Copernicus Trajectory Design and Optimization System

Transcription

1 Future in Operations (FISO) Copernicus Trajectory Design and Optimization System Jerry Condon / EG5 gerald.l.condon@nasa.gov

2 What is?

3 What is Copernicus? The Copernicus Trajectory Design and Optimization System represents a new and comprehensive approach to performing mission design, trajectory analysis and optimization. Copernicus brings together the state-ofthe-art in trajectory optimization techniques, visualization, an easy to use GUI, a library of key algorithms, and a distributed (batch) processing capability into an integrated package. Stimulates the creativity of the user to design and solve innovative trajectories. It s a one stop shopping tool for interplanetary mission and trajectory design optimization and analysis. Out of many trajectory optimization programs I have used throughout the years within and outside of NASA, Copernicus is the only program that effectively combines the state-of-the-art optimization algorithms with a 3-D visualization environment, enabling the user to see the trajectories graphically as the problems are being solved. Dr. Min Qu Senior Analyst Analytical Mechanics Associates, Inc. 3

4 Features Multiple spacecraft and multiple propulsion systems within a single mission Extensive range of missions From simple to complex problems Extremely powerful, yet highly usable Evolutionary and expandable Innovative modular design using trajectory building blocks The Copernicus software suite is a well-built and user-friendly tool that can handle many tough mission design problems. We highly recommend Copernicus to any mission designers. George H. Born Director, Colorado for Astrodynamics Research 4

5 Levels of Fidelity Low fidelity High fidelity [within the same tool] Scans/trade studies Impulsive Δv Circular planet orbits Evolutionary (DE) Patched conic model Detailed mission design Optimized finite burn maneuvers Real ephemeris (SPICE) Gradient-based (SNOPT, ) High fidelity force model 5

6 Innovative modular design using trajectory building blocks Single points (states) Impulsive + Coast arc t0 tf t0 tf Single points + impulsive maneuvers Finite burn maneuver t0 tf t0 tf Coast arc Impulsive + Finite Burn maneuvers t0 tf t0 tf Copernicus Building Blocks: Trajectory Segments 6

7 Building Blocks: Segments DV Seg 1 (Coast) Initial Condition Seg 3 (Coast) State continuity constraint Body 1 Seg 2 (Low Thrust Finite Burn) Flyby Constraint Seg 4 (Coast) Multiple spacecraft and propulsion systems. Can inherit information from other segments. Optimization variables and constraints Forward and backward propagation. Many classes of problems can be modeled with the segment concept. There are many ways to solve the same problem. Body 2 Final constraint Body 3 Seg 5 (High Thrust Finite Burn) Controls (Optimization Variables) + Constraints + Objective Function = Optimization Problem 7

8 Reusability Fundamental building blocks can be combined and reused as needed Allows solution of new problems in the future Reduces development time for new mission designs. + = 8

9 Copernicus Distribution ARC GSFC JSC JPL, KSC, LaRC MSFC University of Washington MSNW Exploration Andrews Engineering ARC Naval Postgraduate School Boeing Aerospace Corporation Aerojet UC Boulder Lockheed-Martin Edwards AFB General Dynamics JPL CSNR UA-Tucson SAIC OAI P&W Iowa State GRC APL Innovative Orbital Design GSFC Analytical Mechanics Zero-Point Frontiers LaRC Associates Mississippi State Ga. Tech Works Enterprises UT-Austin JSC Jacobs Ad Astra Odyssey MSFC KSC RIT 9 9

10 Development

11 Development History UT Prototypes Text based Segment architecture Non-interactive 2-D graphics Parameter optimization Impulsive/finite burns 11

12 Development History NASA/UT Co-Development GUI added Developed OpenGL API (OpenFrames) for interactive 3-D graphics SPICE integration added Optimally controlled finite burn segments Release 1.0 (March 2006) 12

13 Development History NASA Development Comprehensive interface Substantial internal engine improvements Version Control Regression Testing of Updates Documentation Training Videos Accreditation Constellation/Orion Projects [ ] NASA In- Propulsion Technology Program [ ] Release 3.1 (June 2012) Currently working on Release

14 Copernicus Architecture Main Program Copernicus Libraries GUI User Inputs Mission Design Design Modifications Numerical Feedback Toolkit Library Celestial Mechanics Routines SPICE Interface Math Utilities Coordinate Transformations Binary File I/O Gravity Models Visualization Aid in Problem Set-Up Trajectory Solution Feedback Real Trajectory Insights Engine Trajectory Segments Optimization Integration Control Algorithms Engine Models Batch Library Distributed Processing Automated Copernicus Runs Production Data Output 14

15 Scalable and Cross-Platform Copernicus can be scaled from a single desktop or laptop computer using the Graphical User Interface (GUI) and visualization tools, to computer clusters where no user interaction or graphical feedback are required. Laptop Desktop Cluster 15

16 Accredited Copernicus completed the NASA/HQ requested Verification, Validation, and Accreditation process 16

17 In Action

18 Start of Problem Solution

19 User Adjustment 19

20 Iteration Process 20

21 Converged Solution 21

22 LCROSS Mission LRO/LCROSS Design Case Study Copernicus is an extremely valuable tool used by the LCROSS trajectory team to optimize the LCROSS trajectory. LCROSS has a very complicated orbit that is difficult to optimize using standard off the shelf tools. Copernicus has been an invaluable tool for the LCROSS trajectory team. Steve Cooley LCROSS Trajectory Design Lead 22

23 Constellation Program Architecture evaluation Trade studies (TLI, LOI, TEI) Lunar Capability Concept Review (LCCR) Copernicus changed the way we look at mission design Lunar Free Return Trajectory 23

24 Orion Project (Lunar Missions) TEI-2 Copernicus used extensively for Orion vehicle design and performance Databases developed to characterize Orion lunar missions over the entire planned operational lifetime. Millions of optimized trajectories using Copernicus on a computing cluster. TEI-3 TEI-1 Three-Burn Trans-Earth Injection Maneuver Sequence 24

25 Abort Analysis post partially failed LOI coasting Multiple trajectories/spacecraft Mission specific targeting Batch processing Orbit period 50%: 0.29 days 25%: 2.9 days Nominal trajectory Fly-by return Nominal trajectory Direct return Direct return Moon-centered view Earth-centered view

26 In Propulsion Technology Project ISP Reference Mission 28: Earth-Moon low thrust Copernicus has been an asset to NASA s In- Propulsion project. Copernicus is used routinely for mission trades and to establish requirements and quantify benefits of advanced technology. John Dankanich Lead Systems Engineer Gray Research (NASA/GRC) 26

27 VASIMR Our project has made extensive use of this excellent tool to design many of our most interesting mission scenarios. As the development of high power in-space electric propulsion matures, this sophisticated program can open and examine unique operational scenarios with both constant and variable specific impulse. Franklin Chang Diaz Chairman and CEO Ad Astra Rocket Company 27

28 Ongoing Explorations Studies Low thrust transfer to a lunar distant retrograde orbit 2009 HC Transfer in 2025 Round trip to L1 and L2 Halo Orbits 28

29 Quantum Vacuum Thruster Mars Arrival Mission to Mars Earth to 1000 AU craft mass = 90 t Transit time = 75 days Mars Position at Start of Trajectory craft mass = 90 t Transit time = 2-6 years 1000 AU LEO Spiral Earth to Proxima Centauri Interstellar Note: Voyager 1, launched in September, 1977 (36 years ago) is currently around 125 AU away craft mass = 90 t Transit time = years Proxima Centauri 29

30 Asteroid Tour Mission Design GTOC-4: 32-Asteroid Intercept with Final Rendezvous (10 years) GTOC-5: 15-Asteroid Rendezvous- Intercept (15 years) 30

31 Halo Orbit Transfers Transfer Options to Earth-Moon L2 Halo Orbit ISP Reference Mission 31: Earth-Sun Libration Point 1 day 2 days 3 days 4 days 5 days Direct L2 6 days Earth Moon L2 Halo 1 day 2 days 3 days 6 days Flyby 4 days 5 days 7 days 8 days Earth Moon Flyby L2 L2 Halo 40 days 30 days 20 days 10 days Energy nifold) 50 days To Sun L2 Halo 5 days Moon Flyby 90 days 1 day Direct and Flyby Transfers to Earth- Moon L1 and L2 Libration Points Moon s Orbit 31

32 Weak Stability Boundary 2 days 3 days 1 day 4 days Lunar Capture Mission 5 days Direct L2 6 days Earth Moon L2 Halo 1 day 2 days 3 days Flyby 4 days 6 days 5 days 7 days 8 days Earth Moon Flyby L2 L2 Halo 40 days 30 days 20 days 10 days Sun-Earth Halo Orbit Missions Low Energy (Manifold) 50 days 60 days To Sun L2 Halo 5 days Moon Flyby 90 days 1 day Moon s Orbit Earth 70 days 80 days Lunar Halo Cargo Mission 32

33 Lunar Missions Three-Burn Trans-Earth Injection Maneuver Sequence Lunar Mission With Landing and Stage Disposal 33

34 Mars Mission Studies ISP Reference Mission 12: Mars Sample Return Mission [Using low thrust engine and optimal control theory] Earth Departure Mars Flyby Earth Arrival 2018 Mars Free-Return Mars Flyby 34

35 Low Thrust Trajectories ISP Reference Mission 16: Low Thrust Insertion into Polar Solar Orbit Flexible Thruster Models Halo Orbit to Near Rectilinear Halo Orbit Transfer 35

36 Asteroid Redirect Mission Crewed missions to asteroid in lunar DRO Asteroid transfer to DRO storage orbit Final lunar flyby Final DRO Insertion 36

37 Outer Planet Trajectory Design ISP Reference Mission 8: Earth/Venus/Venus/Jupiter/Pluto flyby mission 37

38 University technical instruction and research Makes spacecraft trajectory design accessible to a much wider audience Inspires the interest and creativity of the next generation of engineers and scientists Copernicus in Academia 38

39 Award History / JSC June 14, 2007: Act Award 2009 JSC Exceptional Software Award 2009 NASA Agency Software Of The Year Runner Up 39

40 Development Future Copernicus is actively being developed and improved at JSC Continued engine evolution Incorporation of new guidance, targeting, and optimization algorithms New models: integrators, ephemerides, atmosphere, etc. New ways to solve complex trajectory design problems. Continued GUI and visualization evolution Drag and drop trajectories Increased user-friendliness Operations support 40

41 Obtaining Copernicus Copernicus is available to all NASA employees, government contractors, universities, and private businesses with NASA contracts. Contact: 41

42 References For more information about Copernicus: C. A. Ocampo, "An Architecture for a Generalized Trajectory Design and Optimization System", Proceedings of the International Conference on Libration Points and Missions, June, C. A. Ocampo, "Finite Burn Maneuver Modeling for a Generalized craft Trajectory Design and Optimization System", Annals of the New York Academy of Science, May J. Williams, J. S. Senent, C. A. Ocampo, R. Mathur, "Overview and Software Architecture of the Copernicus Trajectory Design and Optimization System", 4th International Conference on Astrodynamics Tools and Techniques, May J. Williams, J. S. Senent, D. E. Lee, "Recent Improvements to the Copernicus Trajectory Design and Optimization System", Advances in the Astronautical Sciences, Various studies that have used Copernicus C. L. Ranieri, C. A. Ocampo, "Optimization of Roundtrip, Time-Constrained, Finite Burn Trajectories via an Indirect Method", Journal of Guidance, Control, and Dynamics, Vol. 28, No. 2, March-April M. Carn, M. Qu, J. Chrone, P. Su, C. Karlgaard, "NASA s Planned Return to the Moon: Global Access and Anytime Return Requirement Implications on the Lunar Orbit Insertion Burns", AIAA/AAS Astrodynamics Specialist Conference and Exhibit, August, J. Williams, E. C. Davis, D. E. Lee, G. L. Condon, T. F. Dawn, "Global Performance Characterization of the Three Burn Trans-Earth Injection Maneuver Sequence over the Lunar Nodal Cycle", Advances in the Astronautical Sciences, Vol. 135, AAS A. V. Ilin, L. D. Cassady, T. W. Glover, M. D. Carter, F. R. Chang Diaz, "A Survey of Missions using VASIMR for Flexible Exploration", Ad Astra Rocket Company, Document Number JSC-65825, April J. W. Dankanich, B. Vondra, A. V. Ilin, "Fast Transits to Mars Using Electric Propulsion", 46th AIAA/ASME/SAE/ASEE Joint Propulsion Conference & Exhibit, July J. S. Senent, "Fast Calculation of Abort Return Trajectories for Manned Missions to the Moon", AIAA/AAS Astrodynamics Specialist Conference, August A. V. Ilin, L. D. Cassady, T. W. Glover, F. R. Chang Diaz, "VASIMR Human Mission to Mars",, Propulsion & Energy Sciences International Forum, March 15-17, J. Brophy, F. Culick, L. Friedman, et al., Asteroid Retrieval Feasibility Study, Technical Report, Keck Institute for Studies, California Institute of Technology, Jet Propulsion Laboratory, April P. R. Chai, A. W. Wilhite, "Station Keeping for Earth-Moon Lagrangian Point Exploration Architectural Assets", AIAA SPACE 2012 Conference & Exposition, September, 2012, AIAA J. Williams, "Trajectory Design for the Asteroid Redirect Crewed Mission", JSC Engineering, Technology and Science (JETS) Contract Technical Brief JETS-JE23-13-AFGNC-DOC-0014, July,

43 Copernicus: The Movie

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