2. ATV Rendezvous Mission 1: Jules Verne Brian Rishikof Odyssey Space Research 281-488-7953 March 24, 2004

3. Brian RishikofOdyssey Space Research2 Outline ATV (Automated Transfer Vehicle) Program ATV Vehicle ATV Trajectory and GN&C Demonstration ATV (Automated Transfer Vehicle) Program ATV Vehicle ATV Trajectory and GN&C Demonstration

4. Brian RishikofOdyssey Space Research3 ATV Program ESA (European Space Agency) –ISS Partner EADS (European Aeronautic Defence & Space) –Flight Segment Prime Contractor CNES (Centre National D’Etudes Spatiales) –Operations Prime Contractor RSC- E (Rocket and Space Corporation - Energia) –ESA Integration Sub-contractor NASA (National Aeronautics & Space Administration) –Prime ISS Integrator RASA (Russian Aviation and Space Agency) –Integrator

5. Brian RishikofOdyssey Space Research4 ATV International ATV-CC Toulouse Les Mureaux (Paris) MCC-H Houston Korolev (Moscow) ESTEC Noordwijk (Amsterdam) MCC-M Moscow

6. Brian RishikofOdyssey Space Research5 ITAR International Traffic in Arms Regulations –ATV has been designated as a “defense article” –Subject to Export Control restrictions –Complicates support Perils of International cooperation

7. Brian RishikofOdyssey Space Research6 ATV Mission Dock to ISS Service Module aft Deliver Cargo –Russian Water –Fuel –Gases –Other ISS Propulsion –Reboost –Attitude control –Debris avoidance

8. Brian RishikofOdyssey Space Research7 Jules Verne - Launch Date MAY 2005

9. Brian RishikofOdyssey Space Research8 Vehicle Configuration Length9794 mm Largest Diameter4480 mm Solar array span22281 mm Mass budget S/C dry mass5320 kg Cargo Carrier dry mass5150 kg Total mass (105%)10990 kg Air /Consumables2094 kg Total ATV mass13084 kg Air /Consumables5150 kg Total Cargo capacity7667 kg Total Mass at Launch20770 kg Waste downmass6500 kg *400 km, 51.6 deg inclination

10. Brian RishikofOdyssey Space Research9 Vehicle Comparison ATVProgress M1Apollo CSM Length10.3 m7.4 m11.03 m Max Diam.4.51 m2.70 m3.90 m Launch Mass20750 kg7150 kg30329 kg Press. Volume14 m36.6 m36.17 m3 Engine Thrust1960 N2942 N97860 N

11. Brian RishikofOdyssey Space Research10 Vehicle Systems Propulsion(Pressure fed liquid bi-prop) Main (OCS)4 x 490 N thrusters ACS28 x 220 N thrusters Propellant Monomethyl hydrazine fuel + Nitrogen Tetroxide oxidizer PressurizationHe pressurant at 31.4 MPa Communication To GroundS-band via TDRS, Artemis Space-to-SpaceS-band to ISS-RS NavigationGPS Power Solar Arrays 3.8 kW - 6 months in orbit Batteries Rechargeable and non- rechargeable

12. Brian RishikofOdyssey Space Research11 Communication

13. Brian RishikofOdyssey Space Research12 Rendezvous Safety Rqmnts “1 Fail Op” “2 Fail Safe” 24 hour safe free-drift trajectory Approach Ellipsoid –2 km x 2 km x 4 km Keep Out Sphere (KOS) –200 m sphere

14. Brian RishikofOdyssey Space Research13 Rendezvous Constraints Russian Ground Station Visibility ISS attitude and array feathering limits –ATV/ISS: Communication –ATV/ISS: Common GPS satellites and visibility –ISS: Power –ISS configuration dependent Lighting for visual monitoring Lighting for sensors Power

15. Brian RishikofOdyssey Space Research14 ATV Trajectory (1/2) MC  ATV-CC computes Mid-Course transfers dV MC11 and dV MC12 S -4  ATV-CC computes dV 3 and dV 4 S -3  ground computes dV 5 and dV 6 S -2  reference point; half orbit after dV 6 S -1  point where 1 st correction (trim) maneuver is initiated; 1 orbit after S -2 S -1/2  phasing targeted point; 1 orbit after S -1 AI 3.5 km V-Bar R-Bar S1S1 S0S0 S2S2 AE KOS S -1 S -2 S -3 S -4 MC S -1/2 Phase 1Phase 2Phase 3 Phase 4Phase 5Phase 6 Fixed Initial Drift ~ 3 hours Variable Phasing Duration 49 - 97 hours Fixed Phasing Duration ~ 7.3 hours CAM test 1 >10 min >20 min 0.5 rev dV 1 dV 2 dV MC11 dV MC12 dV 3 dV 4 dV 5 dV 6 S-S Comm

16. Brian RishikofOdyssey Space Research15 ATV Trajectory (2/2) V-Bar R-Bar ~5 km AI 3.5 km 250 m 45 min 40 min Directional Space-to-Space Comm Range (~30km) S1S1 S0S0 S2S2 S3S3 S3S3 S 4 20m S -1/2 S 41 12m Decision Point Transition to VDM Transition to VDM Relative Attitude Crew Visual Assessment Start RGPS Navigation Absolute GPS Navigation AE KOS >20 min >10 min Omni-directional Space-to-Space Comm Range (~3km)

17. Brian RishikofOdyssey Space Research16 ATV Navigation 2x GPS receivers/antennas –AGPS –RGPS 3x 2-axis accelerometers 4x 2-axis gyros KURS –Range + range rate 2x Videometers –Range (range rate) & LOS –relative attitude 2x Telegoniometers –Range (range rate) & LOS 10 cm1 m10 m100 m1 km10 km100 km DOCKING AGPS RGPS KURS TGM VDM VDM+ Rel Att USOS Cameras SM Camera SENSORS PRIME MONITORING

18. Brian RishikofOdyssey Space Research17 ATV Control “Yaw Steering” –For power and communication “Earth Pointing” –Early phasing –LVLH (0,0,0) –Pointing sensors at ISS Relative Attitude –Measurements start at 30 m –Transition occurs at 20 m V S 41 S 4a S 4b

19. Brian RishikofOdyssey Space Research18 ATV Control Phasing –Earth Pointed OCS major maneuvers –Otherwise Yaw steering Rendezvous –ACS maneuvers –Yaw steering attitude Final Approach –Earth Pointed (LVLH 0,0,0) –Relative Attitude (0,0,0) –Simultaneous control of CG and docking probe tip

20. Brian RishikofOdyssey Space Research19 ATV Guidance

21. Brian RishikofOdyssey Space Research20 Safety Tiered Approach –Ground and Crew as additional controls –Crew “in the loop” just prior to docking System/Subsystem FDIR Trajectory Monitoring Coarse State Monitoring PRIMARY FLIGHT Systems BACKUP FLIGHT Systems

22. Brian RishikofOdyssey Space Research21 Contingencies ABORT (CAM) –Backup H/W & S/W ESCAPE –Nominal H/W & S/W Also, during Final Approach –HOLD –RETREAT Vehicle/Crew/Ground commands ABORT ?

23. Brian RishikofOdyssey Space Research22 Decision Point Distance at which momentum will overcome any propulsive reaction and result in contact –After this point, assumption is continuing is safer than executing “large” maneuver “Decision” made by crew on-board ISS –ATV-CC communication lags result in earlier “ground” decision point

24. Brian RishikofOdyssey Space Research23 Crew Monitoring No “Piloting” Prescribed reactionon threshold detection by visual means Single operator with all “critical” information and command access Visual target on ATV –Active illumination Camera on ISS –Prime –Backup (to be installed via EVA)

25. Brian RishikofOdyssey Space Research24 Demonstration ATV is Show Safe!

26. Brian RishikofOdyssey Space Research25 Demonstration Mission Philosophy –Demonstrate safety critical elements that cannot be fully tested on ground –Demonstrate safety critical elements before they are relied upon during flight for safety

27. Brian RishikofOdyssey Space Research26 Demonstration Plan Currently 3 day mission rendezvous mission Progressively test and evaluate Achieve incremental milestones –Demonstrate sensors as they come online (prime and monitoring) –Demonstrate communication and critical commanding –Demonstrate integrated vehicle GN&C performance –Demonstrate ALL contingency actions After ALL demonstration objectives/criteria satisfied + Proceed to Docking attempt –Nominal rendezvous profile

28. Brian RishikofOdyssey Space Research27 ATV: For Fun! http://esamultimedia.esa.int/docs/atv_model/ATV_2002_Intro.htm BUILD YOUR OWN! BUILD YOUR OWN!

29. Brian RishikofOdyssey Space Research28 Acknowledgments Jean-François Clervoy/ESA Douglas Yazell/Honeywell AIAA Houston NASA-JSC-EG NASA ATV Team Congratulations to ATV Team

30. Brian RishikofOdyssey Space Research29 The End