Ase 372k Adc Lecture

Whats In A Picture?
ASE 372K Attitude Dynamics
The University of Texas at Austin
Whats In A Picture?
Apollo 11 Photograph Shows Lunar Module Carrying Neil Armstrong and Buzz Aldrin Returning from the Lunar Surface to Dock with Command Module Columbia. Taken By Michael Collins on July 21, 1969
Solar Direction Surface Feature Size at Lunar Horizon Earth size from Moon ~2 degrees Lunar Radius Of Curvature
Direction to Earth From Command Module
Lunar Module size From Command Module ~6 degrees Lunar Module Ascent Rocket Engine
Direction to Lunar Module From Command Module Apollo 11 Command Module

ASE 372K Attitude Dynamics The University of Texas at Austin
Attitude Dynamics Attitude Determination and Control

E. Glenn Lightsey, Professor The Univ. of Texas at Austin (with excerpts from an earlier presentation by G. Smit)
August 25, 2011
Attitude Determination and Control: What is it?

Some Initial Concepts
Attitude The direction an object is pointed, as measured between a reference direction (the zero attitude) and one or more fixed directions on the object. Determination The process of inferring by some means the attitude of the object.
This can be done by sensing, computation, or combined methods.
Earth defines a reference direction, E.
Control The process of maintaining or changing the attitude of the object, presumably from a less desirable attitude to a more desirable attitude, within some acceptable error tolerance.
Satellites orientation is determined and/or controlled relative to the reference Direction, B.
Some Additional Terms That Can Cause Confusion!

Navigation1 Is usually associated with determining the position and velocity of an object, but can be extended to include attitude (direction) and attitude rates (angular velocity) as well. Guidance1 Is the manner of calculating a maneuver plan or trajectory that takes from one attitude (or position) to another.
The algorithm that does this is called the Guidance Law. The Guidance Law does not actually execute the maneuver, this is the job of the Controller or Control Law.
(t1)
Attitude State at t1 Attitude State at t2 controlled trajectory
(t1, t2) (t2)
Navigation2 Sometimes refers to the whole process of determination, guidance, and control. As in to navigate from one point to another. Guidance2 Sometimes refers to the entire determination, guidance, and control process, as in the Guidance System of the vehicle.
A Guidance Law calculates The controlled trajectory (t1, t2) That takes the object from (t1) To (t2) The Control Law actually executes This maneuver (usually by using Actuators).
Attitude Determination: Two Types
Real-Time when you need to know right now what the attitude of the vehicle is, for situational awareness, or to take some action. Post-Processed can be determined hours or days after the fact.
Post-Processed attitude determination has the opportunity to be better than real-time because of the ability to see into the future, exclude known bad measurements, etc.
Shuttle commander needs to know right now his attitude with respect to ISS for collision avoidance.
This model of the Earths gravity field Was constructed after months of postprocessing of science and attitude data (GRACE).
Attitude Requirements
Flow down from mission requirements Attitude Determination Requirements
Real-Time
Health & Safety: Communications, Power Orient Vehicle For Maneuvers Support Attitude Control Requirements
Post-Processed
Science, Trajectory Reconstruction, Situational Awareness
Attitude Control Requirements

Point with a given accuracy Track a moving target Hold jitter below a given level Retarget, settle (also, acquire) within a given time Avoid pointing sensitive instruments or radiators at the Sun
Impact of Attitude Control on Spacecraft Design

Choice of S/C attitude control approach strongly influences overall S/C configuration
Uncontrolled/Tumbling Magnetic Spinner Gravity gradient Zero momentum Three axis Dual spin
Hence, ACS approach is a basic system decision which must occur early in the program
Sensing and Control Error Budget

Given a S/C configuration and a system requirement
A set of requirements must now be assigned to each of the subsystems/components (e.g. attitude sensors, control actuators) so that Each piece can actually be made (and afforded) When combined, the overall system will meet its requirement
Properly assigning this flowdown of requirements is essential for a successful program

i.e. the pain must be shared equitably among the various subsystems
A typical flowdown takes the following form. Actual nimbers, number of layers, labels of boxes (etc.) may evolve
System Pointing Requirement (say) 100 sec
Determination 70 sec
Control 70 sec
S/C ADS
Payload relative to S/C ADS
S/C Pointing
Gimbal Pointing
Component Errors
Misalignment
Resolver Errors
Deformation, Misalignment
Stiction, etc. in gimbal
Servo B/W, Disturbances
Attitude Determination: Sensor Selection

Need attitude sensors for a variety of purposes The actual mission may require
(High accuracy) attitude determination Slewing (retargeting)
S/C functionality may also require

Recovery from tumbling Acquiring Sun Pointing for delta-V maneuvers
Message: different modes may need different hardware

Can try to choose hardware suitable for all modes (or choose modes compatible with hardware youve chosen!) Bear in mind desirability of things like redundancy
Every Sensor Has A Price!

$, Availability, Risk, Data, Extra Work Ask Yourself: Is every sensor really required?
10
Attitude Sensors: Two Basic Types

Hi, Im an external sensor because I look at stars. Im an inertial sensor because I measure internal forces.
External reference
Sense the direction to some reference object (Star, Sun, Earth, beacon [on Earth or on another satellite])
Ring Laser Gyro

Readout detector Prism
Inertial reference
Detect the extent to which the object theyre mounted on is not an inertial frame of reference Inherently detect rates or accelerations angles must be inferred via integration. Any drift must be detected using an external reference.
Youre not my type.
Anode
Length control
Cathode
But we were meant for each other!
A Star-crossed love story.
11
Star Sensors
Detector (on focal plane)
typically a CCD array (some other technologies under development)
Some sort of sun-shade

possibly also a shutter which closes if the sun gets too close
May have thermal control

to minimize distortion
Read-out
Usually provides processed attitude output (e.g. quaternion or Euler angles
VST-41M Star Sensor Lightweight (1.1 kg) Low power consumption (2.5 W) Suitable for LEO
http://www.vectronic-aerospace.com/html/star_sensor.html
Algorithms
Pattern recognition Star tracking and centroiding Often two modes (acquire and fine point)
12
Earth Sensors
Two main types: scanners and starers
Scanners - Narrow FOV, mechanical scan, simple optics, single detector Starers - Wider FOV, strap down, detector arrays
Typically look at LWIR (CO2 bands)

Earth shape is the same night/day
Main error sources

Should account for Earth oblateness Radiance effects Intrusion of other items (Sun, Moon) Usually optimized for a given altitude Elliptical orbits can reduce accuracy
13
Sun Sensors
Two main types: analog and digital

Analog (compare brightness on various detectors to infer aspect angle)
Usually low accuracy, small size, low cost, no power required
Digital (position on a detector array)

Usually higher accuracy, larger size, higher cost, some power Simple digital sun sensors limited to size of sun (about 0.5 deg). Ways to get much better.
Large, bright, easily acquired reference

Problem with eclipse
14
Magnetometers
Measures local magnetic field, compares to reference Earth field model to determine direction (attitude) Simple, small, reliable, relatively low cost and power Almost all attitude system magnetometers are flux-gate Accuracy usually limited more by quality of on-board Earth field model and by effects of on-board fields than by the device itself
15
GPS
Handy autonomous source of ephemeris and time data May already be required for positioning Can be used for attitude
Coarse: uses antenna gain pattern Fine: uses interferometry from multiple antennas
My Favorite!
Issues
Errors and data dropouts Availability of units Signal at higher altitudes GPS satellites are designed to broadcast down so some orbits (e.g. Geostationary) are higher than GPS altitude
FASTRACs Flight GPS Receivers (x2)
16
Typical External Sensor Performance
Type Star Sensor Star Camera Digital Sun Sensor
Accuracy 3 30 arcsec 50+ arcsec 50+ arcsec
Bandwidth Low moderate Mod. - High
Weight 10 lb 3 lb 2 lb
Power 10 W 5W 2W
Cost High (up to $1M) Moderate Mod. - High
Analog Sun Sensor
1 deg
High
0.25 lb
None
Low
Earth Sensor Horizon Scanner
100+ arcsec 100+ arcsec
Low Mod. Low Mod.
5- lb 2 5 lb
5W 2W
Mod. - High Low Mod.
GPS (Int) GPS (gain) Magnetometer
1 deg 5+ deg 2 deg
Low Mod. Low Mod. High
2 5 lb 2 lb 1 lb
2+ W 1+ W 1W
Mod. Low Low
17
Inertial Sensors: Gyroscopes

Mechanical - rotating wheel
Dry-tuned Gyro
Flexures
Inner twisted
Outer twisted
Mechanical - vibrating
Tuning-fork Gyro
Tyne vibration
Hemispherical Resonator Gyro
Driving electrodes Vibrating resonator Hemispherical resonator Case
Pickoff electrodes
Rotation: Case Modes
Input
Output vibration (due to Coriolis acceleration of tynes)
18
Gyroscopes, continued
Optical
Ring Laser Gyro
Readout detector Prism
Detector
Fiber Optic Gyro
Anode
Source
Beam splitter Coil
Length control
Cathode
MEMS (Micro Electical Machined Sensor)
Note: Picture does not Include electronic packaging, Which is several times larger than sensor!
19
Gyro Technology Perceptions
Optical gyros tend to have larger dynamic range than mechanical gyros (no moving parts). Mechanical gyros (including HRGs) have memory and so can ride out some electronic glitches. Optical gyros rely on computer memory and can reset. RLGs have good scale factor stability (provided their path area is feedback compensated for thermal effects). FOGs and MEMS gyros can be very robust. Radiation effects can darken FOG coils over time, reducing sensitivity. MEMS gyros have high drift rates compared to other systems at this time (~2007). Continual development provides counterexamples to just about every general rule.
20
Typical Gyro Performance
Type
Drift
Strengths
Weaknesses
Power
Cost
Floated
.001+ deg/hr
Low drift
Low dynamic range, moving parts Low dyn. Range, moving parts
Moderate
High
DTG
.001+ deg/hr
Easier to make
Moderate
High if you want high preformance
RLG
.01 deg/hr
Stable scale factor
High voltage, dither
Moderate
Moderate
FOG
.01(-) deg/hr
Rugged
Radiation(?)
Low
Low-Moderate
HRG
.01 deg/hr
Ride out SEUs(!)
Moderate
Moderate - High
MEMS
>1 deg/hr
Rugged, small size
Not quite there yet
Low
Potentially low
21
Attitude Determination: Sensor Selection Revisited
Performance vs cost vs weight vs volume vs reliability/heritage vs availability Basic performance trades

Inertial sensors always have measurements available, can have high bandwidth, but need to be updated External sensors may have low(er) bandwidth, may be temporarily blinded or otherwise unavailable, but give direct measurements (I.e. they dont need to remember their initial conditions) Its common to combine inertial and external sensors using estimation methods
Our story has A happy ending!
Readout detector Anode
Ring Laser Gyro

Prism
Length control
Cathode
22
ADC Overview
To control something, you must be able to measure it and compare it with the desired state Measurement => attitude determination
Must be able to describe the attitude (parametrization) Sensors dont usually respond directly with attitude solution Translate sensor response into parameter values
Control (if necessary) => apply torques such that spacecrafts dynamical response will appropriately modify the state
Understand the dynamics (spacecraft and actuators) Use actuators to maneuver the vehicle according to control law Feedback control issues of stability
23
Attitude Parameterizations
Several standard ways of specifying a (relative) attitude

Euler angles Quaternions Direction cosine matrix
There are also some compact techniques for specifying position and attitude
Useful for gimballed systems (and for robotics)
Comparisons
Quaternions are probably the most common for actual flight applications Computationally, direction cosines and quaternions are comparable. Euler angles are generally less efficient. Conceptually whatever youre used to!
24
Geometry of Attitude Determination

Method
What information is required to determine the attitude using external sensors?

Typically we have one or more instruments mounted on the S/C, detecting external references (e.g. stars, the sun, the earth) and giving the direction to these objects in S/C coordinates From a knowledge of the directions to these objects in some standard coordinate system (e.g. ECI), we want to find the orientation of S/C coordinates relative to this standard frame
If we sight a single star (of known location, e.g. in ECI) this gives us the S/C orientation modulo a rotation about the line to the star
If we sight another star (not on this line!), we have enough information to find our 3-axis orientation
25
Vector Based Attitude Determination: Implementation
We have found two reference vectors in body coordinates,
u B , vB
We also know the orientation of these vectors in the reference frame, u I , vI We can form orthogonal triads in the two coordinate frames from these vectors
We can construct the I-frame triad similarly, using the known directions in that reference frame, based on knowledge of position. => qI , rI , sI The rotation matrix, R, maps I to B (e.g.), from which we can infer R: Let M = (q r s )
qB = u B rB = u B vB / u B vB s B = q B rB
M I = (q I
rI
sI )
RM I = M B R = M B M I1 = M B M IT
26
Estimation: Combining Several Measurements
We may want to combine readings

To reduce errors by taking the average of several measurements To compensate for a lack of observability (we may not be able to see two stars simultaneously, so our two stars may be viewed at different times we then need to use our knowledge of the spacecraft motion to allow us to back out the attitude. This is done implicitly in the spin axis problem). To compensate for data dropouts.
GPS
Antenna 1
GPS
Antenna 2
GPS Receiver
Star Sensor
Inertial Measurement Unit
Coarse Earth Sun Sensor
Magnetometer
OBC
Section 1
On-board Computer
OBC
Section 2
Usually, these effects are combined, e.g. in a Kalman Filter An on-board processor is required if these solutions are needed in real-time
Make sure the processor has enough horsepower to handle the operations
Propulsion Magneto Torquer Reaction Wheel Sub System Magneto Torquer
TerraSar AOCS
27
Propagating Attitude
When we use inertial sensors, we measure the angular rate (e.g. of the S/C or the payload). We then need to integrate this over a finite time interval to find the change in the attitude For each of the parametrizations, we can derive a differential equation which integrates to give the attitude change
Euler Angles
These can be derived geometrically, but you have to be careful, because some of the rates are not orthogonal. As an example, Euler rates might be related to the body (gyro) rates by:
Quaternions
In writing down the propagation equation for quaternions, it is common to introduce a skew symmetric matrix of rates: (note this is for q = [ q1 q2 q3 q0 ] )
dq 1 = q dt 2 0 3 = 2 1
sin( ) cos( ) 0 x 1 0 y = cos( ) sin( ) sin( ) sin( ) sin( ) sin( ) cos( ) cos( ) cos( ) sin( ) z
3
0 1 2
1
0
1 2 3
0
28
Dynamics: Eulers Equations

Many small satellites can be treated as single rigid bodies. Motion described by Eulers equations. This is a vector equation (3 scalar equations) Eulers equations give the evolution of the angular velocity (as seen in body coordinates). For some problems this may be all we need. To find the attitude, we need to integrate again (using equations expressing the angular velocity in terms of the attitude parametrization were using)
Some of the pros and cons of the various parametrizations (e.g. singularities) become important at this point The general problem of rigid body motion can be difficult. There are some simple, special cases of use in satellite design.
D( I ) / Dt = I + I = T
Eulers equations are simply the torque = rate of change of angular momentum relation expressed in body coordinates (i.e. with a fancy time derivative the reason for using body coordinates is to keep the moment of inertia expressions simple).
29
Simple Cases of Attitude Dynamics
We can simplify Eulers equation by

Choosing simple coordinates (in which I is diagonal Principal Coordinates) Choosing simple I (e.g. a symmetrical body, with two of the principal moments of inertia equal Zero torque (I.e. torque free motion)
This is a common case of interest for many satellites
FASTRAC is an example of an axisymmetric, Rigid body satellite!
30
Axisymmetric Torque Free Motion
The torque free, symmetric equations of motion reduce to the form
x = y y = x z = 0
This gives rise to coning motion described as gyroscopic precession
Depending on the sign of lambda (prolate or oblate body) coning motion is either in the same direction or opposite to that of the spin In the presence of energy dissipation, prolate spinner is unstable (important for upper stages and for spinning satellites).
31
Attitude Control: Whats It Good For?

Attitude Control is the act of maintaining or modifying the vehicles orientation through some means, when uncontrolled motion is not sufficient to meet the mission requirements. ACS may be needed for: Communications, Power, Thermal, Maneuvering, Spin Damping, Science.
But you can sometimes design your mission to meet these needs without control!
The First Question to Ask: Does your mission absolutely require attitude control? Because its going to negatively impact your satellite design, cost, complexity, and chance of success!
Example: FASTRAC, the UNP-3 winner, has no ACS requirement.
The Second Question to Ask: What is the least amount of control that will allow you to safely accomplish your mission?
Required Control Effort Affects: Mission Cost, Actuator Size, Power, Attitude Determination, Mission Life
Bottom Line: Never control the vehicle more than required. Pick the minimal control solution that allows you to accomplish your mission. Redundancy and design margin are also considered.
ASE 372K Attitude Dynamics The University of Texas at Austin
32
Two Types of Attitude Control
Passive:
The S/C dynamics (possibly coupled with the Earths gravity) directly yields a system with the desired attitude behavior. Examples:
Gravity Gradient Magnets (Passive) Simple Spinner Nutation Damper Drag Panels or Feathers
Active:
The vehicle performs some action to control its attitude. Requires extra hardware (sensors and actuators) Used when passive control is not possible or sufficient. Even on nominally passive systems, you may need active phases periodically (e.g. to flip a gravity gradient satellite or to unload a momentum wheel) Examples:
Magnetic Control Momentum Wheels Earth Pointed Inertially Pointed Three Axis Control
Passive systems have the advantage that no action is required to maintain the planned attitude. Control errors are usually larger with these systems (several degrees) due to disturbances.
33
Disturbances
One of the main reasons for needing attitude control is the existence of disturbance torques External
Aerodynamic drag Solar pressure Gravity gradient Magnetic torques
A Famous Picture showing environmental Torques versus orbit altitude. Also in SMAD (Wertz, Space Mission Analysis and Design).
Internal
Mechanical vibrations (machinery) Thermal expansion and contraction Control/structure interaction
34
Passive Stabilization: Gravity Gradient
Basic Idea is to Use the Mass Properties of the satellite to create a restoring torque that wants to orient one axis of the vehicle along the Earth radius vector.
Achieves two-axis Earth pointing. Put comm antennas on the nadir (Earth-facing) side.
As designers, Gravity gradient stabilization involves shaping the satellite so that the corresponding gravity gradient torques maintain the body in the desired orientation.
Many gravity gradient designs are long and skinny along the Earth radius vector.
Orbcomm Satellite with Gravity boom. (Launched 1995)
It works because the Earths gravity field is directional, hence an offset between the cg and the cm produces a restoring torque about the cm.
A deployable boom provides GG stability and sensitive electronics (such as a magnetometer) can be placed on the tip.
35
Limitations of Gravity Gradient Control

Based on Launch Vehicle, a deployable mechanism is often required to achieve inertia properties (complex, costly, risky). Although passively stable in two axes, GG satellites are also neutrally stable (poles on or near the jw-axis of the s-plane).
This means that always present disturbances will create lightly damped, potentially large amplitude oscillations that may be unacceptable. Usually some additional damping or control mechanism is needed to stiffen the motion.
Because the GG torque is small, it can be dominated by other environmental torques, circumventing the desirable control.
An environmental analysis is needed. At LEO torques like drag may be large. At high altitudes, the gravity gradient torque becomes smaller due to the uniform direction of the gravity field.
Due to symmetry there are two possible stable configurations.

You must be able to live with this or include an actuator to flip the satellite if the wrong side captures face down.
36
Passive Stabilization: Permanent Magnets
Earths magnetic field is dipole tilted about 11 degrees off axis of rotation. If S/C has a dipole due to magnets, it will align itself in the Earths field.
(N/S Attracts, N/N repels).
Result is a torque that rotates vehicle twice per orbit. Nice if you want a coarse slow rotation for zero power. Magnetic field of S/C, EMI of magnets, and environmental torques must be examined.
37
Active Stabilization: Magnetic Control
By Using Current through a coil, it is possible to change the magnetic dipole of the spacecraft. The torque generated is given by the number of turns, the area of the coil and the magnetic permeability of the material (can be vacuum). If a ferromagnetic material is placed in the center of the loop, the torque is amplified.
Torque Rod
If the current is driven outside of the linear range, the torque rod heats and saturates due to eddy currents.
Allows you to convert electricity into torque-potentially limited only by available power.
EyasSat Subsystem Assembly
38
Limitations of Magnetic Control

The torque is generated at right angles to the Earths field and to the net magnetic moment of the coils.
Hence we must invert this relationship to solve for the required coil magnetic moment which will yield the desired torque
B
Plane of possible torques, T= m x B
Since the output torque will be at right angles to the Earths field, it is limited to the plane normal to this field at any instant.
If the desired torque happens to lie in this plane, we have an uncontrollable situation. Some systems inhibit the controller (so that no torque is generated) since it wont do anything useful.
Time Scheduled controls are required to achieve pointing because the Earths field changes over the orbit.
Torques are limited due to mass/volume/power constraints and strength of Earths field best at LEO Magnetic fields generate EMI that may affect other equipment
39
Active Stabilization: Momentum Wheels

Wheels are momentum exchange devices with satellite structure.
3 basic types (1) Reaction wheels (2) Momentum wheels (3) CMGs (Controlled Moment Gyros) (1) and (2) have their spin axes fixed in the S/C body. (3) has the spin axis gimballed (either 1 or 2 dof 1 dof much more common than 2 dof) (1) As the wheel speed is changed, reaction torque acts on S/C. For (2), wheel speed is fixed, wheel adds gyro stiffness to S/C. For (3), wheel speed is fixed but direction of spin axis is changed relative to S/C. Reaction torque acts on S/C.
Uses
(1) and (3) are used for attitude control ( (1) for low torque, (3) for high torque power consumption at high torques is lower than (1) ) (2) is used for stabilization (typically, spin axis is along the orbit normal)
Comments
(1) and (3) are typically mounted in clusters. Wheels must be unloaded. Complex strategies for (3) Main failure mode = bearing failure, particularly for (1) if the speed cycles through zero
40
Active Stabilization: Momentum Bias
Angular momentum stiffens the spacecraft , H = I w

i.e. to get a given attitude change, an external torque must change the direction of a large angular momentum This can simplify the attitude control A common configuration involves putting the angular momentum bias along the orbit normal
This makes the roll and yaw axes stiff You get a simple pitch control via the momentum bias wheel
Quarter-orbit Coupling
The basic idea is that if the angular momentum vector (i.e. the pitch axis) is stiff, roll and yaw interchange each quarter orbit. Hence a roll sensor will tell you about yaw as well.
Roll axis
The roll-yaw stiffness (and coupling) can be exploited to reduce the number of attitude sensors - e.g. get rid of a yaw sensor
Yaw axis
41
Active Stabilization: Thrusters
Main types
Cold gas (sometimes heated) Monopropellant Bipropellant (in increasing order of specific impulse, complexity and cost).
Most ACS systems that use thrusters use monopropellant hydrazine. Need a catalytic bed. Isp is around 200 seconds (lower for short pulses)
Life limiting factors

Useful life limited by the amount of fuel or failure Failure caused by valve failures, leaks, freezing, losing catalyst (usually due to not preheating)
Most common uses

Unload wheels Stop tumbling (e.g. after deployment) To orient vehicle for delta-V (usually a different engine)
Issue with repeatability of torques, mass flow rates
42
Integration and Test

Dont shortchange this important part of the design process. Goal is to check that everything is hooked up properly and that it all plays together Usually hard to do an actual end-to-end ACS test on the ground
Some small satellites have been mounted on air bearings for testing Most satellites are tested in some hybrid combination of simulation and actual hardware test
Components themselves are tested Connections are tested Control system test usually uses a simulation for the S/C dynamics
Hybrid test set-up

Actual location of tap-ins, etc., depends on budget!
Actuators and their electronics
Flight computer
Sensors and their electronics
Auxiliary computer with dynamic simulation
Test is often as complex as flight!
43
Some Useful References
Hughes, P.C. Spacecraft Attitude Dynamics, Wiley (1986) Kaplan, M.H. Modern Spacecraft Dynamics and Control, Wiley (1976). Sidi, M.J. Spacecraft Dynamics and Control, Cambridge (1997) Wertz, J.R. Spacecraft Attitude Determination and Control, Kluwer (1978).
The End!
44

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Whats In A Picture?

ASE 372K Attitude Dynamics

The University of Texas at Austin

Direction to Earth From Command Module

Direction to Lunar Module From Command Module Apollo 11 Command Module

Attitude Dynamics Attitude Determination and Control

August 25, 2011

ASE 372K Attitude Dynamics

The University of Texas at Austin

Attitude Determination and Control: What is it?

Earth defines a reference direction, E.

Satellites orientation is determined and/or controlled relative to the reference Direction, B.

ASE 372K Attitude Dynamics

The University of Texas at Austin

Some Additional Terms That Can Cause Confusion!

Attitude State at t1 Attitude State at t2 controlled trajectory

(t1, t2) (t2)

ASE 372K Attitude Dynamics

The University of Texas at Austin

Attitude Determination: Two Types

ASE 372K Attitude Dynamics

The University of Texas at Austin

Attitude Control Requirements

ASE 372K Attitude Dynamics

The University of Texas at Austin

Impact of Attitude Control on Spacecraft Design

ASE 372K Attitude Dynamics

The University of Texas at Austin

Sensing and Control Error Budget

Properly assigning this flowdown of requirements is essential for a successful program

Payload relative to S/C ADS

Stiction, etc. in gimbal

Servo B/W, Disturbances

ASE 372K Attitude Dynamics

The University of Texas at Austin

Attitude Determination: Sensor Selection

S/C functionality may also require

Message: different modes may need different hardware

Every Sensor Has A Price!

ASE 372K Attitude Dynamics

The University of Texas at Austin

Attitude Sensors: Two Basic Types

Ring Laser Gyro

But we were meant for each other!

A Star-crossed love story.

ASE 372K Attitude Dynamics

The University of Texas at Austin

Some sort of sun-shade

May have thermal control

ASE 372K Attitude Dynamics

The University of Texas at Austin

Typically look at LWIR (CO2 bands)

Main error sources

ASE 372K Attitude Dynamics

The University of Texas at Austin

Two main types: analog and digital

Digital (position on a detector array)

Large, bright, easily acquired reference

ASE 372K Attitude Dynamics

The University of Texas at Austin

ASE 372K Attitude Dynamics

The University of Texas at Austin

FASTRACs Flight GPS Receivers (x2)