodynamics Tools and Techniques

ESTEC 13-15 September 2004

GMVSA 4115/04

FAMOSV2 CDR2

September, 2004© GMV S.A.

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Presentation Contents

m Introduction to FAMOS-V2

l FAMOS-V2 Description

l General architecture

l FAMOS-V2 Propagator

m Launcher ascent

m Rendezvous and Docking

l Change of plane

l Rendezvous and Docking manoeuvres

m Validation Scenarios Overview

m FAMOS-V2 Demonstration

September 2004

www.gmv.com

INTRODUCTION TO FAMOS-V2

FAMOSV2 CDR2


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FAMOSV2 Description (1)

What’s FAMOS-V2?

m SW tool designed and developed by GMV S.A., Spain, under GSTP contract with ESA/ESTEC.

What FAMOS-V2 is meant for?

m Simulate Rendezvous and Docking sequences on Circular and Elliptical orbits for exploration mission-scenarios such us: Venus, Earth, Moon, Mars, Deimos, Triton and Europa.

m Cover launching phase of the second spacecraft involved in the RvD once it has left from Earth, Moon and Mars surfaces.

How FAMOS-V2 has been developed?m Two phases:

ü Simplified Versionü Full Version


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FAMOS-V2 Simplified Version (1/2):

m Open loop: no sensors or actuators

m Corrective manoeuvres

m Three degrees of freedom

m Environment: drag, solar radiation, third body, non-sphericity

m Launch ascent optimisation


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FAMOS-V2 Simplified Version (2/2):

m Available Orbital Manoeuvres for Rendezvous:

Circular:

Ø Hopping on V-bar

Ø Hohmann Re-phasing

Ø Hohmann Transfer

Ø Two Points Transfer

Ø Continuous Tangential Transfer

Ø Continuous Hopping on V-bar

Ø Applied Delta-V

Ø Station Keeping

Ø Forced Motion

Elliptical:

Ø Hopping on V-bar

Ø Re-phasing in Time

Ø Height Transfer


Ø Applied Delta-V

Ø Station Keeping

Ø Forced Motion


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FAMOS-V2 Full Version: Simplified Version plus:

m Close loop: feedback of sensors and actuators

m Six degrees of freedom (translation + attitude)

m Communications module

m Guidance, Navigation and Control (GNC)


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General Architecture (1)

m Definition of inputs

m Execution of simulation

m Visualization of results

Introduction to FAMOS-V2 Execution


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General Architecture (2)

The architecture of FAMOS-V2 has been design to achieve these three tasks.


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FAMOSV2 Propagator (1)

m Full Cowell numerical propagator, Domand-Prince (ode5)l Propagation around the following

central bodies:Ø Venus, Earth, Mars, Moon, Deimos,

Europa and Triton

l Four types of perturbation can be considered:Ø Aerodynamic drag perturbation

Ø Solar radiation pressure perturbation

Ø Non-sphericity perturbation

Ø Third body perturbation

l Simplified propagator for launcher ascent:Ø J2 and Aerodynamic drag perturbations

FAMOS-V2 Propagator

September 2004

www.gmv.com

Launcher Ascent

FAMOSV2 CDR2


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Launch Optimisation Phases

m The Launch ascent phases:l First Phase: 1st stage ignition. Launch with a small

acceleration to allow passing through the dense atmospheric layers with a low dynamic pressure.

l Second Phase: Coast arc. At this time the rocket will not have any thrust.

l Third Phase: 2nd Stage. Bi-linear tangent law.


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Launch Optimisation Variables

m Matlab “fmincon” optimiser is used, which can impose equality and inequality constraints. The optimiser tries to maximize the payload mass to be delivered into orbit.

m Aerothermal flux simulated.


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Optimisation options

September 2004

www.gmv.com

Rendezvous & Docking

FAMOSV2 CDR2


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Change of Plane

Change of plane manoeuvre:

l Previous to Rendezvous and Docking manoeuvres

l Corrects inclination and RAAN for flyer satellite

l Impulsive manoeuvre: optimum points for impulses minimizing total delta-V

l Free drift until desired along track distance achieved


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Rendezvous and Docking

m “Large scale” Approach Manoeuvres:

l Rough approach

m Final Approach Manoeuvres (typically 5000-0 m):

l Precise and slow approach

l Position keeping

m Collision Avoidance Manoeuvre

m Corrective Manoeuvres


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Circular Orbits

m Circular Manoeuvres for Rendezvous:

l Impulsive Hopping on V-bar

l Impulsive Hohmann Re-phasing

l Impulsive Hohmann Transfer

l Impulsive Two Points Transfer

l Continuous Tangential Transfer

l Continuous Hopping on V-bar

l Applied Delta-V

l Station Keeping

l Forced Motion

“Large scale”approach

Final approach


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Elliptical Orbits (1)

m The aim of the elliptical approach manoeuvre is to bring, in a high elliptical orbit, the chaser to a delayed position w.r.t the target.

m Parameters provided by the user:

l Virtual manoeuvre duration or time constant (T)

l Real manoeuvre duration (Td)

l Final position defined as:

Ø Time Delay (τ) of chaser respect to target (re-phasing in time)

Ø Relative position of chaser respect to target


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Elliptical Orbits (2): Formulation

m The delayed position (only for “re-phasing in time”

manoeuvre) is expressed as :

)t(tx)(tx ftargetfchaser −→

m The Elliptical Approach algorithm is based in the

Transition Matrix:00 ),( xttx ff δδ Φ=

Where

l τ is the delay time of chaser w.r.t the target

l tf is the time at the end of the manoeuvre

m The final position is expressed respect to target.


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Elliptical Orbits (3): Available Manoeuvres

m Elliptical Manoeuvres for Rendezvous:

Ø Hopping on V-bar

Ø Re-phasing in Time

Ø Height Transfer


Ø Applied Delta-V

Ø Station Keeping

Ø Forced Motion

“Large scale”approach

Final approach

September 2004

www.gmv.com

FAMOSV2 FULL VERSION

FAMOSV2 FP1


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On-going Work

m FAMOS-V2 Full version introduces the following

capabilities (available from October 2004):

l Rendezvous Attitude Dynamics

l Rendezvous Sensors

l Rendezvous Actuators

l Rendezvous Navigation (Absolute and Relative)

l Communication Module

l Additional Visualization capabilities.


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Sensors

m RF

m CAMERA

m Lidar

m IMU:

• Gyroscope

• Accelerometer

m STR

m SAS (Developed by GMV)

CO1

XSAS (Boresight)

YSAS

ZSAS

CO2


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Additional Visualization capabilities: Attitude Guidance

Fix Relative

Target Pointing

Sun Pointing

Absolute Pointing

September 2004

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Validation Scenarios Overview

FAMOSV2 CDR2


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Validation Scenarios

m Circular:

l Mars Sample Return (Launch ascent from Mars)

l Mars Sample Return (Change of Plane & Rendezvous)

l Deimos Sample Return (RvD with Deimos)

l Human Lunar Mission (Ascent)

l Human Lunar Mission (Rendezvous)

l ATV Mission (Rendezvous)

m Elliptic

l Launch Ascent to Elliptical Orbit

l ATV RvD with Corrective Manoeuvres

l Elliptical Approach

Courtesy of NASA

Courtesy of ESA

September 2004

www.gmv.com

FAMOS-V2 DEMO

FAMOSV2 CDR2

formation flying and rendezvous and docking simulator for ... · september 2004 formation flying...

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