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Meeting	ACGS Committee Meeting 112 - Annapolis, Maryland - October 2013
Agenda Location	6 SUBCOMMITTEE B – MISSILES AND SPACE 6.1 Closed-loop testing of Orion GN&C at Lockheed Martin SOSC
Title	Closed-loop testing of Orion GN&C at Lockheed Martin SOSC
Presenter	Zoron Milenkovic
Affiliation	Draper Laboratory
Available Downloads*	presentation
	Downloads are available to members who are logged in and either Active* or attended this meeting.
Abstract	Closed-loop testing of parts of the Orion rendezvous, proximity operations, and docking (RPOD) guidance, navigation, and control (GN&C) system was executed in July of 2013 at the Lockheed Martin Space Systems Corporation's (LMSSC) Space Operations Simulation Center (SOSC). The SOSC is a state-of-the art facility that houses a six-degree-of-freedom (6 DoF) robot. The role of the robot during testing was to place the vision navigation sensor (VNS) to exact locations and precise attitudes at prescribed velocities and attitude rates. Precise inertial states were supplied to the robot by a high-fidelity simulation of Orion-to-International Space Station (ISS) RPOD called Osiris. This superlative simulation is built on the NASA-developed Trick platform, and contains intricately detailed environment, vehicle, and sensor models. The simulation models communicate with the Simulink-based flight software (FSW) models called RAMSES-M. The flight software models are grouped into domains based on their function. Domains include, but are not limited to, absolute navigation (NVA), relative navigation (NVR), ephemeris navigation (NVE), mass property estimator (GMP), on-orbit guidance (GDO), and Orion service module (SM) controls (CNS). These models are based on the Orion Guidance, Navigation, and Control (GNC) algorithm design. To close the loop the VNS takes LIDAR range and intensity images of the SOSC ISS mockup that are passed to the vision processing unit (VPU). The VPU outputs are fed into the RAMSES-M FSW, which outputs commanded thruster firings to the Osiris simulation. Ultimately, the FSW should guide the physical robot to roughly 2 meters away from the ISS mock-up. Analogously, the position of the Orion docking port in the Osiris simulation, expressed in target docking port (TDP) coordinates, should end at 2 meters. The paper will present an overview of the test including objectives, hardware and software setup and procedures. Results of the test are presented as well as a discussion on the impacts of the results. A brief post-flight analysis and forward-work are explained. Some details of the SOSC, RAMSES, and Osiris are discussed as well.