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An Autonomous Onboard Targeting Algorithm using Finite Thrust
Maneuvers
Sara K. Scarritt, Belinda G. Marchand, Michael W. Weeks
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IntroductionIntroduction Onboard guidance for Orion lunar return Two-level targeting algorithm Based on linear system theory Designed for impulsi e maneu ers Designed for impulsive maneuvers
In a main engine failure scenario, impulsive approximation invalid
Adapt two-level targeter to incorporate finite burns while retaining its simplicity
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Classical Impulsive Level I ProcessGoal: Position Continuity Only Control Variables: ΔV’s
BEFORE LEVEL IBEFORE LEVEL I
AFTER LEVEL I
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Classical Level II Process:Goal: Meet Specified Constraints (e.g. Velocity Continuity), Control Variables: Time & Position of Patch States
BEFORE LEVEL II
IMPLEMENTATION IN THE N/L SYSTEM
LEVEL II:LINEAR CORRECTION
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Level 1: Impulsive vs Finite Burn
kδr
Level 1: Impulsive vs. Finite Burn
IMPULSIVE FINITE BURNδ kδr
kkδr
k
TTΔv
rv
6 1×
=
rx
v1k −1k−Δv
1k −
11 1
g
mm
×
=
x
u
6 1×
1
Constraint:
Control Variables: ,k
k Tt
δδ+
=r 0u1
Constraint: Control Variables:
k
k
δ
−
=Δ
r 0v
11 1×
5
1,k T−1k−
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Variational Equations: Impulsive vs Finite BurnImpulsive vs. Finite Burn
IMPULSIVE
, 1 , 1 1 1 1
, 1 , 1 1 1 1
k k k kk k k k k k
k k k kk kk k k k
A Bt tC Dt t
δ δ δ δδ δ δ δ
− +− − − − −
− − + +− − − − −
− −= − −
r v r vv a v a
IMPULSIVE
1 1 1 1 1k k k kk k k k k kA Bt tδ δ δ δ++ + +
−+ + − −r v r v
FINITE BURN
, 1 , 1 1 1 1
, 1 , 1 1 1 1
k k k kk k k k k k
k k k kk kk k k k
t tC Dt t
δ δ δ δδ δ δ δ
+ + + + ++ + −
+−
+ + + +
= − −
r v r vv a v a
, 1 , 1 , 1 , 1 , 1
, 1 , 1 , 1 , 1 , 1
, 1 , 1 , 1 , 1 , 1T
T k T k T k T k T kT T T
T k T k T k T k T kT T T
T k T k T k T k T kT g T
A B E F GtC D H I JtK L M N Om m t
δ δδ δ
δ δ
−− − − − −
− −− − − − −
− −− − − − −
− − + =
r vv a
1
1 1 1
1 1 1
1 1k
k k k
k k k
k g k
tt
m m t
δ δδ δ
δ δ−
+− − −
+ +− − −
+ +− −
− − +
r vv a
, 1 , 1 , 1 , 1 , 1T T
T
T k T k T k T k T kg g T
T g T
P Q R S Tm m tt
δ δδ δ
− −− − − − −
− −
− − u u
1 1 1
, 1 , 1 , 1 , 1 , 1 1 1 1
k kg g k
T k T k T k T k T k k k k
m m tU V W X Y t
δ δδ δ
− −
+ +−
+ +− − − − − − − −
− − u u
1 1 1 1 1k k k kk k k k k kA Bt tδ δ δ δ++ +
− − −r v r vk T k TA Bt tδ δ δ δ− + − −r v r v
6
, 1 , 1 1 1 1
, 1 , 1 1 1 1
k k k kk k k k k k
k k k kk kk k k k
A Bt tC Dt t
δ δ δ δδ δ δ δ
+ + + + ++ + −
+−
+ + + +
= − −
r v r vv a v a
, ,
, ,
k T k Tk k k T T T
k T k Tk k T Tk T
A Bt tC Dt t
δ δ δ δδ δ δ δ− − + +
= − −
r v r vv a v a
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Level 1 TargetingLevel 1 Targeting Direct from TEI-3 to Earth entry Entry targets:
Geodetic Altitude (km) 121.92 Longitude (deg) 175.6365g ( g) Geocentric Azimuth (deg) 49.3291 Geocentric Flight Path Angle (deg) -5.86
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Level II Algorithm: Impulsive vs Finite BurnImpulsive vs. Finite Burn
[ ]1 2 1Constraints: , , , , , , , , , , vjn TEIh λ δ γ χ−
Δ Δ Δ Δ Δ
V = v v v A =
[ ]0 0 1 1Control Var , ,iables: , , ,,j
n nt t tδ δ δδ δ δ
b = r r r
k+v
k
1k +k+v
1k +IMPULSIVE FINITE BURN
k−v
1k −
k
k−v
1k −
kT
( ) 1 T TM MM
δ δδ δ
−
∂Δ Δ Δ ∂= → ∂
=
VV VbA A
bbA
8
( )
M
δ δ∂ ∂
A AbA
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Variational Equations: Impulsive vs Finite BurnImpulsive vs. Finite Burn
IMPULSIVE
, 1 , 1 1 1 1
, 1 , 1 1 1 1
k k k kk k k k k k
k k k kk kk k k k
A Bt tC Dt t
δ δ δ δδ δ δ δ
− +− − − − −
− − + +− − − − −
− −= − −
r v r vv a v a
IMPULSIVE
1 1 1 1 1k k k kk k k k k kA Bt tδ δ δ δ++ + +
−+ + − −r v r v
FINITE BURN
, 1 , 1 1 1 1
, 1 , 1 1 1 1
k k k kk k k k k k
k k k kk kk k k k
t tC Dt t
δ δ δ δδ δ δ δ
+ + + + ++ + −
+−
+ + + +
= − −
r v r vv a v a
, 1 , 1 , 1 , 1 , 1
, 1 , 1 , 1 , 1 , 1
, 1 , 1 , 1 , 1 , 1T
T k T k T k T k T kT T T
T k T k T k T k T kT T T
T k T k T k T k T kT g T
A B E F GtC D H I JtK L M N Om m t
δ δδ δ
δ δ
−− − − − −
− −− − − − −
− −− − − − −
− − + =
r vv a
1
1 1 1
1 1 1
1 1k
k k k
k k k
k g k
tt
m m t
δ δδ δ
δ δ−
+− − −
+ +− − −
+ +− −
− − +
r vv a
, 1 , 1 , 1 , 1 , 1T T
T
T k T k T k T k T kg g T
T g T
P Q R S Tm m tt
δ δδ δ
− −− − − − −
− −
− − u u
1 1 1
, 1 , 1 , 1 , 1 , 1 1 1 1
k kg g k
T k T k T k T k T k k k k
m m tU V W X Y t
δ δδ δ
− −
+ +−
+ +− − − − − − − −
− − u u
1 1 1 1 1k k k kk k k k k kA Bt tδ δ δ δ++ +
− − −r v r vk T k TA Bt tδ δ δ δ− + − −r v r v
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, 1 , 1 1 1 1
, 1 , 1 1 1 1
k k k kk k k k k k
k k k kk kk k k k
A Bt tC Dt t
δ δ δ δδ δ δ δ
+ + + + ++ + −
+−
+ + + +
= − −
r v r vv a v a
, ,
, ,
k T k Tk k k T T T
k T k Tk k T Tk T
A Bt tC Dt t
δ δ δ δδ δ δ δ− − + +
= − −
r v r vv a v a
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Total Cost Constraint:Impulsive vs Finite BurnImpulsive vs. Finite Burn
v | |k k k+ −Δ = −v v ( )1 1, , ,k k k k k kt t− −
− −=v v r rIMPULSIVE
( )1 1, , ,k k k k k kt t+ ++ +=v v r r
( )T km t t− ( )v , ,k k T kf t t mΔ =
FINITE BURN
( )0v ln 1 kg T k
k spk
m t tI g
m
Δ = − −
( ), ,k k T kf1
01
[ ]n
k g burn jj
m m m t−
=
= − Δ
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Main Engine SimulationMain Engine Simulation Initial guess data
E h 4 A 2024 15 30 00TDT Entry constraints:
G d ti Altit d (k ) 121 92 Epoch: 4-Apr-2024 15:30:00 TDT Initial mass: 20339.9 kg (total fuel =
8063.65 kg) Main EngineThrust: 33 361 6621 N
Geodetic Altitude (km): 121.92 Longitude (deg): 175.6365 Geocentric Azimuth (deg): 49.3291 Geocentric Flight Path Angle (deg) Main Engine Thrust: 33,361.6621 N
Main Engine Isp: 326 sec State (J2000 Moon-centered inertial
frame):
Geocentric Flight Path Angle (deg): -5.86
) X: -1236.7970783385588 km Y: 1268.1142350088496 km Z: 468.38317094160635 km Vx: 0.0329108058365355 km/sec Vy: 0.589269803607714 km/sec Vz -1.528058717568413 km/sec
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Results (1/2)Results (1/2)
Moon
Earth
12 MCI Frame Perspective
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Results (2/2)Results (2/2) Comparison of finite burn and impulsive algorithms:
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Auxiliary Engine SimulationAuxiliary Engine Simulation Same initial guess data and constraints Assume main engine failure after TEI-1 TEI-2 and TEI-3 performed using auxiliary engines: Auxiliary Engine Thrust: 4,448.0 N Auxiliary Engine Isp: 309 sec
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ResultsResults Maneuver and final constraint data:
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Lunar Cycle SimulationsLunar Cycle Simulations Simulations run for 10 different days spanning February 2024 Patch points from converged impulsive runs
Initial lunar orbit of 100 km, targeting altitude (121.9 km) d fli ht th l ( 5 86o)and flight path angle (-5.86o)
Auxiliary engines used for TEI-2 and TEI-3
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ResultsResults
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Delayed Patch PointsDelayed Patch Points Patch points associated with specific epoch Targeter must converge even if the patch points are not
currentU F b 1 f l f l l Using February 1 input file from previous example, initial epoch delayed for (a) 3 hours and (b) 12 hours
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ResultsResults
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Conclusions and Future WorkConclusions and Future Work Two-level targeting algorithm developed for finite burn
maneuvers Algorithm successfully targets lunar return trajectory U i i i Using main engines Using auxiliary engines following simulated failure of main
engines after TEI-1g
Future work Implementing thruster steering law Automated patch point selection
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