[,i• Active Analog Telemetry Sent Directly To DSPSE Spacecraft Controller Naval Research...

[,i I

Space Vehicle ... ,.

. -�· �-�/ ... . .>.

,.:

Experiments. · . .. .

. , . . ' �-

�'

. i.

. ..

I , r

·-.;-< -� J.'t I. ·I "'

{ - I

,(/ 1

\..

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·. :: (,··:

.

. . : f� � :.�j ,t";' .... �· �: �. ' , 'I .;

..!:.._1_

Experi-me-nts

• Dosimeters

- Measure DSPSE Total Dose.Radiation Environment

• Charged Particle Telescope (CPT)

- Measure Energy Levels Of Particles In Five Bins

- Discriminates Between Electron & Protons Based On Energy Level

• Interstage Radiation Experiments

- Includes Dosimeters, CPT, & A Device Under Test (DUT) Package

• Autonomous Navigation Experiments

Naval Research Laboratory

CDAIEXP-2 Washington, DC 20375-5000

Dosimeters

Naval Research Laboratory Washington, DC 20375-5000

Dosimeter

Requirements;

• Locations Close To Sensitive Payloads

• Optional Radiation Sensor Shields

Impact To Spacecraft:

• LowWeight

• LowPower

• Small Package Size


CDR/EXP-4 Washington, DC 20375-5000

Implementation

• Use Four Dosimeters For Total Dose Measurement

- One Shielded Sensor At Solid State Recorder

- Three Unshielded Sensors At:

-- Solid State Recorder

•• Sensor Optical Bench

Startracker

• NRL Hybrid Dosimeter Design

- 20 To 25 Grams (0.051bs) Each

- Each Package :::= 20 To 24 cm2 (3.2 in2 To 3. 7 in2)

• Power From PCDU Power Supply

- 30 mW Maximum Per Dosimeter

• Active Analog Telemetry Sent Directly To DSPSE Spacecraft Controller


CDRIEXP-5 Washington, DC 20375-5000

Dosimeter Block Diagram

PCDE Read.(.)

Critical __ rON-....., --t--- --••

Bus 7 -

Dosimeter #1

TLM

-

Dosimeter #2

.--------. rQ � PCDE � ��.��---��+-� ..__ Power �-12v

Supply� TLM

CDR/EXP-6

•

Dosimeter #3

TLM

Dosimeter #4

TLM - Shielded

....

.... ...

.... -

.... ....

DSPSE Spacecraft Controller

EXP-02


CDR/EXP-7

Theory Of Operation

• Two Modes Of Operation

- Expose Mode

Sensor Source Is Grounded, Sensor Gate Forced To SV

Radiation Creates Hole-Electron Pairs

Holes Trapped In P Channel Sensor By Reverse E Field

-- Read Mode

Sensor Placed In A Defined Constant Current Circuit

Gate Voltage Decreases To Overcome Radiation E Field

Monitor Vgs To Determine Radiation

• A Shield Allows For A Differential Measurement Of The Radiation Environment To Determine Radiation Spectrum

. .


I '

( '

I I

)

/ I

Dosimeter Status

• Design Qualified On Other NRL Space Program

• Parts On Hand At NRL Or Readily Available

• Awaiting Authorization To Proceed From SDIO



(\

Dosimeter Schedule

I . . . .

Activity Name j ...... /�� . .'�.� ..... J ........ .!?�� . .'�� ........ J..T ...... ,�� • .'��······.l ..... ¥.��.:��······J ..... , ... �T.�.:�y� ..... , ... I... ...... �P.� .. :�� ........ L.. ...... ��.:�� ...... .J. ... ¥ ... �� .. :?.� .... y . .1.., ...... �.�!.�� ......... L.f.:�� .. :�� .. . I 1! 8 1 5j22j29j6 11 3J20j27, 3 1 0j17j24j3 1j 7 j14,21128j 7 14j21j28j4 j1 1j1 8j25l 2j 9 j16j23j3 0j6 jt3j20j27j4 jttj1 8j25j 1 I 8 j1 5

Order 1 I I 1 1 1 1 ' ' 1 I j I · I i 1 I I I I I I i I ' i I I i I 1 ! i i I i i I 1 i j g.�:!i'·H;�rid''""l"''nll ... ,.: ... f.-j ..... j ...... j ..... j ...... H'J''"" ..... 1!.. ..... 11 ...... ..... -1--.... l! ...... j ...... ;l! ...... , .... ..l. ..... jl ...... ,l ...... jl ...... ll: ...... ,!...+ .. ++·+ .. ,! ............ , ..... J ... +·+ .. .j.. ..... ll ....... , ..... '""'f"+ .... l .. .. Parts • · · · · I I I 1 I I I 1 1 I I I 1 1 1 ! 1 1 • !

'tivt;·;·i(j"'Givout"·j ...... r11• ... , .. j .. ·1· .... + ... + ... + .. j .. ...... , ..... T .... . ..... 1 ..... T ..... , ...... r ... T ..... , ...... t ...... l ...... ..... l ..... ,, ...... , ..... l ..... , ...... 1 ....... , ...... 1

...... i" .... l" ....

l ...... t" ....

l ...... l ...... r .... l ...... t ...... , ...... l ...... r .... l ...... i .... ..

i 'I I! . I I I i j I i I ' i ! I l I . I I ., i i I ! i i i ! ! ! I I I I : : I I • : • ! I : I ; • : I I ! : : . : I : : : 'ti'Ybrid ....................... r ..... i .... , ...... r ..... i ...... j ...... r ... ·E5·r· .. · ...... i"' ... I ...... , ...... r .. i ..... l ..... r .... i ...... l .... "t' ..... i ...... ! ...... r ..... j' ..... l ...... ! ...... l ...... l ...... , ..... T .... l .... T ..... r .. ··r .... I .... T ..... , ...... r .... r ... r····r .. ···

.�.�.�.��.�.��.�� .......... 1' .... ..1 . ... L .... 1' ....... L .. J.. .... t ...... l ...... l ..... ,!.. .... j ...... j ..... .l ...... ! ...... L. ... l... ... � ...... l. ..... l.. .... l ...... t ...... !... ... l ...... l ...... j ...... t ...... I ..... .I.. .... ! .... J ...... I ...... t ...... 11 ...... i.. .... 1' ...... i.. .... t! ...... 1.. .... 1... ... 1.. .... 11 ...... 1.. .. .. H b ld B lid I • I ! . I I I I i i I I I I I i I I I ' I I ' • I I I I I I ' Y r u ; I . I 1 I 1 I 2 l 3 I 4 I s I 6 I 1 I a I 9 I 1o:l. 1 i 1 • ! ! ! I i I I I . . . . . . . I • • • • • • • • • • • I • I i I I ! I I I I I I ........................................ j ...... y . ... , ...... , ...... ...... , ...... j. ...... ...... l ...... t ...... , ...... j ...... t ...... , ...... t-.... -} ...... l ...... j. ...... , ...... l ...... j. ...... , ...... j ...... � ...... , ...... t ...... , ...... j ...... � ...... , ...... , ..... + ..... , ...... j ....... , ...... ! ...... j. ...... , ...... , ...... i' ...... j ...... ; .... .. Hybrid Test • I 1 I 1 1 I I I I • • • • I • • • • • • • • • • • • • • I I

j i ! ! . ! I I I t I 2 I 3 I 4 I s . I' e. f i l 8 ·1 'g I .t o. I i i I ! I i 1·

! i I I I I I I I I I I I , ..... + . . I I I • • • : : • • I I . . . . I ' I I ' I I I ·oc;·&'im'8'8' ............. T ...... r .... I" ... T ..... i ...... r .... r .. T .......... r .... ..... l .... T ..... PS .... li·;: .. i ... ri·r .. i'�' ... il .. il ..... (i]f ..... t� ... !·i ..... fcr;i .... llti .... l ..... l' .... l ...... , ...... t ..... T .... T ..... I ...... , ....... I"' ... I ...... , .... .. ��.��i�·ater ............. 'l' ..... t, · ··1 .. -r . .. ... 1 .... -r .... l ...... -·j .... I .... T .... i .... · t· .... f� .. �� ... � .. -·tt� ·I;;J ..... l-;.;�-"! .. �t .. ·;·�l;·�·� .. ·!·;·;� .. ·�;; .. ;1 .. ;+·;1

1······1······t······!······i······t······l······l······

Test ! . : I , i 1 1 i I i ! i ! 1 • 1 • I 1 1 .!. 1 , , 1 .!. .1. + + . , l I I i i l i g·:�i:�te, .............. , ..... ,. ···�······r·····t······r····· i······�······r·····i······,······r·····,······r·····r·····r·····r·· .. ·r·····�···u··,······r ···ij······r ·····�······l······�······!······l·u···i······� ··u··l······r···u··,······l····ut······l······{·······l ······l······t···· ··l······l······

na<Uatio·n .. ;'ostr·T · l .... r+ ... rT ... ..... r·r .. r·rr ... l-.. r, .... , ...... r .. + ... , ...... rr-rt .. T-T .... , ..... , ... Tr··! ..... l" ... l ... T ... j .. t ... � ..... ;.i· .. l·· ... r ... r ... r ... .. ......... ............................. .l ..... .l. ... 1.. .... 1' ...... 1· ...... l' ...... t ............ j ...... t ...... i ...... l ...... t ...... I ...... L. ... l.. .... l ...... t ...... ! ...... l ...... � ...... i.. .... ; ...... l. .... .l. ..... t ..... . l... ... � ...... 6 ...... , ...... 1 ...... 1 ..... .i ..... .i .... ..l ...... l ...... t ...... , ...... !... .. .1 ..... .!. ..... !.. ... . Shield Fab ! ! I 1 "'' • ' ' •

• 1 i i i 1 i i i i 1 i i T ! ! ! ! I I I !1 I !

CDR/EXP-14

! i i ! I i I . : i i ! I I • : I i ! ! I i . I ! ! ! : . I i . . . . I • ' ' ' ' I ' ' ! ! ' ! ! ! ! ! l l I I I i ! I ! ! I l I I i i


_j_ .5 Inches

CDRIEXP-13

Dosimeter Packaging

Strain Relief

Hybrid Chip

Sensor

..... �-------- 2.1 Inches -----------1 ....

(5.3 em) Doslmelers Packaging

Naval Research Laboratory Washinglon, DC 20375-5000

.. /

®

STRAIN

RELIEF ®

r-

CDR!EXP-12

Layout

I

0

---n=:J-

-i l-I I

HYBRID CHIP

I I I 1- -c=J-I -c=J-1-2.1 Inches (5.3 em)

® ®

® ®

�I

1.51nches (3.8 em)

SHIELD

EXP-05


Hybrid Parts List

Part Name Type Value

1N5711 Diode ...

HS-3530-RH-6 OpAmp ...

WCTR-100-123008 Res1stor 1.23Kn. 0.1 °/o

WCTR-1 00-243008 Resistor 2.43KQ, 0.1% WCTR-1 00-549008 Resistor 5.49KQ, 0.1 °/o

WCTR-1 00-649008 Resistor 6.49KQ, 0.1 °/o

WCTR-1 00·1 0501 8 Resistor 1 0.5KQ, 0.1 °/o

WCTR-1 00-137018 Resistor 13.7K.Q, 0.1 °/o

WCTR-100-174018 Resistor 17 .4K.Q, 0.1 °/o

WCTR-1 00·24301 8 Resistor 24.3KQ, 0.1 °/o

WCTR-1 00-30901 8 Resistor 30.9KQ, 0.1 °/o

WCTR-1 00-51001 B Resistor 51.0KQ, 0.1 o/o

WCTR-1 00-412028 Resistor 412KQ, 1o/o WCTR-1 00·620028 Resistor 620KQ, 0.1 °/o

... Case . ..

t::XP-08'«

CDR/EXP-11

Quantity Shield No Shield

2 2 1 1 1 1 1 2

...

2 1 5 1 2 1

2 2 1 2

---2

---...

1 3 1 5 1 2 1


Hybrid Schematic

PIN 14 PIN 13

PIN 2

51KQ

PIN 1

620KQ

24.3KQ

2.43KQ · +12V

PIN 10

PINS

6.49KQ PIN7

17.4KO

PIN 6

CDR/EXP-10

PIN 12

GATE

PINS

DRAIN

PIN3

412KQ

PIN 4

+12V

PIN 11 PIN 9

Dosimeter Telemetry

620KO EXP-04


Part Name

CKR06BX1 05KS CKR05BX683KS

JANTX1 N759A

RCR05G101JS

RCR05G1 OOJS

RNC55HXXXXBS

RNC55HXXXXBS

AG-SC-501 O-S

M38527/02-039

M22759/11·22-9 ...

··-

79 LH1660-40

MS24693-25

NAS620C4 t:X.t-'-0/ 'It

CDR/EXP-9

Dosimeter Parts List

Type Value

Capacitor 1.0 �-tF Capacitor 0.068 �-tF

Zener Diode 12V, 400 mW

Resistor 1 00 n, 5°lo, 0.125W

Resistor 10 .n, 5°lo, 0.125W

Resistor TBD, 0.1 °k, 0.1 oow

Resistor TBD, 0.1 o/o, 0.1 OOW

Sensor P Channel Mosfet

Mounting Pad ---

Wire 22 AWG

Shield 160 mils Thick

Hybrid Chip 16 Pin Dip Package

Locking Nut Miniature, Hex, 4-40

Screw 1 002 Flat Head, 4-40

Washer Flat 4-40

Quantity

3 2

1

1

3

1

1

1

1

As Required

Optional

1

4

4

4


r

'--

+12V SW

+12V

SENSOR

CDR/EXP-8

Dosimeter Schematic & Interfaces

+12V

Hybrid

+12V SW

10Q +12V SW �+12V Unswitched

J1uF

100 +12V

�

J1uF

+ 12V Switched

100 -12V

� -12VInput

J1uF _

J.r-----<( Signal Ground

Dosimeter Telemetry

EXP-03


)

Charged Particle Telescope (CPT)


CDR/EXP-17

Charged Particle Telescope (1 of 2)

Size:

Weight:

Placement:

Power Supply:

Operating Temperature:

Telemetry:

Supplier:

8.0 X 3.0 X 0.97 in

Less Than 0.5 Ibm

Looking Along Same Optical Axis As The Visible Sensors

+12 v, -12 V,

�o.o5 Amps �0.038 Amps �0.75 w

-20° C To + 10° C

1 LTN-11 Thermistor (Supplied By NRL) Temperature Range: -50° To +35° C

Aerospac� Corporation


Outputs:

Delivery:

Concerns:

CDRIEXP-18

) /

Charged Particle Telescope (2 of 2)

5 Discrete Pulses:

�June 1993

High Voltage: Outgassing:

/

El: < 20 KeV E2: < 60 KeV E3: < 300 KeV Pl: < lOMeV P2: <30MeV

+300V Requirement To Wait TBD Before Turn On


CPT Functional Block Diagram

DISC

DISC

DISC LOGIC

DISC

DISC

+5V GND JSV

Power Supply

CDRIEXP-19

t-+---+12V

GND

rt--- -12V

EXP-01


CPT

lf----------6.50 ________ __.

If-------- 6.200----------ol

2.760

.66

t n n n

:u MCK·NI·Y-95661·18.0 8.00

9 Pin Connector

CDRIEXP-20

Mounting Holes .147 0 4 Places

I J

EXP-06


CPT

/ \, I

j

•

•

•

•

CDR/EXP-21

CPT Status

CPT In Fabrication At Aerospace

Interface Chip Set Delivered To NRL For Incorporation Into DSC

All Interfaces To Spacecraft Have Been Defined

Thermal Constraints Currently Being Worked With Aerospace


Interstage Radiation Experiment

DREP Experiment Subsysten1 Functional Diagram

JPL Experiments

Rate Meter � Timing&

Counter

DRAM � SEU Test

& Timing

DREP4-11132C

EEProm SEU Test

& Timing

FPGA SEU Test

& Timing

MASTER CONTROLLER BUS

Experiments r···························�=�:�················l- ····_ ····!-1 -------1 ... �1Vgs Amplifier & I Dose Meter ... 1

... . Constant -! FET -=······················································· Current Source

: i ! : !

I ...

.Temperature Monitors

AD590 ' - SEU Sensor

... I , ....................................................... .--------,

- : DRAM

I : .... : ... _! -�

I ! � !....,

! ... ..,.! -�

I l : : ! ..... : -

-! - ·

I !

DRAM OUT

EEProm OUT

FPGA OUT

L. .............................................................. ,

.... ... ..... Supply ... ..... Current - Monitor .... ...

.... ... Acquisition .... .. Time __.. Comparator

�ll

-System Clock

I � -

... :... -

..... -

AID Converter I--

Integrator ,.....-

C92-7035


DREP Board Outline

4.00"

A SECTION A·A

DREP5-11132C

BOTTOM VIEW

ANTENNAN1

Ci2·703i


DREP Asseiiibly

Power Divider

CDRIEXP-39

,

Naval Rescarcli Laboratory Washington, DC 20375-5000

DREP6-11132C

Experiment Parts List'

Part Description QTY MFA Number

MT4C1004 . DRAM, 4 Meg X 1 2 MICRON

CM28HC256 EEPROM, 256K, CMOS 2 SEEQ

ACT1280 FPGA, 8000 Gates, 1.2Jl CMOS 2 ACTEL

CD4007 (Cal. Lot) Dosimeter FET 2 RCA!NRL

TMS4164 SEU Rate Meter DRAM 2 Tl

RADMON RADMON 2 JPL

TBD 4M Bit 3D SRAM 2 OKifTI

TBD Charge Couple Device 2 LORAL

C92-7021


•

•

•

•

CDRIEXP-41

I

Interstage Experiment Status

Final Mission Orbit Critical To Performance Of Experiment

Experiment Manifest Dependent On Mass Allocated To Experiment

Preliminary Electrical Design Complete

Preliminary Mechanical Placement Complete


Autonomous Navigation Experiments

.;,_ .-

Autonomous Navigation

• Earth-Moon Transfer

• Lunar

• Geographos Transfer

• Terminal



CDRIEXP-44

DSPSE Earth.:. Moon Auto Estimation Concept

*

Star *

*

Determine the attitude from star tracker

Earth ORB-18

\ I

J

�

Moon

The Unit Vector liTo The Earth Or Lunar Center Is Supplied By The Image Processing S/W & Used As Input To The Kalman Filter To Estimate The Position


' \ )

CDRIEXP-45

Autonomous Estimation - Earth To Moon Transfer

• Earth - Moon Transfer Simulations

- Preliminary Results Indicate Errors Between 40 km - 450 km

- After Second Apogee Errors Are Less Than 100 km

• Duty Cycle Is 6 Hours Of Imagery Data - 18 Hours Of No Data

• Use UV /Visible Camera & Star Tracker

- Heavily Dependent On Sensor Accuracies


CDRIEXP-46

\ )

Auto Estimation Performance Of The DSPSE Satellite

In The Earth-Moon Transfer Orbit

500?-------------------------------------------------------�

400

a= 203322 km 9 = 0.967 I .. 70.00deg n ., 80.057 deg ro = 200.793 deg M = 360.0 deg To = 94/01126

04:44:02

Star tracker accuracy: pitch: 300 mrad y aw: 300 mrad

300 roll: 1000 mrad

D

200 D

1 00

D

1st perigee- � a

a

a

Unit vector meas urement s of Earth and lunar center used as input to Kalman Filt er.

Measurement accuracy: 0.1 deg 1-a random

Measurement rate: N every 2 minutes alternating at 1 hour interv als between Earth and Moon cent roid measurements .

Duty cycle : 6 hours on- 18 hours off.

2nd perigee

I

Lunar orbit insertion

error N 27km

I

I

I

oo-----------------�------------------r---------�------� 0 10 20 30

Elapsed llme (days)


lnterstage Experiment

• Requirements

• Overview

• Status



lnterstage Experiment Requirements

• Utilize Interstage Solar Arrays Used To Augment The Spacecraft Arrays During LEO

• Provide A Platform For Selected Radiation Monitoring Experiments After Spacecraft/lnterstage Separation

• Downlink Acquired Radiation Data For Characterization Of Potential SDIO Orbits

• Interstage Add-Ons Weight Critical - Minimize Experiment &

Support Package Mass

• Design For Late Inclusion Into Mission If Mass Margins Exist



'\

\

)

•

•

•

•

CDR/EXP-25

lnterstage Orbits (1 of 6)

Baseline Mission Orbit Leaves Interstage In An Unusable Orbit

Baseline Orbit Of Interstage Dependent On � V Imparted By Separation Springs

"Stunted" Phasing Loop Being Investigated To Take Full Advantage Of Spacecraft Fuel Capacity & Launch Vehicle Throw Weight Capability

"Stunted" Phasing Loop Orbit Leaves Interstage In An Unusable Orbit Crossing Radiation Belts



Evolution Of The lnterstage Orbit After Separation From The DSPSE Spacecraft 11 V Imparted To Interstage At Separation = 0 ft/sec (CDR Baseline Orbit):

CDR!EXP-26

. ) " -- /

MOON'S ORBIT

)



Heliocentric View Of The Interstage (After Earth-Escape) & Inner Planetary Orbits (CDR Baseline Orbit):

CDRIEXP-27



Evolution Of The Interstage Orbit After Separation From The DSPSE Spacecraft 11 V Imparted To Interstage At Separation = 1 ft/sec (CDR Baseline Orbit):

MOON'S ORBIT

CDRIEXP-28

Naval �esearch Laboratory Washington, DC 20375-5000.


Evolution Of The Interstage Orbit After- Separation From The DSPSE Spacecraft !l V Imparted To Interstage At Separation =2ft/sec (CDR Baseline Orbit):

'

CDRIEXP-29



Evolution Of The Interstage Orbit After Separation From The DSPSE Spacecraft � V Imparted To Interstage At Separation = 3 ft/sec (CDR Baseline Orbit):

CDRIEXP-30

\ __ _ )


CDR/EXP-31

Effect On The lnterstage Orbit Of Va;rious TTl 8 V's

MOON'S ORBIT

EARTH

TTII!J.V

(m/s)

A 2940

8 2960

c 2980

D 3000

E 3020

F 3040

G 3060

H 3080

I 3100

J 3120 t:XP·09

I�TERSTAGE ORBIT

J

Maximum Distance lnterstage

From Earth Orbital Period

(nmi) (days)

71426 2.111

77461 2.372

84567 2.691

93062 3.091

103398 3.602

116253 4.272

132654 5.180

154191 6.453

183435 8.319

224902 11.227


Washington, DC 20375-5000

CDRIEXP-32

)

lnterstage Experiment Description

• Experiment Subsystems

• Data Acquisition Subsystem

• Power Management Subsystem

• - Communication Subsystem


Interstage

In terstage -------1ill'-- l

Solid l�ocket Mo

CDR/EXP-33

Patch Antenna

Patch Antenna

DSPSE I�adiation

Experi1nent Package (DREP)

l..�aunch Vehicle Adaptor

hllorsla!J!l /ldaplm 1'. I h:kl M


Functional Diagram Of DREP System

f;o_w_ER-M - A N -AG-EM-E-NT- - - - I lnF suesvsTE M - - - - - - - - I SUBSVSTEMr--------"-.-----1---J.------,

I

Solar Array

Power

r-:-1 I Devices

Under

I Test

I

Shunt I

I

On/Off Regulator ·I

I 5�H I ±15 Volt

L ________ �

Data Acquisition

I I

I SEU & TO 1--r-�-1-----'

1 II M onitors 1 I

I JPL II I I AC�U��ON IEXP�RIMENTS

I L ��iEN,J _j LSUBSVSTEM

_

j . .• sr

SGLS 5Watt

Transmitter I . PIN CTS-105P

I

I

I

I

Power Divider

P/N 4313·2

Omnl Directional

Antenna 2.2 ·2.3GHz

P/N S65-5366-1S

I ·I I I I

I I I I

I I

Omnl I Directional

I Antenna

I 2.2 • 2.3GHz I · PIN S65·5366-1S

L ___________ _j C92-7020

)

DREP1-11132C Naval Research Laboratory Washington, DC 20375-5000

Data Acquisition Subsystem Functional Diagram

Dosimeter �-�

Total Dose Experiment r-

Ust PROM

Total Dose Analog

Interface

t

Experiments (OUTS)

SEU Experiment

List PROM

Total Dose SEU State .State

Machine Machine (ACTEL 1) t-----...L.------r--1 (ACTEL 1)

Address & Control

SEU Rate

Meter

Rate Meter State

Machine (ACTEL 1)

JPL t-------a.,..B_It_B_u_s

____ --.r--..__-----+-----lExperiments

,

AID � Multiplexer t----1 Converter

. DREP2-11132C

Master PROM

Master State

Machine (ACTEL 1)

Parallel To ·

To � RF Serial Modulator

C92-7022


DREP Weight Estimate

: COMPONENT

10" x 4" X .047" Thk PWB

20" X 4" X .047" Thk PWB

4" x 26" x .05" Thick Magnesium Plate

4" x 26" x 1" Magnesium Housing With .05" Thick Walls

15 Pin Connector

Test Components

Splitter

RF Transmitter

All Other Components

Antennas

Coax (20Ft.)

JPL Experiment

25 Pin Connector

Total

DREP3-11132C

WEIGHT

106 Gms

213 Gms

156 Gms

115 Gms

15Gms

99Gms

22Gms

280 Gms

106 Gms

112 Gms

125 Gms

682Gms

20Gms

2051 Gms = 4.52 lbs

C92-7024


CDRIEXP-47

I \

Auto Position Estimation Of DSPSE In A Lunar Orbit

* *

Star *

*

Star

Tracker

#2

Determine

attitude !rom star

tracker

Observe lunar limb and compute unit vector u to lunar center. Use as Input

to Kalman Filter to derive position.

UV/Visible Camera

FOV

OIII·ID


200

y

100

CDAIEXP-48

. )

Auto Estimation - Lunar Orbit

100

UV/Visible Camera Image of Limb

4.2 x 5.6 Degree FOV

Fit Segment Of , Circle To Light/Dark ..

200

X

\

)

Bound a

300 OAB-22


Data Transfer & Autonav

Measurements

CDR!EXP-49

Auto Estimation - Lunar Orbit

Lunar Mapping

ORB-23


CDR/EXP-50

Autonomous Estimation - Lunar Mapping

• Lunar Navigation Simulations

- Preliminary Results Indicate "' 15 km 2cr RSS

Accuracy In Orbit Determination Is Achievable After Approximately One Day Of On board Measurements

- No Systematic Errors Or Dark Side Constraints Considered

- Errors Are On Optimistic Side

- Uses UV/Visible Camera & Star Tracker



COR/EXP-51

Auto Estimation Performance Of The DSPSE

Satellite In A Lunar Orbit

E' �

...

E ...

UJ en en a:

80�------------------------------------------------------�

60

40

Iii

20

a =3454 km e = 0.379 i = 90 deg

ro= 150 deg

Measurement accuracy: 0.1 degrees 1-cr random

Measurement rate: .... every 30 seconds

Meas included when: True Anomaly between 1 oo and 180 degrees and when SIC out of lunar shadow

Unit vector measurements of lunar center used as input to Kalman Filter.

Star tracker accuracy: pitch: 300 mrad yaw: 300 mrad roll: 1000 mrad

/2cr ASS error: - 15 km

Elapsed Time (days) ORB·I3


CDRIEXP-52

Auto Estimation Concept During Earth-Geographos Transfer

Geographos

* * * Stars

*

/�� lne

DSPSE om

star

direction ,.,

.

tracker

of � , �

Observe Earth and lunar / \ limb. Compute unit vector to center. Use as Input to Moon

Kalman filter to derive DSPSE position .

• ORB-15


CDRIEXP-53

Autonomous Estimation- Earth Geographos Transfer

• Preliminary Results

• Four Image Reductions Per Hour Used

• Earth-Geographos Transfer

- Preliminary Results Indicate Poor Dynamics

RSS Errors Several Thousand km

- Error Degrades From A-Priori Uploaded State; Must Alternatively Image Earth & Moon. Earth Measurements Alone Are Not Adequate.

- Results Indicate That It May Be Best To Use Latest State Vector & Propagate Onboard


CDR/EXP-54

E ......... .... g

w c 0

+:::

"Ci) 0

a..

� c:::

, Auto Navigation Performance During Earth-Geographos Transfer

15000�------------------------------------------------�

10000

5000

Four Earth or Moon center Measurements each hour

Switch between Earth and Moon every 4 hours

No measurements when the Sun is 20 degrees of the

UVNisible camera boresite.

One Sigma Accuracy of Unit Vector Measurements: 0.05 deg

Iii


NoMeasl due to

Sun Blinding '

Rendezvous with Geographos

0+-----------��-----------r------------�----------� 100 200 300

Day of Year (1994) ORB-14


"--·

Auto Estimation - Terminal Phase

Goographos

� Sun

/ 100 km

/

Measure Included Angles Between Geographos & Several Bright Stars

Due To Bright Sun Near FOV May Not Be Able To Image Geographos & Nearby Stars Within Same Sensor Image

Cannot Determine Full Relative State Vector From Angle-Only Measurements. Consider Fact That Velocity Vector Is Well Known, i.e., 10.8 km/sec. Then Solve For The Relative Position Vector.

Zero-Gravity Dynamics Applicable During Terminal Phase.

CDRIEXP-55

*

Determine ---.attitude from

star tracker

* ORB-Ill


* * Stars

* *


CDRIEXP-56

Autonomous Estimation - Terminal Encounter

• Terminal Navigation Simulations

- Miss Point Determined 30 Minutes Prior To Encounter

- Preliminary Results Indicate RSS Relative Along-Track Position Accuracy (Between Spacecraft

, & Asteroid) Improves Rapidly Only Within Last Minute Before Encounter

• Prior To 1 Minute Intrack Error Is Approximately 15-25 km

Last Minute lntrack Error Is Between 1-4 km




CDRIEXP-57

Auto Estimation Along-Track Perfortnance During Geographos Terminal Encounter

E � .... 0 .... ...

w

c:

� 'iii 0

a.. �

� ....

1-0> c: 0

<

60

Geographos LOS unit vector meas error = 0.057 deg

Star tracker accuracy: pitch: 300 mrad

40 yaw: 300 mrad roll: 1 000 mrad

Encounter @ 0 min

20

0

-20

-40+---��r-�---.--�--.---�--.---�-.--�---.--�--� -1 0 -8 -6 -4 -2 0 2 4

Time to Encounter (minutes) OR&t2


Auto Estimation B-Plane Miss-Distance Performance During Geographos Terminal Encounter

40

30 -

E � .......

...

e ...

w

c 0

-..:::

·u; 0

20 a.

(/} C/} a:

Q)

ffi a..

I

m

10

CDRIEXP-5B

Geographos LOS unit vector meas error= 0.057 deg

Star tracker accuracy: pitch: 300 mrad yaw: 300 mrad roll: 1 000 mrad

Iii

Time (min)

Encounter @ 0 min


CDR/EXP-59

-24

UV/Vis & LIDAR Receiver LOS & FOV

I

l + o MAGS

Line of Sight From Spacecraft To Geographos 24 Hours Prior To Flyby

I I I I

I ',1 l '�I l I I ! : ' + I !A I A ,. I ! +! • • A ' P 1 UV/VIs ><x 0 MAG 8 : ll I . "' I : I �

·25 • ,...........

o MAG 7 ......... � 1 ........................... ,1 ............. r ............ ! ................. 6 ........ 1 .............. � .......... l·: .......... :�-......... 'j' ............. 'l'7, r- Field Of VIew

j [J j I ! 0 I 1 r !o 1 I !

·26 •

X MAGS : : : + : . : : I j + 0 ! A i I . . ! I ' .

: ::::. ;····� 1---�� ·····�--·1- -· ·· -· ··-· (HiR�� ·j······-:· ·-+· �--· +·L .... �-'

li I I + x I Field OfiView I + i \ ' • I )0(\._j : ' )<

-27 • .. ...................... !, .. � .. -� . •• : f----�---1· ··-· ··-.1- ·-···�· .. _ •. :.t� ··-·-4-· ·-·· ···�-' + . . I A • I I i X ! l I I !I' A :

II AA 1 ! ! ! o! I ! 4 j X ! X ! j A I '+ ' ' A ' ' " A I f Xj A Aj I i L I -: •28 • � ..... :x ...... !11.�.l ................ + ...... r·� .............. t .. Ja .................... 4 ......... �� ...... � .. � .. 1b: ......... � ........... +r .. = .. �-� ........... t .............. ....... ..

11 i + 1 A j X + I + ! + I I IY,

·29

138

Notes:

i l i i j i X l A A , : ' ' I : : 1 I I l I I I I

139 140 141

I 142

Right Ascension (Degrees)

143 144 145 146

O&T-G29

MAG 5 Is From 5.0 To 5.9, Etc. Geographos Is Not To Scale Based On Baseline Trajectories Naval Research Laboratory


•

•

CDRIEXP-60

I

LJ

Terminal Navigation & Pointing Plans

Preliminary Results From NRL, LLNL, & JPL Indicate That Terminal Navigation & Pointing Is Feasible

I

NRL Is Currently Working With LLNL & JPL To Develop An Integrated Plan To Perform This Phase


\ __

-'

' !

RadMon/CMOS Experiment

I ) ' '

\ /

RadMon/CMOS Experiment (1 of 2)

Size: 4"x4"xl"

Weight: Less Than 2lbs

Placement: Top Of Spacecraft,. Above Optical Axis Of Visible Sensors

Power Supply: +5, ±12 Volts ,< 100 mW

Operating Temp: -20 To +60oC

Telemetry: Serial Telemetry

Co1nmands: Serial Commands

Supplier: JPL


RadMon/CMOS Experiment (2 of 2)

Data Outputs:

Delivery:

• RadMon

- SEU Of Static RAM

-- Proton, Alpha, Heavy

- Total Dose Of pFET

• CMOS

- SEU Of Latch·

- Total Dose Of CMOS Inverters

Brass board

Flight

Feb93

May93

Naval Research Laboratory Washington,J?C 20375-5000

Serial CMD

Serial TLM

+5, ±15V

RadMon/CMOS Experiment Block Diagram·

ISB Interface

Buffer ·

FPGA Vo

R ID

op-amp

VG

CMOS SEU

Latch

OUT

CMOS. SEU

SRAM

RADMON

CMOS Total Dose

pMOSFET

EXP-R1


RadMon/CMOS Experiment Box Outline

'•

z

x�Y

6-MIL

ALUMINUM

SHIELD "Y"

'• ·.

·. 4" ......

SHIELD"Z"

,• ·......... .,�� SHIELD "Y" ·, : ,· SHIELD "X"

............... '

6 MIL ALUMINUM SHIELD

ALUMINUM FRAME

,• �� ,' 4 ..

I I

. -.J �� ,,

CONNECTOR


RadMon/CMOS Experiment - RadMo11 Description

• Objective

- To Profile The Earth's Proton Belts, To Measure The Total Dose & To Compare Results With Ground Based Measurements In Order To Understand The Effects Of Radiation On Electronic Components, To Aid In The Design Of Robust Space Systems, & To Update The Radiation Models.

• Approach

- The RadMon Consists Of A Chip Set That Is Fabricated From A Standard CMOS Processes So That Single Event Upset (SEU) & Total Dose Results Are Directly Applicable To Upsets & Total Dose Shifts In Integrated Circuits Fabricated Using The Saine Process. That Is, The SEU Charge Collection Lengths Are A Few lO's Of Micrometers & The Total Dose S�nsitive Oxides Have The Same Radiation Response As The Associated Integrated Circuits. The Chip Consists Of A Specially-Designed Static Randont Access Me1nory (SRAM) With An Adjustable SEU Sensitivity &

(Field-Effect Transistors) FETs For Total Dose Measurements. The DUT Experiments Will Utilize The RADMOM FET Dosimeter To Measure Total Dose & The RADMON SRAM To Measure Proton Fluence


RadMon/CMOS Experiment - RadMon Block Diagram

OUTER BOARD MIDDLE BOARD ' .

10 VDD Vo rll2?1-

. 1 ___,--t--t-r--t--t SEU /SRAM

D

� 4 E · w R ..

GND --+-t-t-t

INNER· BOARD

1/0

R6

TEMPERATURE MONITOR AD590 CLOSE TO OUTs

· Naval Research Laboratory · Washington, DC 20375-5000

RadMon/CMOS Experiment - RadMon pFet Curve

2.0

,.....

� 1.9

>n. w 1.8 "'

� :......J 0 1.7 > 0 _J 0 :c 1.6 (/) w 0:::: ::r: t-

� 1.5

(/) 0 � 1.4

CRRES pFET THRESHOLD vs SRD DOSE

pMOSFET A300VP32 W/L = 6/3 p.m/ p.m NO TEMP CORRECTION Vf 0 = 22.3 mV /krad .

vr0 = 0.55 v

D pMOSFEf

- PHILLPS LAB SRD DOME N0.1

D

60 ..........

0 en -'"0

55 � ..::£ -

0

sow .en 0 0 _J

� 45o t-0 0:::: en

40

�� 35 500 550 600

CRRES ORBIT NUMBER

650 700


RadMon/CMOS Experiment - Ground Test Upset Rates

1000

(/) --' --' w u

0 w

100 ()_ ()_ --' LL.

0

0 z

10

1

SPONTANEOUS

LL-MSX DATA (N06J) VDD = 5 V

1.0 MeV PROTON

0.55 MeV PROTON

2.0 2.5

OFFSET VOLTAGE, V0 (V)

.. 3.0


RadMon/CMOS Experiment - CMOS DUT Description (1 of 2)

• Introduction

- · The Bull{ Of The Spacecraft Electronics Is Composed Of Digital Electronics Consisting. Of Microprocessors & The Associated Glue Logic Which Is Typically Designed In CMOS Gate Arrays. Such Circuits Are Vulnerable To Reliability Failures From Metal Electromigration, Hot Carriers, & Oxide Breakdown & Radiation Failures Fro1n Single-Event Upsets & Total Dose. The Susceptibility Of CMOS Parts To Failures Varies Considerably From Manufacturer To Manufacturer & The US Government Has Established An Innovative Approach, Called Qualified Manufacturing Lines (QML), To Assist System Builders In Obtaining High Quality Digital Parts. The Spacecraft Electronics Is Not Only

. Subject To Radiation Effects But Also To Considerate Temperature Variations Which Can Degrade The Perfor1nance Of The Electronics Or Cause Catastrophic Failure

• Objective

- This Digital CMOS Dut Experiment Is Designed To Characterize The Reliability & Radiation Failures Of A CMOSE Test Coupon By Measuring Reliability & Radiation Parameter Variability In Space. In A Follow-On Effort, The Space Results Will Be Compared To Ground Radiation &

Reliability Acceptance Tests ·


... - - -- .

RadMon/CMOS Experiment - CMOS DUT Description (2 of 2)

• Approach

- · A Reliability & Radiation Effects Test Coupon Has Been Developed Recently For The Honeywell RICMOS-111 1.2 J.Lm CMOS Gate Array . Process. The Test Coupon Has Over Thirty Test Structures. We Will Examine This Coupon For Suitability For A Flight Experiment & If Necessary, Will Modify & Refabricate a Flight Version



RadMon/CMOS Experiment - CMOS Dot Diagram (1 of 3)

L..Q3

L.Q2

LQ1

LD1D3

l..D002

LVO

VSS:HB

LE

VDD:148

WD:14A

lRO

LR1

lR2

LR3

INVL2802.PLT

TOP

IRO

IR1

IR2

liN

lOUT

IC2

IC1

VS5:14A

BOTfOM

I�

IC2 IC1 ICO

T l I T l I T J ·

WD ·£ VSS

8X8 INVERTER ARRAY

E 'W

. � 1ll .._.

-

""" -

.. -.... -

�� R1 AQ

m -

0

SEU 1 BX4- LATCH

§ -

0 rrJ -:;o

-

....._-

103 1 D DOOZ

ARRAY

I ll·l L:::;

IRO


RadMon/CMOS Experiment - CMOS Dut Diagram (2 of 3)

DIDl WD

R3 ftZ : R1 • RO

DECODER CELL

SEU LATCH ARRAY

Naval Research Laboratory . Washington, DC 20375-5000

---- �--

RadMon/CMOS Experiment - CMOS Dot Diagram (3 of 3)

0:: w 0 0

IR2 u w

IR1 0

IRO 3 3; 0 0::

CD -� .. co..

t')

WD

VDD

COL _-4t � ca..

.3:8 COLUMN DECODER

3

IC2 IC1 ICO

VDD T l((fll

T . iiOW


Flight Software


Flight Software CDR Outline

• Organization

• Software/Hardware Architecture

• Software Requirements Summary

• Software Development Approach

• Guidance, Navigation, & Control (GN&C)

• GN&C Image Processing

• Command & Telemetry

• Resource Manager

• Performance Analysis

• Software I&T

• Schedules

• Configuration Management

• Documentation

CDRJFS-2 Naval Research Laboratory Washington, DC 20375-5000

CDRJFS-3

Flight Software Organization Chart

DSPSE Program Manager

P.Regeon

Software Systems

W. Mall

Electrical Systems Manager

M.Johnson

Software Systems

D. Schriftman I C. Wildermann

Flight Software Project En!Uneer

D. Oswald

I GNC Image Processing Guidance Navifation

&Contro Command & Telemetry

D. Sackett (LLNL) B. Stapleford J. Van Gaasbeck

1- R. Wagner 1-- E. Andrews

I- D. Entwistle "-- c.Zuror

I- T.Defmo 1- R. Dixon

Configuration Management

M.Mardis

l Resource Manager

M.Adams

1- D.Dyer

� J. Boyce � P. Sargeant

IFS-31


·- '-

CDRJFS-4

CT&DH Internal & External Interfaces

TRANSPONDER AX DATA

TRANSPONDER AX DATA :

sc

TLM

CTDH·37


Flight Software/Hardware Interfaces

Sensors ...... ��----.-..� Data

Handling Unit

Solid State Data

Recorder

Jl SSR Bus

- -.... ..

Video/SASI Bus

' Sensor House

Interface Keeping Processor Processor (R3000) (1750A) ,. f � �

·r SIC Bus ·r Jl

Global Memory

l

r

,----- ...... , , , , , , , , , , , , , , , , , , , r , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , • , , , , , , , • , , • • , • , • • • , , , •

• , ' r , : '

Command Receiver

r ' ' , ' ' ...---'-----, ' '

SIC Command

' ' ' '

: : SIC ByPass IMU : : ' ' Telemetry Telemetry 1/F : : ' ' ' ' ' ' �----� ' ' ' '

,,

ACSIRCS 1/F

r

Paraffin 1/F

' ' : • Uplink Commands • Discrete • Analog •DownlinkTM • Attitude Inc. ' ' '

• Velocity Inc. , , • Thruster • Valves

• Solar Arrays : • Low Level • Serial • Differential

, Command Module ' - - - - - - - - - - - - - - - - - - - - - - - - - - - �

CDRJFS-5

• Discrete • Serial ' • Differential • Proton

' ' ' ' ' ' • Reaction Wheels

' ' , Telemetry Module - - ... - ... ... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - J , ACS/RCS Module

- - - - - - - - - - - - - - - - - - - - - - - - _,

,- · ' \


_.--'!

r:rl t::�ss::J s tar Tracker (S)

A uto Exposure (A)

0 bject Centroldlng (A)

lm age Compression (A)

E arth/Lunar Lim DetecUon (A)

CDRJFS-6

Software Requirements Overview

Guidance, Navigation & Control

Flight Software

1-- Guidance, NavlgaUon & Control ExecuUve

1- A!Utude DetermlnaUon

1- AtUtude Control- Multiple Modes

1-- Navigation - State Vector PropagaUon

- Autonomous NavlgaUon

� Terminal Guidance- Pointing Control

1-- Thruster Control

'--- Solar Array Control

Telemetry & Command

1-- Validate Upllnked Commands & Data

1-- Support Real-Time Commanding

1-- Support Stored Commanding

� Support Event Driven Commanding

1-- Support Variable Telemetry Downlink Rates

t- Format Telemetry Packets & Frames

1-- Log Telemetry Packets & Frames

1...-- Log Telemetry To Solid State Recorder

1::1 = NRL

Resource Manager

1- Maintain Time

1- Communication Services

1- Load & Dump Memory

1- Manage Tasks

1- Verify Processor Health & Status

1- Initial Bootup to "Sale" Spacecraft State

1- Interrupts, Device Interfaces

�....-. ��a�$��:X%1<';lt f?.��;w,l��L�

�:;,� "' LLNL Provided Software (S) or Algorithms (A) NRL to Implement for DSPSE

FS-34


CDR/FS-7

Flight Software Top Level Interfaces

Sensor CMOS Image Data

IMU Data, ACS/RCS Status

ACS/RCS CMD, Status

Guidance, Navigation &

Control

TLM Uplinked, Stored CMOS

Quarternions, Image Proc Results

Image Proc Req

T&C Database

Resource Memory Dump, ·Manager

Time, TLM

Memory Loads,

Time, Cmds

CMD Uplink TLM Downlink

J

GN&C Image

Processing

TLM


CDRJFS-8

Flight Software/Processor Configurations

Nominal R3000 Operation Only

Mode

R3000 1750 R3000 1750

Resource Manager - 8 Command & Telemetry • GN&C 8 GN&C Image Processing -

0 GNC Image Processing on 1750 to include: • Star Tracker - Auto Exposure - Object Centroiding

e

-

-

-

1750 Only Mode

R3000 1750

-

--

0


CDRJFS-9

I

I )

Flight Software Processor Architecture

• House Keeping Processor (HKP)

- Processor

- Clock Speed

- Performance

Memory

- Development Language

Host Development Platform

• Sensor Interface Processor (SIP)

- Processor

- Clock Speed

- Performance

• Memory

- Development Language

Host Development Platform

j

Honeywell 1750A

9MHz

1.67 MIPS, 1 MFLOPS

384 KBytes ROM, 1.25MBytes RAM

Ada For Existing Software

"C" For New Software

VAX/VMS

IDTR3081

20, 10,5 MHz

18 MIPS, 3.5 MFLOPS @ 20MHz

1 MByte ROM, 2MByte RAM

"C"

SGI/Unix Naval Research Laboratory Washington, DC 20375-5000

Flight Software Development Approach

• Reuse Existing Hardware & Spacecraft Bus Developed for NRL ASC Program (Dual Processor Architecture (17 50 & 8086) Similar to DSPSE)

• Reuse Existing NRL/LLNL/COTS Software Modules

• Develop New Software in "C" to' Ease Porting Between 1750 & R3081

• Establish an 0/S Service Interface Library For Writing Portable Application Software

- "C" to Existing Ada Software on 1750

- "C" to VxWorks on the R3000.

• Define Standard Message Passing Interfaces

- Intra-Processor, Inter-Processor, Ground-Space

• Build 0 Software Capability Demonstration

Naval Research Laboratory CDR/FS-10 Washington, DC 20375-5000

NRL ASC Functional Overview

� ------POWER CONVERTERS

L -------

..-- PRIMARY POWER

POWER

CONVERTER

I

·--------------------- 1 I �ERFACEELECT RONITCS

I I I

r- -1-=:=J

,

DRC BUS

I I I

1.5.53 BUS INTBRFACB

15.53 BUS

LOCAL COMMAND

BXTBRNAL DIRBCI' INTBRRUPI'S COMMANDS

• ALL 1/0 FUNCTIONS ON FOUR MODULBS

SP

I I

J I

LOCAL INTBRFACB

DOWNLINK UPLINK INTBRFACB INTBRFACB

,

DOWNLINK UPLINK

CBA

TIMING

• RADIATION HARD C-MOS LOGIC IMPLEMENTATION FOR LOW POWER

• STANDBY REDUNDANT IMPLEMENTATION

•INTELLIGENT CONTROLLER FOR 1553 AND LINK INTERFACES L---------------

CDR/FS-11

I

P RIMARY POWER --- - -- ,

MEMORY

CONVERTER I f-J

r PROCEssiNG ELECTRoNITcs

I I 1

� I I I

r

17.50A

PROCESSOR MODULB

CPU-A

I I

POWER BUS

-. ASC BUS

,.... 17.50A

PROCESSOR MODULE

CPU-B

I I

RANDOM ACCBSS MEMORY

(4MODULBS) (2S6K WORDS EA.)

•INDUSTRY STANDARD, RADIATION HARD, LOW POWER, IDGH PERFORMANCE MIL-STD-1750A PROCESSOR TECHNOLOGY PROVIDES 3 TO 4 MILLION INSTRUCTIONS PER SECOND (MIPS)

•1 MEGAWORD OPIDGH DENSITY,LOW POWER, RADIATION HARD C-MOS MEMORY

• ENHANCED SOFIW ARE (IDGH LEVEL LANGUAGE,

MODERN SOFIWARE DEVELOPMENT ENVIRONMEN1) INSTALLED IN WRITEABLE PROGRAM MEMORY FOR ON-ORBIT REPROGRAMMABILITY

• STANDBY REDUNDANT IMPLEMENTATION L-------------

Ase l'lml:dlliLII OYozvlow


'\ )

CDR/FS-12

Software Reuse (1 of 10)

• TLD Ada Single Program Kernel (SPK) to Provide 1750 Multi-Tasking Environment (COTS)

• VxWorks Operating System for R3081 (COTS)

• Resource Manager (1750 Ada}:

- Task to Task Communication (1000 Ada SLOC)

Event Flag Services (500 Ada SLOC)

- Time Maintenance/Services (1120 Ada SLOC)

- Memory Management (1000 Ada SLOC)

- Debug Tools (1650 Ada SLOC)

• Command & Telemetry (1750 Ada):

- Spacecraft Command Language (SCL) Real-Time Engine (12,000 Ada SLOC)

• Star Tracker (R3081 "C")

- Attitude Determination

• Ground 1750 Support Software (VAX "C"):

- 1750 Virtual Control Port (VCP) Support Naval Research Laboratory Washington, DC 20375-5000

Software Reuse • Standard Message Data Flow (2 of 10)

® SAM PUT

Task A

@) SAM_ALLOCATE

Task A-

@) Allocates a msg buffer

® Puts the msg into the queue (determined by msg ID)

CDR/FS-13

\ /

Pointer to Block

·CD ® SAM REGISTER & ASSIGN

TaskB

· @SAM_GE

\ I

j

G)SAM _DEALLOCATE

Task B-

(!) Registers a Queue

® Assigns Msg ID(s) to the Queue

@) Waits on a message in the Queue

@) Gets the msg from the buffer

(f) Deallocates the msg buffer.


Software Reuse - Sample Message Interface Definition (3 of 10)

'

CDR/FS-14

Source Destination Task

: Uplink Command : Memory Load & Dump

SAM NAME SAM=ID

WORD

:TBLCMD :TBD

FIELD BIT POSITIONS

SAMID# 0 .. 7

0

Word Cnt a .. 15

I

#Copies 0.7

1

SUB_CMD a .. 15

Table_ID 0 .. 7

2

Table_TYPE 8 .. 15

3 Rate 0 . . 15

TYPE

Uinta

Uinta ·

Uinta

Uinta

Uinta

Uinta

Ulnt16

VALID VALUES

TBLCMD

n+2

0 -Checksum 1-254 = # Copies 255 = lndefinitly

TBDMP .. ox04

all

all

all

UNITS

na

words

na

na

na

na

na

DESCRIPTION

Message Identifier

length of the message where n Is the number of words of table data In this packet

Represents the number of copies of the table to be dumped �own the downlink

Sub Command for Table Dump cmd

ID of the table within the type which Is being requested to dump.

Represents the number of Words in the table after all the blocks are read.

Represents the rate with LSB=ams at

which table segements will be downllnked.

IF9·33


Inter-Processor Communications (4 of 10)

Sensor Interface Processor (R3081) HouseKeeping Processor (1750)

SIP DPR bus (8K x 16)

,.,...f-----1 SIP In Msg

SAMID 101

Msg Ptrs

SIP In Data

�------�S�I�P�O=u�tD�a�m�-r---� Semaphores

Note: DPR 1/F Mgr is new software. Uses SAM Message Routing to Route Messages to Application Task after retrieving the Message From the DPR Queue.

CDR/FS-15

�\ I

' ) I

/


CDRJFS-16

Inter-Processor Communications Description (5 of 10)

• Dual Port RAM (DPR) On The R3081 Provides Shared Data Access Between 1750 and R3081 Processors

• The DPR Interface Manager Task and DPR Interface Library (On Both The 1750 & R3081) Provides All Access To the DPR. Access is Controlled via the DPR Semaphores.

• Two Circular Queues, lm plemented in Software, Provides a Mechanism for Pa�sing SAM Messages Between Processors

• A Direct Access Data Area Provides For High Frequency Updates of Data Without Message Overhead (Minimum Use)

• Applications Simply Use Standard Message Passing Services. Message ID Routing Provides a Transparent Mechanism for Routing Data Between Processors.

• Interfaces are 32-bit Word Aligned In Order to Use Common "C" Include Files for Interface Definitions.

• Floating Point Conversions from 1750 ->IEEE format occur on the R3081

• Word Swapping For Data Items > 16 Bits Occurs on the R3081


Software Reuse - Event Flag Managment Control Flow ( 6 of 10)

Task A @EF_SET <!)EF_WAIT

0 EF#l

TaskB

--------... ® EF _SET Interrupt Service Routine

Task A-® Sets Event Flag #1

ISR •

® Sets Event Flag #2

CDR/FS-17

' j

EF#2 Task B-

CD Waits on EF#l to Occur (Blocks Until Event Occurs)

® Unblocks & Process EF#l

@) Polls EF#2 by doing a GET (Task B continues to process even if EF#2 is not set)


,_..,.----... I . I

)

Software Reuse • Timer l�iaintenance Data Flow (7 of 10)

8ms Interrupt

DHU (Dual Port Mem)

Frame Counter 16 bit (LSD =4ms)

CDR/FS-18

Command Input Task

uplink commands

SMQ

UTC Time

Packet

SMQ

Telemetry Output

UTC Time of Day

UTC Day of year

I I I


Software Reuse • Timer Services Data Flow (8 of 10)

_jl_rL 8ms Interrupt

DHU (Dual Port Mem)

CDRJFS-19

\

)

Frame Counter 16 bit (LSB = 4ms)

Precision Timer Request

TASKS

Timer Services

Set Event

Return UTC Time

TASKS


)

CDRJFS-20

Software Reuse - 1750 Memory Management (9 of 10)

Physical Address Space

PARTITION A

4KPage

PARTITION B

0000

Allocate

15

Logical Page

Registers

TASK A

TASK A

1) Allocates a 4K Page from a Memory Partition

2) MAPS that Partition to a Logical Page Register in order to access the memory.


Software Reuse - Command Processing Data Flow (10 of 10)

CDRJFS-21

Event Notices FromTMTASK �

----------�··�

Mission Constraint

Rules

"

Command Packets

From CMDIN LL---------........------1•• SMO

_ I

SMQ = Standard Message Queue

SMQ , . To Other CSCs �

FS19


)

Portable Flight Software Layered Architecture (1 of 7)

Application S/W

0/S 1/F Library

Multi-tasking 0/S

Platform

CDRJFS-22

"C" �pplication Programs

C->Ada RM Services

TLD Ada Tasking &

RM Services

1750A

C->VxWorks

VxWorks

R3081


CDRJFS-23

/

R3081 Software Architecture ("C") (2 of 7)

"C" Main Function

for Task 1

-...

-..

,,

VxWorks 0/S Services

(" C" Functions)

-MsgComm • Event Flags • Time Services • Memory Mgmt

·� ,,

C ·> VxWorks 1/F

l.ihrarv

VxWorks

-..

-

Task Switching

-

"C" Main Function

for Task 2

-�

"C" Main Function

for Task 3


)

I

CDRJFS-24

I

1750 Software Architecture (Ada & " C " ) (3 of 7)

�.

r

Ada Task 1 I RM 0/S Services (Ada Packages)

J Ada_•> "C ," IfF

-MsgComm - Event Flags -Time Services -Memory Mgmt

"C" Main Function

for Task 1 �� ,,

- - C ·>Ada IIF - �

Library

TLDAda

SPK

Task Switching

- - Ada Task2 - ...

•

I

..

AdaTask3 I W Ada ·> "C" 1/F

"C" Main Function

for Task 3


1750 Software Architecture (Ada & " C " ) Description (4 of7)

• TLD Ada Single Program Kernel (SPK) Provides Multi-Tasking Environment Using Ada Tasking

• Each Task Consists of an Ada Task Shell (To Support Task Switching by the TLD SPK) & a "C" Main Program Which Implements the Flight Software Requirements

• The Existing Ada Resource Manager Operating System Services Provide · Inter-Task Communications via Messages & Event Flags, Timer Services,

& Memory Mangement. The Ada RM Interfaces With The TLD Ada SPK To Initiate Task Switches.

• The Ada-> "C" Interface Provides a Simple Mechanism to Call The Main Function of a "C" Program in the Context of an Ada Task

• The "C"->Ada Interface Library Provides Access To The Existing Ada Services From "C" Functions

Naval Research Laboratory CDRJFS-25 Washington, DC 20375-5000

\ \ I

/

Ada & "C" Interfaces Example (5 of 7)

ADA Task A

Task Body TASK_A Is BEGIN

Task.lnlt C_ Task_A ( ld )

END TASK_A

Resource ManagerADA Packages

MEM Packages

SAM Packages

CDRJFS-26

C main() Procedure

ADA TO #Include SAM_Publlc.h

C ---Mil.- C_Task_A ( var1, var2)

Interface I

Library Sam_Queue_Type queue; Sam_Message_Type msg;

tr

while (1)

{ tr

SAM_Reglster_Queue ( "queue ); SAM_Message_Asslgn ( (ID_TYPE) ID, "queue)

tr

*

tr

SAM_Get ( LEVEL1, BLOCK, &msg, &type, &size); ..... -----+--+--

c TO

ADA Interface Library )

( Processes Recleved Message )

)


CDR/FS-27

1

ADA to'"C" Interface Library Code (6 of7)

ADA Interface Package WITH system; WITH machine_ code;

PROCEDURE C Task A ( cid ); BEGIN - -

c addr : C Address Type; -

- -

get_addr( id=>cid, addr=>c_addr); clnk( c id=>C addr, inp=>O, outp=>O );

--

END C_ Task_ A;

PROCEDURE clnk( c id : in system.address, inp: in integer; outp : out integer );

BEGIN machine code.pshm(ra=>r0, rb=>r3); •• save regs machine-code.pshm(ra=>rll, rb=>rl4); machine:code.pshm(ra=>r4, rb=>rlO); •• addr of in/out machine_code.js(ra=>r13, offset=>O, rx=>r3); •• addr c func machine code.popm(ra=>r4, rb=>r4); machine-code.popm(ra=>rll, rb=>r14); machine-code.popm(ra=>rO, rb=>r3);

T.''llo.Tn ·•· .1.

-


CDRJFS-28

"C" to ADA Interface Library Code (7 of 7)

"C"Interface Package

#include SAM Public.h extern alnk();-

Return_ Status SAM_ Queue_ Register ( Queue )

Queue Name Queue; {

-

}

alnk (SAMREGISTER, Queue ); return RET_ Status;

ADA Interface Package

WITH machine_ code;

PACKAGE BODY ada Ink IS addr _tab: array (0:.31) of system.address := ( 0=>SAMALLOC,

l=>SAMREGISTER, etc,etc,etc, 3l=>GETGMT);

PROCEDURE alnk IS BEGIN

machine_code.popm (ra=>rl, rb=>rll); ·-load parms into regs machine_code.l (ra=>r2, rb=>addr_tab'address, rx=>r2); ·-get ada proc addr machine_code.sjs (ra=>sp offset=>O, rx=>r2); •• jump to ada proc machine_code.pshm (ra=>rl, rb=>rll); ··put params back machine_code.sisp (ra=>sp, n=>l); ··stack adjust machine_code.jc (c=>unc, offset=>O, rx=>rl3 ); --return to 'C' caller


Flight Software Build 0 I&T (1 of 3)

j \ �� \�� ¥Wl j j R3000 Flight SIW

�J��Ji�j� ��cl�i Host

(SGI Iris Indigo) � : � : ; : ; : : : : : : : ; : : : : : : : : : : : :

RS232

Ethernet

DSC Test Unit (DTU)

CmdSim -

Tim Sim -

ACS/RCS Sim - l

IMU Sim

· · ·:vcFn;:r.: · · · - -:::::: ... : : ·:::::::: ..... ...

.·.··��I:.N ·'•'• : : : :: . . ... I: I ::::: 1

BIT-3 Memory

'

Mapped 1/0

Subsystem Simulator VME Chassis

PC

T asking RS232 Pointing &

Messages

LjUU�J =Included in Build 0 Capabilities Demonstration

CDRJFS-29

\ )

l lt�i 1d��W�l4�

iii l i l i G�f:m! i I [I i

DSC Flight Brassboard

: �: � : �: ¢MQ. �: � : �: � : � ::::::::r:tM:::::::::: s

ACS/RCS c

�::: � :t?.oWf!ij::: �::: B ::::::: �=r�o�:::::::: u �:�®.��M�M:�: s

R3000 DHU

SSDR

-

I ,� ,

:F'ram9: : :SY.nci: .... ·.·.

pq�t;J. : : : : :::l:)h=: .H�1� .·.· . . · .

Sensor Simulator

PC


) /

CMD Uplink

Data 1/F

Downlink Interrupt Telemetry TM 4-----t Downlink

CDRJFS-30

Data 1/F

8msec

Build 0 Accomplishments (2 of 3)

er Control

Cmd Packet

Structure (Double

SAM Buffer)

__________.r-�:· Telemetry


Build 0 Accomplishments (3 of 3)

• Resource Manager:

- Task Management (Event Flags, Message Passing)

- Interrupt Service Routines (CMD Receiver, TM Downlink FIFO, Timer Pulse)

- Command/Telemetry/Global Memory Card H/W <·> S/W Interfaces

. Ada <·> " C " Interface Libraries for Task Execution & Message Passing

• Command & Telemetry :

- Command Input Task (Cmd Uplink Validation)

- Spacecraft Command Language· Uplinked Commands & Small StoredCommand Scripts.

Telemetry Gathering & Telemetry Bypass Downlink (test format)

SCL Telemetry Data

• Support Software:

- File Control Program (FCP) for 1750 Virtual Control Port (VCP) Interface

Naval Research Laboratory CDR/FS-31 Washington, DC 20375-5000

\ l \ ) /

CDR/FS-1

Flight Software Top Level Data Flow

Sensor CMOS Image Data

IMU Data, ACS/RCS Status

ACS/RCS CMD, Status

Quarternions, lm Proc R esults

TLM Uplinked,

T&C Database

TM LOG

S/CCMD

Stored CMOS

Resource Memory Dump, Manager

Time,

Command &

Telemetry

Memory Loads,

Time, Cmds

CMD Uplink TLM Downlink

GN&C Image

Processing

TLM


CDR/FS-2

. \ \ )

G,uidance, Navigation & Control Requirements (1 of 3)

• Guidance, Navigation & Control Executive

- Mode Control

- Generate Commanded Attitude

- Momentum Monitor

- Inertial Properties Update

• Attitude Determination & Control

- IMU Interface & Processing

- Combine IMU & Star Tracker Data

- Spin Rate, Precession & Nutation During Spin Stabilized Flight

- Jet & Reaction Wheel Control

- 12 Modes: Lifeboat, Lunar Mapping, Earth Pointing, Asteriod Fly-By, Slew Maneuver, Inertial Pointing, Delta V Pointing, Momentum Dump, Plus 4 For Spin Stabilized Flight


' \

_/

CDR!FS-3

Guidance, Navigation & Control Requirements (2 of 3)

• Orbit Propagation

- Propagates Satellite Orbit From Uploaded State Vector

- Computes Vectors From Satellite To Earth, Sun, & Moon

• Autonomous Navigation

- State Vector Update From Moon Or Earth Observations

- Modes Include Disabled, Test, & Enable - If Enabled, Computes Vectors To Earth, Sun, & Moon

• Terminal Guidance & Control

- Asteroid Ephemeris Update

- Pointing Control - Slew Manuever Activation If Necessary

• Sensor Processing & Control - Interface To All Imaging Sensors - Measurements:

- Star Tracker Attitude

- Autonomous Navigation Data

- Asteroid

- Auto Exposure Naval Research Laboratory Washington, DC 20375-5000

CDRJFS-4

Guidance, Navigation & Control Requirements (3 of 3)

• AV Thruster Control

- Initiate Attitude Change

- Start Thruster

- If Guided Burn, Compute Desired Attitude

- Integrate Accelerometer & Terminate Thrust

• Solar Array Control

- Rotate Solar Arrays

- Enable/Disable Hardware Controller

• Scheduler Support

- Provide Trajectory Data To Scheduler


�� -'\ .�

[,i• Active Analog Telemetry Sent Directly To DSPSE Spacecraft Controller Naval Research...

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