High Performance Simulation of Attitude

and Translation Dynamics

Ivanka Pelivan, Stefanie Grotjan,
Michel S. Guilherme, Silvia Scheithauer, Stephan Theil

ZARM / University of Bremen

3rd International Workshop on Astrodynamics

tools and Techniques, Noordwijk, 2 - 5 October
2006

Outline

Motivation
Objectives
Simulator Target Missions
Simulator

Architecture
Core Features
Dynamics
Disturbance Models
Verification

Summary and Outlook

3rd International Workshop on Astrodynamics
tools and Techniques, Noordwijk, 2 - 5 October
2006

Motivation (1/2)
Future scientific space missions (LISA/LISA
Pathfinder, Gaia, MICROSCOPE, STEP, etc.) are
scientifically and technically a new generation.
Reasons:
expected improvement of measurement accuracy by
several orders of magnitude
utilisation of new key technologies
very close link between spacecraft dynamics and scientific
measurements

3rd International Workshop on Astrodynamics

tools and Techniques, Noordwijk, 2 - 5 October
2006

Motivation (2/2)
S/C developers and engineers need a tool for:
Analysis and engineering of AOCS
Performance validation of S/C systems

Scientific users need a tool for:

Error analysis and budgets
Development of the scientific data reduction
Development of scientific in-flight monitoring tools
Development of a high-fidelity S/C dynamics simulator:
! Very accurate dynamics modelling
! Enhanced models of environment and disturbances
3rd International Workshop on Astrodynamics
tools and Techniques, Noordwijk, 2 - 5 October
2006

Simulator Objectives
Provide comprehensive simulation of the real system
including science signal and error sources
Provide simulation environment for control system
performance validation
Generate data needed to test data reduction methods
Provide capability for identification of the satellite and
instrument

3rd International Workshop on Astrodynamics

tools and Techniques, Noordwijk, 2 - 5 October
2006

The Force and Torque Free Satellite

Drag-free concept: Shield satellite payload (proof mass) from all external
non-gravitational disturbances ! payload follows a purely gravitational
orbit
Disturbance Force

Disturbance Force

Satellite Body

TM

Control Force

Satellite is forced to
follow the proof mass
! Distance between
satellite and proof
mass is controlled
! Introduction of
coupling forces and
torques

Control Force

First suggested and analyzed by B. Lange (1964)

First generation:
TRIAD I (1971), TIP II (1974)
Second generation: Gravity Probe-B (2004), GOCE, LISA,
MICROSCOPE, STEP, LISA Pathfinder
3rd International Workshop on Astrodynamics
tools and Techniques, Noordwijk, 2 - 5 October
2006

Target Missions
Intended application to:
Drag-Free Missions:
Gravity Probe B as a reference and for validation
MICROSCOPE satellite dynamics model for independent
scientific data reduction
LISA simulator elements for the scientific data reduction
STEP analysis and engineering tool

Astronomy missions:
Hipparcos as a reference and for validation
Gaia simulator elements for the scientific data reduction

Other missions:
Pioneer 10/11 utilization of disturbance models for the reanalysis of the Doppler data
3rd International Workshop on Astrodynamics
tools and Techniques, Noordwijk, 2 - 5 October
2006

General Simulator Structure

3rd International Workshop on Astrodynamics

tools and Techniques, Noordwijk, 2 - 5 October
2006

Simulator Architecture
Modular Design in Matlab/Simulink and C/Fortran

Matlab/Simulink is wrapper for development and analysis.

Major blocks shall be coded in C/Fortran.
Modules are available as library.
Simulator for each mission is assembled from modules.
Initialisation and set-up through data files

Possibility to integrate into data reduction process

A transition to pure C/Fortran code necessary
Interfaces for estimation algorithms
3rd International Workshop on Astrodynamics
tools and Techniques, Noordwijk, 2 - 5 October
2006

Simulator Architecture
Modules: Dynamics Core, Environment and Disturbance, Sensor,
Controller, Actuator, Transformations
User Interface: Matlab/Simulink
Core and most Environment/Disturbance modules: s-function blocks

3rd International Workshop on Astrodynamics

tools and Techniques, Noordwijk, 2 - 5 October
2006

10

Satellite and Test Mass Dynamics

"
"
FDist
GTM1

"

GTM2
FControl
GSat

"

Objects are treated as rigid

bodies
6 satellite degrees of freedom
" 3 for translation
" 3 for rotation
6 degrees of freedom per test
mass
Driving force:
" Gravitation

Satellite dynamics described in inertial and satellite body-fixed frame

Test mass dynamics described in sensor and test mass frame

3rd International Workshop on Astrodynamics

tools and Techniques, Noordwijk, 2 - 5 October
2006

11

Coordinate Frames

inertial frame (ECI, i), body/satellite frame (b), mechanical/structural frame (m), accelerometer frame
(a), sensitive axis frames for test masses 1 and 2 (sens1, sens2), test mass body frames for test masses
1 and 2
3rd International Workshop on Astrodynamics
tools and Techniques, Noordwijk, 2 - 5 October
2006

12

Satellite Equations of Motion

Translation of Satellite:

Motion of a rigid body in a gravity field

Additional force = coupling force

Rotation of Satellite:

3rd International Workshop on Astrodynamics

tools and Techniques, Noordwijk, 2 - 5 October
2006

13

Test Mass Equations of Motion

Definition in sensor coordinate frame: satellite-fixed, non inertial
Considers accelerations and rotations of system

Translation:

Rotation: - Approach: Conservation of angular momentum

3rd International Workshop on Astrodynamics

tools and Techniques, Noordwijk, 2 - 5 October
2006

14

Simulator Core Features

Simulation of full satellite and test mass dynamics in six degrees of freedom by
numerical integration of the equations of motion (13 states: attitude rate,
quaternion, position, velocity)
Up to four differential accelerometers utilizing two test masses each (8 (TMs) + 1
(Satellite) = 9x13 states = 117 states)
Consideration of linear and nonlinear coupling forces and torques between satellite
and test masses as well as between test masses
Modelling of cross-coupling interaction
Earth gravity model up to 360th degree and order,
influence of Sun, Moon and planets can be included
Gravity-gradient forces and torques
5th order Runge-Kutta numerical integration
128 bit numerical precision (`quad precision') on an ALPHA processor
Several error sources are considered in the model:
+ misalignment and attitude errors
+ coupling biases
+ displacement errors
3rd International Workshop on Astrodynamics
tools and Techniques, Noordwijk, 2 - 5 October
2006

15

Force & Torque Modeling (1/2)

Modeling of forces and torques acting on the satellite and
test masses because of:
Gravitation and Gravity Gradients
Control (forces and torques applied by the control system)
Interaction with the upper layers of the Earth atmosphere
Electromagnetic radiation
heat, radio communication emission
Absorption and reflection of radiation incident (sun, Albedo, etc.)

Interaction with the magnetic field

Interaction (coupling) between satellite and test masses
Test mass sensing and actuation systems
Gravitational coupling
3rd International Workshop on Astrodynamics
tools and Techniques, Noordwijk, 2 - 5 October
2006

16

Force & Torque Modeling (2/2)

Modeling approaches:
1. Utilization AND extension of standard models
2. Derivation of parametric models from detailed FEM
analysis of specific effects
Standard models used:
International Geomagnetic Reference Field (IGRF, IAGA)
Earth Gravity Model (EGM, NASA)
Mass Spectrometer Incoherent Scatter Model (MSIS, NRL)
Short-term variations of Earth atmospheric density (analysis of
CHAMP mission data)

3rd International Workshop on Astrodynamics

tools and Techniques, Noordwijk, 2 - 5 October
2006

17

Attitude Dependency of Gravitational Acceleration

Origin: Gradient of gravity field
Center of Mass and Center of Gravity do not coincide.
Effects:
Gravity gradient torque
Attitude dependent gravity force

CoM

CoM
CoG

CoG

Earth

g CoM

g CoG

3rd International Workshop on Astrodynamics

tools and Techniques, Noordwijk, 2 - 5 October
2006

18

Gravity-Gradient Forces and Torques

Force from Earth potential field

dF = dm !F
d

F = Fmono + FGG
Gravity-gradient Torque:

1)
2)

T= r

dF

T = r Gr

3rd International Workshop on Astrodynamics

tools and Techniques, Noordwijk, 2 - 5 October
2006

19

Modeling of Density Variations (1/3)

Processing of data from CHAMP mission:
Orbit data:
Sensor data:
Further data:

position, velocity
star tracker, accelerometers
geometry, area, mass

Computation of density:

Analysis of the frequency spectrum

Design of a form filter in order to create the difference
spectrum from white noise
3rd International Workshop on Astrodynamics
tools and Techniques, Noordwijk, 2 - 5 October
2006

20

Modeling of Density Variations (2/3)

3rd International Workshop on Astrodynamics

tools and Techniques, Noordwijk, 2 - 5 October
2006

21

Modeling of Density Variations (3/3)

3rd International Workshop on Astrodynamics

tools and Techniques, Noordwijk, 2 - 5 October
2006

22

Modeling of Forces from Electromagnetic

Radiation (1/2)
Effects:
EM radiation incident:
Sun light
Albedo light
Infrared (thermal) radiation of Earth
EM radiation emission:
Thermal radiation emission
Radio frequency emission

Basic equations:

3rd International Workshop on Astrodynamics

tools and Techniques, Noordwijk, 2 - 5 October
2006

23

Modeling of Forces from Electromagnetic

Radiation (2/2)

Implementation:

Definition of elements
representing the satellite surface
Determination of visibility
Back face determination
Shadowing
Computation of force for each
element
Summation of total force and
torque
Creation of look-up tables for
total force and torque
(Method also applicable for atmospheric drag)
3rd International Workshop on Astrodynamics
tools and Techniques, Noordwijk, 2 - 5 October
2006

24

Modeling of Torques from the Interaction with the

External Magnetic Field (1/3)
- Analytic simplified derivation of the torque assuming the shape of an
ellipsoid
- Numerical computation using Finite Elements (FEM)

Computation of magnetic dipole from element data:

Derivation of a parametric model

!-Metal-Shield (STEP)

Core of magnetic coils

3rd International Workshop on Astrodynamics

tools and Techniques, Noordwijk, 2 - 5 October
2006

25

Modeling of Torques from the Interaction with the

External Magnetic Field (2/3)

3rd International Workshop on Astrodynamics

tools and Techniques, Noordwijk, 2 - 5 October
2006

26

Modeling of Torques from the Interaction with the

External Magnetic Field (3/3)

3rd International Workshop on Astrodynamics

tools and Techniques, Noordwijk, 2 - 5 October
2006

27

General Modeling of Coupling Forces

Specific coupling forces:

Coupling torques:
Definition of general force:

3rd International Workshop on Astrodynamics

tools and Techniques, Noordwijk, 2 - 5 October
2006

28

Verification of Simulator
Comparison to analytical solution of simplified system
Simplified model renders ODE in Mathieu-Form
Verification by comparison of stability boundaries
Comparison to Hills Equation
Analytical description of uncoupled relative movement
Comparison to other orbit propagators
Verification of uncoupled attitude motion
Test of dynamic coupling between satellite and test masses
Verification with flight data

3rd International Workshop on Astrodynamics

tools and Techniques, Noordwijk, 2 - 5 October
2006

29

Summary and Outlook

Multi-body mechanical system simulator (satellite and test masses).
Satellite and test mass dynamics is represented by a set of coupled
ordinary differential equations (13 per body).
Modeling of disturbances include also smaller effects such as:
Density variation
Torques from magnetization of components
Radiation incident and EM radiation emission

Outlook:

Validation of simulator with flight data

Post-mission analysis of GP-B and Hipparcos
Model improvement based on post-mission analysis and flight data
Adaptation to STEP, MICROSCOPE, Gaia

Future additions:
Adaptation of dynamics core to L2-orbits
Implementation of Earth Albedo
Structural effects (thermo-elastic)
3rd International Workshop on Astrodynamics
tools and Techniques, Noordwijk, 2 - 5 October
2006

30