Method and system for autonomous spacecraft control

• US 5,951,609 A
• Filed: 05/29/1997
• Issued: 09/14/1999
• Est. Priority Date: 05/29/1997
• Status: Expired due to Fees

• Current Assignee: Northrop Grumman Corporation
• Original Assignee: TRW Inc. (Northrop Grumman Corporation)
• Inventors: Hanson, Mark L., Fesq, Lorraine M.
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US08/865,290
• Time in Patent Office: 838 Days
• Field of Search: 701/13, 701/226, 701/14, 701/15, 701/16, 244/161, 244/164, 244/171, 244/176, 244/158 R, 244/75 R, 244/17.13
• US Class Current: 701/13
• CPC Class Codes: B64G 1/245 Attitude control algorithms for spacecraft attitude control
• CPC Class Codes: B64G 1/247 Advanced control concepts for autonomous, robotic spacecraft, e.g. by using artificial intelligence, neural networks or autonomous agents
• CPC Class Codes: B64G 1/36 using sensors, e.g. sun-sensors, horizon sensors
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00

Abstract

An autonomous control system supports autonomous operation of the a spacecraft in carrying out mission objective commands. The control system also provides autonomous fault detection, isolation and recovery. Performance problems and anomalies are detected and accounted for in the carrying out mission objectives. A mission manager module analyzes all incoming mission objective commands to verify that sufficient system resources are available and not already dedicated to other pending mission objective commands. A command processor is included to translate acceptable mission objective commands into lower level command sequences for delivery to a flight manager controlling the underlying spacecraft systems. The mission manager reanalyzes all pending mission objective commands whenever unexpected performance or fault conditions are detected. The mission objective commands can be constructed in a hierarchical fashion, with many sequences predefined within the spacecraft. All portions of the autonomous control system, including software and associated data, can be readily replaced, supplemented or disabled at any time before, during or after launch.

Claims

1. A spacecraft system having a ground-based system and a spacecraft, having an operational status, used to carry out a plurality of mission objectives, the spacecraft comprising:

a plurality of actuators;

a plurality of sensors that produce data indicative of the operational status of the spacecraft;

a flight manager, coupled to the plurality of actuators and the plurality of sensors, that controls the plurality of actuators pursuant to any of a plurality of lower level commands;

a transceiver capable of receiving both selected ones of the plurality of lower level commands from a ground-based system destined for the flight manager, and selected ones of a plurality of higher level commands that represent the plurality of mission objectives;

an autonomous control system, communicatively coupled to the flight manager, that autonomously attempts to carry out the plurality of mission objectives through scheduling and occasionally rescheduling of the selected ones of the plurality of mission goals; and

the autonomous control system generates, from the selected ones of the plurality of higher level commands, sequences of lower level commands that are delivered to the flight manager.

2. In the spacecraft system of claim 1, the autonomous control system comprising a fault detection and recovery module that analyzes the data produce by the plurality of sensors to detect and attempt recovery from fault conditions in the operational status of the spacecraft.

3. In the spacecraft system of claim 2, the autonomous control system further comprising a mission agent that responds to the fault detection and recovery module by attempting to reschedule the selected ones of the plurality of higher level commands to accommodate detected fault conditions.

4. In the spacecraft system of claim 1, the autonomous control system comprising a performance analyst that analyzes the data produce by the plurality of sensors to detect and attempt accommodation of unexpected performance in the operational status of the spacecraft.

5. In the spacecraft system of claim 4, the autonomous control system further comprising a mission agent that responds to the performance analyst by attempting to reschedule the selected ones of the plurality of higher level commands to accommodate the unexpected performance detected.

6. In the spacecraft system of claim 1, the autonomous control system comprising a command processor that performs the generation, from the selected ones of the plurality of higher level commands, the sequences of lower level commands that are delivered to the flight manager.

7. A spacecraft, having an operational status, used to carry out a plurality of mission objectives, the spacecraft comprising:

a plurality of sensors producing data indicative of the operational status of the spacecraft;

a plurality of actuators;

a controller, communicatively coupled to control the plurality of actuators, that operates pursuant to instructions received;

an analyzer communicatively coupled to the plurality of sensors to monitor and evaluate the data produced; and

a mission manager, communicatively coupled to the analyzer, that schedules and occasionally reschedules instructions for the controller to autonomously carry out the plurality of mission objectives.

8. The spacecraft of claim 7 wherein the analyzer comprises a fault detection and recovery module that analyzes the data produce by the plurality of sensors to detect and attempt recovery from fault conditions in the operational status of the spacecraft.

9. The spacecraft of claim 8 wherein the mission manager responds to the fault detection and recovery module by attempting to reschedule the instructions for the controller to accommodate detected fault conditions.

10. The spacecraft of claim 7 wherein the analyzer comprises a performance analyst that analyzes the data produce by the plurality of sensors to detect and attempt accommodation of unexpected performance in the operational status of the spacecraft.

11. The spacecraft of claim 9 wherein the analyzer further comprises a performance analyst that analyzes the data produce by the plurality of sensors to detect and attempt accommodation of unexpected performance in the operational status of the spacecraft.

12. The spacecraft of claim 9 wherein sequences of the instructions are stored within the spacecraft in a hierarchical arrangement.

13. A spacecraft, having an operational status, used to carry out a plurality of mission objectives, the spacecraft comprising:

a plurality of actuators;

a plurality of sensors producing data indicative of the operational status of the spacecraft;

an analyzer communicatively coupled to the plurality of sensors to monitor and evaluate the data produced; and

a mission manager, communicatively coupled to the analyzer, that schedules and occasionally reschedules higher level instructions to autonomously carry out the plurality of mission objectives;

a command processor, communicatively coupled to receive scheduled higher level instructions from the mission manager, that generates lower level instructions from the higher level instructions received; and

a control module, communicatively coupled to control the plurality of actuators, that operates pursuant to lower level instructions received from the command processor.

14. The spacecraft of claim 13 wherein the analyzer comprises a fault detection and recovery module that analyzes the data produce by the plurality of sensors to detect and attempt autonomous recovery from fault conditions in the operational status of the spacecraft.

15. The spacecraft of claim 13 wherein the analyzer comprises a performance analyst that analyzes the data produce by the plurality of sensors to detect and attempt accommodation of unexpected performance in the operational status of the spacecraft.

16. The spacecraft of claim 13 wherein sequences of the higher level instructions are stored within the spacecraft in a hierarchical arrangement.

17. The spacecraft of claim 16 further comprising a library that contains sequences of the lower level instructions, and the command processor generates lower level instructions for each of the higher level instructions by referencing the library.

18. A spacecraft system having a spacecraft, with an operational status, capable of carrying out a plurality of mission objectives, the spacecraft system comprising:

a plurality of ground units each having a ground transceiver;

a plurality of actuators disposed on the spacecraft;

a plurality of sensors, disposed on the spacecraft, that produce data indicative of the operational status of the spacecraft;

a flight manager, disposed on the spacecraft, that controls the plurality of actuators pursuant to any of a plurality of lower level commands;

a spacecraft transceiver, disposed on the spacecraft, capable of receiving and routing ones of the plurality of lower level commands from at least one of the plurality of ground units to the flight manager;

an autonomous control system, disposed on the spacecraft and communicatively coupled to both the flight manager and the spacecraft transceiver, that autonomously carries out ones of the plurality of mission objectives through receipt, scheduling and occasionally rescheduling of mission objectives; and

the autonomous control system translating the higher level commands into sequences of lower level commands for delivery to the flight manager.

19. The spacecraft system of claim 18 wherein at least one of the plurality of ground units comprises a ground support system.

20. The spacecraft system of claim 19 wherein at least one other of the plurality of ground units comprises a transmitter having a user interface to initiate delivery of one or more higher level commands to the autonomous control system via the spacecraft transceiver.

21. The spacecraft of claim 20 wherein the autonomous control system comprises a fault detection and recovery module that analyzes the data produce by the plurality of sensors to detect and attempt autonomous recovery from fault conditions in the operational status of the spacecraft.

22. The spacecraft of claim 21 wherein the autonomous control system further comprises a performance analyst that analyzes the data produce by the plurality of sensors to detect and attempt accommodation of unexpected performance in the operational status of the spacecraft.