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198 views31 pagesRNDZ-2102 RPO Workbook Part-3
nasa rendezvous doc
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/ 31
RNDZ 2102 — Rendezvous/Proximi'
Operations Workbook
February 1985
Beginning
of
Part Three
Scanned July 22, 2004 S.S. Section 5: Rendezvous/Proximity
Operations CRT Displays
Introduction
Several CRT displays will provide the crew
interface to accomplish the rendezvous and
PROX OPS maneuvers. These are 2s follows.
A. Universal Pointing (UNIV PTG) - This,
is the OPS display in GNC major
mode 201 (MM 201). It provides the
crew with four mutually exclusive
options for auto attitude control
with respect to the attitude director
indicator (AD) inertial reference
frame, and it provides continuously
computed Orbiter attitude infor-
mation. This display also includes
the controls for updating the
landing sites required for entry.
3. Orbit maneuver execute (OR8IT
MNVREXEC)~ Thisis the OPS display
inGNCMM 202. tt provides the crew
‘means for inputting maneuvers,
evaluating their effects on the
trajectory, and adjusting parameters
as necessary
C. Relative navigation (REL NAV)—This
is SPEC 33 in GNC OPS 201 oF 202. It
provides the crew with relative state
information and a transiational
thrust monitor capability for the
rendezvous, stationkeeping, and
payload deploymentiretrieval phase
Of the mission. It also provides data
and controls for Orbit NAV moni-
toring and rendezvous NAV oper-
ations for the star tracker, rendez-
vous radar, or crew optical align-
ment sight. NAV filter controls are
provided t6 allow manual control of
navigation data from the STRK, RR,
‘ot COAS, depending on whichisin
use.
ros 541
D. Orbit targeting (ORBITTGT} This is
‘SPEC 34 in GNC OPS 201 or 202. it
contains the data and controls,
necessary to set up anc target
maneuvers required to achieve o
given relative position from the
target ina given transfer time.
Other CRT displays, of course, will be
available during the RNOZPROX OPS phases.
However, the above displays, or portions
thereof, are especially necessary in the
RNDZIPROX OPS phases.
Each of these displays will now be
discussed in detail; however, only those por-
tions of the displays related to RNDZ/PROX OPS
will be described. Universal Pointing Display
‘The UNIV PTG display (figure 5-1) is the
GNCMM 201 display which provides four
mutually exclusive options for auto attitude
control with respect to the ADI inertial refer-
‘ence frame, as well as continuously computed
Orbiter attitude information, These options are
accomplished automatically only if the DAP isin,
AUTO and are es follows:
‘A. Maneuver option (item 18) -This
option causes the Orbiter to
maneuver automatically toa
specified inertial attitude (items 5
to 7) ata specified start time (items 1
104)
8. Tracking option (item 19)~This
‘option causes the Orbiter to point a
specified body vector (items 14 to
17) at another orbiting vehicle, an
Earth target, the center of the Earth
(for LVLH hold), or a celestial target
{as selected in item 8) at
2017
UNIV PTC
CUR MNVR COMPL 101178 45
a specified start time (items 1 to 4)
Among other things, it will be used
to point the-2Z star tracker at the
target prior to taking marks.
Rotation option (item 20) - This
option is used to rotate the Orbiter
about a specified body vector (items
14 to 16) at the DAP selected rate
beginning at the selected start time
(items 1104). The DAP selected rate
depends on which DAP, Aor B, is
selected, and the associated rotation
rates which apear on the DAP
CONFIG SPEC (SPEC 20),
D. Cancel option item 21) - This option
deselects any other option and in-
itiates inertial attitude hold at the
attitude existing when the CNCL.
‘option was selected.
The controls used in the above four
‘options are includedin Items 110.21. The
following sections give a detailed description of
their use.
1 001/103 15100
000/108 151 00
1 START TIME 002/10» £41 00.
MNVR OPTION
TRK
ROT
(NCL
TRK/ROT OPTIONS
8 TCT 1D 902
START MNVR
CUR FUT
188
19
20
2.
ATT MON
22 MON AXIS 1 +X
ERR TOT 23"
9. RA ERR DAP 24
10 DEC
ii LAT
12 Loner
13 ALTOS
. cUR
0% REQD
ERR +000.00 +045, 00
RATE +00.000 +00, 200 +00. 000
14 BODY VECT
Pp
{88888
OM 000. 00
ROLL PITCH YAW
180.00 000.00 000.00
180.00 045.00 000.00
000. 00
UDG SITE UPDATE
4220. ARTs 1
Figure 5-1.-UNIV PTG display.
rors 5-2 Desired Start Time (Items 1 to 4) —
MNVR, TRK, ROT Options
If any one of the first three options
(MIVR, TRK, ROT) is selected, the desired
starting time, in MET, for the execution of the
‘option must be entered initems 1 to 4. Ifno
start time has ever been loaded, or the currently
loaded start time isin the past and an MNVR,
TRK, or ROT option is selected, the requested
maneuver option will be executed immediately.
‘These items are initialized to all zeroes and
maintain the last loaded values after that time.
Roll/Pitch/Yaw Angles (Items 5
to7)-MNVR Option
These angles specify the desired orienta-
tion of the Orbiter relative to the ADI inertial
reference frame for the MNVR option.
Although they are input in the order of roll,
pitch, and yaw, the software uses the pitch, yaw,
roll Euler sequence for computation of the
required attitude orientation. It also usesa +X
axis control sense in interprating the specified
roll, pitch, and yaw angles (as opposed to a~X
axis or ~Zaxis control sense as used in the aft
station), These angles are initialized to zero and
maintain the last loaded values after that time.
The legal range for these values s 0 to 359.99°
for roll and pitch, and 0 to 90” or 270 to 359.99°
for yaw.
TGT ID (Item 8) - TRK Option
Thisitem allows the input of the type of
target used in the TRK attitude option. The six
possible target types and their associated
TGTID's are as follows:
T6TID TARGET TYPE
Other orbiting vel
Center of the Earth
Earth relative target
Center of Sun
Crew-specified calestial target
11-110 | Navigation stars (Star Catalog)
Dies
53
Thisitem
attitude hold) and it maintains the last loaded
value after ization. Items9 to 13 may also
be necessary in specifying data concerning the
target location on the surface of the Earth or
specifying the right ascension (RA) and declina-
tion (DEQ) of a celestial target. The LOS to the
‘Sun is defined by a solar ephemeris maintained
by navigation in Earth-centered coordinates
Right Ascension and Declination (Items
9and 10)
These items allow inpuv/display of the RA
and DEC, with respect to the M50 reference
frame, of a crew-selected celestial target when a
TGTID of Sis entered. Also, if 2 navigation star
is selected, the RA and DEC of that star will be
displayed. A user attempt to load a new RA or
DEC for a navigation star in the star catalog will
resultin an ILLEGAL ENTRY message.
Both the RA and DEC are initialed to zero
and maintain the last loaded value or the.
RA/DEC of the last selected navigation star tar-
get thereafter. The legal range is 0 to 359.99"
for RA, and £90° for DEC.
Entering a TGT ID of 4 causes the data in
items 9 and 10 to flash, which indicates that a
new value may need to be loaded for the RA
‘and DEC. Each item will cease flashing when itis
‘overwritten by a new value, when the TGT IDis
changed, or when an attitude option is
executed
Latitude, Longitude, Altitude (Items 11
to 13)
‘These items specify the point on or above
the Earth's surface, as modeled by the Fischer
ellipsoid, at which the Orbiter is to point its
specified body vector when a 3 is entered as the
TGTID. When the TGT ID of 3is entered, the lat-
itude (LAT, longitude (LON), and altitude (ALT)
valuesin items 11 to 13 will flash, which indi-
cates that new data may be input. This flashing
will cease when the data is overwritten, when
the TGT ID is changed, or when an attitude
option is executed. Data for items 11 to 13 can
only be input with a TGT ID of 3in item & In any
‘other case, an ILLEGAL ENTRY message will
appear. Items 11 to 13 are initialized to zero
and maintain the last loaded velue after initialization. The legal ranges are + 90° for
LAT, £180" for LON, and 299.99 n. mi. for ALT.
Body Vector (Item 14) -TRK, ROT
Options
‘The body vector item allows the user to
specify a fixed body vector of the Orbiter for use
in the TRK or ROT attitude options. Inthe TRK
‘option, this vector will be the body pointing
vector which will point at the selected target. In
the ROT option, this will be the body vector
about which the rotation occurs.
There are five selectable body vector
types:
Body Vector
Painting Vector
+X body axis
-X body axis
“Zbody axis
PICaxis
Crew-selectable axis
These are the only legal inputs toitem 14,
and item 14s initialized to 1.
Pitch and Yaw Body Vector Angles
(Items 15 and 16)
These angles specify the pitch (P) and
yaw (¥) components of the body vector
Specified initem 14. Ifa body vector ID of Sis
input, the values of P and ¥ begin flashing their
currently loaded values. The flashing will cease
when the P/Y data is overwritten by new data,
when the body vector ID is changed, or when an
attitude option is executed. An attempt toload
data in these items with a body vector iD
different from 5 or outside the allowable range
(0t0 90° and 270t0359.99° for ¥: Oto 359.99
forP) will resultin an ILLEGAL ENTRY message.
Habody vector ID of 1 to dis entered, the
associated P and ¥ values will be displayed.
These items are initialized to zero.
ro1ss
Omicron Angle (Item 17)- TRK Option
With thisitem, the user can specify the
attitude orientation of the Shuttle about the
selected body pointing vector used in the TRK
attitude option. This attitude is specified with
the angle omicron.
The omicron item is blanked when anew
TGTIDis entered. If the item is still blank when
the TRK attitude option (item 19) is selected,
‘two-axis tracking will be implemented. In this
mode, the Orbiter-selected body pointing
vector is aligned with the target line of sight
withan attitude change in which the maneuver
igenangleis minimized. This means that the
Orbiter will track the target with the specified
tracking body vector but that the Orbiter's
orientation about that body pointing vector
{omicron) will not be fixed. Instead, itwill vary
such that the total required rotation is
minimized. fan omicron angle is input in
item 17 and the TRK option is selected, three-
axis tracking will be used. In this mode, both
the pointing requirement and the omicron
angle restraint are imposed in making
computations,
Hfomicron isnot blank, entering a body
vector ID initem 14 initiates the flashing of
‘omicron. The flashingis terminated when a
value of omicron isentered or when an attitude
optionis selected
The allowable range for omicronis 0 to
359.99". User input outside this range results in
an ILLEGAL ENTRY message. The value of
‘omicron is initialized to zero and three-axis
tracking is selected.
Selected Attitude Option (Items
18, 19, and 20)
As stated earlier, these items allow the
user to select the MNUR (item 18), TRK (item 19),
(0f ROT (item 20) auto attitude option.
Assuming the input maneuver start time (items
1 10 4) isnot in the future (i.e; itis in the past or
is current), the requested maneuver option will
bbe immediately initiated upon input of one of
these three item numbers and an "#* will
appear in the CUR column adjacent tothe
selected option. If the DAPis in AUTO, the
mediately begin maneuvering to
the required orientation. If the tracking or
maneuver option is selected with the DAP in MANUAL, and LVLH isnot selected, the final
desired attitude and attitude errors will be
displayed to the crew. Also, the corresponding
error needles will be displayed on the ADI. On
the other hang, if amaneuver start time is input
that isin the future when the attitude option is
selected, an "*” will appearin the FUT column.
adjacent to the selected option and the
maneuver will not be initiated until the
previously inputstart time is reached. In this
ese, if the DAP isin MANUAL or in the LVLH
mode 30 seconds prior to the maneuver start
time, @ dass 3 alarm and fault message, SEL
AUTO, will begin flashing on the fault message
line to remind the crew to mode the DAP to
AUTO. When the start time becomes current,
the** toggles to the current column and the
maneuvering option is initiated as described
previously. Whenever the LVLH mode or stop
options selected, the required attitude is set
equal to the current atitude, and the attitude
errors are z0r0ed
The current options are mutually exclu-
sive, and executing another current option will
terminate eny previously selected current
option. Itis possible to have one attitude
option current and in operation and also input a
future start time and attitude option. in this
case, the current option remainsin effect until
the future option becomes current. At that
time, it replaces the former active option. The
future options are also mutually exclusive.
Changing the data necessary for aselected
future option or executing a new future option
will terminate the previously selected option.
Note that the rotation option (item 20)
uses the rotation discrete rate from the DAP
CONFIG display (SPEC 20) for the selected DAP
(AorB) and the selected jets (NORM or VERN)
Termination of the Auto Attitude
Option
The maneuvering resulting from eny of
the auto attitude options MINVR, TRK, ROT, will
be terminated by:
‘A. Executing the maneuver item on the
MNVR EXEC display, which will relin-
uish orientation control to the
MNVR EXEC display. The MNVR
EXEC displays available in major
mode 202 (MIM 202)
rors,
55
B. Selecting the LVLH made (on the
ORBITAL DAP crew station panel C3
or A6).
C. Moving the RHC out of detent.
D. Selecting MANUAL control on the
ORBITAL DAP mode switch,
E. Terminating the cyclic processing,
Using the STOP item number (item
21), for Orbiter attitude control and
deselecting all previous options. If
AUTO control on the orbital DAP
mode switchs selected when this
control is executed, the Orbiter will
go to attitude hold
Reinitiation criteria — If the STOP option
has not been executed, the cyclic processing to
orient the Orbiter will be reestablished by:
A. Exiting the MNVR EXEC major mode.
B. Selecting auto control on the orbital
DAP control panel
Either of the above will allow the Orbiter
tobe oriented as specifed by the curently
selected option.
If the stop option has been executed, the
cyclic processing will not be initiated until
‘another optionis selected on this display.
Selecting LVLH on the orbital DAP control
panel reinitiates the LVLH processing done by
the UNIVPTG processor, but does not reinitiate
any other auto maneuver mode.
MNVR Completion Time
‘A maneuver completion time in hours,
minutes, and seconds will appear at the top of
the UNIV PTG display to indicate the MET of the
completion of a current maneuver option or 2
maneuver to an initial tracking attitude. This
number is computed based on the DAP selected
rates ands cyclically updated (at 2 hertz) only
during a MNVR or TRK attitude option. It will
freeze when the current attitude errors are less
than 1or when: (1) the DAP is placed in
‘manual, (2) the LVLH mode is selected via the
DAP pushbutton, or (3) when a rotation option
isexecuted Cancel Option (Item 21)
Executing the stop item number during
anauto attitude option (items 18, 19, or 20)
deselects any current or future attitude options
and initiates inertial attitude hold about the
attitude at the time of selection of the option
Also, an "*" will eppear next to the stop option
item. This display is initialized with the CNCL
option selected.
Attitude Mo
Itis possible to view the current Orbiter
attitude angles, the Orbiter attitude angles
required by a selected MNVR or TRK option, the
attitude errors between the current and
required attitude angles, and the Orbiter body
rates during MM 201 using the UNIV PTG
display.
Monitoring Axis (Item 22)
This item specifies which axis orientation,
+X or-X, will be used as a reference for com-
puting end displaying the current and required
attitudes, attitude errors, and Orbiter body
rates. Ifthe +X axisisselected by entering an ID
of 1, the attitude quantities which are
monitored will be displayed relative to the
standard Orbiter body axis coordinate system.
This corresponds to the attitudes shown on the
ADI in the forward crew station. If the ~X axis is
selected, attitude quantities will be displayed
relative to a coordinate system that is rotated
180° about the Z axis with respect to the
standard body coordinate system. This is
‘analogous to the attitude information available
‘on the aft ADI when itisin the-X position. A
"+X" of -X," as appropriate, will appearnext
tothe ID entered in item 22. The display will be
initialized with the +X axis (IO 1) selected.
NOTE
This item only affects the displayed
attitude parameter below it. Itdoes not
pertain to the attitude data entries
made in the MNVR option; those values
of roll, pitch, and yaw (items § to 7) are
given inthe standard +X attitude
control sense,
To16s
Attitude Errors (Items 23 and 24)
‘Two types of attitude errors may be
selected for display on both the ADI error
needles and the UNIV PTG display. Item 23 (ERR
TON) allows total attitude errors (fly-to-body
errots) to be displayed. Item 24 (ERR DAP)
allows DAP attitude errors (phase plane errors;
i.e, the difference between the DAP desired
and the current attitude) to be displayed.
Additional Information on Attitude
Moi g Portion of Display
If the LVLH pushbutton is used or the stop
option is executed, the required attitudes set
equal to the current attitude, and the attitude
errors are zeroed
If the tracking or maneuver option is
selected and the DAP mode switch isin
MANUAL at the start time and the LVLH mode
has not been selected via the panel pushbutton,
the final desired attitude and attitude errors
will be displayed on the ADI.
Additional Information
Concerning UNIV PTG Display and
Software
The processor software associated with
the UNIV PTG display remains active after
transitioning to MM 202 or OPS 8. Of course,
the display itself is not available in MM 202 or
OPS &. However, in MM 202, the powered flight
‘mode, the outputs from the UNIV PTG processor
to the orbit DAP are inhibited when a prethrust
attitude alignmentis made. (Refer to the ORBIT
MNUR EXEC display section) The processing
required to support the DAP LVLH attitude
mode resumes when LVLH is selected in
MM 202. The software required to support the
LVLH pushbutton is part of the UNIV PTG
software,
When 09S 201 is again called, the outputs
from the UNIV PTG processor are again enabled.
After a transition from MM 201 to
MM 202 or OPS 8 and a subsequent transition
bback to MM 201, the item select status that.
‘existed prior to cancellation is shown on the
UNIV PTG display. Selecting the LVLH attitude mode
(pane! C3) inhibits the cyclic processing of the
selected auto attitude option (items 18 to 20)
until the LVLH attitude mode is deselected.
‘The UNIV PTG display isinitialized only
when OPS Zis entered from an OPS other than
OPS.
2ozir s
OMS BOTH 1*
Lee
R3
RCS SEL 4
5 TV ROLL 180
TRIM LOAD
6 P E12
T L¥EI0. 7 REL
ORBIT HNVR EXEC
BURN ATT
24 .R 336
25 P 134
26 Y 15
MNVR 27
Orbit MNVR EXEC Display
The ORBIT MNVR EXEC display is the
major mode display for GN&C MM 202 (figure
5-2). This display provides the crew interface for
monitoring and control of the functions
contained in MM 202. These include the
controls to maneuver the Orbiter to a bum
attitude, monitor, guide, and control the vehicle
while executing a translational maneuver or
while executing the burns used in the
rendezvous/PROX OPS mission phases. The
same display is used during ascent, orbit, and
‘entry, with the difference being the title
(ASCENNT/ORBIT/DEORBIT MINVR EXEC/COAST).
Thus, there are some items on this display that
are not used in OPS 2 (.e.; items 141018,
REL-range to entry interface status, items 35
10 39). The detailed use of the other items and a
description of the displayed parameters follow.
1 009/ 16152133
000/00: 371 31
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56.7
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AVTOT
T6O
VGO X+ 43.20
¥ - 7.60
Z + 15.40
TTA 15125
PRI 28
GHBL
u
paris)
¥ 4016
HA He
R ToT 147 +132
re3 LouR 147 +128
+l
29" 35 ABORT TCT __
SEC 30 31
OFF 32
GMBL CK 34
EXT AV
PRPLIC}
PEG 7
AVXC4 56.7
Z C8
bao S5/FineR 2s
33 FWD RCS
ARM 35
DUMP 36
OFF 3T#
SURF DRIVE
ON 38
OFF 396
4224. ARTo 1
Figure 5-2.-MNVR EXEC display.
iss
57 OMS BOTH/LR, RCS SEL (Items 1
to 4)
‘These mutually exclusive items allow the
user to select whether both OMS engines, or just
the leftor right one, or the RCS jets will be used
in the upcoming maneuver. 1 an OMS failure is
declated by fault detection and identification
(DI), adown arrow will appear in the status
‘column next to item 2 or 3 (L or R OMS engine).
‘The down arrow and FDlare reset ifitem 1
(BOTH) is subsequently selected. If item 4 is
selected (RCS SEL), the burn attitude and burn
uration time computations for the targeted
maneuver will be made, assuming that the +X
RGS thrusters will be used in the high
acceleration mode to produce a +X RCS
acceleration. A required burn attitude will be
computed, based on a minimum attitude
maneuver, to align the Orbiter +X axiswith the
required thrust vector. This data will appear in
items 24 to 26.
Thrust Vector Roll (Item 5)
This item allows the crew to select the
Orbiter's orientation, in terms of roll, about the
thrust vector during an OMS burn. Roll angles
from 0 te 359° can be input, with 0° being heads
Up. Itis initialized the first time to an Loaded
value (180°) and retains that value until user
intervention. From then on. it comes up with
the previously used value which can be changed
bby the user. If an RCS burn is selected, an
attempt to change it will result in an ILLEGAL
ENTRY fault message
Trim Load (Items 6 to 8)
‘These items relate to the desired pitch
and yaw trims for the OMS gimbals that the DAP
is to establish for ignition. During a burn, this
data will go static.
Weight (Item 9)
This item shows the crew the total Orbiter
weight (pounds) as itis computed in guidance.
This value may be changed by the crew via this,
item number or by ground uplink to account for
wwies,
changesin total Orbiter mess not accounted for
by guidance
Time of Ignition (Items 10 to 13)
These items represent the time of ignition
(T1G)in MET (DAYS/HR:MIN:SEC). A check is
made by the software to ensure that a time
entered in thisitem is realistic (within some TBD
time of the future). If itis not a realistic ime, an
illegal entry message will be generated
PEG 4 (Items 14 to 18)
Entries to these items are illegal in OPS 2.
These items will be blanked.
PEG 7 (Items 19 to 21)
‘These items are used to input the three
external delta velocities (AV's), fUs, in the local
vertical system at ignition. Also, the AV's com-
uted with the ORBIT TGT software processor
(and display) will appear here. In that case, a
flag in the software may be set to use Lambert
targeting for the burn. (The three AV's and the
required offset position are passed to guidance
in that case.)
LOAD (Item 22)
The word LOAD will flash any time the
display is called up on OPS 2. Once the LOAD
itemis executed, the word LOAD will cease
flashing and the engine selection, trim, vehicle
weight, and target data items will be sent to
guidance. Aiso, certain display parameters will
bbe computed including burn attitude, total AV,
targeted apogeeiperigee, bur time, and
required AV in body components. Later, if the
engine selection, trim, vehicle weight, or target
dataitemsare altered by crew input or by
ground uplink prior to burn enable or after
burn completion, the word LOAD will flash.
‘Such an entry will terminate all burn guidance
computations and the load dependent
parameters will go blank. Any change of these
targeting or setup parameters while the burn is
enabled, or prior to burn completion, will be
considered as an illegal entry TIMER (Item 23)
The GNC CRT timer may be started to
count down te TIG via t
Prethrust Burn Attitude (BURN
ATT, Items 24 to 26)
The prethrust burn attitude atignit
degrees, with respect to the ADI inertial
reference frame, will appear by these items
after crew execution of the load item. (Recall
that the roll orientation about the thrust vector
was specified in item 5.) The BURN ATT items
may not be used by the user for data entry in
PS 2. Such an attempt would resultin an
ILLEGAL ENTRY message. The burn attitude
generates ADI attitude error such that the crew
can maneuver to the desired attitude. In OPS 2,
this maneuver may be done automatically with
the next item.
MNVR Execute (Item 27)
This item enables an automatic DAP
maneuver to the desired ignition attitude given
in items 24, 25, and 26. While the maneuver isin
progress, an asterisk will appear next to item 27.
Range-to-Entry Interface
This is not applicable in OPS 2 and
remains blank.
Time to Next Apsis (TXX XX:XX)
time is displayed (MIN:SEC) which is the
time to next apsis. An alphanumeric title next
tothe time will read TTA if apogee is the next
apsis, TTP if perigee is the nextansis, orif
apogee and perigee differ by less than Sn, mi.,
‘the time will be blank and the title will read TIC
(for circularization).
ro16s 59
Gimbal Status (Items 28 to 34)
Inthe GML section of the display, the
position (in degrees) and status (“A” for
actuator failure, “M'" for data missing) of the
pitch and yaw engine gimbal actuators for the
left and right OMS are given. Also, items 28
1033 provide the crew controls for selecting the
primary or secondary gimbal drives as the active
system forthe left or rightsides. Also, the
capability exists to deselect and power down
either the left orright gimbal drive systems. The
items relating to the left side (items 28, 30, 32)
are mutually exclusive, as are the items
