R=20090016290 2017-09-09T15:25:11+00:00Z
Terminology familiarization
Top-level organization of the GNC system
Caveats
C t
Terminology not always consistent between
various
i organizations
i ti (P
(Program Offi
Office, Fli
Flight
ht
Ops, North American, Grumman, MIT, TRW)
Prime
Pi contractor
t t terminology
t i l (N
(North
th
American, Grumman) used here
Agenda
Navigation: Where am I?
Inputs: sensor measurements
Sensors
Outputs: vehicle state vector Measurements
(position & velocity at a given
time)
Navigation
g
State Vector
Review of Basic GNC Concepts
Navigation: Where am I?
Inputs: sensor measurements
Sensors
Outputs: vehicle state vector Measurements
(position & velocity at a given
time)
Guidance: Where
Where am I going?
going? Navigation
g
Inputs: state vector from
navigation State Vector
Outputs: required change in
velocity, required attitude (for Guidance
powered d fli
flight)
ht)
V, attitude cmds
Review of Basic GNC Concepts
Navigation: Where am I?
Inputs: sensor measurements
Sensors
Outputs: vehicle state vector Measurements
(position & velocity at a given
time)
Guidance: Where
Where am I going?
going? Navigation
g
Inputs: state vector from
navigation State Vector
Outputs: required change in
velocity, required attitude (for Guidance
powered d fli
flight)
ht)
Control: How do I get there? V, attitude cmds
Inputs: required change in velocity
and/or attitude Control
Outputs: commands to flight
control effectors (Reaction Control Propulsion/gimbal cmds
System (RCS) thrusters, engine
gimbals, etc)
Effectors
Command & Service Module (CSM) GNC
Organization
CSM S-IVB
Propulsion
Command & Service Module (CSM) GNC
Organization
PGNS AGS
CES
LM Propulsion
Lunar Module (LM) GNC Organization
CES
LM Propulsion
Lunar Module (LM) GNC Organization
LM
+X-AXIS
Unit (IMU)
Stable platform for
LM
measurement of attitude and OUTER +Z-AXIS
GIMBAL
acceleration isolated from
acceleration, MG AXIS
IG AXIS
IMU CASE LM
(CUTAWAY) +Y-AXIS
Inertial Subsystem
LM
+X-AXIS
Unit (IMU)
Stable platform for
LM
measurement of attitude and OUTER +Z-AXIS
GIMBAL
acceleration isolated from
acceleration, MG AXIS
changes
IG AXIS
IMU CASE LM
(CUTAWAY) +Y-AXIS
Inertial Subsystem
LM
+X-AXIS
Pulse Integrating
Inertial Measurement Pendulous Accelerometers
(PIPAs) Xa, Ya, Za
OG AXIS
Inertial Reference
Integrating Gyros
(IRIGs) Xg, Yg, Zg
Unit (IMU)
Stable platform for
LM
measurement of attitude and OUTER +Z-AXIS
GIMBAL
acceleration isolated from
acceleration, MG AXIS
changes
IG AXIS
Pulse Integrating Pendulous
IMU CASE LM
Accelerometers (PIPAs) sense (CUTAWAY) +Y-AXIS
velocity
l it changes
h
Inertial Subsystem
LM
POWER AND GUIDANCE
SERVO COMPUTER
ASSEMBLY
PULSE
TORQUE
ASSEMBLY
Inertial Subsystem
PULSE
TORQUE
ASSEMBLY
Inertial Subsystem
Sextant (SXT)
28x magnification
magnification, 1.8
1 8 degree field
field-of-
of
view (FOV), dual lines-of-sight (LOS)
Collect star LOS data for IMU align
Collect star/horizon LOS data for
cislunar navigation
Collect LM LOS data for rendezvous
navigation
CSM Optical Subsystem
Sextant (SXT)
28x magnification
magnification, 1.8
1 8 degree field
field-of-
of
view (FOV), dual lines-of-sight (LOS)
Collect star LOS data for IMU align
Collect star/horizon LOS data for
cislunar navigation
Collect LM LOS data for rendezvous
navigation
Scanning Telescope (SCT)
1x magnification, 60 degree FOV
Locate stars for subsequent SXT
sightings
Collect landmark LOS data for orbital
navigation
CSM Optical Subsystem
Sextant (SXT)
28x magnification
magnification, 1.8
1 8 degree field
field-of-
of
view (FOV), dual lines-of-sight (LOS)
Collect star LOS data for IMU align
Collect star/horizon LOS data for
cislunar navigation
Collect LM LOS data for rendezvous
navigation
Scanning Telescope (SCT)
1x magnification, 60 degree FOV
Locate stars for subsequent SXT
sightings
Collect landmark LOS data for orbital
navigation
Minimum Impulse Controller (MIC)
Located in LEB with optics
Mini-rotational controller provides fine
RCS pointing control for optics
sightings
Translation Control
(TC)
Three-axis CSM RCS
translation control
Rotate T-handle
counterclockwise to
initiate launch abort
Rotate T-handle
clockwise to switch
from PGNCS to SCS
control
CSM SCS Hardware
Rotation Controls
(RC)
Three-axis CSM RCS
rotation control or
Thrust Vector Control
(TVC)
Push-To-Talk (PTT)
trigger
CSM SCS Hardware
CDU
EDA
GP/FPI
GDC
ASCP
EMS
TC
RJEC
RCS
ECA
TVSA
CDU
EDA
GP/FPI
GDC
ASCP
EMS
TC
RJEC
RCS
ECA
TVSA
CDU
EDA
GP/FPI
GDC
ASCP
EMS
TC
RJEC
RCS
ECA
TVSA
CDU
EDA
GP/FPI
GDC
ASCP
EMS
TC
RJEC
RCS
ECA
TVSA
Displays
p y data for
monitoring a PGNCS
entry and/or manual
control of a PGNCS
PGNCS-
fail entry
V monitoring and
backup shutdown
during SPS burns
Raw display of VHF
ranging data during
rendezvous
CSM Very High Frequency (VHF) Ranging
Abort Electronics
A
Assembly
bl (AEA)
AGS computer
Data Entry and Display
A
Assembly
bl (DEDA)
Display/keyboard
Abort Sensor Assembly
(ASA)
Strapdown (fixed to LM
body) inertial navigation
y
system
Attitude and velocity data
to AGS
Mounted to nav base with
IMU and AOT
LM CES Hardware
Attitude Controller
Assemblies (ACAs)
Manual attitude control
Landing point
redesignation
capability during final
approach phase
Push-To-Talk (PTT)
( )
trigger
LM CES Hardware
TTCAs
S&C
Switches Control
AGS Assemblies
AEAA APS
AEA
RGAs
Uplink
ATCA
RCS
ACAs
TTCAs
S&C
Switches Control
AGS Assemblies
AEAA APS
AEA
RGAs
Uplink
ATCA
RCS
ACAs
TTCAs
S&C
Switches Control
AGS Assemblies
AEAA APS
AEA
RGAs
Uplink
ATCA
RCS
ACAs
TTCAs
S&C
Switches Control
AGS Assemblies
AEAA APS
AEA
RGAs
Uplink
ATCA
RCS
ACAs
TTCAs
S&C
Switches Control
AGS Assemblies
AEAA APS
AEA
RGAs
Uplink
ATCA
RCS
ACAs
TTCAs
S&C
Switches Control
AGS Assemblies
AEAA APS
AEA
RGAs
Uplink
ATCA
RCS
ACAs
RENDEZVOUS
RADAR ANTENNA
LM
+Z-AXIS
LM
+Y-AXIS
LM Radar Subsystem Hardware
No ORDEAL
Orbital Rate Display Earth And Lunar (ORDEAL)
With ORDEAL
Docking Aids
Barrel Index
Crewman Optical
Alignment Sight
(COAS)
Line-of-sight (LOS)
reference and gross
range/range rate cues
during final approach Reticle Dimmer Barrel Lock Combining glass
and docking
Could be used as
backup to optics for
navigation sightings
Reticle Pattern
Docking Aids
Docking Targets
Lateral/angular
alignment cues during
final approach
Exterior LM-mounted
target for CSM
CSM-active
active
docking (nominal)
Interior CSM-mounted
target for LM-active
docking
Summary
Primaryy g
guidance and navigation
g systems
y were
mostly common to both vehicles
Almost no redundancy in CSM guidance and
navigation
i i ((mostly l iin optics
i subsystem)
b )
LM had redundant guidance for aborts
Redundant
R d d t control t l systems
t on b
both
th vehicles
hi l
allowed manual and limited automatic control in
tthe
e event
e e toof p
primary
a y syste
system failure
a ue
Mission Control Center provided guidance and
navigation functions for this case
References
Apollo Operations Handbook, Block II Spacecraft, Volume I:
Spacecraft Description
Description. SM2A-03-Block
SM2A 03 Block II
II-(1),
(1) 15 January 1970
1970.
Apollo Operations Handbook, Lunar Module, LM 10 and
Subsequent, Volume I: Subsystems Data. LMA790-3-LM 10, 1 April
1971.
Apollo Training: Guidance and Control Systems - Block II S/C 101,
15 September 1967.
Apollo Experience Report Guidance and Control Systems. NASA
TN D-8249
D 8249, June 1976
1976.
Apollo Experience Report: Very-High-Frequency Ranging System.
NASA TN D-6851, June 1972.
Apollo Experience Report Guidance and Control Systems: Orbital-
R t Drive
Rate D i ElElectronics
t i ffor th
the A
Apollo
ll CCommand dM
Module
d l and dL
Lunar
Module. NASA TN D-7784, September 1974.