JPL AUTONOMOUS RENDEZVOUS OVERVIEW Rob Bailey Jet Propulsion Laboratory Inter-Agency AR&C Working Group Meeting May , 2002 Naval Research Laboratory

IAWG ARC 5/22/2002 RWB - 2 A Brief History DateEvent 2000:MSR 2003 – 2005 Baseline: LAMP and Radio Direction Finder 2000:MCO/MPL Failures, MSR cancelled 3/2001:Risk adverse JPL starts an MSR Technology Development to feed forward to MSR – $40M allocated for CNES ’07 demo, single string, LAMP/RDF, C&DH, autonomy, SW 7/2001:LMA wins XSS-11 8/2001:MPSET Review of MSR rendezvous concept leads to addition of long and short range optical cameras for functional sensing redundancy with LAMP and RDF 10/2001:SSC/JPL wins New Millenium ST6, LAMP dedicated to ST6 10/2001:Initial CNES demo estimates come in at $100+M (dual string, C&DH, autonomy, SW, 4 different sensors) 12/2001:JPL funding pressure forces CNES rendezvous demo cost cap of $10M 5/2002:New CNES demo concept: visible cameras + UHF Beacon, no CPU, no FSW, single string, Cost cap ~$19M; XSS-11/ST6 is viewed as complimentary demo (sensor+SW+autonomy); DARPA OE viewed as complimentary demo (SW+autonomy)

IAWG ARC 5/22/2002 RWB - 3 CNES Rendezvous Demo Concept Overview Autonomy –Only inside 2km - Spacecraft execution of ground planned sequence Software –JPL ground software determines maneuver sequence and pre- computes orbit maneuver matrices –CNES Orbiter onboard software uses uplinked matrices to compute trajectory initiation and correction maneuvers Sensors (all JPL developed) –NAC – Narrow Angle Camera (Visible, 10m..3000km) –WAC – Wide Angle Camera (Visible, 1m..2km) –OS UHF Beacon (2km..1000km) Requires concurrent reception of OS signal by CNES Orbiter and 2 nd Mars Orbiter CNES mission contains other primary science –Before and during rendezvous demo NetLanders (Seismic, atmospheric, etc) NEIGE (Netlander Ionosphere and Geodesy Experiment) –After rendezvous demo - TBD Orbital Science

IAWG ARC 5/22/2002 RWB - 4 CNES Rendezvous Demo Sensor Capability 7000km 3000km 1000km 10km 2km 10m 1m OS Optical Search and Intermediate Phase Terminal Phase UHF Beacon Search and Intermediate Phase NAC theoretical limit, assumes OS not moving in camera FOV WAC theoretical limit, assumes OS not moving in camera FOV DRAWING NOT TO SCALE Angles Only Range Capability Angles Only NAC WAC UHF Beacon

IAWG ARC 5/22/2002 RWB - 5 CNES Rendezvous Demo Terminal Phase Autonomy Concept Mission Design System Navigation Analysis System Nav Event Planning Data: picture frequency, maneuver schedule, nominal maneuver magnitudes Sequence Analysis and Development System Nav Data/Matrix FileControl Limit FileEphemeris FileManeuver FileSequence File Rendezvous Nav System AOCS Tracking Sub-System Sequencing Engine AOCS Tracking System CommandsPicture DataNon-Grav Data Edited/Compresse d Picture Data Camera Sub-System Ephemeris Offsets Ground System Flight System JPL SW JPL Design / CNES Implementation Downlink Data JPL Generated Data JPL/CNES Shared CNES FSW

IAWG ARC 5/22/2002 RWB - 6 CNES Rendezvous Demo Terminal Phase Autonomy Concept (cont) Contents of Nav/Data Matrix File IDNameSizeOccurrence/Frequency M1Covariance6x6Associated with every Nav picture time M2Observable Data Partials 3x6Associated with every Nav picture time M3K-Matrix6x6Associated with every maneuver time M4State-Transition- Matrix 6x6 Frequency  1/10mins, may be rev- cyclic M5STM-Time-Derivative6x6 Frequency  1/10mins, may be rev- cyclic

IAWG ARC 5/22/2002 RWB - 7 CNES Rendezvous Demo Mission Design

IAWG ARC 5/22/2002 RWB - 8 CNES Rendezvous Demo Project Schedule Concept Review Preliminary Mission & System Review System Requirements Review Preliminary Design Review Confirmation Review Structural/Thermal Model to CNES Engineering Model to CNES Critical Design Review Flight Model to CNES Launch Mars Orbit Insertion End of Rendezvous Mission