GP-B Post-Flight AnalysisÃ¢Â€Â”Final Report - Gravity Probe B - Stanford ...

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Table 4-10. Significant Events/Sources of Data LossEvent/SourceTime (Hrs)Anomaly 34 (CCCA Switch on 5/3/04) 0.76 **08:49:19.7Day 125, 5/4/04 03:44:47.1Day 130, 5/9/04 01:34:30.0Anomaly 73 (MSS Reload on 6/30/04) 0.58Day 240, 8/27/04 01:37:30.0Day 260, 9/16/04 01:55:30.0Day 268, 9/24/04 01:35:09.8Anomaly 148 (CCCA Switch on 3/4/05) 7.09 **13:34:29.8Anomaly 152 (CCCA Reboot on 3/15/05) 6.36 **08:13:57.2Anomaly 156 (CCCA Reboot on 3/18/05) 3.11 **06:23:06.4**Couldn’t command to turn on recorder 2/22/05 2.6Ground Station initial capture, antenna switch, and loss of 17.25signal (Typically 4 times per day)Other –Please add cycle 13 data of 42h:28m:06.2s – partly inA34, 148, 152 & 156.Total ~37.64.3.1.3 TCADThe main tool for viewing L1 data was TCAD, a program originally written by University of Colorado’sLaboratory for Atmosphere and Space Physics (LASP), and modified for Gravity Probe B by the data processinggroup. Since launch, TCAD had only one major upgrade to version 2.4.1, incorporating many unanticipatedfeatures desired by the engineering staff. The software, based on IDL version 5.4, was version controlled andunderwent extensive regression testing prior release on February 11, 2005. Feedback to LASP is planned.4.3.2 Data ArchivingPlans are currently underway to archive the Gravity Probe B data in the National Space Science Data Center(NSSDC), located at Goddard Space Flight Center in Greenbelt, Maryland. Data archival is a contractualagreement, as described in S0331, Mission Data Management Plan.4.4 Orbit DeterminationThere were two basic orbit requirements imposed by Gravity Probe-B science objectives. The first was toprecisely align the initial orbit plane with respect to the guide star such that non-relativistic torques on each ofthe four gyroscopes would nearly average out during the science mission. The second was to determine theposition and velocity with high accuracy continuously during the mission.GP-B science requirements placed very strict limits on the placement and evolution of the GP-B orbit planeover the life of the mission. Over the course of a 10 - 14 month science mission, the average deviation of the lineof-sightto the guide star from the orbit plane was required to be under 0.025 degrees. Through proper design oflaunch vehicle insertion conditions, careful consideration of expected orbit perturbations, and plans tocompensate for any launch dispersions with a limited capability to trim orbit inclination errors, the GP-Bproject has ensured that the established GP-B orbit will satisfy all science requirements.110 March 2007 Chapter 4 — GP-B On Orbit
At launch, GP-B’s inclination was just 5x10 -5 degrees away from the desired inclination, which corresponds toonly about 6 m of error assuming a planned 60-day Initial Orbit Checkout (IOC). This small error eliminatedthe need to carry out orbit trim maneuvers. Even without trimming, the average orbit plane errors over the lifeof the science mission are expected to remain under 0.020 degrees - well within requirements.GP-B operations also required accurate orbit determination (OD) in order to establish the GP-B position andvelocity to within 25 m and 7.5 cm/sec RMS throughout the mission. GPS observations available at 10-secondintervals were processed using the commercial Microcosm orbit determination program in daily 30-hour batchfits to satisfy those requirements.4.4.1 The GP-B Mission Orbit DesignThe GP-B altitude was planned to be approximately 650 km, based on launch weight considerations and a desireto be above the region in which atmospheric drag could overpower the Helium thrusting that maintains themission’s drag-free status. The specific mean semi-major axis was finally chosen to be about 10 km lower, at7018.0 km, in order to be between two repeat ground track resonances that would have complicated the IOCtrimming process. In addition, it was desired that the orbit be nearly circular in order to minimize dragfluctuations around the orbit. The target mean eccentricity and argument of perigee were chosen to be 0.00134and 90 degrees, the stable (“frozen”) values at GP-B mission altitude.The orbit plane was to have its descending node remain near the right ascension of the guide star, so that thespacecraft axis would remain nearly in the orbit plane to minimize gyroscopic torques. That implied a nearpolar orbit to minimize nodal precession and, after HR 8703 was chosen as the guide star, it implied a launchthat was timed to place the right ascension of the orbit’s descending node near 343 degrees.The specific inclination and nodal values for the GP-B orbit plane were derived from the requirement that:“[The] final target orbit shall be chosen such that the predicted angle between the line-of-sight to guidestar and the orbit plane, averaged over an interval longer that 10 months and less than 14 monthsstarting 2 months after launch, is less than 0.025 degrees.”The specified angle in the preceding requirement, commonly known as η (eta), is illustrated in Figure 4-5below. The η-angle is significant because of its relationship to gyroscopic torque. Outside disturbances likegyroscopic torque must be kept to a minimum to improve the accuracy of measurements obtained by the GP-Bscience experiment. Since gyro torque is proportional to the distance between the gyroscope and the orbit plane,gyro torque is also proportional to η. The science requirement that η be < 0.025 degrees when averaged over aninterval of 10 – 14 months, allows the effects of gyro torque on precession rate to nearly cancel.Mathematically, the angle η is obtained from the following equation:sin η = cos i sin δ* + sin i cos δ* sin(Ω - Ω*)η ≈ (90°- i) sin δ* - (Ω - Ω*+180°) cos δ*where δ* and Ω* are declination and right ascension of the guide star, corrected for aberration and propermotion and expressed in true-of-date coordinates. Errors in η-average arise from errors in the histories of theorbit’s inclination and right ascension of ascending node (i and Ω) during the mission, after the end of IOC.The key issue here is that there can be no corrective thrusting after the drag-free mission begins, so the orbitparameters at the end of IOC must be established very accurately. In particular, the inclination then must becorrect to within about ±0.00020 degrees, a value much more precise than needed for most missions. In order toobtain that inclination accuracy, the mission profile allowed for almost continuous cross-track thrusting(“trimming”) during the nominal 60-day IOC, using low-thrust Helium venting to remove the inclinationerrors made by the launch vehicle at insertion.Gravity Probe B — Post Flight Analysis • Final Report March 2007 111
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Post Flight Analysis — Final Repo
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Signatures & ApprovalsPrepared byPu
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Table of ContentsPreface . . . . .
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6.8 Sources and References . . . .
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11 Telescope Readout Subsystem (TRE
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14 Data Collection, Processing & An
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xiv March 2007 Table of Contents
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Figure 3-4. The GP-B dewar—one of
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Figure 8-5. The Seasons of GP-B . .
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Figure 11-20. Pointing angle differ
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Figure 14-9. In the Anomaly Room, t
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xxiv March 2007
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Table 13-3. GP-B payload magnetomet
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xxviiiMarch 2007
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2 March 2007 Chapter 1 — Executiv
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facility, it was necessary to recas
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spacetime around with them as they
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After years of work and the inventi
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axis of a gyroscope rotor changes i
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Figure 1-8. Clockwise, from top lef
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“management experiment.” This w
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Attitude-Control Gyroscopes. Two pa
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Any significant deviation from “g
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established, ranging from Level 1 (
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1.14 The Broader Legacy of GP-BAt l
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24 March 2007 Chapter 2 — Overvie
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Figure 2-1. GP-B Historical Time Li
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Applied Physics Laboratory, of the
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William Fairbank once remarked: “
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In Einstein’s view, space and tim
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y a mere 1.1 inches. You can see th
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Figure 2-10. Schematic diagram of t
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Figure 2-12. Final assembly of the
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Sun Shield. The sun shield is a lon
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2.1.8 The Broader Legacy of GP-BWhe
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2.3 Spacecraft SeparationThe Solar
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Flight Anomalies.) Furthermore, a d
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Table 2-2. Weekly summary of IOC ac
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2.4.3.2 Guide Star AcquisitionAbout
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A second mass trim operation had be
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On Friday, 2 July 2004, the spin ra
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Low temperature bakeout was first p
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2.5.1.3 Lockheed Martin Team Phase-
Page 88 and 89: Monthly Highlights of the GP-B Scie
Page 90 and 91: 2.6.1 Overview of the Calibration P
Page 92 and 93: Weekly Highlights of the GP-B Final
Page 94 and 95: 66 March 2007 Chapter 3 — Accompl
Page 96 and 97: It was in this pristine, near-zero
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Page 100 and 101: Figure 3-3. Functional diagram of a
Page 102 and 103: Based on data from the on-board tel
Page 104 and 105: Ideally, the telescope should have
Page 106 and 107: Figure 3-9. Schematic diagram of st
Page 108 and 109: used. The star trackers are essenti
Page 110 and 111: Result: By using the porous plug, w
Page 112 and 113: Solution: Create a tetrahedral lapp
Page 114 and 115: Constraint 2: The exhaust tube must
Page 116 and 117: Result: The on-orbit gyroscope spin
Page 118 and 119: spacecraft's subsystems for the dur
Page 120 and 121: Constraint 3: Keep the spacecraft p
Page 122 and 123: Technology Category Specific Implem
Page 124 and 125: 96 March 2007 Chapter 4 — GP-B On
Page 126 and 127: Any significant deviation from “g
Page 128 and 129: packages, one for each Ping load an
Page 130 and 131: In addition to these software packa
Page 132 and 133: Table 4-6. Features & benefits of W
Page 134 and 135: This software added considerable ef
Page 136 and 137: It is said that “an experiment is
Page 140 and 141: Figure 4-5. Pictorial depiction of
Page 142 and 143: Figure 4-7. Eta-Average Error Assoc
Page 144 and 145: 4.4.4.2 OD Using SLR DataFigure 4-9
Page 146 and 147: 4.4.5 ConclusionsFigure 4-11. Compa
Page 148 and 149: Overall, the storage issues did not
Page 150 and 151: Table 4-11. ITF equipment listEQUIP
Page 152 and 153: 124 March 2007 Chapter 5 — Managi
Page 154 and 155: 5.2 Overview of GP-B Anomalies in O
Page 156 and 157: Figure 5-1. Anomaly Review Team Org
Page 158 and 159: 5.3.3.1 Anomaly Investigation and R
Page 160 and 161: 5.3.5 Anomaly Identification and Re
Page 162 and 163: 5.4.3 Risk Management ApproachThe r
Page 164 and 165: Table 5-1. Summary of Open GP-B ris
Page 166 and 167: 138 March 2007 Chapter 5 — Managi
Page 168 and 169: 140 March 2007 Chapter 6 — The GP
Page 170 and 171: 3. Payload Integration, Testing and
Page 172 and 173: Figure 6-1. Clockwise from top left
Page 174 and 175: MSFC conducted an in-house Phase A
Page 176 and 177: It is important to note that from t
Page 178 and 179: 6.3.1 Incremental PrototypingThe pe
Page 180 and 181: alignment, and act as an accelerome
Page 182 and 183: Figure 6-9. The Lockheed Martin GP-
Page 184 and 185: Furthermore, a fourth electronic sy
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astrophysics/cosmology. Many of the
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Figure 6-10. MSFC Program Managers/
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As described in Chapter 2, the flig
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6.7 Some Observations on the Manage
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168 March 2007 Chapter 6 — The GP
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170 March 2007 Chapter 7 — Attitu
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7.1.2 Vehicle ATC ModesThere are es
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The output of the pressure transduc
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Figure 7-3. Science Telescope Compo
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Figure 7-5. Pitch and Yaw Pointing
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Figure 7-7. Magnitude of the roll r
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Changing the method by which the gy
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7.3.3 Drag-Free Control SystemFigur
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7.3.3.1 DFS - PerformanceThe GP-B d
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Figure 7-15. Mass flow effects of a
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7.5.2 Successful recovery from mult
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If the vehicle control system were
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accomplish this, the ARPs are mount
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7.5.6.1 South Atlantic AnomalyProto
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Figure 7-23. Effects on telescope p
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200 March 2007 Chapter 7 — Attitu
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202 March 2007 Chapter 8 — Other
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Figure 8-2. Block Diagram of CDH co
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8.1.1.4 WATCH DOG TIMERFigure 8-4.
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of eclipses each day (approximately
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Figure 8-8. GSS1 Temperature Trends
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Figure 8-10. Forward Dewar Vacuum S
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The Gravity Probe B spacecraft has
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Figure 8-13. Forward -X Thruster Te
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gaFigure 8-15. Aft -X Thruster Temp
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Because there are only two SQUID br
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Because the specifications for SRE
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8.3.2 Critical Mission RequirementT
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Figure 8-19 is a plot of the power
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Battery Performance Summary:Figure
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Figure 8-23. Solar Array Temperatur
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8.3.10 ConclusionThe electrical pow
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8.4.1 TDRSS OperationsFigure 8-28.
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Figure 8-30. Xpndr-A STDN (green),
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Figure 8-32. Plot of TDRS AGC vs Te
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The FSW also met its subsystem leve
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Appendix E, Flight Software Applica
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Table 8-4. SCRs Addressed in On-orb
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The software and macro changes resu
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Figure 8-38 below is an excerpt fro
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Figure 8-40. A-side CCCA Single Bit
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Figure 8-43. A-side CCCA Single Bit
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When single MBEs did not result in
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256 March 2007 Chapter 9 — Gyro S
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9.1 GSS Hardware DescriptionFigure
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significantly reduces and thus pres
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9.1.11 Clock synchronizationThe aft
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Figure 9-8. Block diagram of the LQ
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direction (transverse to the space
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9.2.2.2 Spin-up SuspensionDuring sp
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Figure 9-16. Predicted and measured
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Figure 9-18. The GSS passes rotor c
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Figure 9-20. Representative drag-fr
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Table 9-1. GSS Science Mission Mode
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Table 9-3. GSW application source l
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The Design and Testing of the Gravi
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282 March 2007 Chapter 10 — SQUID
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ate uncertainty). Although we have
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All of the GP-B electronics have be
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10.3 Pre-Launch Ground-Based TestsW
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Figure 10-6. AC Magnetic Shielding
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Figure 10-8. Temperature Error of S
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Figure 10-10. Quiescent SQUID Noise
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Analog control loops on the electro
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The science support applications ru
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Table 10-7. SSW application source
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308 March 2007 Chapter 11 — Teles
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Figure 11-1. Block diagram of TRE a
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Additionally, the warm electronics
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Figure 11-3. CLL switch states duri
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Table 11-3. Dates and UTC times whe
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Figure 11-7. Low Gamma Angle Data S
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s N+w i= sign+w i++−+−w i−w i
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expression, which otherwise on a po
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Figure 11-14. Y axis, B side RMS po
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Figure 11-17. X axis, B side curren
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Figure 11-20. Pointing angle differ
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Figure 11-24. Scaled summed current
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Figure 11-26 through Figure 11-29 s
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334 March 2007 Chapter 12 — Cryog
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12.2 Temperature / pressure control
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control the space vehicle without t
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Figure 12-3. Helium flow rate predi
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helium at 1.8 K. It does not appear
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Figure 12-6. Flow meter and ATC flo
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were generally within a day or so o
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shields) and subsequent instability
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350 March 2007 Chapter 12 — Cryog
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352 March 2007 Chapter 13 — Other
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Figure 13-2. ECU-operated heaters i
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13.1.3.1 Vatterfly Valve Operations
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13.1.3.7 Payload MagnetometersThe E
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Figure 13-11. ECU performance durin
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As we entered the second month of o
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During the last month of IOC, prepa
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Figure 13-19. ECU heater activity d
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Table 13-1. Proton monitor channel
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Figure 13-21. Proton Monitor data i
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In November, 2004 there was a large
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Figure 13-28 shows a correlation th
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13.3.1 About the MagnetometersFigur
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13.3.2 Other Applications for Paylo
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Figure 13-35. GPS Antennae Field of
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Figure 13-37. Master Antenna Switch
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Figure 13-39. Time difference betwe
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13.4.6 On-Orbit ResultsThe GPS comp
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and velocity values erroneously cal
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E. G. Lightsey, C. E. Cohen, B. W.
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Figure 13-45. A Bottom View of the
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Figure 13-48. The GMA configuration
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Table 13-10. Summary for Helium Gas
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398 March 2007 Chapter 14 — Data
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a relatively slow data rate, so we
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Figure 14-4. NASA ground stations a
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electronic components to recover fr
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By a process of elimination, the GP
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A special room in the GP-B Mission
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Starting on 3 December 1725, Bradle
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seemed that aberration of starlight
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14.1.6 Telescope Dither—Correlati
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14.1.6.3 The Telescope Dither Patte
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amplifications. Thus, in addition t
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14.2.2 Independent Data Analysis Te
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monthly time scales. Though only sh
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424 March 2007 Chapter 15 — Preli
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Figure 15-2. A diagram of the GP-B
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15.4 The Two Surprises and Their Im
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Near Zeroes.) The exception that we
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Figure 15-8. A slide from the GP-B
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Figure 15-9. A poster on the effect
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electrostatic patches, located at o
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Last summer (2006), Mac Keiser devi
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440 March 2007 Chapter 15 — Preli
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442 March 2007 Chapter 16 — Lesso
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16.1.1.3 Flight science downlink da
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Description of the GP-B experience:
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Lessons:1. Perform all tests with a
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Figure 16-1. Six interacting transl
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16.1.3.2 Training and certification
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Below is an edited summary of six a
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460 March 2007 Chapter 16 — Lesso
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462 March 2007 Appendix A — Gravi
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Apogee altitude659.1 km (409.6 mile
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466 March 2007 Chapter B — Spacec
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Gravity Probe B — Post Flight Ana
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470 March 2007 Appendix C — Weekl
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16 April 2004—Vehicle is Prepared
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The electrical power system is full
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4 JUNE 2004—MISSION UPDATE: DAY 4
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SQUIDs to detect their rotation spe
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17 JULY 2004—MISSION UPDATE: DAY
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indicate that we have reduced the t
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C.4 Science Mission Phase: 8/27/04
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• GP-B also has an independent da
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free suspension parameters to de-tu
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We have received inquiries about a
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One of the effects of geomagnetic s
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egan transmitting, one-by-one, stat
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28 JANUARY 2005—GRAVITY PROBE B M
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magnetic pole. This event triggered
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8 APRIL 2005—GRAVITY PROBE B MISS
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On Tuesday afternoon (19-April), GP
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Norway or through the NASA space ne
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Dewar Temperature: 1.82 kelvin, hol
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visitors on a tour of the GP-B faci
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test, we are planning on running fi
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contractor at the Goddard Space Fli
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On Wednesday, we visited the star H
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Gyro Suspension System (GSS): All 4
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The helium in the dewar has now sur
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the all the spacecraft status data.
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522 March 2007 Appendix D — Summa
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Figure D-2 below shows the distribu
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DateSeveritySubtypeTitle Descriptio
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DateSeverity24 26-Apr-04 Obs F Nois
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DateSeverity40 11-May-04 Obs T Dwel
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DateSeverity68 16-Jun-04 Medium Dec
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DateSeverity84 13-Jul-04 Obs F Slig
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DateSeverity116 26-Sep-04 Obs F SG3
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DateSeverity132 20-Dec-04 Obs F Unc
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DateSeverity149 5-Mar-05 Obs T Few
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DateSeverity169 04-Jun-05 Obs F MBE
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DateSeverity191 04-Oct-05 Obs A GSS
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550 March 2007 Appendix E — Fligh
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ReqIDLevel 1CSCDMP DataMgmtProcessi
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ReqIDLevel 1CSCLevel2 CSC Level 3 C
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Page 586 and 587:
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ReqIDLevel 1CSCSRM Solid StateRecor
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Page 592 and 593:
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ReqIDLevel 1CSCSRP SafemodeResponse
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ReqIDLevel 1CSCGUP GSS Processing g
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570 March 2007 Appendix F — Acron
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AcronymDefinitionAcronymDefinitionB
Page 602 and 603:
AcronymDefinitionAcronymDefinitionD
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AcronymDefinitionAcronymDefinitionF
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AcronymDefinitionIRUInertial Refere
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AcronymDefinitionAcronymDefinitionM
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AcronymPMPMAPMCPMEPMETPMSPMSUPNPoPO
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AcronymSCMOSCMTSCNSCPASCPMSCRSCSASC
Page 614 and 615:
AcronymDefinitionAcronymDefinitionT
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588 March 2007 Appendix F — Acron
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