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

ATV RendezvousMission 1: Jules Verne

Brian RishikofOdyssey Space Research

281-488-7953March 24, 2004

Brian Rishikof Odyssey Space Research 2

Outline

• ATV (Automated Transfer Vehicle) Program

• ATV Vehicle

• ATV Trajectory and GN&C

• Demonstration

• ATV (Automated Transfer Vehicle) Program

• ATV Vehicle

• ATV Trajectory and GN&C

• Demonstration

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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

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ATV International

ATV-CCToulouse

Les Mureaux (Paris)

MCC-HHouston

Korolev(Moscow)

ESTECNoordwijk

(Amsterdam)

MCC-MMoscow

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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

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ATV Mission

• Dock to ISS Service Module aft • Deliver Cargo

– Russian Water– Fuel– Gases– Other

• ISS Propulsion– Reboost– Attitude control – Debris avoidance

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Jules Verne - Launch Date

MAY 2005

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Vehicle Configuration

Length 9794 mm

Largest Diameter 4480 mm

Solar array span 22281 mm

Mass budget

S/C dry mass 5320 kg

Cargo Carrier dry mass 5150 kg

Total mass (105%) 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 6500 kg

*400 km, 51.6 deg inclination

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Vehicle Comparison

ATV Progress M1 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 m3 6.6 m3 6.17 m3

Engine Thrust 1960 N 2942 N 97860 N

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Vehicle Systems

Propulsion (Pressure fed liquid bi-prop)

Main (OCS) 4 x 490 N thrusters

ACS 28 x 220 N thrusters

PropellantMonomethyl 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 3.8 kW - 6 months in orbit

BatteriesRechargeable and non-

rechargeable

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Communication

ISS

TDRS

ATV-CC MCC-M

White Sands

MCC-H

ATV-CC

<->MCC

-M

IGS

ISS-USOS <-> MCC-H

ARTEMIS

ATV-ISS prox link

ATV

GPS

ARTEMIS MCF

Russian Ground Stations

ISS

-USOS <

-> MCC

-H

ATV <

-> ATV

-CC

ATV <

-> ATV

-CC

ISS-RS <

-> MCC

-M

ATV <

-> ATV

-CC

ATV <

-> ATV

-CC

COL-CC

ATV-CC

<-> MCC-H

MCC-H <

-> MCC-M

ATV <-> ATV

-CC

REDU EET

CVI

DaSS

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Rendezvous Safety Rqmnts

• “1 Fail Op”

• “2 Fail Safe”

• 24 hour safe free-drift trajectory

• Approach Ellipsoid– 2 km x 2 km x 4 km

• Keep Out Sphere (KOS)– 200 m sphere

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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

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ATV Trajectory (1/2)

MC ATV-CC computes Mid-Course transfers dVMC11 and dVMC12

S-4 ATV-CC computes dV3 and dV4

S-3 ground computes dV5 and dV6

S-2 reference point; half orbit after dV6

S-1 point where 1st correction (trim) maneuver is initiated; 1 orbit after S-2

S-1/2 phasing targeted point; 1 orbit after S-1

AI3.5 km

V-Bar

R-BarS1 S0

S2

AEKOS

S-1 S-2

S-3

S-4

MC

S-1/2

Phase 1Phase 2Phase 3Phase 4Phase 5Phase 6

Fixed Initial Drift

~ 3 hours

Variable Phasing Duration

49 - 97 hours

Fixed Phasing Duration

~ 7.3 hours

CAM test 1

>10 min

>20 min

0.5 rev

dV1

dV2dVMC11

dVMC12

dV3

dV4

dV5

dV6

S-S Comm

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ATV Trajectory (2/2)

V-Bar

R-Bar

~5 km

AI3.5 km

250 m

45 min

40 min

Directional Space-to-SpaceComm Range (~30km)

S1 S0

S2

S3

S3

S4

20m

S-1/2

S41

12m

Decision Point

Transition to VDM

Transition to VDM Relative Attitude

Crew Visual Assessment

Start RGPS Navigation

Absolute GPS Navigation

AEKOS

>20 min >10 min

Omni-directional Space-to-SpaceComm Range (~3km)

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ATV Navigation

• 2x GPS receivers/antennas– AGPS

– RGPS

• 3x 2-axis accelerometers

• 4x 2-axis gyros

• KURS– Range + range rate

• 2x Videometers– Range (range rate) & LOS

– relative attitude

• 2x Telegoniometers– Range (range rate) & LOS

10 cm 1 m 10 m 100 m 1 km 10 km 100 km

DO

CK

ING AGPS

RGPSKURSTGMVDMVDM+ Rel AttUSOS CamerasSM Camera

SENSORSPRIME MONITORING

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ATV Control• “Yaw Steering”

– For power and communication

• “Earth Pointing”– Early phasing– LVLH (0,0,0)– Pointing sensors at ISS

• Relative Attitude– Measurements start at 30 m– Transition occurs at 20 m V

S41

S4a

S4b

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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

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ATV Guidance

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Safety

• Tiered Approach– Ground and Crew as additional controls

– Crew “in the loop” just prior to docking

System/Subsystem FDIR

Trajectory Monitoring

Coarse State Monitoring

PRIMARY FLIGHT Systems

BACKUP FLIGHT Systems

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Contingencies

• ABORT (CAM)– Backup H/W & S/W

• ESCAPE– Nominal H/W & S/W

• Also, during Final Approach– HOLD

– RETREAT

• Vehicle/Crew/Ground commands

ABORT

ABORT

?

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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

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Crew Monitoring• No “Piloting”• Prescribed reactionon

threshold detection by visual means

• Single operator with all “critical” information and command access

• Visual target on ATV– Active illumination Camera

on ISS– Prime– Backup (to be installed via

EVA)

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Demonstration

ATV isShow Safe!

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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

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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

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ATV: For Fun!

• http://esamultimedia.esa.int/docs/atv_model/ATV_2002_Intro.htm

BUILD YOUR OWN!

BUILD YOUR OWN!

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Acknowledgments

• Jean-François Clervoy/ESA• Douglas Yazell/Honeywell• AIAA Houston• NASA-JSC-EG• NASA ATV Team

• Congratulationsto ATV Team

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The End