A

G.M. LEVINE, DIRECIVOR, APOLLO GUIDANCE AND GUIDANCE NAVIGATION

LO
ANALY_/S PROGRAM

GUIDANCE, NAVIGATION AN D CONTROL

Approved: R.H. BATTIN,

'_" "i

[_*'_"

_ MISSION

Date:

17

(_'"_ "['

DIRECTOR,

DEVELOPMENT

APOLLO

GU_.NCE

AND

NAVIGATION

PROGRAM

__o=l_=:i, ii=#_=loA,l_,o=,=oo&="
Approved: __ _ _--R.R. RAGAN, DEPUTY DIRECTOR CHARLES STARK DRAPER LABORATORY Date:/_'U_--'r'

R-695

APOLLO LUNAR-DESCENT GUIDANCE

by Allan R. Klumpp

JUNE

1971

CAMBRIDGE,

CHARLES =====_=o==,,=. o=,=,

STARK DRAPER LABORATORY

AC KNOW

LE DG MEN TS

This Manned through

report

was

prepared of the

under National

DSR

Project Aeronautics

55-23890, and Space

sponsored

by

the

Spacecraft Contract

Center N AS9-4065.

Administration

The analytical J. Pippenger

P66 design

vertical and using gain

channel setting

was

developed horizontal by predictive The zero direction bias within Jerrold

by

Craig channels H.

W.

Schulenberg. done The for

The

of the P66 suggested the

was

by Nicholas concept P63 and of P64 for

concepts

Suddath. equation

analytically was the by conceived guidance Thomas

extrapolating by frame E. William

to yield S.

guidance existence crossrange filter the of

Widnall. to yield thrust

an analytical target jerk was for

solution recognized eliminating deadband

orientation The due

Moore. errors

configuration digital autopilot

thrust-pointing conceived

to attitude and

was

by William

S. Widnall

Donald

W. Keene.

The Aeronautcs therein.

publication and Space

of

this

report

does of

not the

constitute findings and or

approval the

by

the

National contained

Administration only for the

conclusions of ideas.

It is published

exchange

stimulation

by the Massachusetts GCopyright Institute Published by the Charles Stark Draper Massachusetts Institute of Technology. Printed in Cambridge, Massachusetts,

of Technology Laboratory of the U.S.A., 1971

ii

R-695 APOLLO LUNAR-DESCENT GUIDANCE

ABSTRACT

This guidance.

report It contains

records

the

technology plus

associated five major

with sections:

Apollo

lunar-descent

an introduction

1. in

Braking-phase lunar orbit prior

and to

approach-phase engine ignition slant-range terminus site. The

guidance. and transfers the and

Braking-phase the landing lunar site. the transfer LM

guidance module

begins (LM) to a

terminus guidance typically whereas provide

typically begins 30-m the at above

7 800-m

before

Approach-phase to a terminus

braking-phase the landing

transfers

braking-phase

is near-optimal, efficiency to

approach-phase visibility

transfer and

sacrifices landing-site

propellant-utilization redesignation capability.

landing-site

2. terminus, guidance reference

Terminal-descent-phase or manually any time

guidance. during horizontal value control the

Initiated approach velocity is incremented switch.

automatically phase, and or

at approach-phase

terminal-descent-phase altitude by rate to a

automatically value. The

nulls reference

controls

decremented

astronaut

manipulation

of a rate-of-descent

3. flight from to any of the

Powered-flight guidance traditional commanded maneuver programs-

Attitude-maneuver descent the while No and routine avoiding

Routine. ascent--tothe transfers gimbal

The routine digital the lock LM

connects autopilot.

all

powered-

A departure curre,_t attitude

approaches, attitude algorithm.

from

any

by inherent strategy

characteristics is required.

gimbal-lock-avoidance

4. descent

Throttle propulsion

Routine. system point commands and issues

The

routine DPS

connects hardware

several limitations permitted-thrust

guidance require

programs operation

to

the

(DPS). or within from the

either

at amaximum-thrust alters thrust

a separate guidance

region. necessary

The routine to meet DPS

programs increment

when commands.

constraints

corrected

thrust

iii

5. program The memory

Braking-phase is used program shortly at the supplies before

and Draper

Approach-phase Laboratory targets and

Targeting at the are

Program. NASA loaded Manned into

This

ground-based Center. computer

Spacecraft guidance

descent launch.

which

by Allan R. Klumpp 19 71

June

iv

TABLE OF CONTENTS
Section

INT

RODUC Descent

TION

...................................... Phases Guidance, .................................. and Control Configuration ............

1 1 4 4 4 Routine ............ 6 6 Targeting Program .... 7 7

Navigation, Navigation Guidance

.................................. ................................... Attitude-maneuver Routine and .............................. Approach-phase ..............................

Powered-flight Throttle Braking-phase Digital Autopilot

DEFINITIONS ATTITUDE

OF ANGLES,

LUNAR AND

DESCENT GIMBAL

COORDINATE ANGLES

FRAMES, ..................

BRAKING-PHASE Guidance Braking-Phase Approach-Phase Landing-Site P63, P63 P64 Ignition

AND Equation

APPROACH-PHASE Derivation

GUIDANCE .........................

...........

13 13 18 19 19 21 27

Targeting Targeting Redesignation Guidance Algorithm Algorithm

Objectives Objectives Procedure

.................... ................... ...................

.........................

..............................

TERMINAL-DESCENT-PHASE P66 P66 Horizontal Vertical Guidance (ROD) Guidance

GUIDANCE Algorithm Algorithm

.................... ..................... ..................

31 31 32

POWERED-FLIGHT

ATTITUDE-MANEUVER

ROUTINE

...........

37

THROTTLE

ROUTINE

..................................

45

TABLE

OF

CONTENTS

(Cont.)

Section

Page

BRAKING-PHASE Constraints Approach-phase Braking-phase

AND

APPROACH-PHASE

TARGETING

PROGRAM

. . .

51 53

..................................... Targeting Targeting ........................... ............................

54 56

REFERENCES

.......................................

61

vi

NOMENCLATURE

Symbols to define here

are only

normally those

defined symbols

where used in

first more

introduced. than one

Therefore section of

it is necessary this report.

Most as follows:

symbols

are

self-defining

by

being

constructed

of

standard

identifiers

i,

Type jerk,

of and

variable. snap AF, are

Position denoted unit times vectors

and

its

derivatives Thrust clock-times respect T. is to

velocity, is by the denoted lower target

acceleration, F, case point thrustt0 and of a

R,V,A,J,S. U_N, with case (P63)

acceleration target-referenced particular

2.

(times by upper

mission phase. (P64) AP. point in The

phase) braking

Mission phase

phase

denoted

BR,

the

approach

3.

Applicable point T.

phase.

Inception

is

denoted

I, terminus

F,

and

target

4.

Coordinate guidance G, (as

frame and LM

of

reference. body to B. nominal)

Platform

coordinates

are

denoted

P,

5.

Achieved

opposed

values

are

denoted

A.

Thus coordinates R_TG R, APTG subscript, for

by

construction, achieved _STG to represent SAPTG, e.g., lacks , and of matrix the row V Z. the at

R_BRFGA the the whichever Vector braking braking phase

is

the phase

position terminus. phase

vector

expressed Without a phase RBRTG are a symbol matrices e.g.,

in

guidance identifier,

to

or

approach is current. are Row

targets

to

S_BRTG denoted reserved

or by

Vector implied of row

elements

magnitudes

whenever 3 and x 3

a vector

underscore. elements vector are C_y.

vectors by

are Cyz

denoted is the

C_x,C__y,C_z Z component

identified

column,

Symbol

Definition

AFCP AFP

Thrust-

acceleration

command measurement (computed increment by by the dividing guidance

Thrust-acceleration the inertially interval) Guidance System sensed sample

velocity

AGS ATT CBP CGP

Abort

Powered-flight Transformation Transformation

Attitude-maneuver to to body guidance from platform from

Routine coordinates coordinates

platform

vii

D .\P DEC A

Digital Descent interface Descent Thrust

autopilot engine control assembly, between the LGC and the propulsion correction system increment which must the be added sample to the interval iX digital to DPS throttle analog

DPS

thrust measurement averaged over to obtain the sample-instant thrust. GXI Lunar lunar Current gravity surface) gravity (acceleration

of positive

sign

valid

at the

G P IMU

valid

at the current

position

RP

Inertial measurement stable member and A time interval target-referenced

unit consisting of a three-gimballed three accelerometers seconds) and P64 added to to account and the for

L t': ADTIME

(typically 2.2 time T in P63 lag due

the effective transport response times LG C LIMIT LM A guidance function in of computer two

to computation

system

arguments to the

yielding value of the

the

first

argument argument

limited LM LP LPD Lunar Landing Landing on the

magnitude

second

module site point inside designator window panel, n arguments consisting and one yielding of two reticles, on the outside the algebraically one

M A.N I M U M

A function of highest argument A function argument National LM attitude Coordinate Braking Approach

MINIMUM

of n arguments

yielding

the

algebraically

lowest

N ASA P itch Y aw Roll P63 P64 P66

Aeronautics angles. Frames, or or

and

Space

Administration of Lunar and Gimbal program program Descent .Angles"

See "Definitions Attitude Angles, braking-phase approach-phase phase or

phase phase

guidance guidance

Terminal-descent guidance program IRBRTG, \_BRTG, ABRTG, _JBRTG, _SBRTG, RTG, VTG, ATG, JTG, _STG Current Rate position Target position,

terminal-descent-phase

RAPTG, VAPTG, AAPTG, J_APTG, _SAP'rG, R_G, ROD P,P

velocity,

acceleration, phase, or

jerk, current

and

snap

of

the approach

phase,

braking

phase

of descent

clock-time T Target-referenced point of the current time (time with mission phase) respect to the target

Vlll

THROT UNFCP UNWCP VG, V_P

Throttle Routine Unit thrust command Unit window Current command

velocity

ix

IN TRODUC

TION

This was designed

report this The

describes way, and,

how in

the several

Apollo cases,

lunar-descent how it might

guidance have on

works, been

why designed body,

it

differently. with or

concepts atmosphere, offer and all

described should ample algorithms

can

be applied resolve for

to landing to continue checking as the

may planetary this theory. adventure. Such

without presented made,

man

The checks

solutions have been

opportunity are known

to work

conceived.

Lunar-descent altitude lunar (LGC), the crew left, hand in surface. which a slightly The takes

guidance elliptical guidance input data Real

begins coasting is

with

the lunar

lunar orbit,

module and onboard from in ends

(LM) with

at the

about LM

15-km on the

performed commands

by the

LM the

guidance LM crew

computer and via The on the

and Time and and

directly Center (See descent the data right, to the

uplink consists the

from of

NASA's

Computation a LM pilot. the on

Houston, 1.) visual LM

Texas. Standing

a commander monitors and switches. relays computer

Figure using the

commander

controls Standing pertinent via the

cues pilot

and monitors

various the any

controllers display, data

computer necessary

vocally into the

commander,

and

enters

keyboard.

The primary both attitude and

guidance thrust.

mode The

for the lunar can,

descent

is automatic; or manually, further to follow in if this

the

LGC

controls select or thrust provide to fly the

commander if he wishes not the

temporarily

permanently, attitude report,

nonautomatic or both. and The

guidance nonautomatic

modes

to control, described

modes, for

attitude LM

thrust along

references the automatic

commander profile.

he chooses

manually

guidance

Descent

Phases

The

lunar descent

is a nominally-planar

trajectory consisting of three phases

illustrated in Figure

2 and described

as follows:

1. 10

The minutes for

braking before ignition. the DPS.

phase nominal Next,

(Program ignition at

63, time.

or

P63) P63

is first

initiated computes

by keyboard the from terminal transfer precise the

entry time

about and site,

attitude P63

typically P63

492-km the

slant-range LM phase. to the The

landing state takes

ignites

Finally, for the

transfers approach

required typically

as initial 514 seconds

conditions and

succeeding

is near-optimal.

/ r III /

I1)

"l:J i

0 C).., 0

0 Z 0
U

z
Z

I,!

,'1

ct

."2.
t_
I

I::I

L
=1

Z 0 c_ "i" u D 0 0

.E u E_._c o

,o

2. typically velocity the

Approach-phase a) and to of before visually which 2.2-km 129-m/sec a point the almost lunar terminus. chosen can be

(P64) altitude forward

guidance and 7.5-kin velocity. above and, During

begins ground In the

with

initial range and 146 site. the

conditions b) -44-m/sec

consisting vertical transfers continuous until the LGC around to

of,

typically landing of

seconds, P64 provides site direct

P64

LM

directly surface

visibility seconds at any

specifically, P64 the lunar

landing can

5 land

commander surface of by the a

point continued

on

the until

landing-site

redesignation phase.

procedure

initiation

terminal-descent

3. altitude

The and

terminal-descent ll-m any is to no ground time during

phase range P64. control. avertical from visual P66 by from

(P66) the The P66 approach cues when

begins landing P66 nulls to the

automatically site, or it may

at be

typically initiated controls

30-m by velocity velocity which a sheet that or lowers hand. of is the

commander only; there

guidance the lunar surface rate time switch the to

algorithm forward surface, is a and an

position

lateral objective by value raises

components cannot radially incremented a three-position be

produce

achieved moving or dust.

the

obscured reference

controls 0.3-m/sec (ROD)

altitude each control

decremented rate-of-descent

commander located near

his

left

N avigatien,

Guidance,

and

Control

Configuration

The applies the except second, solid the and to

Navigation, all portions vertical the digital LM

Guidance, powered-flight of Figure channel autopilot 3. of All the is

and

Control

configuration maneuvers. are processed algorithm i0 times per This

illustrated report once is every processed

in describes two

Figure only seconds, once per

guidance routines P66 processed

guidance

second.

Navigation

Navigation based data inertial period radar 6i0-m/sec. on are data used errors, immediately provides from

(see an

Kriegsman inertial all data preceding are

1 ) provides measurement thrusting not and below used

an

estimate (IMU) but,

of and to flight

the

current alanding

state radar. accumalati_n for

vector IMU of

unit maneuvers, during

throughout IMU

avoid except maneuver. and

coasting each 10-km thrusting

a minimum The data landing below

following typically

altitude

data

altitude,

velocity

Guidance

Guidance phase. In addition

transfers to the

the

LM

from state

the

current

state from

to

the

terminus

of

the is

current based

current

estimate

Navigation,

Guidance

[.

L_

_I

-___1..

r_

I
o L)
o

_l
2_

e_

L
w z_ _ac c_

_l

&

r--

--1

r-

on from

precomputed the Guidance to the

targets

from

the are

ground-based

targeting command Routine, these and

program. a unit window

The

outputs command

algorithm

a unit thrust

issued command

Powered-flight to the

Attitude-maneuver Routine. direction Through with

and

a thrust-acceleration Guida:ice space. controls

issued vector

Throttle and

routines, to inertial

the thrust

magnitude

respect

Powered-flight

Attitude-maneuver

Routine

The programs, commandvectors; a unit thrust

Powered-flight descent and aunit vector to the from DAP. into into

Attitude-maneuver ascent, thrust to the digital and

Routine autopilot aunit window

{ATT) (DAP).

connects ATT

all inputs ATT

guidance are estimates two

command accelerometer

command. and DAP command to issues drive and

measurements, cause the the unit unit the thrust window

incremental the the estimated symmetry

commands unit plane thrust of the

These coincidence

commands with with

vector LM

coincidence

command.

During command site. vector, current By issued

P64, to

as ATT the

long by L_I

as

the

landing is the plane

site

would

be

visible, to the with

the

unit

window landing

Guidance symmetry the

line-of-sight into

vector

current the

rotating

coincidence reticles

line-of-sight 1 on the

ATT landing

superimposes site.

landing-point

designator

of

Figure

Throttle

Routine

The programs the two

Throttle to the DPS.

Routine The and

(THROT) DPS one is used

connects by all

several descent whose

powered-flight guidance purpose programs, is Center to

guidance one provide in Houston of a

abort

programs, increment to the LM.

guidance by the

program Real Time

velocity-vector and transmitted

computed

Computation

The the of rated rated

DPS thrust thrust).

must of 46 The flow regimes.

be

operated 706 newtons)

either or region flow make

at

the

maximum-thrust a permitted-thrust to 93%) is forbidden

point region

(about (ii

92% to in

of 65%

within (65

intervening and fuel The ratio and

because from cavitating

this to from

region

oxidizer

independent transitions excessive

transitions cause erosion of gross the

noncavitating the required

independent produce

deviations DPS nozzle.

mixture

Using the the

computed

mass command

estimate, from and

a the

thrust-acceleration guidance thrust equations, increment

measurement, THROT commands computes to

and

thrust-acceleration current and commanded

thrusts

issues

the

DPS. the

These commanded region,

commands thrust 2) produce

either whenever maximum

l) drive the

the computed thrust

thrust

into coincidence the thrust

with

commanded whenever minimum

lies within

permittedlies above

thrust the

thrust

the commanded thrust whenever

permitted-thrust lies below

region,

or 3) produce

the commanded

thrust

the permitted-thrust

region.

Braking-phase

and

Approach-phase

Targeting

Program

The brakingpolynomials only P63

targeting and

program approach-phase at are P64, individual

provides reference target the P66.

targets

for

P63

and

P64. as in

The

targets

define vector

trajectories points are as illustrated to

independent Figure all 2. the

centered and of P64 P63,

Although guidance

targeted, and

targets

designed

achieve

objectives

Digital

Autopilot

The by means

DAP of

(see control As for

Widnall effectors the

2)

controls consisting implies,

the of the thrust

attitude a reaction trim vector

of

the

LM control

during system is LM

powered and a slow center of a

flight trim

gimbal used

system. primarily

name the

gimbal through

system the

system mass.

trimming

DPS

DEFINITIONS ATTITUDE

OF ANGLES,

LUNAR AND

DESCENT GIMBAL

COORDINATE _MNGLES

FRAMES,

Three all P63 be inertial and P64

coordinate measurements guidance along, redesignations

frames are is the with

are with respect

required respect to

for to a landing and to

lunar the

descent stable

guidance platform of

because the with, IMU, and

i) 2) can and

site 3)

which

rotates

redesignated

lunar are

surface, with respect

thrust-vector LM body axes.

determination These coordinate

landing-site systems are

illustrated

in

Figure

4 and

defined

as

follows:

I. origin landing of the

Platform is at site the at

coordinates. center the of nominal Module Platform the

Variables moon, landing and the time, points

in XP-axis the

platform pierces ZP-axis

coordinates the is and nominal

are

tagged

P.

The

(unredesignated) to the orbital completes plane the

parallel the YP-axis

Command triad.

forward, are

right-hand

coordinates

nonrotating.

2. origin the the

Guidance coincides moon); LM and the

coordinates. continuously XG-axis the triad. landing Thus, landing coordinates site is vertical; site the is are

Variables with the the and origin points and

in current

guidance landing lies

coordinates site or the near, (the

are frame the

tagged rotates

G.

The with

ZG-axis forward; orientation

in, and of the

plane

containing the altered

YG-axis frame vectors

completes are

right-hand each in time platform

guidance unit C__GPy,

the

redesignated. the row vectors

Guidance-frame __CGPx,

expressed of the matrix

C__GP Z

CGP.

3. the

Body generally thrust

coordinates. accepted vector, triad. vectors_CBPx,_ LM the

Variables coordinates. ZB-axis is

in

body

coordinates The XB-axis forward, expressed the matrix

are is and in CBP. in

tagged the

B. direction

These of completes coordinates

are the

nominal the are

directed vectors Z of

the

YB-axis platform

right-hand the row

Body-frame _CBPy,_CBP

unit

From the the nominal instant

these time of

definitions in a nominal

it

is erect

noted

that attitude,

if

the the

LM three

lands frames

at

the will

nominal be parallel

site

at at

touchdown.

The

following

conventions

are

defined

for

orthogonal

matrices:

The LGC transfers state vectors (AGS). The AGS requires the state the orbital plane of the command

in

platform coordinates to an abort to be expressed in a frame whose module.

guidance Z axis

system parallels

XB XP ZB LUNAR ROTATION TO OCCUR TIME REMAINING TO NOMINAL LANDING TIME. XG

(REDE S I GNATED) LANDING SITE ZG

NOMINA LANDING SITE AT NOMINAL LANDING TIME

NOMINAL LANDING SITE AT CURRENT TIME

MOON

Exagerated Scale
ZP,

XP, YP, ZP----Platform XG, YG, ZO---Ouidance

( Inertial Measurement Unit ) Coordinates Coordinates

XB, YB, ZB---.Body ( LM Spacecraft ) Coordinates

Figure

Lunar-descent

Coordinate

Frames

I0

I)

A and

matrix column

element

is

denoted of row vector

by the

two

subscripts Thus

which CBPxy

indicate denotes

the

row the

respectively of transpose the

element. C_BP X.

Y-component

2) 3)

A matrix From deleting the

(inverse) it tags.

is follows

denoted that

by matrix

interchanging products

tags. are obtained by

definitions, internal

By by

conventions

2 and

3, avector

is transformed

to

body

from

guidance

coordinates

VB

CBP

CGP

-1

VG

CBP

CPG

VG

CBG

VG.

LM about (roll). the

attitude XB-axis

angles (yaw),

are the

a set displaced

of

Euler YB-axis

angles (pitch),

defined and

as the

clockwise displaced

rotations ZB-axis

LM about (outer). the

gimbal YB-axis

angles (inner),

are the

a set displaced

of

Euler ZB-axis

angles

defined and

as the

clockwise displaced

rotations XB-axis

(middle),

ii

BHAIKING-PHASE

AND

APPROACH-PHASE

GUIDANCE

The use flight different different, the same

guidance guidance

programs algorithm, Routine. targets, landing 2) site the

for

P63 the The

and same

P64

are

almost Routine, are 1 ) the

identical. and guidance the

The same equation frame only in

two

phases

Throttle

Poweredselects is P64. slightly

Attitude-maneuver sets and of 3)

differences of the

erection

guidance is

coordinate available

redesignation

capability

Guidance

Equation

Derivation

To state problem. vector Guidance Implicitly, vector cannot Onboard terms, terms with can

guide

a spacecraft either we function commands can define, function to then the as can

from

any

initial guidance

or

current problem as the profile

state or the current of as

to an

a specified implicit

target guidance a states. vs time. as state but state. of three a

be viewed Explicitly, polynomial then we

an explicit repetitively of the in of time that

determine, intersects

mission and acceleration

progresses, target

corresponding advance time a that of the

mission, backward initial (or vector

a reference from dispersed profile the

trajectory target current) composed minus two

polynomial be expected guidance namely proportional respect to the

evolves

intersect commands

dispersed an acceleration the in

acceleration to the deviations

along

reference and either produces may achieved be

trajectory position the explicit of

feedback trajectory case, specified and the

velocity In

the or

actual the upon in

reference the though is

trajectory. guidance the not target precisely problem point

implicit the flight errors.

repetitively target commanded state

solving even

convergence redesignated because of

acceleration

control

The explicit as has the the of will be

implicit guidance shown.

guidance equation Besides in

equation because being

derived the explicit

here

is

categorically is merely the of and site.

superior a special implicit deviations from Rapid

to

the

equation more faster navigation satisfying,

case, equation from

intellectually significantly come from

demonstrated reference reference deviations trajectory.

simulations Deviations to a intersect nominal equation the

reduction errors landing

displacing reduction site. for

trajectory restores the was for later implicit

a redesignated approach had not were to been

the

redesignated when to recode the

landing program the

Unfortunately, Apollo program ii

developed insufficient

coded,

and

advantages

guidance

missions.

Cherry for LGC

(3)

derived and

the generalized generalize and

explicit it the specialized to

guidance nth order.

equation. Moore The case. et

Klumpp al (6) general

(4'5) derived implicit

simplified an implicit guidance

it

coding which is now

equation equation

didnot derived

explicit to

equation. the explicit

13

It is convenientto think of the reference trajectory as evolving backwardsin time from the target point, with the time variable T reaching zero at the target point and negative prior to that point. Thus target-referenced time (T) is to be distinguishedfrom clock-time (t). Becauseguidancegainswould become unbounded, the target point is neverreached. Instead,a guidedphase is terminated at anegative time T andthe succeedingphaseis started. Both the terminus andthe target point lie on the reference trajectory, but the target point lies beyondthe portion that is actually flown, similar to a suggestionof McSwainandMoore.(7) In terms of a vector polynomial functionof target-referenced time, we wish to define a reference trajectory that satisfies a two-point boundaryvalue problem with a total of five degrees of freedom for each of the three components. This number of degreesof freedom is required in order to constrain terminal thrust in P63 and to shape the trajectory designin P64, as is discussed in connectionwith the targeting program.
A the quartic polynomial trajectory from can is the be minimum order With be with which five constraints trajectory on

reference

satisfied.

the reference defined as

evolving

backwards

in time

the target

point, it can

_RRG

= R_RTG +

VTG

ATG

T2/2

+ JTG

T3/6

STG

T4/24,

(1)

where at the

RRG negative

is

the time

position T, and jerk,

vector RTG, and

on

the

reference A__TG, JTG,

trajectory and S TG

in are

guidance the target

coordinates position,

VTG, snap.

velocity,

acceleration,

The terms: two the feedback

acceleration acceleration terms Taking trajectory

to of proportional derivatives yields

be the

commanded reference to velocity of Eq. (1)

at

any

point at the

in

space particular

consists time from the

of T,

three minus

trajectory and as position the

deviations velocity equation and

reference on the

trajectory. reference

acceleration

the

three-term

guidance

A__CG

= __ATG

+ JTG

+ S_TG

T2/2

- (VG

VTG

A__TG T

JTG

T2/2

STG

T3/6)

Kv/T

(2)

-(RG

- RTG

VTG

A_TG

T2/2

JTG

T3/6

STG

T4/24)

KR/T2

where and

A__CG position,

is and

the

commanded K V and K R are

acceleration, the nondimensional

VG

and

R__G are feedback

the gains.

current

velocity

14

Combining

like terms

in Eq.

(2) yields

A__CG

R__G KR/T2

- V.__GKv/T

RTG

KR/T

+ VTG

(K V

+ KR)/T

(3)
+ A__TG (I + K V + KR/2)

JTG

(1

KV/2

KR/6)

+ _STG

(1/2

KV/6

KR/24)T

2.

Equation is not. which K R. quartic, The does First the implicit

(3) is the trajectory equation

implicit

guidance by however, -(2) by

equation. the be implicit

Although guidance to of with the

the

reference equation is

trajectory obviously equation gains --

generated can,

specialized choice

the

explicit

generate we note

a quartic that Eq.

a specific be

feedback the linear

K V and

may

identified

second-order

differential

equation

2 _'c0 n :K +co2

= 0

by

the

associations

(noting

T is

negative)

Kv/T

-2

_'con"

KR/T2

= co2 n'

(4)

where the on

con is system

the is

undamped time varying.

natural

frequency this

and

d" is

the

damping does afford

ratio. some

Of

course intuition

However, Eqs. (4) yields

association

gain

setting.

Solving

K R

(2rT T/P)

2,

(5)

where

is

the

undamped

period

2rr/con,

and

K v = -2 K(_RL
Equation the ratio. (5) provides ratio a means P/T, of and controlling Eq. (6) the provides system response of time setting in the terms damping

(6)
of

nondimensional

a means

15

An interesting

set

of values

to choose

for

response

and

damping

is

PiT

- _/ll-__,

.<_ :

7-_/2.

This choice yields

KR

= 12,

KV

= -6.

When equation

these

values

are

substituted

into 3 to 5,

Eq.

(3),

the

result

is the

explicit

guidance

derived

in references

A__CG :

12 (R_TG

- R_G)/T

2 + 6 (VTG

+ V__G)IT

+ A_TO.

(7)

The the concept Implicit

discussion of a space

of

implicit

vs

explicit

guidance combinations of the

is concluded of guidance _, P ] T plane or,

by introducing parameters. equivalently, is a single

containing

all permissible space is one quadrant Explicit

guidance-parameter of the plane. KR,

one quadrant point in either

K V plane.

guidaace-parameter

space

Equation transport command predicted time an to be

(7) delay.

presents The

the explicit

explicit equation for predicted

guidance programed the time

equation in at which

assuming Apollo the time is

negligible corrected to is

acceleration achieved.

appropriate Let this

acceleration be

target-referenced

Tp

+ LEADTIME

where An

LEADTIME guidance the and target velocity.

is the transport equation position, The will

delay now

due be and of

to computation derived acceleration, the quartic T at that

and fits and the

command a quartic through predicted to realize reduces

execution. polynomial the time the to Eq. current Tp quartic (7) for delay is

explicit

through position the

velocity, acceleration at the

acceleration It will and

to command be shown Eq. that (7)

current

time guidance a quartic

in order equation

profile. Tp = T, is zero.

the

resulting

therefore

generates

profile

when

the

transport

Constraining current position and

the

actual

trajectory to be expressed

to be

a quartic as

function

of

time

allows

the

velocity

16

i:o] [:TT2/2 T3/6 J247 RjG

G 1 T T2/2 T3/6 J VTG ATG _JTGA STGA where point, and _JTGA and snap are yields and not S_TGA targets are the loaded jerk and into snap LGC which memory. would be achieved Eq. (8) at the for the target Solving

(8)

jerk

JTGA1

[-24/T

-18/T

-6/T

24/T

-6/T2

RTG V_TG ATG R_G VG (9)

The time

acceleration Tp is

to be commanded

at the

current

time

T and

realized

at the

predicted

A__CG = A__TG + J_TGA

Tp

+ STGA

T2/2.

(10)

Substituting guidance

Eq. equation

(9)

into

Eq.

(10)

and

simplifying

yields

the

Apollo

lunar-descent

_ACG

- 2

12 (R_TG - RG)/T

2 +

- 3(--_

6 _VTG/T (11)

6 V__G/T +

- 6

+ 1

A_TG.

L
Note Tp/T Eq. Eq. (11) delay that when time all T is large bracketed in magnitude coefficients The point net compared in effect Eq. of to the (11) Eq. transport unity, achieved Eqs. the (7) delay, and by and approaches (11) (7) is are is approaches a gain unity, Eq. reduction for Tp approach (11) not

(7) identically. as the = T, Eq. target

is approached. profile

Because when

identical zero.

(7) generatesaquartic

transport

17

In the T. and At any

derivation point

of the guidance phase,

Eq. T could

(7) or (i I), nothing be set to any problem stretch

constrained negative

the time value,

in a guided

arbitrary from

Eq. (7) or (I I ) would

satisfy the boundary-value which can arbitrarily guidance

that point

forward.

Landing-site would produce

redesignation, an

or shrink if T

the trajectory, were not coran on

unnecessarily Because

severe T

response it can be

respondingly additional

adjusted. boundary

is arbitrary,

computed

to satisfy is imposed polynomial Separating

constraint.

In Apollo, of jerk. Thus

this additional the Z-component Z-component

constraint

the downrange of Eq.

(Z) component for T

of the jerk of jerk JTG Z.

(9) is solved cubic

by using from

a target Eq.

this

scalar

polynomial

(9) yields

JTG One

Z T 3 + 6 ATG root

Z T 2 + (18 VTG is the

Z + 6 VG Z) T + 24 (RTG time T.

Z - RGz)

: 0.

(12)

of this cubic

required

.An penalty alternate criterion quartic STG Z T4/2 of

alternate downrange was sets developed the

criterion landing-site too downrange

for

computing redesignations. for incorporation error

reduces

the Although

propellant-consumption extensively program. T is one The root tested, alternate of the the

late

in the to zero.

LGC Thus

position

4 + JTG

Z T3/6

+ ATG

T2/2

+ VTG

Z T + RTG

- RG Z

= 0.

Braking-

Phase

Targeting

Objectives

The constraint the DPS final

near-optimal that two the minutes and of 16-kg over of DPS of

transfer be operated the errors phase. in

provided within This lunar (8)

by the

P63

targeting

must

satisfy region for,

a throttling nominally, in

permitted-thrust duration modeling. that the Apollo the same

throttling terrain shows

absorbs With a

dispersions total and propellant targeting constraint.

performance

consumption are within

6 600-kg, an optimal

Yang

guidance throttling

trajectory

satisfying

To the thrust the the targets at magnitude

provide are P63

thrust chosen terminus. of the of

within to

the

ii a

to

65% constant program

region thrust

for

the level

last of

two about this

minutes 57% by and

of of

P63, rated

produce The targeting

accomplishes vector to K be F mass, coefficient achieves the

constraining constraining F is the

terminal terminal thrust, M

thrust-acceleration jerk is the to be

F/M, _/M _I to two 2,

Z-component terminal mass component thrust

(essentially) terminal is a jerk

where is the account minute

required terminal vertical of constant

estimated and K

estimated for duration the

flow of by

rate thrust.

(negative), The the

targeting initial

program range.

adjusting

Properly thrust-acceleration this thrust-acceleration

targeted, in excess

the of

guidance what can

algorithm be achieved. estimated

commands The mass to

during throttle yield

most routine

of

P63

multiplies thrust

command

by the

the

guidance

18

command Figure P63

(GTC),

and the

provides profiles effects

maximum of GTC

thrust and

until

the

GTC

falls

below

57%.

5 illustrates and shows

actual

thrust

for a properly time and

targeted of the DPS

phase

the

of adjustments

of the

ignition

thrust

level.

The terminal they trajectory. but Both descent they the can are

targeting conditions computed Trajectory be reduced time in

program forward to

computes typically 60 the

the seconds. required cannot be

P63

targets Although terminal

by the

projecting targets are on to the

computed projected, a nominal point,

produce dispersions sufficiently and the iteration

conditions prior the

eliminated to achieve are

target

by projected loop.

terminus targets

targeting iteratively

objectives. using a

ignition simulation

computed

the

Approach-Phase

Targeting

Objectives

The 5 are seconds computed

P64 before to

targets terminus, produce velocity,

are

computed and at terminus

to continuous

provide

lunar-surface In of values nominal

visibility addition, for case, null the the the can the the

until P64

about targets

throttling. set in the

a matched such and the that, will P64

Z-components P66 algorithm

of acceleration, will of in are produce velocity closed computed no and form

and pitch

position transient P63,

initial position. from without

simultaneously reference trajectory Thus

Z-components be determined targets

Unlike specified numerical

trajectory iteration.

constraints.

projected

Landing-Site

Redesignation

Procedure

To site, The would coincidence displacements coordinate target the

steer

the

LM

via uses of

the an i)

automatic iierative identifying of selected Because

P64

guidance akin current and by 2)

to

a visually to steering site the incremental are the defined landing

selected an where curren_

landing automobile. the site LGC into

commander consists him with in his the

procedure the

procedure take

landing steering

absence visually

intervention site

commanding P64 targets through

landing-site in the site, guidance the P64

(redesignations). frame, which is

the erected

repetivively

point

is

displaced

accordingly.

To orients (LPD) read the He on

identify the LM

the about

currently the

selected axis

landing

site to the the

astronauts, landing point

the

LGC

i)

thrust

to superimpose site and

designator which is

reticles by the LM

(see

Figure and

I) on the vocally LPD

current

2) displays

a number By sighting the

pilot

relayed

to the commander. the commander LPD

through site.

indicated registers the inside

point his eye window

of the

reticles,

identifies one

current

by superimposing panel, and one

the two on

reticles, window

of which The

is painted separation

the outside

panel.

between

reticles

is 2.5 cm.

19

E L

_ _/ t=

_ //_1 __..L

o ..,.-, m

O O

_
m ____--

m
m

I I
I I

e"-'

--_c

I I

_-.i

0_

o 0 _'_
I

o C_
A

.x2

E
o

I--_D

O
fo O_ r_ I--o C A -7 rL _

E E
o

L..

e--

"7 J_

f-

E
,m

-7

o o

<
tO

E
,n

\
I 0 0 O I O I I O 1 I O O

ISnWHI G31VW Sd(] _-tO IN3OW3d

2O

By directs surface the current the by

manipulating LGC to

his displace

controller the landing

left, site fixed

right, (and angular

forward, the P64 increment

or targets)

aft,

the along

commander the respect lunar to

a correspondingly line of sight.

directed

(1 )

with

The and current the before current reorients

LGC

redirects about The the

the thrust

thrust axis can

to to

guide maintain

to

the

redesignated of

(now the process siteuntil

current) reticles -10 on

site, the

superposition this redesignation his time chosen P66 is

site.

commander site P64 into target

continue

steering seconds

landing the

coincidence point, at

with which

reaching

initiated.

P63,P64

Guidance

Algorithm

Figure the gravity command, algorithm vector and

6 illustrates receives as a unit inputs window

the guidance and

P63,P64 targets, issues command a

Guidance the

Algorithm. current state

As vector,

shown and

in the

Figure current thrust

3,

thrust-acceleration as outputs.

command,

a unit

Because redesignation, is erected

the the through LM

landing is guided landing inputs

site

moves with site respect each outputs

due

to to the

lunar guidance Guidance expressed

rotation coordinate targets in

and

landing-site frame, which in this

the Other

pass. are

are

fixed

floating

frame.

and

all

platform

coordinates.

The approximate preserves rotation tOLD). For the LGC count commander rate

landing

site

vector that of and the the

L__P is avoids lunar elapsed

updated computation radius.

for

lunar of

rotation trigonometric

(Eq.

(6.1)) functions, for

using

an yet

algorithm the magnitude V___J_MOONP

The

algorithm since the

accounts preceding

the update

lunar (t -

clock-time

the

landing-site manipulates and is The the

redesignation the azimuth controller command or

algorithm (Figure count

(Eqs. I) (NCAZ) according in

(6.2) the or

(6.7)),

whenever mode, command direction the NCAZ current zero, maintains the of the

automatic the to elevation the to vector zero tothe both

is interrupted (NCEL)

incremented redesignation and per count has plane Elevation rotate redesignation orientation, constraint rotates (Eq. no

decremented fetches (the If unit NCAZ

manipulation. and landing redesignation coincidence axes and plane. the the defined landing normal azimuth The of to NCEL

algorithm LOSP (6.3)). effect. and L__OSP,

and line-of-sight and that rotations rotate

resets

accumulators site) by 1 algorithm the ZB,XB

NCEL attitude of L__OSP

are control L__OSP about L_OSP 7

Given the

are the in

about YB-axis, the

two

L.__OSP.

redesignations L_OSP about geometry namely that LOSP that X be the

redesignations landing-site LM site. platform The

an axis

normal in axis as

to Figure

ZB,XB upon through

shown XPleast

depends

is near negative

vertical as

at

-0.02

(Eq.

21

(6.5)) prevents redesignatingthe landing site beyondthe horizon. Equation (6.7) computes the displaced point near the surface shownin Figure 7 and places the redesignatedsite directly beneaththis point. The displayed LPD angle (0LPD, Eq. (6.8)) is the angle between L__OSP and the ZB- axis. The computationof the state vector in guidancecoordinates(Eq. (6.9)) places the origin of the guidanceframe at the landing site and yields the velocity of the LI_I relative to the lunar surface. Target-referenced time T is computedusing Newton'smethodstarting with a good estimate (Eqs. (6.12} - (6.13)). Notethat the denominatorof Eq. (6.12)is the derivative of the numerator. The guidanceequation (Eq. (6.15)) is identical to Eq. (Ii). The thrustacceleration command(Eqs.(6.16)- (6.17)) is merelythe total accelerationcommand minus current gravity GP, and the unit thrust command (Eq. (6.18)) is the direction
of the thrust-acceleration described and is in omitted command. reference from this 9 is The so-called radial-acceleration unnecessary present by in current the LGC guidance targeting program. correction techniques rendered although

report,

The of site the 8 the LGC

computation coding center which of vision permits why the the geometry the landing

of

the

unit

window the

command same the result. LPD

presented The object on the

here is

is a simplification to keep site) attitude. of vision. command the reticles the landing

produces (superimpose and, otherwise, site pertinent cannot

in the geometry shows

reticles

current

whenever Figure Figure UINWCP. with the

to command always be kept of =

a forward-facing in unit the center window alines

9 shows Commanding landing facing rotate the or the

to computation vector (UiNWCP vector is YB-axis

the

line-of-sight the If the first to x

L_OSP)

site;commanding attitude. about the of

forward alternative aline the

(UNWCP chosen with whether the command the (PRO and mixing (Eq. 2

= F__ORP)producesaforward (UNWCP the vector = L,__OSP) x the LM will Thus

XB-axis L__OSP attitude of L_OSP

L__OSP

C__BP X.

direction an abnormal magnitude

C_BP

X indicates result from measures projection magnitude for the for 75 . mixing _)LPD

a normal

forward-facing = LOSP.

attitude In addition, in x CBP the X

would

UN WC P degree J, the Eq. of

C__BP X The the criterion

indeterminacy L__OSP of F__ORP L__OSP into

command on Thus the 0LPD cos or the

__UNWCP YG-axis PROJ is

= L__OSP. detects both as is the

(6.20))of

direction and yields UNWCP

C__BP X. If for with planar

used

L__OSP (6.21))

U NWCP. = L_OSP

descent

trajectory

planar,

UNWCP a mixture the trajectory a rear-facing

_< 65 , UNWCP 0LPD for it 65 <

= F_ORP _)LPD <

75 , and of

linear is

Regardless

whether

nonplanar,

is never

possible

to command

a side-facing

or

attitude.

22

!
v

L
%__

,,f>

" 7-1+ i +
_._ _-) z

/
o

_,, =i

, %

_ ,,7-,

_|

,,

i
__..._ z x

-%1 8
i._.x

NN

<

.,..<

r.D

_>1_
,.-i,

fi _ Si 0__ >,<
E=+ :E

,..,-,i

_S _"-_' '.
<:>_ _ _> _

'><_ _ /
_l

2:
i,,.,} :"t

e!_

, _

._S _+ _

S_

"

_o

,,_.1

I_I_
i _,_,1

<->
i i

I_1,':- g

23

XP CURRENT POSITION RP"zOLD L NEW OSP DISPLACED POINT : R P 4.LOSP NEAR THE SURFACE LPx" PPx

LOSPx

PLANE

NORMAL

TO XP LANDING SITE LP

OLD LANDING" SiTE LP

CENTER OF MOON

Figure

Landing-site

Redesignation

Geometry

24

(L

..2_

.-_ _-_

x:.-_

,,-4

25

XG

APPROACH PHASE TERMINUS LINE-OF-SIGHT VECTOR LOSP: (A_PROX THRUST DIk) XE AXIS : C_BF x .... "_ _ FOSITION RP CUkF_ENT _ _ UNIT (LP-RP) ,_/ / / ('1/ FORP:UNIT|C-BPxXC--GP) ZG FORWARD VECTOk N RANGE /

PARALLEL DISPLACED

YG : CGPy

LosP-cBPx

xBAX,S C SFx

CRORANGE

Figure

Geometry

Pertinent

to Computing

the Unit

Window

Command

25

Erection in the target P64, the Figure vertical point 10.

of

the

guidance 14 is = 1 in

coordinate P63, the the

frame guidance

(Eqs. coordinate of (see

(6.22)

frame

(6.24))

is

illustrated about zero 14 at = 0 the in

With

orientation reach 5). With

XG-axis if the is

such

that were vertical

YG-component flown plane there containing setting 14 =

jerk reference

would

trajectory in the

Z_G-axis

the 0 in

line-of-sight P64 was found jerk

vector. to at consume the

For

crossrange less point. DPS

landing-site propellant than

redesignations, setting 14 = I

to

null

the

crossrange

target

P63

Ignition

Algorithm

Trajectory attitude throttle the first to be

dispersions computed in the P63 to and I) 2)

preceding avoid to avoid

P63 excessive

require variations an is

an

accurate of excessive the

ignition time attitude The P63

time duration transient

and of

control time

commanding Algorithm

P63,P64 of:

Guidance

processed.

ignition

procedure

consists

I)

Computing in advance

onboard of the ignition LM to

the

precise

ignition

time

and

attitude

about

10

minutes

2) 3) 4)

Orienting Initiating Igniting constant DAP through to

the

ignition system

attitude ullage thrust the gimbal and 7.5 seconds holding prior constant time to point required the thrust to ignition thrust for vector and the

reaction the DPS

control at for the DPS of

minimum 26 seconds, trim mass

attitude orient the LM the thrust current state

maximum system

center guidance and

5)

Connecting maximum to the

algorithm, commanding and the P63

which an targets.

immediately attitude profile

commands according

begins vector

To 1 i) inputs gravity guidance inputs. (11.6) by the this not a is Kepler calls

determine the guidance of an (both In first

the

required algorithm

ignition as

attitude,

the The

ignition ignition vector clock-time initialize and

algorithm algorithm the of guidance represented

(Figure supplies

a subroutine. of the (ii.i) state vector routine the seconds the The the

consisting vector pass). On the

accurate valid at

extrapolation GUIDTIME, Eqs. the

state

corresponding the first algorithm by iterations, vector preceding vector and a unit by Eq. P63

estimated (11.5)

preparation, iteration, by an orbital

extrapolation and, on

performed routine. increment (The for errors

integration (11.9) during corrects the correcting 26

subsequent velocity thrust position

Equation imparted due are to

extrapolated of minimum

velocity point. correcting

not

extrapolated algorithm

ullage

negligible.)

guidance

produces

27

ZG-CG

Guidance Coordinate Frame XG YG ZG -CGPy

XG--CGP x Vertical Th rough Current Landing Site Current Landing Site LP Trajectory to Current (Redesignated) Landing Site rget Point

-K(VP-WMOONP

X RP) T/4

LM Velocity Relative to Lunar Surface K: 1 0 P63 P64 T<O

T - Target-Referenced Time u rrent LM position R_P

Figure

10

Plan

View

of Guidance-coordinate-frame

Erection

28

INPUTS: CURI_NT STATE ON COASTING TRAJECTORY PASS RP VP t GUIDTtME AFTRIM

CLOCK-TIM4 TAG OF CURRENT STAff ESTIMATED CIOCK-TIMF FOR FIRST P63 GUIDANCE TNRUST-ACCE| FRATION OF 2bSFC OF MINIMUM

THRUST

BEGIN

1
SAVE COPY _ CURRTNT STATT RP_VP AND ITS CLOCK-TIME TAG t

t
INITIALIZE T "-_ FOR P61, PM 4 _,E( I _4_ GU_DANCF kLGORITHM qD I2_ IO4D nUIOTIME LP " EP _ GU_OTIME CGP' 0 I Ol li -I I

o0
U_CP

(00.

ISI

EXTRAPOIAff COASTING STATE AND GRAV TY TO G IDTIMF r SET LOOP C(_JNTER _RP -Rp ( o _ DT MF I _/p -Vp I GUIDTIME ) I GUIDTIM_ Ibp _GP "Gp N 3 ( GUIOTIMF i Ilt I8_

VP COR_CT " VP + EXTRAPOIMTD AFTRIM UNFCP VELOCITY Z6 SFC FOR _'6 SECONDS OF MINIMUM

THRUST 91

i
CALL P61, P64 GUIDANCE N N - I ALGORITHM, DECREMENT LOOP COUNTER TI01

-@
ADJUST _I, JlI_TIME AGUIDT_N_E" FOR TRAJECTORY DISPERSIONS RG} - VRRICI] lID ;.Kx(RGx-RBRIGxI,Ky _(RG Z I_VG Z GUIDTIMC GUIDTIMF RBRIF, 7 +Kx_hx I+KvIVG i (171 * AGUIDTIMF

PREPARE FOR

IGNITION 2b SEC _- 1.5 SEC (l_i H41

t ( IGNITION P " GUIDTIME t (ULLAGE I'tt IGNITION

RESTORE CURRENT RP VP AND ITS Crock

- TIME TAG t

END

OUTPLIT_ : T i I(_III(tN I I Ill I AC, I 1 THR[iST DIRICEION RFOIIIRID AT I(;NITI[IN (JNHP

Figmre

11

P63

Ignition

Algorithm

29

thrust

command of the

UNFCP, velocity

which

is the direction is unknown

to point on the

the XB-axis. first

Because the

the above

direction procedure

correction

iteration,

is iterated

thrice.

An nominal RG Z

outer

ignition-algorithm Equations

loop (ll.ll}

accounts (Ii.12) as

for dispersions adjust GUIDTIME function

with

respect

to the the

trajectory.

to correct

component

of position VG

at GUIDTIME

I) a linear

of the dispersion (essentially RBRIG in guidance correction by X

in orbital speed altitude) and RBRIG and

and of the dispersion function

in the IRG X component of the out-of-plane range components and KX, and are Ky,

of position position RGy.

2) as a quadratic

Z are nominal VBIRIG The

initial altitude and

of position and K V are are

coordinates; coefficients. the targeting

is thenominal nominal The

initial speed;

initial altitude, correction simulations.

range,

speed computed

computed

program. on

coefficients

using

a manual

procedure

based

descent

When the time DPS. duration

converged, Trajectory of by the throttle

this

process

yields result and in typical on the

precise typical attitude first P63

time variations

and

attitude of 2 of

for seconds 2

igniting in the

dispersions control algorithm

transients pass.

milliradians

commanded

guidance

3O

TERMINAL-DFSCENT-

PHASE

GUIDANCE

Horizontal algorithms. can control P66 the

and vertical provides LM P66

velocity

are

controlled

in P66 mode

by completely in which

independent

a nonautomatic to translate

attitude-hold or not, command; modes as he

the commander over the A

attitude issues including

wishes,

horizontally

lunar

surface.

no unit window

yaw

is controlled by

manually. Eyles. (i0)

description

of P66

the nonautomatic

is provided

P66

Horizontal

Guidance

?algorithm

The seconds, by directing

P66 nulls

horizontal the the horizontal thrust

guidance

algorithm of angle algorithm algorithm

(Figure velocity away

12),

processed to vertical measures on the the

once lunar in

every

two

components a small

relative from

surface to

vector The

opposition commands that

horizontal thrust-acceleration vertical

velocity.

horizontal the

neither is derived lunar

nor assumption

magnitude; of

the

component

thrust-acceleration

equals

gravity.

Just damps a good pass. VPy,VP required the

as velocity control of

feedback loop.

damps Because

a position of is feeds the the

control sampled-data acceleration the velocity

loop,

acceleration of the (current and, to the

feedback system, preceding velocity provide the from thrust-

avelocity measure The Z P66 minus damping,

character commanded error Z)

current

acceleration algorithm surface back velocity a fraction

horizontal lunar feeds pass (Eqs. is

back

VMOONPy,VMOONP of (12.3)). the the thrust-acceleration On final the P64 first pass.

command P66 pass, the

preceding fed

(12.2)that commanded

acceleration

back

The vertical function the second

direction (Eqs. of two (12.4)

of and

the

thrust-acceleration to maintain the magnitude

command a nearly of the erect first

is LM

limited attitude, to

to

20 l?he

from LIMIT

(12.5)) limits

arguments

argument

the

value

of

argument.

The acceleration

unit

thrust

command

(Eq.

(12.6))

is the

direction

of the

limited

thrust-

command.

The of is

assumption

in generating equals vertically. from ROD the lunar The inputs commander channels.

horizontal gravity purpose to LM attitude.

commands (Eq. of (12.1)) ignoring The

that is

the

vertical only acceleration

component if the is LM to

thrust-acceleration not accelerating coupling occurs gains of

realized

vertical effect

eliminate which the

of vertical switch, is is

acceleration, to modulate because

whenever the horizontal

manipulates This gain

the

ROD

modulation

negligible

31

only limited changesin the descent rate will ever be commanded;the vertical acceleration canbe significantly nonzeroonly for short periods of time.
P66 Vertical (ROD) Guidance Algorithm

The rate over to the the

ROD reference LM

guidance value the of

algorithm, by throttling

processed the DPS.

once The command

per ROD it

second, algorithm issues

controls has accounts no

altitude control for any

attitude; orientation

thrust-acceleration the thrust vector.

non-vertical

The ROD even character the ROD increment though

object

of

the

ROD The interval

guidance algorithm is 1.0

is

to

respond

rapidly a time capitalizing of the

without constant on total the of

overshoot 1.5 seconds,

to

commands. the of the sample system. instant, effective for the

provides second, by

sampled-data acceleration measured commands command compensation channel. in the an at

Using ROD

a computed algorithm lag of error

estimate extrapolates 0.35 at the second time 1 i) in a

sample by the

sample-instant and the shows thus

velocity acceleration will for The |)lane. be

transport the data lag is velocity analysis highly

appropriate realized. A sampled transport system zero is

acceleration that the and the

(reference effective

effective significant The

stabilizing zero

vertical two poles

dynamics

reduce

to

single

LZ

= -

LAG/(sample

interval-

LAG)

= -0.35/(1

0.35)

= -0.538.

One

pole

is

at

the

origin,

and

the

second

pole

is

Zp

= (time

constant

sample

interval)/time

constant

= (1.5

1)/1.5

= 1

3.

The nor

poles an

are

the

same

as

for

an

ideal

system

containing

neither

transport

lag

extrapolation.

The

ROD

algorithm

has

been

simplified

for

this

report

as

follows:

I.

In

the

LGC and

coding, recording

the

ROD the time

algorithm at which

begins they occur averages are

each read.

pass This

by

reading time is

the called

accelerometers the [SOD sample them, are ROD vector

instant. called the to

ROD ROD

sample

instants interval,

irregularly, 1 second. current The velocity vector b) a

but

the

interval

between readings at state the

sample a) based (SVUR, the

accelerometer vector supplied by valid the

used sample update

compute instant, routine

three-component on updating Figure the 3),

velocity and

thrust-acceleration

32

measurementwhich is the averageover the ROD sample interval. To computethe velocity vector it supplies, the SVURalso readsthe accelerometers, each pass, at the SVUR sample instant occurring at regular 2-second intervals. The irregular
ROD instants. in updating the are data obtained sample instants Consequently the processed is are the essentially interactions velocity ROD in asynchronous between vector are are 9. the with ROD the regular algorithm intricate. as inputs. How SVUR and the sample SVUR report, inputs

$V U 1_ - supplied by described the

extremely shown

In this these

algorithm

reference

2. LGC

Although routines,

the vertical including algorithm, data

orientation the P66 ROD

of the XP-axis horizontal algorithm for any

is capitalized algorithm and

upon the

by

several

landing-site completehere

redesignation vector state

the

LGC

laboriously

manipulates

to maintain valid

validity

platform

alignment.

Presented

is the scalar

equivalent

for the lunar-landing

platform

alignment.

Figure sample celeration ROD concluding by the sample the Throttle The vertical instant. by

13

shows Equation

the

HOD (13.1)

algorithm. computes

The the

inputs sample-instant measurement

are

all

valid total (averaged

at

the

ROD acthe

vertical over

adding, interval), preceding Routine. commanded velocity by Eq.

to

the current ROD

thrust-acceleration gravity pass. The (13.2) velocity at ROD the time pass ROD as the (1.5 by cosine the instability with the to of and thrust a

correction correction the

for increment

the

throttle _FAis

change supplied measured

Equation vertical existing (13.3) each the

extrapolates (reference P66 according pass. negative seconds). subtracting the angle is

sample-instant altitude rate) and the ROD (13.5) the The current is is

velocity. as the

initialized or issued computes velocity

initiated, to

incremented

decremented by the error the the total commander vertical divided required by

commands first

since acceleration by the ROD

preceding required time constant

Equation of

extrapolated equation gravity. the XB-axis then

obtains Finally, and the To routine

vertical CBPx), Eq.

thrust-acceleration which (13.5) discovered comply is the yields

dividing vertical avoid or the an

between

XP-axis, empirically cannot (I 3.7)

thrust-acceleration which occurs when

command the throttle from

AFCP.

DPS and

thrust-acceleration thrust within

command the

P66,

Eqs. region.

(i 3.6)

restrict

AFC

produce

permitted-thrust

33

INPUT: CURRENT VELOCITY V P

BEGIN

COMPUTE UNI_IMI'ffD AFCPX AFCPy AFCP Z =G M

THRUST-ACCELERATION

COMMAND (])

:- (VPy :-IVpZ

-VMOONPy -VMOONP

_15 SEC-0.4AECPy Z )ISSEC-0.4AFCP Z

(Z) 13)

LIMIT COMMANDED AECPy AFCP z

THRUST

DIRECTION

TO 200 FROM tan 20) )

VERTICAL (4) 15)

:LIMIT(AFCPy .LIMIT(AFCP Z

, AECP X

, AFCP X tan20

ISSUE UNIT THRUST COMMAND UNFCP : UNITI AFCP ) (6)

OUTPUT:

UN T THRUST END

COMMAND

UNFCP

Figure

12

P66

Horizontal

Guidance

Algorithm

34

INPUTS : COUN,f OF ROD INPIIIS SAaI_PLE INSIANT CURRENT GRAVITY MEASURED VELOCIT_ NROD VPX GP AFp X 6 FA

THRUST ACC[LERATIO_ '_IEASURE_/_E"_I fAveraged over the ROD sample IntervaD THRUST CORRECTION INCREMENT ( From the ThroTtleRoutine } CURRFNT MASS E STI_AATI r

COMPUTE APX

EXISTING VERTICAL AFPX , CBPxxSFAI

ACCELERATION M + GP X

AT ROD SAMPLE (|i

INSTANT

I
[XTRAPOEATE VP x SAMPLE INSTANT M[ASHRFD VELOCITY BY EFFECTIVE TRANSPORTI. (2_ A( :VP X * AP x 0.35SEC

UPDA'E

COMMANDED

VERTICAl VFtOCITY

INCORPORATING

ROD (3) 14t

INPUTS

VCP X :VCP x * NROD0.3mlsec NROD _ 0

COMPUTE

THRUST -(VP X

ACC[tERAT -VCP x

ION COMMAND GP X

FOR THROTTLE ROII'fIN[

il 1.5 SEC-

AFCP

61 CBPxx

RESTRIC,f THRUST ACCELERATION COMMAND THRUST WITHIN PERtw_ITTEDTHRUST REGION AFCP - MAXIMUM AECP MINIMUM WAFCP, 4AFCP 0 1/3

TO PRODUCE

':'Z, 46106 NFW,fONt M I

_6) (7)

60 ",k 4670,6 NEWTON/M }

I ENO

IHRUSI OUIPIJT:

ACCFI ERATION

CO&IMAND

AfCP

FiKure

13

P66

Vertical

(ROD)

Guidance

Algorithm

35

['OWERED-FLIGttT

ATTITUDE-MANEUVER

ROUTINE

A maneuver the DAP.

link

in

the

attitude (ATT)

control connects of ATT

chain the are:

of

command, powered-flight

the

Powered-flight guidance

Attitudeprograms to

routine The

various

functions

1.

For ATT

the

small

attitude a

changes maneuver of later.

normally constant

required rate such

each as

guidance to achieve

cycle, the

commands attitude attitude abort, several all attitude angle only if the the the most > ATT

required
2.

2 seconds maneuvers commands cycles.

For or over

gross upon

which

may

be required maneuver

at

phasic which

interfaces may extend

a rate-limited

guidance maneuvers 70 the

3,

For gimbal if lies

ATT

avoids ATT attitude

the issues

gimbal-lock a gimbal-lock from

region alarm guidance a maneuver

(middle code inputs which alarm through

magnitude). commanded

and

computed ATT and commands issues

within

gimbal-lock gimbal-lock direct region. path

region. region to the

circumvents code the when

no

gimbal-lock passes

commanded

attitude

gimbal-lock

Switching 180 ATT change makes in

from commanded lock

descent thrust during 2) to

program direction. anymaneuver limiting the drive Provided DAP the the

to

an A

abort break

program with

may traditional by middle

produce approaches, i)

up

to

gimbal gimbal

inherently the magnitude of

impossible of incremental from not is maneuver its currently magnitude through current gimbal-lock the

computing commanded

commanded gimbal commands to and their given angle,

angles, 3) issuing

and that

a series gimbal attitude

attitude-maneuver their current in gimbal limlted gimbal and values lock, at the

monotonically* values. the middle it angle is is

angles is angle to between

commanded that

commanded inherently confined to

gimbal impossible the range with

gimbal-lock the middle

boundary, gimbal Other more

lock;

commanded avoidance

values. require

attitude-maneuver computation to produce

schemes similar

appended

maneuvers.

Figure process,

14

presents some

an

overview on

of

the the

LM

powered-flight on the

attitude DAP side

control of the

including

information

procedures

Except complex

the outer gimbal case of a large magnitude ATT.

angle maneuver limiting

profile about of

may not multiple the X-axis

be monotonic in axes at substantial attitude angle

the change

geometrically middle gimbal on at least

angle and with one pass through

37

rj

<

% o

-"4

NOIIOIAYN

(]NV 33_(31N9

38

interface. and the navigation commanded

Two

computational inputs, attitude ATT

coordinate computes

frames

are

introduced. frame From measured (tag ATT

From CB) inputs, gimbal

guidance to represent the angles DAP for

acommanded-body in the to input compare gimbal attitude Of pointing vectors. with

inherent gimbal errors. angles The

computes computing frame (tag

reference the attitude ATT coordinate by

reference that coincide. the

angles errors

define are there zero may is detected

a reference-body when be DAP in the these two

HB).

computes frames ATT, but filter,

computational errors state by undetected

course, error

control steady

any and

thrust corrected.

a thrust-direction

The unit ATT determine Correcting .XRB-axis, the thrust

guidance comm and, the

and a unit

navigation window

inputs command,

to

ATT, and

shown a thrustin to

in

Figure

14,

consist

of

acceleration a thrust-direction the vector unit window reference-body with

measurement. filter frame. to to the to

processes

thrust-acceleration unit offset the frame. angles the DAP. the and of unit thrust the thrust From which Ten vector estimated

measurement with respect unit and thrust the

an estimated for ATT the uses

respect

command the it

command ATT gimbal

erect

commanded-body gimbal inputs and to

commanded-body compares per control the reference with second, the the

frame reference DAP

matrix,

extracts angles reference response to

commanded generate attitude is

times

updates The is a

the

generates fast spacecraft

corresponding tight attitude. that

commands. attitude

d)uaamic good

sufficiently

measure

of

instantaneous

A feature 2 seconds, it avoids except close exciting through

of

this

configuration fuelslosh slosh by

is resonant

that,

although at with

ATT certain the

runs

at points

a sample in the

rate mission, attitude

of

to the fuel the

frequency all coupling filter.

avoiding

actual

spacecraft

slow

thrust-direction

Figure direction coordinates angles (Eqs. total and (Eq. (15.3) excursion (15.6)), and unit filter

1 5 details computes constructing The (15.4)), of the the

the

Powered-flight the the thrust-acceleration required in maximum unit excursion with is not respect needed thrust

Attitude-maneuver measurement transformation direction travel thrust limit to and of vector of the not the is the is from limited trim limited trim

routine. in the on gimbal to gimbal The

The

thrust-

reference-body gimbal to 7-mr The (15.5)

by

reference each in cycle 2 seconds. (Eqs.

(15.1)). and

change the

estimated

129-mr plus X-component

mechanical thrust thrust offset vector

mechanical of the

deflection estimated

nozzle. computed.

If the unit

either thrust

i)

guidance to

provides adequately

a unit

window

command the attitude

too

closely

alined about

with the

command

determine

orientation

39

W_IT I_iT

Tt_RPST WlNUO_

_OM'aANO _ O_MAND

UNfCP UNWCP

,_l_!_'t

(_IMf_AI

ANt;L_S

RGAX

RGAy

RGA

LIMIT FOR

MIDDLE POSSIRL[

COMMANDLD ALARM

GIMOAL

ANI;LE

SAVINC

ORIGINAL

VALUE

q . CGA Z CGA Z gEL;IN " I IMlI I CGA l , 70 0 I

(19) 12(11

l
I AtP !li Qt COMPUTF UM _M_TEO R_FERl,NGl. G_MBAL ANGLE CHANGES UNIRBy UNFR9 Z t I 0001_ 0001] I}F tll MODULAR _URGA SUOTRACT_ON _GA_A I I O I_] 0 129] I_l 16t Rl`S[T WINOOW FLAG If COMMANO IN(]

ALARM

COOl.

IHRLISI-D _FI_B L, NAtRlt ALiNIRB v

IREC l ION -C flail .LlmllI0 llIC;A

F It If I x Rf;,A_ _ Y / RGA Z

I A_RIt

USING

71LINAtR6

_,UiiRel.Limil[0211Ul4fR8

_11

IIN_RBy tlNIRB/

I IMIT

[I

LlIA_RRy Z

* +

AUNFRgy AUNIROz

i
1

" Limit

[r U_RB

EXCESS

IrE

Y OR l

GIMBAI`

Af'k_tE

CHANGES

AN_ f , RfPl

Ri%_l

iv [NDCrW

t[AI; CDMMANO -COS 7 L'

"I _OR_A., i>,,s ,.AG-O ,,I .,O.GA_ I>.._ l`l`.O .0 l

IF WITHIN IS ORIt 15 0 Of UNI[ THRUST COh_UI*NO COMPUTE lOl RI`FFRENG[ SLC I ZOl U IMBAL 2 Sl`C ) ANULl` CHANGI.S L IMITIH6 ATFITUUI. AtOLl. P6II,_UNWCP'CBPZ fLkG'OIl_ i91 -_RP X "%ROA Z " I IMIT (#%URGA Z 20 0 I l_ 0 II_tICP

,_l ,.,,
RATES TO

ACE kl_ll

WlM)OW ?

IF_'_wtP'LJM(pt

ll

l!,lh_N_:P,

,_NI('P

1_41

FRIG1

( U_.IMANDEO _MCP

{t(lDy

I RAMI II0i

ARGAY

" LIMIT

II_,URGAY

COS

RGA Z > 200

I I

COS

RGA Z

47'5l

C CRI_

I#.ATIx Ct'IIPy l li_ll_t]_CP x (CBPxl I Illl If ,_:Ftr'<, l _I:ItP x x,=t BP_ II?i t_lgGA

,LIMIT[AURGAx

_(

Z_,URGAySINRGAzI,

ZO0 ]

Q6t

FLAG X

Q ,/%ATT .'%ATT x -

X " 0 l_lROAy SIN RGA/

1271 QS_

. CORREr'T CO_f_ANI)I [J BODY FRAIVil`

._i. tREClIOl FOR THRUST O_rES[T ISSUE DAP COiVSN_ANOS ARGAF _

i
611GA. ]_

C_'( BPy

' (_(

14PzI

_ _CBP

Illll idR8 " 0 0 COSRGAzCOSRGA COSRGA? SINRGA x X SINRGA COSRGA x _:_.RGA/2SEC l}_}

_C BP/

t_t ge_:

w [S;BPy

1151

4{)RR X i XIR_'_( I iC,_( CO_MANOED "ARCTRI(,I GIMEAL CCDPzy ANGLES CCBPyy _ tl6) liIl6 Y

"LIMIII_RBxI_RBxI#

2oRB

fOOl

.LIMITiiRllviiIRBYjt

70RBy

lOOi

1311

fC, a_

_RCTPlf,

CCBPxz

CCBPxx

lilt

nll

.tImItI_rez

I_RB

il Z

or6

z .

I0_

OLTEPIITRSFIIICE 0 imBAI REFI RENCE ATI ITUOt

ANGII RAIl S

INGRI

turN Is

8RGA RB

pFRMII_[O

I AC ANGI

tS

__RB

Figure

15

Powered-flight

Attitude-maneuver

Routine

40

XCB-axis, or 2) the guidanceprogram is P66 (which provides no unit windowcommand), then ATT provides a unit window commandsuitable for erection of the commanded-bodyframe and resets a flag to indicate that no attitude rotation is allowed aboutthe XCB-axis. ATT first provides the current ZB-axis (Eq. (15.8)). But this choice may also be nearly collinear with the unit thrust command, so a second possibility, the current negative XB-axis, is also offered (Eq. (15.9)). Becausethe ZB- and XB-axes cannot both parallel the unit thrust command, no further checksneedbe made. The matrix CCBP, whose row vectors are the commanded-bodyframe unit vectors expressed in platform coordinates, is computedto satisfy the unit thrust command,theunit windowcommand,andthe thrust offset (the angular displacement betweenthe estimated unit thrust vector and the XRB-axis). CCBPis computedin two steps as illustrated in Figure 16. The first step (Eqs. (15.10)-(15.12)) uses theunit thrust commandandtheunit windowcommandbut fails to accountfor thrust offset. Thesecondstep (Eqs. (15.13)-(15.15))corrects for thrust-offset components UNFRBy and UNFRB Z. Since these corrections are small, no unit need be taken in Eq. (15.14). A small window pointing error, shownin Figure 16, is introduced by the thrust-offset correction. Defined as the angle betweenthe ZCB,XCB plane and the unit windowcommand,the window pointing error is the product of the sine of the LPD angle and the thrust-offset angle about the ZCB-axis. Although the trim gimbal has a maximum displacementof 6, the maximum thrust offset during descent is about 1, which yields a maximum window pointing error of 0 at 0 LPD angle and0.9 at 65 LPD angle, the lower edgeof the LM window. Because the matrix CCBP is the transformation from platform tocommandedbody coordinates, it can be expressed in terms of the IMU gimbal angleswhich would place the body axes in the commandeddirections. Therefore, commanded gimbal anglescan beextracted from the commanded-body matrix. Expressing CCBP as the product of the three matrices that correspond to rotations about the three gimbal axesyields

CCBP = -CX SZ CY + SX SY +CX CZ ',+CX SZ SY + SX CY , +SZ ,';-CZ SY j +CZ CY +SX SZ CY + CX SY -SX CZ ',-SX SZ SY + CX CY
I I

(13)

where Y, and

S and Z are

indicate angles.

sine

and From

cosine, Eq. (13),

and it of

X, is

Y,

and

indicate that the

the

commanded gimbal

X,

gimbal extracted defined

apparent CCBP by

commanded (15.16)-(15.18),

angles ARCTRIG

from as follows.

the

elements

Eqs.

with

41

C_.C BPxl : UNFCP J ('-UNIT THRUST I COMMAND) J

XCB

cc BP x

-UNFRB -UNFRBy

LM CCBP_ i
iI

(UNIT WINDOW COMMAND) POINTING RROR

-UNFRB YCB

c_c BPyZ UNFRBz ZCB

c__c BP z

Figure

16

Geometry Viewed

on

of Erection a LM-centered

of

Commanded-body Unit Sphere

Frame

42

The the in ratio

ARCTHIG

function second

of two

arguments

yields

the

angle

whose angle

tangent anywhere

is

of the first and by using

arguments. of the

ARCTRIG

extracts

the

the circle

the

ratio

smaller-magnitude angle or

argument

to the and

largerthe

magnitude signs and

argument arguments yield the

as the tangent to outer determine and

of the

its complement, of the angle. gimbal angles

by using

of the (15.17)

the quadrant commanded is always gimbal

Equations anywhere a positive 90 .

(15.16) in the

inner

circle. Eq.

Because

the second the middle

argument commanded

positive, angle

implying between

cosine,

(15.18)yields

To preclude gimbal the angle and to

commanding 70 magnitude. commanded gimbal by

gimbal

lock, Eq.

(i 5.20)

limits the middle value

commanded 90 and with or the

Because gimbal range,

the unlimited angles were

lay between consistent of the outer

outer

inner

computed switching If limiting and

middle commands command,

commanded is the

angle

no quadrant limiting. gimbal lock,

inner

required guidance

_imbal-loek

char.ges

the alarm

middle code

is commanding

the gimbal-lock

is issued.

Unlimited required commanded current The to

reference the

gimbal DAP's

angle

changes gimbal computed commanded angular

are

the

changes into

which

would with

be the the

bring gimbal

reference These are the

angles by

coincidence

angles. gimbal

subtracting, gimbal angles

modularly, (Eq.

reference

angles yield

from the

(15.21)).

modular

subtractions

smaller

differences,

i.e.,

-170

._

170

= .20

, not

-340

If reset to 12.

or

Z no

gimbal attitude

angle rotation about the

change is allowed

greater about as

than the

45

is

required, This appendix

the

flag

is

indicating prevent false

XCB-axis. in the

is necessary of reference

starts

XCB-axis

derived

}:quations the three lie in magnitude orthogonal the of

(1 5.24)-(i the axes; attitude one plane. if the in (15.28)).

5.28)

yield changes

the to

reference 20 in with an the 2

gimbal seconds the

angle

changes

Dy limiting about each axes I0 is gimbal of

(10/sec) and of the the

axis This flag an is outer

is

coincident permits reset, gimbal

XCB-axis vector about to offset

the

other

YCB,ZCB Note that

angular-rate rotation change

length XCB-axis inner

deg/sec. made an_le zero, change

attitude angle

resulting (Eq.

The applied by

DAP the

commands DAP each

consist I / i0 second,

of

the the

reference reference

gimbal attitude

angle rates,

increments and the

to permitted

be

43

lag angles. changes The

The

reference by the

gimbal ratio are

angle

increments and by in Eq. the ATT

are

the reference intervals

gimbal (Eq.

angle

multiplied

of the

[)AP

sample

(15.29)). of

reference

attitude gimbal

rates

computed shown which

the nonorthogonal (15.30). will are The lag

transformation permitted

the reference which command acceleration avoids permitted account due

angle

changes by

lag anglesj angular available The DAP to the

for the angles

attitude

behind

a ramp the

to the finite accelerations e_HB, and then individually by

available, magnitude

computed (Eq.

using

limited

(15.31)). errors

attitude-rate lag angles.

overshoot

permitting

lagging

attitude

equal

44

"FttROTT

LE

HOUTINE

The the are DPS,

throttle as illustrated as thrust into thrust thrust or

routine in percentages increment coincidence would would maximum

connects Figure of 17. the

the For

currently ease rated to drive thrustof

operating understanding, of the 46 input

guidance all 706

algorithm thrust levels THROT

to

represented

DPS

thrust

newtons. thrust-acceleration command region. region,

generates measurement the the causes thrust resulting resulting

commands with lie lie within below thrust. the the or input

acceleration permitted-thrust

whenever When THROT 57 to and between 65% the

illustrated above The the

permitted-thrust region

minimum avoids

hysteresis-like the maximum-thrust dwells at

from point

frequent region and

alternation when the

between thrust command

permitted-thrust the permitted-thrust

the

boundary

forbidden-thrust

regions.

A digital-to-analog descent except AFC% causes issuance of is time THROT 40,000 achieved. which to engine once which about of a per is control second converted

interface assembly for P66) to a

between (DECA). THROT pulse train and command, of cycle rated as thrust short of delay. Each

the

LGC guidance

and

the cycle

DP$ (once

is

provided per two

by seconds, command

the

generates and the the issued pulse thrust per as one

the

thrust to the

increment DECA.

Each

pulse

12.Snewtonsthrustchange, thrust increment (85% a guidance

rate

is

3200/second. changes the an thrust engine for

Following at the rate

therefore second) until and is

newtons/second With may account be

increment response P66 and

one second,

second it

a substantial for this transport

fraction

necessary

As the DPS

illustrated thrust Not is shown

in

the

rightmost linear 17 is by zero. level of

box function the the The

of

Figure of the throttle and contains

17, pulse

in

the count

region

from

Ii

to by

93% the

a nearly in Figure command is thrust the to the (about maximum loss

accumulated which minimum stop on To at drives is 11% at

DJc:C :\. with when 93% descent, the higher saturation I)PS the the rated

manual DPS DPS

command, the

summed thrust

DECA DECA thrust. considering is thrust driven

output command This

provides

a mechanical consumption higher A thrust.

typically anominal

minimizes specific stop, and is the impulse the

propellant at DEC

ensure

that

mechanical 99%) thrust

saturates

a substantially the DECA into

level whenever

throttle

routine

required.

Nonlinearities are overcome by the response THROT drives

in thrust

response increment inputs,

and

uncertainties command concept.

in

DECA

and

DPS

scale

factors provides

Nominally, nonlinearities to zero in the

THROT and steady

dead-beat errors

to step the

but

with

downstream error

scale-factor state.

thrust-acceleration

45

i _

(.
_
15i7_Hi (_]_]AIl]O

i,, _

i'

_4
I= I

-_e-

W_IS,',_; N(d _;}ldOtld A 18V_SSV _O_INO0 ]Nl_l]

LNJ:)S](_ IN]3S]G

E_ P_

]NI J.nO_l ]ILIO_IHI

ISaaHl

(]_ lAt llO

T
I

]NI1_8 NOIIOIAYN

]11108 HI '_ J3NOI_IO

c=

46

Figure and thrust

18 illustrates measurement The sample input interval,

the are

Throttle computed

Routine using

computations. the input

The mass is the

thrust estimate average

command (Eqs. over was the

(18.1)-(18.2)). preceding producing to obtain

thrust-acceleration during thrust sample-instant the thrust correction which profile

measurement a thrust as increment in (18.3)

command Figure 19.

issued

an instantaneous the current by adding

illustrated Eq.

Therefore, the thrust cycle.

thrust,

corrects the

measurement

increment

computed

previous

The illustrated to the and (18.4) thrust saturation or corrects value (18.7)). thrusting needed the P66 at if the

thrust-control in Figure

logic

for

providing one of four

the

required

overall thrusting

system policies

response according and FC%),

17 is to pick preceding command the thrust (FCAUG%) is to initiate between initiate

possible thrust

regions to reset or

of the

the thrust resets

and

present

commands DPS

(FCOLD% constraints. actually drives (Eq. the

if necessary command is or the

to satisfy to the thrust that

Equation A into

(18.8)

anticipated. the (18.5) DECA DECA or

command if the

augment policy

computed

either thrust stop and

retain DPS

maximum mechanical within the

(18.9)),

for the region policy thrust the is to

saturation region (Eq.

thrusting augment is region. point because more

permitted-thrust when the policy thrust-control thrust would is

No

command permitted-thrust

required No

to continue logic occur only a single is if

within the

equivalent

minimum-thrust could sample issue interval, five

minimum ROD

commander guidance

or

downward impossible.

commands

within

practically

The increment or out

thrust _FA%,

increment plus the

command thrust required.

(Eq.

(18.12)) augment

is composed FCAUG%

of the to drive

actual the

thrust DECA in

command

of saturation,

when

Preparatory pass, transport constant required per second. within Eq. (18.13) lag of are 0.08

to computing computes 1) the the total

the

thrust effective

correction transport t DECA pulse tSI,

increment lag. 2) delay train The the

for terms

the

succeeding

in the effective DF'S hal, thrust the time time change

computation and 3) the increment actual interval (obtained the At,

duration effective command thrust At, by it

estimated to 85% 19)

second, the long the

equal at

to output As

thrust as the

increment is clear

AFA that, as

(Figure LAG

is contained zero, at as the LAG by

entirely the thrust

sample

approaches readings Similarly,

measurement instants) the approaches sample

differencing

accelerometer thrust F. must to obtain that to yield the the

sample approaches an amount thrust increment F.

sample-instant the thrust increment

interval the actual

measurement AFA

be

augmented sample-instant correction

approaching From which this must

thrust argument,

heuristic be added

it is apparent measurement

thrust the

to the thrust

sample-instant

47

INPUTS: THRUST THRUST CLOCK SA/dPU

ACC[[t ACt:tIE - TIM[

RATIgN

COMV_AND RI '_t NT

AF['P AF P t

RATIDN/91_ASLI

INSTANT

Of CURRENT tSl M

GU ID ANC( CURRENT MASS

[:YCI E [ STIMATI

BIGIN

COMPUff

THRUST I00 A[CP

COMMANO M

AND

THRUST M_ASUREM[NT

FA,_

TO0 Af P M 4(> 106 NEWTONS

(21

ICOMPUTE

SAMPLE CYCH

INSTANT

IHRIIST

BY ADDING

TH_ ACTUAL

THRUST

CORRECTION

COMPUffO

_TH[ PRECEDING

IF% _fAe., _FA%

YE S INITIATE MAXIM_JM THRI ST

B)

FCAUG%"

0_5l

[CA:::'0

{sERET_RI_RUSF'MTC:NM_:NGOIYI4_&& NT

}l

FCAUG_"

_=/:,- 99'/,J

FF_A;GFI _-

iDg'_: i

i
COMPUTE THRUST ACTUAL COMAIAND F_ THRUST FOR INCREMfNT AND SAVE SUC.CE[D ING PASS (10} (Ill A_A _t, F( '_ FC_D _ FC_, DECA I CO_PUTE THRUST INCREM6 AFC_ :AFAr= + FCAUG NT COMMAND FOR I 2

NOT P00

POb

I
AI 2 SiC At 1 SfC

I
qQ,MPIJIT& THRUST CORRECTION IAG : (t ISI), 0.0fl SIC , IAg 6FA Z, : AFA% At INCRI_MENT FOR

I
SIJ(,.CEEDING PASS II)_ (14)

IAFA"IV(_x 8S _I. / sEc;

THRUST

CC_RR[CTION 0FA

INCREMENT _)FA_

fOR

P66 V[RTIC_ I00

_OD)GUIDANCE

ALGORITHM (IST

46106NEWTONS/

OUTPUTS: THRUST THRUSt INCRFMENT CORRECTION COMMAND INCREMENT AFCt _FA

FN[)

Figure

18

Throttle

Routine

48

o-

f..

E
_'3 I---

D f,,4 _.,.) t,._ --

0Q

I--"0J0 O C t-

,,.-, t't=
C

.._

u..

I,..,.

r,I,-C

t.--

E
C

13

t_
_

\
I,-,,. .,_,.i

Jm

tO

(3'3

I,,,,., _L O

lit"

oE_=

--

L O.-

t'_ t_

C --

49

thrust is proportional

to LAG

as computed

by Eq. (18.14). A rigorous Ii. The

derivation of of Eq.

this result is presented

in Appendix

A of reference

sole purpose

(18.15) is to interface the P66

Vertical (ROD)Guidance

Algorithm.

With reset of the to the actual

the

thrust which

command will

FC% actually and

either be SFA%

within

the AFA% is

permitted-thrust is an accurate thrust thrusting

region prediction correction within in

or

value thrust gFA%

achieved, or _FA

increment, or region. _FA is The

an accurate initiating to neglecting

increment, permitted-thrust computation

slightly slight

in error error is

when due

the the

FCAUG%

of LAG.

5O

BRAKING-PHASE

AND

APPROACH-PHASE

TARGETING

PROGRAM

The Algorithm guidance and control efficient constraints the P64 speed

targeting and for

program the P63,P64 The that The and determine guidance targets

generates Guidance algorithm ignition algorithm for P64 and shallow

mission-dependent Algorithm. requires time and requires that thrust. approach although The typically range. approach-phase lie continuously provide All nominal indirectly targets a

data data

for are

the

P63 expressed

Ignition in range, throttle-

coordinates. data duration. transfer on constraints than vertical a nearly at straight-line 30 until at m a

ignition

initial determine for P63

altitude, the that meeting

provide several

an

trajectory in more terminal-descent site must horizontal, site and to 65% detail

geometry, provide helicopter in

visibility, a fast

Described phase the landing 16 from The landing

in to

reference an airplane phase

5,

akin

approach essentially along typically continuously must begin

approach, fashion. depressed m ground

is

helicopter path ii seconds

be

approached terminating

altitude a few

must the region.

be DPS

visible thrust

before must

terminus, in the 11

around

57%

and

Geometry, Visibility the thrust depends and algorithm without is and to

visibility, upon mass the profiles) will regard set thrust up

and

thrust

during and

approach

cannot and the arbitrary

be

specified these

explicitly. profiles (with The (within targeting suitable

position are the

attitude to from thrust and implicitly.

profiles, satisfy any

constrained transfer or

laws

of initial

physics. state of the that

guidance bounds) program visibility

provide to anyvisibility the P64 are

constraints. guidance

The targets

task such

initial realized

state

profiles

During will time, generate as shown

the

final

portion whose 20.

of

P63, position Targeting

and

throughout vector consists targets polynomial, is

P64, a quartic of as i) the

the

guidance

algorithm function of the and phase of two its

a trajectory in 2) target Figure extracting

polynomial defining position each vector

polynomials derivatives terminus. at

and a

the lying

guidance on the

point,

substantially

beyond

The imposing constraints arbitrarily position the initial and

P64 necessary may made all

targeting and be

concept sufficient in requiring to be

is

to

construct With three axes.

the quartic

approach-phase degree, The in two nominal guidance axes to five

quartic independent trajectory coordinates specify. guidance, arbitrarily. determine Because all

by

constraints. each the zero the of

imposed

is of

planar, its can derivatives be of

Y-components and leaving

state in

controlled the -two called

by remaining a P64

preceding axes constraint may

braking-phase be set specified -completely

five Since the

constraints these ten

each

constraints

51

uu

o
t_ .r'_

r/l 0

52

P64 trajectory,
form, Thus P64 and P64 constraint of described the targeting

the

geometry profile consists

and can of be

visibility determined

profiles from closed-form provides reduced to

can

be

determined knowledge for

in of anumber and search,

closed mass. of thrust. as

thrust

a prior solutions adequate a

generating one sets which is

sets P64 in

and

picking

visibility

Specification will be

constraint the following

two-dimensional

section.

The at fixed

P63 maximum and

targeting thrust therefore, When throttle at Since there this the remain

process for as most shown

is

not of in control

so the Figure

clean. phase, 20, is

Because the the

the

engine

must

be are

run not of is

guidance maximum-thrust generation

commands

satisfied, P63 begun. the state is not But

portion of point. aquartic Therefore closed-form quartic which in

quartic. the

throttle recovery point initial only The

recovered, close to any and on in permits time such

point cannot position three be

is

not

target we the have

vector for it.

controlled, and velocity

no

solution must be axis on the is be imposed by

braking-phase of two axes, constraint

free,

constraints, algorithm

each

can one

arbitrarily. solving for the of

guidance

a fourth as

current jerk. and are

target-referenced Thus the a P63 remaining constraint three iteratively there

to satisfy of required seven

a constraint constraints to Three define or the four the

ZG - component arbitrarily, quartic are and the generally

set

composed

specified

conditions by is bilateral

braking-phase iterations targets

determined because

simulation. interaction

required

between

simulation.

Constraints

The

P64

constraint

set

is

constructed

as

follows:

i.

Four

constraints

at a specified specified typically) horizontal r, by

target-referenced by the mission and altitude

terminal commander, rate (VAPFG

time are X

TAPF: the =

Two

terminal altitude typically). P66

vertical (RAPFG Two

constraints, X = 30-m

terminal -l-m/sec

terminal time

constraints, are that Z cause the

imposed terminal Z r2, pitch

by the choice position, VAPFG Z =

of effective velocity, -AAPFG and Z r.

horizontal

constant

acceleration These and and P66 cause P66

shall

be related

RAPFG

= AAPFG the a pitch

compatibility to be

constraints identical to

commands

at P64

terminus interface) as the

inception the P66

(avoiding null the

transient

at the phasic error the

algorithm error,

horizontal feedback. command, found

position Because and

as well P66

horizontal algorithm delay, seconds an

velocity feeds back

without

position

horizontal

the prior

acceleration has been

because

of the transport rather than the 5

effective

r of 8 seconds algorithm.

satisfactory

used

by the P66

53

2. The safety may

Four midpoint and specify

constraints constraints comparability -5-m/sec the midpoint

at

an are with

unspecified specified a possible at by

target-referenced the manual 150-m commander transition altitude, given and a

midpoint according to P66. 16 slope, = to

time his

TAPM: sense of he

Typically, completely =

altitude state

rate

determining

RAPMG,VAPMG

RAPMGy

VAPMGy

0.

3. initial phase RAPIGy

Two

constraints is arbitrarily 7.5-kin

at

an

unspecified specified

target-referenced to lie on the the 16 path initial and

initial to

time provide vector

TAPI: an approach R__APIG

The

position of typically = 0.

length,

determining

position

given

This and TAPI

completes at which by sweep suitable If thrust

the the

P64 midpoint the

constraint and

set initial

except constraints

for

specifying apply. Routine the cases on an

the These

times times the is P64 excessively

TAPM are twopicked initial in picked.

determined dimensional that mass error, exhibits estimate). the

running of values attitude

Approach-phase of TAPM thrust and TAPI. behavior proves

Targeting From (based the mass

over run, a-priori one

and

subsequent will

simulation be unsatisfactory,

estimate case

initial

and

an alternate

must

be

The specified the initial

seven by

P63

constraints of the by the

are terminal

specified state quartic.

as on

follows: the Two

Four

constraints quartic are and by imposed specifying component The terminal propellant

are with on

compatibility on

braking-phase constraints to be 57%

state acceleration pitch jerk typically

approach-phase requiring The final zero 60 , is the

terminal the of terminal terminal angle,

terminal

thrust is imposed

angle. by requiring around

constraint rate of

on the at error

horizontal

change by trial

of

thrust and

terminus. tominimize

pitch

chosen

consumption.

Approach-phase

Targeting

Figure routine then targets run is first

21

illustrates run with entire separately the

the

Approach-phase in search of Targeting

Targeting targets for Routine

Routine. the (Figure approach

Normally, phase, to determine

this and

jointly for the

Braking-phase descent.

22)

lunar

In the by Eq. (21.2),

XG-

axis which

(altitude), is obtained

the

terminal immediately

acceleration, from

jerk,

and

snap

are

computed

54

RAPMGK] VAPMGx/ RAPIGx J

1 =
0

TMF 1

TMF2/2 TMF TIF2/2

TMF3/6 TMF2/2 TIF3/6

TMF4/241 TMF3/6 TIF4/24 1 J

RAPFG VAPFG AAPFG JAPFG SAPFG

x x x x x (14)

TIF

where by Eqs.

TMF (21.

and 1).

TIF

are

the

midpoint

and

initial

terminus-referenced

times

computed

In trajectory.

the

YG-axis,

position

and

all

its

derivatives

are

zero

to

produce

a planar

In the

_G-axis, Z =

Eq.

(21.4)

is

obtained Z

by

substituting

the

P66

compatibility

constraintsRAPFG of Eq. (14) and

AAPFG

ZT"2,VAPFG

= -AAPFG

ZT"intotheZG-axisversin the definition targets of the as the

inverting. quartic. and

Equations It remains

(21.5) and to compute at the target

(21.6) complete the point

approach-phase position vector

approach-phase on the quartic.

its derivatives

For defined by

a quartic

polynomial,

state

transition

matrix

(T 1,

T O ) can

be

R 1 V"1 = Ai J--1 I

1 0

(T1-T 1 0

0)

(TI-T0)2/2 (TI-T 1 0)

(TI-T0)3/6 (TI-T0)2/2 (TI-T 0)

(TI-T0)4/24 (T1-T0)3/6 (TI-T0)2/2

_vo
A o =_(T1,T0)X 0,

XI=

0 0

0 0

0 0

1 0

(TI-T 1

0)

-si]

S_o

where theory,

R.
--I

to S.
--i

are

row

vectors.

(TI,

T O ) can

be

derived

using

linear

systems

= A_. I =

..7 [i] li1 o o o

Iwl
I __

0
0

0
0

1
0

0
0

55

with

the

solution

e(TI-T = e

0) = I + e(TI-T 0) + e2 (TI-T0)2/2 + e3 (TI-T0)3/6 + (_4 (TI_T0)4/24,

where term be

I is because

the

5 e i =

5 identity 0 for and i > vector

matrix. 5. All the

The

exponential of

series state

is

zero

after matrices

the

fifth can

properties

transition

applied

to

scalar

polynomials.

Equations transition matrices

(21.7) and

yield the

the definition

complete of

target target-referenced

and

initial target

states time

by

using as zero.

state

Braking-phase

Targeting

To in Figure

target 20. three

P63, Seven are The iteratively

we must of based remaining by the ten on

completely necessary a P63 three simulation. Targeting

determine conditions terminal conditions The Routine. mass

the are

braking-phase determined which to pitch define in must

quartic closed be

shown form, updated are a fixed

although by simulation.

estimate necessary

the 0PBRF

quartic is

determined input to the

terminal

angle

Braking-phase

Figure the A unit angle using for P63 terminal vector 0PBRF the lunar

22

illustrates position

the and

routine. velocity

Four equal to is

conditions the P63

are initial from is estimate jerk must

specified state the (Eqs. terminal by and

by

setting (22.1)). pitch

in

the

terminal-thrust (22.2)), thrust and FBRF, The the the

direction terminal P63

computed

(Eq.

acceleration terminalmass of terminal the by for the first Eq.

calculated MBRF, be (Eq.

Eq.

(22.3)

terminal gravity and is of thrust by Eq. of set

allowing by The rate flow for rate the and the of

GM.

XG-component set jerk to is zero computed

determined (22.5)). zero mass

simulation ZG-component change computed XG-component is therefore of

therefore terminal at terminus, (22.4); thrust. to zero of the The (Eq. the

for

iteration (22.5)

to produce terminal 1.2,

accounting jerk terminal (22.6))

estimated K J, typically be

coefficient snap for the

accounts by This simulation completes

must first quartic.

determined iteration.

first-iteration

definition

braking-phase

to

Not a

shown backwards

is

the capability extrapolation to

of of

the targeting program the P64 initial state

to to

set allow

the P63 terminal state for a short transition This capability the presentation

during which the acceleration is not always used, and of Figure 22.

is assumed show it would

to change linearly unnecessarily

with time. complicate

56

Braking-phase matrix computed and the

targets definition of

are

computed

by

Eq.

{22.7), target corrected

using time as data.

the

state

transition Using the

target-referenced is run to produce

zero.

targets,

a simulation

The (22.8)

nominal the

initial error

range in the

used target-

by

the

ignition time

algorithm of throttle

is corrected control

by recovery.

Eq.

to correct

referenced

The of position,

simulation velocity, necessary

produces acceleration, to of the define

a braking-phase and the quartic

quartic

satisfying of jerk. from equation

the

target

values

ZG-component can be obtained The

The the for

remaining state current

conditions on state, the last

current the

pass

braking-phase

simulation.

RBRTG G 0 1 T T2/2 T3/6 J VBRTG

J

ABRTG JBRTG SBRTG

Js readily Solving computation values for

solved the of T

to yield

the

achieved of

target achieved

jerk target

and

snap

according provides a

to Eq. check and

(22.9). on the input

ZG-component by the guidance places.

jerk

algorithm;

agreement

between

achieved

is typically

to seven

In preparation at terminus the the specified time is computed terminal may

for

correcting by Eq. time

estimates (22.10). Equation

at

the

terminus, yields the 2-second state

the

complete

state state at at

(22.10)

aterminal RG,VG granularity.

TBRF from

precisely, TBRF

whereas

applies

T which

differ

by up to the

Equation equation. snap using

(22.11)

corrects (22.12) P63 the -

the (22.14) terminal XG-

P63

terminal the estimate,

mass terminal the

estimate

using

the

rocket and

Equations the jerk, corrected and

correct mass and

acceleration, achieved of terminal

jerk, XG-component snap.

of terminal

achieved

ZG-components

Finally, (22.17). the Since

state only

convergence three quartic conditions are

test

quantities

are

computed and three

by

Eqs.

(22.15) Z) defining criteria

(JBRFGAx, sought iteratively,

SBRFGAx, only

SBRFGA convergence

braking-phase

57

INPUTS.* TERMINAL TARGET-REFERENCED TIME TERMINAL ALTITUDE TERMINAL ALTITUOE RATE EFFECTIVE P66 HORIZONTAL TIME CONSTANT MIDPOINT TARGET-REFERENCED TIME MIDPOINT INITIAL INITIAL STATE TARGET-gEFERENCEOTIME POSITION TAPF RAPFGx VAPFGx T TAP M R APMO, _APMO TAPI RAPIG

BEGIN

COMPUTE TERMINUS-REFERENCED TIMES "$MF - TAPM - TAPF. TIF TAPI - TAPF ()')

TERMINAL X COMPONENTS

pxl,...36.4 i o!]rR-ox1
(2)

/VAPMOx/
LRAPIGx J

TERMINAL Y COMPONENTS G) RAPFGy ,0. VAPFGy -0, AAPFGy -0, JAPFGy -0. SAPFGy -0

TERMINAL Z COMPONENTS TMF 4 _4_ | AAPFGzI JAPFGz| SAPFGzJ| =/ l I T2 -T TMF+TMF212 TMF]I6 TME 21 ? TIF3_6 14) TMF )t 6 TIF4124 J VAPMG RAMPGzZ 1 RAPIG Z (5I (61 VAPFGz "-AAPFGz T - T + TMF
T_-T

TIF+TIF212 T2

RAPFG 7 -AAPFG Z

+
COMPUTE COMPLETE TARGET ANO INITIAL - RAPrG_APTG AAPTG TAPTG .(O, TAPF) FRAPFG: _i_APFG _APFG ] __APFG STATES RAPTG _ -4_(TAPI,OI VAPTG A-APTG J'-APTG (7) *RAPIG _APIG AAP G I TAPIG

_]APTG_

L_SAPFC_, L]APtG

_-'APTG .

OUTPUTS" COMPLETE TARGET AND INITIAL

STATES

[RAPTqFRAPiq
I_VAPTGI iv^Pro[
LJAPTG| | JAPIG|

LX_APTq I_ API t
L_APTOJ , L_.APIGJ
[ND

FiKure

21

Approach-phase

Targeting

Routine

58

I--_.
w

.{ o m

:F

A / V ;_ IP

@ o

i c

J
_ r t t

!"
c

r/l

>

.c_.

c-

_o_
mmmmm

z8

r_ _
> m m m

_---

$_

_=_

_E_:

__= -o_ _o_,__ _zz

>-u_

_oo
_

_ "- -_-'_ _ ,

8,..---------..--

_1_ oi_o

_ _o_=

59

are and

needed. are related

The

three

criteria to if the are

chosen three throttle corrected

are

important sought. recovery

for

guidance If any one

performance of the state test

nonsingularly tests fails, or targets

conditions control

convergence fails, the

time

convergence is run; per

the braking-phase targeting is concluded

and another

simulation inputs

otherwise Eq. (22.18).

by correcting

the ignition

algorithm

6O

REFERENCES

i.

Kriegsman, Powered Washington,

B.A., Space July W.S., Vol. G.W.,

"Radar-Updated Vehicle", IEEE

Inertial Aerospace

Navigation Systems

of

ContinuouslySeattle,

Conference,

l I- 15, 1966. Module i, January -- A Digital 1971. General MIT Explicit, Optimizing Guidance Law Report Autopilot", Journal of Spacecraft and

2.

Widnail, Rockets,

"Lunar 8, No. "E

3,

Cherry, for

Guidance

Rocket-Propelled August A.R., MIT A.R., (LM)", T.E., "A 1964. "A

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Laboratory

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4.

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6.

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"Guidanee

Laws Back to

for the

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7.

Off-Nominal Internal Center, G.G. and Note Houston, T.E. Note

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Trajectories Apollo,

MSC-EG-69-9, Texas, February High

NASA,

Manned

28, 1969. Gate Targeting Manned for LM Spacecraft Powered Center,

McSwain, Descent", Houston,

Moore,

"False

Internal Texas, May

MSC-EG-68-07,

NASA,

27, 1968. Seheme LM Descent January for Fuel Optimal Phase", Rocket Technical Trajectories Memorandum --

8.

Yang, With

T.L.,

"A

Targeting to the Bellcomm Stark Draper Manned ID",

Applications

Braking 22, 1971.

TM-71-2014-I,
9.

MIT

Charles

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System Using

Operations Program 1970.

Plan Luminary

for

Lunar

Section

5, Guidance

Equations,

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61

I0.

Eyles, D.E., "Apollo LM of Lunar Automatic DescentControl A.R. and

Guidance

and Pilot-Assistance Fourth

During IFAC

the Final Stage Symposium 6-10, 1971. Enhancement Program", of on

Software

Considerations",

in Space, Dubrovnik, G.R. Kalan,

Yugoslavia,

September and

iI.

Klumpp,

"Elimination

of Noise

Stabilityand Dynamic MIT 12. Charles

Response

of the Apollo LM Report

Rate-of-Descent October

Stark Draper

Laboratory

E-2543,

1970. MIT 26,

Klumpp,

A.R., "FINDCDUW Laboratory

-- Guidance LUMINARY

Autopilot Memo

Interface Routine",

Instrumentation 1968. 13. Bennett, Aerospace 14. F.V.,

No. 27, Rev. i, September

"Lunar

Descent New

and York,

Ascent January

Trajectories", 19-21, 1970. Descent

AIAA

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and Ascent",

as a NASA

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62

R-695

DISTRIBUTION

LIST

Internal:

P. S. R. L. H. F. S. L. T. A. D.

Adler Albert Battin Berman Blair-Smith Brunswick Copps Drane Edelbaum Engel Eyles

G. D. J. A. R. J. B. R. D. P. D. J. N. J P. J. MIT/KSC R. C N R P. R. P.

Kalan Keene Kernan Klumpp Larson Laning McCoy Metzinger Millard Mimno Moore Nevins Pippenger Reed Rye Scanlon Schlundt Schulenberg Sears Stengel Volante Weatherbee Weissman (i0) (2) (150)

D. Farrar P. S. T. D. R. K. E.C. M. P. D. A. I. M. Felleman Femino Fit zgibbon Fraser Gilbert Glick Hall Hamilton Heinemann Hoag Hopkins Johnson Johnston

CSDL/TDC Apollo Group Library 23A

(18)

D-1

External: NASA/RASPO DELCO Kollsman Raytheon MSC: National Manned Houston, ATTN: Aeronautics and Space Administration

(1) (3) (2) (2) (37&lR)

Spacecraft Center Texas 77058 Apollo Document Control M. Holley (EG 14) T. Gibson (FS 5) B. Kirkland (FM 2) B. Taylor (FM 2) J. Alphin (FM 2) W. Bolt (FM 2) D. Jezewski (FM 8) F. Bennett (FM 2) J. Garman (FS 5) D. Scott (CB) A. Worden (CB) P. Conrad (CB) J. Young (CB) K. Mattingly (CB) F. Haise (CB) E. R. V. D. R. Mitchell (CB) Gordon (CB) Brand (CB) Cheatham (EG) Chilton (EG) Group (BM 86) (18&IR)

(2) (I) (i) (i) (1) (1) (1) (1) (I) (I) (I) (I) (I) (i) (I) (I) (l) (I) (i) (I)
(I&IR)

KSC

: National Aeronautics and Space Administration J. F. Kennedy Space Center J.F. Kennedy Space Center, Florida 32899 ATTN: Technical Document Control Office R. Pearson (CFK)

(1)
(2)

LRC

: National Langley Hampton, ATTN: Aeronautics Research Virginia Mr. A.T. and Center Mattson (3&IR) Grumman Aerospace Data Operations and Bethpage, ATTN: Long Island, Mr. E. Stern Corporation Services, New Space Administration

GA:

Plant York

25

D-2

NAR: North Space 12214 Downey, ATTN: American Division hakewood Rockwell, Boulevard Data Management Inc.

(4&IR)

California 90241 T.R. Watson; CSM D/096-402 AE 99

NAR

RASPO: NASA North Space 12214 Downey, Resident American Division Lakewood California Apollo Spacecraft Rockwell, Inc. Boulevard 90241 Program Office

(i)

GE: General Apollo P.O. Daytona ATTN: Electric Systems Box 2500 Beach, E.P. Florida Padgett, 32015 Jr./Unit 509 Company

(1)

HDQ:
National Aeronautics DC 20546 Cherry and Space Administration

(1)

Washington ATTN: G. JPL:

(2)

Jet Propulsion 4800 Oak Grove Pasadena, ATTN: R. W.

Laboratory Drive 91103

California Morris Breckenridge

D-3