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LO
ANALY_/S PROGRAM
'_" "i
[_*'_"
_ MISSION
Date:
17
(_'"_ "['
DIRECTOR,
DEVELOPMENT
APOLLO
GU_.NCE
AND
NAVIGATION
PROGRAM
__o=l_=:i, ii=#_=loA,l_,o=,=oo&="
Approved: __ _ _--R.R. RAGAN, DEPUTY DIRECTOR CHARLES STARK DRAPER LABORATORY Date:/_'U_--'r'
R-695
by Allan R. Klumpp
JUNE
1971
CAMBRIDGE,
AC KNOW
LE DG MEN TS
report
was
prepared of the
under National
DSR
Project Aeronautics
sponsored
by
the
Spacecraft Contract
Center N AS9-4065.
Administration
P66 design
channel setting
was
by
Craig channels H.
W.
The
was
concepts
Suddath. equation
to yield S.
Moore. errors
thrust-pointing conceived
to attitude and
was
by William
S. Widnall
Donald
W. Keene.
of
this
report
does of
not the
approval the
by
the
National contained
conclusions of ideas.
It is published
exchange
stimulation
by the Massachusetts GCopyright Institute Published by the Charles Stark Draper Massachusetts Institute of Technology. Printed in Cambridge, Massachusetts,
ii
ABSTRACT
This guidance.
report It contains
records
the
technology plus
with sections:
Apollo
lunar-descent
an introduction
1. in
and to
guidance module
begins (LM) to a
7 800-m
before
Approach-phase to a terminus
transfers
braking-phase
is near-optimal, efficiency to
approach-phase visibility
transfer and
sacrifices landing-site
landing-site
at approach-phase
nulls reference
controls
decremented
astronaut
manipulation
of a rate-of-descent
connects autopilot.
all
powered-
from
any
by inherent strategy
characteristics is required.
gimbal-lock-avoidance
4. descent
Throttle propulsion
The
routine DPS
connects hardware
guidance require
programs operation
to
the
either
a separate guidance
region. necessary
programs increment
when commands.
constraints
corrected
thrust
iii
and Draper
This
Spacecraft guidance
descent launch.
which
by Allan R. Klumpp 19 71
June
iv
TABLE OF CONTENTS
Section
INT
RODUC Descent
TION
DEFINITIONS ATTITUDE
OF ANGLES,
LUNAR AND
DESCENT GIMBAL
COORDINATE ANGLES
FRAMES, ..................
AND Equation
APPROACH-PHASE Derivation
GUIDANCE .........................
...........
13 13 18 19 19 21 27
.........................
..............................
31 31 32
POWERED-FLIGHT
ATTITUDE-MANEUVER
ROUTINE
...........
37
THROTTLE
ROUTINE
..................................
45
TABLE
OF
CONTENTS
(Cont.)
Section
Page
AND
APPROACH-PHASE
TARGETING
PROGRAM
. . .
51 53
54 56
REFERENCES
.......................................
61
vi
NOMENCLATURE
are only
normally those
defined symbols
where used in
first more
Therefore section of
Most as follows:
symbols
are
self-defining
by
being
constructed
of
standard
identifiers
i,
Type jerk,
of and
and
its
(times by upper
phase) braking
Mission phase
phase
denoted
BR,
the
approach
3.
Applicable point T.
phase.
Inception
is
denoted
I, terminus
F,
and
target
4.
frame and LM
of
Platform
coordinates
are
denoted
P,
5.
Achieved
opposed
values
are
denoted
A.
by
construction, achieved _STG to represent SAPTG, e.g., lacks , and of matrix the row V Z. the at
is
the phase
vector
in
guidance identifier,
to
or
targets
to
or by
elements
magnitudes
whenever 3 and x 3
a vector
vectors by
are Cyz
denoted is the
C_x,C__y,C_z Z component
identified
column,
Symbol
Definition
AFCP AFP
Thrust-
acceleration
velocity
Abort
platform
vii
D .\P DEC A
autopilot engine control assembly, between the LGC and the propulsion correction system increment which must the be added sample to the interval iX digital to DPS throttle analog
DPS
thrust measurement averaged over to obtain the sample-instant thrust. GXI Lunar lunar Current gravity surface) gravity (acceleration
of positive
sign
valid
at the
G P IMU
valid
at the current
position
RP
unit consisting of a three-gimballed three accelerometers seconds) and P64 added to to account and the for
L t': ADTIME
the effective transport response times LG C LIMIT LM A guidance function in of computer two
to computation
system
arguments to the
the
first
argument argument
magnitude
second
module site point inside designator window panel, n arguments consisting and one yielding of two reticles, on the outside the algebraically one
M A.N I M U M
A function of highest argument A function argument National LM attitude Coordinate Braking Approach
MINIMUM
of n arguments
yielding
the
algebraically
lowest
and
Space
phase phase
guidance guidance
Terminal-descent guidance program IRBRTG, \_BRTG, ABRTG, _JBRTG, _SBRTG, RTG, VTG, ATG, JTG, _STG Current Rate position Target position,
terminal-descent-phase
velocity,
acceleration, phase, or
jerk, current
and
snap
of
the approach
phase,
braking
phase
of descent
clock-time T Target-referenced point of the current time (time with mission phase) respect to the target
Vlll
velocity
ix
IN TRODUC
TION
how in
the several
Apollo cases,
guidance have on
works, been
it
differently. with or
can
man
The checks
to work
conceived.
Lunar-descent altitude lunar (LGC), the crew left, hand in surface. which a slightly The takes
begins coasting is
with
the lunar
lunar orbit,
(LM) with
at the
about LM
15-km on the
performed commands
by the
LM the
guidance LM crew
from of
NASA's
Texas. Standing
commander
cues pilot
and monitors
computer necessary
commander,
and
enters
keyboard.
guidance thrust.
mode The
descent
the
LGC
temporarily
guidance nonautomatic
modes
to control, described
modes, for
attitude LM
thrust along
commander profile.
he chooses
manually
guidance
Descent
Phases
The
lunar descent
is a nominally-planar
illustrated in Figure
2 and described
as follows:
1. 10
(Program ignition at
63, time.
or
P63) P63
is first
initiated computes
entry time
attitude P63
typically P63
492-km the
ignites
transfers approach
required typically
conditions and
succeeding
is near-optimal.
/ r III /
I1)
"l:J i
0 C).., 0
0 Z 0
U
z
Z
I,!
,'1
ct
."2.
t_
I
I::I
L
=1
Z 0 c_ "i" u D 0 0
.E u E_._c o
,o
Approach-phase a) and to of before visually which 2.2-km 129-m/sec a point the almost lunar terminus. chosen can be
with
conditions b) -44-m/sec
of,
typically landing of
P64
LM
directly surface
landing can
5 land
point continued
on
the until
landing-site
redesignation phase.
procedure
initiation
terminal-descent
3. altitude
The and
at be
position
produce
the
obscured reference
decremented rate-of-descent
his
left
N avigatien,
Guidance,
and
Control
Configuration
and
Control
in describes two
guidance
second.
Navigation
Navigation based data inertial period radar 6i0-m/sec. on are data used errors, immediately provides from
(see an
an
of and to flight
the
current alanding
vector IMU of
throughout IMU
following typically
altitude
data
altitude,
velocity
Guidance
transfers to the
the
LM
from state
the
current
state from
to
the
terminus
of
the is
current based
current
estimate
Navigation,
Guidance
[.
L_
_I
-___1..
r_
I
o L)
o
_l
2_
e_
L
w z_ _ac c_
_l
&
r--
--1
r-
on from
targets
from
the are
ground-based
The
outputs command
algorithm
a unit thrust
issued command
Powered-flight to the
and
issued vector
Throttle and
routines, to inertial
the thrust
magnitude
respect
Powered-flight
Attitude-maneuver
Routine
Powered-flight descent and aunit vector to the from DAP. into into
{ATT) (DAP).
connects ATT
command accelerometer
These coincidence
vector LM
coincidence
command.
P64, to
as ATT the
long by L_I
as
the
site
would
be
the
unit
window landing
line-of-sight into
vector
current the
rotating
coincidence reticles
line-of-sight 1 on the
ATT landing
superimposes site.
landing-point
designator
of
Figure
Throttle
Routine
connects by all
abort
guidance by the
computed
Computation
be
at
the
point region
(about (ii
92% to in
of 65%
within (65
this to from
region
oxidizer
independent produce
mixture
computed
mass command
a the
and
thrusts
issues
the
DPS. the
l) drive the
thrust
with
lies within
permittedlies above
thrust the
thrust
region,
or 3) produce
the commanded
thrust
the permitted-thrust
region.
Braking-phase
and
Approach-phase
Targeting
Program
targeting and
targets
for
P63
and
P64. as in
The
targets
define vector
Although guidance
targeted, and
targets
designed
achieve
objectives
Digital
Autopilot
The by means
DAP of
2)
of
the
LM control
during system is LM
flight trim
gimbal used
system. primarily
name the
gimbal through
system the
system mass.
trimming
DPS
DEFINITIONS ATTITUDE
OF ANGLES,
LUNAR AND
DESCENT GIMBAL
COORDINATE _MNGLES
FRAMES,
required respect to
lunar the
descent stable
guidance platform of
i) 2) can and
site 3)
which
rotates
redesignated
lunar are
illustrated
in
Figure
4 and
defined
as
follows:
in XP-axis the
are
tagged
P.
The
Command triad.
forward, are
right-hand
coordinates
nonrotating.
coordinates. continuously XG-axis the triad. landing Thus, landing coordinates site is vertical; site the is are
in current
tagged rotates
G.
The with
plane
completes are
the
Guidance-frame __CGPx,
C__GP Z
CGP.
3. the
in
body
tagged the
B. direction
are the
directed vectors Z of
the
YB-axis platform
Body-frame _CBPy,_CBP
unit
these time of
definitions in a nominal
it
is erect
noted
that attitude,
if
the the
LM three
lands frames
at
the will
nominal be parallel
site
at at
touchdown.
The
following
conventions
are
defined
for
orthogonal
matrices:
The LGC transfers state vectors (AGS). The AGS requires the state the orbital plane of the command
in
guidance Z axis
system parallels
MOON
Exagerated Scale
ZP,
Figure
Lunar-descent
Coordinate
Frames
I0
I)
A and
matrix column
element
is
by the
two
subscripts Thus
which CBPxy
indicate denotes
the
row the
element. C_BP X.
Y-component
2) 3)
(inverse) it tags.
is follows
denoted that
by matrix
interchanging products
definitions, internal
By by
conventions
2 and
3, avector
is transformed
to
body
from
guidance
coordinates
VB
CBP
CGP
-1
VG
CBP
CPG
VG
CBG
VG.
attitude XB-axis
angles (yaw),
are the
a set displaced
of
Euler YB-axis
angles (pitch),
defined and
as the
clockwise displaced
rotations ZB-axis
gimbal YB-axis
angles (inner),
are the
a set displaced
of
Euler ZB-axis
angles
defined and
as the
clockwise displaced
rotations XB-axis
(middle),
ii
BHAIKING-PHASE
AND
APPROACH-PHASE
GUIDANCE
guidance guidance
for
and same
P64
are
two
phases
Throttle
differences of the
erection
guidance is
coordinate available
redesignation
capability
Guidance
Equation
Derivation
To state problem. vector Guidance Implicitly, vector cannot Onboard terms, terms with can
guide
a spacecraft either we function commands can define, function to then the as can
from
any
initial guidance
or
to an
a specified implicit
determine, intersects
progresses, target
evolves
intersect commands
along
velocity In
the or
solving even
acceleration
control
here
is
to
the
the
developed insufficient
coded,
and
advantages
guidance
missions.
(3)
derived and
it
equation equation
didnot derived
explicit to
13
It is convenientto think of the reference trajectory as evolving backwardsin time from the target point, with the time variable T reaching zero at the target point and negative prior to that point. Thus target-referenced time (T) is to be distinguishedfrom clock-time (t). Becauseguidancegainswould become unbounded, the target point is neverreached. Instead,a guidedphase is terminated at anegative time T andthe succeedingphaseis started. Both the terminus andthe target point lie on the reference trajectory, but the target point lies beyondthe portion that is actually flown, similar to a suggestionof McSwainandMoore.(7) In terms of a vector polynomial functionof target-referenced time, we wish to define a reference trajectory that satisfies a two-point boundaryvalue problem with a total of five degrees of freedom for each of the three components. This number of degreesof freedom is required in order to constrain terminal thrust in P63 and to shape the trajectory designin P64, as is discussed in connectionwith the targeting program.
A the quartic polynomial trajectory from can is the be minimum order With be with which five constraints trajectory on
reference
satisfied.
evolving
backwards
in time
the target
point, it can
_RRG
= R_RTG +
VTG
ATG
T2/2
+ JTG
T3/6
STG
T4/24,
(1)
where at the
RRG negative
is
the time
on
the
trajectory and S TG
in are
coordinates position,
VTG, snap.
velocity,
acceleration,
be the
at
any
point at the
in
space particular
of T,
three minus
reference on the
trajectory. reference
acceleration
the
three-term
guidance
A__CG
= __ATG
+ JTG
+ S_TG
T2/2
- (VG
VTG
A__TG T
JTG
T2/2
STG
T3/6)
Kv/T
(2)
-(RG
- RTG
VTG
A_TG
T2/2
JTG
T3/6
STG
T4/24)
KR/T2
where and
A__CG position,
is and
the
VG
and
the gains.
current
velocity
14
Combining
like terms
in Eq.
(2) yields
A__CG
R__G KR/T2
- V.__GKv/T
RTG
KR/T
+ VTG
(K V
+ KR)/T
(3)
+ A__TG (I + K V + KR/2)
JTG
(1
KV/2
KR/6)
+ _STG
(1/2
KV/6
KR/24)T
2.
implicit
the
reference equation is
generated can,
specialized choice
the
explicit
generate we note
a specific be
K V and
may
identified
second-order
differential
equation
2 _'c0 n :K +co2
= 0
by
the
associations
(noting
T is
negative)
Kv/T
-2
_'con"
KR/T2
= co2 n'
(4)
where the on
con is system
the is
natural
frequency this
and
d" is
the
ratio. some
Of
course intuition
association
gain
setting.
Solving
K R
(2rT T/P)
2,
(5)
where
is
the
undamped
period
2rr/con,
and
K v = -2 K(_RL
Equation the ratio. (5) provides ratio a means P/T, of and controlling Eq. (6) the provides system response of time setting in the terms damping
(6)
of
nondimensional
a means
15
An interesting
set
of values
to choose
for
response
and
damping
is
PiT
- _/ll-__,
.<_ :
7-_/2.
KR
= 12,
KV
= -6.
When equation
these
values
are
substituted
into 3 to 5,
Eq.
(3),
the
result
is the
explicit
guidance
derived
in references
A__CG :
12 (R_TG
- R_G)/T
2 + 6 (VTG
+ V__G)IT
+ A_TO.
(7)
discussion of a space
of
implicit
vs
explicit
containing
K V plane.
guidaace-parameter
space
(7) delay.
presents The
the explicit
equation in at which
negligible corrected to is
acceleration achieved.
acceleration be
target-referenced
Tp
+ LEADTIME
where An
delay now
due be and of
execution. polynomial the time the to Eq. current Tp quartic (7) for delay is
explicit
current
in order equation
profile. Tp = T, is zero.
the
resulting
therefore
generates
profile
when
the
transport
the
actual
trajectory to be expressed
to be
a quartic as
function
of
time
allows
the
velocity
16
(8)
jerk
JTGA1
[-24/T
-18/T
-6/T
24/T
-6/T2
The time
acceleration Tp is
to be commanded
at the
current
time
T and
realized
at the
predicted
Tp
+ STGA
T2/2.
(10)
Substituting guidance
Eq. equation
(9)
into
Eq.
(10)
and
simplifying
yields
the
Apollo
lunar-descent
_ACG
- 2
12 (R_TG - RG)/T
2 +
- 3(--_
6 _VTG/T (11)
6 V__G/T +
- 6
+ 1
A_TG.
L
Note Tp/T Eq. Eq. (11) delay that when time all T is large bracketed in magnitude coefficients The point net compared in effect Eq. of to the (11) Eq. transport unity, achieved Eqs. the (7) delay, and by and approaches (11) (7) is are is approaches a gain unity, Eq. reduction for Tp approach (11) not
is approached. profile
Because when
identical zero.
(7) generatesaquartic
transport
17
derivation point
Eq. T could
constrained negative
in a guided
arbitrary from
that point
forward.
redesignation, an
or shrink if T
unnecessarily Because
severe T
response it can be
respondingly additional
adjusted. boundary
is arbitrary,
computed
constraint.
constraint
by using from
a target Eq.
this
scalar
polynomial
(9) yields
JTG One
Z T 3 + 6 ATG root
Z + 6 VG Z) T + 24 (RTG time T.
Z - RGz)
: 0.
(12)
of this cubic
required
for
reduces
the Although
propellant-consumption extensively program. T is one The root tested, alternate of the the
late
in the to zero.
LGC Thus
position
4 + JTG
Z T3/6
+ ATG
T2/2
+ VTG
Z T + RTG
- RG Z
= 0.
Braking-
Phase
Targeting
Objectives
by the
P63
targeting
must
a throttling nominally, in
absorbs With a
performance
6 600-kg, an optimal
Yang
guidance throttling
trajectory
satisfying
within to
the
ii a
to
region thrust
for
the level
last of
of of
P63, rated
estimated and K
flow of by
rate thrust.
targeting initial
program range.
adjusting
targeted, in excess
the of
most routine
of
P63
multiplies thrust
command
by the
the
guidance
18
(GTC),
and the
maximum of GTC
thrust and
until
the
GTC
falls
below
57%.
actual
thrust
phase
the
of adjustments
of the
ignition
thrust
level.
The terminal they trajectory. but Both descent they the can are
program forward to
P63
by the
target
by projected loop.
terminus targets
targeting iteratively
objectives. using a
ignition simulation
computed
the
Approach-Phase
Targeting
Objectives
P64 before to
are
to continuous
provide
visibility addition, for case, null the the the can the the
until P64
about targets
and pitch
trajectory iteration.
constraints.
projected
Landing-Site
Redesignation
Procedure
steer
the
LM
via uses of
the an i)
P64
to
procedure the
procedure take
landing steering
absence visually
intervention site
the erected
repetivively
point
is
displaced
accordingly.
identify the LM
the about
currently the
selected axis
landing
the
LGC
i)
thrust
designator which is
reticles by the LM
(see
Figure and
current
2) displays
pilot
relayed
through site.
of the
reticles,
identifies one
current
the two on
reticles, window
of which The
is painted separation
the outside
panel.
between
reticles
is 2.5 cm.
19
E L
_ _/ t=
_ //_1 __..L
o ..,.-, m
O O
_
m ____--
m
m
I I
I I
e"-'
--_c
I I
_-.i
0_
o 0 _'_
I
o C_
A
.x2
E
o
I--_D
O
fo O_ r_ I--o C A -7 rL _
E E
o
L..
e--
"7 J_
f-
E
,m
-7
o o
<
tO
E
,n
\
I 0 0 O I O I I O 1 I O O
2O
manipulating LGC to
his displace
or targets)
aft,
the along
directed
(1 )
with
LGC
the thrust
to to
guide maintain
to
the
redesignated of
site, the
site.
continue
steering seconds
landing the
coincidence point, at
with which
reaching
initiated.
P63,P64
Guidance
Algorithm
Guidance the
As vector,
shown and
in the
3,
thrust-acceleration as outputs.
command,
a unit
site
due
to to the
and
the Other
pass. are
are
fixed
floating
frame.
and
all
platform
coordinates.
The approximate preserves rotation tOLD). For the LGC count commander rate
landing
site
for
lunar of
rotation trigonometric
(Eq.
using
an yet
The
accounts preceding
the update
lunar (t -
clock-time
the
(6.2) the or
(6.7)),
whenever mode, command direction the NCAZ current zero, maintains the of the
is interrupted (NCEL)
incremented redesignation and per count has plane Elevation rotate redesignation orientation, constraint rotates (Eq. no
manipulation. and landing redesignation coincidence axes and plane. the the defined landing normal azimuth The of to NCEL
resets
Given the
are the in
two
L.__OSP.
an axis
normal in axis as
to Figure
shown XPleast
depends
is near negative
vertical as
at
-0.02
(Eq.
21
(6.5)) prevents redesignatingthe landing site beyondthe horizon. Equation (6.7) computes the displaced point near the surface shownin Figure 7 and places the redesignatedsite directly beneaththis point. The displayed LPD angle (0LPD, Eq. (6.8)) is the angle between L__OSP and the ZB- axis. The computationof the state vector in guidancecoordinates(Eq. (6.9)) places the origin of the guidanceframe at the landing site and yields the velocity of the LI_I relative to the lunar surface. Target-referenced time T is computedusing Newton'smethodstarting with a good estimate (Eqs. (6.12} - (6.13)). Notethat the denominatorof Eq. (6.12)is the derivative of the numerator. The guidanceequation (Eq. (6.15)) is identical to Eq. (Ii). The thrustacceleration command(Eqs.(6.16)- (6.17)) is merelythe total accelerationcommand minus current gravity GP, and the unit thrust command (Eq. (6.18)) is the direction
of the thrust-acceleration described and is in omitted command. reference from this 9 is The so-called radial-acceleration unnecessary present by in current the LGC guidance targeting program. correction techniques rendered although
report,
computation coding center which of vision permits why the the geometry the landing
of
the
unit
window the
here is
is a simplification to keep site) attitude. of vision. command the reticles the landing
reticles
current
the
L_OSP)
(UNWCP chosen with whether the command the (PRO and mixing (Eq. 2
L__OSP
C__BP X.
C_BP
X indicates result from measures projection magnitude for the for 75 . mixing _)LPD
a normal
forward-facing = LOSP.
would
(6.20))of
used
L__OSP (6.21))
U NWCP. = L_OSP
descent
trajectory
planar,
75 , and of
linear is
Regardless
whether
nonplanar,
is never
possible
to command
a side-facing
or
attitude.
22
!
v
L
%__
,,f>
" 7-1+ i +
_._ _-) z
/
o
_,, =i
, %
_ ,,7-,
_|
,,
i
__..._ z x
-%1 8
i._.x
NN
<
.,..<
r.D
_>1_
,.-i,
fi _ Si 0__ >,<
E=+ :E
,..,-,i
_S _"-_' '.
<:>_ _ _> _
'><_ _ /
_l
2:
i,,.,} :"t
e!_
, _
._S _+ _
S_
"
_o
,,_.1
I_I_
i _,_,1
<->
i i
I_1,':- g
23
XP CURRENT POSITION RP"zOLD L NEW OSP DISPLACED POINT : R P 4.LOSP NEAR THE SURFACE LPx" PPx
LOSPx
PLANE
NORMAL
TO XP LANDING SITE LP
CENTER OF MOON
Figure
Landing-site
Redesignation
Geometry
24
(L
..2_
.-_ _-_
x:.-_
,,-4
25
XG
APPROACH PHASE TERMINUS LINE-OF-SIGHT VECTOR LOSP: (A_PROX THRUST DIk) XE AXIS : C_BF x .... "_ _ FOSITION RP CUkF_ENT _ _ UNIT (LP-RP) ,_/ / / ('1/ FORP:UNIT|C-BPxXC--GP) ZG FORWARD VECTOk N RANGE /
PARALLEL DISPLACED
YG : CGPy
LosP-cBPx
xBAX,S C SFx
CRORANGE
Figure
Geometry
Pertinent
to Computing
the Unit
Window
Command
25
of
the
guidance 14 is = 1 in
frame guidance
(6.22)
frame
(6.24))
is
With
XG-axis if the is
such
jerk reference
would
trajectory in the
Z_G-axis
the 0 in
For
redesignations, setting 14 = I
to
null
the
crossrange
target
P63
Ignition
Algorithm
P63 excessive
require variations an is
an
and of
control time
commanding Algorithm
P63,P64 of:
Guidance
processed.
ignition
procedure
consists
I)
Computing in advance
the
precise
ignition
time
and
attitude
about
10
minutes
2) 3) 4)
the
ignition system
attitude ullage thrust the gimbal and 7.5 seconds holding prior constant time to point required the thrust to ignition thrust for vector and the
maximum system
5)
which an targets.
commands according
begins vector
To 1 i) inputs gravity guidance inputs. (11.6) by the this not a is Kepler calls
the
required algorithm
ignition as
attitude,
the The
(Figure supplies
a subroutine. of the (ii.i) state vector routine the seconds the The the
accurate valid at
state
corresponding the first algorithm by iterations, vector preceding vector and a unit by Eq. P63
estimated (11.5)
extrapolation and, on
extrapolated of minimum
not
extrapolated algorithm
ullage
negligible.)
guidance
produces
27
ZG-CG
XG--CGP x Vertical Th rough Current Landing Site Current Landing Site LP Trajectory to Current (Redesignated) Landing Site rget Point
-K(VP-WMOONP
X RP) T/4
Figure
10
Plan
View
of Guidance-coordinate-frame
Erection
28
CLOCK-TIM4 TAG OF CURRENT STAff ESTIMATED CIOCK-TIMF FOR FIRST P63 GUIDANCE TNRUST-ACCE| FRATION OF 2bSFC OF MINIMUM
THRUST
BEGIN
1
SAVE COPY _ CURRTNT STATT RP_VP AND ITS CLOCK-TIME TAG t
t
INITIALIZE T "-_ FOR P61, PM 4 _,E( I _4_ GU_DANCF kLGORITHM qD I2_ IO4D nUIOTIME LP " EP _ GU_OTIME CGP' 0 I Ol li -I I
o0
U_CP
(00.
ISI
EXTRAPOIAff COASTING STATE AND GRAV TY TO G IDTIMF r SET LOOP C(_JNTER _RP -Rp ( o _ DT MF I _/p -Vp I GUIDTIME ) I GUIDTIM_ Ibp _GP "Gp N 3 ( GUIOTIMF i Ilt I8_
VP COR_CT " VP + EXTRAPOIMTD AFTRIM UNFCP VELOCITY Z6 SFC FOR _'6 SECONDS OF MINIMUM
THRUST 91
i
CALL P61, P64 GUIDANCE N N - I ALGORITHM, DECREMENT LOOP COUNTER TI01
-@
ADJUST _I, JlI_TIME AGUIDT_N_E" FOR TRAJECTORY DISPERSIONS RG} - VRRICI] lID ;.Kx(RGx-RBRIGxI,Ky _(RG Z I_VG Z GUIDTIMC GUIDTIMF RBRIF, 7 +Kx_hx I+KvIVG i (171 * AGUIDTIMF
PREPARE FOR
- TIME TAG t
END
Figmre
11
P63
Ignition
Algorithm
29
thrust
command of the
UNFCP, velocity
which
to point on the
Because the
the above
direction procedure
correction
iteration,
is iterated
thrice.
An nominal RG Z
outer
ignition-algorithm Equations
loop (ll.ll}
accounts (Ii.12) as
with
respect
to the the
trajectory.
to correct
component
of position VG
at GUIDTIME
I) a linear
in the IRG X component of the out-of-plane range components and KX, and are Ky,
2) as a quadratic
initial speed;
range,
speed computed
computed
program. on
coefficients
using
a manual
procedure
based
descent
this
process
time variations
and
attitude of 2 of
for seconds 2
igniting in the
transients pass.
milliradians
commanded
guidance
3O
TERMINAL-DFSCENT-
PHASE
GUIDANCE
velocity
are
controlled
in P66 mode
by completely in which
independent
a nonautomatic to translate
wishes,
horizontally
lunar
surface.
no unit window
yaw
is controlled by
description
of P66
the nonautomatic
is provided
P66
Horizontal
Guidance
?algorithm
P66 nulls
guidance
12),
once lunar in
every
two
components a small
relative from
surface to
vector The
velocity.
horizontal the
nor assumption
magnitude; of
the
component
thrust-acceleration
equals
gravity.
as velocity control of
feedback loop.
damps Because
loop,
current
back
VMOONPy,VMOONP of (12.3)). the the thrust-acceleration On final the P64 first pass.
preceding fed
(12.2)that commanded
acceleration
back
of and
the
is LM
limited attitude, to
to
20 l?he
from LIMIT
(12.5)) limits
arguments
argument
the
value
of
argument.
The acceleration
unit
thrust
command
(Eq.
(12.6))
is the
direction
of the
limited
thrust-
command.
The of is
assumption
in generating equals vertically. from ROD the lunar The inputs commander channels.
that is
the
component if the is LM to
realized
vertical effect
of vertical switch, is is
the
ROD
modulation
negligible
31
only limited changesin the descent rate will ever be commanded;the vertical acceleration canbe significantly nonzeroonly for short periods of time.
P66 Vertical (ROD) Guidance Algorithm
ROD reference LM
algorithm, by throttling
per ROD it
attitude; orientation
non-vertical
object
of
the
is
to
respond
to
provides second, by
Using ROD
sample by the
(reference effective
stabilizing zero
dynamics
reduce
to
single
LZ
= -
LAG/(sample
interval-
LAG)
= -0.35/(1
0.35)
= -0.538.
One
pole
is
at
the
origin,
and
the
second
pole
is
Zp
= (time
constant
sample
interval)/time
constant
= (1.5
1)/1.5
= 1
3.
The nor
poles an
are
the
same
as
for
an
ideal
system
containing
neither
transport
lag
extrapolation.
The
ROD
algorithm
has
been
simplified
for
this
report
as
follows:
I.
In
the
LGC and
coding, recording
the
algorithm at which
each read.
pass This
by
reading time is
the called
ROD ROD
sample
instants interval,
but
the
interval
velocity and
thrust-acceleration
32
measurementwhich is the averageover the ROD sample interval. To computethe velocity vector it supplies, the SVURalso readsthe accelerometers, each pass, at the SVUR sample instant occurring at regular 2-second intervals. The irregular
ROD instants. in updating the are data obtained sample instants Consequently the processed is are the essentially interactions velocity ROD in asynchronous between vector are are 9. the with ROD the regular algorithm intricate. as inputs. How SVUR and the sample SVUR report, inputs
extremely shown
In this these
algorithm
reference
2. LGC
Although routines,
upon the
by
several
landing-site completehere
the
LGC
laboriously
manipulates
to maintain valid
validity
platform
alignment.
Presented
is the scalar
equivalent
platform
alignment.
Figure sample celeration ROD concluding by the sample the Throttle The vertical instant. by
13
shows Equation
the
HOD (13.1)
algorithm. computes
The the
are
all
at
the
ROD acthe
vertical over
to
thrust-acceleration gravity pass. The (13.2) velocity at ROD the time pass ROD as the (1.5 by cosine the instability with the to of and thrust a
for increment
the
throttle _FAis
extrapolates (reference P66 according pass. negative seconds). subtracting the angle is
sample-instant altitude rate) and the ROD (13.5) the The current is is
velocity. as the
initiated, to
incremented
decremented by the error the the total commander vertical divided required by
commands first
Equation of
between
AFCP.
DPS and
command the
P66,
Eqs. region.
(i 3.6)
restrict
AFC
produce
permitted-thrust
33
BEGIN
THRUST-ACCELERATION
COMMAND (])
:- (VPy :-IVpZ
-VMOONPy -VMOONP
(Z) 13)
THRUST
DIRECTION
:LIMIT(AFCPy .LIMIT(AFCP Z
, AECP X
, AFCP X tan20
OUTPUT:
UN T THRUST END
COMMAND
UNFCP
Figure
12
P66
Horizontal
Guidance
Algorithm
34
INPUTS : COUN,f OF ROD INPIIIS SAaI_PLE INSIANT CURRENT GRAVITY MEASURED VELOCIT_ NROD VPX GP AFp X 6 FA
THRUST ACC[LERATIO_ '_IEASURE_/_E"_I fAveraged over the ROD sample IntervaD THRUST CORRECTION INCREMENT ( From the ThroTtleRoutine } CURRFNT MASS E STI_AATI r
COMPUTE APX
ACCELERATION M + GP X
INSTANT
I
[XTRAPOEATE VP x SAMPLE INSTANT M[ASHRFD VELOCITY BY EFFECTIVE TRANSPORTI. (2_ A( :VP X * AP x 0.35SEC
UPDA'E
COMMANDED
VERTICAl VFtOCITY
INCORPORATING
INPUTS
COMPUTE
THRUST -(VP X
ACC[tERAT -VCP x
ION COMMAND GP X
il 1.5 SEC-
AFCP
61 CBPxx
RESTRIC,f THRUST ACCELERATION COMMAND THRUST WITHIN PERtw_ITTEDTHRUST REGION AFCP - MAXIMUM AECP MINIMUM WAFCP, 4AFCP 0 1/3
TO PRODUCE
_6) (7)
I ENO
IHRUSI OUIPIJT:
ACCFI ERATION
CO&IMAND
AfCP
FiKure
13
P66
Vertical
(ROD)
Guidance
Algorithm
35
['OWERED-FLIGttT
ATTITUDE-MANEUVER
ROUTINE
link
in
the
attitude (ATT)
of
command, powered-flight
the
Powered-flight guidance
Attitudeprograms to
routine The
various
functions
1.
For ATT
the
small
attitude a
normally constant
each as
guidance to achieve
cycle, the
commands attitude attitude abort, several all attitude angle only if the the the most > ATT
required
2.
For or over
gross upon
which
may
be required maneuver
at
phasic which
a rate-limited
3,
ATT
the issues
magnitude). commanded
and
within
no
gimbal-lock passes
commanded
attitude
gimbal-lock
program direction. anymaneuver limiting the drive Provided DAP the the
to
an A
abort break
program with
produce approaches, i)
up
to
gimbal gimbal
impossible of incremental from not is maneuver its currently magnitude through current gimbal-lock the
computing commanded
angles, 3) issuing
and that
attitude-maneuver their current in gimbal limlted gimbal and values lock, at the
commanded that
lock;
commanded avoidance
values. require
schemes similar
appended
maneuvers.
Figure process,
14
presents some
an
overview on
of
the the
LM
powered-flight on the
control of the
including
information
procedures
Except complex
profile about of
the change
37
rj
<
% o
-"4
NOIIOIAYN
(]NV 33_(31N9
38
Two
coordinate computes
frames
are
angles errors
HB).
course, error
control steady
any and
thrust corrected.
a thrust-direction
and a unit
navigation window
inputs command,
to
ATT, and
shown a thrustin to
in
Figure
14,
consist
of
processes
thrust-acceleration unit offset the frame. angles the DAP. the and of unit thrust the thrust From which Ten vector estimated
respect
command the it
erect
commanded-body compares per control the reference with second, the the
matrix,
times
updates The is a
the
commands. attitude
d)uaamic good
sufficiently
measure
of
instantaneous
of
this
is resonant
that,
although at with
runs
at points
a sample in the
of
avoiding
actual
spacecraft
slow
thrust-direction
Figure direction coordinates angles (Eqs. total and (Eq. (15.3) excursion (15.6)), and unit filter
the
Powered-flight the the thrust-acceleration required in maximum unit excursion with is not respect needed thrust
Attitude-maneuver measurement transformation direction travel thrust limit to and of vector of the not the is the is from limited trim limited trim
The
thrust-
by
(15.1)). and
change the
estimated
mechanical of the
deflection estimated
nozzle. computed.
If the unit
either thrust
i)
guidance to
provides adequately
a unit
window
too
closely
alined about
with the
command
determine
orientation
39
W_IT I_iT
Tt_RPST WlNUO_
_OM'aANO _ O_MAND
UNfCP UNWCP
,_l_!_'t
(_IMf_AI
ANt;L_S
RGAX
RGAy
RGA
LIMIT FOR
MIDDLE POSSIRL[
COMMANDLD ALARM
GIMOAL
ANI;LE
SAVINC
ORIGINAL
VALUE
(19) 12(11
l
I AtP !li Qt COMPUTF UM _M_TEO R_FERl,NGl. G_MBAL ANGLE CHANGES UNIRBy UNFR9 Z t I 0001_ 0001] I}F tll MODULAR _URGA SUOTRACT_ON _GA_A I I O I_] 0 129] I_l 16t Rl`S[T WINOOW FLAG If COMMANO IN(]
ALARM
COOl.
F It If I x Rf;,A_ _ Y / RGA Z
I A_RIt
USING
71LINAtR6
_,UiiRel.Limil[0211Ul4fR8
_11
IIN_RBy tlNIRB/
I IMIT
[I
LlIA_RRy Z
* +
AUNFRgy AUNIROz
i
1
" Limit
[r U_RB
EXCESS
IrE
Y OR l
GIMBAI`
Af'k_tE
CHANGES
AN_ f , RfPl
Ri%_l
iv [NDCrW
,_l ,.,,
RATES TO
ACE kl_ll
WlM)OW ?
IF_'_wtP'LJM(pt
ll
l!,lh_N_:P,
,_NI('P
1_41
FRIG1
( U_.IMANDEO _MCP
{t(lDy
I RAMI II0i
ARGAY
" LIMIT
II_,URGAY
COS
I I
COS
RGA Z
47'5l
C CRI_
I#.ATIx Ct'IIPy l li_ll_t]_CP x (CBPxl I Illl If ,_:Ftr'<, l _I:ItP x x,=t BP_ II?i t_lgGA
,LIMIT[AURGAx
_(
Z_,URGAySINRGAzI,
ZO0 ]
Q6t
FLAG X
Q ,/%ATT .'%ATT x -
1271 QS_
i
611GA. ]_
C_'( BPy
' (_(
14PzI
_ _CBP
Illll idR8 " 0 0 COSRGAzCOSRGA COSRGA? SINRGA x X SINRGA COSRGA x _:_.RGA/2SEC l}_}
_C BP/
t_t ge_:
w [S;BPy
1151
4{)RR X i XIR_'_( I iC,_( CO_MANOED "ARCTRI(,I GIMEAL CCDPzy ANGLES CCBPyy _ tl6) liIl6 Y
"LIMIII_RBxI_RBxI#
2oRB
fOOl
.LIMITiiRllviiIRBYjt
70RBy
lOOi
1311
fC, a_
_RCTPlf,
CCBPxz
CCBPxx
lilt
nll
.tImItI_rez
I_RB
il Z
or6
z .
I0_
ANGII RAIl S
INGRI
turN Is
8RGA RB
pFRMII_[O
I AC ANGI
tS
__RB
Figure
15
Powered-flight
Attitude-maneuver
Routine
40
XCB-axis, or 2) the guidanceprogram is P66 (which provides no unit windowcommand), then ATT provides a unit window commandsuitable for erection of the commanded-bodyframe and resets a flag to indicate that no attitude rotation is allowed aboutthe XCB-axis. ATT first provides the current ZB-axis (Eq. (15.8)). But this choice may also be nearly collinear with the unit thrust command, so a second possibility, the current negative XB-axis, is also offered (Eq. (15.9)). Becausethe ZB- and XB-axes cannot both parallel the unit thrust command, no further checksneedbe made. The matrix CCBP, whose row vectors are the commanded-bodyframe unit vectors expressed in platform coordinates, is computedto satisfy the unit thrust command,theunit windowcommand,andthe thrust offset (the angular displacement betweenthe estimated unit thrust vector and the XRB-axis). CCBPis computedin two steps as illustrated in Figure 16. The first step (Eqs. (15.10)-(15.12)) uses theunit thrust commandandtheunit windowcommandbut fails to accountfor thrust offset. Thesecondstep (Eqs. (15.13)-(15.15))corrects for thrust-offset components UNFRBy and UNFRB Z. Since these corrections are small, no unit need be taken in Eq. (15.14). A small window pointing error, shownin Figure 16, is introduced by the thrust-offset correction. Defined as the angle betweenthe ZCB,XCB plane and the unit windowcommand,the window pointing error is the product of the sine of the LPD angle and the thrust-offset angle about the ZCB-axis. Although the trim gimbal has a maximum displacementof 6, the maximum thrust offset during descent is about 1, which yields a maximum window pointing error of 0 at 0 LPD angle and0.9 at 65 LPD angle, the lower edgeof the LM window. Because the matrix CCBP is the transformation from platform tocommandedbody coordinates, it can be expressed in terms of the IMU gimbal angleswhich would place the body axes in the commandeddirections. Therefore, commanded gimbal anglescan beextracted from the commanded-body matrix. Expressing CCBP as the product of the three matrices that correspond to rotations about the three gimbal axesyields
CCBP = -CX SZ CY + SX SY +CX CZ ',+CX SZ SY + SX CY , +SZ ,';-CZ SY j +CZ CY +SX SZ CY + CX SY -SX CZ ',-SX SZ SY + CX CY
I I
(13)
where Y, and
S and Z are
indicate angles.
sine
and From
and it of
X, is
Y,
and
the
commanded gimbal
X,
apparent CCBP by
commanded (15.16)-(15.18),
angles ARCTRIG
from as follows.
the
elements
Eqs.
with
41
XCB
cc BP x
-UNFRB -UNFRBy
LM CCBP_ i
iI
-UNFRB YCB
c__c BP z
Figure
16
Geometry Viewed
on
of Erection a LM-centered
of
Frame
42
ARCTHIG
function second
of two
arguments
yields
the
angle
whose angle
tangent anywhere
is
arguments. of the
ARCTRIG
extracts
the
the circle
the
ratio
smaller-magnitude angle or
argument
to the and
largerthe
of the
by using
of the (15.17)
(15.16) in the
inner
circle. Eq.
Because
argument commanded
positive, angle
implying between
cosine,
(15.18)yields
gimbal
lock, Eq.
(i 5.20)
outer
inner
commanded is the
angle
inner
required guidance
_imbal-loek
char.ges
the alarm
middle code
is commanding
the gimbal-lock
is issued.
reference the
gimbal DAP's
angle
are
the
changes into
which
would with
be the the
bring gimbal
angles by
coincidence
angles. gimbal
modularly, (Eq.
reference
angles yield
from the
(15.21)).
modular
subtractions
smaller
differences,
i.e.,
-170
._
170
= .20
, not
-340
If reset to 12.
or
Z no
gimbal attitude
change is allowed
greater about as
than the
45
is
the
flag
is
XCB-axis. in the
is necessary of reference
starts
XCB-axis
derived
5.28)
yield changes
the to
angle
changes
is
the
other
attitude angle
resulting (Eq.
The applied by
DAP the
consist I / i0 second,
of
the the
reference reference
gimbal attitude
angle rates,
to permitted
be
43
The
reference by the
angle
are
gimbal (Eq.
angle
multiplied
of the
[)AP
sample
(15.29)). of
reference
attitude gimbal
rates
transformation permitted
angle
changes by
attitude
behind
a ramp the
available, magnitude
computed (Eq.
using
limited
(15.31)). errors
overshoot
permitting
lagging
attitude
equal
44
"FttROTT
LE
HOUTINE
the For
to
represented
DPS
thrust
commands with lie lie within below thrust. the the or input
acceleration permitted-thrust
permitted-thrust region
minimum avoids
from point
the
boundary
forbidden-thrust
regions.
A digital-to-analog descent except AFC% causes issuance of is time THROT 40,000 achieved. which to engine once which about of a per is control second converted
between (DECA). THROT pulse train and command, of cycle rated as thrust short of delay. Each
the
LGC guidance
and
the cycle
DP$ (once
is
by seconds, command
the
the
thrust to the
increment DECA.
Each
pulse
rate
is
one second,
second it
fraction
necessary
As the DPS
in
the
of
17, pulse
in
the count
region
from
Ii
to by
93% the
DJc:C :\. with when 93% descent, the higher saturation I)PS the the rated
command, the
summed thrust
provides
typically anominal
propellant at DEC
ensure
that
saturates
level whenever
throttle
routine
required.
in thrust
and
in
DECA
and
DPS
scale
factors provides
dead-beat errors
to step the
but
with
downstream error
scale-factor state.
thrust-acceleration
45
i _
(.
_
15i7_Hi (_]_]AIl]O
i,, _
i'
_4
I= I
-_e-
LNJ:)S](_ IN]3S]G
E_ P_
ISaaHl
T
I
]NI1_8 NOIIOIAYN
c=
46
the are
Throttle computed
Routine using
issued
illustrated Eq.
thrust,
corrects the
measurement
increment
computed
previous
The illustrated to the and (18.4) thrust saturation or corrects value (18.7)). thrusting needed the P66 at if the
thrust-control in Figure
logic
for
the
required
overall thrusting
system policies
possible thrust
regions to reset or
of the
and
present
commands DPS
Equation A into
(18.8)
command if the
augment policy
computed
retain DPS
(18.9)),
No
command permitted-thrust
required No
within the
equivalent
minimum ROD
commander guidance
or
downward impossible.
commands
within
practically
thrust _FA%,
(Eq.
(18.12)) augment
is composed FCAUG%
of the to drive
actual the
thrust DECA in
command
of saturation,
when
Preparatory pass, transport constant required per second. within Eq. (18.13) lag of are 0.08
the
thrust effective
for terms
the
succeeding
equal at
to output As
thrust as the
increment is clear
AFA that, as
(Figure LAG
sample
differencing
measurement AFA
be
thrust argument,
heuristic be added
it is apparent measurement
thrust the
to the thrust
sample-instant
47
RATIgN
COMV_AND RI '_t NT
AF['P AF P t
RATIDN/91_ASLI
INSTANT
Of CURRENT tSl M
[:YCI E [ STIMATI
BIGIN
COMPUff
COMMANO M
AND
THRUST M_ASUREM[NT
FA,_
(21
ICOMPUTE
SAMPLE CYCH
INSTANT
IHRIIST
BY ADDING
TH_ ACTUAL
THRUST
CORRECTION
COMPUffO
_TH[ PRECEDING
B)
FCAUG%"
0_5l
[CA:::'0
{sERET_RI_RUSF'MTC:NM_:NGOIYI4_&& NT
}l
FCAUG_"
_=/:,- 99'/,J
FF_A;GFI _-
iDg'_: i
i
COMPUTE THRUST ACTUAL COMAIAND F_ THRUST FOR INCREMfNT AND SAVE SUC.CE[D ING PASS (10} (Ill A_A _t, F( '_ FC_D _ FC_, DECA I CO_PUTE THRUST INCREM6 AFC_ :AFAr= + FCAUG NT COMMAND FOR I 2
NOT P00
POb
I
AI 2 SiC At 1 SfC
I
qQ,MPIJIT& THRUST CORRECTION IAG : (t ISI), 0.0fl SIC , IAg 6FA Z, : AFA% At INCRI_MENT FOR
I
SIJ(,.CEEDING PASS II)_ (14)
THRUST
CC_RR[CTION 0FA
INCREMENT _)FA_
fOR
_OD)GUIDANCE
ALGORITHM (IST
46106NEWTONS/
FN[)
Figure
18
Throttle
Routine
48
o-
f..
E
_'3 I---
0Q
I--"0J0 O C t-
,,.-, t't=
C
.._
u..
I,..,.
r,I,-C
t.--
E
C
13
t_
_
\
I,-,,. .,_,.i
Jm
tO
(3'3
I,,,,., _L O
lit"
oE_=
--
L O.-
t'_ t_
C --
49
thrust is proportional
to LAG
as computed
derivation of of Eq.
in Appendix
A of reference
sole purpose
Vertical (ROD)Guidance
Algorithm.
the
thrust which
command will
either be SFA%
within
the AFA% is
or
achieved, or _FA
slightly slight
in error error is
when due
the the
FCAUG%
of LAG.
5O
BRAKING-PHASE
AND
APPROACH-PHASE
TARGETING
PROGRAM
The Algorithm guidance and control efficient constraints the P64 speed
program the P63,P64 The that The and determine guidance targets
mission-dependent Algorithm. requires time and requires that thrust. approach although The typically range. approach-phase lie continuously provide All nominal indirectly targets a
data data
for are
the
P63 expressed
coordinates. data duration. transfer on constraints than vertical a nearly at straight-line 30 until at m a
ignition
provide several
an
trajectory in more terminal-descent site must horizontal, site and to 65% detail
visibility, a fast
in to
5,
akin
is
be
approached terminating
altitude a few
be DPS
visible thrust
before must
terminus, in the 11
around
57%
and
and
thrust
during and
approach
be
specified these
constrained transfer or
laws
of initial
constraints. guidance
The targets
task such
initial realized
state
profiles
the
final
of
and
the
guidance
and a
the lying
guidance on the
point,
substantially
beyond
targeting and be
is
to
the quartic
quartic independent trajectory coordinates specify. guidance, arbitrarily. determine Because all
by
imposed
is of
state in
by remaining a P64
each
constraints
51
uu
o
t_ .r'_
r/l 0
52
P64 trajectory,
form, Thus P64 and P64 constraint of described the targeting
the
and can of be
visibility determined
can
be
thrust
sets P64 in
and
picking
visibility
Specification will be
two-dimensional
section.
The at fixed
targeting thrust therefore, When throttle at Since there this the remain
is
not of in control
so the Figure
the
engine
must
be are
run not of is
commands
quartic. the
is
not
no
free,
constraints, algorithm
each
can one
guidance
a fourth as
set
composed
specified
conditions by is bilateral
determined because
simulation. interaction
required
between
simulation.
Constraints
The
P64
constraint
set
is
constructed
as
follows:
i.
Four
constraints
time are X
TAPF: the =
Two
constraints, X = 30-m
terminal -l-m/sec
terminal time
horizontal
constant
shall
be related
RAPFG
compatibility to be
constraints identical to
commands
at P64
transient
algorithm error,
as well P66
without
position
horizontal
the prior
because
effective
r of 8 seconds algorithm.
satisfactory
used
by the P66
53
at
an are with
time his
TAPM: sense of he
Typically, completely =
altitude state
rate
determining
RAPMG,VAPMG
RAPMGy
VAPMGy
0.
Two
at
an
unspecified specified
initial to
The
position of typically = 0.
length,
determining
position
given
the the
constraint and
set initial
except constraints
for
the These
and
subsequent will
simulation be unsatisfactory,
estimate case
initial
and
an alternate
must
be
seven by
P63
are terminal
as on
Four
constraints quartic are and by imposed specifying component The terminal propellant
are with on
compatibility on
terminal
thrust is imposed
constraint rate of
on the at error
horizontal
change by trial
of
thrust and
terminus. tominimize
pitch
chosen
consumption.
Approach-phase
Targeting
21
the
this and
Braking-phase descent.
22)
lunar
XG-
axis which
(altitude), is obtained
the
terminal immediately
acceleration, from
jerk,
and
snap
are
computed
54
1 =
0
TMF 1
x x x x x (14)
TIF
where by Eqs.
TMF (21.
and 1).
TIF
are
the
midpoint
and
initial
terminus-referenced
times
computed
In trajectory.
the
YG-axis,
position
and
all
its
derivatives
are
zero
to
produce
a planar
In the
_G-axis, Z =
Eq.
(21.4)
is
obtained Z
by
substituting
the
P66
compatibility
AAPFG
ZT"2,VAPFG
= -AAPFG
Equations It remains
its derivatives
For defined by
a quartic
polynomial,
state
transition
matrix
(T 1,
T O ) can
be
R 1 V"1 = Ai J--1 I
1 0
(T1-T 1 0
0)
(TI-T0)2/2 (TI-T 1 0)
_vo
A o =_(T1,T0)X 0,
XI=
0 0
0 0
0 0
1 0
(TI-T 1
0)
-si]
S_o
where theory,
R.
--I
to S.
--i
are
row
vectors.
(TI,
T O ) can
be
derived
using
linear
systems
= A_. I =
0
0
0
0
1
0
0
0
55
with
the
solution
e(TI-T = e
where term be
I is because
the
5 e i =
The
exponential of
series state
is
zero
after matrices
the
fifth can
properties
transition
applied
to
scalar
polynomials.
(21.7) and
yield the
the definition
complete of
target target-referenced
and
initial target
states time
by
using as zero.
state
Braking-phase
Targeting
To in Figure
the are
quartic closed be
although by simulation.
estimate necessary
the 0PBRF
quartic is
terminal
angle
Braking-phase
Figure the A unit angle using for P63 terminal vector 0PBRF the lunar
22
illustrates position
the and
routine. velocity
Four equal to is
by
in
the
computed
(Eq.
Eq.
(22.3)
GM.
therefore terminal at terminus, (22.4); thrust. to zero of the The (Eq. the
for
iteration (22.5)
estimated K J, typically be
determined iteration.
first-iteration
definition
braking-phase
to
Not a
shown backwards
is
of of
to to
set allow
the P63 terminal state for a short transition This capability the presentation
during which the acceleration is not always used, and of Figure 22.
56
targets definition of
are
computed
by
Eq.
the
state
zero.
targets,
a simulation
The (22.8)
nominal the
initial error
range in the
used target-
by
the
ignition time
algorithm of throttle
is corrected control
by recovery.
Eq.
to correct
referenced
The of position,
quartic
the
target
values
current the
pass
braking-phase
simulation.
solved the of T
to yield
the
achieved of
target achieved
jerk target
and
snap
according provides a
jerk
algorithm;
agreement
between
achieved
is typically
to seven
for
at
the
the
complete
state state at at
(22.10)
TBRF from
precisely, TBRF
whereas
applies
T which
differ
by up to the
(22.11)
P63
estimate
using
the
rocket and
of terminal
achieved
ZG-components
state only
test
quantities
are
by
Eqs.
SBRFGAx, only
SBRFGA convergence
braking-phase
57
INPUTS.* TERMINAL TARGET-REFERENCED TIME TERMINAL ALTITUDE TERMINAL ALTITUOE RATE EFFECTIVE P66 HORIZONTAL TIME CONSTANT MIDPOINT TARGET-REFERENCED TIME MIDPOINT INITIAL INITIAL STATE TARGET-gEFERENCEOTIME POSITION TAPF RAPFGx VAPFGx T TAP M R APMO, _APMO TAPI RAPIG
BEGIN
COMPUTE TERMINUS-REFERENCED TIMES "$MF - TAPM - TAPF. TIF TAPI - TAPF ()')
TERMINAL X COMPONENTS
pxl,...36.4 i o!]rR-ox1
(2)
/VAPMOx/
LRAPIGx J
TERMINAL Y COMPONENTS G) RAPFGy ,0. VAPFGy -0, AAPFGy -0, JAPFGy -0. SAPFGy -0
TERMINAL Z COMPONENTS TMF 4 _4_ | AAPFGzI JAPFGz| SAPFGzJ| =/ l I T2 -T TMF+TMF212 TMF]I6 TME 21 ? TIF3_6 14) TMF )t 6 TIF4124 J VAPMG RAMPGzZ 1 RAPIG Z (5I (61 VAPFGz "-AAPFGz T - T + TMF
T_-T
TIF+TIF212 T2
RAPFG 7 -AAPFG Z
+
COMPUTE COMPLETE TARGET ANO INITIAL - RAPrG_APTG AAPTG TAPTG .(O, TAPF) FRAPFG: _i_APFG _APFG ] __APFG STATES RAPTG _ -4_(TAPI,OI VAPTG A-APTG J'-APTG (7) *RAPIG _APIG AAP G I TAPIG
_]APTG_
L_SAPFC_, L]APtG
_-'APTG .
STATES
[RAPTqFRAPiq
I_VAPTGI iv^Pro[
LJAPTG| | JAPIG|
LX_APTq I_ API t
L_APTOJ , L_.APIGJ
[ND
FiKure
21
Approach-phase
Targeting
Routine
58
I--_.
w
.{ o m
:F
A / V ;_ IP
@ o
i c
J
_ r t t
!"
c
r/l
>
.c_.
c-
_o_
mmmmm
z8
r_ _
> m m m
_---
$_
_=_
_E_:
_oo
_
_ "- -_-'_ _ ,
8,..---------..--
_1_ oi_o
_ _o_=
59
are and
The
three
are
for
conditions control
time
and another
simulation inputs
by correcting
the ignition
algorithm
6O
REFERENCES
i.
Inertial Aerospace
Navigation Systems
of
ContinuouslySeattle,
Conference,
l I- 15, 1966. Module i, January -- A Digital 1971. General MIT Explicit, Optimizing Guidance Law Report Autopilot", Journal of Spacecraft and
2.
Widnail, Rockets,
3,
Cherry, for
Guidance
Rocket-Propelled August A.R., MIT A.R., (LM)", T.E., "A 1964. "A
Spacecraft",
Instrumentation
Laboratory
R-456,
4.
Manually
Retargeted
Automatic Report
Descent R-539,
and
Landing
System
Instrumentation Manually
Laboratory
5.
Klumpp, Module
Retargeted
Landing February
Journal G.G.
6.
Moore,
"Guidanee
Laws Back to
for the
Powered
Trajectories Apollo,
NASA,
Manned
Moore,
"False
MSC-EG-68-07,
NASA,
27, 1968. Seheme LM Descent January for Fuel Optimal Phase", Rocket Technical Trajectories Memorandum --
8.
Yang, With
T.L.,
"A
Applications
TM-71-2014-I,
9.
MIT
Charles
Laboratory LM Earth
Report Orbital
R-567, and
System Using
Plan Luminary
for
Lunar
Section
5, Guidance
Equations,
9, December
61
I0.
Guidance
During IFAC
Software
Considerations",
Yugoslavia,
September and
iI.
Klumpp,
"Elimination
of Noise
Response
Rate-of-Descent October
Stark Draper
Laboratory
E-2543,
Klumpp,
-- Guidance LUMINARY
Autopilot Memo
Interface Routine",
"Lunar
Descent New
and York,
Ascent January
AIAA
Eighth
Sciences
Meeting,
Planning
and Ascent",
as a NASA
Technical
62
R-695
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D. Farrar P. S. T. D. R. K. E.C. M. P. D. A. I. M. Felleman Femino Fit zgibbon Fraser Gilbert Glick Hall Hamilton Heinemann Hoag Hopkins Johnson Johnston
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