FORMATION FLYING WITH

SHEPHERD SATELLITES
2001 NIAC Fellows Meeting
Michael LaPointe
Ohio Aerospace Institute
WHAT IS FORMATION FLYING?
Two or more satellites flying in prescribed orbits at a
fixed separation distance for a given period of time
Example:
EO-1 and Landsat-7
satellites are currently
formation flying in
LEO to provide high
resolution images of
Earths environment
NASA -GSFC
Planned Formation Flying Missions
TechSat-21
ST5: Nanosat Trailblazer
Terrestrial Planet Finder
ST3: Starlight
SMART-2 Darwin
ESA USAF
NASA
And Future Arrays Are Predicted With
Multiple (10 100) Nanosatellites
WHAT ARE THE BENEFITS?
Lower Life Cycle Cost Enhance/Enable Missions
Reduce Mission Risk Adapt to Changing Missions
BUT THERE ARE SIGNIFICANT CHALLENGES
KEY ISSUES
Initial Array Formation
Initial Array Formation
Insertion into proper orbit
Separation from launch vehicle
Maneuver into array formation
Array Reconfiguration
Array Reconfiguration
Change formation to meet new
mission requirements or new
viewing opportunities
Array Control
Array Control
Orbit perturbations will
cause spacecraft to drift
out of alignment
GUIDANCE,
NAVIGATION,
PROPULSION,
AND CONTROL
CURRENT APPROACH TO SATELLITE GNC
USES GPS AND ON-BOARD ALGORITHMS
J. Guinn, JPL, NASA Tech Briefs, July 1998
EXCEEDINGLY DIFFICULT AS
THE NUMBER OF SATELLITES
INCREASES
SOME OF THE CHALLENGES
GPS is not sufficiently accurate for interferometer applications
Closed-loop algorithms for autonomous N-body control are
not yet developed
Propulsion system exhaust may interfere with instrumentation
of neighboring microsatellites in the array
Propellant mass required for continuous array control reduces
the microsatellite mass allotted to instrumentation
Power system mass for higher specific impulse electric thrusters
also reduces available mass for instrumentation
Proposed solutions, such as tethering satellites to form an array,
may be difficult to implement for arrays with several satellites
or for arbitrary array geometries
GPS is not sufficiently accurate for interferometer applications
Closed-loop algorithms for autonomous N-body control are
not yet developed
Propulsion system exhaust may interfere with instrumentation
of neighboring microsatellites in the array
Propellant mass required for continuous array control reduces
the microsatellite mass allotted to instrumentation
Power system mass for higher specific impulse electric thrusters
also reduces available mass for instrumentation
Proposed solutions, such as tethering satellites to form an array,
may be difficult to implement for arrays with several satellites
or for arbitrary array geometries
NIAC PHASE I PROPOSAL
Use shepherd satellites flying outside the array to
provide guidance, navigation and control functions
Apply external forces to hold array in place
CONCEPT BASED ON
OPTICAL SCATTERING
FORCE AND GRADIENT
FORCE TECHNIQUES
Stable levitation and
trapping of microscopic
particles using mWlasers
Techniques used in biology,
material science, etc.
Idea is to extend method
to higher powers, longer
wavelengths, and larger
objects (microsatellites)
RADIATION FORCES FOR MICROSATELLITE
ARRAY CONTROL
push
pull
BASIC FEASIBILITY QUESTIONS
How would it work?
- Can we extend optical techniques to longer
wavelengths and larger particle sizes?
What are the required force levels?
- Overcome orbit perturbations
- Maneuver or reconfigure array
What are the required power levels?
- Use solar arrays to power beams
- Dont fry the science microsatellites
How many shepherd satellites are required?
- Depends on array formation (number, geometry)
- Require significantly fewer shepsats than microsats
How would it work?
- Can we extend optical techniques to longer
wavelengths and larger particle sizes?
What are the required force levels?
- Overcome orbit perturbations
- Maneuver or reconfigure array
What are the required power levels?
- Use solar arrays to power beams
- Dont fry the science microsatellites
How many shepherd satellites are required?
- Depends on array formation (number, geometry)
- Require significantly fewer shepsats than microsats
ANALYTIC MODELS
Dielectric Material
Dielectric Material
Rayleigh Approximation:
Diameter << Wavelength
(Electromagnetic Wave Theory)
Rayleigh Approximation:
Diameter << Wavelength
(Electromagnetic Wave Theory)
Metallic Material
Metallic Material
Mie Approximation:
Diameter Wavelength
(Geometric/Ray Optics Theory)
Mie Approximation:
Diameter Wavelength
(Geometric/Ray Optics Theory)
Analysis can be extended to arbitrary EM wavelengths
Emphasis placed on Mie approximation (microwaves)
Models used to predict radiation force per unit power
ELECTROMAGNETIC SCATTERING FORCES
c
P Q n
F
s 1
s

'

+ +
+
+
2
2
1 2 1
2
1 s
2Rcos R 1
)] Rcos(2 ) [cos2( T
) Rcos(2 1 Q
{ } ) Rcos(2 1 Q
1 s
+
R = Reflection Coefficient, T = Transmission Coefficient
"
1
= incident angle, "
2
= refraction angle, c= speed of light,
n
1
= refractive index (vacuum), P = incident beam power
dielectric
metallic
ELECTROMAGNETIC GRADIENT FORCES
ARISE FROM INTERACTION OF INCIDENT ELECTRIC
FIELD WITH INDUCED DIPOLE MOMENT OF OBJECT
pEcos ) E p ( t) U(r,
2
1
2
1

fixed
2
1
grad
) E p ( t) U(r, t) (r, F

U=potential energy, p=dipole moment, E=external electric field

'

+ +
+

2
2
1 2 1
2
1 G
2Rcos R 1
)] Rsin(2 ) [sin2( T
) Rsin(2 Q
{ } ) Rsin(2 Q
1 G

dielectric
metallic
Integrate over incident angles for total force
Geometric Optics
Approximation:
PRELIMINARY RESULTS
Analytic Models Predict Scattering and Gradient
Forces of ~ 10
-11
N/W to ~ a few 10
-9
N/W
Based on these results
Assume 10
-9
N/W can be achieved
Assume 10-kW to 100-kW power levels
Provides restoring forces of 10
-5
N to 10
-4
N
WHAT CAN WE DO WITH THIS?
MISSION APPLICATIONS
LOW EARTH ORBIT
Drag Force:
1 2
2
1
D
B V M F


M = spacecraft mass (kg)
= atmospheric density (kg/m
3
)
V = orbital velocity (m/s)
B = ballistic coefficient = M/(C
D
A)
A = cross-sectional area (m
2
)
C
D
= drag coefficient; 2 C
D
4
MSIS Density Model, Hedin, J GR 96, 1999
MISSION APPLICATIONS
LOW EARTH ORBIT
10
-11
N/W
at 10-kW
10
-9
N/W
at 10-kW
MISSION APPLICATIONS
LOW EARTH ORBIT
Drag make-up at orbital altitudes above 800-km
F
net
= F
rad
- F
drag
50-kg microsatellite
1000-km orbit
Cross-sectional area = 1-m
2
10
-5
N restoring force
10
-9
N/W @ 10-kW
Maintain position 1-cm
Example:
MISSION APPLICATIONS
LOW EARTH ORBIT
In this example, a
single shepsat can
illuminate up to 8
microsats in sequence
MISSION APPLICATIONS
LOW EARTH ORBIT
Potential Uses in LEO below 800-km
Provide positioning beacons for array formation
- Single shepsat can provide discrete EM intensity matrix
- Sensors position microsats at points of maximum intensity
- Microsats require propulsion, but simpler GNC routines
- Ground/autonomous control of shepsat vs. full array
Drag correction appears feasible at higher altitudes (>800-km)
Single shepsat can illuminate several microsats in sequence
Time on target depends on required force, degree of correction
- less drag for smaller satellite areas and higher satellite orbits
MISSION APPLICATIONS
GEOSYNCHRONOUS EARTH ORBIT
Orbital altitude = 37,786 km (Geostationary Orbit)
Atmospheric drag is negligible
Other perturbations become important:
- North-South perturbations due to Sun and Moon
- East-West perturbations due to solar radiation
- East-West perturbations due to Earth triaxiality
Sufficient Force to Overcome These Perturbations?
MISSION APPLICATIONS
GEOSYNCHRONOUS EARTH ORBIT
North-South perturbations due to Sun and Moon
year
0.85
W
e 1 a
rcos
dt
di
o
2 2

Changes satellite inclination over time
Need to supply restoring force to overcome
perturbing acceleration:

,
_

cos
10 1.45
M 10 P
6
W
N
9
2
-6
s
m
cos
10 1.45
W

,
_

MISSION APPLICATIONS
GEOSYNCHRONOUS EARTH ORBIT
Power required to compensate for changes in inclination
10-kW; limited to nanosats
Requires high power to
illuminate several microsats
N-S microsatellite
stationkeeping may
require on-board
propulsion for
larger microsats
MISSION APPLICATIONS
GEOSYNCHRONOUS EARTH ORBIT
East-West Perturbations from Solar Radiation Forces
Changes orbital eccentricity and orientation of apsidal line:
M
A
) S(1 a +
Results in an
acceleration:
S = solar constant, A = area, M = microsat mass, = average reflectivity
Assuming shepsat restoring force of 10
-5
N yields condition:
2
2.2m )A (1 +
Easily met for most
planned microsats
MISSION APPLICATIONS
GEOSYNCHRONOUS EARTH ORBIT
North-South Perturbations due to Earths Triaxiality
Equatorial cross-section is approximately elliptical
Minor ellipse axis passes through 75
o
E, 105
o
W longitude
- Stable points; satellites at these locations will stay there
- At any other longitude, satellite will drift toward and
oscillate around the nearest equilibrium point
| ) sin(2 | M 55.45 P(W)
o

Leads to condition on
required beam power:
| ) 2 sin( | 75 . 1 ) / V(
s
m
o
yr
Need to correct this
annual change in V
MISSION APPLICATIONS
GEOSYNCHRONOUS EARTH ORBIT
North-South Perturbations due to Earths Triaxiality
Only modest beam powers
are required to correct
Earth triaxiality
perturbation
OTHER MISSION APPLICATIONS
Middle Earth Orbit
Middle Earth Orbit
Repeat ground track missions
Reduced atmospheric drag
Smaller V fromsolar pressure
Sun/Moon and triaxial still exist
Repeat ground track missions
Reduced atmospheric drag
Smaller V fromsolar pressure
Sun/Moon and triaxial still exist
Deep Space Arrays
Deep Space Arrays
Long-baseline observations
Minimal orbit perturbations
Fine control provided by an
intensity matrix holding the
microsatellites in place
Long-baseline observations
Minimal orbit perturbations
Fine control provided by an
intensity matrix holding the
microsatellites in place
SUMMARY
Formation flying enhances/enables science missions
- Lower life cycle cost, reduced risk, mission adaptable
Shepherd satellite concept may provide a useful technique
for controlling microsatellite positions within the array
- Provide restoring forces 10
-9
N/W per beam
Low Earth Orbit
800-km, provide drag compensation and position control
< 800-km, provide intensity markers for microsat positions
Geosynchronous Earth Orbit
- Control orbital perturbations for nanosatellites ( 10-kg)
- Larger microsatellites may require on-board propulsion
Deep Space Arrays
Accurate position control using intensity force matrix
Formation flying enhances/enables science missions
- Lower life cycle cost, reduced risk, mission adaptable
Shepherd satellite concept may provide a useful technique
for controlling microsatellite positions within the array
- Provide restoring forces 10
-9
N/W per beam
Low Earth Orbit
800-km, provide drag compensation and position control
< 800-km, provide intensity markers for microsat positions
Geosynchronous Earth Orbit
- Control orbital perturbations for nanosatellites ( 10-kg)
- Larger microsatellites may require on-board propulsion
Deep Space Arrays
Accurate position control using intensity force matrix
NEXT STEPS
Additional system definition studies:
- Shepsat power, propulsion, communications
- Microwave power generation (10-kw to 100-kW)
- Beam formation and pointing accuracy
- Antenna design: variable focus, ability to scan, etc
- Microwave beam interaction with microsatellites
- Dielectric or reflective shells for surface interactions?
- Protect electronics, instruments, inter-satellite communications
- Microsatellite reaction control/pointing systems
Refine numerical models for better force predictions
- Material interactions, off-angle beam corrections,
Experimental validation of force predictions
- Demonstrate electromagnetic scattering and trapping
forces on representative microsatellite test mass
Additional system definition studies:
- Shepsat power, propulsion, communications
- Microwave power generation (10-kw to 100-kW)
- Beam formation and pointing accuracy
- Antenna design: variable focus, ability to scan, etc
- Microwave beam interaction with microsatellites
- Dielectric or reflective shells for surface interactions?
- Protect electronics, instruments, inter-satellite communications
- Microsatellite reaction control/pointing systems
Refine numerical models for better force predictions
- Material interactions, off-angle beam corrections,
Experimental validation of force predictions
- Demonstrate electromagnetic scattering and trapping
forces on representative microsatellite test mass
ACKNOWLEDGEMENTS
Support for this Phase I research effort was provided by
the NASA Institute for Advanced Concepts