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Development Capabilities

Video Guidance (VG) Sensor Heritage

Marshall Space Flight Center (MSFC) began development of an Automated Rendezvous & Docking (AR&D) capability as an outgrowth of the Orbital Maneuvering Vehicle Program. During this work a docking sensor was identified as the critical technology needed to enable an AR&D system to be developed. The initial development focused on replacing and/or backing up human-in-the-loop ground control.

STS 95 Spartan Deployment

All VGS development and testing in preparation for subsequent flight experiments was performed at MSFC. During development at the Flight Robotics Laboratory (FRL) at MSFC the VGS unit was tested using a Hardware-in-the-Loop (HWIL), closed Loop methodology. The types of testing performed during development included:

1. Electronics
2. Optics
3. Software/Algorithms
4. Integration
5. Performance Testing
6. Environmental Testing
7. Qualification Testing

The first flight experiment flew on STS 87 with targets installed on the Spartan (GSFC) Spacecraft. The VGS unit accurately tracked Spartan in all of the positions the Space Shuttle’s Remote Manipulation System (RMS) placed it. During the second flight experiment on STS 95 (re-flight of Spartan and VGS) the crew used VGS during the successful retrieval of the Spartan Spacecraft and flew the straightest terminal approach in Shuttle history.

VGS FLIGHT EXPERIMENT APPROACH AND DEPARTURE OPERATIONS (STS-95) (Click image to see larger picture.)

After the flight experiments aboard the Space Shuttle, development continued with an Advanced Video Guidance Sensor (AVGS). After exhaustive testing, a flight unit was initially developed for the Defense Advanced Research Projects Agency (DARPA) for the Demonstration of Automated Rendezvous Technology (DART) project. For the AVGS Marshall:

1. Developed and fabricated target reflectors mounted on the MUBLCOM satellite
2. Developed all DART AVGS Flight Software and Algorithms
3. Provided final optics analysis and implementation approach
4. Performed AVGS HWIL (closed loop) DART testing at the FRL
5. Increased the AVGS performance capability, reduced power needs and decreased the overall size of the unit.
6. Provided Mission Support and Post Flight Analysis

Orbital Express

In further work with a multi-faceted contractor team and DARPA, MSFC has designed and developed another AVGS flight unit for the Orbital Express (OE) project.  The OE project is designed to test the feasibility of on-orbit servicing and repair. For the OE AVGS unit Marshall:

1. Provided DART AVGS hardware with modifications
2. Provided an OE-specific Target configuration
3. Developed all OE AVGS Flight Software and Algorithms
4. Provided the final AVGS FPGA firmware
5. Provided optics design, manufacturing, and integration
6. Performed final vibration and TVAC testing on AVGS
7. Performed AVGS Component Testing and ARCSS HWIL (open loop) Testing at Flight Robotics Lab
8. Will provide Mission Support and Post Flight Analysis

Target Mockup in FRL

Throughout development of the video guidance sensor technology (VGS, AVGS) it has been necessary to develop and optimize the flight targets needed for the video guidance sensor to work. As a result, MSFC has designed, built, qualified, and tested many flight targets in order to optimize sensor performance. In conjunction with the target development MSFC has developed the necessary algorithms for target recognition.