ATV Rendezvous Mission 1 Jules Verne Brian Rishikof

ATV Rendezvous Mission 1: Jules Verne Brian Rishikof Odyssey Space Research 281 -488 -7953 March 24, 2004 Brian Rishikof Odyssey Space Research

Outline • ATV (Automated Transfer Vehicle) Program • ATV Vehicle • ATV Trajectory and GN&C • Demonstration Brian Rishikof Odyssey Space Research 2

ATV Program • ESA (European Space Agency) – ISS Partner • EADS (European Aeronautic Defence & Space) – Flight Segment Prime Contractor • CNES (Centre National D’Etudes Spatiales) – Operations Prime Contractor • RSC- E (Rocket and Space Corporation - Energia) – ESA Integration Sub-contractor • NASA (National Aeronautics & Space Administration) – Prime ISS Integrator • RASA (Russian Aviation and Space Agency) – Integrator Brian Rishikof Odyssey Space Research 3

ATV International Korolev (Moscow) MCC-H Houston ATV-CC Toulouse Brian Rishikof MCC-M Moscow Les Mureaux (Paris) Odyssey Space Research ESTEC Noordwijk (Amsterdam) 4

ITAR • International Traffic in Arms Regulations – ATV has been designated as a “defense article” – Subject to Export Control restrictions – Complicates support • Perils of International cooperation Brian Rishikof Odyssey Space Research 5

ATV Mission • Dock to ISS Service Module aft • Deliver Cargo – – Russian Water Fuel Gases Other • ISS Propulsion – Reboost – Attitude control – Debris avoidance Brian Rishikof Odyssey Space Research 6

Jules Verne - Launch Date MAY 2005 Brian Rishikof Odyssey Space Research 7

Vehicle Configuration Length 9794 mm Largest Diameter 4480 mm Solar array span 22281 mm Mass budget S/C dry mass Cargo Carrier dry mass 10990 kg Air /Consumables 2094 kg Total ATV mass 13084 kg Air /Consumables 5150 kg Total Cargo capacity 7667 kg Total Mass at Launch 20770 kg Waste downmass Brian Rishikof 5150 kg Total mass (105%) *400 km, 51. 6 deg inclination 5320 kg 6500 kg Odyssey Space Research 8

Vehicle Comparison ATV Progress M 1 Apollo CSM Length 10. 3 m 7. 4 m 11. 03 m Max Diam. 4. 51 m 2. 70 m 3. 90 m Launch Mass 20750 kg 7150 kg 30329 kg Press. Volume 14 m 3 6. 6 m 3 6. 17 m 3 Engine Thrust 1960 N 2942 N 97860 N Brian Rishikof Odyssey Space Research 9

Vehicle Systems Propulsion (Pressure fed liquid bi-prop) Main (OCS) 4 x 490 N thrusters ACS 28 x 220 N thrusters Propellant Monomethyl hydrazine fuel + Nitrogen Tetroxide oxidizer Pressurization He pressurant at 31. 4 MPa Communication To Ground S-band via TDRS, Artemis Space-to-Space S-band to ISS-RS Navigation GPS Power Solar Arrays Batteries Brian Rishikof 3. 8 k. W - 6 months in orbit Rechargeable and nonrechargeable Odyssey Space Research 10

Communication Brian Rishikof Odyssey Space Research 11

Rendezvous Safety Rqmnts • “ 1 Fail Op” • “ 2 Fail Safe” • 24 hour safe free-drift trajectory • Approach Ellipsoid – 2 km x 4 km • Keep Out Sphere (KOS) – 200 m sphere Brian Rishikof Odyssey Space Research 12

Rendezvous Constraints • Russian Ground Station Visibility • ISS attitude and array feathering limits – – ATV/ISS: Communication ATV/ISS: Common GPS satellites and visibility ISS: Power ISS configuration dependent • Lighting for visual monitoring • Lighting for sensors • Power Brian Rishikof Odyssey Space Research 13

ATV Trajectory (1/2) AE KOS Fixed Phasing Duration ~ 7. 3 hours AI 3. 5 km V-Bar Variable Phasing Duration 49 - 97 hours Fixed Initial Drift ~ 3 hours S-S Comm S 2 Phase 6 0. 5 rev Phase 4 Phase 3 Phase 2 S 0 >20 min >10 min d. V 6 S-1 S-2 d. V 5 d. V 4 S-3 MC ATV-CC computes Mid-Course transfers d. VMC 11 and d. VMC 12 S-4 ATV-CC computes d. V 3 and d. V 4 S-3 ground computes d. V 5 and d. V 6 S-2 S-1 d. VMC 12 d. V 3 reference point; half orbit after d. V 6 point where 1 st correction (trim) maneuver is initiated; 1 orbit after S-2 S-1/2 phasing targeted point; 1 orbit after S-1 Brian Rishikof Phase 1 S-1/2 S 1 R-Bar Phase 5 S-4 d. VMC 11 d. V 2 MC d. V 1 CAM test 1 Odyssey Space Research 14

ATV Trajectory (2/2) Omni-directional Space-to-Space Comm Range (~3 km) Directional Space-to-Space Comm Range (~30 km) 250 m AE KOS V-Bar AI 3. 5 km S 3 S 2 40 min ~5 km Decision Point S 41 S 4 12 m 20 m S 3 R-Bar 45 min S 1 >20 min S 0 S-1/2 >10 min Start RGPS Navigation Transition to VDM Relative Attitude Crew Visual Assessment Brian Rishikof Odyssey Space Research Absolute GPS Navigation 15

ATV Navigation • 2 x GPS receivers/antennas – AGPS – RGPS • 2 x Videometers – Range (range rate) & LOS – relative attitude • 3 x 2 -axis accelerometers • 4 x 2 -axis gyros • KURS – Range + range rate • 2 x Telegoniometers – Range (range rate) & LOS PRIME MONITORING AGPS RGPS KURS TGM VDM+ Rel Att USOS Cameras SM Camera DOCKING 10 cm 1 m Brian Rishikof SENSORS 10 m 100 m 1 km 100 km Odyssey Space Research 16

ATV Control • “Yaw Steering” – For power and communication • “Earth Pointing” – Early phasing – LVLH (0, 0, 0) – Pointing sensors at ISS S 4 b • Relative Attitude – Measurements start at 30 m – Transition occurs at 20 m Brian Rishikof Odyssey Space Research S 4 a S 41 V 17

ATV Control • Phasing – Earth Pointed OCS major maneuvers – Otherwise Yaw steering • Rendezvous – ACS maneuvers – Yaw steering attitude • Final Approach – Earth Pointed (LVLH 0, 0, 0) – Relative Attitude (0, 0, 0) – Simultaneous control of CG and docking probe tip Brian Rishikof Odyssey Space Research 18

ATV Guidance Brian Rishikof Odyssey Space Research 19

Safety • Tiered Approach – Ground and Crew as additional controls – Crew “in the loop” just prior to docking BACKUP FLIGHT Systems Coarse State Monitoring Trajectory Monitoring PRIMARY FLIGHT Systems System/Subsystem FDIR Brian Rishikof Odyssey Space Research 20

Contingencies ABORT • ABORT (CAM) – Backup H/W & S/W ? • ESCAPE – Nominal H/W & S/W ABORT • Also, during Final Approach – HOLD – RETREAT • Vehicle/Crew/Ground commands Brian Rishikof Odyssey Space Research 21

Decision Point • Distance at which momentum will overcome any propulsive reaction and result in contact – After this point, assumption is continuing is safer than executing “large” maneuver • “Decision” made by crew on-board ISS – ATV-CC communication lags result in earlier “ground” decision point Brian Rishikof Odyssey Space Research 22

Crew Monitoring • No “Piloting” • Prescribed reactionon threshold detection by visual means • Single operator with all “critical” information and command access Brian Rishikof • Visual target on ATV – Active illumination Camera on ISS – Prime – Backup (to be installed via EVA) Odyssey Space Research 23

Demonstration Show Brian Rishikof ATV is Safe! Odyssey Space Research 24

Demonstration Mission • Philosophy – Demonstrate safety critical elements that cannot be fully tested on ground – Demonstrate safety critical elements before they are relied upon during flight for safety Brian Rishikof Odyssey Space Research 25

Demonstration Plan • Currently 3 day mission rendezvous mission • Progressively test and evaluate • Achieve incremental milestones – Demonstrate sensors as they come online (prime and monitoring) – Demonstrate communication and critical commanding – Demonstrate integrated vehicle GN&C performance – Demonstrate ALL contingency actions • After ALL demonstration objectives/criteria satisfied + Proceed to Docking attempt – Nominal rendezvous profile Brian Rishikof Odyssey Space Research 26

ATV: For Fun! BUILD YOUR OWN! • http: //esamultimedia. esa. int/docs/atv_model/ATV_2002_Intro. htm Brian Rishikof Odyssey Space Research 27

Acknowledgments • • • Jean-François Clervoy/ESA Douglas Yazell/Honeywell AIAA Houston NASA-JSC-EG NASA ATV Team • Congratulations to ATV Team Brian Rishikof Odyssey Space Research 28

The End Brian Rishikof Odyssey Space Research 29