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MIT 16 885J - Shuttle Guidance Navigation

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Shuttle Guidance Navigation and Control Subsystem Redesign Jon Beaton Ben Stewart Kieran Culligan Drew BarkerGN&C • Guidance – Determining where you want to go • Navigation – Determining where you are • Control – Getting from where you are to where you want to goOverview • • • • Major modification - Integration of GPS Hardware Trade Study Recommendations Performance GainRedesign Constraints • Figures of Merit – Cost (Don’t have prices, but do have weight) • Maintainability – Space qualified hardware, fewer components • Lifetime Cost – Software support – Performance • Redundancy – Same criteria as original • Robustness • PowerIMUIMUStar trackerTACANAccelerometersRate GyrosAutolandAir DataMultiplexer /Multiplexer /Multiplexer /Multiplexer /Multiplexer /Multiplexer /General PurposeGeneral PurposeAutolandRate GyrosRate GyrosAccelerometersAccelerometersAutolandCurrent System Diagram Sensors/Controls Computers Effectors IMU Star tracker TACAN Air Data Cockpit Controls DemultiplexerDemultiplexerDemultiplexerMultiplexer / DemultiplexerDemultiplexerDemultiplexerDemultiplexerMultiplexer / DemultiplexerComputerComputerGeneral Purpose ComputerBackup Flight Control MSBLS Rate Gyros Accelerometers Cockpit Displays Aerosurface Actuators OMS/RCS/Vernier Thrusters SSME Actuators Radar AltimeterIMUIMUStar trackerTACANIMUStar trackerAccelerometersRate GyrosTACANAutolandAir DataAir DataCockpit ControlsMultiplexer /DemultiplexerMultiplexer /DemultiplexerMultiplexer /DemultiplexerMultiplexer /DemultiplexerMultiplexer /DemultiplexerMultiplexer /DemultiplexerMultiplexer /DemultiplexerMultiplexer /DemultiplexerGeneral PurposeComputerGeneral PurposeComputerGeneral PurposeComputerBackup FlightControlAutolandMSBLSRate GyrosRate GyrosRate GyrosAccelerometersAccelerometersAccelerometersCockpit DisplaysAerosurfaceActuatorsOMS/RCS/VernierThrustersSSME ActuatorsSensors/Controls ComputersEffectorsAutolandRadar AltimeterRedesign FocusIMUIMUStar trackerTACANAccelerometersRate GyrosAutolandAir DataMultiplexer /Multiplexer /Multiplexer /Multiplexer /Multiplexer /Multiplexer /General PurposeGeneral PurposeAutolandRate GyrosRate GyrosAccelerometersAccelerometersAutolandGPS Impact IMU Star tracker TACAN Air Data Cockpit Controls DemultiplexerDemultiplexerDemultiplexerMultiplexer / DemultiplexerDemultiplexerDemultiplexerDemultiplexerMultiplexer / DemultiplexerComputerComputerGeneral Purpose ComputerBackup Flight Control MSBLS Rate Gyros Accelerometers Cockpit Displays Aerosurface Actuators OMS/RCS/Vernier Thrusters SSME Actuators Sensors/Controls Computers Effectors Radar AltimeterGPS Antenna LocationsInstrumentation Used on EntryGPS Performance During STS-110GPS Solution vs. Legacy SystemGPS Trade Study Unit GPS MAGR Navstrike24 Force5 GPS/ IMU SIGI H-764 ACE Pos. Accuracy (m) < 15 < 3 < 16 <50 <10 Vel. Accuracy < 0.1 < 0.07m/s < 0.4 <0.3 <0.05 (m/s) < 100ns < 30ns RMS < 100ns <155ns <? Time Size (in) 3.2x6.8x12 3.5x3x0.75 5.9x5.7x0 .6 7x7x9.8 7x7x9.8 Weight (lb) 12.3 0.5 0.94 21 18.5 Power (W) 115V/ 4 16 (max) 34 - 45 40 400Hz or 8.5 28V DC (norm) Space Qualified *flew on shuttle Unknown x x Track Record x x x x Unknown Availability x x x x xGPS Trade Study Result Trimble Force 5 • SIGI – Promising but exact specifications were unavailable for IMU component • NavStrike – Highly accurate but not space qualified. Design for short mission length could imply reliability/robustness issues. • MAGR – Not space qualified, though flown on Shuttle (as test article). • H-764 ACE – Not space qualified. JPALS design.IMUIMUStar trackerTACANAccelerometersRate GyrosAutolandAir DataMultiplexer /Multiplexer /Multiplexer /Multiplexer /Multiplexer /Multiplexer /General PurposeGeneral PurposeAutolandRate GyrosRate GyrosAccelerometersAccelerometersAutolandHardware Trade Study IMU Star tracker TACAN Air Data Cockpit Controls DemultiplexerDemultiplexerDemultiplexerMultiplexer / DemultiplexerDemultiplexerDemultiplexerDemultiplexerMultiplexer / DemultiplexerComputerComputerGeneral Purpose ComputerBackup Flight Control MSBLS Rate Gyros Accelerometers Cockpit Displays Aerosurface Actuators OMS/RCS/Vernier Thrusters SSME Actuators Sensors/Controls Computers Effectors Radar Altimeter IMUIMU TRADE MIMU LN200S Accuracy (1-σ) Bias (deg/hr) 0.005 1 Scale Factor (ppm) 1 100 Ang. random walk (deg/rt(hr)) 0.005 0.07 Size (in) 9.17x6.65 3.5x3.4 Weight (lb) 10.4 1.65 Power (W) 32 12 Space Qualified x x Track Record x x Availability x xIMU Trade Study Result Honeywell MIMU • Better performance that LN200S • Space Qualified MEMS considerations • Extremely light weight, low power • Promising performance, but unproven • Light Weight •Thermal problemsIMUIMUStar trackerTACANAccelerometersRate GyrosAutolandAir DataMultiplexer /Multiplexer /Multiplexer /Multiplexer /Multiplexer /Multiplexer /General PurposeGeneral PurposeAutolandRate GyrosRate GyrosAccelerometersAccelerometersAutolandHardware Trade Study IMU Star tracker TACAN Air Data Cockpit Controls DemultiplexerDemultiplexerDemultiplexerMultiplexer / DemultiplexerDemultiplexerDemultiplexerDemultiplexerMultiplexer / DemultiplexerComputerComputerGeneral Purpose ComputerBackup Flight Control MSBLS Rate Gyros Accelerometers Cockpit Displays Aerosurface Actuators OMS/RCS/Vernier Thrusters SSME Actuators Sensors/Controls Computers Effectors Radar Altimeter Star TrackerStar Therma EMS Tech. Sodern Tech. U. LLNL Ball Crisa Draper Draper Tracker HE 5AS CALTRAC SED16 Of Denmark STSC Aero A-STR ISC SISC Trade ASC CT633 Accuracy (arcmin) Pitch 0.017 0.3 0..25 0.017 0.516 0.1 0.2 6 0.6 Yaw 0.017 0.3 0.25 0.017 0.516 0.1 0.2 6 0.6 Roll 0.083 0.1 1.0 0.083 1.55 0.5 1.6 6 0.6 Field of View (deg) 22X22 36X27 25X25 18X12 28.9X43.4 20X20 16.4X16.4 21X21 21X21 Sensitivity (magnitude) Mv6 Mv7 ? Mv8 Mv4.5 Mv4.5 Mv5.5 Mv5.5 Mv5.5 Max ang. rate (deg/s) 0.16 4 10 7 ? 0.8 0.5 40 40 Weight (lb) 6.6 7.5 6.7 1.9 0.5 5.5 17 6.5 6.5 Size (in) 10.2x7.6x1.3 12.6x6x6 6.7x6.3x11.5 5x5x5 4.7x4.7x5.5 5.6x5.3 dia 5.6x5.3 dia 6x6.25 dia 6x6.25 dia Power 9W 14W 7.5W 8.2W 4.5W 9W 21W 3.5W 3.5W Lost in Space X X X X X X X X X Space Qualified X X X X X X X Track Record X X X X X Availability X X X X X XStar Tracker Trade Study Result Lawrence Livermore National Labs -STSC •Largest FOV•Lightest•Space qualified and available•Good


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