Solar Array Disturbances to Spacecraft Pointing During the Lunar Reconnaissance Orbiter (LRO) Mission

The Lunar Reconnaissance Orbiter (LRO), the first spacecraft to support NASA s return to the Moon, launched on June 18, 2009 from the Cape Canaveral Air Force Station aboard an Atlas V launch vehicle. It was initially inserted into a direct trans-lunar trajectory to the Moon. After a five day transit to the Moon, LRO was inserted into the Lunar orbit and successfully lowered to a low altitude elliptical polar orbit for spacecraft commissioning. Successful commissioning was completed in October 2009 when LRO was placed in its near circular mission orbit with an approximate altitude of 50km. LRO will spend at least one year orbiting the Moon, collecting lunar environment science and mapping data, utilizing a suite of seven instruments to enable future human exploration. The objective is to provide key science data necessary to facilitate human return to the Moon as well as identification of opportunities for future science missions. LRO's instrument suite will provide the high resolution imaging data with sub-meter accuracy, highly accurate lunar cartographic maps, mineralogy mapping, amongst other science data of interest. LRO employs a 3-axis stabilized attitude control system (ACS) whose primary control mode, the "Observing Mode", provides Lunar nadir, off-nadir, and inertial fine pointing for the science data collection and instrument calibration. This controller combines the capability of fine pointing with on-demand large angle full-sky attitude reorientation. It provides simplicity of spacecraft operation as well as additional flexibility for science data collection. A conventional suite of ACS components is employed in the Observing Mode to meet the pointing and control objectives. Actuation is provided by a set of four reaction wheels developed in-house at NASA Goddard Space Flight Center (GSFC). Attitude feedback is provided by a six state Kalman filter which utilizes two SELEX Galileo Star Trackers for attitude updates, and a single Honeywell Miniature Inertial Measurement Unit (MIMU) to provide body rates for attitude propagation. Rate is computed by differentiating accumulated angle provided by the MIMU. The Observing Mode controller is required to maintain fine pointing while a large fully-articulated solar array (SA) maintains its panel normal to the solar incidence. This paper describes the disturbances to the attitude control resulting from the SA articulation. Observing Mode performance in the presence of this disturbance was assessed while the spacecraft was in an initial elliptical low altitude orbit during the commissioning phase, which started about two weeks after launch and lasted for 90 days. LRO demonstrated excellent pointing performance during Observing Mode nadir and inertial attitude target operations during this phase. Transient LRO attitude errors observed during commissioning resulted primarily from three sources, Diviner instrument calibrations, RW zero crossings, and SA articulation. Even during times of considerable disturbance from SA articulation, the attitude errors were maintained below the statistical attitude error requirement level of 15 arc-sec (3 sigma)

Performance Improvements for the Lunar Reconnaissance Orbiter Gyroless Extended Kalman Filter

In late 2017, the laser intensity monitor (LIM) current began to decline on the Lunar Reconnaissance Orbiter (LRO) miniature inertial measurement unit (MIMU). The MIMU was powered off in March 2018 and has only been used during extended eclipses, a pre-eclipse orbit phasing maneuver, and critical momentum unloads. Science slews were suspended, and the onboard extended Kalman filter (EKF) was disabled. A coarse rate was estimated through star tracker quaternion differentiation, and attitude was provided directly from a single star tracker. A complementary filter, combining the differentiated quaternions with the integrated acceleration derived from the attitude control torque, was developed, tested, and uploaded to the spacecraft in December 2018. The EKF has been enabled, using the complementary filter rate in place of the MIMU and science slews are now being performed. This paper presents an overview of the complementary filter rate estimation and EKF changes, fault detection updates without the MIMU, and inflight performance improvements

Filtering Methods for Error Reduction in Spacecraft Attitude Estimation Using Quaternion Star Trackers

Precision attitude determination for recent and planned space missions typically includes quaternion star trackers (ST) and a three-axis inertial reference unit (IRU). Sensor selection is based on estimates of knowledge accuracy attainable from a Kalman filter (KF), which provides the optimal solution for the case of linear dynamics with measurement and process errors characterized by random Gaussian noise with white spectrum. Non-Gaussian systematic errors in quaternion STs are often quite large and have an unpredictable time-varying nature, particularly when used in non-inertial pointing applications. Two filtering methods are proposed to reduce the attitude estimation error resulting from ST systematic errors, 1) extended Kalman filter (EKF) augmented with Markov states, 2) Unscented Kalman filter (UKF) with a periodic measurement model. Realistic assessments of the attitude estimation performance gains are demonstrated with both simulation and flight telemetry data from the Lunar Reconnaissance Orbiter

Launch and Commissioning of the Lunar Reconnaissance Orbiter (LRO)

The Lunar Reconnaissance Orbiter (LRO) launched on June 18, 2009 from the Cape Canaveral Air Force Station. LRO, designed, built, and operated by the National Aeronautics and Space Administration (NASA) Goddard Space Flight Center in Greenbelt, MD, is gathering crucial data on the lunar environment that will help astronauts prepare for long-duration lunar expeditions. To date, the Guidance, Navigation and Control (GN&C) subsystem has operated nominally and met all requirements. However, during the early phase of the mission, the GN&C Team encountered some anomalies. For example, during the Solar Array and High Gain Antenna deployments, one of the safing action points tripped, which was not expected. Also, the spacecraft transitioned to its safe hold mode, SunSafe, due to encountering an end of file for an ephemeris table. During the five-day lunar acquisition, one of the star trackers triggered the spacecraft to transition into a safe hold configuration, the cause of which was determined. These events offered invaluable insight to better understand the performance of the system they designed. An overview of the GN&C subsystem will be followed by a mission timeline. Then, interesting flight performance as well as anomalies encountered by the GN&C Team will be discussed in chronological order

Two roles for ecological surrogacy : indicator surrogates and management surrogates

Ecological surrogacy - here defined as using a process or element (e.g., species, ecosystem, or abiotic factor) to represent another aspect of an ecological system - is a widely used concept, but many applications of the surrogate concept have been controversial. We argue that some of this controversy reflects differences among users with different goals, a distinction that can be crystalized by recognizing two basic types of surrogate. First, many ecologists and natural resource managers measure "indicator surrogates" to provide information about ecological systems. Second, and often overlooked, are "management surrogates" (e.g., umbrella species) that are primarily used to facilitate achieving management goals, especially broad goals such as "maintain biodiversity" or "increase ecosystem resilience." We propose that distinguishing these two overarching roles for surrogacy may facilitate better communication about project goals. This is critical when evaluating the usefulness of different surrogates, especially where a potential surrogate might be useful in one role but not another. Our classification for ecological surrogacy applies to species, ecosystems, ecological processes, abiotic factors, and genetics, and thus can provide coherence across a broad range of uses. © 2015 Elsevier Ltd. All rights reserved. **Please note that there are multiple authors for this article therefore only the name of the first 5 including Federation University Australia affiliate “Philip Barton" is provided in this record*

Spacecraft Alignment Determination and Control for Dual Spacecraft Precision Formation Flying

Many proposed formation flying missions seek to advance the state of the art in spacecraft science imaging by utilizing precision dual spacecraft formation flying to enable a virtual space telescope. Using precision dual spacecraft alignment, very long focal lengths can be achieved by locating the optics on one spacecraft and the detector on the other. Proposed science missions include astrophysics concepts with spacecraft separations from 1000 km to 25,000 km, such as the Milli-Arc-Second Structure Imager (MASSIM) and the New Worlds Observer, and Heliophysics concepts for solar coronagraphs and X-ray imaging with smaller separations (50m 500m). All of these proposed missions require advances in guidance, navigation, and control (GNC) for precision formation flying. In particular, very precise astrometric alignment control and estimation is required for precise inertial pointing of the virtual space telescope to enable science imaging orders of magnitude better than can be achieved with conventional single spacecraft instruments. This work develops design architectures, algorithms, and performance analysis of proposed GNC systems for precision dual spacecraft astrometric alignment. These systems employ a variety of GNC sensors and actuators, including laser-based alignment and ranging systems, optical imaging sensors (e.g. guide star telescope), inertial measurement units (IMU), as well as micro-thruster and precision stabilized platforms. A comprehensive GNC performance analysis is given for Heliophysics dual spacecraft PFF imaging mission concept

M.I.N.G., Mars Investment for a New Generation: Robotic construction of a permanently manned Mars base

A basic procedure for robotically constructing a manned Mars base is outlined. The research procedure was divided into three areas: environment, robotics, and habitat. The base as designed will consist of these components: two power plants, communication facilities, a habitat complex, and a hangar, a garage, recreation and manufacturing facilities. The power plants will be self-contained nuclear fission reactors placed approx. 1 km from the base for safety considerations. The base communication system will use a combination of orbiting satellites and surface relay stations. This system is necessary for robotic contact with Phobos and any future communication requirements. The habitat complex will consist of six self-contained modules: core, biosphere, science, living quarters, galley/storage, and a sick bay which will be brought from Phobos. The complex will be set into an excavated hole and covered with approximately 0.5 m of sandbags to provide radiation protection for the astronauts. The recreation, hangar, garage, and manufacturing facilities will each be transformed from the four one-way landers. The complete complex will be built by autonomous, artificially intelligent robots. Robots incorporated into the design are as follows: Large Modular Construction Robots with detachable arms capable of large scale construction activities; Small Maneuverable Robotic Servicers capable of performing delicate tasks normally requiring a suited astronaut; and a trailer vehicle with modular type attachments to complete specific tasks; and finally, Mobile Autonomous Rechargeable Transporters capable of transferring air and water from the manufacturing facility to the habitat complex

The Virtual Space Telescope: A New Class of Science Missions

Many science investigations proposed by GSFC require two spacecraft alignment across a long distance to form a virtual space telescope. Forming a Virtual Space telescope requires advances in Guidance, Navigation, and Control (GNC) enabling the distribution of monolithic telescopes across multiple space platforms. The capability to align multiple spacecraft to an intertial target is at a low maturity state and we present a roadmap to advance the system-level capability to be flight ready in preparation of various science applications. An engineering proof of concept, called the CANYVAL-X CubeSat MIssion is presented. CANYVAL-X's advancement will decrease risk for a potential starshade mission that would fly with WFIRST

Navigation and Control Performance Utilizing Precision Formation Flying Along a Propellent Optimized Trajectory for the VTXO Mission

The Virtual Telescope for X-Ray Observations (VTXO) is part of a new generation of distributed component, long focal length telescopes which promise to provide orders of magnitude improvement in angular resolution in the X-ray band over the current state of the art. VTXO will include Phased Fresnel Lenses (PFL), which provide nearly diffraction-limited imaging, with around a 1 km focal length carried by the Optics Spacecraft (OSC), which will fly in a precision formation with the Detector Spacecraft (DSC) approximating a rigid telescope body, with the telescope achieving nearly 50 milli-arcsecond angular resolution in the 4.5 – 6.7 keV X-ray band [1]. In order to maintain the precise formation requirements, while pointing the telescope axis at the desired astronomical targets, one or both spacecraft will inherently be traveling on a non-natural orbit trajectory. These families of trajectories require one or both vehicles to maneuver regularly to maintain the desired path

Large-Scale Carbonate Platform Development of Cay Sal Bank, Bahamas, and Implications for Associated Reef Geomorphology

The Bahama Archipelago consists of an arcuate chain of carbonate platforms. Average water depths on the platform-tops, such as the Great Bahama Bank (GBB), are typically 10 m or less, with coral reef-rimmed margins, thick sediment accumulations, and the frequent occurrence of islands. There are, however, exceptions. For example, Cay Sal Bank (CSB), a little studied detached Bahamian carbonate platform with depths ranging from 30 to 7 m, is only slightly deeper than the GBB, but devoid of islands, lacks platform-margin coral reefs and holds little sediment on the platform-top; the platform is incipiently drowned. CSB is interesting as it is conspicuously larger (6000 sq. km) than other incipiently drowned platforms in the region, such as Serranilla Bank (1100 sq. km) and the Cat Island platform (1500 sq. km). Field and remote sensing data are assembled to provide insight into the sedimentology and geomorphology of the CSB. The influence of ocean climate, regional hydrodynamics, and Holocene flooding history are investigated to understand why platform-margin coral reef growth on CSB has been unable to keep pace with Holocene sea-level rise. A decade of regional sea-surface temperature data for the Bahamas report CSB to be situated in the same ocean climate regime as GBB. Temperature cannot explain the platform\u27s different morphologies. The Florida Current has been evoked as a possible reason for the immature development of platform-top processes on the CSB, but numeric modeling suggests its influence to be restricted to the deep flanks of the bank. Further, sediment distribution on CSB, including infill patterns of karst depressions, suggest trade winds (easterlies) to drive platform-top hydrodynamics. By assembling a satellite-derived bathymetry map, it can be shown that CSB flooded earlier and at relatively higher rates of Holocene sea-level rise than its neighboring platforms. Flooding history is identified as the most feasible explanation for the atypical morphology of the CSB. By contrasting the present-day morphology of the CSB and the GBB, the work emphasizes how subtle differences in relative sea-level history can influence the growth of platform-margin coral reefs, features that in turn can conspire to set even closely neighboring carbonate platforms on divergent paths with regard to the development of marine landforms. This insight is relevant to interpreting the morphological diversity of carbonate platforms in the modern ocean and in the rock record