Formation Flying Slide 2 ION Alberta Chapter > Calgary > 20 Dec 2012
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2 Formation Flying Slide 2 ION Alberta Chapter > Calgary > 20 Dec 2012
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6 PRISMA (SSC) (SSC) Swedish technology demonstration mission Two micro-satellites (MANGO, TANGO) Qualification of sensors (GPS, FFRF, VBS), actuators and control concepts Autonomous formation flying, rendezvous and proximity operations Slide 6 ION Alberta Chapter > Calgary > 20 Dec 2012
7 PRISMA Mission: Overview Launch from Yasni on June 15 th 2010 at UTC Sun-synchronous dawn-dusk orbit at 757 km altitude Space Segment Active MANGO spacecraft (150 kg, 400 W, 6 DoF) Passive TANGO spacecraft (40 kg, 100 W, 3 DoF) Operations Mission control center in Solna (Sweden) and, temporarily, Oberpfaffenhofen (Germany) Esrange ground station in Kiruna (Sweden) Experiment control centers hosted by partners (DLR, CNES) Mission life time >10 months TANGO operations using MANGO as relay DNEPR launch Slide 7 ION Alberta Chapter > Calgary > 20 Dec 2012
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10 PRISMA GPS-Based Relative Real-Time Navigation 5.1 cm 3D rms Slide 10 ION Alberta Chapter > Calgary > 20 Dec 2012
11 PRISMA GPS-Based Autonomous Orbit Control Inspection flight around virtual structure (PROX/FARM experiment, OHB-SE) ~0.5 m 3D rms control error Onboard navigation accuracy limited by maneuver frequency (~50 man/rev) Larsson R., Noteborn R., Bodin P., D'Amico S., Karlsson T., Carlsson A.: Autonomous Formation Flying in LEO - Seven months of routine formation flying with frequent reconfigurations. 4th International Conference on Spacecraft Formation Flying Missions & Technologies, St-Hubert, Quebec, May 2011 Slide 11 ION Alberta Chapter > Calgary > 20 Dec 2012
12 Formation Flying Radio Frequency (FFRF) Instrument (CNES) (CNES/Alcatel) Error of FFRF-based autonomous formation keeping (reference GPS) Grelier T., Guidotti P.-Y., Delpech M., Harr J., Thevenet J.-B., Leyre X.; Formation Flying RadioFrequency Instrument: First Flight Results from the PRISMA Mission; NAVITEC'2010, 8-10 Dec. 2010, Noordwijk, The Netherlands (2010) Slide 12 ION Alberta Chapter > Calgary > 20 Dec 2012
13 Vision Based System (VBS) Flight demo on PRISMA Based on DTU s Advanced Stellar Compass Near and far range camera heads Non-stellar object identification and line-of-sight vector computation Pose estimation and cooperative tracking mode for target with LEDs (DTU) PRISMA (DTU,OHB-SE) Slide 13 ION Alberta Chapter > Calgary > 20 Dec 2012
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18 Relative Navigation Filter (Offline) Extended Kalman filter/smoother States (dual-frequency ~48, single frequency ~25) Relative position and velocity ( r, v) Force model parameters ( C R, C D, a emp ) Relative clock offset ( t) Differential ionosphere for each channel ( I), zenith ionosphere delay (ZID) Single-difference phase float ambiguities for each channel ( A 1, A 2 ) Single-difference phase float ambiguties for each ( A 1 ) Measurement models Single-difference code and phase Antenna location and orientation (incl. switching) Phase center offsets and variations, phase wind-up Ambiguity resolution using LAMBDA method and incorporation of integer constraints as pseudo-observations with zero variance Kroes R., Montenbruck O., Bertiger W., Visser P.; Precise GRACE baseline determination using GPS; GPS Solutions 9, (2005). Slide 18 ION Alberta Chapter > Calgary > 20 Dec 2012
![GRACE Gravity Recovery and Climate Experiment Gradiometer with length of 200 km K-band ranging system (10 m precision) First demonstration of GPS-based relative navigation with ~1 mm precision [1]](/docs-images/75/72024928/images/19-2.jpg "Systematic biases at 2 mm-level [2] [1] Kroes R., Montenbruck O., Bertiger W., Visser P.; Precise GRACE baseline determination using GPS; GPS Solutions 9:21-31 (2005). [2] Jäggi A., Dach R.")
19 GRACE Gravity Recovery and Climate Experiment Gradiometer with length of 200 km K-band ranging system (10 m precision) First demonstration of GPS-based relative navigation with ~1 mm precision [1] Systematic biases at 2 mm-level [2] [1] Kroes R., Montenbruck O., Bertiger W., Visser P.; Precise GRACE baseline determination using GPS; GPS Solutions 9:21-31 (2005). [2] Jäggi A., Dach R., Montenbruck O., Hugentobler U., Bock H., Beutler G.; Phase center modeling for LEO GPS receiver antennas and its impact on precise orbit determination; Journal of Geodesy 83(12): (2009). Slide 19 ION Alberta Chapter > Calgary > 20 Dec 2012
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21 TanDEM-X Autonomous Formation Flying (TAFF) Design Exerimental TDX onboard software supplement Exchange of GPS navigation fix via inter-satellite link Keep It Simple and Stupid (KISS) Analytical relative motion model Estimation of relative orbital elements Discrete control Control accuracy 0.3 m radial (rms) 7 m along-track (rms) Ardaens J.S., Fischer D.; TanDEM-X Autonomous Formation Flying System: Flight Results ; 18th IFAC World Congress, 28 Aug.- 2 Sep 2011, Milano, Italy (2011). Slide 21 ION Alberta Chapter > Calgary > 20 Dec 2012
22 TanDEM-X Flight Results Global DEM (Jan 2012) Slide 22 ION Alberta Chapter > Calgary > 20 Dec 2012
23 TanDEM-X Flight Results Digital elevation model of Iceland Ocean currents between Scottland and Orkney Islands Slide 23 ION Alberta Chapter > Calgary > 20 Dec 2012
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